Pub Date : 2022-01-01DOI: 10.1177/17568293221110931
Ziqing Ma, E. Smeur, G. C. de Croon
Tailsitters have complex aerodynamics that make them hard to control throughout the entire flight envelope, especially at very high angle of attack (AoA) and reverse flow conditions. The development of controllers for these vehicles is hampered by the absence of publicly available data on forces and moments experienced in such conditions. In this paper, wind tunnel experiments are performed under different flap deflections and throttle settings at all possible AoA. The dataset is made open access. Our analysis of the data shows for the tested wing, flap deflections greatly affect the lift coefficient and stall occurs at ± 15 ∘ AoA as well as ± 160 ∘ . Wing-propeller interaction is studied by analyzing the propeller induced force in the axis orthogonal to the thrust axis, which is dependent on AoA, airspeed, flap deflections and thrust in a nonlinear and coupled manner. The influence of inverse flow on the wing is also discussed: The data confirm that when the airflow over the wing is reversed, flap deflections will affect the pitch moment in an opposite way compared to the non-reversed case, but this opposite effect can be avoided by increasing the throttle setting. The data show the exact relationship between flap deflections and forces in this condition. Moreover, it is found that the flap control effectiveness for a wing with or without spinning propellers is usually higher around zero degrees AoA than at ± 180 ∘ and it is more effective to change the flaps from 0 ∘ to ± 18.91 ∘ than from ± 18.91 ∘ to the respective ± 37.82 ∘ .
{"title":"Wind tunnel tests of a wing at all angles of attack","authors":"Ziqing Ma, E. Smeur, G. C. de Croon","doi":"10.1177/17568293221110931","DOIUrl":"https://doi.org/10.1177/17568293221110931","url":null,"abstract":"Tailsitters have complex aerodynamics that make them hard to control throughout the entire flight envelope, especially at very high angle of attack (AoA) and reverse flow conditions. The development of controllers for these vehicles is hampered by the absence of publicly available data on forces and moments experienced in such conditions. In this paper, wind tunnel experiments are performed under different flap deflections and throttle settings at all possible AoA. The dataset is made open access. Our analysis of the data shows for the tested wing, flap deflections greatly affect the lift coefficient and stall occurs at ± 15 ∘ AoA as well as ± 160 ∘ . Wing-propeller interaction is studied by analyzing the propeller induced force in the axis orthogonal to the thrust axis, which is dependent on AoA, airspeed, flap deflections and thrust in a nonlinear and coupled manner. The influence of inverse flow on the wing is also discussed: The data confirm that when the airflow over the wing is reversed, flap deflections will affect the pitch moment in an opposite way compared to the non-reversed case, but this opposite effect can be avoided by increasing the throttle setting. The data show the exact relationship between flap deflections and forces in this condition. Moreover, it is found that the flap control effectiveness for a wing with or without spinning propellers is usually higher around zero degrees AoA than at ± 180 ∘ and it is more effective to change the flaps from 0 ∘ to ± 18.91 ∘ than from ± 18.91 ∘ to the respective ± 37.82 ∘ .","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46649811","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}
Pub Date : 2022-01-01DOI: 10.1177/17568293221092139
J. Wauters
In this paper the design optimization-under-uncertainty of a forward swept wing (FSW) blended wing body (BWB) unmanned aerial vehicle (UAV) is examined. Conventional BWBs are often tailless, which leads to a backward swept wing to ensure longitudinal static stability. This in turn can induce flow separation at the tip, leading to a loss of lift, controllability and the appearance of a nose-up pitching moment. A possible solution to this problem is a conceptual redesign by introducing a forward swept wing, which is inherently free of tip-stall, but needs a careful design in order to be controllable. However, fixed wing UAVs are often produced by means of direct injection expanded foam moulding, which is characterized by not negligible production tolerances. This lead to a reliability-based robust design optimization problem, for which a novel framework is employed: SAMURAI. Firstly, the method accounts for computational cost by means of surrogate modelling, an analytical treatment of the problem and an asynchronous updating scheme that balances design space exploration and objective exploitation. Secondly, the method treats the problem as a multi-objective problem, which leads to a Pareto front of robust and reliable designs. The result is a novel series of UAV designs that are inherently free of tip stall, perform robustly and meet the stability requirements with the target reliability obtained with a computationally feasible budget.
{"title":"Design optimization-under-uncertainty of a forward swept wing unmanned aerial vehicle using SAMURAI","authors":"J. Wauters","doi":"10.1177/17568293221092139","DOIUrl":"https://doi.org/10.1177/17568293221092139","url":null,"abstract":"In this paper the design optimization-under-uncertainty of a forward swept wing (FSW) blended wing body (BWB) unmanned aerial vehicle (UAV) is examined. Conventional BWBs are often tailless, which leads to a backward swept wing to ensure longitudinal static stability. This in turn can induce flow separation at the tip, leading to a loss of lift, controllability and the appearance of a nose-up pitching moment. A possible solution to this problem is a conceptual redesign by introducing a forward swept wing, which is inherently free of tip-stall, but needs a careful design in order to be controllable. However, fixed wing UAVs are often produced by means of direct injection expanded foam moulding, which is characterized by not negligible production tolerances. This lead to a reliability-based robust design optimization problem, for which a novel framework is employed: SAMURAI. Firstly, the method accounts for computational cost by means of surrogate modelling, an analytical treatment of the problem and an asynchronous updating scheme that balances design space exploration and objective exploitation. Secondly, the method treats the problem as a multi-objective problem, which leads to a Pareto front of robust and reliable designs. The result is a novel series of UAV designs that are inherently free of tip stall, perform robustly and meet the stability requirements with the target reliability obtained with a computationally feasible budget.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49023515","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}
Pub Date : 2022-01-01DOI: 10.1177/17568293211070825
H. J. Karssies, C. De Wagter
Hybrid UAVs have gained a lot of interest for their combined vertical take-off & landing (VTOL) and efficient forward flight capabilities. But their control is facing challenges in over-actuation and conflicting requirements depending on the flight phase which can easily lead to actuator saturation. Incremental Non-linear Control Allocation (INCA) has been proposed to solve the platform’s control allocation problem in the case of saturation or over-actuation by minimizing a set of objective functions. This work demonstrates INCA on quadplanes, an in-plane combination between a quadrotor and a conventional fixed-wing, and proposes an extension to control the outer loop. The novel controller is called Extended INCA (XINCA) and adds the wing orientation as a force-generating actuator in the outerloop control optimization. This leads to a single controller for all flight phases that avoids placing the wing at negative angles of attack and minimizes the load on hover motors. XINCA has low dependence on accurate vehicle models and requires only several optimization parameters. Flight simulations and experimental flights are performed to demonstrate the performance.
{"title":"Extended incremental non-linear control allocation (XINCA) for quadplanes","authors":"H. J. Karssies, C. De Wagter","doi":"10.1177/17568293211070825","DOIUrl":"https://doi.org/10.1177/17568293211070825","url":null,"abstract":"Hybrid UAVs have gained a lot of interest for their combined vertical take-off & landing (VTOL) and efficient forward flight capabilities. But their control is facing challenges in over-actuation and conflicting requirements depending on the flight phase which can easily lead to actuator saturation. Incremental Non-linear Control Allocation (INCA) has been proposed to solve the platform’s control allocation problem in the case of saturation or over-actuation by minimizing a set of objective functions. This work demonstrates INCA on quadplanes, an in-plane combination between a quadrotor and a conventional fixed-wing, and proposes an extension to control the outer loop. The novel controller is called Extended INCA (XINCA) and adds the wing orientation as a force-generating actuator in the outerloop control optimization. This leads to a single controller for all flight phases that avoids placing the wing at negative angles of attack and minimizes the load on hover motors. XINCA has low dependence on accurate vehicle models and requires only several optimization parameters. Flight simulations and experimental flights are performed to demonstrate the performance.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47403059","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}
Pub Date : 2022-01-01DOI: 10.1177/17568293211073680
Shushuai Li, C. De Wagter, G. de Croon
Wireless ranging measurements have been proposed for enabling multiple Micro Air Vehicles (MAVs) to localize with respect to each other. However, the high-dimensional relative states are weakly observable due to the scalar distance measurement. Hence, the MAVs have degraded relative localization and control performance under unobservable conditions as can be deduced by the Lie derivatives. This paper presents a nonlinear model predictive control (NMPC) by maximizing the determinant of the observability matrix to generate optimal control inputs, which also satisfy constraints including multi-robot tasks, input limitation, and state bounds. Simulation results validate the localization and control efficacy of the proposed MPC method for range-based multi-MAV systems with weak observability, which has faster convergence time and more accurate localization compared to previously proposed random motions. A real-world experiment on two Crazyflies indicates the optimal states and control behaviours generated by the proposed NMPC.
{"title":"Nonlinear model predictive control for improving range-based relative localization by maximizing observability","authors":"Shushuai Li, C. De Wagter, G. de Croon","doi":"10.1177/17568293211073680","DOIUrl":"https://doi.org/10.1177/17568293211073680","url":null,"abstract":"Wireless ranging measurements have been proposed for enabling multiple Micro Air Vehicles (MAVs) to localize with respect to each other. However, the high-dimensional relative states are weakly observable due to the scalar distance measurement. Hence, the MAVs have degraded relative localization and control performance under unobservable conditions as can be deduced by the Lie derivatives. This paper presents a nonlinear model predictive control (NMPC) by maximizing the determinant of the observability matrix to generate optimal control inputs, which also satisfy constraints including multi-robot tasks, input limitation, and state bounds. Simulation results validate the localization and control efficacy of the proposed MPC method for range-based multi-MAV systems with weak observability, which has faster convergence time and more accurate localization compared to previously proposed random motions. A real-world experiment on two Crazyflies indicates the optimal states and control behaviours generated by the proposed NMPC.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49484078","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}
Pub Date : 2022-01-01DOI: 10.1177/17568293221117189
H. Denton, Moble Benedict, Hao Kang
This paper describes the development and flight testing of a compact, re-configurable, hover-capable rotary-wing micro air vehicle that could be tube launched for increasing mission range. The vehicle design features a coaxial rotor with foldable blades, thrust-vectoring mechanism for pitch/roll control and differential rpm for yaw control. The vehicle was stabilized using a cascaded feedback controller implemented on a 1.7-gram custom-designed autopilot. Wind tunnel tests conducted using a single-degree-of-freedom stand demonstrated gust-tolerance up to 5 m/s, which was verified via flight testing. Finally, the 366-gram vehicle was launched vertically from a pneumatic cannon followed by a stable projectile phase, passive rotor unfolding, and transition to a stable hover from arbitrarily large attitude angles demonstrating the robustness of the controller.
{"title":"Design, development, and flight testing of a tube-launched coaxial-rotor based micro air vehicle","authors":"H. Denton, Moble Benedict, Hao Kang","doi":"10.1177/17568293221117189","DOIUrl":"https://doi.org/10.1177/17568293221117189","url":null,"abstract":"This paper describes the development and flight testing of a compact, re-configurable, hover-capable rotary-wing micro air vehicle that could be tube launched for increasing mission range. The vehicle design features a coaxial rotor with foldable blades, thrust-vectoring mechanism for pitch/roll control and differential rpm for yaw control. The vehicle was stabilized using a cascaded feedback controller implemented on a 1.7-gram custom-designed autopilot. Wind tunnel tests conducted using a single-degree-of-freedom stand demonstrated gust-tolerance up to 5 m/s, which was verified via flight testing. Finally, the 366-gram vehicle was launched vertically from a pneumatic cannon followed by a stable projectile phase, passive rotor unfolding, and transition to a stable hover from arbitrarily large attitude angles demonstrating the robustness of the controller.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44966035","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}
Pub Date : 2022-01-01DOI: 10.1177/17568293211070827
Pietro Li Volsi, David Gómez-Ariza, R. Gojon, T. Jardin, J. Moschetta
The more restrictive airspace regulations force drone manufacturers to take into account the noise emitted by the drone during the design phase, along with its aerodynamic performance to increase the flight time. A Non-Linear Vortex Lattice Method (NVLM), coupled with the Farassat Formulation-1A of the Ffowcs-Williams and Hawkings acoustic analogy is used to evaluate the aerodynamic and aeroacoustic performance of MAV rotors. Pymoo, a Python-based optimization framework, is employed to modify the geometry, evaluate its performance and extract the set of Pareto optimal solutions. The two objectives are the aerodynamic Figure-of-Merit and the Sound Pressure Level of the Blade Passing Frequency tone for a microphone located at a far-field distance of 1.62 m and 30 ∘ below the rotor plane. The approach proposed in this paper takes into account up to ten different parameters, ranging from the twist and chord distributions, to the rake and skew angles.
{"title":"Aeroacoustic optimization of MAV rotors","authors":"Pietro Li Volsi, David Gómez-Ariza, R. Gojon, T. Jardin, J. Moschetta","doi":"10.1177/17568293211070827","DOIUrl":"https://doi.org/10.1177/17568293211070827","url":null,"abstract":"The more restrictive airspace regulations force drone manufacturers to take into account the noise emitted by the drone during the design phase, along with its aerodynamic performance to increase the flight time. A Non-Linear Vortex Lattice Method (NVLM), coupled with the Farassat Formulation-1A of the Ffowcs-Williams and Hawkings acoustic analogy is used to evaluate the aerodynamic and aeroacoustic performance of MAV rotors. Pymoo, a Python-based optimization framework, is employed to modify the geometry, evaluate its performance and extract the set of Pareto optimal solutions. The two objectives are the aerodynamic Figure-of-Merit and the Sound Pressure Level of the Blade Passing Frequency tone for a microphone located at a far-field distance of 1.62 m and 30 ∘ below the rotor plane. The approach proposed in this paper takes into account up to ten different parameters, ranging from the twist and chord distributions, to the rake and skew angles.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44427343","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}
Pub Date : 2022-01-01DOI: 10.1177/17568293211070830
G. Hattenberger, Titouan Verdu, N. Maury, P. Narvor, F. Couvreux, M. Bronz, S. Lacroix, G. Cayez, Gregory Charles Roberts
Drones are commonly used for civil applications and are accessible to those with limited piloting skills in several scenarios. However, the deployment of a fleet in the context of scientific research can lead to complex situations that require an important preparation in terms of logistics, permission to fly from authorities, and coordination during the flights. This paper is a field report of the flight campaign held at the Barbados Island as part of the NEPHELAE project. The main objectives were to fly into trade wind cumulus clouds to understand the microphysical processes involved in their evolution, as well as to provide a proof of concept of sensor-based adaptive navigation patterns to optimize the data collection. After introducing the flight strategy and context of operation, the main challenges and the solutions to address them will be presented, to conclude with the evaluation of some technical evolution developed from these experiments.
{"title":"Field report: Deployment of a fleet of drones for cloud exploration","authors":"G. Hattenberger, Titouan Verdu, N. Maury, P. Narvor, F. Couvreux, M. Bronz, S. Lacroix, G. Cayez, Gregory Charles Roberts","doi":"10.1177/17568293211070830","DOIUrl":"https://doi.org/10.1177/17568293211070830","url":null,"abstract":"Drones are commonly used for civil applications and are accessible to those with limited piloting skills in several scenarios. However, the deployment of a fleet in the context of scientific research can lead to complex situations that require an important preparation in terms of logistics, permission to fly from authorities, and coordination during the flights. This paper is a field report of the flight campaign held at the Barbados Island as part of the NEPHELAE project. The main objectives were to fly into trade wind cumulus clouds to understand the microphysical processes involved in their evolution, as well as to provide a proof of concept of sensor-based adaptive navigation patterns to optimize the data collection. After introducing the flight strategy and context of operation, the main challenges and the solutions to address them will be presented, to conclude with the evaluation of some technical evolution developed from these experiments.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46696818","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}
Pub Date : 2022-01-01DOI: 10.1177/17568293221122170
Jiaxin Lu, Yang Lu, Junjie Wang, Mengxue Shao
The propulsive wing vehicle is a new concept vehicle, which is driven by a cross-flow fan (CFF) embedded in the trailing edge of the wing. The propulsive wing vehicle is capable of cruising and hovering at high angles of attack with very high aerodynamic force coefficients, and has the potential to become a new type of vertical take-off and landing (VTOL) vehicle. The cruise and hover states of the propulsive wing vehicle are defined, and a numerical model of the two-dimensional propulsive wing is established. Based on the computational fluid dynamics (CFD) method, the rotation of the CFF is simulated by using the sliding mesh technique. The effects of cruise speed, angle of attack and CFF rotation speed on the aerodynamics of the two-dimensional propulsive wing are evaluated, and the mechanism of the propulsive wing flow field changes is revealed. The results show that the propulsive wing has a very high lift coefficient of up to 60 at low speed and high angle of attack cruise, and a high thrust coefficient of up to 40 at low speed and small angle of attack cruise. The aerodynamic force of the propulsive wing fluctuates periodically with the rotation of the CFF, and the amplitude of the fluctuation is related to the vorticity of the CFF blade shedding vortex. In hover, the flow field of the propulsive wing is affected by the geometry and wake deflection into an asymmetric distribution, forming a vortex on each side of the airfoil, and the vortex diameter varies with the CFF rotation speed, which in turn has an impact on the hovering performance of the propulsive wing.
{"title":"Numerical study on aerodynamic characteristics of two-dimensional propulsive wing in cruise and hover","authors":"Jiaxin Lu, Yang Lu, Junjie Wang, Mengxue Shao","doi":"10.1177/17568293221122170","DOIUrl":"https://doi.org/10.1177/17568293221122170","url":null,"abstract":"The propulsive wing vehicle is a new concept vehicle, which is driven by a cross-flow fan (CFF) embedded in the trailing edge of the wing. The propulsive wing vehicle is capable of cruising and hovering at high angles of attack with very high aerodynamic force coefficients, and has the potential to become a new type of vertical take-off and landing (VTOL) vehicle. The cruise and hover states of the propulsive wing vehicle are defined, and a numerical model of the two-dimensional propulsive wing is established. Based on the computational fluid dynamics (CFD) method, the rotation of the CFF is simulated by using the sliding mesh technique. The effects of cruise speed, angle of attack and CFF rotation speed on the aerodynamics of the two-dimensional propulsive wing are evaluated, and the mechanism of the propulsive wing flow field changes is revealed. The results show that the propulsive wing has a very high lift coefficient of up to 60 at low speed and high angle of attack cruise, and a high thrust coefficient of up to 40 at low speed and small angle of attack cruise. The aerodynamic force of the propulsive wing fluctuates periodically with the rotation of the CFF, and the amplitude of the fluctuation is related to the vorticity of the CFF blade shedding vortex. In hover, the flow field of the propulsive wing is affected by the geometry and wake deflection into an asymmetric distribution, forming a vortex on each side of the airfoil, and the vortex diameter varies with the CFF rotation speed, which in turn has an impact on the hovering performance of the propulsive wing.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":"14 1","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"42520543","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}
Pub Date : 2022-01-01DOI: 10.1177/17568293221106492
O. Bektash, J. Naundrup, A. la Cour-Harbo
Autonomous landing is a fundamental aspect of drone operations which is being focused upon by the industry, with ever-increasing demands on safety. As the drones are likely to become indispensable vehicles in near future, they are expected to succeed in automatically recognizing a landing spot from the nearby points, maneuvering toward it, and ultimately, performing a safe landing. Accordingly, this paper investigates the idea of vision-based location detection on the ground for an automated emergency response system which can continuously monitor the environment and spot safe places when needed. A convolutional neural network which learns from image-based feature representation at multiple scales is introduced. The model takes the ground images, assign significance to various aspects in them and recognize the landing spots. The results provided support for the model, with accurate classification of ground image according to their visual content. They also demonstrate the feasibility of computationally inexpensive implementation of the model on a small computer that can be easily embedded on a drone.
{"title":"Analyzing visual imagery for emergency drone landing on unknown environments","authors":"O. Bektash, J. Naundrup, A. la Cour-Harbo","doi":"10.1177/17568293221106492","DOIUrl":"https://doi.org/10.1177/17568293221106492","url":null,"abstract":"Autonomous landing is a fundamental aspect of drone operations which is being focused upon by the industry, with ever-increasing demands on safety. As the drones are likely to become indispensable vehicles in near future, they are expected to succeed in automatically recognizing a landing spot from the nearby points, maneuvering toward it, and ultimately, performing a safe landing. Accordingly, this paper investigates the idea of vision-based location detection on the ground for an automated emergency response system which can continuously monitor the environment and spot safe places when needed. A convolutional neural network which learns from image-based feature representation at multiple scales is introduced. The model takes the ground images, assign significance to various aspects in them and recognize the landing spots. The results provided support for the model, with accurate classification of ground image according to their visual content. They also demonstrate the feasibility of computationally inexpensive implementation of the model on a small computer that can be easily embedded on a drone.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45445245","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}
Pub Date : 2022-01-01DOI: 10.1177/17568293221113927
V. D. Duong, L. Zuhal
This paper presents a Lagrangian vortex method combined with iterative Brinkman penalization for the simulation of incompressible flow past a complex geometry. In the proposed algorithm, particle and penalization domains are separately introduced. The particle domain is for the computation of particle convection and diffusion, while the penalization domain is the enforcement of the wall boundary conditions. In iterative Brinkman penalization, the no-slip boundary condition is enforced by applying penalization force in multiple times within each time step. This enables large time step size reducing computational cost and maintains the capability in handling complex geometries. The method is validated for benchmark problems such as an impulsively started flow past a circular cylinder, normal to a flat plate, and a symmetric airfoil at Reynolds numbers ranging from 550 to 1000. The vorticity and streamline contours, drag, and lift coefficients show a good agreement with those reported in literature.
{"title":"Vortex particle method with iterative Brinkman penalization for simulation of flow past sharp-shape bodies","authors":"V. D. Duong, L. Zuhal","doi":"10.1177/17568293221113927","DOIUrl":"https://doi.org/10.1177/17568293221113927","url":null,"abstract":"This paper presents a Lagrangian vortex method combined with iterative Brinkman penalization for the simulation of incompressible flow past a complex geometry. In the proposed algorithm, particle and penalization domains are separately introduced. The particle domain is for the computation of particle convection and diffusion, while the penalization domain is the enforcement of the wall boundary conditions. In iterative Brinkman penalization, the no-slip boundary condition is enforced by applying penalization force in multiple times within each time step. This enables large time step size reducing computational cost and maintains the capability in handling complex geometries. The method is validated for benchmark problems such as an impulsively started flow past a circular cylinder, normal to a flat plate, and a symmetric airfoil at Reynolds numbers ranging from 550 to 1000. The vorticity and streamline contours, drag, and lift coefficients show a good agreement with those reported in literature.","PeriodicalId":49053,"journal":{"name":"International Journal of Micro Air Vehicles","volume":" ","pages":""},"PeriodicalIF":1.4,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"46411534","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}
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