3 research outputs found
Progress Towards Untethered Autonomous Flight of Northeastern University Aerobat
State estimation and control is a well-studied problem in conventional aerial
vehicles such as multi-rotors. But multi-rotors, while versatile, are not
suitable for all applications. Due to turbulent airflow from ground effects,
multi-rotors cannot fly in confined spaces. Flapping wing micro aerial vehicles
have gained research interest in recent years due to their lightweight
structure and ability to fly in tight spaces. Further, their soft deformable
wings also make them relatively safer to fly around humans. This thesis will
describe the progress made towards developing state estimation and controls on
Northeastern University's Aerobat, a bio-inspired flapping wing micro aerial
vehicle, with the goal of achieving untethered autonomous flight. Aerobat has a
total weight of about 40g and an additional payload capacity of 40g, precluding
the use of large processors or heavy sensors. With limited computation
resources, this report discusses the challenges in achieving perception on such
a platform and the steps taken towards untethered autonomous flight.Comment: Accepted as final report for Master's thesis towards a Master of
Science in Robotic
How Strong a Kick Should be to Topple Northeastern's Tumbling Robot?
Rough terrain locomotion has remained one of the most challenging mobility
questions. In 2022, NASA's Innovative Advanced Concepts (NIAC) Program invited
US academic institutions to participate NASA's Breakthrough, Innovative \&
Game-changing (BIG) Idea competition by proposing novel mobility systems that
can negotiate extremely rough terrain, lunar bumpy craters. In this
competition, Northeastern University won NASA's top Artemis Award award by
proposing an articulated robot tumbler called COBRA (Crater Observing
Bio-inspired Rolling Articulator). This report briefly explains the underlying
principles that made COBRA successful in competing with other concepts ranging
from cable-driven to multi-legged designs from six other participating US
institutions
Bang-Bang Control Of A Tail-less Morphing Wing Flight
Bats' dynamic morphing wings are known to be extremely high-dimensional, and
they employ the combination of inertial dynamics and aerodynamics manipulations
to showcase extremely agile maneuvers. Bats heavily rely on their highly
flexible wings and are capable of dynamically morphing their wings to adjust
aerodynamic and inertial forces applied to their wing and perform sharp banking
turns. There are technical hardware and control challenges in copying the
morphing wing flight capabilities of flying animals. This work is majorly
focused on the modeling and control aspects of stable, tail-less, morphing wing
flight. A classical control approach using bang-bang control is proposed to
stabilize a bio-inspired morphing wing robot called Aerobat. Robot-environment
interactions based on horseshoe vortex shedding and Wagner functions is derived
to realistically evaluate the feasibility of the bang-bang control, which is
then implemented on the robot in experiments to demonstrate first-time
closed-loop stable flights of Aerobat