Robust post-stall perching with a simple fixed-wing glider using LQR-Trees

Birds routinely execute post-stall maneuvers with a speed and precision far beyond the capabilities of our best aircraft control systems. One remarkable example is a bird exploiting post-stall pressure drag in order to rapidly decelerate to land on a perch. Stall is typically associated with a loss of control authority, and it is tempting to attribute this agility of birds to the intricate morphology of the wings and tail, to their precision sensing apparatus, or their ability to perform thrust vectoring. Here we ask whether an extremely simple fixed-wing glider (no propeller) with only a single actuator in the tail is capable of landing precisely on a perch from a large range of initial conditions. To answer this question, we focus on the design of the flight control system; building upon previous work which used linear feedback control design based on quadratic regulators (LQR), we develop nonlinear feedback control based on nonlinear model-predictive control and 'LQR-Trees'. Through simulation using a flat-plate model of the glider, we find that both nonlinear methods are capable of achieving an accurate bird-like perching maneuver from a large range of initial conditions; the 'LQR-Trees' algorithm is particularly useful due to its low computational burden at runtime and its inherent performance guarantees. With this in mind, we then implement the 'LQR-Trees' algorithm on real hardware and demonstrate a 95 percent perching success rate over 147 flights for a wide range of initial speeds. These results suggest that, at least in the absence of significant disturbances like wind gusts, complex wing morphology and sensing are not strictly required to achieve accurate and robust perching even in the post-stall flow regime.United States. Office of Naval Research. Multidisciplinary University Research Initiative (N00014-10-1-0951)National Science Foundation (U.S.) (Award IIS-0915148

Master of Science

thesisFlying rotorcraft, such as helicopters and quadrotors, can gather useful information without the need for human presence, but they consume a great deal of power and have limited on-board energy resources. Our work aims to provide a passive perching mechanism so that a rotorcraft is able to grip branch-like perches and resist external wind disturbances, using only the weight of the rotorcraft to maintain the grip. Deviating from previous bio-inspired approaches, in this thesis, we propose a mechanism that incorporates a Sarrus linkage to convert the weight of the rotorcraft into grip force. We provide an analysis of the mechanism's kinematics, we present the static force equations that describe how the weight of the rotorcraft is converted into grip force onto a cylindrical perch, and we describe how grip forces relate to the ability to reject horizontal disturbances such as wind gusts. The mechanism is then optimized for use on a single perch size, and then for a range of perch sizes. We conclude by constructing a prototype mechanism, and we demonstrate its use with a remote-controlled helicopter

An investigation of ecological correlates with hand and foot morphology in callitrichid primates

Studies of primate taxonomy and phylogeny often depend on comparisons of limb dimensions, yet there is little information on how morphology correlates and contributes to foraging strategies and ecology. Callitrichid primates are ideal for comparative studies as they exhibit a range of body size, limb proportions and diet. Many callitrichid species exhibit a high degree of exudativory, and to efficiently exploit these resources, they are assumed to have evolved morphologies that reflect a level of dependence on these resources. We tested assumptions by considering measurements of limb proportion and frictional features of the volar surfaces in preserved specimens of 25 species with relation to published life history and ecological data. The degree of exudativory and utilization of vertical substrates during foraging were found to correlate both with size and with size‐corrected foot and hand dimensions. Smaller species, which engage in greater degrees of exudativory, had proportionally longer hands and feet and more curved claw‐like tegulae (nails) on their digits to facilitate climbing on vertical substrates. The density of patterned ridges (dermatoglyphs) on the volar surfaces of the hands and feet is higher in more exudativorous genera, suggesting a role in climbing on vertical tree trunks during foraging. Dermatoglyph comparisons suggest that ridges on the soles and palms may facilitate food procurement by enhancing frictional grip during exudate feeding. Volar pad features corroborate taxonomic relationships described from dental morphology

PERCH LANDING MANEUVERS AND CONTROL FOR A ROTATING-WING MAV

This thesis addresses flight control of the perch landing maneuver for micro-aerial vehicles. A longitudinal flight model is constructed for a pigeon-sized aircraft. In addition to a standard elevator control surface, wing-rotation also considered as a non-standard actuator for increasing low-speed aerodynamic braking. Optimal state and control trajectories for the perch landing maneuver are computed using commercial software. A neighboring optimal control law is then developed and implemented in a set of flight simulations. Simulations are run with both a quasisteady and an unsteady aerodynamic model. The effectiveness of wing rotation and of the neighboring optimal control law is discussed, as is the importance of unsteady aerodynamics during the maneuver. Wing rotation was found to be minimally effective in this case, but it showed potential to be more effective in further research. The unsteady aerodynamic model has significant influence over the success or failure of the maneuver

An Active Uprighting Mechanism for Flying Robots

Flying robots have unique advantages in the exploration of cluttered environments such as caves or collapsed buildings. Current systems however have difficulty in dealing with the large amount of obstacles inherent to such environments. Collisions with obstacles generally result in crashes from which the platform can no longer recover. This paper presents a method for designing active uprighting mechanisms for protected rotorcraft-type flying robots that allow them to upright and subsequently take off again after an otherwise mission-ending collision. This method is demonstrated on a tailsitter flying robot which is capable of consistently uprighting after falling on its side using a spring-based ’leg’ and returning to the air to continue its mission

Behavioral correlates of semi-zygodactyly in Ospreys (Pandion haliaetus) based on analysis of internet images

Ospreys are renowned for their fishing abilities, which have largely been attributed to their specialized talon morphology and semi-zygodactyly−the ability to rotate the fourth toe to accompany the first toe in opposition of toes II and III. Anecdotal observations indicate that zygodactyly in Ospreys is associated with prey capture, although to our knowledge this has not been rigorously tested. As a first pass toward understanding the functional significance of semi-zygodactyly in Ospreys, we scoured the internet for images of Osprey feet in a variety of circumstances. From these we cross-tabulated the number of times each of three toe configurations (anisodactylous, zygodactylous, and an intermediate condition between these) was associated with different grasping scenarios (e.g., grasping prey or perched), contact conditions (e.g., fish, other objects, or substrate), object sizes (relative to foot size), and grasping behaviors (e.g., using one or both feet). Our analysis confirms an association between zygodactyly and grasping behavior; the odds that an osprey exhibited zygodactyly while grasping objects in flight were 5.7 times greater than whilst perched. Furthermore, the odds of zygodactyly during single-foot grasps were 4.1 times greater when pictured grasping fish compared to other objects. These results suggest a functional association between predatory behavior and zygodactyly and has implications for the selective role of predatory performance in the evolution of zygodactyly more generally

Développement d'un drone percheur pour atterrissage et grimpe sur des surfaces verticales

Ce projet visait le développement du premier drone à aile fixe capable de se percher de façon autonome sur des surfaces verticales et d'en décoller. Inspiré par les oiseaux, l'avion développé utilise une manoeuvre de cabrage assistée par la poussée pour rapidement ralentir avant de se poser. Des microgriffes sont utilisées pour permettre à l'avion de s'accrocher à des surfaces rugueuses, alors que le contrôle de la manoeuvre est entièrement embarqué. L'effet de la poussée aérodynamique sur l'enveloppe d'atterrissage de l'avion est analysée et un contrôleur de vitesse verticale est proposé pour créer des descentes fluides et robustes vers un mur. Plusieurs atterissages ont été testé, à travers une plage de conditions de vol. La poussée aérodynamique de l'avion est également utilisée pour grimper le long de surfaces verticales. Des modèles aérodynamiques sont utilisés pour prédire les performance de l'avion dans plusieurs régimes de grimpe aérienne, et sélectionner un contrôleur pour le maintien d'une distance fixe avec un mur en montée verticale. La manœuvre de grimpe est testée à l'intérieur et à l'extérieur, pour des grimpes courtes et longues

Behavioral correlates of semi-zygodactyly in Ospreys (Pandion haliaetus) based on analysis of internet images

Ospreys are renowned for their fishing abilities, which have largely been attributed to their specialized talon morphology and semi-zygodactyly-the ability to rotate the fourth toe to accompany the first toe in opposition of toes II and III. Anecdotal observations indicate that zygodactyly in Ospreys is associated with prey capture, although to our knowledge this has not been rigorously tested. As a first pass toward understanding the functional significance of semi-zygodactyly in Ospreys, we scoured the internet for images of Osprey feet in a variety of circumstances. From these we cross-tabulated the number of times each of three toe configurations (anisodactylous, zygodactylous, and an intermediate condition between these) was associated with different grasping scenarios (e.g., grasping prey or perched), contact conditions (e.g., fish, other objects, or substrate), object sizes (relative to foot size), and grasping behaviors (e.g., using one or both feet). Our analysis confirms an association between zygodactyly and grasping behavior; the odds that an osprey exhibited zygodactyly while grasping objects in flight were 5.7 times greater than whilst perched. Furthermore, the odds of zygodactyly during single-foot grasps were 4.1 times greater when pictured grasping fish compared to other objects. These results suggest a functional association between predatory behavior and zygodactyly and has implications for the selective role of predatory performance in the evolution of zygodactyly more generally

Systems and Methods for Gravity-Independent Gripping and Drilling

Systems and methods for gravity independent gripping and drilling are described. The gripping device can also comprise a drill or sampling devices for drilling and/or sampling in microgravity environments, or on vertical or inverted surfaces in environments where gravity is present. A robotic system can be connected with the gripping and drilling devices via an ankle interface adapted to distribute the forces realized from the robotic system