00:00Electron card overcomes these challenges very easily with its
00:29airborne capabilities by carrying cargo and flying as intended by humans. Electron is the
00:35newly developed platform to overcome the limitations of the conventional cargo,
00:40aerial cargo transportation. It contains an exoskeleton so therefore it is very safe
00:45from the human contact and also it can carry the payload very easily without changing the
00:51attitude of the payload so it can provide a very good potential for future payload transportation.
01:22But unlike conventional multi-rotor it can be tilted so with using those tilt technologies
01:29this is a conventional multi-rotor where the propellers are all fixed so therefore if you
01:34want to go left it needs to be tilted left if it wants to go right it needs to tilt right.
01:40But however in this case this is a Pelotron V3 platform. Each propeller contains a servo
01:47mechanism that can control the direction of the thrust. Each propeller all the propellers are
01:54containing the servo motors so therefore by combining those thrust commands we can just
02:00move the entire platform left and right without rotating the attitude of the entire platform.
02:06To overcome the issues we designed a new type of platform. The proposed platform has a cubic
02:12exterior and all propulsion systems are housed inside the fuselage. Then we can place the payload
02:19above the fuselage therefore a payload size limitation can be relieved. The propulsion
02:25system is also newly designed. At the core of the fuselage the servo mechanism is placed with two
02:30arms attached to each axis, axis 1 and axis 2, where a pair of propeller thrusters are installed
02:38on the edge of each component.
02:40This technology has some good characteristics. For example
03:10it can move in an uneven unpaved terrain or stairs where the conventional car cannot move.
03:32When we just push the platform and pull the platform and if we can make the platform to
03:37move accordingly then we can control the motion of the platform. Then we can think about
03:45putting the cargo payload on the top of the side and move those platforms
03:50with using the human-robot interaction technique. Then this becomes a cart.
03:54So this is the reason why we have developed this Peloton shopping cart.
04:08We made a new algorithm called MOSE which is motor free online center of mass estimation algorithm
04:19and with utilizing those algorithms we were able to estimate the center of mass,
04:24updated center of mass position very accurately so therefore we are able to carry the cargo,
04:29the unknown cargo without changing its attitude. Experiment with an actual unknown payload is
04:36conducted. We placed an unknown payload in a random position and start. We compare the flight
04:41performance with and without estimation where the flight after estimation shows improved flight
04:48performance on carrying the payload more stable. So the Peloton is not just a flying shopping cart.
04:56It can be used so using the platform's capacity to maintain its attitude it could be used as an
05:04air taxi industry or it could be used as a general base platform for future aerial robotic tasks.
05:11And we are also developing a new technology called aerial docking which can dock during the mid-air
05:17and then using those technology we are now preparing an aerial batteries change applications
05:24which means that you can maintain a flight even without coming back to the ground and
05:28changing the batteries.
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