International Journal of Micro Air Vehicles最新文献

{"title":"Modeling the unstable DelftaCopter vertical take-off and landing tailsitter unmanned air vehicle in hover and forward flight from flight test data","authors":"C. De Wagter, J. Meulenbeld","doi":"10.1177/1756829319880302","DOIUrl":"https://doi.org/10.1177/1756829319880302","url":null,"abstract":"The DelftaCopter is a tilt-body tailsitter unmanned air vehicle which combines a large swashplate controlled helicopter rotor with a biplane delta-wing. Previous research has shown that the large moment of inertia of the wing and fuselage significantly interacts with the dynamics of the rotor. While this rigid rotor cylinder dynamics model has allowed initial flight testing, part of the dynamics remains unexplained. In particular, higher frequency dynamics and the forward flight dynamics were not modeled. In this work, the cylinder dynamics model is compared with the tip-path plane model, which includes the steady-state flapping dynamics of the blades. The model is then extended to include the wing and elevon dynamics during forward flight. Flight test data consisting of excitations with a large frequency content are used to identify the model parameters using grey-box modeling. Since the DelftaCopter is unstable, flight tests can only be performed while at least a rate feedback controller is active. To reduce the influence of this active controller on the identification of the dynamics, one axis is identified at a time while white noise is introduced on all other axes. The tip-path plane model is shown to be much more accurate in reproducing the high-frequency attitude dynamics of the DelftaCopter. The significant rotor–wing interaction is shown to differ greatly from what is seen in traditional helicopter models. Finally, an Linear-Quadratic Regulator (LQR) controller based on the tip-path plane model is derived and tested to validate its applicability. Modeling the attitude dynamics of the unstable DelftaCopter from flight test data has been shown to be possible even in the presence of the unavoidable baseline controller.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829319880302","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47673080","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Simulating unmanned aerial vehicle swarms with the UB-ANC Emulator","authors":"J. Modares, Nicholas Mastronarde, Karthik Dantu","doi":"10.1177/1756829319837668","DOIUrl":"https://doi.org/10.1177/1756829319837668","url":null,"abstract":"Recent advances in multi-rotor vehicle control and miniaturization of hardware, sensing, and battery technologies have enabled cheap, practical design of micro air vehicles for civilian and hobby applications. In parallel, several applications are being envisioned that bring together a swarm of multiple networked micro air vehicles to accomplish large tasks in coordination. However, it is still very challenging to deploy multiple micro air vehicles concurrently. To address this challenge, we have developed an open software/hardware platform called the University at Buffalo’s Airborne Networking and Communications Testbed (UB-ANC), and an associated emulation framework called the UB-ANC Emulator. In this paper, we present the UB-ANC Emulator, which combines multi-micro air vehicle planning and control with high-fidelity network simulation, enables practitioners to design micro air vehicle swarm applications in software and provides seamless transition to deployment on actual hardware. We demonstrate the UB-ANC Emulator’s accuracy against experimental data collected in two mission scenarios: a simple mission with three networked micro air vehicles and a sophisticated coverage path planning mission with a single micro air vehicle. To accurately reflect the performance of a micro air vehicle swarm where communication links are subject to interference and packet losses, and protocols at the data link, network, and transport layers affect network throughput, latency, and reliability, we integrate the open-source discrete-event network simulator ns-3 into the UB-ANC Emulator. We demonstrate through node-to-node and end-to-end measurements how the UB-ANC Emulator can be used to simulate multiple networked micro air vehicles with accurate modeling of mobility, control, wireless channel characteristics, and network protocols defined in ns-3.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829319837668","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48176053","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Nonparametric background modelling and segmentation to detect micro air vehicles using RGB-D sensor","authors":"Navid Dorudian, S. Lauria, S. Swift","doi":"10.1177/1756829318822327","DOIUrl":"https://doi.org/10.1177/1756829318822327","url":null,"abstract":"A novel approach to detect micro air vehicles in GPS-denied environments using an external RGB-D sensor is presented. The nonparametric background subtraction technique incorporating several innovative mechanisms allows the detection of high-speed moving micro air vehicles by combining colour and depth information. The proposed method stores several colour and depth images as models and then compares each pixel from a frame with the stored models to classify the pixel as background or foreground. To adapt to scene changes, once a pixel is classified as background, the system updates the model by finding and substituting the closest pixel to the camera with the current pixel. The background model update presented uses different criteria from existing methods. Additionally, a blind update model is added to adapt to background sudden changes. The proposed architecture is compared with existing techniques using two different micro air vehicles and publicly available datasets. Results showing some improvements over existing methods are discussed.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829318822327","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47720454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A design methodology for quiet and long endurance MAV rotors","authors":"R. Serré, Hugo Fournier, J. Moschetta","doi":"10.1177/1756829319845937","DOIUrl":"https://doi.org/10.1177/1756829319845937","url":null,"abstract":"Over the last 10 years, the use of micro air vehicles has rapidly covered a broad range of civilian and military applications. While most missions require optimizing the endurance, a growing number of applications also require acoustic covertness. For rotorcraft micro air vehicles, combining endurance and covertness heavily relies on the capability to design new propulsion systems. The present paper aims at describing a complete methodology for designing quiet and efficient micro air vehicle rotors, ranging from preliminary aerodynamic prediction to aeroacoustic optimization to experimental validation. The present approach is suitable for engineering purposes and can be applied to any multirotor micro air vehicle. A fast-response and reliable aerodynamic design method based on the blade-element momentum theory has been used and coupled with an extended acoustic model based on the Ffowcs Williams and Hawkings equation as well as analytical formulations for broadband noise. The aerodynamic and acoustic solvers have been coupled within an optimization tool. Key design parameters include the number of blades, twist and chord distribution along the blade, as well as the choice of an optimal airfoil. An experimental test bench suitable for non-anechoic environment has been developed in order to assess the benefit of the new rotor designs. Optimal rotors can maintain high aerodynamic efficiency and low acoustic signature with noise reductions in the order of 10 dB(A).","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2019-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829319845937","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49241100","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Simulation and flight experiments of a quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle with wide flight envelope","authors":"X. Lyu, Haowei Gu, Jinni Zhou, Zexiang Li, S. Shen, Fu Zhang","doi":"10.1177/1756829318813633","DOIUrl":"https://doi.org/10.1177/1756829318813633","url":null,"abstract":"This paper presents the modeling, simulation, and control of a small-scale electric powered quadrotor tail-sitter vertical take-off and landing unmanned aerial vehicle. In the modeling part, a full attitude wind tunnel test is performed on the full-scale unmanned aerial vehicle to capture its aerodynamics over the flight envelope. To accurately capture the degradation of motor thrust and torque at the presence of the forward speed, a wind tunnel test on the motor and propeller is also carried out. The extensive wind tunnel tests, when combined with the unmanned aerial vehicle kinematics model, dynamics model and other practical constraints such as motor saturation and delay, lead to a complete flight simulator that can accurately reveal the actual aircraft dynamics as verified by actual flight experiments. Based on the developed model, a unified attitude controller and a stable transition controller are designed and verified. Both simulation and experiments show that the developed attitude controller can stabilize the unmanned aerial vehicle attitude over the entire flight envelope and the transition controller can successfully transit the unmanned aerial vehicle from vertical flight to level flight with negligible altitude dropping, a common and fundamental challenge for tail-sitter vertical take-off and landing aircrafts. Finally, when supplied with the designed controller, the tail-sitter unmanned aerial vehicle can achieve a wide flight speed envelope ranging from stationary hovering to fast level flight. This feature dramatically distinguishes our aircraft from conventional fixed-wing airplanes.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2018-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829318813633","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43703651","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Performance analysis of vertically offset overlapped propulsion system based quadrotor in an aerial mapping mission","authors":"G. Nandakumar, Rohan Saphal, Ashish Joishy, Asokan Thondiyath","doi":"10.1177/1756829318809706","DOIUrl":"https://doi.org/10.1177/1756829318809706","url":null,"abstract":"In this paper, the authors present the performance analysis of a Vertically Offset Overlapped Propulsion System (VOOPS)-based quadrotor in an aerial mapping mission. The dynamic model of the VOOPS quadrotor with the effect of overlapping propellers and the profile drag has been derived and simulated. A path-tracking mission is taken as an example for aerial survey. The controller used for this task is presented, followed by the response study of the attitude and the position controller with standard test inputs. A graphical interface has been built to select the area to be mapped by defining a polygon around it, and waypoints for lawn-mower type survey grid were generated based on the direction of wind. The path-tracking algorithm is presented along with course correction and simulations were performed with both conventional and VOOPS quadrotor. An experimental vehicle based on the proposed VOOPS concept has been built, tested on the same path, and the results are discussed. The results show that the VOOPS quadrotor is capable of performing the aerial mapping mission with quick response and good accuracy.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2018-10-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829318809706","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42993263","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Attitude estimation using horizon detection in thermal images","authors":"Adrian Carrio, Hriday Bavle, P. Campoy","doi":"10.1177/1756829318804761","DOIUrl":"https://doi.org/10.1177/1756829318804761","url":null,"abstract":"The lack of redundant attitude sensors represents a considerable yet common vulnerability in many low-cost unmanned aerial vehicles. In addition to the use of attitude sensors, exploiting the horizon as a visual reference for attitude control is part of human pilots’ training. For this reason, and given the desirable properties of image sensors, quite a lot of research has been conducted proposing the use of vision sensors for horizon detection in order to obtain redundant attitude estimation onboard unmanned aerial vehicles. However, atmospheric and illumination conditions may hinder the operability of visible light image sensors, or even make their use impractical, such as during the night. Thermal infrared image sensors have a much wider range of operation conditions and their price has greatly decreased during the last years, becoming an alternative to visible spectrum sensors in certain operation scenarios. In this paper, two attitude estimation methods are proposed. The first method consists of a novel approach to estimate the line that best fits the horizon in a thermal image. The resulting line is then used to estimate the pitch and roll angles using an infinite horizon line model. The second method uses deep learning to predict attitude angles using raw pixel intensities from a thermal image. For this, a novel Convolutional Neural Network architecture has been trained using measurements from an inertial navigation system. Both methods presented are proven to be valid for redundant attitude estimation, providing RMS errors below 1.7° and running at up to 48 Hz, depending on the chosen method, the input image resolution and the available computational capabilities.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2018-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829318804761","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48318491","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bioinspired wind field estimation—part 1: Angle of attack measurements through surface pressure distribution","authors":"N. Gavrilović, M. Bronz, J. Moschetta, E. Bénard","doi":"10.1177/1756829318794172","DOIUrl":"https://doi.org/10.1177/1756829318794172","url":null,"abstract":"One of the major challenges of Mini-Unmanned Aerial Vehicle flight is the unsteady interaction with turbulent environment while flying in lower levels of atmospheric boundary layer. Following inspiration from nature we expose a new system for angle of attack estimation based on pressure measurements on the wing. Such an equipment can be used for real-time estimation of the angle of attack during flight or even further building of wind velocity vector with additional equipment. Those information can find purpose in control and stabilization of the aircraft due to inequalities seen by the wing or even for various soaring strategies that rely on active control for energy extraction. In that purpose, flying wing aircraft has been used with totally four span-wise locations for local angle of attack estimation. In-flight angle of attack estimation from differential pressure measurements on the wing has been compared with magnetic sensor with wind vane. The results have shown that pressure ports give more reliable estimation of angle of attack when compared to values given by wind vane attached to a specially designed air-boom. Difference in local angle of attack at four span-wise locations has confirmed spatial variation of turbulence in low altitude flight. Moreover, theoretical law of energy dissipation for wind components described by Kaimal spectrum has shown acceptable match with estimated ones.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829318794172","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49529818","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Application of a lattice Boltzmann method to some challenges related to micro-air vehicles","authors":"N. Gourdain, T. Jardin, R. Serré, S. Prothin, J. Moschetta","doi":"10.1177/1756829318794174","DOIUrl":"https://doi.org/10.1177/1756829318794174","url":null,"abstract":"The demand for micro-air vehicles is increasing as well as their potential missions. Whether for discretion in military operations or noise pollution in civilian use, the improvement of aerodynamic and acoustic performance of micro-air vehicles propeller is a goal to achieve. Micro- and nano-air vehicles operate at Reynolds numbers ranging from 103 to 105. In these conditions, the aerodynamic performance of conventional fixed and rotary wings concepts drastically decreases due to the increased importance of flow viscous forces that tend to increase drag and promote flow separation, which leads to reduced efficiency and reduced maximum achievable lift. Reduced efficiency and lift result in low endurance and limited payloads. The numerical simulation is a potential solution to better understand such low Reynolds number flows and to increase the micro-air vehicles’ performance. In this paper, it is proposed to review some challenges related to micro-air vehicles by using a Lattice-Boltzmann method. The method is first briefly presented, to point out its strengths and weaknesses. Lattice-Boltzmann method is then applied to three different applications: a DNS of a single blade rotor, a large eddy simulation of a rotor operating in-ground effect and a large eddy simulation of a rotor optimised for acoustic performance. A comparison with reference data (Reynolds Averaged Navier-Stokes, DNS or experimental data) is systematically done to assess the accuracy of lattice-Boltzmann method-based predictions. The analysis of results demonstrates that lattice-Boltzmann method has a good potential to predict the mean aerodynamic performance (torque and thrust) if the grid resolution is chosen adequately (which is not always possible due to limited computational resources). A study of the turbulent flow is conducted for each application in order to highlight some of the physical flow phenomena that take place in such rotors. Different designs are also investigated, showing that potential improvements are still possible in terms of aerodynamic and aero-acoustic performance of low-Reynolds rotors.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829318794174","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46307997","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Editorial IJMAV","authors":"J. Moschetta, G. Hattenberger, Henry de Plinval, Thierry Jardin","doi":"10.1177/1756829318802404","DOIUrl":"https://doi.org/10.1177/1756829318802404","url":null,"abstract":"IMAV 2017 has gathered more than 280 participants from 30 different countries including Asia, North, Central and South America, Europe, and Australia. The special issue IMAV 2017 includes a selection of the best papers nominated for the \"Best Paper Award\".","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":null,"pages":null},"PeriodicalIF":1.4,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829318802404","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43092378","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}