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Optimized design of a tilted propeller aerial robot for ballast tank contact inspections

Nikitas, Dimitrios (2024) Optimized design of a tilted propeller aerial robot for ballast tank contact inspections.

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Abstract:In the last decade, usage of MRAVs (Multirotor Aerial Vehicles) across multiple domains, has expanded significantly. Technological innovations greatly enhanced their capabilities and rendered them well-suited for operating in perilous areas such as maritime environments, like ballast tanks. These confined and hazardous areas pose risks to human inspectors, making MRAVs a safer and more reliable alternative. However, there remains the need for optimized MRAV designs tailored to complex tasks, such as autonomous contact inspections in these areas. This thesis presents a generalized, systematic, design procedure aimed at optimizing MRAVs based on their tasks and through that, propose a suitable design, optimized for the task of autonomous contact-inspection on the walls of a ballast tank, under the scope of the AUTOASSESS. At the core of this procedure lies the formulation of the design problem, as a constrained multivariable nonlinear optimization problem (NLP), allowing holistic consideration of task requirements through constraints or components of a unified objective function, derived from modified cost functions from the literature. The software outputs optimized MRAV designs tailored to the tasks and with selected performance metrics, one can evaluate and compare the to make informed decisions about the optimal configuration, based on task requirements and performance.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Programme:Electrical Engineering MSc (60353)
Link to this item:https://purl.utwente.nl/essays/103737
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