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- 3 DoF (1)
- Adjustment calculation (1)
- Alternative Antriebe (1)
- Auswirkungsbetrachtung (1)
- Behälterversagen (1)
- Control (1)
- Damage detection and localisation (1)
- Fahrzeugbrand (1)
- Finite element method (1)
- LPG (1)
- Photogrammetry (1)
- Rotor speed (1)
- Spherical parallel manipulator (1)
- Structural analysis (1)
- Tachometer (1)
- UAV (1)
- Wind vector estimation (1)
Organisationseinheit der BAM
For several applications involving multirotor aircraft, it is crucial to know both the direction and speed of the ambient wind. In this paper, an approach to wind vector estimation based on an equilibrium of the principal forces acting on the aircraft is shown. As the thrust force generated by the rotors depends on their rotational speed, a sensor to measure this quantity is required. Two concepts for such a sensor are presented: One is based on tapping the signal carrying the speed setpoint for the motor controllers, the other one uses phototransistors placed underneath the rotor blades. While some complications were encountered with the first approach, the second yields accurate measurement data. This is shown by an experiment comparing the proposed speed sensor to a commercial non-contact tachometer.
To examine the capability to detect and localise damage using the Measurement- and Model-based Structural Analysis (MeMoS), a small-scale truss bridge (1520 mm × 720 mm × 720 mm) made of aluminium profiles is built as a test specimen for this purpose. The truss frame of the test bridge is made of aluminium profiles with a sophisticated design of the cross-sectional area. In comparison, with solid profiles, only a fraction of the material is needed to produce the profiles, while their bending resistance decreases slightly. The profiles are built into a truss frame by connecting them by means of fastening sets made of steel. The bridge model is mounted on four steel bearings which each of them consist of a cylinder arranged between two plates. Fixed bearings are made by holding onto one end of the bridge. The bridge is subjected by an external load by placing a heavy object beneath it. At the same time, measurements can be conducted below the bridge. Therefore, the bridge specimen is elevated by attaching it on a pedestal with four columns. Damages can be induced by loosening the fastening pieces.
In robotic applications, it is often necessary to orient a sensor quickly. Spherical parallel manipulators (SPM) are well suited for this purpose since they offer superior dynamics and structural stiffness as compared to serial manipulators. To control them, however, the kinematic equations have to be known. In this paper, a SPM with three degrees of freedom and the kinematic equations describing its mechanical properties are presented.
In continuation of a preceding test series involving sole LPG vehicle tanks, three passenger cars equipped with identical toroidal steel LPG tanks were set on fire. The tanks were installed in the space normally reserved for the spare tyre, in the car boot. No safety device was installed on the tank, in order to force critical failure of the cylinder. Two of the cars were equipped with a tank filled with liquefied propane to a level of 20 % (5.3 kg), the third one was filled completely (25.5 kg). The partially filled tanks failed critically within a time period of more than 20 min after the initiation of the fire. The fully-filled tank did not rupture; the propane was released continuously through a small leak that appeared during the fire. Comprehensive equipment was used to procure measurement data, enabling an analysis of potential consequences and hazards to humans and infrastructure within the vehicle surroundings. The inner status of the tank (pressure, temperature of the liquid phase and the steel casing), the development of the fire (temperature inside and around the vehicle) and the pressure induced in the near-field in case of tank rupture were recorded. The results were analysed in detail and compared against the data gained in tests involving sole, but identical LPG tanks.