5 research outputs found
Global Existence and Aggregation of Chemotaxis-fluid Systems in dimension two
To describe the cellular self-aggregation phenomenon, some strongly coupled
PDEs named as Patlak--Keller--Segel (PKS) systems were proposed in 1970s. Since
PKS systems possess relatively simple structures but admit rich dynamics,
plenty of scholars have studied them and obtained many significant results.
However, the cells or bacteria in general direct their movement in liquid. As a
consequence, it seems more realistic to consider the influence of ambient fluid
flow on the chemotactic mechanism. Motivated by this, we consider the
chemotaxis-fluid model proposed by He et al. (SIAM J. Math. Anal., Vol. 53, No.
3, 2021) in the two-dimensional bounded domain. It is well-known that the PKS
system admits the critical mass phenomenon in 2D and for the whole space
, He et al. also showed there exists the same phenomenon in the
chemotaxis-fluid system. In this paper, we first study the global
well-posedness of two-dimensional chemotaxis-fluid model in the bounded domain
and prove the solution exists globally with the subcritical mass. Then
concerning the critical mass case, we construct the boundary spot steady states
rigorously via the inner-outer gluing method. While studying the concentration
phenomenon with the critical mass, we develop the global theory of
the stationary Stokes operator in 2D
Trajectory Generation and Tracking Control for Aggressive Tail-Sitter Flights
We address the theoretical and practical problems related to the trajectory
generation and tracking control of tail-sitter UAVs. Theoretically, we focus on
the differential flatness property with full exploitation of actual UAV
aerodynamic models, which lays a foundation for generating dynamically feasible
trajectory and achieving high-performance tracking control. We have found that
a tail-sitter is differentially flat with accurate aerodynamic models within
the entire flight envelope, by specifying coordinate flight condition and
choosing the vehicle position as the flat output. This fundamental property
allows us to fully exploit the high-fidelity aerodynamic models in the
trajectory planning and tracking control to achieve accurate tail-sitter
flights. Particularly, an optimization-based trajectory planner for
tail-sitters is proposed to design high-quality, smooth trajectories with
consideration of kinodynamic constraints, singularity-free constraints and
actuator saturation. The planned trajectory of flat output is transformed to
state trajectory in real-time with consideration of wind in environments. To
track the state trajectory, a global, singularity-free, and
minimally-parameterized on-manifold MPC is developed, which fully leverages the
accurate aerodynamic model to achieve high-accuracy trajectory tracking within
the whole flight envelope. The effectiveness of the proposed framework is
demonstrated through extensive real-world experiments in both indoor and
outdoor field tests, including agile SE(3) flight through consecutive narrow
windows requiring specific attitude and with speed up to 10m/s, typical
tail-sitter maneuvers (transition, level flight and loiter) with speed up to
20m/s, and extremely aggressive aerobatic maneuvers (Wingover, Loop, Vertical
Eight and Cuban Eight) with acceleration up to 2.5g
Joint Intrinsic and Extrinsic LiDAR-Camera Calibration in Targetless Environments Using Plane-Constrained Bundle Adjustment
This paper introduces a novel targetless method for joint intrinsic and
extrinsic calibration of LiDAR-camera systems using plane-constrained bundle
adjustment (BA). Our method leverages LiDAR point cloud measurements from
planes in the scene, alongside visual points derived from those planes. The
core novelty of our method lies in the integration of visual BA with the
registration between visual points and LiDAR point cloud planes, which is
formulated as a unified optimization problem. This formulation achieves
concurrent intrinsic and extrinsic calibration, while also imparting depth
constraints to the visual points to enhance the accuracy of intrinsic
calibration. Experiments are conducted on both public data sequences and
self-collected dataset. The results showcase that our approach not only
surpasses other state-of-the-art (SOTA) methods but also maintains remarkable
calibration accuracy even within challenging environments. For the benefits of
the robotics community, we have open sourced our codes
Swashplateless-elevon Actuation for a Dual-rotor Tail-sitter VTOL UAV
In this paper, we propose a novel swashplateless-elevon actuation (SEA) for
dual-rotor tail-sitter vertical takeoff and landing (VTOL) unmanned aerial
vehicles (UAVs). In contrast to the conventional elevon actuation (CEA) which
controls both pitch and yaw using elevons, the SEA adopts swashplateless
mechanisms to generate an extra moment through motor speed modulation to
control pitch and uses elevons solely for controlling yaw, without requiring
additional actuators. This decoupled control strategy mitigates the saturation
of elevons' deflection needed for large pitch and yaw control actions, thus
improving the UAV's control performance on trajectory tracking and disturbance
rejection performance in the presence of large external disturbances.
Furthermore, the SEA overcomes the actuation degradation issues experienced by
the CEA when the UAV is in close proximity to the ground, leading to a smoother
and more stable take-off process. We validate and compare the performances of
the SEA and the CEA in various real-world flight conditions, including
take-off, trajectory tracking, and hover flight and position steps under
external disturbance. Experimental results demonstrate that the SEA has better
performances than the CEA. Moreover, we verify the SEA's feasibility in the
attitude transition process and fixed-wing-mode flight of the VTOL UAV. The
results indicate that the SEA can accurately control pitch in the presence of
high-speed incoming airflow and maintain a stable attitude during fixed-wing
mode flight. Video of all experiments can be found in
youtube.com/watch?v=Sx9Rk4Zf7sQComment: 8 pages, 13 figure