International Journal of Micro Air Vehicles最新文献_第7页

Robust autonomous flight in cluttered environment using a depth sensor 基于深度传感器的混乱环境下的鲁棒自主飞行

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-05-01 DOI: 10.1177/1756829320924528

Liang Lu, Alexander Yunda, Adrian Carrio, P. Campoy

引用次数: 4

Vertical surface contact with a Micro Air Vehicle 垂直表面接触的微型飞行器

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-01-01 DOI: 10.1177/1756829320938745

Aaron Lopez Luna, Israel Cruz Vega, J. Martínez-Carranza

{"title":"Vertical surface contact with a Micro Air Vehicle","authors":"Aaron Lopez Luna, Israel Cruz Vega, J. Martínez-Carranza","doi":"10.1177/1756829320938745","DOIUrl":"https://doi.org/10.1177/1756829320938745","url":null,"abstract":"In this work, we present a novel design for vertical surface contact using a two degree of freedom robotic arm attached to a Micro Air Vehicle. To achieve this, we propose a controller based on a Gain-Scheduled Proportional–Integral–Derivative approach. In previous works, the Gain-Scheduled Proportional–Integral–Derivative method was used to control the attitude of the Micro Air Vehicle, thus mitigating the perturbations induced by the movement of the arm. The novel approach of this work focuses on the achievement of an automatized full-contact with a rigid vertical surface using a Micro Air Vehicle with a robotic arm. We have improved the capabilities of the Gain-Scheduled Proportional–Integral–Derivative control to consider the inherent issues of approximating to a flat structure in order to carry out an aerial interaction task successfully. For the Micro Air Vehicle’s position feedback, a motion capture system is used in this work. A paintbrush attached to the end effector of the arm is used to draw over a whiteboard surface to show the full contact of the aerial manipulator. A distance sensor is added to the on-board sensors to measure the distance between the vertical surface and the system to ensure a correct distance and achieve a safe contact. Experimental testing results show that the controller can maintain a stable flight with sufficient accuracy to complete the aerial interaction tasks.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829320938745","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44365926","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}

引用次数: 3

Propulsion performance investigation of bio-inspired nano rotor base on fluid–structure interaction 基于流固耦合的仿生纳米转子推进性能研究

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-01-01 DOI: 10.1177/1756829319900886

Shanyong Zhao, Zhen Liu, P. Che, Bingfei Li, Tianjiao Dang, Chen Bu

{"title":"Propulsion performance investigation of bio-inspired nano rotor base on fluid–structure interaction","authors":"Shanyong Zhao, Zhen Liu, P. Che, Bingfei Li, Tianjiao Dang, Chen Bu","doi":"10.1177/1756829319900886","DOIUrl":"https://doi.org/10.1177/1756829319900886","url":null,"abstract":"In this paper, the bio-inspired blade motion is introduced to improve the propulsive performance of nano rotor at an ultra-low Reynolds number. However, the complex flow interacts with the flexible composite blade structure resulting in the change of nano rotor propulsion performance and the vibration of blade structure. A composite nano rotor with blade-pitch motion is investigated computationally with a computational solvers based on fluid–structure interaction. The finite element model for the composite rotor is created and verified with a non-contact modal test. It is found that the simulation results matched well with the experimental results. Successively, the propulsive performance of a rigid nano rotor is studied. The propulsive performance of the nano rotor is analysed at different bio-inspired pitch frequencies. The results show that the figure of merit of the bio-inspired pitch rotor increases because of the bio-inspired blade pitch motion. And it is also found that the improvement of the propulsive performance of the nano rotor varies with the pitch frequency. The propulsive performance of the flexible bio-inspired nano rotor is also studied with by using fluid–structure interaction method. It is found that the computational results for flexible nano rotor are lower than that for rigid nano rotor. It is evident that it is necessary to consider the flexibility of the composite nano rotor when investigating the propulsion performance of bio-inspired nano rotor. And the response of blade structure is also studied. Structural dynamic analysis shows that the blade structure vibrates with small amplitude. And two peak values are found at the rotation frequency and the fundamental frequency of the nano rotor structure.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829319900886","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46434289","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}

引用次数: 0

Actuator modelling for attitude control using incremental nonlinear dynamic inversion 基于增量非线性动态反演的姿态控制执行器建模

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-01-01 DOI: 10.1177/1756829320961925

F. Binz, D. Moormann

引用次数: 2

Model-free control algorithms for micro air vehicles with transitioning flight capabilities 具有过渡飞行能力的微型飞行器的无模型控制算法

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-01-01 DOI: 10.1177/1756829320914264

J. Barth, Jean-Philippe Condomines, M. Bronz, J. Moschetta, C. Join, M. Fliess

{"title":"Model-free control algorithms for micro air vehicles with transitioning flight capabilities","authors":"J. Barth, Jean-Philippe Condomines, M. Bronz, J. Moschetta, C. Join, M. Fliess","doi":"10.1177/1756829320914264","DOIUrl":"https://doi.org/10.1177/1756829320914264","url":null,"abstract":"Micro air vehicles with transitioning flight capabilities, or simply hybrid micro air vehicles, combine the beneficial features of fixed-wing configurations, in terms of endurance, with vertical take-off and landing capabilities of rotorcrafts to perform five different flight phases during typical missions, such as vertical takeoff, transitioning flight, forward flight, hovering and vertical landing. This promising micro air vehicle class has a wider flight envelope than conventional micro air vehicles, which implies new challenges for both control community and aerodynamic designers. One of the major challenges of hybrid micro air vehicles is the fast variation of aerodynamic forces and moments during the transition flight phase which is difficult to model accurately. To overcome this problem, we propose a flight control architecture that estimates and counteracts in real-time these fast dynamics with an intelligent feedback controller. The proposed flight controller is designed to stabilize the hybrid micro air vehicle attitude as well as its velocity and position during all flight phases. By using model-free control algorithms, the proposed flight control architecture bypasses the need for a precise hybrid micro air vehicle model that is costly and time consuming to obtain. A comprehensive set of flight simulations covering the entire flight envelope of tailsitter micro air vehicles is presented. Finally, real-world flight tests were conducted to compare the model-free control performance to that of the Incremental Nonlinear Dynamic Inversion controller, which has been applied to a variety of aircraft providing effective flight performances.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2020-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829320914264","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45520717","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}

引用次数: 23

Effects of asymmetrical inflow in forward flight on the deformation of interacting flapping wings 前飞不对称流入对相互作用扑翼变形的影响

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2020-01-01 DOI: 10.1177/1756829320941002

Dnwm Heitzig, B. V. van Oudheusden, D. Olejnik, M. Karásek

引用次数: 1

Characterization of ducted contra-rotating propeller propulsions 管道对转螺旋桨推进器的特性

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2019-11-01 DOI: 10.1177/1756829319837661

Longfei Zhao, S. Shkarayev

引用次数: 3

Predictive feedback augmentation for manual control of an unmanned aerial vehicle with latency 具有时延的无人机手动控制预测反馈增强

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2019-09-01 DOI: 10.1177/1756829319869645

J. Cox, K. Wong

{"title":"Predictive feedback augmentation for manual control of an unmanned aerial vehicle with latency","authors":"J. Cox, K. Wong","doi":"10.1177/1756829319869645","DOIUrl":"https://doi.org/10.1177/1756829319869645","url":null,"abstract":"Teleoperation of unmanned aerial vehicles is hampered by communication delay, which causes feedback from command inputs to take considerable time to be displayed to the operator. For an international internet connection, round trip latencies can reach 500 ms. The satellite connections used for military unmanned aerial vehicles can have latencies in the order of seconds. This delay presents a substantial control problem, which has been solved in the past by control abstraction (instead of “roll left” the aircraft might be instructed “go to these coordinates”). Manual control remains difficult. This study borrows the client-side prediction concept from multiplayer video games to attempt to address the control delay to allow manual control. An estimate of the change in the vehicle state due to the commands that are yet to affect the feedback is computed and then the feedback that the pilot receives is modified to reflect this predicted change. Because of this change, the pilot can see immediately the effect of the control inputs. This study has explored the concept and built a prototype system functional in real time for flight testing with qualitative results presented.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2019-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829319869645","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44582083","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}

引用次数: 3

Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors 利用双对称机械手和柔性末端执行器探索空中栖息和抓取

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2019-09-01 DOI: 10.1177/1756829319877416

Pengfei Yu, Zihao Wang, K. Wong

引用次数: 13

Micro air vehicles energy transportation for a wireless power transfer system 用于无线电力传输系统的微型飞行器能量传输

IF 1.4 4区工程技术

International Journal of Micro Air Vehicles Pub Date : 2019-08-01 DOI: 10.1177/1756829319870057

Jose Polo, Lluís Hontecillas, Ignacio Izquierdo, O. Casas

{"title":"Micro air vehicles energy transportation for a wireless power transfer system","authors":"Jose Polo, Lluís Hontecillas, Ignacio Izquierdo, O. Casas","doi":"10.1177/1756829319870057","DOIUrl":"https://doi.org/10.1177/1756829319870057","url":null,"abstract":"The aim of this work is to demonstrate the feasibility use of an Micro air vehicles (MAV) in order to power wirelessly an electric system, for example, a sensor network, using low-cost and open-source elements. To achieve this objective, an inductive system has been modelled and validated to power wirelessly a sensor node using a Crazyflie 2.0 as MAV. The design of the inductive system must be small and light enough to fulfil the requirements of the Crazyflie. An inductive model based on two resonant coils is presented. Several coils are defined to be tested using the most suitable resonant configuration. Measurements are performed to validate the model and to select the most suitable coil. While attempting to minimize the weight at transmitter’s side, on the receiver side it is intended to efficiently acquire and manage the power obtained from the transmitter. In order to prove its feasibility, a temperature sensor node is used as demonstrator. The experiment results show successfully energy transportation by MAV, and wireless power transfer for the resonant configuration, being able to completely charge the node battery and to power the temperature sensor.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":"11 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2019-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1177/1756829319870057","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"41727019","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}

引用次数: 2