A Multi-Scale Simulation Methodology for the Samarai Monocopter ?UAV

Obradovic, Borna; Ho, G. C.; Barto, Rick; Fregene, Kingsley; Sharp, David J.

doi:10.2514/6.2012-5012

Cited by 13 publications

(6 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These natural abilities have fostered the development of aerial vehicles based on samaras. Examples of these are the Samarai developed by Lockheed-Martin (Obradovic et al, 2012;Fregene and Bolden, 2010) and the robotic samara developed by Ulrich et al (2010), which have a propeller installed to be remotely controlled. Similarly, Pounds and Singh (2015) present a sensor based on the shape of a winged seed to exploit the dispersal capabilities of these seeds.…”

Section: Introductionmentioning

confidence: 99%

Kinematics and dynamics of the auto-rotation of a model winged seed

Arranz¹,

Moriche²,

Uhlmann³

et al. 2018

Bioinspir. Biomim.

View full text Add to dashboard Cite

Numerical simulations of the auto-rotation of a model winged seed are presented. The calculations are performed by solving simultaneously the Navier-Stokes equations for the flow surrounding the seed and the rigid-body equations for the motion of the seed. The Reynolds number based on the descent speed and a characteristic chord length is varied in the range 80-240. Within this range, the seed attains an asymptotic state with finite amplitude auto-rotation, while for smaller values of the Reynolds number no auto-rotation is observed. The motion of the seed is characterized by the coning and pitch angles, the angular velocity and the horizontal translation of the seed. The values obtained for these quantities are qualitatively similar to those reported in the literature in experiments with real winged seeds. When increasing the Reynolds number, the seed tends to rotate at higher speeds, with less inclination with respect to the horizontal plane, and with a larger translation velocity. With respect to the aerodynamic forces, it is observed that, with increasing Reynolds number, the horizontal components decrease in magnitude while the vertical component increases. The force distribution along the wing span is characterized using both global and local characteristic speeds and chord lengths for the non-dimensionalisation of the force coefficients. It is found that the vertical component does not depend on the Reynolds number when using local scaling, while the chordwise component of the force does.

show abstract

Section: Introductionmentioning

confidence: 99%

Kinematics and dynamics of the auto-rotation of a model winged seed

Arranz¹,

Moriche²,

Uhlmann³

et al. 2018

Bioinspir. Biomim.

View full text Add to dashboard Cite

show abstract

“…Notable references are [2] [3] [4] [5] [6] [7], which focused on aspects related to the modeling, design, and control of the Monocopters. A more detailed study and modeling on the Monocopter's system dynamics, especially regarding its aerodynamic properties, can be found in [13] and [14].…”

Section: A Related Workmentioning

confidence: 99%

Design, modeling and control of a flying vehicle with a single moving part that can be positioned anywhere in space

2019

View full text Add to dashboard Cite

This paper presents a novel type of flying vehicle called the Monospinner, which has only one moving part, the propeller, and is yet able to hover and fully control its position. Its translational and attitude dynamics are formulated as a twelve-dimensional state space system, which may be linearized to a linear time-invariant system amenable to controllability analysis, controller synthesis, and vehicle design. It is shown that the linearized system may be both horizontally and vertically controllable in position after removing its yaw state, and in particular, this is shown for the case of a vehicle with the shape of a planar object and an offset thrust location (with respect to its center of mass). The vehicle's mass distribution is designed based on two robustness metrics: the ability to maintain hover under perturbations by means of Monte-Carlo nonlinear simulation, and the probability of input saturation based on a stochastic model. Experiments are conducted for the resulting vehicle and controller. The equilibrium of the resulting system has a large region of attraction such that it recovers after being thrown into the air like a frisbee.

show abstract

“…The UAS used in this paper is Lockheed Martin's Samarai -a maple seed inspired MAV (see [18], [19], [20] for additional discussion of design, aerodynamic analysis, modeling and control; [21] for flight videos; and [4] for its use for tracking an RF source). The Samarai MAV is a 30cm radius single-wing wholly rotating air vehicle capable of vertical takeoff/landing as well as autonomous flight using onboard sensors packaged into an avionics pod, see Figure 2.…”

Section: The Samarai Micro Air Vehiclementioning

confidence: 99%

GPS-optimal micro air vehicle navigation in degraded environments

Isaacs

Magee

Subbaraman

et al. 2014

2014 American Control Conference

Self Cite

View full text Add to dashboard Cite

Abstract-We investigate a computationally and memory efficient algorithm for radio frequency (RF) source-seeking with a single-wing rotating micro air vehicle (MAV) operating in an urban canyon environment. We present an algorithm that overcomes two significant difficulties of operating in an urban canyon environment. First, Global Positioning System (GPS) localization quality can be degraded due to the lack of clear line of sight to a sufficient number of GPS satellites. Second, the spatial RF field is complex due to multipath reflections leading to multiple maxima and minima in received signal strength (RSS). High quality GPS localization is maintained by observing the GPS signal to noise ratio (SNR) to each satellite and making inferences about directions of high GPS visibility (allowable) and directions of low GPS visibility (forbidden). To avoid local maxima in RSS due to multipath reflections we exploit the rotation of the MAV and the directionality of its RF antenna to derive estimates of the angle of arrival (AOA) at each rotation. Under mild assumptions on the noise associated with the AOA measurements, a greedy algorithm is shown to exhibit a global recurrence property. Simulations supplied with actual GPS SNR measurements indicate that this algorithm reliably finds the RF source while maintaining an acceptable level of GPS visibility. Additionally, outdoor experiments using Lockheed Martin's Samarai MAV demonstrate the efficacy of this approach for static source-seeking in an urban canyon environment.

show abstract

A Multi-Scale Simulation Methodology for the Samarai Monocopter ?UAV

Cited by 13 publications

References 4 publications

Kinematics and dynamics of the auto-rotation of a model winged seed

Kinematics and dynamics of the auto-rotation of a model winged seed

Design, modeling and control of a flying vehicle with a single moving part that can be positioned anywhere in space

GPS-optimal micro air vehicle navigation in degraded environments

Contact Info

Product

Resources

About