A Micro Aircraft With Passive Variable-Sweep Wings

Bai, Songnan; Ding, Runze; Chirarattananon, Pakpong

doi:10.1109/lra.2022.3149034

Cited by 7 publications

(7 citation statements)

References 16 publications

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“…The drag generated by the aerodynamic surfaces is often modeled to be quadratic to the projected air speed and orthogonal to the surface. [39,40,50,51] Since the payload stabilizer consists of three orthogonal surfaces, the total aerodynamic damping becomes approximately isotropic. The drag force is directly dependent on the relative air velocity.…”

Section: Aerodynamic Dampingmentioning

confidence: 99%

“…For flat tail dampers, the aerodynamic force, or F t,i in Equation (5), is normal to the surface (parallel to a unit vector e t,i in the body frame in Figure 1c) and quadratically proportional to the perceived air speed attributed to the translation, p : T i R i e t,i , in the direction perpendicular to the damper, R i e t;i . [50] The contribution from the rotational rate is minimal as the attitude (and angular rate) of the robot is directly controlled. Hence…”

Section: Aerodynamic Dampingmentioning

confidence: 99%

“…}{p}_{i}^{\text{T}} R_{i} e_{\text{t} , i}$ , in the direction perpendicular to the damper,

R_{i} e_{\text{t,} i}

. [ 50 ] The contribution from the rotational rate is minimal as the attitude (and angular rate) of the robot is directly controlled. Hence

$$F_{\text{t} , i} = - \frac{1}{2} \rho A_{\text{t}} C_{\text{d}} \left(\right.

…”

Section: Dynamic Model and Influence Of Aeromechanic Stabilizersmentioning

confidence: 99%

“…The detailed procedure can be found in ref. [50]. The outcomes are sufficiently precise to generate the trajectory plots of the entire formation.…”

Section: Numerical and Experimental Validationmentioning

confidence: 99%

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Stabilizing Aerodynamic Dampers for Cooperative Transport of a Suspended Payload with Aerial Robots

Dong

Ding

Bai

et al. 2023

Advanced Intelligent Systems

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The current paper addresses the problem of stabilizing multiple aerial robots cooperatively transporting a cable‐suspended payload by an aeromechanic method. Instead of relying on global navigation satellite systems (GNSS) or vision and communication for agents to actively estimate and control the state of the multibody dynamics, lightweight air dampers to make the multiagent system inherently stable at its equilibrium state, permitting the robots to safely carry a load at a constant velocity are employed. This is achieved without additional state estimation or active correction. The proposed framework is proven stable and verified by simulations and extensive flight experiments. Lightweight mechanical dampers (under 7 g) are shown to be effective in attenuating undesired oscillations and overcoming disturbances. To this end, a team of four robots cooperatively transporting a payload over 20 m in open space is demonstrated, and three robots safely transporting a point‐mass payload over a distance of 45 m outdoors. The promising outcomes highlight the benefits of the passive strategy, which demands minimal hardware components and computation to realize the sophisticated aerial transport task.

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Section: Aerodynamic Dampingmentioning

confidence: 99%

Section: Aerodynamic Dampingmentioning

confidence: 99%

“…}{p}_{i}^{\text{T}} R_{i} e_{\text{t} , i}$ , in the direction perpendicular to the damper,

R_{i} e_{\text{t,} i}

. [ 50 ] The contribution from the rotational rate is minimal as the attitude (and angular rate) of the robot is directly controlled. Hence

$$F_{\text{t} , i} = - \frac{1}{2} \rho A_{\text{t}} C_{\text{d}} \left(\right.

…”

Section: Dynamic Model and Influence Of Aeromechanic Stabilizersmentioning

confidence: 99%

“…The detailed procedure can be found in ref. [50]. The outcomes are sufficiently precise to generate the trajectory plots of the entire formation.…”

Section: Numerical and Experimental Validationmentioning

confidence: 99%

See 2 more Smart Citations

Stabilizing Aerodynamic Dampers for Cooperative Transport of a Suspended Payload with Aerial Robots

Dong

Ding

Bai

et al. 2023

Advanced Intelligent Systems

Self Cite

View full text Add to dashboard Cite

show abstract

“…Several designs have also been proposed that enable aerial vehicles to passively change the shape of their body [25][26][27][28][29]. Bouman et al [25] and [26] demonstrated the automatic unfolding of an aerial vehicle after launch, while [27] presented a manually foldable wing drone with rapid deployment capabilities.…”

Section: Introductionmentioning

confidence: 99%

Nature-inspired in-flight foldable rotorcraft

et al. 2023

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In this paper, we introduce a novel rotary wing platform, that can fold and expand its wings during flight. The design of the rotorcraft is based on the monocopter platform, which are inspired from the flight of Samara seeds. The wings are constructed by applying origami technique to fold them in flight. Two configurations are presented where the folding of the wing is based on active and passive folding mechanisms. The two configurations can reduce their overall length by approximately 39% and 65% while in flight. A cyclic controller is implemented for controlling the translational motion, where the direction is controlled by pulsing the motors at specific instance during each cycle of rotation. We have presented experimental results to prove the control of our platform in different modes while in flight. The presented platforms enhances the practical uses of monocopter platform by providing it with the ability to reduce its footprint while in flight actively, and by allowing them to dive through the air without any additional actuator.

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