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High Pressure Hosing-Drone Dynamics and Controls

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Abstract

Cleaning concrete bridges and overpasses is essential before inspections, but traditional methods put workers and commuters at risk of bodily harm. UAS for bridge and overpass cleaning is attractive because it keeps humans out of harm’s way while reducing cost and time required for cleanings. The challenge for a hosing-UAS is that high pressure flow required for cleaning produces high reaction forces and torques that can easily destabilize small, low-thrust vehicles. Other state-of-the-art hosing-UAS approaches “over-engineer” their solutions with vehicles with huge masses and arrays of propellers. This work presents results from an iterative modeling and design process with the goal of engineering “mechanically intelligent” smaller, more agile UAS tailored for specific hosing task constraints. The UAS consists of a UAV, actuated spraygun payload, hose, gas-powered pump, and base-station PC. Results from bench, simulation, and field testing are presented with detailed exposition of the dynamic modeling and controls design.

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Data Availability

The datasets generated during and/or analysed during the current study are available from the corresponding author on reasonable request.

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Acknowledgements

Blake would like to thank Nathan Kassai, Armaun Zargari, Jason Tran, and Nicolas Kosanovic for their invaluable assistance with filming, safety, and monitoring equipment during lab and field testing.

Funding

This work was funded by the United States Department of Transportation Project Grant No. 69A3551747126, Inspection and Preservation of Infrastructure Through Robotic Exploration (INSPIRE).

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Authors and Affiliations

  1. Engineering Department, Elon University, 100 Campus Dr, Elon, NC, 27244, USA

    Blake Hament

  2. Mechanical Engineering Department, University of Nevada, Las Vegas, 4505 S Maryland Pkwy, 89154, Las Vegas, NV, USA

    Paul Oh

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  1. Blake Hament
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Contributions

B.H. did all design, experimentation, analysis, and drafting. P.O. advised and edited.

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Correspondence to Blake Hament.

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Hament, B., Oh, P. High Pressure Hosing-Drone Dynamics and Controls. J Intell Robot Syst 109, 90 (2023). https://doi.org/10.1007/s10846-023-01954-8

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