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Into the Ice: Exploration and Data-Capturing in Glacial Moulins by a Tethered Robot

Autor: Josie Hughes, Max Polzin

Glacial moulins (cylindrical meltwater drainage shafts) provide valuable insights into glacier dynamics, but are inaccessible and hazardous environments for humans to study. Exploring using passive sensor probes has revealed the complex geometry of m

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::80871e5e368356668eb02f38f7416fd4
https://doi.org/10.22541/au.167775518.87782980/v1

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Modeling, Identification, Estimation and Adaptation for the Control of Power-Generating Kites

Autor: Henrik Hesse, Max Polzin, Roy S. Smith, Tony A. Wood, Eva Ahbe

Publikováno v: IFAC-PapersOnLine, 51 (15)
18th IFAC Symposium on System Identification, SYSID 2018. Proceedings
IFAC-Papers

Large-scale kites, flying high-force crosswind trajectories, have been proposed for wind power generation. A two phase operational cycle generates net positive power using a ground-based motor/generator. In the traction phase the kite flies a high-fo

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::315b5817ffe2825a6e92a3e08c5231be
https://doi.org/10.1016/j.ifacol.2018.09.066

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State Estimation for Kite Power Systems with Delayed Sensor Measurements * *This research was supported by the Swiss National Science Foundation (Synergia) No. 141836 and the Swiss Commission for Technology and Innovation (CTI)

Autor: Tony A. Wood, Henrik Hesse, Max Polzin, Roy S. Smith

Publikováno v: IFAC-PapersOnLine. 50:11959-11964

We present a novel estimation approach for airborne wind energy systems with ground-based control and energy generation. The estimator fuses measurements from an inertial measurement unit attached to a tethered wing and position measurements from a c

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::cabeadb8ef2a139787c4dd578a6d23e2
https://doi.org/10.1016/j.ifacol.2017.08.1176

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Visual motion tracking and sensor fusion for kite power systems

Autor: Tony A. Wood, Roy S. Smith, Henrik Hesse, Max Polzin

Publikováno v: Green Energy and Technology
Green Energy and Technology-Airborne Wind Energy
Airborne Wind Energy
Airborne Wind Energy ISBN: 9789811019463

An estimation approach is presented for kite power systems with groundbased actuation and generation. Line-based estimation of the kite state, including position and heading, limits the achievable cycle efficiency of such airborne wind energy systems

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2c23b790c08cb2dfc0b8f69ddb72c87c
https://eprints.gla.ac.uk/159952/1/159952.pdf

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Falling in line: Visual route following on extreme terrain for a tethered mobile robot

Autor: Max Polzin, Patrick McGarey, Timothy D. Barfoot

Publikováno v: ICRA

This paper describes visual route following for a cliff-climbing, tethered mobile robot for the purpose of autonomously traversing extreme terrain in the presence of obstacles. When the robot's tether contacts an obstacle, an intermediate anchor is f

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::a1c8c9a1bbaf058a2d84a61d271bde05
https://doi.org/10.1109/icra.2017.7989234

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