- Citation/Abstract
- Dissertation or Thesis
Abstract (summary)
This manuscript presents a ”mechanically intelligent” approach to designing a Hosing-Drone for heavy-duty pressure washing. Spraying a hose creates strong reaction forces and torques. Previously demonstrated spraying robots are over-engineered to be very massive with huge inertias. These high inertias ”wash out” the reaction from the spraying. In the proposed approach, the contributions from all observable fluid dynamics, fluid structure interactions, and aerodynamics are studied individually and for the coupled system. Experimental data is collected and fit to dynamic models. These models are used to design a smaller, lighter, more agile vehicle than has been previously demonstrated. An impedance controller with virtual reference model is developed with inspiration from the classic ”hose under flow” fluid dynamics toy problem and ”crane-trolley” control problem. Results from simulation and field testing show proof-of-concept.