Grant: Discovery Grants Program - Individual

The use of tele-operated and autonomous aerial vehicles or ""drones"" is becoming more and more common for inspection and surveillance tasks. However, their use beyond these tasks is extremely limited due to their low payload capabilities and high power consumption rates. Typical multi-rotor systems can only be aloft for minutes at a time and cannot carry a large payload since much of their payload is taken up with the weight of their batteries. To overcome these shortcomings and to extend the capabilities of multi-rotor robots beyond inspection and surveillance tasks, it is proposed to develop the underlying theories and technologies needed to design and control tethered aerial manipulator systems. This research program will achieve this goal through the development of a prototype tethered aerial manipulator system, dubbed the Aerial Manipulator System (AMS). The novel AMS concept involves the design and development of a system capable of unprecedented versatility for robotically manipulating parts and/or servicing areas that are not easily accessible from the ground by traditional means such as ladders, cranes, or scissor lifts. Similar to an undersea Remotely-Operated Vehicle (ROV) with a robotic arm attached, the AMS consists of an Aerial Support Vehicle (ASV) connected via an umbilical cable to an Autonomous Aerial Vehicle (AAV). In essence, the AMS is an ROV for the sky. To verify the feasibility of the AMS idea, this research program will consist of the design, construction, and testing of a proof-of-concept prototype of the AMS. ***The end result of this research program will be a better understanding of the mechanics and control of tethered aerial manipulator systems. The use of a tether to provide power will eliminate the number one limitation of aerial vehicles, namely their extremely short flight times. The ability to demonstrate the safe control of a proof-of-concept prototype of the AMS will represent a key milestone in the development of future full-scale tethered aerial manipulator systems. The knowledge and technologies developed as part of this research program will enable more robust aerial manipulator systems to be developed. Tethered aerial manipulator systems will allow for a revolution in the construction and maintenance of tall structures replacing the need to put humans in harm's way. A key benefit of such systems is that they remove workers from extremely hazardous environments, allowing them to work from much safer and secure locations.**