{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/35331"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/35331","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Tethered Payload Control from an Autonomous Helicopter","abstract":"A system is designed to deploy and support a tethered ground robot from an autonomous helicopter. A winch is designed and built. Electrical hardware for power distribution and control are designed. Several applied controls problems are investigated. A control architecture is established and low level controllers are designed to meet the demands of two higher level algorithms. A tether tension controller is designed to avoid the danger of excess slack in the tether interfering with the robot's mobility. A payload sway damping controller is investigated and simulated. Its is shown to be effective in damping dangerous payload oscillations by modulating the vertical manipulation of the winch during hoisting. Future design recommendations are given regarding improvements for a second design iteration.","abstract_html":"A system is designed to deploy and support a tethered ground robot from an autonomous helicopter. A winch is designed and built. Electrical hardware for power distribution and control are designed. Several applied controls problems are investigated. A control architecture is established and low level controllers are designed to meet the demands of two higher level algorithms. A tether tension controller is designed to avoid the danger of excess slack in the tether interfering with the robot's mobility. A payload sway damping controller is investigated and simulated. Its is shown to be effective in damping dangerous payload oscillations by modulating the vertical manipulation of the winch during hoisting. Future design recommendations are given regarding improvements for a second design iteration.","abstract_has_math":false,"creators":["May, James"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Kochersberger, Kevin B."],"committee_members":["Southward, Steve C.","Wicks, Alfred L."],"year":2010,"date_issued":"2010-08-09","date_published":"2010-08-09","updated_at":"2026-07-22T22:20:03Z","subjects":["unmanned systems","robotics","tethered payloads"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-10082010-144859"],"render_values":[{"text":"etd-10082010-144859","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/35331","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Kochersberger, Kevin B."]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Southward, Steve C.","Wicks, Alfred L."]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["May, James"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2014-03-14T20:46:29Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2014-03-14T20:46:29Z","2010-10-26"]},{"key":"dc:date.issued","label":"Date","values":["2010-08-09"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["unmanned systems","robotics","tethered payloads"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["etd-10082010-144859"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/35331"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["A system is designed to deploy and support a tethered ground robot from an autonomous helicopter. A winch is designed and built. Electrical hardware for power distribution and control are designed. Several applied controls problems are investigated. A control architecture is established and low level controllers are designed to meet the demands of two higher level algorithms. A tether tension controller is designed to avoid the danger of excess slack in the tether interfering with the robot's mobility. A payload sway damping controller is investigated and simulated. Its is shown to be effective in damping dangerous payload oscillations by modulating the vertical manipulation of the winch during hoisting. Future design recommendations are given regarding improvements for a second design iteration."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:title","label":"Title","values":["Tethered Payload Control from an Autonomous Helicopter"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Kochersberger, Kevin B."],"dc:contributor.committeemember":["Southward, Steve C.","Wicks, Alfred L."],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["May, James"],"dc:date.accessioned":["2014-03-14T20:46:29Z"],"dc:date.available":["2014-03-14T20:46:29Z","2010-10-26"],"dc:date.issued":["2010-08-09"],"dc:description.abstract":["A system is designed to deploy and support a tethered ground robot from an autonomous helicopter. A winch is designed and built. Electrical hardware for power distribution and control are designed. Several applied controls problems are investigated. A control architecture is established and low level controllers are designed to meet the demands of two higher level algorithms. A tether tension controller is designed to avoid the danger of excess slack in the tether interfering with the robot's mobility. A payload sway damping controller is investigated and simulated. Its is shown to be effective in damping dangerous payload oscillations by modulating the vertical manipulation of the winch during hoisting. 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