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      • Dept. of Mechanical Engineering - Master's degree
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      •   BUIR Home
      • University Library
      • Bilkent Theses
      • Theses - Department of Mechanical Engineering
      • Dept. of Mechanical Engineering - Master's degree
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      Collision resilient foldable micro aerial robot

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      Embargo Lift Date: 2020-04-09
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      52.7 Mb
      Author
      Dilaveroğlu, Levent
      Advisor
      Özcan, Onur
      Date
      2019-10
      Publisher
      Bilkent University
      Language
      English
      Type
      Thesis
      Item Usage Stats
      135
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      32
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      Abstract
      Collision management strategies are integral part of micro air vehicles for the reliability of their operation. Collision avoidance strategies require enhanced environmental and situational awareness for generating evasive maneuver trajectories. Simpler and more adaptable option is to prepare for collisions and design the physical frame around predicted collision patterns. In this work, a mechanically compliant frame design collaborating origami-inspired foldable robotics methods with protective shock absorbing or guiding elements has been proposed for a collision resilient quad-rotor UAV. General workings and mathematical model of quadrotor has been explained to inform the reader further about the quadrotor mechanics. 2D design of the foldable structure and the manufacturing process, including electronic hardware elements and software has been discussed. Control scheme, communication and operation is explained in detail to be an informative guideline for the future air vehicle projects of the Bilkent Miniature Robotics Lab.
      Keywords
      Robotics
      UAV
      Foldable robotics
      Micro aerial vehicles
      Permalink
      http://hdl.handle.net/11693/52534
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      • Dept. of Mechanical Engineering - Master's degree 65
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