Tensile structures deployment with flying machines
During my thesis I was working with the Flying Machine Arena team on the aerial construction project. Flying machines are used to deploy tensile structures using light weight construction element (e.g. rope).
The rope is modeled using mass-spring chain, this model is used to develop a simulator to verify the structures before deploying them.
The steady state solution of the mass-spring model is used to develop an estimator that provides information about the tensile structure during deployment, this information can be used to coordinate the vehicle behavior accordingly.
An optical laser sensor (ADNS9800) can be used to estimate the deployed rope length.