2016
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Books
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G C H E de Croon; Mustafa Percin; B D W Remes; Rick Ruijsink; C De Wagter The DelFly - Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot (Book) Springer Netherlands, 2016, ISBN: 978-94-017-9207-3. (Links | BibTeX) @book{DeCroon2016,
title = {The DelFly - Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot},
author = {G C H E de Croon and Mustafa Percin and B D W Remes and Rick Ruijsink and C De Wagter},
doi = {10.1007/978-94-017-9208-0},
isbn = {978-94-017-9207-3},
year = {2016},
date = {2016-01-01},
pages = {218},
publisher = {Springer Netherlands},
keywords = {},
pubstate = {published},
tppubtype = {book}
}
|
Incollections
|
Kirk Y W Scheper; Guido C H E de Croon Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics (Incollection) Tuci, Elio; Giagkos, Alexandros; Wilson, Myra; Hallam, John (Ed.): From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, pp. 280–292, Springer International Publishing, Aberystwyth University, Wales, UK, 2016, ISSN: 00237205. (Links | BibTeX) @incollection{Scheper2016b,
title = {Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics},
author = {Kirk Y W Scheper and Guido C H E de Croon},
editor = {Elio Tuci and Alexandros Giagkos and Myra Wilson and John Hallam},
url = {http://link.springer.com/10.1007/978-3-319-43488-9},
doi = {10.1007/978-3-319-43488-9_25},
issn = {00237205},
year = {2016},
date = {2016-01-01},
booktitle = {From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016},
pages = {280--292},
publisher = {Springer International Publishing},
address = {Aberystwyth University, Wales, UK},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}
|
Kirk Y W Scheper; Guido C H E de Croon Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics (Incollection) Tuci, Elio; Giagkos, Alexandros; Wilson, Myra; Hallam, John (Ed.): From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, pp. 280–292, Springer International Publishing, Aberystwyth University, Wales, UK, 2016, ISSN: 00237205. (Links | BibTeX) @incollection{Scheper2016bb,
title = {Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics},
author = {Kirk Y W Scheper and Guido C H E de Croon},
editor = {Elio Tuci and Alexandros Giagkos and Myra Wilson and John Hallam},
url = {http://link.springer.com/10.1007/978-3-319-43488-9},
doi = {10.1007/978-3-319-43488-9_25},
issn = {00237205},
year = {2016},
date = {2016-01-01},
booktitle = {From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016},
pages = {280--292},
publisher = {Springer International Publishing},
address = {Aberystwyth University, Wales, UK},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}
|
Inproceedings
|
Ewoud J J Smeur; G C H E de de Croon; Qiping Chu Gust disturbance alleviation with Incremental Nonlinear Dynamic Inversion (Inproceedings) International Conference on Intelligent Robots and Systems (IROS), pp. 5626-5631, IEEE/RSJ 2016. (Links | BibTeX) @inproceedings{smeur2016b,
title = {Gust disturbance alleviation with Incremental Nonlinear Dynamic Inversion},
author = {Ewoud J J Smeur and G C H E de de Croon and Qiping Chu},
doi = {10.1109/IROS.2016.7759827},
year = {2016},
date = {2016-12-01},
booktitle = {International Conference on Intelligent Robots and Systems (IROS)},
pages = {5626-5631},
organization = {IEEE/RSJ},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
K McGuire; G de Croon; C de Wagter; B Remes; K Tuyls; H Kappen Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones (Inproceedings) 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 3255-3260, 2016. (Links | BibTeX) @inproceedings{McGuire2016,
title = {Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones},
author = {K McGuire and G de Croon and C de Wagter and B Remes and K Tuyls and H Kappen},
doi = {10.1109/ICRA.2016.7487496},
year = {2016},
date = {2016-05-01},
booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3255-3260},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Kevin Lamers; Sjoerd Tijmons; Christophe De Wagter; Guido de Croon Self-supervised monocular distance learning on a lightweight micro air vehicle (Inproceedings) Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pp. 1779–1784, IEEE 2016. (BibTeX) @inproceedings{lamers2016self,
title = {Self-supervised monocular distance learning on a lightweight micro air vehicle},
author = {Kevin Lamers and Sjoerd Tijmons and Christophe De Wagter and Guido de Croon},
year = {2016},
date = {2016-01-01},
booktitle = {Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
pages = {1779--1784},
organization = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S F Armanini; J V Caetano; C C de Visser; G C H E de Croon; M Mulder Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches (Inproceedings) AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–15, 2016. (BibTeX) @inproceedings{Armanini2016bb,
title = {Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches},
author = {S F Armanini and J V Caetano and C C de Visser and G C H E de Croon and M Mulder},
year = {2016},
date = {2016-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
pages = {1--15},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S F Armanini; C C a de Visser; G C H E de Croon; M Mulder A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle (Inproceedings) AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–19, 2016. (BibTeX) @inproceedings{Armanini2016a,
title = {A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle},
author = {S F Armanini and C C a de Visser and G C H E de Croon and M Mulder},
year = {2016},
date = {2016-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
pages = {1--19},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Matěj Karásek; Andries Jan Koopmans; Sophie F Armanini; Bart D W Remes; Guido C H E de Croon Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU (Inproceedings) The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, 9-14 October 2016 (Accepted), Daejeon, Korea, 2016. (BibTeX) @inproceedings{Karasek2016,
title = {Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU},
author = {Mat{ě}j Karásek and Andries Jan Koopmans and Sophie F Armanini and Bart D W Remes and Guido C H E de Croon},
year = {2016},
date = {2016-01-01},
booktitle = {The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, 9-14 October 2016 (Accepted)},
address = {Daejeon, Korea},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Torbjørn Cunis; Matěj Karásek; Guido C H E de Croon Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel (Inproceedings) The International Micro Air Vehicle Conference and Competition 2016 (IMAV 2016), Beijing, China, October 17-21, 2016. (BibTeX) @inproceedings{Cunis,
title = {Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel},
author = {Torbjørn Cunis and Mat{ě}j Karásek and Guido C H E de Croon},
year = {2016},
date = {2016-01-01},
booktitle = {The International Micro Air Vehicle Conference and Competition 2016 (IMAV 2016), Beijing, China, October 17-21},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S F Armanini; J V Caetano; C C de Visser; G C H E de Croon; M Mulder Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches (Inproceedings) AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–15, 2016. (BibTeX) @inproceedings{Armanini2016bc,
title = {Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches},
author = {S F Armanini and J V Caetano and C C de Visser and G C H E de Croon and M Mulder},
year = {2016},
date = {2016-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
pages = {1--15},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S F Armanini; C C a de Visser; G C H E de Croon; M Mulder A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle (Inproceedings) AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA, pp. 1–19, 2016. (BibTeX) @inproceedings{Armanini2016ab,
title = {A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle},
author = {S F Armanini and C C a de Visser and G C H E de Croon and M Mulder},
year = {2016},
date = {2016-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
pages = {1--19},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
Y S Janssen Reinforcement Learning Policy Approximation by Behavior Trees (Masters Thesis) Delft University of Technology, 2016. (Links | BibTeX) @mastersthesis{Janssen2016,
title = {Reinforcement Learning Policy Approximation by Behavior Trees},
author = {Y S Janssen},
url = {http://resolver.tudelft.nl/uuid:f6008da9-d688-4b9f-9880-8d7c3b51a777},
year = {2016},
date = {2016-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
K Lamers Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle (Masters Thesis) Delft University of Technology, 2016. (Links | BibTeX) @mastersthesis{Lamers2016b,
title = {Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle},
author = {K Lamers},
url = {http://resolver.tudelft.nl/uuid:55f9ab7a-2651-4a90-93a0-a8c9ddc7c6a9},
year = {2016},
date = {2016-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
2015
|
Journal Articles
|
J A Koopmans; S Tijmons; C De Wagter; G C H E de Croon Passively Stable Flapping Flight From Hover to Fast Forward Through Shift in Wing Position (Journal Article) International Journal of Micro Air Vehicles, 7 (4), 2015, ISBN: 10.1260/1756-8293.7.4.407. (Abstract | Links | BibTeX) @article{Koopmans2015,
title = {Passively Stable Flapping Flight From Hover to Fast Forward Through Shift in Wing Position},
author = {J A Koopmans and S Tijmons and C De Wagter and G C H E de Croon},
doi = {10.1260/1756-8293.7.4.407},
isbn = {10.1260/1756-8293.7.4.407},
year = {2015},
date = {2015-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {7},
number = {4},
publisher = {Multi Science Publishing},
abstract = {Flapping Wing Micro Air Vehicles (FWMAVs) hold the potential to both cover large distances and perform precision flights when arrived at destination. However, flying at different speeds leads to a complex control problem for attitude stabilization. Inspired by nature, we present a morphing mechanism that allows tailed FW- MAVs to have a passively stabilized attitude both in fast forward flight and in slow hovering flight. The mechanism displaces the wings and hence aerodynamic center. It is implemented on the DelFly II and tested in-flight in a motion tracking arena. The experimental tests show that the morphing mechanism indeed allows to fly passively stable in multiple flight modes. Just changing the aerodynamic center allows the DelFly II to fly fast forward (~ 6 m/s, pitch attitude of 10°), transition to slow forward flight (~ 0.8 m/s, pitch attitude of 55°), and back. The proposed mechanism paves the way for FWMAVs performing long range missions such as search-and-rescue.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Flapping Wing Micro Air Vehicles (FWMAVs) hold the potential to both cover large distances and perform precision flights when arrived at destination. However, flying at different speeds leads to a complex control problem for attitude stabilization. Inspired by nature, we present a morphing mechanism that allows tailed FW- MAVs to have a passively stabilized attitude both in fast forward flight and in slow hovering flight. The mechanism displaces the wings and hence aerodynamic center. It is implemented on the DelFly II and tested in-flight in a motion tracking arena. The experimental tests show that the morphing mechanism indeed allows to fly passively stable in multiple flight modes. Just changing the aerodynamic center allows the DelFly II to fly fast forward (~ 6 m/s, pitch attitude of 10°), transition to slow forward flight (~ 0.8 m/s, pitch attitude of 55°), and back. The proposed mechanism paves the way for FWMAVs performing long range missions such as search-and-rescue. |
S F Armanini; C C de Visser; G C H E de Croon; M Mulder Time-varying model identification of flapping-wing micro aerial vehicle dynamics using flight data (Journal Article) Journal of Guidance, Control, and Dynamics, 39 (3), 2015. (BibTeX) @article{ArmaniniEtAl2015,
title = {Time-varying model identification of flapping-wing micro aerial vehicle dynamics using flight data},
author = {S F Armanini and C C de Visser and G C H E de Croon and M Mulder},
year = {2015},
date = {2015-01-01},
journal = {Journal of Guidance, Control, and Dynamics},
volume = {39},
number = {3},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
W B Tay; S Deng; B W van Oudheusden; H Bijl Validation of immersed boundary method for the numerical simulation of flapping wing flight (Journal Article) Computers & Fluids, 115 , pp. 226-242, 2015. (BibTeX) @article{TayEtAl2015,
title = {Validation of immersed boundary method for the numerical simulation of flapping wing flight},
author = {W B Tay and S Deng and B W van Oudheusden and H Bijl},
year = {2015},
date = {2015-01-01},
journal = {Computers & Fluids},
volume = {115},
pages = {226-242},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
W B Tay; B W van Oudheusden; H Bijl Numerical simulation of a flapping four-wing micro-aerial vehicle (Journal Article) Journal of Fluids and Structures, 55 , pp. 237-261, 2015. (BibTeX) @article{TayEtAl2015b,
title = {Numerical simulation of a flapping four-wing micro-aerial vehicle},
author = {W B Tay and B W van Oudheusden and H Bijl},
year = {2015},
date = {2015-01-01},
journal = {Journal of Fluids and Structures},
volume = {55},
pages = {237-261},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
JV Caetano; M Percin; BW van Oudheusden; B Remes; C de Wagter; GCHE de Croon; CC de Visser Error analysis and assessment of unsteady forces acting on a flapping wing micro air vehicle: free flight versus wind-tunnel experimental methods (Journal Article) Bioinspiration & biomimetics, 10 (5), pp. 056004, 2015. (BibTeX) @article{caetano2015error,
title = {Error analysis and assessment of unsteady forces acting on a flapping wing micro air vehicle: free flight versus wind-tunnel experimental methods},
author = {JV Caetano and M Percin and BW van Oudheusden and B Remes and C de Wagter and GCHE de Croon and CC de Visser},
year = {2015},
date = {2015-01-01},
journal = {Bioinspiration & biomimetics},
volume = {10},
number = {5},
pages = {056004},
publisher = {IOP Publishing},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
JV Caetano; MB Weehuizen; CC De Visser; GCHE De Croon; M Mulder Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle (Journal Article) Journal of Guidance, Control, and Dynamics, 38 (12), pp. 2257–2269, 2015. (BibTeX) @article{caetano2015rigid,
title = {Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle},
author = {JV Caetano and MB Weehuizen and CC De Visser and GCHE De Croon and M Mulder},
year = {2015},
date = {2015-01-01},
journal = {Journal of Guidance, Control, and Dynamics},
volume = {38},
number = {12},
pages = {2257--2269},
publisher = {American Institute of Aeronautics and Astronautics},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Inproceedings
|
J L Verboom; S Tijmons; C De Wagter; B Remes; R Babuska; G C H E de Croon Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle (Inproceedings) 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 5846–5851, IEEE, 2015. (BibTeX) @inproceedings{Verboom2015,
title = {Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle},
author = {J L Verboom and S Tijmons and C De Wagter and B Remes and R Babuska and G C H E de Croon},
year = {2015},
date = {2015-05-01},
booktitle = {2015 IEEE International Conference on Robotics and Automation (ICRA)},
pages = {5846--5851},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
J V Caetano; S F Armanini; De C C Visser; De G C H E Croon; M Mulder Data-Informed Quasi-Steady Aerodynamic Model of a Clap-and-Fling Flapping Wing MAV (Inproceedings) Int. conf. on Intelligent Unmanned Systems (ICIUS), Bali, Indonesia, 2015. (BibTeX) @inproceedings{Caetano2015c,
title = {Data-Informed Quasi-Steady Aerodynamic Model of a Clap-and-Fling Flapping Wing MAV},
author = {J V Caetano and S F Armanini and De C C Visser and De G C H E Croon and M Mulder},
year = {2015},
date = {2015-01-01},
booktitle = {Int. conf. on Intelligent Unmanned Systems (ICIUS)},
address = {Bali, Indonesia},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Sophie F Armanini; C C de Visser; G C H E de Croon Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics (Inproceedings) AIAA Atmospheric Flight Mechanics Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2015, ISBN: 978-1-62410-340-7. (Links | BibTeX) @inproceedings{Armanini2015d,
title = {Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics},
author = {Sophie F Armanini and C C de Visser and G C H E de Croon},
doi = {10.2514/6.2015-0234},
isbn = {978-1-62410-340-7},
year = {2015},
date = {2015-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics Conference},
publisher = {American Institute of Aeronautics and Astronautics},
address = {Reston, Virginia},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
T Szabo Autononomous Collision Avoidance for Swarms of MAVs Based solely on RSSI measurements (Masters Thesis) Delft University of Technology, 2015. (Links | BibTeX) @mastersthesis{Szabo2016,
title = {Autononomous Collision Avoidance for Swarms of MAVs Based solely on RSSI measurements},
author = {T Szabo},
url = {http://resolver.tudelft.nl/uuid:f6008da9-d688-4b9f-9880-8d7c3b51a777},
year = {2015},
date = {2015-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
M Paz Gomes Verdugo Event-based Optical Flow using a Dynamic Vision Sensor for MAV Landing (Masters Thesis) Delft University of Technology, 2015. (BibTeX) @mastersthesis{PazGomesVerdugo2015,
title = {Event-based Optical Flow using a Dynamic Vision Sensor for MAV Landing},
author = {M Paz Gomes Verdugo},
year = {2015},
date = {2015-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
2014
|
Journal Articles
|
W B Tay; B W van Oudheusden; H Bijl Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method. (Journal Article) Bioinspiration & biomimetics, 9 (3), pp. 036001, 2014. (Abstract | Links | BibTeX) @article{Tay2014,
title = {Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method.},
author = {W B Tay and B W van Oudheusden and H Bijl},
url = {http://www.ncbi.nlm.nih.gov/pubmed/24584155},
doi = {10.1088/1748-3182/9/3/036001},
year = {2014},
date = {2014-09-01},
journal = {Bioinspiration & biomimetics},
volume = {9},
number = {3},
pages = {036001},
abstract = {The numerical simulation of an insect-sized 'X-wing' type biplane flapping wing configuration is performed in 3D using an immersed boundary method solver at Reynolds numbers equal to 1000 (1 k) and 5 k, based on the wing's root chord length. This X-wing type flapping configuration draws its inspiration from Delfly, a bio-inspired ornithopter MAV which has two pairs of wings flapping in anti-phase in a biplane configuration. The objective of the present investigation is to assess the aerodynamic performance when the original Delfly flapping wing micro-aerial vehicle (FMAV) is reduced to the size of an insect. Results show that the X-wing configuration gives more than twice the average thrust compared with only flapping the upper pair of wings of the X-wing. However, the X-wing's average thrust is only 40% that of the upper wing flapping at twice the stroke angle. Despite this, the increased stability which results from the smaller lift and moment variation of the X-wing configuration makes it more suited for sharp image capture and recognition. These advantages make the X-wing configuration an attractive alternative design for insect-sized FMAVS compared to the single wing configuration. In the Reynolds number comparison, the vorticity iso-surface plot at a Reynolds number of 5 k revealed smaller, finer vortical structures compared to the simulation at 1 k, due to vortices' breakup. In comparison, the force output difference is much smaller between Re = 1 k and 5 k. Increasing the body inclination angle generates a uniform leading edge vortex instead of a conical one along the wingspan, giving higher lift. Understanding the force variation as the body inclination angle increases will allow FMAV designers to optimize the thrust and lift ratio for higher efficiency under different operational requirements. Lastly, increasing the spanwise flexibility of the wings increases the thrust slightly but decreases the efficiency. The thrust result is similar to one of the spanwise studies, but the efficiency result contradicts it, indicating that other flapping parameters are involved as well. Results from this study provide a deeper understanding of the underlying aerodynamics of the X-wing type, which will help to improve the performance of insect-sized FMAVs using this unique configuration.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The numerical simulation of an insect-sized 'X-wing' type biplane flapping wing configuration is performed in 3D using an immersed boundary method solver at Reynolds numbers equal to 1000 (1 k) and 5 k, based on the wing's root chord length. This X-wing type flapping configuration draws its inspiration from Delfly, a bio-inspired ornithopter MAV which has two pairs of wings flapping in anti-phase in a biplane configuration. The objective of the present investigation is to assess the aerodynamic performance when the original Delfly flapping wing micro-aerial vehicle (FMAV) is reduced to the size of an insect. Results show that the X-wing configuration gives more than twice the average thrust compared with only flapping the upper pair of wings of the X-wing. However, the X-wing's average thrust is only 40% that of the upper wing flapping at twice the stroke angle. Despite this, the increased stability which results from the smaller lift and moment variation of the X-wing configuration makes it more suited for sharp image capture and recognition. These advantages make the X-wing configuration an attractive alternative design for insect-sized FMAVS compared to the single wing configuration. In the Reynolds number comparison, the vorticity iso-surface plot at a Reynolds number of 5 k revealed smaller, finer vortical structures compared to the simulation at 1 k, due to vortices' breakup. In comparison, the force output difference is much smaller between Re = 1 k and 5 k. Increasing the body inclination angle generates a uniform leading edge vortex instead of a conical one along the wingspan, giving higher lift. Understanding the force variation as the body inclination angle increases will allow FMAV designers to optimize the thrust and lift ratio for higher efficiency under different operational requirements. Lastly, increasing the spanwise flexibility of the wings increases the thrust slightly but decreases the efficiency. The thrust result is similar to one of the spanwise studies, but the efficiency result contradicts it, indicating that other flapping parameters are involved as well. Results from this study provide a deeper understanding of the underlying aerodynamics of the X-wing type, which will help to improve the performance of insect-sized FMAVs using this unique configuration. |
C De Wagter; S Tijmons; B D W Remes; G C H E de Croon Autonomous Flight of a 20-gram Flapping Wing MAV with a 4-gram Onboard Stereo Vision System (Journal Article) IEEE International Conference on Robotics & Automation (ICRA), pp. 4982–4987, 2014, ISSN: 10504729. (Abstract | Links | BibTeX) @article{DeWagter2014,
title = {Autonomous Flight of a 20-gram Flapping Wing MAV with a 4-gram Onboard Stereo Vision System},
author = {C De Wagter and S Tijmons and B D W Remes and G C H E de Croon},
doi = {10.1109/ICRA.2014.6907589},
issn = {10504729},
year = {2014},
date = {2014-01-01},
journal = {IEEE International Conference on Robotics & Automation (ICRA)},
pages = {4982--4987},
abstract = {Autonomous flight of Flapping Wing Micro Air Vehicles (FWMAVs) is a major challenge in the field of robotics, due to their light weight and the flapping-induced body motions. In this article, we present the first FWMAV with onboard vision processing for autonomous flight in generic environments. In particular, we introduce the DelFly ‘Explorer', a 20-gram FWMAV equipped with a 0.98-gram autopilot and a 4.0-gram onboard stereo vision system. We explain the design choices that permit carrying the extended payload, while retaining the DelFly's hover capabilities. In addition, we introduce a novel stereo vision algorithm, LongSeq, designed specifically to cope with the flapping motion and the desire to attain a computational effort tuned to the frame rate. The onboard stereo vision system is illustrated in the context of an obstacle avoidance task in an environment with sparse obstacles.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Autonomous flight of Flapping Wing Micro Air Vehicles (FWMAVs) is a major challenge in the field of robotics, due to their light weight and the flapping-induced body motions. In this article, we present the first FWMAV with onboard vision processing for autonomous flight in generic environments. In particular, we introduce the DelFly ‘Explorer', a 20-gram FWMAV equipped with a 0.98-gram autopilot and a 4.0-gram onboard stereo vision system. We explain the design choices that permit carrying the extended payload, while retaining the DelFly's hover capabilities. In addition, we introduce a novel stereo vision algorithm, LongSeq, designed specifically to cope with the flapping motion and the desire to attain a computational effort tuned to the frame rate. The onboard stereo vision system is illustrated in the context of an obstacle avoidance task in an environment with sparse obstacles. |
M Percin; BW van Oudheusden; HE Eisma; BDW Remes Three-dimensional vortex wake structure of a flapping-wing micro aerial vehicle in forward flight configuration (Journal Article) Experiments in Fluids, 55 (9), pp. 1–16, 2014. (BibTeX) @article{percin2014three,
title = {Three-dimensional vortex wake structure of a flapping-wing micro aerial vehicle in forward flight configuration},
author = {M Percin and BW van Oudheusden and HE Eisma and BDW Remes},
year = {2014},
date = {2014-01-01},
journal = {Experiments in Fluids},
volume = {55},
number = {9},
pages = {1--16},
publisher = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Shuanghou Deng; Mustafa Percin; Bas van Oudheusden; Bart Remes; Hester Bijl Experimental investigation on the aerodynamics of a bio-inspired flexible flapping wing micro air vehicle (Journal Article) International Journal of Micro Air Vehicles, 6 (2), pp. 105–115, 2014. (BibTeX) @article{deng2014experimental,
title = {Experimental investigation on the aerodynamics of a bio-inspired flexible flapping wing micro air vehicle},
author = {Shuanghou Deng and Mustafa Percin and Bas van Oudheusden and Bart Remes and Hester Bijl},
year = {2014},
date = {2014-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {6},
number = {2},
pages = {105--115},
publisher = {SAGE Publications},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
TA Noyon; WB Tay; BW Van Oudheusden; H Bijl Effect of chordwise deformation on unsteady aerodynamic mechanisms in hovering flapping flight (Journal Article) International Journal of Micro Air Vehicles, 6 (4), pp. 265–277, 2014. (BibTeX) @article{noyon2014effect,
title = {Effect of chordwise deformation on unsteady aerodynamic mechanisms in hovering flapping flight},
author = {TA Noyon and WB Tay and BW Van Oudheusden and H Bijl},
year = {2014},
date = {2014-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {6},
number = {4},
pages = {265--277},
publisher = {SAGE Publications},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
W B Tay; Van B W Oudheusden; H Bijl Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method (Journal Article) Bioinspiration & Biomimetics, 9 (3), pp. 36001, 2014, ISSN: 1748-3190. (Abstract | BibTeX) @article{Tay2014a,
title = {Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method},
author = {W B Tay and Van B W Oudheusden and H Bijl},
issn = {1748-3190},
year = {2014},
date = {2014-01-01},
journal = {Bioinspiration & Biomimetics},
volume = {9},
number = {3},
pages = {36001},
abstract = {The numerical simulation of an insect-sized ‘X-wing' type biplane flapping wing configuration is performed in 3D using an immersed boundary method solver at Reynolds numbers equal to 1000 (1 k) and 5 k, based on the wing's root chord length. This X-wing type flapping configuration draws its inspiration from Delfly, a bio-inspired ornithopter MAV which has two pairs of wings flapping in anti-phase in a biplane configuration. The objective of the present investigation is to assess the aerodynamic performance when the original Delfly flapping wing micro-aerial vehicle (FMAV) is reduced to the size of an insect. Results show that the X-wing configuration gives more than twice the average thrust compared with only flapping the upper pair of wings of the X-wing. However, the X-wing's average thrust is only 40% that of the upper wing flapping at twice the stroke angle. Despite this, the increased stability which results from the smaller lift and moment variation of the X-wing configuration makes it more suited for sharp image capture and recognition. These advantages make the X-wing configuration an attractive alternative design for insect-sized FMAVS compared to the single wing configuration. In the Reynolds number comparison, the vorticity iso-surface plot at a Reynolds number of 5 k revealed smaller, finer vortical structures compared to the simulation at 1 k, due to vortices' breakup. In comparison, the force output difference is much smaller between Re = 1 k and 5 k. Increasing the body inclination angle generates a uniform leading edge vortex instead of a conical one along the wingspan, giving higher lift. Understanding the force variation as the body inclination angle increases will allow FMAV designers to optimize the thrust and lift ratio for higher efficiency under different operational requirements. Lastly, increasing the spanwise flexibility of the wings increases the thrust slightly but decreases the efficiency. The thrust result is similar to one of the spanwise studies, but the efficiency result contradicts it, indicating that other flapping parameters are involved as well. Results from this study provide a deeper understanding of the underlying aerodynamics of the X-wing type, which will help to improve the performance of insect-sized FMAVs using this unique configuration.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The numerical simulation of an insect-sized ‘X-wing' type biplane flapping wing configuration is performed in 3D using an immersed boundary method solver at Reynolds numbers equal to 1000 (1 k) and 5 k, based on the wing's root chord length. This X-wing type flapping configuration draws its inspiration from Delfly, a bio-inspired ornithopter MAV which has two pairs of wings flapping in anti-phase in a biplane configuration. The objective of the present investigation is to assess the aerodynamic performance when the original Delfly flapping wing micro-aerial vehicle (FMAV) is reduced to the size of an insect. Results show that the X-wing configuration gives more than twice the average thrust compared with only flapping the upper pair of wings of the X-wing. However, the X-wing's average thrust is only 40% that of the upper wing flapping at twice the stroke angle. Despite this, the increased stability which results from the smaller lift and moment variation of the X-wing configuration makes it more suited for sharp image capture and recognition. These advantages make the X-wing configuration an attractive alternative design for insect-sized FMAVS compared to the single wing configuration. In the Reynolds number comparison, the vorticity iso-surface plot at a Reynolds number of 5 k revealed smaller, finer vortical structures compared to the simulation at 1 k, due to vortices' breakup. In comparison, the force output difference is much smaller between Re = 1 k and 5 k. Increasing the body inclination angle generates a uniform leading edge vortex instead of a conical one along the wingspan, giving higher lift. Understanding the force variation as the body inclination angle increases will allow FMAV designers to optimize the thrust and lift ratio for higher efficiency under different operational requirements. Lastly, increasing the spanwise flexibility of the wings increases the thrust slightly but decreases the efficiency. The thrust result is similar to one of the spanwise studies, but the efficiency result contradicts it, indicating that other flapping parameters are involved as well. Results from this study provide a deeper understanding of the underlying aerodynamics of the X-wing type, which will help to improve the performance of insect-sized FMAVs using this unique configuration. |
J V Caetano; M Percin; C C de Visser; B Van Oudheusden; G C H E de Croon; C De Wagter; B D W Remes; M Mulder Tethered vs. free flight force determination of the delfly II flapping wing micro air vehicle (Journal Article) 2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings, pp. 942–948, 2014, ISBN: 9781479923762. (Abstract | Links | BibTeX) @article{Caetano2014a,
title = {Tethered vs. free flight force determination of the delfly II flapping wing micro air vehicle},
author = {J V Caetano and M Percin and C C de Visser and B Van Oudheusden and G C H E de Croon and C De Wagter and B D W Remes and M Mulder},
doi = {10.1109/ICUAS.2014.6842344},
isbn = {9781479923762},
year = {2014},
date = {2014-01-01},
journal = {2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings},
pages = {942--948},
abstract = {The determination of dynamic forces acting on a Flapping Wing Micro Aerial Vehicle (FWMAV) is a challenging task due to the unsteady nature of force generation mechanisms. To assure a proper force identification in future researches, this work compares two different methods to obtain the longitudinal forces acting on FWMAVs and discusses their applicability regions. The methods were 1) calculation of forces from the recordings of the FWMAV's position in a free flight condition; 2) direct force measurements in a tethered flight condition in a wind tunnel. The DelFly II is used as the FWMAV test platform in the measurements. During free flight experiments, its position and attitude were recorded at a rate of 200Hz using an external visual tracking system, whose acquired information was then analyzed to obtain the flight states and calculate the forces and moments that act on the platform during flight, under a set of kinematic assumptions. Subsequently, similar flight conditions were tested in the tethered situation. An ATI Nano-17 Titanium force transducer was used to measure time-resolved forces. The results for the most common flight regime of the DelFly, which is a slow forward flight at a high body pitch angle, are presented. It is shown that the tethered force balance tests agree with the free flight data when assessing the aerodynamic forces that are perpendicular to the stroke plane of the flapping wing. However, the forces that act along the stroke plane are coupled with structural dynamic terms, thus affecting the final lift and thrust identification. These results point to inadequate force identification in fixed point force measurements, due to effect the of the dynamic modes of the FWMAV body, thus advising proper cross-comparing between experimental methods. textcopyright 2014 IEEE.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
The determination of dynamic forces acting on a Flapping Wing Micro Aerial Vehicle (FWMAV) is a challenging task due to the unsteady nature of force generation mechanisms. To assure a proper force identification in future researches, this work compares two different methods to obtain the longitudinal forces acting on FWMAVs and discusses their applicability regions. The methods were 1) calculation of forces from the recordings of the FWMAV's position in a free flight condition; 2) direct force measurements in a tethered flight condition in a wind tunnel. The DelFly II is used as the FWMAV test platform in the measurements. During free flight experiments, its position and attitude were recorded at a rate of 200Hz using an external visual tracking system, whose acquired information was then analyzed to obtain the flight states and calculate the forces and moments that act on the platform during flight, under a set of kinematic assumptions. Subsequently, similar flight conditions were tested in the tethered situation. An ATI Nano-17 Titanium force transducer was used to measure time-resolved forces. The results for the most common flight regime of the DelFly, which is a slow forward flight at a high body pitch angle, are presented. It is shown that the tethered force balance tests agree with the free flight data when assessing the aerodynamic forces that are perpendicular to the stroke plane of the flapping wing. However, the forces that act along the stroke plane are coupled with structural dynamic terms, thus affecting the final lift and thrust identification. These results point to inadequate force identification in fixed point force measurements, due to effect the of the dynamic modes of the FWMAV body, thus advising proper cross-comparing between experimental methods. textcopyright 2014 IEEE. |
T Gillebaart; WB Tay; AH van Zuijlen; H Bijl A modified ALE method for fluid flows around bodies moving in close proximity (Journal Article) Computers & Structures, 145 , pp. 1–11, 2014. (BibTeX) @article{gillebaart2014modified,
title = {A modified ALE method for fluid flows around bodies moving in close proximity},
author = {T Gillebaart and WB Tay and AH van Zuijlen and H Bijl},
year = {2014},
date = {2014-01-01},
journal = {Computers & Structures},
volume = {145},
pages = {1--11},
publisher = {Elsevier},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Inproceedings
|
S F Armanini; J L Verboom; G C H E de Croon; C C de Visser Determination of trim curves for a flapping-wing MAV (Inproceedings) IMAV 2014: International Micro Air Vehicle Conference and Competition 2014, Delft, The Netherlands, August 12-15, 2014, pp. 212–217, Delft University of Technology, Delft, 2014. (Abstract | Links | BibTeX) @inproceedings{Armanini2014,
title = {Determination of trim curves for a flapping-wing MAV},
author = {S F Armanini and J L Verboom and G C H E de Croon and C C de Visser},
url = {http://resolver.tudelft.nl/uuid%3Aea4d67c6-5cf3-437e-8aa0-5aa3d70f92a5/},
doi = {10.4233/uuid:30b89d0f-fb8a-4acd-99d9-dc8c20e819a8},
year = {2014},
date = {2014-08-01},
booktitle = {IMAV 2014: International Micro Air Vehicle Conference and Competition 2014, Delft, The Netherlands, August 12-15, 2014},
pages = {212--217},
publisher = {Delft University of Technology},
address = {Delft},
abstract = {This paper presents the results of a series of flight tests conducted in order to assess the steady-state flight characteristics and basic control behaviour of the DelFly, a flapping-wing micro aerial vehicle (FWMAV). Flights were conducted in an indoor motion tracking facility and included steady-level flight at a range of different velocities and turn manoeuvres. A number of different trim points were determined and approximate trim curves constructed to describe elevator effectiveness. Aileron effectiveness was then evaluated in terms of resulting turn radii and turn rates. The results provide insight into some of the basic flight properties of the DelFly and represent a starting point for further modelling work. The flight testing process also highlighted some of the major issues to be addressed in order to obtain meaningful experimental results.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
This paper presents the results of a series of flight tests conducted in order to assess the steady-state flight characteristics and basic control behaviour of the DelFly, a flapping-wing micro aerial vehicle (FWMAV). Flights were conducted in an indoor motion tracking facility and included steady-level flight at a range of different velocities and turn manoeuvres. A number of different trim points were determined and approximate trim curves constructed to describe elevator effectiveness. Aileron effectiveness was then evaluated in terms of resulting turn radii and turn rates. The results provide insight into some of the basic flight properties of the DelFly and represent a starting point for further modelling work. The flight testing process also highlighted some of the major issues to be addressed in order to obtain meaningful experimental results. |
E J J Smeur; Q P Chu; G C H E de Croon; B Remes; C De Wagter; E van der Horst Modelling of a Hybrid UAV Using Test Flight Data (Inproceedings) pp. 196–203, Delft, 2014. (Links | BibTeX) @inproceedings{smeur2014,
title = {Modelling of a Hybrid UAV Using Test Flight Data},
author = {E J J Smeur and Q P Chu and G C H E de Croon and B Remes and C De Wagter and E van der Horst},
doi = {10.4233/uuid:2eed26cf-a7e8-4a6c-ac42-89a9608e4d2a},
year = {2014},
date = {2014-08-01},
pages = {196--203},
address = {Delft},
howpublished = {International Micro Air Vechicle Competition and Conference (IMAV)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
J V Caetano; M Percin; C C de Visser; B van Oudheusden; G C H E de Croon; C De Wagter; B D W Remes; M Mulder Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle (Inproceedings) 2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 942–948, IEEE, 2014, ISBN: 978-1-4799-2376-2. (Abstract | Links | BibTeX) @inproceedings{Caetano2014b,
title = {Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle},
author = {J V Caetano and M Percin and C C de Visser and B van Oudheusden and G C H E de Croon and C De Wagter and B D W Remes and M Mulder},
url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6842344},
doi = {10.1109/ICUAS.2014.6842344},
isbn = {978-1-4799-2376-2},
year = {2014},
date = {2014-05-01},
booktitle = {2014 International Conference on Unmanned Aircraft Systems (ICUAS)},
pages = {942--948},
publisher = {IEEE},
abstract = {The determination of dynamic forces acting on a Flapping Wing Micro Aerial Vehicle (FWMAV) is a challenging task due to the unsteady nature of force generation mechanisms. To assure a proper force identification in future researches, this work compares two different methods to obtain the longitudinal forces acting on FWMAVs and discusses their applicability regions. The methods were 1) calculation of forces from the recordings of the FWMAV's position in a free flight condition; 2) direct force measurements in a tethered flight condition in a wind tunnel. The DelFly II is used as the FWMAV test platform in the measurements. During free flight experiments, its position and attitude were recorded at a rate of 200Hz using an external visual tracking system, whose acquired information was then analyzed to obtain the flight states and calculate the forces and moments that act on the platform during flight, under a set of kinematic assumptions. Subsequently, similar flight conditions were tested in the tethered situation. An ATI Nano-17 Titanium force transducer was used to measure time-resolved forces. The results for the most common flight regime of the DelFly, which is a slow forward flight at a high body pitch angle, are presented. It is shown that the tethered force balance tests agree with the free flight data when assessing the aerodynamic forces that are perpendicular to the stroke plane of the flapping wing. However, the forces that act along the stroke plane are coupled with structural dynamic terms, thus affecting the final lift and thrust identification. These results point to inadequate force identification in fixed point force measurements, due to effect the of the dynamic modes of the FWMAV body, thus advising proper cross-comparing between experimental methods.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
The determination of dynamic forces acting on a Flapping Wing Micro Aerial Vehicle (FWMAV) is a challenging task due to the unsteady nature of force generation mechanisms. To assure a proper force identification in future researches, this work compares two different methods to obtain the longitudinal forces acting on FWMAVs and discusses their applicability regions. The methods were 1) calculation of forces from the recordings of the FWMAV's position in a free flight condition; 2) direct force measurements in a tethered flight condition in a wind tunnel. The DelFly II is used as the FWMAV test platform in the measurements. During free flight experiments, its position and attitude were recorded at a rate of 200Hz using an external visual tracking system, whose acquired information was then analyzed to obtain the flight states and calculate the forces and moments that act on the platform during flight, under a set of kinematic assumptions. Subsequently, similar flight conditions were tested in the tethered situation. An ATI Nano-17 Titanium force transducer was used to measure time-resolved forces. The results for the most common flight regime of the DelFly, which is a slow forward flight at a high body pitch angle, are presented. It is shown that the tethered force balance tests agree with the free flight data when assessing the aerodynamic forces that are perpendicular to the stroke plane of the flapping wing. However, the forces that act along the stroke plane are coupled with structural dynamic terms, thus affecting the final lift and thrust identification. These results point to inadequate force identification in fixed point force measurements, due to effect the of the dynamic modes of the FWMAV body, thus advising proper cross-comparing between experimental methods. |
J V Caetano; M Percin; C C de Visser; B van Oudheusden; G C H E de Croon; C De Wagter; B D W Remes; M Mulder Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle (Inproceedings) 2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 942–948, IEEE, 2014, ISBN: 978-1-4799-2376-2. (Links | BibTeX) @inproceedings{Caetano2014bb,
title = {Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle},
author = {J V Caetano and M Percin and C C de Visser and B van Oudheusden and G C H E de Croon and C De Wagter and B D W Remes and M Mulder},
url = {http://ieeexplore.ieee.org/articleDetails.jsp?arnumber=6842344},
doi = {10.1109/ICUAS.2014.6842344},
isbn = {978-1-4799-2376-2},
year = {2014},
date = {2014-05-01},
booktitle = {2014 International Conference on Unmanned Aircraft Systems (ICUAS)},
pages = {942--948},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
J V Caetano; M B Weehuizen; C C de Visser; G C H E de Croon; C de Wagter; B Remes; M Mulder Rigid vs. Flapping: The Effects of Kinematic Formulations in Force Determination of a Free Flying Flapping WIng Micro Air Vehicle (Inproceedings) International Conference on Unmanned Aircraft Systems, pp. 949–959, Institute of Electrical and Electronics Engineers Orlando, US-FL, 2014. (BibTeX) @inproceedings{caetanoEtAl2014,
title = {Rigid vs. Flapping: The Effects of Kinematic Formulations in Force Determination of a Free Flying Flapping WIng Micro Air Vehicle},
author = {J V Caetano and M B Weehuizen and C C de Visser and G C H E de Croon and C de Wagter and B Remes and M Mulder},
year = {2014},
date = {2014-01-01},
booktitle = {International Conference on Unmanned Aircraft Systems},
pages = {949--959},
address = {Orlando, US-FL},
organization = {Institute of Electrical and Electronics Engineers},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S Deng; M Percin; B W van Oudheusden; B D W Remes; A Tenaglia Force and flow field measurements of a bio-inspired flapping-wing MAV 'Delfly Micro' in hovering flight (Inproceedings) 32nd AIAA Applied Aerodynamics Conference, 2014, ISBN: 9781624102882. (Abstract | BibTeX) @inproceedings{Deng2014a,
title = {Force and flow field measurements of a bio-inspired flapping-wing MAV 'Delfly Micro' in hovering flight},
author = {S Deng and M Percin and B W van Oudheusden and B D W Remes and A Tenaglia},
isbn = {9781624102882},
year = {2014},
date = {2014-01-01},
booktitle = {32nd AIAA Applied Aerodynamics Conference},
abstract = {A detailed characterization of the aerodynamic performance of a small flapping-wing micro air vehicle (MAV) 'DelFly Micro' model was addressed by combined aerodynamic force measurements and quantitative visualization of the flow field topology. A miniature six-component force sensor was used for an accurate recording of the force variation during the flapping cycle, while simulatenously measuring the power required to drive the motor allows to assess the flapping efficiency in terms of the thrust-to-power ratio. The timeresolved velocity field measurements in the wake of 'DelFly Micro' were obtained by means of Stereoscopic Particle Image Velocimetry (Stereo-PIV) technique. The PIV measurements were performed at several streamwise positions at a high framing rate, and a Kriging interpolation procedure was employed to allow reconstruction of the three-dimensional wake flow field from the separate planes. The experimental set-up is capable of temporally synchronizing the force measurements with the flow visualization, permitting to link the specificfeatures in the force generation to particular flow characteristics. The effects of flapping frequency and wing aspect ratio are examined in terms of force generation and wake structures. Finally, a temporal interpolation method to reconstruct the threedimensional wake topology from a single measurement plane is demonstrated to yield satisfactory results for a provisional flow-field analysis.},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
A detailed characterization of the aerodynamic performance of a small flapping-wing micro air vehicle (MAV) 'DelFly Micro' model was addressed by combined aerodynamic force measurements and quantitative visualization of the flow field topology. A miniature six-component force sensor was used for an accurate recording of the force variation during the flapping cycle, while simulatenously measuring the power required to drive the motor allows to assess the flapping efficiency in terms of the thrust-to-power ratio. The timeresolved velocity field measurements in the wake of 'DelFly Micro' were obtained by means of Stereoscopic Particle Image Velocimetry (Stereo-PIV) technique. The PIV measurements were performed at several streamwise positions at a high framing rate, and a Kriging interpolation procedure was employed to allow reconstruction of the three-dimensional wake flow field from the separate planes. The experimental set-up is capable of temporally synchronizing the force measurements with the flow visualization, permitting to link the specificfeatures in the force generation to particular flow characteristics. The effects of flapping frequency and wing aspect ratio are examined in terms of force generation and wake structures. Finally, a temporal interpolation method to reconstruct the threedimensional wake topology from a single measurement plane is demonstrated to yield satisfactory results for a provisional flow-field analysis. |
Masters Theses
|
Kirk Y W Scheper Behaviour Trees for Evolutionary Robotics: Reducing the Reality Gap (Masters Thesis) Delft University of Technology, 2014. (Links | BibTeX) @mastersthesis{Scheper2014,
title = {Behaviour Trees for Evolutionary Robotics: Reducing the Reality Gap},
author = {Kirk Y W Scheper},
url = {http://resolver.tudelft.nl/uuid:dde8d42e-590a-465d-abaf-760ec304760f},
year = {2014},
date = {2014-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
2013
|
Journal Articles
|
J Caetano; C C de Visser; G C H E de Croon; B D W Remes; C De Wagter; J Verboom; M Mulder Linear Aerodynamic Model Identification of a Flapping Wing MAV Based on Flight Test Data (Journal Article) International Journal of Micro Air Vehicles, 5 (4), pp. 273–286, 2013, ISSN: 1756-8293. (Abstract | Links | BibTeX) @article{Caetano2013,
title = {Linear Aerodynamic Model Identification of a Flapping Wing MAV Based on Flight Test Data},
author = {J Caetano and C C de Visser and G C H E de Croon and B D W Remes and C De Wagter and J Verboom and M Mulder},
doi = {10.1260/1756-8293.5.4.273},
issn = {1756-8293},
year = {2013},
date = {2013-12-01},
journal = {International Journal of Micro Air Vehicles},
volume = {5},
number = {4},
pages = {273--286},
publisher = {Multi Science Publishing},
abstract = {This paper presents an approach to the system identification of the Delfly II Flapping Wing Micro Air Vehicle (FWMAV) using flight test data. It aims at providing simple FWMAV aerodynamic models that can be used in simulations as well as in nonlinear flight control systems. The undertaken methodology builds on normal aircraft system identification methods and extends these with techniques that are specific to FWMAV model identification. The entire aircraft model identification cycle is discussed covering the set-up and automatic execution of the flight test experiments, the aircraft states, the aerodynamic forces and moments' reconstruction, the aerodynamic model structure selection, the parameter estimation and finally, the model validation. In particular, a motion capturing facility was used to record the flapper's position in time and from there compute the states and aerodynamic forces and moments that acted on it, assuming flap-averaged dynamics and linear aerodynamic model structures. It is shown th...},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
This paper presents an approach to the system identification of the Delfly II Flapping Wing Micro Air Vehicle (FWMAV) using flight test data. It aims at providing simple FWMAV aerodynamic models that can be used in simulations as well as in nonlinear flight control systems. The undertaken methodology builds on normal aircraft system identification methods and extends these with techniques that are specific to FWMAV model identification. The entire aircraft model identification cycle is discussed covering the set-up and automatic execution of the flight test experiments, the aircraft states, the aerodynamic forces and moments' reconstruction, the aerodynamic model structure selection, the parameter estimation and finally, the model validation. In particular, a motion capturing facility was used to record the flapper's position in time and from there compute the states and aerodynamic forces and moments that acted on it, assuming flap-averaged dynamics and linear aerodynamic model structures. It is shown th... |
WB Tay; H Bijl; BW van Oudheusden Biplane and tail effects in flapping flight (Journal Article) AIAA journal, 51 (9), pp. 2133–2146, 2013. (BibTeX) @article{tay2013biplane,
title = {Biplane and tail effects in flapping flight},
author = {WB Tay and H Bijl and BW van Oudheusden},
year = {2013},
date = {2013-01-01},
journal = {AIAA journal},
volume = {51},
number = {9},
pages = {2133--2146},
publisher = {American Institute of Aeronautics and Astronautics},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
J V Caetano; J Verboom; C C De Visser; G C H E De Croon; B D W Remes; C De Wagter; M Mulder Near-hover flapping wing mav aerodynamic modelling -- A linear model approach (Journal Article) International Journal of Micro Air Vehicles, 5 (4), 2013. (BibTeX) @article{caetano2013near,
title = {Near-hover flapping wing mav aerodynamic modelling -- A linear model approach},
author = {J V Caetano and J Verboom and C C De Visser and G C H E De Croon and B D W Remes and C De Wagter and M Mulder},
year = {2013},
date = {2013-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {5},
number = {4},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Incollections
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Christophe De Wagter; Andries Koopmans; Guido C H E de Croon; Bart Remes; Rick Ruijsink Autonomous Wind Tunnel Free-Flight of a Flapping Wing MAV (Incollection) Advances in Aerospace Guidance, Navigation and Control, pp. 603–621, Springer, Berlin, DE, 2013. (BibTeX) @incollection{deWagterEtAl2013,
title = {Autonomous Wind Tunnel Free-Flight of a Flapping Wing MAV},
author = {Christophe De Wagter and Andries Koopmans and Guido C H E de Croon and Bart Remes and Rick Ruijsink},
year = {2013},
date = {2013-01-01},
booktitle = {Advances in Aerospace Guidance, Navigation and Control},
pages = {603--621},
publisher = {Springer},
address = {Berlin, DE},
keywords = {},
pubstate = {published},
tppubtype = {incollection}
}
|
Inproceedings
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Joao V Caetano; C C de Visser; B D W Remes; C De Wagter; Erik-Jan van Kampen; Max Mulder Controlled Flight Maneuvers of a Flapping Wing Micro Air Vehicle: a Step Towards the Delfly II Identification (Inproceedings) AIAA Atmospheric Flight Mechanics (AFM) Conference, Guidance, Navigation, and Control and Co-located Conferences, 2013. (Links | BibTeX) @inproceedings{Caetano2013b,
title = {Controlled Flight Maneuvers of a Flapping Wing Micro Air Vehicle: a Step Towards the Delfly II Identification},
author = {Joao V Caetano and C C de Visser and B D W Remes and C De Wagter and Erik-Jan van Kampen and Max Mulder},
url = {http://arc.aiaa.org/doi/abs/10.2514/6.2013-4843},
doi = {10.2514/6.2013-4843},
year = {2013},
date = {2013-01-01},
booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Guidance, Navigation, and Control and Co-located Conferences},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2012
|
Inproceedings
|
M Percin; H E Eisma; Van B W Oudheusden; B Remes; R Ruijsink; De C Wagter; Aerodynamics Section; Aerodynamics Section; Aerodynamics Section Flow visualization in the wake of flapping-wing MAV `DelFly II' in forward flight (Inproceedings) 30th AIAA Applied Aerodynamics Conference, American Institute of Aeronautics and Astronautics New Orleans, US-LA, 2012. (BibTeX) @inproceedings{percinEtAl2015,
title = {Flow visualization in the wake of flapping-wing MAV `DelFly II' in forward flight},
author = {M Percin and H E Eisma and Van B W Oudheusden and B Remes and R Ruijsink and De C Wagter and Aerodynamics Section and Aerodynamics Section and Aerodynamics Section},
year = {2012},
date = {2012-06-01},
booktitle = {30th AIAA Applied Aerodynamics Conference},
address = {New Orleans, US-LA},
organization = {American Institute of Aeronautics and Astronautics},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
M Percin; H E Eisma; Van B W Oudheusden; B Remes; R Ruijsink; De C Wagter; Aerodynamics Section; Aerodynamics Section; Aerodynamics Section Flow visualization in the wake of flapping-wing MAV `DelFly II' in forward flight (Inproceedings) 30th AIAA Applied Aerodynamics Conference, American Institute of Aeronautics and Astronautics New Orleans, US-LA, 2012. (BibTeX) @inproceedings{percinEtAl2015b,
title = {Flow visualization in the wake of flapping-wing MAV `DelFly II' in forward flight},
author = {M Percin and H E Eisma and Van B W Oudheusden and B Remes and R Ruijsink and De C Wagter and Aerodynamics Section and Aerodynamics Section and Aerodynamics Section},
year = {2012},
date = {2012-06-01},
booktitle = {30th AIAA Applied Aerodynamics Conference},
address = {New Orleans, US-LA},
organization = {American Institute of Aeronautics and Astronautics},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
Andries J Koopmans Delfly Freeflight -- Autonomous Flight of the Delfly in the Wind Tunnel using Low-Cost Sensors (Masters Thesis) Delft University of Technology, 2012. (BibTeX) @mastersthesis{koopmans2012,
title = {Delfly Freeflight -- Autonomous Flight of the Delfly in the Wind Tunnel using Low-Cost Sensors},
author = {Andries J Koopmans},
year = {2012},
date = {2012-01-01},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
2010
|
Journal Articles
|
Kristien M E De Clercq; Roeland de Kat; B D W Remes; Bas W van Oudheusden; Hester Bijl Aerodynamic Experiments on DelFly II: Unsteady Lift Enhancement (Journal Article) International Journal of Micro Air Vehicles, 1 (4), pp. 255–262, 2010, ISSN: 1756-8293. (Abstract | Links | BibTeX) @article{DeClercq2010,
title = {Aerodynamic Experiments on DelFly II: Unsteady Lift Enhancement},
author = {Kristien M E De Clercq and Roeland de Kat and B D W Remes and Bas W van Oudheusden and Hester Bijl},
doi = {10.1260/175682909790291465},
issn = {1756-8293},
year = {2010},
date = {2010-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {1},
number = {4},
pages = {255--262},
abstract = {Particle image velocimetry measurements and simultaneous force measurements have been performed on the DelFly II flapping-wing MAV, to investigate the flow-field behavior and the aerodynamic forces generated. For flapping wing motion it is expected that both the clap and peel mechanism and the occurrence of a leading edge vortex during the translational phase play an important role in unsteady lift generation. Furthermore, the flexibility of the wing foil is also considered of primary relevance. The PIV analysis shows a strong influx between the wings during the peel but no downward expelling jet during the clap. The force measurements reveal that the peel, oppositely to the clap, contributes significantly to the lift. The PIV visualization suggests the occurrence of a leading edge vortex during the first half of the in- and outstroke, which is supported by a simultaneous augmentation in lift. The early generation of a leading edge vortex during the flex cannot be assessed from the PIV images due to optical obstruction, but is likely to appear since the wing flexing is accompanied with a large increase in lift.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Particle image velocimetry measurements and simultaneous force measurements have been performed on the DelFly II flapping-wing MAV, to investigate the flow-field behavior and the aerodynamic forces generated. For flapping wing motion it is expected that both the clap and peel mechanism and the occurrence of a leading edge vortex during the translational phase play an important role in unsteady lift generation. Furthermore, the flexibility of the wing foil is also considered of primary relevance. The PIV analysis shows a strong influx between the wings during the peel but no downward expelling jet during the clap. The force measurements reveal that the peel, oppositely to the clap, contributes significantly to the lift. The PIV visualization suggests the occurrence of a leading edge vortex during the first half of the in- and outstroke, which is supported by a simultaneous augmentation in lift. The early generation of a leading edge vortex during the flex cannot be assessed from the PIV images due to optical obstruction, but is likely to appear since the wing flexing is accompanied with a large increase in lift. |
Masters Theses
|
Bart Bruggeman Improving flight performance of DelFly II in hover by improving wing design and driving mechanism (Masters Thesis) Delft University of Technology, 2010. (BibTeX) @mastersthesis{Bruggeman2010,
title = {Improving flight performance of DelFly II in hover by improving wing design and driving mechanism},
author = {Bart Bruggeman},
year = {2010},
date = {2010-01-01},
pages = {123},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
