2009
|
Proceedings Articles
|
Kristien M E De Clercq; Roland De Kat; Bart Remes; Bas Van W Oudheusden; Hester Bijl Flow Visualization and Force Measurements on a Hovering Flapping-Wing MAV `DelFly II' (Proceedings Article) In: Proceedings of the 39th AIAA Fluid Dynamics Conference, American Institute of Aeronautics and Astronautics San Antonio, US-TX, 2009. @inproceedings{deClercqEtAl2009a,
title = {Flow Visualization and Force Measurements on a Hovering Flapping-Wing MAV `DelFly II'},
author = {Kristien M E De Clercq and Roland De Kat and Bart Remes and Bas Van W Oudheusden and Hester Bijl},
year = {2009},
date = {2009-01-01},
booktitle = {Proceedings of the 39th AIAA Fluid Dynamics Conference},
address = {San Antonio, US-TX},
organization = {American Institute of Aeronautics and Astronautics},
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 = {inproceedings}
}
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
|
M. J. Verveld Optical Flow Based State Estimation for an Indoor Micro Aerial Vehicle (Masters Thesis) Delft University of Technology, 2009, (Mulder, J.A. (mentor); Chu, Q.P. (mentor); de Wagter, C. (mentor)). @mastersthesis{uuid:fe5ea73c-a85b-4a4b-b5d5-fc01d29b2113,
title = {Optical Flow Based State Estimation for an Indoor Micro Aerial Vehicle},
author = {M. J. Verveld},
url = {http://resolver.tudelft.nl/uuid:fe5ea73c-a85b-4a4b-b5d5-fc01d29b2113},
year = {2009},
date = {2009-01-01},
school = {Delft University of Technology},
abstract = {This work addresses the problem of indoor state estimation for autonomous flying vehicles with an optic flow approach. The paper discusses a sensor configuration using six optic flow sensors of the computer mouse type augmented by a three-axis accelerometer to estimate velocity, rotation, attitude and viewing distances. It is shown that the problem is locally observable for a moving vehicle. A Kalman filter is used to extract these states from the sensor data. The resulting approach is tested in a simulation environment evaluating the performance of three Kalman filter algorithms under various noise conditions. Finally, a prototype of the sensor hardware has been built and tested in a laboratory setup. Paper published: Verveld, M.J., Chu, Q.P., De Wagter, C. and Mulder, J.A. “Optic Flow Based State Estimation for an Indoor Micro Air Vehicle” AIAA Guidance, Navigation, and Control Conference, August 2010, Toronto, Canada AIAA 2010-8209, DOI: 10.2514/6.2010-8209},
note = {Mulder, J.A. (mentor); Chu, Q.P. (mentor); de Wagter, C. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This work addresses the problem of indoor state estimation for autonomous flying vehicles with an optic flow approach. The paper discusses a sensor configuration using six optic flow sensors of the computer mouse type augmented by a three-axis accelerometer to estimate velocity, rotation, attitude and viewing distances. It is shown that the problem is locally observable for a moving vehicle. A Kalman filter is used to extract these states from the sensor data. The resulting approach is tested in a simulation environment evaluating the performance of three Kalman filter algorithms under various noise conditions. Finally, a prototype of the sensor hardware has been built and tested in a laboratory setup. Paper published: Verveld, M.J., Chu, Q.P., De Wagter, C. and Mulder, J.A. “Optic Flow Based State Estimation for an Indoor Micro Air Vehicle” AIAA Guidance, Navigation, and Control Conference, August 2010, Toronto, Canada AIAA 2010-8209, DOI: 10.2514/6.2010-8209 |
K De Clercq Flow visualization and force measurements on a hovering flapping-wing MAV 'DelFly II' (Masters Thesis) Delft University of Technology, Delft, NL, 2009. @mastersthesis{declerck2009,
title = {Flow visualization and force measurements on a hovering flapping-wing MAV 'DelFly II'},
author = {K De Clercq},
year = {2009},
date = {2009-01-01},
number = {December},
address = {Delft, NL},
school = {Delft University of Technology},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
2007
|
Proceedings Articles
|
C de Wagter; JA Mulder Vision-Only Control of a Flapping MAV on Mars (Proceedings Article) In: S.N., (Ed.): Proceedings of the AIAA Guidance, Navigation and Control Conference & Exhibit, pp. 1–7, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2007, ISBN: AIAA-2007-6853, (null ; Conference date: 20-08-2007 Through 23-08-2007). @inproceedings{4b5898d908d148fe8d4a77624602e599,
title = {Vision-Only Control of a Flapping MAV on Mars},
author = {C {de Wagter} and JA Mulder},
editor = {S.N.},
url = {https://research.tudelft.nl/en/publications/vision-only-control-of-a-flapping-mav-on-mars},
isbn = {AIAA-2007-6853},
year = {2007},
date = {2007-01-01},
booktitle = {Proceedings of the AIAA Guidance, Navigation and Control Conference & Exhibit},
pages = {1--7},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {null ; Conference date: 20-08-2007 Through 23-08-2007},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2006
|
Journal Articles
|
C de Wagter; JA Mulder Vision-based guidance and awareness for autonomous UAV (Journal Article) In: Journal of Gyroscopy and Navigation, vol. 53, no. 2, pp. 13–25, 2006, ISSN: 0869-7035. @article{f9963e86186b49c28eb04806b406bd23,
title = {Vision-based guidance and awareness for autonomous UAV},
author = {C {de Wagter} and JA Mulder},
url = {https://research.tudelft.nl/en/publications/vision-based-guidance-and-awareness-for-autonomous-uav-2},
issn = {0869-7035},
year = {2006},
date = {2006-01-01},
journal = {Journal of Gyroscopy and Navigation},
volume = {53},
number = {2},
pages = {13--25},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
Proceedings Articles
|
A Muis; JMV Oliveira; JA Mulder Development of a flexible flight test instrumentation system (Proceedings Article) In: s.n., (Ed.): Proceedings of the Society of Flight Test Engineers 17th European Chapter Symposium 2006, Innovation in flight test engineering, pp. –, SFTE, 2006, (null ; Conference date: 12-06-2006 Through 14-06-2006). @inproceedings{b9e448b27bb341afb4337dc720a5d909,
title = {Development of a flexible flight test instrumentation system},
author = {A Muis and JMV Oliveira and JA Mulder},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/development-of-a-flexible-flight-test-instrumentation-system},
year = {2006},
date = {2006-01-01},
booktitle = {Proceedings of the Society of Flight Test Engineers 17th European Chapter Symposium 2006, Innovation in flight test engineering},
pages = {--},
publisher = {SFTE},
note = {null ; Conference date: 12-06-2006 Through 14-06-2006},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2005
|
Proceedings Articles
|
Christophe De Wagter; J A Mulder Towards vision-based uav situation awareness (Proceedings Article) In: AIAA Guidance, Navigation, and Control Conference and Exhibit, pp. 5872, American Institute of Aeronautics and Astronautics (AIAA), San Francisco, CA, USA, 2005. @inproceedings{de2005aiaa,
title = {Towards vision-based uav situation awareness},
author = {Christophe De Wagter and J A Mulder},
doi = {10.2514/6.2005-5872},
year = {2005},
date = {2005-08-01},
booktitle = {AIAA Guidance, Navigation, and Control Conference and Exhibit},
pages = {5872},
publisher = {American Institute of Aeronautics and Astronautics (AIAA)},
address = {San Francisco, CA, USA},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
C De Wagter; J A Mulder Vision-Based Guidance and Awareness for Autonomous UAV (Proceedings Article) In: Peshekhonov, Vladimir G (Ed.): Proceedings of the 12th Saint Petersburg International Conference on Intregrated Navigation Systems, pp. –, State Research Center of Russia "Elektropribor", Saint Petersburg, Russia, 2005. @inproceedings{cdw_2005_ICIINS,
title = {Vision-Based Guidance and Awareness for Autonomous UAV},
author = {C De Wagter and J A Mulder},
editor = {Vladimir G Peshekhonov},
year = {2005},
date = {2005-05-01},
booktitle = {Proceedings of the 12th Saint Petersburg International Conference on Intregrated Navigation Systems},
pages = {--},
publisher = {State Research Center of Russia "Elektropribor"},
address = {Saint Petersburg, Russia},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
JMV Oliveira; QP Chu; JA Mulder Output error method and two step method for aerodynamic model identification (aiaa 6440) (Proceedings Article) In: Proceedings of the AiAA GNC Conference and Exhibit, pp. –, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2005, (null ; Conference date: 15-08-2005 Through 18-08-2005). @inproceedings{19ecde1633c64b8587b78685b698f81c,
title = {Output error method and two step method for aerodynamic model identification (aiaa 6440)},
author = {JMV Oliveira and QP Chu and JA Mulder},
url = {https://research.tudelft.nl/en/publications/output-error-method-and-two-step-method-for-aerodynamic-model-ide},
year = {2005},
date = {2005-01-01},
booktitle = {Proceedings of the AiAA GNC Conference and Exhibit},
pages = {--},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {null ; Conference date: 15-08-2005 Through 18-08-2005},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
JMV Oliveira; QP Chu; JA Mulder Estimating attitude using velocity aiding (Proceedings Article) In: Peshekhonov, Vladimir G. (Ed.): Proceedings of the 12th Saint Petersburg International Conference on Integrated Navigation Systems, pp. 222–231, 2005, (null ; Conference date: 23-05-2005 Through 25-05-2005). @inproceedings{56717151a6024777a3adc61947e2901c,
title = {Estimating attitude using velocity aiding},
author = {JMV Oliveira and QP Chu and JA Mulder},
editor = {Vladimir G. Peshekhonov},
url = {https://research.tudelft.nl/en/publications/estimating-attitude-using-velocity-aiding},
year = {2005},
date = {2005-01-01},
booktitle = {Proceedings of the 12th Saint Petersburg International Conference on Integrated Navigation Systems},
pages = {222--231},
note = {null ; Conference date: 23-05-2005 Through 25-05-2005},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2004
|
Proceedings Articles
|
M Mulder; TM Lam; C de Wagter; MM van Paassen; JA Mulder Increasing the Safety of Operating Unmanned Aerial Vehicles (Proceedings Article) In: Proceedings of the Fourth Polish Avionics Conference, pp. –, 2004, (null ; Conference date: 17-09-2004 Through 19-09-2004). @inproceedings{f9de0d5895c94e2290676264675acea1,
title = {Increasing the Safety of Operating Unmanned Aerial Vehicles},
author = {M Mulder and TM Lam and C {de Wagter} and MM {van Paassen} and JA Mulder},
url = {https://research.tudelft.nl/en/publications/increasing-the-safety-of-operating-unmanned-aerial-vehicles},
year = {2004},
date = {2004-01-01},
booktitle = {Proceedings of the Fourth Polish Avionics Conference},
pages = {--},
note = {null ; Conference date: 17-09-2004 Through 19-09-2004},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
2003
|
Proceedings Articles
|
C De Wagter; A A Proctor; E N Johnson Vision-only aircraft flight control (Proceedings Article) In: Digital Avionics Systems Conference, 2003. DASC '03. The 22nd, pp. 8.B.2-81-11 vol.2, 2003. @inproceedings{cdw_2003_dasc,
title = {Vision-only aircraft flight control},
author = {C De Wagter and A A Proctor and E N Johnson},
doi = {10.1109/DASC.2003.1245896},
year = {2003},
date = {2003-10-01},
booktitle = {Digital Avionics Systems Conference, 2003. DASC '03. The 22nd},
volume = {2},
pages = {8.B.2-81-11 vol.2},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Whereas insects seem to control their flight effortlessly with the help of optical flow, robots that attempt to do the same run into problems. We propose as a solution a learning process that allows robots to see distances by means of visual appearance (colors, textures, shapes). Would it be possible that insects do the same?
