NDLI: Design and control of a spherical omnidirectional blimp

Content Provider	IEEE Xplore Digital Library
Author	Burri, M. Gasser, L. Kach, M. Krebs, M. Laube, S. Ledergerber, A. Meier, D. Michaud, R. Mosimann, L. Muri, L. Ruch, C. Schaffner, A. Vuilliomenet, N. Weichart, J. Rudin, K. Leutenegger, S. Alonso-Mora, J. Siegwart, R. Beardsley, P.
Copyright Year	2013
Description	Author affiliation: Autonomous Syst. Lab., ETH Zurich, Zurich, Switzerland (Burri, M.; Gasser, L.; Kach, M.; Krebs, M.; Laube, S.; Ledergerber, A.; Meier, D.; Michaud, R.; Mosimann, L.; Muri, L.; Ruch, C.; Schaffner, A.; Vuilliomenet, N.; Weichart, J.; Rudin, K.; Leutenegger, S.; Alonso-Mora, J.; Siegwart, R.) \|\| Disney Res. Zurich, Zurich, Switzerland (Beardsley, P.)
Abstract	This paper presents Skye, a novel blimp design. Skye is a helium-filled sphere of diameter 2.7m with a strong inelastic outer hull and an impermeable elastic inner hull. Four tetrahedrally-arranged actuation units (AU) are mounted on the hull for locomotion, with each AU having a thruster which can be rotated around a radial axis through the sphere center. This design provides redundant control in the six degrees of freedom of motion, and Skye is able to move omnidirectionally and to rotate around any axis. A multi-camera module is also mounted on the hull for capture of aerial imagery or live video stream according to an `eyeball' concept - the camera module is not itself actuated, but the whole blimp is rotated in order to obtain a desired camera view. Skye is safe for use near people - the double hull minimizes the likelihood of rupture on an unwanted collision; the propellers are covered by grills to prevent accidental contact; and the blimp is near neutral buoyancy so that it makes only a light impact on contact and can be readily nudged away. The system is portable and deployable by a single operator - the electronics, AUs, and camera unit are mounted externally and are detachable from the hull during transport; operator control is via an intuitive touchpad interface. The motivating application is in entertainment robotics. Skye has a varied motion vocabulary such as swooping and bobbing, plus internal LEDs for visual effect. Computer vision enables interaction with an audience. Experimental results show dexterous maneuvers in indoor and outdoor environments, and non-dangerous impacts between the blimp and humans.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	1873
Ending Page	1879
File Size	8921870
Page Count	7
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696604
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cameras Force DC motors Propellers Gold Mathematical model Angular velocity
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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