Assessing wind impact on semi-autonomous drone landings for in-contact power-line inspection

Autor: Étienne Gendron, Marc-Antoine Leclerc, Samuel Hovington, Étienne Perron, David Rancourt, Alexis Lussier-Desbiens, Philippe Hamelin, Alexandre Girard

Publikováno v: Drone Systems and Applications, Vol 12, Iss , Pp 1-16 (2024)

In recent years, the use of inspection drones has become increasingly popular for high-voltage electric cable inspections due to their efficiency, cost-effectiveness, and ability to access hard-to-reach areas. However, safely landing drones on power

Externí odkaz: https://doaj.org/article/6b5dd897e8984b1c8e11e6badd1e0dae

A Two-Stage State Feedback Controller Supported by Disturbance-State Observer for Vibration Control of a Flexible-Joint Robot

Autor: Minh-Nha Pham, Zhaoheng Liu, Bruce Hazel, Philippe Hamelin

Publikováno v: Robotica. 38:1082-1104

SUMMARYJoint flexibility introduces additional degrees of freedom and vibration modes, thus limiting the performance of the manipulator. To improve control bandwidth, this paper proposes an enhanced two-stage state feedback (SFB) controller, which co

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::bee3793265f23ee64aea7d656adfcd85
https://doi.org/10.1017/s0263574719001267

Slip-Limiting Controller for Redundant Line-Suspended Robots: Application to LineRanger

Autor: Marin Lagacé, Marco Lepage, Philippe Hamelin, Nicolas Pouliot, Alex Sartor, Camille Hebert, Pierre-Luc Richard, Ghislain Lambert

Publikováno v: ICRA

In this paper, a slip-limiting controller for redundant line-suspended robots is presented. This kind of robot is usually equipped with v-shaped wheels, which brings uncertainty about the effective wheel radius, particularly when crossing obstacles.

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::5af05725312b019aa40a72924b0c1708
https://doi.org/10.1109/icra40945.2020.9196832

Fast and Flexible Software Polar List Decoders

Autor: Camille Leroux, Mathieu Leonardon, Adrien Cassagne, Yvon Savaria, Louis-Philippe Hamelin, Christophe Jego

Publikováno v: Journal of Signal Processing Systems
Journal of Signal Processing Systems, 2019, ⟨10.1007/s11265-018-1430-3⟩
Journal of Signal Processing Systems, Springer, 2019, ⟨10.1007/s11265-018-1430-3⟩

Flexibility is one mandatory aspect of channel coding in modern wireless communication systems. Among other things, the channel decoder has to support several code lengths and code rates. This need for flexibility applies to polar codes that are cons

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::159de3369aed8035c5dc4eee241c7a6f
https://inria.hal.science/hal-01987848/document

Discrete-Time State Feedback With Velocity Estimation Using a Dual Observer: Application to an Underwater Direct-Drive Grinding Robot

Autor: Michel Blain, Julien Beaudry, Pascal Bigras, Philippe Hamelin, Pierre-Luc Richard

Publikováno v: IEEE/ASME Transactions on Mechatronics. 17:187-191

Hydro-Quebec's Research Institute has designed a robot to perform grinding tasks on underwater structures. This unique system is equipped with direct-drive linear motors, which have many useful dynamic characteristics. Since they lack intrinsic stiff

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::0186bbdb5d96bdd090f33c58fe10b65b
https://doi.org/10.1109/tmech.2011.2154338