New types of aerial robots(NTARs)have found extensive applications in the military,civilian contexts,scientific research,disaster management,and various other domains.Compared with traditional aerial robots,NTARs exhi...New types of aerial robots(NTARs)have found extensive applications in the military,civilian contexts,scientific research,disaster management,and various other domains.Compared with traditional aerial robots,NTARs exhibit a broader range of morphological diversity,locomotion capabilities,and enhanced operational capacities.Therefore,this study defines aerial robots with the four characteristics of morphability,biomimicry,multi-modal locomotion,and manipulator attachment as NTARs.Subsequently,this paper discusses the latest research progress in the materials and manufacturing technology,actuation technology,and perception and control technology of NTARs.Thereafter,the research status of NTAR systems is summarized,focusing on the frontier development and application cases of flapping-wing microair vehicles,perching aerial robots,amphibious robots,and operational aerial robots.Finally,the main challenges presented by NTARs in terms of energy,materials,and perception are analyzed,and the future development trends of NTARs are summarized in terms of size and endurance,mechatronics,and complex scenarios,providing a reference direction for the follow-up exploration of NTARs.展开更多
This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied environments.The pr...This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied environments.The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed.The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking.The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer.Thanks to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is mitigated.An integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance ability.The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method.Comparative simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.展开更多
In this work, the MoS2 fillers were prepared through chemical exfoliation method and used as fillers to fabricate epoxy (EP)/MoS2 nanocomposites. The effects of molybdenum disulfide (MoS2) intercalation conditions on ...In this work, the MoS2 fillers were prepared through chemical exfoliation method and used as fillers to fabricate epoxy (EP)/MoS2 nanocomposites. The effects of molybdenum disulfide (MoS2) intercalation conditions on the properties of EP/MoS2 nanocomposites were investigated. As the intercalation time was prolonged, the surface of MoS2 exhibited a totally crumpled structure and more functional groups formed. Because of the higher functional group concentration, the interfacial adhesion force between EP and MoS2 was enhanced. With the addition of 1.0 wt% exfoliated MoS2 fillers, the tensile strength and tensile modulus of EP were even improved ~500% and ~6800%, respectively. Therefore, this work provides a facile way to produce high-performance EP nanocomposites.展开更多
基金supported in part by the National Key Research and Development Program of China(2022YFB4701800 and 2021ZD0114503)the National Natural Science Foundation of China(62103140,U22A2057,62173132,and 62133005)+3 种基金the Hunan Leading Talent of Technological Innovation(2022RC3063)the Top Ten Technical Research Projects of Hunan Province(2024GK1010)the Key Research and Development Program of Hunan Province(2023GK2068)the Science and Technology Innovation Program of Hunan Province(2023RC1049).
文摘New types of aerial robots(NTARs)have found extensive applications in the military,civilian contexts,scientific research,disaster management,and various other domains.Compared with traditional aerial robots,NTARs exhibit a broader range of morphological diversity,locomotion capabilities,and enhanced operational capacities.Therefore,this study defines aerial robots with the four characteristics of morphability,biomimicry,multi-modal locomotion,and manipulator attachment as NTARs.Subsequently,this paper discusses the latest research progress in the materials and manufacturing technology,actuation technology,and perception and control technology of NTARs.Thereafter,the research status of NTAR systems is summarized,focusing on the frontier development and application cases of flapping-wing microair vehicles,perching aerial robots,amphibious robots,and operational aerial robots.Finally,the main challenges presented by NTARs in terms of energy,materials,and perception are analyzed,and the future development trends of NTARs are summarized in terms of size and endurance,mechatronics,and complex scenarios,providing a reference direction for the follow-up exploration of NTARs.
基金supported in part by the National Key Research and Development Program of China(2021ZD0114503,2022YFB4701800,and 2021YFB1714700)the National Natural Science Foundation of China(62273098,62027810,61971071,62133005,62273138,and 62103140)+9 种基金the Major Research Plan of the National Natural Science Foundation of China(92148204)the Newton International Fellowships 2022 funded by the Royal Society,UK(NIF\R1\221089)Hunan Leading Talent of Technological Innovation(2022RC3063)Hunan Science Fund for Distinguished Young Scholars(2021JJ10025)the Hunan Key Research and Development Program(2021GK4011 and 2022GK2011)the Changsha Science and Technology Major Project(kh2003026)the Natural Science Foundation of Hunan Province(2021JJ20029 and 2021JJ40124)the Science and Technology Innovation Program of Hunan Province(2021RC3060)the Joint Open Foundation of the State Key Laboratory of Robotics(2021-KF-22-17)the China University Industry-University-Research Innovation Fund(2020HYA06006).
文摘This study proposes an image-based visual servoing(IBVS)method based on a velocity observer for an unmanned aerial vehicle(UAV)for tracking a dynamic target in Global Positioning System(GPS)-denied environments.The proposed method derives the simplified and decoupled image dynamics of underactuated UAVs using a constructed virtual camera and then considers the uncertainties caused by the unpredictable rotations and velocities of the dynamic target.A novel image depth model that extends the IBVS method to track a rotating target with arbitrary orientations is proposed.The depth model ensures image feature accuracy and image trajectory smoothness in rotating target tracking.The relative velocities of the UAV and the dynamic target are estimated using the proposed velocity observer.Thanks to the velocity observer,translational velocity measurements are not required,and the control chatter caused by noise-containing measurements is mitigated.An integral-based filter is proposed to compensate for unpredictable environmental disturbances in order to improve the antidisturbance ability.The stability of the velocity observer and IBVS controller is analyzed using the Lyapunov method.Comparative simulations and multistage experiments are conducted to illustrate the tracking stability,anti-disturbance ability,and tracking robustness of the proposed method with a dynamic rotating target.
文摘In this work, the MoS2 fillers were prepared through chemical exfoliation method and used as fillers to fabricate epoxy (EP)/MoS2 nanocomposites. The effects of molybdenum disulfide (MoS2) intercalation conditions on the properties of EP/MoS2 nanocomposites were investigated. As the intercalation time was prolonged, the surface of MoS2 exhibited a totally crumpled structure and more functional groups formed. Because of the higher functional group concentration, the interfacial adhesion force between EP and MoS2 was enhanced. With the addition of 1.0 wt% exfoliated MoS2 fillers, the tensile strength and tensile modulus of EP were even improved ~500% and ~6800%, respectively. Therefore, this work provides a facile way to produce high-performance EP nanocomposites.
