Quadrotors with Slung Payloads: Energy Analysis and Experimental Validation
Bibliographic record
Abstract
This paper analyzes the energy consumption of quadrotors with slung payloads. First, it develops novel expressions for the power and energy consumption for a quadrotor with a slung payload flying in 3D. These expressions are called the power and energy quotients, which are directly proportional to the actual power and energy consumption. However, they do not require any prior knowledge of the motor and propeller parameters. Second, a comprehensive energy investigation is conducted to find the effect of polynomial trajectories, cable length, arbitrary kinematic boundary conditions, and number of waypoints on the energy consumption. This analysis has been conducted via two different Monte Carlo simulations. The results showed that increasing the degree of the polynomial trajectory increases the energy consumption and there is an optimal cable length, at which, the energy consumption is minimal. These results are valid regardless of the kinematic boundary conditions, which implies that these results are valid regardless of the number of waypoints. All results have been validated experimentally.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".