Improving MAV control by predicting aerodynamic effects of obstacles

Abstract — Building on our previous work [1], in this paper we demonstrate how it is possible to improve flight control of a MAV that experiences aerodynamic disturbances caused by objects on its path. Predictions based on low resolution depth images taken at a distance are incorporated into the flight control loop on the throttle channel as this is adjusted to target undisrupted level flight. We demonstrate that a statistically significant improvement (p << 0.001) is possible for some common obstacles such as boxes and steps, compared to using conventional feedback-only control. Our approach and results are encouraging toward more autonomous MAV exploration strategies. I

Heat Transfer Mechanism In Particle-Laden Turbulent Shearless Flows

Particle-laden turbulent flows are one of the complex flow regimes involved in a wide range of environmental, industrial, biomedical and aeronautical applications. Recently the interest has included also the interaction between scalars and particles, and the complex scenario which arises from the interaction of particle finite inertia, temperature transport, and momentum and heat feedback of particles on the flow leads to a multi-scale and multi-physics phenomenon which is not yet fully understood. The present work aims to investigate the fluid-particle thermal interaction in turbulent mixing under one-way and two-way coupling regimes. A recent novel numerical framework has been used to investigate the impact of suspended sub-Kolmogorov inertial particles on heat transfer within the mixing layer which develops at the interface of two regions with different temperature in an isotropic turbulent flow. Temperature has been considered a passive scalar, advected by the solenoidal velocity field, and subject to the particle thermal feedback in the two-way regime. A self-similar stage always develops where all single-point statistics of the carrier fluid and the suspended particles collapse when properly re-scaled. We quantify the effect of particle inertial, parametrized through the Stokes and thermal Stokes numbers, on the heat transfer through the Nusselt number, defined as the ratio of the heat transfer to the thermal diffusion. A scale analysis will be presented. We show how the modulation of fluid temperature gradients due to the statistical alignments of the particle velocity and the local carrier flow temperature gradient field, impacts the overall heat transfer in the two-way coupling regime

Optimal Propulsion System Design for a Micro Quad Rotor

Currently a 50 gram micro quad rotor vehicle is being developed in collaboration with Daedalus Flight Systems. Optimization of the design at this scale requires a systematic study to be carried out to investigate the factors that affect the vehicles performance. Endurance of hovering vehicles at this scale is severely limited by the low efficiencies of their propulsion systems and rotor design and optimization has been performed in the past in an attempt to increase endurance, but proper coupling of the rotor with the motor has been lacking. The current study chose to investigate the factors that had the greatest effect on the vehicle's endurance through analysis of the propulsion system. Therefore, a coupled aerodynamic and structural analysis was carried out that incorporated low Reynolds number airfoil table lookup in order to predict micro rotor performance. A parametric study on rotor design was performed further determine the effect of different rotor designs on hover performance. The experiments performed showed that airfoil camber had the biggest impact on rotor efficiency and other factors such as leading edge shape, number of blades, max camber location, and blade planform taper only had negligible influence on performance. Systematic studies of the interactions between micro rotor blades operating in close proximity to each other were performed in order to determine the changes in rotor efficiency that might occur in a compact quad rotor design. Tests done on the effect of rotor separation demonstrated that there is a negligible interaction between rotors operating near each other. Brushless motors were also tested systematically and characterized by their torque, rpm, and efficiency. It was found that the maximum efficiency of the motors tested was only 60%, which has significant effects on the efficiency of the coupled system. A method for rotor and motor coupling was also established that utilized the motor efficiency curves and the known torque and rotational speed of the rotors at their operating thrust. Through this, it was found that propulsion system efficiency could be increased by 10% by simply using the proper motor and rotor combination. Further, coupled design would have additional benefits and could increase vehicle efficiency further

Aerodynamic Analysis of an MAV-Scale Cycloidal Rotor System Using a Stuctured Overset RANS Solver

A compressible Reynolds-Averaged Navier-Stokes solver was used to investigate the performance and flow physics of the cycloidal rotor (cyclocopter). This work employed a computational methodology to understand the complex aerodynamics of the cyclocopter and its relatively unexplored application for MAVs. The numerical code was compared against performance measurements obtained from experiment and was seen to exhibit reasonable accuracy. With validation of the flow solver, CFD predictions were used to gain qualitative insight into the flowfield. Time histories revealed large periodic variations in thrust and power. In particular, the virtual camber effect was found to significantly influence the vertical force time history. Spanwise thrust and flow visualizations showed a highly three-dimensional flowfield with large amounts of blade shedding and blade-vortex interaction. Overall, the current work seeks to provide unprecedented insight into the cyclocopter flowfield with the goal of developing an accurate predictive tool to refine the design of future cyclocopter configurations

Proceedings of the International Micro Air Vehicles Conference and Flight Competition 2017 (IMAV 2017)

The IMAV 2017 conference has been held at ISAE-SUPAERO, Toulouse, France from Sept. 18 to Sept. 21, 2017. More than 250 participants coming from 30 different countries worldwide have presented their latest research activities in the field of drones. 38 papers have been presented during the conference including various topics such as Aerodynamics, Aeroacoustics, Propulsion, Autopilots, Sensors, Communication systems, Mission planning techniques, Artificial Intelligence, Human-machine cooperation as applied to drones

Multi-agent Collision Avoidance Using Interval Analysis and Symbolic Modelling with its Application to the Novel Polycopter

Coordination is fundamental component of autonomy when a system is defined by multiple mobile agents. For unmanned aerial systems (UAS), challenges originate from their low-level systems, such as their flight dynamics, which are often complex. The thesis begins by examining these low-level dynamics in an analysis of several well known UAS using a novel symbolic component-based framework. It is shown how this approach is used effectively to define key model and performance properties necessary of UAS trajectory control. This is demonstrated initially under the context of linear quadratic regulation (LQR) and model predictive control (MPC) of a quadcopter. The symbolic framework is later extended in the proposal of a novel UAS platform, referred to as the ``Polycopter" for its morphing nature. This dual-tilt axis system has unique authority over is thrust vector, in addition to an ability to actively augment its stability and aerodynamic characteristics. This presents several opportunities in exploitative control design. With an approach to low-level UAS modelling and control proposed, the focus of the thesis shifts to investigate the challenges associated with local trajectory generation for the purpose of multi-agent collision avoidance. This begins with a novel survey of the state-of-the-art geometric approaches with respect to performance, scalability and tolerance to uncertainty. From this survey, the interval avoidance (IA) method is proposed, to incorporate trajectory uncertainty in the geometric derivation of escape trajectories. The method is shown to be more effective in ensuring safe separation in several of the presented conditions, however performance is shown to deteriorate in denser conflicts. Finally, it is shown how by re-framing the IA problem, three dimensional (3D) collision avoidance is achieved. The novel 3D IA method is shown to out perform the original method in three conflict cases by maintaining separation under the effects of uncertainty and in scenarios with multiple obstacles. The performance, scalability and uncertainty tolerance of each presented method is then examined in a set of scenarios resembling typical coordinated UAS operations in an exhaustive Monte-Carlo analysis

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

A systems and cost analysis of human rated Mars entry, descent, and landing vehicles

Cost is one of the biggest obstacles to sending humans to Mars. However, spacecraft costs are typically not taken into consideration until after the preliminary vehicle and mission concepts have been designed. Once costs have been estimated, managers and project teams often lack confidence that the final cost of the mission will match the preliminary estimates. The present work provides a robust methodology for using cost as a valid metric early in the design phase of future human Mars Entry, Descent, and Landing (EDL) vehicles. This is done in three parts. First, state of the art parametric costing methods are applied to three Mars EDL vehicle concepts. Second, a methodology is presented which advances the state of the art in estimating the cost of space vehicles, specifically those used for EDL. This is done by automating portions of the cost estimation process, and integrating parametric cost tools with other systems analysis tools so that the effect of any change in vehicle or mission design on the mission cost can be determined more efficiently. Finally two of the primary parametric cost estimating tools used at NASA and in industry are tested in a blind validation study. To date, no such validation study has been published in the literature. In addition, standard parametric cost estimating methodologies and assumptions are compared with historical data and are modified to improve predictive capabilities --Abstract, page iv