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This paper presents a highly maneuverable flapping‐wing flying robot (FWFR) capable of achieving high speeds and large roll angles. The airfoil of the wing is designed based on lift and drag generation mechanisms, and the wing is manufactured using the expanded polypropylene injection method. Drawing inspiration from the tail fin of natural falcons, the tail is designed and an aerodynamic model is established to guide the tail control surface's variation range. During the flight test, the FWFR demonstrates outstanding maneuverability. It achieves a rapid roll angle of 120∘ $12{0}^{\circ }$ within 1 s. Moreover, it exhibits a rapid descent, reaching a descent rate of 15 m in 2 s. Additionally, the FWFR attains a maximum speed of 20 m/s. The FWFR successfully executes several dive and turn maneuvers, thereby showcasing its exceptional maneuverability. [ABSTRACT FROM AUTHOR]

Ever-increasing space debris poses a great threat to spacecraft safety; its removal debuts as an innovative technology and will be in demand in the future. This article proposes a design for micro/nano joint satellites composed of four micro/nanosatellites with high maneuverability to clear space debris. The design incorporates two operating modes with typical applications, and the joint satellite features and essential key technologies are introduced. With the aim to demonstrate well-performed image data fusion and processing of the design, four cameras with different spectral and optical properties are installed for each micro/nanosatellite to acquire images and spectral characteristics for multifeatured identification of debris based on comprehensive analysis. Due to the different remote sensing payloads of the four micro/nanosatellites, the joint satellite is also capable of remote sensing. Compared with a single micro/nanosatellite, the joint satellite is more accurate for debris identification and rapid on-orbit maneuverability in addition to the superior flexibility brought by a touch-and-unfold separating removal mechanism.

Using Satcom-On-The-Move (SOTM) antenna on moving carriers to track communication satellites is a rapidly developing technology. The normal running of the SOTM system requires its antenna beam to track the target communication satellite accurately at all times. However, due to the errors of the measurement system, tracking deviation will inevitably occur, especially when the moving carrier is in ahigh maneuvering state, which may cause communication failures. In this paper, we propose a synthetic deviation correction algorithm; when the carrier is in the high maneuvering state, the measurement error is converted into the deviation of the azimuth as well as the pitch of the antenna that needs to be corrected to correct the pointing of the SOTM antenna. Finally, the proposed algorithm is verified by experiments. The experimental results show that the proposed algorithm has a good isolation effect on the high maneuverability of the carrier, which means that the pointing to the communication satellite is more accurate and achieves better communication quality under the high maneuvering state. The effectiveness of the algorithm is illustrated. [ABSTRACT FROM AUTHOR]

The paper presents a wall-climbing robot featuring self-compliance for variable curvature façades. The high payload and maneuverability make it highly potential in heavy-duty operation of industrial applications. The robot consists of two traction modules and one link module. Each traction module is equipped with magnetic adhesion and crawler traction submodules. The two traction modules are connected by the link module with 4 degrees of freedom (DoF) of passive compliance. Variable curvature façade self-compliance is achieved by the passive compliant link module, which results in the attitude change decoupling of the two traction modules. The attitude can be adjusted under the effect of magnetic adhesion force to comply with the curvature variations. High payloads are achieved by the large contact area between the crawler and the surface. Omni-directional high maneuverability is enabled by the speed difference between the motors of two traction modules. The robot can maneuver in any direction on the surface with a minimum radius of 1 m and carry 36 kg payload on vertical surfaces.

Autonomous Underwater Vehicles (AUVs) are the mainstream equipment for underwater scientific research and engineering. However, it remains a great challenge for AUVs to carry out near-seabed operations because of their poor maneuverability. In this paper, a new design for a high-maneuverability disc-shaped AUV is proposed, namely, the Autonomous Underwater Helicopter (AUH). We designed the AUH's propulsion system through dynamic analysis based on the unique disc shape. The experimental prototype was built by mechatronics technology, after which several motion experiments were carried out to demonstrate the high maneuverability. We find that the prototype has high maneuverability: it can cruise at 0.8 m/s (about 1.5 knots), at least; its turning radius is zero and its turning speed is at least 20 deg/s; and the motion of specific curves in a small range was completed. It is demonstrated that over-actuation is not necessary for the high-maneuverability AUH because of its unique disc shape. A propulsion system consisting of four propellers and a buoyancy adjustment system is used for the highly maneuverable AUH. In addition, the AUH may be a solution for near-seafloor operations. [ABSTRACT FROM AUTHOR]

Background: At present, the colonoscopy is the most common method of screening for colorectal cancer. However, endoscopists still encounter difficulties with intubation, primarily due to the structural diversity (e.g., path, shape, and size) and viscoelasticity of the colon. Therefore, well-trained, skillful operators are required to overcome these factors and operate colonoscopes without harming patients.Objectives: In our previous work, we presented a reel mechanism-based robotic colonoscope designed to mitigate the difficulties of conventional colonoscopies. Although we reported excellent mobile performance with respect to the robot, we did not provide an in-depth discussion concerning patient safety. Therefore, in this article, we propose a method of improving robot safety, and this is verified by investigating the static and dynamic forces acting on the colon. In addition, the maneuverability and safety of the robot in the in vitro condition are evaluated.Methods: The safety solution is provided by covering the robot's legs with silicone. To evaluate the results, the reaction force according to leg deformation is measured. Then, the force transmitted to the colon is also measured when the robot moves through various environments. Finally, a mobility test on an excised porcine colon is performed to simultaneously verify the robot's maneuverability and safety.Results: We verify that the static and dynamic force acting on the colon is less than the burst force of a human colon. In addition, the maneuverability of the robotic colonoscope shows reliable locomotion performance even with the soft material covering the legs; it has forward velocities of 9.552 ± 1.940 mm/s on a flat path.Conclusion: Owing to the reliable locomotion mechanism with the safety-securing silicone, the robot achieves high and reliable maneuverability without any scratches or perforations to the porcine colon. [ABSTRACT FROM AUTHOR]

Autonomous Underwater Vehicles (AUVs) are the mainstream equipment for underwater scientific research and engineering. However, it remains a great challenge for AUVs to carry out near-seabed operations because of their poor maneuverability. In this paper, a new design for a high-maneuverability disc-shaped AUV is proposed, namely, the Autonomous Underwater Helicopter (AUH). We designed the AUH’s propulsion system through dynamic analysis based on the unique disc shape. The experimental prototype was built by mechatronics technology, after which several motion experiments were carried out to demonstrate the high maneuverability. We find that the prototype has high maneuverability: it can cruise at 0.8 m/s (about 1.5 knots), at least; its turning radius is zero and its turning speed is at least 20 deg/s; and the motion of specific curves in a small range was completed. It is demonstrated that over-actuation is not necessary for the high-maneuverability AUH because of its unique disc shape. A propulsion system consisting of four propellers and a buoyancy adjustment system is used for the highly maneuverable AUH. In addition, the AUH may be a solution for near-seafloor operations.

This paper examines the problem of enhancing maneuverability of gun-launched munitions utilizing low cost technologies. Two ideas are proposed for reducing cost: (1) designing algorithms that reduce the sensor or actuator burden, and (2) performing high fidelity modeling and simulation of the entire system with realistic data input. The fundamental theory underpinning guided projectile flight systems, including nonlinear equations of motion for projectile flight, aerodynamic modeling, actuator dynamics, and measurement modeling, is outlined. Manipulation of these nonlinear models into linear system models enables airframe stability investigation and flight control design. A basic framework for low cost guidance, navigation, and control (GNC) of high maneuverability projectiles is formulated. Theory was implemented in simulation and exercised for a guided projectile system. Results support the hypothesis that algorithms can compensate for poor actuator performance and identified critical trade study parameters. Monte Carlo analysis indicated that the cost associated with measurements of a threshold accuracy rather than actuation technologies prescribes guided system performance. [ABSTRACT FROM AUTHOR]

The fixed morphology cleaning robots lack adaptation to the unstructured environment to access and perform cleaning. Reconfigurable robots such as hTetro developed in our previous work have solved this problem, however the issues of robot's locomotion maneuverability and the associated real time control have not been resolved. This paper is aimed to validate whether a four wheel independently-controlled steering and driving (4WISD) mechanism can provide an effective solution for high maneuverability of the robot and can serve as a single mechanism for locomotion and transformation with a control strategy. After an extensive review of the existing reconfigurable robots including the hTetro platforms developed in our previous work and locomotion modules of mobile robots, the current hTetro platform with 4WISD mechanism is proposed. After it is designed and fabricated, experiments are conducted to verify its effectiveness. Experimental results show that the proposed 4WISD and the open loop kinematic control scheme deliver the high maneuverability of hTetro platform when following a circular path in various locomotion modes. The experimental results show the proposed 4WISD mechanism and kinematic controller make the hTetro platform achieve the desired maneuverability. In addition, the future work to improve the locking among the sub-modules of the robot and to further reduce the path deviation error of kinematic control is identified. Based on the work reported in this paper, the locking mechanism among the sub-modules of hTetro platform will be improved and the closed loop kinematic and dynamic control schemes will be developed to make it perform cleaning tasks in uncertain environments. • We report a four wheel independently controlled steering and driving mechanism (4WISD) for hTetro. • The proposed single mechanism can perform both transformation and locomotion for all configurations [I, L, Z, O, T, S, J]. • The proposed single mechanism also provides high maneuverability for which Predefined-Radius-Locomotion (PRL) and Fixed-Heading-Angle-Locomotion (FHAL) were demonstrated. • The design iterations ensure less interaction forces between the modules while accessing the uneven terrain. • Experiments were performed to validate the proposed design approach, and results and experimental videos are presented. [ABSTRACT FROM AUTHOR]