1. ZrichAutonomous Systems Lab

2. AutonomousSystemsLabZrichAerial Inspection Robots Make Plant Maintenance Efficient Visual Inspection & Inspection by Contact80m30 mWall-thickness samplingCoal nozzle inspection 3. AutonomousSystemsLabZrichName - Short Title3AIRobots Coaxial Rotor System Coaxial Rotor Configuration Single BLDC-Motor Collective/Cyclic Pitch MixingSwashplate Bell-Hiller Flybar Composite Airframe High/Low-Level Pocessing & Sensing Units 4. AutonomousSystemsLabZrichName - Short TitleUnderstanding the Flight System Specific Free-Flight Dynamics Rotor Flapping Dynamics Inflow Dynamics Bell-Hiller Flybar Derive Physically Consistant Flight ModelAerodynamicsStructural Dynamics 5. AutonomousSystemsLabZrichUnderstanding the Flight System First-Principles Modeling Support Mechanical Design Process Initialize and Constrain System ID System ID Match Vehicle Flight DataSystem Identification under ConstraintsPrediction using Physical Parameters 6. AutonomousSystemsLabZrichResonance Excitation Model Fidelity and CompensationResonance Compensation Activation Implementation of a Notch Filter atits frequency. Adjust the controller gains based onrate of rotation, referencesp, q experimental responsesp, q identified model predictions 7. ZrichAutonomous Systems LabHybrid Model:Free-Flight DynamicsDynamics during ContactCollision dynamicsHybrid ModelEnsure global stability ofthe system Perform WallInspection ManeuversReceding Horizon ControlCoupled GainScheduled Loopswith ResonanceCompensationAttitude Control[Position, Orientation][Force]Hybrid Modeling & Control Hybrid Model of the global Free Flying Contactdynamics account for collisions Hybrid Receding Horizon Control Strategy toensure global stability Unified controller for free-flight trajectory controland Wall Inspection Maneuvers (i.e.Docking/Sliding) 8. AutonomousSystemsLabZrichAIRobots Coaxial-rotor PrototypeDocking Lateral Sliding 9. AutonomousSystemsLabZrichDocking Vertical Sliding