Adaptive-Controlled Wind Driven Robotic Manipulator



Air Force Office of Scientific Research

Traditional techniques for testing aircraft in high-rate maneuvers involve heavy and bulky rigid sting-mounts which cause unacceptable flow interference. An active-controlled manipulator concept was developed as a basic research problem during the course of John Magill's doctoral dissertation. We developed a precisely-repetitive high-rate maneuver simulation capability where complex, transient fluid dynamic interactions can be studied using diagnostic techniques for periodic flows. A version of the device has demonstrated the ability to "learn" to correct for errors and follow commanded trajectories precisely. Technical spin-offs include modeling and implementation of high-rate, low-inertia, high-precision robotic manipulators for manufacturing and product-testing applications. This research has resulted in a U.S. Patent, and a 3-degree-of-freedom Adaptive Wind Driven Manipulator has been installed in the John J. Harper Wind Tunnel. 

Related Publications:

Magill, J.C., et al., Experimental Techniques, Vol. 19, No. 1, Jan.-Feb. '95, p. 27-30.

Magill, J.C., et. al., AIAA Paper 94-0669, Jan. 94.

Magill, J.C., et. al., AIAA Paper 94-3657, August 1994.

Komerath, N.M., et. al., ICIASF '95 Record, July 1995,p. 25.1 - 25.7. IEEE95-CH34827- 95/0000-25.1

Magill, J.C., et. al., AIAA Paper 95-3502, August 1995.

Ames, R.G., et al., AIAA Paper 96-0581, January 1996.

Magill, J.C., et. al., Journal of Aircraft, 33, 1, Jan.'96, p. 163-170.

Magill, J.C. et al., Journal of Guidance, Dynamics and Control, March-April '96 .

| HOME | PEOPLE | FACILITIES | WHAT WE DO | RECENT PROJECTS | PUBLICATIONS | DOING BUSINESS WITH US | JOINING OUR TEAM | ACKNOWLEDGEMENTS