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Unmanned aerial vehicle (UAV) had developed for many years, with quad-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle developing fastest. The equations of its flight attitude have been derived and verified by some scholars. Up to now, the quad-rotor unmanned aerial vehicle has already become one of the unmanned aerial vehicles (UAV) that(More)
The objective of this study is to develop a tri-rotor flying robot, which adopts the Y-shaped three-rotor structure. In order to balance the yaw torque produced by the three rotors, the RC servomotor and linkage is installed on the tail axis in order to improve the angle of the rolling axis of the tail motor. Moreover, through the torque generated by the(More)
The article presents a multiple residual power prediction system to be applied in mobile robots or automation fields. The system contains multiple power detection units to measure multiple online power values. Each power detection unit uses four current sensors to measure the current variety, and uses weighted average method and redundant management method(More)
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