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.
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.
Magill, J.C., et. al., AIAA Paper 94-3657, August
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
Ames, R.G., et al., AIAA Paper 96-0581, January
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 .