Effects of Leaders Position and Shape on Aerodynamic Performances of V Flight Formation
Bandung Institute of Technology（万隆理工学院）
H. P. Thien, M. A. Moelyadi, H. Muhammad
备注：
Uploaded by ICIUS2007 Conference Organizer on behalf of the author(s). 7 pages, 15 figures
发表信息：
Proceedings of the International Conference on Intelligent Unmanned System (ICIUS 2007), Bali, Indonesia, October 24-25, 2007, Paper No. ICIUS2007-A008
The influences of the leader in a group of V flight formation are dealt with. The investigation is focused on the effect of its position and shape on aerodynamics performances of a given V flight formation. Vortices generated the wing tip of the leader moves downstream forming a pair of opposite rotating line vortices. These vortices are generally undesirable because they create a downwash that increases the induced drag on leaders wing. However, this downwash is also accompanied by an upwash that can beneficial to the followers wing flying behind the leaders one, namely a favorable lift for the followers wing. How much contributions of the leaders wing to the followers wing in the V formation flight is determined by the strength of tip vortices generated by the leaders wing which is influenced by its position and shape including incidence angle, dihedral angle, aspect ratio and taper ratio. The prediction of aerodynamic performances of the V flight formation including lift, drag and moment coefficients is numerically performed by solving Navier Stokes equations with k e turbulence model. The computational domain is defined with multiblock topology to capture the complex geometry arrangement of the V flight formation.
Estimation of Aerodynamics Forces in Dynamic Morphing Wing Flight
Silicon Synapse Lab., Department of Electrical and Computer Engineering, Northeastern University, Boston, USA（Silicon Synapse实验室，电气与计算机工程系，东北大学，波士顿，美国）；Department of Mechanical Engineering, Univ. of California, Berkeley CA 94720, USA（机械工程系，加州大学伯克利分校，伯克利，美国）；Department of Aerospace Engineering, California Institute of Technology, Pasadena, USA（航空航天工程系，加州理工学院，帕萨迪纳，美国）
We present a range-based solution for indoor relative localization by Micro Air Vehicles (MAVs), achieving sufficient accuracy for leader-follower flight. Moving forward from previous work, we removed the dependency on a common heading measurement by the MAVs, making the relative localization accuracy independent of magnetometer readings. We found that this restricts the relative maneuvers that guarantee observability, and also that higher accuracy range measurements are required to rectify the missing heading information, yet both disadvantages can be tackled. Our implementation uses Ultra Wi…
Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing aerodynamics are characterised by highly unsteady and three-dimensional flows difficult to model or control, and accurate aerodynamic force predictions often rely on expensive computational or experimental methods. Here, we developed a computationally efficient and data-driven state-space model to dynamically map wing kinematics to aerodynamic forces/moments. This mod…
Quadrotors are extremely agile, so much in fact, that classic first-principle-models come to their limits. Aerodynamic effects, while insignificant at low speeds, become the dominant model defect during high speeds or agile maneuvers. Accurate modeling is needed to design robust high-performance control systems and enable flying close to the platform's physical limits. We propose a hybrid approach fusing first principles and learning to model quadrotors and their aerodynamic effects with unprecedented accuracy. First principles fail to capture such aerodynamic effects, rendering traditional ap…
Design and Aerodynamic Modeling of MetaMorpher: A Hybrid Rotary andFixed-Wing Morphing UAV
University of Zagreb, Faculty of Electrical Engineering and Computing, LARICS Laboratory for Robotics and Intelligent Control Systems（萨格勒布大学电气工程与计算学院LARICS机器人智能控制系统实验室）
This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global control formulation enables maneuvering throughout the flight envelope, including uncoordinated flight with sideslip. Differential flatness of the nonlinear tailsitter dynamics with a simplified aerodynamics model is shown. Using the flatness transform, the proposed controller incorporates tracking of the position reference along with its derivatives velocity,…
California Institute of Technology（加州理工学院）；Northeastern University（东北大学）
Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible wings and are capable of dynamically morphing their wings to adjust aerodynamic and inertial forces applied to their wing and perform sharp banking turns. There are technical hardware and control challenges in copying the morphing wing flight capabilities of flying animals. This work is majorly focused on the modeling and control aspects of stable, tail-less,…
Tried-and-true flapping wing robot simulation is essential in developing flapping wing mechanisms and algorithms. This paper presents a novel application-oriented flapping wing platform, highly compatible with various mechanical designs and adaptable to different robotic tasks. First, the blade element theory and the quasi-steady model are put forward to compute the flapping wing aerodynamics based on wing kinematics. Translational lift, translational drag, rotational lift, and added mass force are all considered in the computation. Then we use the proposed simulation platform to investigate t…
Morphing multirotors, such as the Foldable Drone , can increase the versatility of drones employing in-flight-adaptive-morphology. To further increase precision in their tasks, recent works have investigated stable flight in asymmetric morphologies mainly leveraging the low-level controller. However, the aerodynamic effects embedded in multirotors are only analyzed in fixed shape aerial vehicles and are completely ignored in morphing drones. In this paper, we investigate the effects of the partial overlap between the propellers and the main body of a morphing quadrotor. We perform experiments …
Geometric Inverse Flight Dynamics on SO(3) and Application to Tethered Fixed-Wing Aircraft
Robotics and Mechatronics lab, Faculty of Electrical Engineering, Mathematics & Computer Science, University of Twente（代尔夫特理工大学机器人与机电实验室，电气工程、数学与计算机科学学院，代尔夫特理工大学）；Department of Computer, Control and Management Engineering, Sapienza University of Rome（罗马大学计算机、控制与管理工程系，罗马萨皮恩扎大学）
Multi-Agent gatekeeper: Safe Flight Planning and Formation Control for Urban Air Mobility
Department of Electrical & Computer Engineering（电气与计算机工程系）；Department of Robotics（机器人学系）；Department of Robotics and Department of Aerospace Engineering（机器人学系和航空航天工程系）
Motivated by a winged seed, which takes advantage of a wing with high angles of attack and its associated leading-edge vortex to boost lift, we propose a powered 13.8-gram aerial robot with the maximum take-off weight of 310 mN (31.6 gram) or thrust-to-weight ratio of 2.3. The robot, consisting of two airfoils and two horizontally directed motor-driven propellers, revolves around its vertical axis to hover. To amplify the thrust production while retaining a minimal weight, we develop an optimization framework for the robot and airfoil geometries. The analysis integrates quasi-steady aerodynami…
Perception and Steering Control in Paired Bat Flight
Center for Ecology and Conservation Biology, Department of Biology, Boston University（生态与保护生物学中心，生物学系，波士顿大学）；Department of Mechanical Engineering, Department of Electrical and Computer Engineering, Division of Systems Engineering, Boston University（机械工程系，电气与计算机工程系，系统工程 division，波士顿大学）
Faculty of Aerospace Engineering, Delft University of Technology（代尔夫特理工大学航空航天工程学院）；Department of Systems Control and Flight Dynamics, ONERA - The French Aerospace Lab（法国航空航天实验室（ONERA）系统控制与飞行动力学系）
Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using robotic flyers. Such an approach holds a promise for a more systematic and repeatable methodology for flow visualisation, through a better controlled flight. Such experiments require high precision position control, however, and until now this was not possible due to the challenging flight dynamics and payload restrictions of flapping wing Micro Air Vehicles…
This paper proposes a novel algorithm for aerobatic trajectory generation for a vertical take-off and landing (VTOL) tailsitter flying wing aircraft. The algorithm differs from existing approaches for fixed-wing trajectory generation, as it considers a realistic six-degree-of-freedom (6DOF) flight dynamics model, including aerodynamics equations. Using a global dynamics model enables the generation of aerobatics trajectories that exploit the entire flight envelope, enabling agile maneuvering through the stall regime, sideways uncoordinated flight, inverted flight etc. The method uses the diffe…
Differentiable Physics-Informed Adaptive Koopman Control for Stable Flight under Unknown Disturbances
Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University（西北工业大学航天学院智能机器人研究中心）；Department of Automation, Tsinghua University（清华大学自动化系）
