Ornithopter optimal trajectory control

Dietl, John M.; Garcia, Ephrahim

doi:10.1016/j.ast.2012.04.003

Cited by 17 publications

(13 citation statements)

References 16 publications

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“…Moreover, the DelFly is an inherently stable platform that does not require active sub-flap commands over the flapping period for attitude and maneuver control -similar strategy was applied by Dietl and Garcia [35], [36]. The assumption of non-moving atmosphere neglects the vortices and wake structures generated by the flapping flight [37], assuming the flow as being steady around the platform.…”

Section: B Free Flight Testsmentioning

confidence: 98%

Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle

Caetano

Perçin

Visser

et al. 2014

2014 International Conference on Unmanned Aircraft Systems (ICUAS)

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The determination of dynamic forces acting on a Flapping Wing Micro Aerial Vehicle (FWMAV) is a challenging task due to the unsteady nature of force generation mechanisms. To assure a proper force identification in future researches, this work compares two different methods to obtain the longitudinal forces acting on FWMAVs and discusses their applicability regions. The methods were 1) calculation of forces from the recordings of the FWMAV's position in a free flight condition; 2) direct force measurements in a tethered flight condition in a wind tunnel. The DelFly II is used as the FWMAV test platform in the measurements. During free flight experiments, its position and attitude were recorded at a rate of 200Hz using an external visual tracking system, whose acquired information was then analyzed to obtain the flight states and calculate the forces and moments that act on the platform during flight, under a set of kinematic assumptions. Subsequently, similar flight conditions were tested in the tethered situation. An ATI Nano-17 Titanium force transducer was used to measure time-resolved forces. The results for the most common flight regime of the DelFly, which is a slow forward flight at a high body pitch angle, are presented. It is shown that the tethered force balance tests agree with the free flight data when assessing the aerodynamic forces that are perpendicular to the stroke plane of the flapping wing. However, the forces that act along the stroke plane are coupled with structural dynamic terms, thus affecting the final lift and thrust identification. These results point to inadequate force identification in fixed point force measurements, due to effect the of the dynamic modes of the FWMAV body, thus advising proper cross-comparing between experimental methods.

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Section: B Free Flight Testsmentioning

confidence: 98%

Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle

Caetano

Perçin

Visser

et al. 2014

2014 International Conference on Unmanned Aircraft Systems (ICUAS)

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“…One reason for such difficulties is the absence of a sufficiently accurate nonlinear model that can describe the unsteady aerodynamics of the FWMAVs' flapping motions [119,120] and the added inertia effect contribution to the MAVs dynamics [121]. In this context, a linear time invariant (LTI) model was developed in [121][122][123][124] via the use of standard aircraft equations. Another approach, known as the multi-body approach, was introduced.…”

Section: System Identification and Mathematical Modeling Of Flapping Wing Micro Air Vehicles (Fwmavs)mentioning

confidence: 99%

Review on System Identification and Mathematical Modeling of Flapping Wing Micro-Aerial Vehicles

Khan

Akmeliawati

2021

Applied Sciences

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This paper presents a thorough review on the system identification techniques applied to flapping wing micro air vehicles (FWMAVs). The main advantage of this work is to provide a solid background and domain knowledge of system identification for further investigations in the field of FWMAVs. In the system identification context, the flapping wing systems are first categorized into tailed and tailless MAVs. The most recent developments related to such systems are reported. The system identification techniques used for FWMAVs can be classified into time-response based identification, frequency-response based identification, and the computational fluid-dynamics based computation. In the system identification scenario, least mean square estimation is used for a beetle mimicking system recognition. In the end, this review work is concluded and some recommendations for the researchers working in this area are presented.

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“…Our work falls within the so-called intrinsic-Tau guidance, which computes the robot trajectories starting from an initial state with zero velocity and acceleration, and closing the gap with zero final velocity and acceleration in a predefined time interval, see e.g. [6], [14]. Additionally, different works improved standard intrinsic-Tau guidance systems by including non-zero initial velocity such as [10], [15].…”

Section: State Of the Artmentioning

confidence: 99%

“…This paper presents an event-based perception scheme for agile aerial robot maneuvers. It has a strong biological inspiration and tries to mimic birds, which perform perching and landing by matching the retinal separation of the images of their feet and the goal following time-tocontact trajectories [5], [6]. Event cameras mimic biological retinas in performing fast-response asynchronous data-driven light acquisition with high insensitivity to motion blur and lighting conditions.…”

Section: Introductionmentioning

confidence: 99%

Asynchronous Event-based Line Tracking for Time-to-Contact Maneuvers in UAS

Eguíluz

Dios

Ollero

2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents an bio-inspired event-based perception scheme for agile aerial robot maneuvering. It tries to mimic birds, which perform purposeful maneuvers by closing the separation in the retinal image (w.r.t. the goal) to follow time-to-contact trajectories. The proposed approach is based on event cameras, also called artificial retinas, which provide fast response and robustness against motion blur and lighting conditions. Our scheme guides the robot by only adjusting the position of features extracted in the event image plane to their goal positions at a predefined time using smooth timeto-contact trajectories. The proposed scheme is robust, efficient and can be added on top of commonly-used aerial robot velocity controllers. It has been validated on-board a UAV with real-time computation in low-cost hardware during sets of experiments with different descent maneuvers and lighting conditions.

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Ornithopter optimal trajectory control

Cited by 17 publications

References 16 publications

Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle

Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle

Review on System Identification and Mathematical Modeling of Flapping Wing Micro-Aerial Vehicles

Asynchronous Event-based Line Tracking for Time-to-Contact Maneuvers in UAS

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