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Assessment of 3D-printed span change structures applied to small unmanned aerial vehicles Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2021-02-21 Todd C Henry, John T Hrynuk, Francis R Phillips
An assessment of 3D-printed span-change structures is presented for determining suitability of the technology to small unmanned aerial vehicles. Materials and manufacturing technologies were used with an emphasis on near term applicability with design trades between the aerodynamic performance and structural response. Aerodynamic performance was assessed on three wind tunnel models varying span (432
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Hear-and-avoid for unmanned air vehicles using convolutional neural networks Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2021-02-10 Dirk Wijnker, Tom van Dijk, Mirjam Snellen, Guido de Croon, Christophe De Wagter
To investigate how an unmanned air vehicle can detect manned aircraft with a single microphone, an audio data set is created in which unmanned air vehicle ego-sound and recorded aircraft sound are mixed together. A convolutional neural network is used to perform air traffic detection. Due to restrictions on flying unmanned air vehicles close to aircraft, the data set has to be artificially produced
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Toward the design of dynamically similar artificial insect wings Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2021-02-10 Heidi Reid, Huimin Zhou, Miles Maxcer, Robert KD Peterson, Jia Deng, Mark Jankauski
Flapping wing deformation influences the aerodynamics of insect flight. This deformation is dictated by the dynamical properties of the insect wing, particularly its vibration spectra and mode shapes. However, researchers have not yet developed artificial insect wings with vibration spectra and mode shapes that are identical to their biological counterparts. The goal of the present work is to develop
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User involvement before the development of an indoor RPAS for the creative industries Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2021-02-10 Blanca de-Miguel-Molina, María de-Miguel-Molina, Virginia Santamarina-Campos, Marival Segarra-Oña
This paper presents user needs and preferences gathered prior to the development of an indoor remotely piloted air system. A literature review was carried out to analyse previous studies about the involvement of users in the design of indoor unmanned aerial vehicles. Subsequently, the results of these user needs obtained from three focus groups held in European countries (Belgium, Spain and United
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Numerical simulation of flapping airfoil with alula Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-12-26 Han Bao, Wenqing Yang, Dongfu Ma, Wenping Song, Bifeng Song
Bionic micro aerial vehicles have become popular because of their high thrust efficiency and deceptive appearances. Leading edge or trailing edge devices (such as slots or flaps) are often used to improve the flight performance. Birds in nature also have leading-edge devices, known as the alula that can improve their flight performance at large angles of attack. In the present study, the aerodynamic
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Actuator modelling for attitude control using incremental nonlinear dynamic inversion Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-12-20 F Binz, D Moormann
Recently, the concept of incremental nonlinear dynamic inversion has seen an increasing adoption as an attitude control method for a variety of aircraft configurations. The reasons for this are good stability and robustness properties, moderate computation requirements and low requirements on modelling fidelity. While previous work investigated the robust stability properties of incremental nonlinear
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Project of high altitude balloon launched micro glider: Aircraft design, control and flight test Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-12-17 Zhengyu Qu, Cuichun Li, Yong Hao, Feng Yan, Yanchu Yang
This paper presents the design details and flight tests validation of printed circuit board fabricated micro gliders. The purpose of the micro glider is to be launched from a super pressure balloon at high altitude, glide to the target position to collect data and upload data to the staying balloon. The mission demand requires the micro glider to finish precise landing with small size and low fabrication
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Robust autonomous flight in cluttered environment using a depth sensor Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-12-16 Liang Lu, Alexander Yunda, Adrian Carrio, Pascual Campoy
This paper presents a novel collision-free navigation system for the unmanned aerial vehicle based on point clouds that outperform compared to baseline methods, enabling high-speed flights in cluttered environments, such as forests or many indoor industrial plants. The algorithm takes the point cloud information from physical sensors (e.g. lidar, depth camera) and then converts it to an occupied map
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A sectorial fuzzy consensus algorithm for the formation flight of multiple quadrotor unmanned aerial vehicles Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-12-14 E Javier Ollervides-Vazquez, Erik G Rojo-Rodriguez, Octavio Garcia-Salazar, Luis Amezquita-Brooks, Pedro Castillo, Victor Santibañez
This paper presents an algorithm based on fuzzy theory for the formation flight of the multi-quadrotors. For this purpose, the mathematical model of N-quadrotor unmanned aerial vehicles is presented using the Newton-Euler formulation. The strategy of the formation flight is based on a structure composed by a sectorial fuzzy controller and the linear systems whose state variables are the position and
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Effects of asymmetrical inflow in forward flight on the deformation of interacting flapping wings Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-12-04 DNWM Heitzig, BW van Oudheusden, D Olejnik, M Karásek
This study investigates the wing deformation of the DelFly II in forward flight conditions. A measurement setup was developed that maintains adequate viewing axes of the flapping wings for all pitch angles. Recordings of a high-speed camera pair were processed using a point tracking algorithm, allowing 136 points per wing to be measured simultaneously with an estimated accuracy of 0.25 mm. The measurements
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Unmanned aerial vehicle control costs mirror bird behaviour when soaring close to buildings Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-08-06 Ana Guerra-Langan, Sergio Araujo-Estrada, Shane Windsor
Small unmanned aerial vehicles (SUAVs) are suitable for many low-altitude operations in urban environments due to their manoeuvrability; however, their flight performance is limited by their on-board energy storage and their ability to cope with high levels of turbulence. Birds exploit the atmospheric boundary layer in urban environments, reducing their energetic flight costs by using orographic lift
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Active disturbance rejection attitude control for the dove flapping wing micro air vehicle in intermittent flapping and gliding flight Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-08-06 Shaoran Liang, Bifeng Song, Jianlin Xuan, Yubin Li
This paper proposes an attitude control scheme for the Dove flapping wing micro air vehicle in intermittent flapping and gliding flight. The Dove flapping wing micro air vehicle adopts intermittent flapping and gliding flight to make the wing movements more natural; this strategy also has the potential to reduce energy consumption. To implement this specific flight mode, this paper proposes a closed-loop
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Vertical surface contact with a Micro Air Vehicle Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-07-09 Aaron Lopez Luna, Israel Cruz Vega, Jose Martinez-Carranza
In this work, we present a novel design for vertical surface contact using a two degree of freedom robotic arm attached to a Micro Air Vehicle. To achieve this, we propose a controller based on a Gain-Scheduled Proportional–Integral–Derivative approach. In previous works, the Gain-Scheduled Proportional–Integral–Derivative method was used to control the attitude of the Micro Air Vehicle, thus mitigating
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Optimal attitude tracking control for an unmanned aerial quadrotor under lumped disturbances Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-06-04 Li Ding, Yangmin Li
The robust control problem in attitude tracking of an unmanned aerial vehicle quadrotor is a challenging task due to strong parametric uncertainties, large nonlinearities and high couplings in flight dynamics. In this paper, a continuous nonsingular fast terminal sliding mode controller based on linear extended state observer is proposed for attitude tracking control of a quadrotor under lumped disturbances
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Editorial Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-06-04 Pascual Campoy, Paloma de la Puente, Adrian Carrio
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Detection of nearby UAVs using a multi-microphone array on board a UAV Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-05-19 Aldrich A Cabrera-Ponce, J Martinez-Carranza, Caleb Rascon
In this work, we address the problem of UAV detection flying nearby another UAV. Usually, computer vision could be used to face this problem by placing cameras onboard the patrolling UAV. However, visual processing is prone to false positives, sensible to light conditions and potentially slow if the image resolution is high. Thus, we propose to carry out the detection by using an array of microphones
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Forward flight tests of a quadcopter unmanned aerial vehicle with various spherical body diameters Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-05-12 Bart Theys, Joris De Schutter
This paper presents experimental results on the relation between forward airspeed, pitch angle, and power consumption of a quadcopter unmanned aerial vehicle. The quadcopter consists of an interchangeable spherical body, four cylindrical arms, and small propellers mounted at 1 m diagonal distance to minimize interference between body and propellers. This simple geometry facilitates results reproduction
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Model-free control algorithms for micro air vehicles with transitioning flight capabilities Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-04-02 Jacson MO Barth, Jean-Philippe Condomines, Murat Bronz, Jean-Marc Moschetta, Cédric Join, Michel Fliess
Micro air vehicles (MAVs) with transitioning flight capabilities, or simply hybrid MAVs, operate over a wide flight envelope including different flight phases, such as vertical take-off, efficient forward flight, transitioning flights, hovering and vertical landing, see Figure 1. While this complete flight envelope enlarges the application range of MAVs, new aerodynamics optimization approaches must
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Propulsion performance investigation of bio-inspired nano rotor base on fluid–structure interaction Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2020-02-03 Shanyong Zhao, Zhen Liu, Penglei Che, Bingfei Li, Tianjiao Dang, Chen Bu
Rotary-wing nano air vehicle (NAV) is a kind of small unmanned air vehicle powered with one or several rotors. NAV which has a maximum size of 7.5 cm and a minimum payload of 2 g is able to enter buildings, penetrate narrow entries, and transmit data without being detected at a low speed.1–3 The nano rotor operating at a Reynolds number of lower than 20,000 is the main propulsion component of the rotary-wing
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Characterization of ducted contra-rotating propeller propulsions Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-12-22 Longfei Zhao, Sergey Shkarayev
The efficiency of hover-capable Unmanned Aerial Vehicles (UAVs) can be improved by using aircraft configurations with ducted (shrouded) propellers (rotors). For the evaluation of propeller performance, the main parameters are thrust and power coefficients and power loading. In order to achieve their desired values, geometric shapes of the inner and outer surfaces of a duct have to be properly designed
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Experimental and computational investigation on interaction between nano rotor and aerodynamic rudder Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-12-18 Dong Yang, Zhen Liu, Chen Bu, Zhao Shanyong
Aerodynamic rudder is one of the useful methods to control the attitude of rotary-wing nano air vehicle (NAV)1 due to the limitation of its size and weight2–6 The interaction between nano rotor and aerodynamic rudder induces complex flow phenomenon and influences the performance of both nano rotor and rudder. Therefore, it is necessary to study the interference effect and disclose the inherent flow
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Unsteady aerodynamics of a pitching NACA 0012 airfoil at low Reynolds number Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-11-26 Dilek Funda Kurtulus
Flapping wing micro air vehicles (MAVs) become much more effective than fixed-wing MAVs as the size of these vehicles decreases.1–3 The investigation of the unsteady aerodynamics of pitching airfoils is important for the investigation of animal propulsion, MAV industry, and also for the performance of rotorcrafts4 and wind turbine blades.5,6 There have been extensive studies in recent years on the
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Micro air vehicles energy transportation for a wireless power transfer system Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-10-22 Jose Polo, Lluís Hontecillas, Ignacio Izquierdo, Oscar Casas
The applications of Micro air vehicles (MAV) are growing every year. One of these applications is measurement and monitoring.1–5 The MAVs can be used to transport any type of payload, from parcels6 to sensors,7 mobile node sensors or to transport the data collected by static sensor nodes.8 In this last scenario, sensor nodes cannot communicate among them, hence, they need assistance to send the measured
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Nonparametric background modelling and segmentation to detect micro air vehicles using RGB-D sensor Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-10-17 Navid Dorudian, Stanislao Lauria, Stephen Swift
In the last decades, the autonomous unmanned aerial vehicles (UAVs) have seen rapid progress. These vehicles are usually controlled and evaluated by external motion tracking system such as the VICON motion tracking system1–3 or onboards visual sensors.4–7
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KUBeetle-S: An insect-like, tailless, hover-capable robot that can fly with a low-torque control mechanism Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-10-15 Hoang Vu Phan, Steven Aurecianus, Taesam Kang, Hoon Cheol Park
In the absence of tail control surface, insects can modify their wing kinematics to produce control force for attitude change during flight.1,2 In particular, shifting the stroke plane position or flapping angle range for pitch response has been found in fruit fly, Drosophila melanogaster,3 and hoverflies, Eristalis tenax and Episyrphus balteatus.4 For roll and yaw responses, many insect species such
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Editorial: MAV Special Collection Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-10-15
The papers in this special edition were drawn from the 10th IMAV Conference and Competition held at RMIT University in Melbourne, Australia, in November 2018. IMAV 2018 drew teams and authors from Australia, Brazil, China, France, Germany, Hong Kong, Japan, New Zealand, Poland, Singapore, South Korea, Switzerland, United Kingdom, United States of America and the Netherlands. It followed a strong tradition
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Preliminary operational aspects of microwave-powered airship drone Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-10-14 Kyo D Song, Jaehwan Kim, Jung W Kim, Yeonjoon Park, Jay J Ely, Hyun J Kim, Sang H Choi
Airships, known as lighter-than-air vehicles, are able to fly anywhere with minimal infrastructure to generate lift without the use of aerodynamic flow around wings and also to enable controlled, powered flight, providing long endurance at low energy consumption.1 There is a growing interest in airships for long-range surveillance of military missions at-sea search and rescue, coastal surveying, fishery
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Attitude control of tiltwing aircraft using a wing-fixed coordinate system and incremental nonlinear dynamic inversion Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-10-14 F Binz, T Islam, D Moormann
A key goal in the design of many unconventional aircraft types is the combination of efficient forward flight with vertical take-off and landing (VTOL) capabilities. One solution to this problem is the concept of a tiltwing aircraft. These aircraft fly like a conventional airplane in forward flight and achieve VTOL capabilities by tilting the entire wing upwards to hover.
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Modeling the unstable DelftaCopter vertical take-off and landing tailsitter unmanned air vehicle in hover and forward flight from flight test data Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-10-06 Christophe De Wagter, Joost Meulenbeld
Unmanned air vehicles (UAVs) have enabled new applications in many areas.1 A wide range of those applications benefits from long endurance combined with vertical take-off and landing (VTOL) capability. Hybrid UAV combine the advantage of helicopter hovering and fixed-wing range efficiency.2 One of the many concepts for combining long range with VTOL is the tailsitter or tilt-body hybrid UAV.3 This
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Accurate position control of a flapping-wing robot enabling free-flight flow visualisation in a wind tunnel Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-10-02 Matěj Karásek, Mustafa Percin, Torbjørn Cunis, Bas W van Oudheusden, Christophe De Wagter, Bart DW Remes, Guido CHE de Croon
Flapping flight, the only form of powered aerial locomotion in nature, involves unsteady aerodynamic phenomena that remain to be fully understood, especially at small scales and low Reynolds numbers. Such understanding would be of great benefit in the development of flapping-wing micro air vehicles (FWMAVs); the performance of the current designs1–7 remains far inferior compared to the extreme manoeuvrability
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Aerodynamics of MAV rotors in ground and corner effect Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-09-29 S Prothin, C Fernandez Escudero, N Doué, T Jardin
Since their first developments, drones (unpiloted aircrafts) have revolutionized flight, opening a wide range of new possibilities that were unconceivable some decades ago. Drones allow us to go further than ever and their applications, which go from military uses to observation, exploration, meteorology, audio-visuals etc., are nowadays growing exponentially in parallel to new technological developments
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Predictive feedback augmentation for manual control of an unmanned aerial vehicle with latency Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-09-29 Jeremy Cox, KC Wong
Unmanned aerial vehicles (UAVs) are seeing widespread growth in many existing and new applications. Presently, UAVs are often operated within the line of sight (LoS), where the control delays come primarily from the control radio system in use. Entry level hobby transmitters commonly achieve latencies in the order of 20–30 ms. Advanced hobby radio systems boast ranges of 60 km.1–6
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Exploring aerial perching and grasping with dual symmetric manipulators and compliant end-effectors Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-09-19 Pengfei Yu, Zihao Wang, KC Wong
The capability of unmanned aerial vehicles (UAVs) can be expanded radically with aerial manipulators. They have enormous potential in building infrastructure, disaster response, parcel delivery and many other applications, due to their ability to complete difficult tasks such as aerial grasping, capturing and assembling. However, UAVs, especially multirotor drones, suffer from very low endurance as
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A method for evaluating the wind disturbance rejection capability of a hybrid UAV in the quadrotor mode Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-08-13 Hang Zhang, Bifeng Song, Haifeng Wang, Jianlin Xuan
Unmanned aerial vehicles (UAVs) have experienced tremendous development during the last several decades. Currently, UAVs are widely used in various military and civilian applications due to their flexibility in configuration, low manufacturing and operating costs, and not risking pilots in demanding missions, such as surveillance, tracking, environment observation, fish finding, and law enforcement
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A simulation-based approach to modeling component interactions during design of flapping wing aerial vehicles Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-07-18 John Gerdes, Hugh A Bruck, Satyandra K Gupta
Small unmanned aerial vehicles (UAVs) are more popular than ever before thanks to a diverse capability set offered by airplanes and quadcopters that incorporate modern electric power and flight controller technologies. Typically, UAV users will select an airplane for missions that are high, fast, and far, while a quadcopter may be more appropriate for missions requiring lower speeds and obstacle avoidance
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In-flight model parameter and state estimation using gradient descent for high-speed flight Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-06-06 S Li, C De Wagter, CC de Visser, QP Chu, GCHE de Croon
Quadrotors have received considerable attention in recent years, thanks to their mechanical simplicity and good maneuverability combined with hover properties. They have offered new possibilities in a variety of fields like aerial photography, inspection and even transportation. With recent advances in on-board computation and sensor technology, aggressive maneuvering has come within reach of many
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A design methodology for quiet and long endurance MAV rotors Int. J. Micro. Air Veh. (IF 1.521) Pub Date : 2019-05-06 Ronan Serré, Hugo Fournier, Jean-Marc Moschetta
Designing a silent rotor goes through an aeroacoustic optimization, which implies understanding the aerodynamic phenomenon responsible for noise generation. Predicting the noise generated aerodynamically is relatively straightforward once detailed aerodynamic involved in the propulsion system is available through the use of direct noise computation or hybrid prediction. Aeroacoustic optimization in