The topic of my research involve the design, prototype realization, and control
of a dexterous arm for accurate aerial robotic manipulation.
Abstract of the work
Critical infrastructures often consist of confined, dark, and GNSS-denied areas that require manual inspection by expert surveyors, posing inherent risks to human safety. Although teleoperated UAS systems have mitigated some of these risks, they have not completely replaced manned inspection and have introduced additional overhead. One of the challenges with these UAV systems is their inability to inspect infrastructures with arbitrary inclination angles while optimizing energy efficiency, sensing capability, and complying with special constraints in confined spaces, such as ballast tanks.
Aerial robotics; Multivariable feedback control; Nonlinear system theory and control; Robust control