2016
|
Masters Theses
|
M. Coppola Relative Localization for Collision Avoidance in Micro Air Vehicle Teams (Masters Thesis) Delft University of Technology, 2016, (De Croon, G. (mentor)). @mastersthesis{uuid:8145032a-9b1c-48c1-bf46-6f9d7405e5ef,
title = {Relative Localization for Collision Avoidance in Micro Air Vehicle Teams},
author = {M. Coppola},
url = {http://resolver.tudelft.nl/uuid:8145032a-9b1c-48c1-bf46-6f9d7405e5ef},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {A current limitation of using Micro Air Vehicles in teams is the high risk of collisions between members. Knowledge of relative location is needed in order to perform evasive maneuvers from such collisions. We propose an on-board Bluetooth-based relative localization scheme. Bluetooth is a light-weight and energy efficient communication technology that is readily available on even the smallest Micro Air Vehicle units. In this work, it is exploited for communication between team members to exchange on-board states (velocity, height, and orientation), and the strength of the communication signal is used to infer relative range. The data is fused on-board by each Micro Air Vehicle to obtain a relative estimate of the location and motion of all other team members. Furthermore, a collision avoidance controller is proposed based on collision cones. It is designed to deal with the expected performance of the localization scheme by adapting the collision cones during flight and enforcing a clock-wise evasion maneuver. The system was tested with a team of AR-Drones 2.0 flying in a 4m×4m arena. The task requested the AR-Drones to repeatedly fly from wall to wall whilst passing through the center of the arena, hence making collisions highly likely. The system showed promising results. When using two AR-Drones and off-board velocity/orientation estimates, the drones are able to fly around the arena and avoid each other for the entire flight time as permitted by the battery. With three AR-Drones under the same conditions, flight time to collision was 3 minutes. With two AR-Drones flying with on-board velocity estimation, the time to collision was approximately 3 minutes due to the disturbances in velocity estimates. Simulation results show that significantly better results can be expected with smaller units.},
note = {De Croon, G. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
A current limitation of using Micro Air Vehicles in teams is the high risk of collisions between members. Knowledge of relative location is needed in order to perform evasive maneuvers from such collisions. We propose an on-board Bluetooth-based relative localization scheme. Bluetooth is a light-weight and energy efficient communication technology that is readily available on even the smallest Micro Air Vehicle units. In this work, it is exploited for communication between team members to exchange on-board states (velocity, height, and orientation), and the strength of the communication signal is used to infer relative range. The data is fused on-board by each Micro Air Vehicle to obtain a relative estimate of the location and motion of all other team members. Furthermore, a collision avoidance controller is proposed based on collision cones. It is designed to deal with the expected performance of the localization scheme by adapting the collision cones during flight and enforcing a clock-wise evasion maneuver. The system was tested with a team of AR-Drones 2.0 flying in a 4m×4m arena. The task requested the AR-Drones to repeatedly fly from wall to wall whilst passing through the center of the arena, hence making collisions highly likely. The system showed promising results. When using two AR-Drones and off-board velocity/orientation estimates, the drones are able to fly around the arena and avoid each other for the entire flight time as permitted by the battery. With three AR-Drones under the same conditions, flight time to collision was 3 minutes. With two AR-Drones flying with on-board velocity estimation, the time to collision was approximately 3 minutes due to the disturbances in velocity estimates. Simulation results show that significantly better results can be expected with smaller units. |
B. J. M. M. Slinger Attitude Control of a Small Helicopter UAV using Incremental Nonlinear Dynamic Inversion (Masters Thesis) Delft University of Technology, 2016, (Remes, B.D.W. (mentor)). @mastersthesis{uuid:9eba1543-6f55-4708-9d68-09446a95d6d4,
title = {Attitude Control of a Small Helicopter UAV using Incremental Nonlinear Dynamic Inversion},
author = {B. J. M. M. Slinger},
url = {http://resolver.tudelft.nl/uuid:9eba1543-6f55-4708-9d68-09446a95d6d4},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {This paper presents an attitude controller for a small helicopter Unmanned Aerial Vehicle (UAV) based on Incremental Nonlinear Dynamic Inversion (INDI). INDI is a sensor-based control method which responds quickly to the commanded input, but also to disturbances. While previous implementations of INDI used a control effectiveness matrix describing effects on rotational accelerations, the implementation presented in this paper uses rotational rates. This is possible with small hingeless-rotor helicopters since the rotational rates are achieved almost immediately, but also the transient is taken into account. By doing so, the matrix contains only constants and the control structure is much simpler. The proposed controller is implemented on a small helicopter which weighs less than 50 grams. The performance of the controller is demonstrated with step responses on roll and heading angles. Also disturbance rejection capabilities are demonstrated. Finally, the controller is deliberately configured incorrectly with wrong control effectiveness and actuator model parameters. A theoretical derivation is provided to predict the effect of incorrect parameters. With experiments, it is demonstrated that the helicopter can be stabilized over a wide range of incorrect values. It is concluded that the demonstrated controller is a suitable choice for small autonomous helicopters.},
note = {Remes, B.D.W. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
This paper presents an attitude controller for a small helicopter Unmanned Aerial Vehicle (UAV) based on Incremental Nonlinear Dynamic Inversion (INDI). INDI is a sensor-based control method which responds quickly to the commanded input, but also to disturbances. While previous implementations of INDI used a control effectiveness matrix describing effects on rotational accelerations, the implementation presented in this paper uses rotational rates. This is possible with small hingeless-rotor helicopters since the rotational rates are achieved almost immediately, but also the transient is taken into account. By doing so, the matrix contains only constants and the control structure is much simpler. The proposed controller is implemented on a small helicopter which weighs less than 50 grams. The performance of the controller is demonstrated with step responses on roll and heading angles. Also disturbance rejection capabilities are demonstrated. Finally, the controller is deliberately configured incorrectly with wrong control effectiveness and actuator model parameters. A theoretical derivation is provided to predict the effect of incorrect parameters. With experiments, it is demonstrated that the helicopter can be stabilized over a wide range of incorrect values. It is concluded that the demonstrated controller is a suitable choice for small autonomous helicopters. |
G. J. J. Van Dalen Visual Homing for Micro Aerial Vehicles using Scene Familiarity (Masters Thesis) Delft University of Technology, 2016, (De Croon, G.C.H.E. (mentor)). @mastersthesis{uuid:f72c5d11-d959-4778-831d-2abe07945398,
title = {Visual Homing for Micro Aerial Vehicles using Scene Familiarity},
author = {G. J. J. Van Dalen},
url = {http://resolver.tudelft.nl/uuid:f72c5d11-d959-4778-831d-2abe07945398},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {Autonomous navigation is a major challenge in the development of MAVs. When an algorithm has to be efficient, insect intelligence can be a source of inspiration. An elementary navigation task is homing, which means autonomously returning to the initial location. A promising approach makes use of visual familiarity of a route to determine reference headings during homing. In this thesis an existing biological proof of concept based on desert ants is transferred to MAVs. Vision-in-the-loop experiments in different environments are performed, to investigate the viability of scene familiarity for visual navigation. Trained images are used to determine which control actions to take during homing. To determine familiarity, either a database of stored images is kept or an artificial neural network is used. Different image representations are compared in multiple simulated environments. The use of textons for determining familiarity gives the best performance, but HSV color histograms also perform well and are very efficient. It is concluded that to make this method competitive with other visual navigation approaches, route familiarity should be combined with other methods to improve robustness.},
note = {De Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Autonomous navigation is a major challenge in the development of MAVs. When an algorithm has to be efficient, insect intelligence can be a source of inspiration. An elementary navigation task is homing, which means autonomously returning to the initial location. A promising approach makes use of visual familiarity of a route to determine reference headings during homing. In this thesis an existing biological proof of concept based on desert ants is transferred to MAVs. Vision-in-the-loop experiments in different environments are performed, to investigate the viability of scene familiarity for visual navigation. Trained images are used to determine which control actions to take during homing. To determine familiarity, either a database of stored images is kept or an artificial neural network is used. Different image representations are compared in multiple simulated environments. The use of textons for determining familiarity gives the best performance, but HSV color histograms also perform well and are very efficient. It is concluded that to make this method competitive with other visual navigation approaches, route familiarity should be combined with other methods to improve robustness. |
C. W. M. Nous Performance Evaluation in Obstacle Avoidance (Masters Thesis) Delft University of Technology, 2016, (De Croon, G.C.H.E. (mentor)). @mastersthesis{uuid:9ad6db51-5d2b-4680-b250-72b03ccc5fbb,
title = {Performance Evaluation in Obstacle Avoidance},
author = {C. W. M. Nous},
url = {http://resolver.tudelft.nl/uuid:9ad6db51-5d2b-4680-b250-72b03ccc5fbb},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
abstract = {No quantitative procedure currently exists to evaluate the obstacle avoidance capabilities of robotic applications. Such an evaluation method is needed for comparing different methods, but also to determine the operational limits of autonomous systems. This work proposes an evaluation framework which can find such limits. The framework comprises two sets of tests: detection tests and avoidance tests. For each set, environment and performance metrics need to be defined. For detection tests such metrics are well known. For avoidance tests however such metrics are not readily available. Therefore a new set of metrics is proposed. The framework is applied to a UAV that uses stereo vision to detect obstacles and three different algorithms to calculate the avoidance manoeuvre.},
note = {De Croon, G.C.H.E. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
No quantitative procedure currently exists to evaluate the obstacle avoidance capabilities of robotic applications. Such an evaluation method is needed for comparing different methods, but also to determine the operational limits of autonomous systems. This work proposes an evaluation framework which can find such limits. The framework comprises two sets of tests: detection tests and avoidance tests. For each set, environment and performance metrics need to be defined. For detection tests such metrics are well known. For avoidance tests however such metrics are not readily available. Therefore a new set of metrics is proposed. The framework is applied to a UAV that uses stereo vision to detect obstacles and three different algorithms to calculate the avoidance manoeuvre. |
Y. S. Janssen Reinforcement Learning Policy Approximation by Behavior Trees: using Genetic Algoritms (Masters Thesis) Delft University of Technology, 2016, (Scheper, K.Y.W. (mentor)). @mastersthesis{uuid:f6008da9-d688-4b9f-9880-8d7c3b51a777,
title = {Reinforcement Learning Policy Approximation by Behavior Trees: using Genetic Algoritms},
author = {Y. S. Janssen},
url = {http://resolver.tudelft.nl/uuid:f6008da9-d688-4b9f-9880-8d7c3b51a777},
year = {2016},
date = {2016-01-01},
school = {Delft University of Technology},
note = {Scheper, K.Y.W. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
|
Miscellaneous
|
Kevin van Hecke; Guido de Croon; Laurens van der Maaten; Daniel Hennes; Dario Izzo Persistent self-supervised learning principle: from stereo to monocular vision for obstacle avoidance (Miscellaneous) 2016. @misc{1603.08047,
title = {Persistent self-supervised learning principle: from stereo to monocular vision for obstacle avoidance},
author = {Kevin van Hecke and Guido de Croon and Laurens van der Maaten and Daniel Hennes and Dario Izzo},
url = {https://arxiv.org/abs/1603.08047},
year = {2016},
date = {2016-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
Mario Coppola; Kimberly McGuire; Kirk Y. W. Scheper; Guido C. H. E. Croon On-board Communication-based Relative Localization for Collision Avoidance in Micro Air Vehicle teams (Miscellaneous) 2016. @misc{1609.08811,
title = {On-board Communication-based Relative Localization for Collision Avoidance in Micro Air Vehicle teams},
author = {Mario Coppola and Kimberly McGuire and Kirk Y. W. Scheper and Guido C. H. E. Croon},
url = {https://arxiv.org/abs/1609.08811},
year = {2016},
date = {2016-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
PhD Theses
|
Joao Aguiar Vieira Caetano Model identification of a flapping wing micro aerial vehicle (PhD Thesis) 2016. @phdthesis{5311a47f267e46b391315228e22fef8b,
title = {Model identification of a flapping wing micro aerial vehicle},
author = {Joao {Aguiar Vieira Caetano}},
url = {https://research.tudelft.nl/en/publications/model-identification-of-a-flapping-wing-micro-aerial-vehicle},
doi = {10.4233/uuid:5311a47f-267e-46b3-9131-5228e22fef8b},
year = {2016},
date = {2016-01-01},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
2015
|
Journal Articles
|
GCHE de Croon; D Alazard; D Izzo Controlling spacecraft landings with constantly and exponentially decreasing time-to-contact (Journal Article) In: IEEE Transactions on Aerospace and Electronic Systems, vol. 51, no. 2, pp. 1241–1252, 2015, ISSN: 0018-9251. @article{78d777cd72fe4a9ca84600c6a6c4cd1f,
title = {Controlling spacecraft landings with constantly and exponentially decreasing time-to-contact},
author = {GCHE {de Croon} and D Alazard and D Izzo},
url = {https://research.tudelft.nl/en/publications/controlling-spacecraft-landings-with-constantly-and-exponentially},
doi = {10.1109/TAES.2014.130135},
issn = {0018-9251},
year = {2015},
date = {2015-01-01},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
volume = {51},
number = {2},
pages = {1241--1252},
publisher = {IEEE},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
V Casseau; GCHE de Croon; D Izzo; C Pandolfi Morphologic and aerodynamic considerations regarding the plumed seeds of tragopogon pratensis and their implications for seed dispersal (Journal Article) In: PLoS ONE, vol. 10, no. 5, pp. 1–17, 2015, ISSN: 1932-6203. @article{e08152ce6a754a029ffbdcbc62811768,
title = {Morphologic and aerodynamic considerations regarding the plumed seeds of tragopogon pratensis and their implications for seed dispersal},
author = {V Casseau and GCHE {de Croon} and D Izzo and C Pandolfi},
url = {https://research.tudelft.nl/en/publications/morphologic-and-aerodynamic-considerations-regarding-the-plumed-s},
doi = {10.1371/journal.pone.0125040},
issn = {1932-6203},
year = {2015},
date = {2015-01-01},
journal = {PLoS ONE},
volume = {10},
number = {5},
pages = {1--17},
publisher = {Public Library of Science},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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) In: International Journal of Micro Air Vehicles, vol. 7, no. 4, 2015, ISBN: 10.1260/1756-8293.7.4.407. @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. |
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) In: Computers & Fluids, vol. 115, pp. 226-242, 2015. @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) In: Journal of Fluids and Structures, vol. 55, pp. 237-261, 2015. @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) In: Bioinspiration & biomimetics, vol. 10, no. 5, pp. 056004, 2015. @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) In: Journal of Guidance, Control, and Dynamics, vol. 38, no. 12, pp. 2257–2269, 2015. @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}
}
|
Proceedings Articles
|
HW Ho; C de Wagter; BDW Remes; GCHE de Croon Optical flow for self-supervised learning of obstacle appearance (Proceedings Article) In: Zhang, J; Knoll, A (Ed.): Proceedings of the IEEE/RSJ International conference on intelligent robots and systems (IROS2015), pp. 1–7, IEEE Society, 2015, (International conference on intelligent robots and systems (IROS2015), Hamburg, Germany ; Conference date: 28-09-2015 Through 02-10-2015). @inproceedings{9b4c3e2504b84944b7399b30d6e05113,
title = {Optical flow for self-supervised learning of obstacle appearance},
author = {HW Ho and C {de Wagter} and BDW Remes and GCHE {de Croon}},
editor = {J Zhang and A Knoll},
url = {https://research.tudelft.nl/en/publications/optical-flow-for-self-supervised-learning-of-obstacle-appearance},
doi = {10.1109/IROS.2015.7353805},
year = {2015},
date = {2015-12-17},
booktitle = {Proceedings of the IEEE/RSJ International conference on intelligent robots and systems (IROS2015)},
pages = {1--7},
publisher = {IEEE Society},
note = {International conference on intelligent robots and systems (IROS2015), Hamburg, Germany ; Conference date: 28-09-2015 Through 02-10-2015},
keywords = {},
pubstate = {published},
tppubtype = {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 (Proceedings Article) In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 5846–5851, IEEE, 2015. @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}
}
|
Mustafa Per c c; Bas van Oudheusden; Bart Remes Force generation and wing deformation characteristics of the textquoterightDelFly IItextquoteright MAV in hovering flight conditions (Proceedings Article) In: International Micro Air Vehicle Conference and Flight Competition, 2015, (International Micro Air Vehicle Conference and Flight Competition 2015, IMAV 2015 ; Conference date: 15-09-2015 Through 18-09-2015). @inproceedings{a31aa7add4ee411c875a599c9b3a6660,
title = {Force generation and wing deformation characteristics of the textquoterightDelFly IItextquoteright MAV in hovering flight conditions},
author = {Mustafa Per c c and Bas {van Oudheusden} and Bart Remes},
url = {https://research.tudelft.nl/en/publications/force-generation-and-wing-deformation-characteristics-of-the-delf},
year = {2015},
date = {2015-01-01},
booktitle = {International Micro Air Vehicle Conference and Flight Competition},
note = {International Micro Air Vehicle Conference and Flight Competition 2015, IMAV 2015 ; Conference date: 15-09-2015 Through 18-09-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
JV Aguiar Vieira Caetano; CC de Visser; GCHE de Croon; M Mulder Effects of eigenmodes, forward velocity and flapping frequency in force generation mechanisms of a flapping-wing mav (Proceedings Article) In: Riyanto, B; Budiyono, A (Ed.): Proceedings of the international conference on intelligent unmanned systems, pp. 1–6, s.n., 2015, (International conference on intelligent unmanned systems, ICIUS 2015, Bali, Indonesia ; Conference date: 26-08-2015 Through 29-08-2015). @inproceedings{cd752eba815349e8b266ae32ac6c7e5f,
title = {Effects of eigenmodes, forward velocity and flapping frequency in force generation mechanisms of a flapping-wing mav},
author = {JV {Aguiar Vieira Caetano} and CC {de Visser} and GCHE {de Croon} and M Mulder},
editor = {B Riyanto and A Budiyono},
url = {https://research.tudelft.nl/en/publications/effects-of-eigenmodes-forward-velocity-and-flapping-frequency-in-},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the international conference on intelligent unmanned systems},
pages = {1--6},
publisher = {s.n.},
note = {International conference on intelligent unmanned systems, ICIUS 2015, Bali, Indonesia ; Conference date: 26-08-2015 Through 29-08-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S Deng; T Xiao; M Percin; BW van Oudheusden; H Bijl; BDW Remes Numerical simulation of an X-wing flapping wing MAV by means of a deforming overset grid method (Proceedings Article) In: s.n., (Ed.): Proceedings of the 22nd AIAA computational fluid dynamics conference, pp. 1–12, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2015, ISBN: 978-1-62410-366-7, (harvest AIAA 2015-2615; 22nd AIAA computational fluid dynamics conference, Dallas, USA ; Conference date: 22-06-2015 Through 26-06-2015). @inproceedings{baa376377f2b47b8ad232b8be54d1c03,
title = {Numerical simulation of an X-wing flapping wing MAV by means of a deforming overset grid method},
author = {S Deng and T Xiao and M Percin and BW {van Oudheusden} and H Bijl and BDW Remes},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/numerical-simulation-of-an-x-wing-flapping-wing-mav-by-means-of-a},
doi = {10.2514/6.2015-2615},
isbn = {978-1-62410-366-7},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the 22nd AIAA computational fluid dynamics conference},
pages = {1--12},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {harvest AIAA 2015-2615; 22nd AIAA computational fluid dynamics conference, Dallas, USA ; Conference date: 22-06-2015 Through 26-06-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
LNC Sikkel; EJJ Smeur; GCHE de Croon; BDW Remes; QP Chu Robust rotorcraft control using an incremental sliding mode controller (Proceedings Article) In: Bordeneuve-Guibe, J; Drouin, A; Roos, C (Ed.): Proceedings of the 3rd CEAS specialist conference on guidance, navigation and control, pp. 1–17, Springer, 2015, ISBN: 978-3-319-17517-1, (3rd CEAS specialist conference on guidance, navigation and control, Toulouse, France ; Conference date: 13-04-2015 Through 15-04-2015). @inproceedings{d7c1dfcaf85b4238a46535fe5b5a9564,
title = {Robust rotorcraft control using an incremental sliding mode controller},
author = {LNC Sikkel and EJJ Smeur and GCHE {de Croon} and BDW Remes and QP Chu},
editor = {J Bordeneuve-Guibe and A Drouin and C Roos},
url = {https://research.tudelft.nl/en/publications/robust-rotorcraft-control-using-an-incremental-sliding-mode-contr},
doi = {10.1007/978-3-319-17518-8},
isbn = {978-3-319-17517-1},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the 3rd CEAS specialist conference on guidance, navigation and control},
pages = {1--17},
publisher = {Springer},
note = {3rd CEAS specialist conference on guidance, navigation and control, Toulouse, France ; Conference date: 13-04-2015 Through 15-04-2015},
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 (Proceedings Article) In: Int. conf. on Intelligent Unmanned Systems (ICIUS), Bali, Indonesia, 2015. @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}
}
|
SF Armanini; M Polak; JE Gautrey; A Lucas; JF Whidborne Decision-making for unmanned flight in icing conditions (Proceedings Article) In: Abbink, F; Hermans, C (Ed.): Proceedings of the 5th CEAS air and space conference, CEAS 2015, pp. 1–15, NVvL, 2015, ISBN: 978-1-906913-20-5, (5th CEAS air and space conference, CEAS 2015 ; Conference date: 07-09-2015 Through 11-09-2015). @inproceedings{d91fd768737a483e9fea088caed913e1,
title = {Decision-making for unmanned flight in icing conditions},
author = {SF Armanini and M Polak and JE Gautrey and A Lucas and JF Whidborne},
editor = {F Abbink and C Hermans},
url = {https://research.tudelft.nl/en/publications/decision-making-for-unmanned-flight-in-icing-conditions},
isbn = {978-1-906913-20-5},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the 5th CEAS air and space conference, CEAS 2015},
pages = {1--15},
publisher = {NVvL},
note = {5th CEAS air and space conference, CEAS 2015 ; Conference date: 07-09-2015 Through 11-09-2015},
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 (Proceedings Article) In: AIAA Atmospheric Flight Mechanics Conference, American Institute of Aeronautics and Astronautics, Reston, Virginia, 2015, ISBN: 978-1-62410-340-7. @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}
}
|
C Fuchs; C Borst; GCHE Croon; MM Paassen; M Mulder An ecological approach to the supervisory control of UAV swarms (Proceedings Article) In: Fumeaux, C; Sanagavarapu, A (Ed.): Proceedings of the 18th international symposium on aviation psychology, ISAP2015, pp. 177–182, Wright State University, 2015, ISBN: 978-1-5108-0408-1, (18th International Symposium on Aviation Psychology, ISAP2015 ; Conference date: 04-05-2015 Through 07-05-2015). @inproceedings{722255041e784a508be88baf8e652b31,
title = {An ecological approach to the supervisory control of UAV swarms},
author = {C Fuchs and C Borst and GCHE Croon and MM Paassen and M Mulder},
editor = {C Fumeaux and A Sanagavarapu},
url = {https://research.tudelft.nl/en/publications/an-ecological-approach-to-the-supervisory-control-of-uav-swarms},
isbn = {978-1-5108-0408-1},
year = {2015},
date = {2015-01-01},
booktitle = {Proceedings of the 18th international symposium on aviation psychology, ISAP2015},
pages = {177--182},
publisher = {Wright State University},
note = {18th International Symposium on Aviation Psychology, ISAP2015 ; Conference date: 04-05-2015 Through 07-05-2015},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
Masters Theses
|
S. Van Lochem Ecological Interface Design for Collaboration of Multiple UAVs in Remote Areas (Masters Thesis) Delft University of Technology, 2015, (Borst, C. (mentor); De Croon, G.C.H.E. (mentor); Mulder, M. (mentor); Van Paassen, M.M. (mentor)). @mastersthesis{uuid:483b3b05-4e72-44a2-840b-a207e06990af,
title = {Ecological Interface Design for Collaboration of Multiple UAVs in Remote Areas},
author = {S. Van Lochem},
url = {http://resolver.tudelft.nl/uuid:483b3b05-4e72-44a2-840b-a207e06990af},
year = {2015},
date = {2015-01-01},
school = {Delft University of Technology},
abstract = {Unmanned Aerial Vehicles (UAVs) can be used to access remote areas that were otherwise inaccessible, for example, for surveillance missions. Collaboration between them can help overcome communication constraints by building airborne relay networks that allow beyond line of sight communication. This research investigates if a single operator can supervise multiple UAVs in a collaborative surveillance task under communication constraints. For this purpose and ecological interface was designed to support operators in their task and to bring flexibility in the system. A human-in-the-loop evaluation study was performed to investigate the successfulness of operators in the control task of such a mission including an analysis of individual components of the interface. It was shown that operators are able to successfully operate surveillance missions under communication- and battery constraints. Participants did however not completely do this without separation conflicts and communication losses, which indicates that the interface lacks elements representing endurance and separation assurance. To an extent the interface design turned out to be scalable, with a few remaining visualizations that still suffered from this problem. More advanced ways of displaying information on request and grouping of select information is thought to offer opportunities to improve ground control interface on this matter.},
note = {Borst, C. (mentor); De Croon, G.C.H.E. (mentor); Mulder, M. (mentor); Van Paassen, M.M. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Unmanned Aerial Vehicles (UAVs) can be used to access remote areas that were otherwise inaccessible, for example, for surveillance missions. Collaboration between them can help overcome communication constraints by building airborne relay networks that allow beyond line of sight communication. This research investigates if a single operator can supervise multiple UAVs in a collaborative surveillance task under communication constraints. For this purpose and ecological interface was designed to support operators in their task and to bring flexibility in the system. A human-in-the-loop evaluation study was performed to investigate the successfulness of operators in the control task of such a mission including an analysis of individual components of the interface. It was shown that operators are able to successfully operate surveillance missions under communication- and battery constraints. Participants did however not completely do this without separation conflicts and communication losses, which indicates that the interface lacks elements representing endurance and separation assurance. To an extent the interface design turned out to be scalable, with a few remaining visualizations that still suffered from this problem. More advanced ways of displaying information on request and grouping of select information is thought to offer opportunities to improve ground control interface on this matter. |
K. G. Van Hecke Persistent self-supervised learning principle: Study and demonstration on flying robots (Masters Thesis) Delft University of Technology, 2015, (De Croon, G.C.H.E. (mentor); Van der Maaten, L.J.P. (mentor); Izzo, D. (mentor); Hennes, D. (mentor)). @mastersthesis{uuid:b722da02-089f-42a8-a3ea-fb3f5900bcdd,
title = {Persistent self-supervised learning principle: Study and demonstration on flying robots},
author = {K. G. Van Hecke},
url = {http://resolver.tudelft.nl/uuid:b722da02-089f-42a8-a3ea-fb3f5900bcdd},
year = {2015},
date = {2015-01-01},
school = {Delft University of Technology},
abstract = {We introduce, study and demonstrate Persistent Self-Supervised Learning (PSSL), a machine learning method for usage onboard robotic platforms. The PSSL model leverages a standard supervised learning method to simplify the learning problem, but acquires training data in an unsupervised and autonomous manner. Using two platforms, a small multicopter on earth and the space based test bed SPHERES inside the International Space Station , we demonstrate the PSSL principle on a proof of concept problem: learning monocular depth estimation using stereo vision. The robot operates first in a ground truth mode based on the distance perceived by the stereo system, while persistently learning the environment using monocular cues. After the performance of the estimator transcends a ROC quality measure, the robot switches to operation based on the monocular depth estimates. Our results show the viability of the PSSL method, by being able to navigate a room on the basis of learned monocular vision, without collecting any training data beforehand. We identify a major challenge in PSSL caused by a training bias due to behavioral differences in the estimator and the ground truth based operation; however, this is a known problem also for related learning methods such as reinforcement learning. PSSL helps solve this problem by 1) clearly separating the learning problem from the behavior and 2) the possibility to keep learning during estimator behavior.},
note = {De Croon, G.C.H.E. (mentor); Van der Maaten, L.J.P. (mentor); Izzo, D. (mentor); Hennes, D. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
We introduce, study and demonstrate Persistent Self-Supervised Learning (PSSL), a machine learning method for usage onboard robotic platforms. The PSSL model leverages a standard supervised learning method to simplify the learning problem, but acquires training data in an unsupervised and autonomous manner. Using two platforms, a small multicopter on earth and the space based test bed SPHERES inside the International Space Station , we demonstrate the PSSL principle on a proof of concept problem: learning monocular depth estimation using stereo vision. The robot operates first in a ground truth mode based on the distance perceived by the stereo system, while persistently learning the environment using monocular cues. After the performance of the estimator transcends a ROC quality measure, the robot switches to operation based on the monocular depth estimates. Our results show the viability of the PSSL method, by being able to navigate a room on the basis of learned monocular vision, without collecting any training data beforehand. We identify a major challenge in PSSL caused by a training bias due to behavioral differences in the estimator and the ground truth based operation; however, this is a known problem also for related learning methods such as reinforcement learning. PSSL helps solve this problem by 1) clearly separating the learning problem from the behavior and 2) the possibility to keep learning during estimator behavior. |
T. Szabó Autonomous Collision Avoidance for Swarms of MAVs: Based solely on RSSI measurements (Masters Thesis) Delft University of Technology, 2015, (Mulder, J.A. (mentor); de Croon, G.C.H.E. (mentor); de Visser, C.C. (mentor); Scheper, K.Y.W. (mentor); Verhoeven, C.J.M. (mentor)). @mastersthesis{uuid:3552d27e-6816-4ea3-85f6-4464deb8f1bd,
title = {Autonomous Collision Avoidance for Swarms of MAVs: Based solely on RSSI measurements},
author = {T. Szabó},
url = {http://resolver.tudelft.nl/uuid:3552d27e-6816-4ea3-85f6-4464deb8f1bd},
year = {2015},
date = {2015-01-01},
school = {Delft University of Technology},
abstract = {Swarming is a promising solution for extending the flight time and payload carrying capabilities of Micro Aerial Vehicles (MAVs), where recent years have brought many advancements. These allow MAVs to operate ever more autonomously by tackling problems such as obstacle avoidance and autonomous navigation. A major challenge that still remains, however, is to ensure collision avoidance within the swarm itself. Avoiding collisions with other members of the swarm requires knowledge of their relative positions - typically requiring additional sensors to be carried on-board. Using the signal strength of the MAVs’ communication link provides an alternative method for estimating relative distances between the members of the swarm without requiring need for any additional sensors.},
note = {Mulder, J.A. (mentor); de Croon, G.C.H.E. (mentor); de Visser, C.C. (mentor); Scheper, K.Y.W. (mentor); Verhoeven, C.J.M. (mentor)},
keywords = {},
pubstate = {published},
tppubtype = {mastersthesis}
}
Swarming is a promising solution for extending the flight time and payload carrying capabilities of Micro Aerial Vehicles (MAVs), where recent years have brought many advancements. These allow MAVs to operate ever more autonomously by tackling problems such as obstacle avoidance and autonomous navigation. A major challenge that still remains, however, is to ensure collision avoidance within the swarm itself. Avoiding collisions with other members of the swarm requires knowledge of their relative positions - typically requiring additional sensors to be carried on-board. Using the signal strength of the MAVs’ communication link provides an alternative method for estimating relative distances between the members of the swarm without requiring need for any additional sensors. |
M Paz Gomes Verdugo Event-based Optical Flow using a Dynamic Vision Sensor for MAV Landing (Masters Thesis) Delft University of Technology, Delft, NL, 2015. @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}
}
|
Miscellaneous
|
G C H E de Croon Distance estimation with efference copies and optical flow maneuvers: a stability-based strategy (Miscellaneous) 2015. @misc{1506.01153,
title = {Distance estimation with efference copies and optical flow maneuvers: a stability-based strategy},
author = {G C H E de Croon},
url = {https://arxiv.org/abs/1506.01153},
year = {2015},
date = {2015-01-01},
keywords = {},
pubstate = {published},
tppubtype = {misc}
}
|
PhD Theses
|
M Percin Aerodynamic mechanisms of flapping flight (PhD Thesis) Delft University of Technology, 2015, ISBN: 9789462598430, (embargo 31-12-2016). @phdthesis{85c8825a960d40cdbfffa991358dec70,
title = {Aerodynamic mechanisms of flapping flight},
author = {M Percin},
url = {https://research.tudelft.nl/en/publications/aerodynamic-mechanisms-of-flapping-flight},
isbn = {9789462598430},
year = {2015},
date = {2015-01-01},
publisher = {M Percin},
school = {Delft University of Technology},
note = {embargo 31-12-2016},
keywords = {},
pubstate = {published},
tppubtype = {phdthesis}
}
|
2014
|
Journal Articles
|
C Fuchs; C Borst; GCHE de Croon; MM van Paassen; M Mulder An Ecological Approach to the Supervisory Control of UAV Swarms (Journal Article) In: International Journal of Micro Air Vehicles, vol. 6, no. 4, pp. 211–229, 2014, ISSN: 1756-8293. @article{c7924809cc3c4252acf43636a62f488eb,
title = {An Ecological Approach to the Supervisory Control of UAV Swarms},
author = {C Fuchs and C Borst and GCHE {de Croon} and MM {van Paassen} and M Mulder},
url = {https://research.tudelft.nl/en/publications/an-ecological-approach-to-the-supervisory-control-of-uav-swarms-3},
doi = {10.1260/1756-8293.6.4.211},
issn = {1756-8293},
year = {2014},
date = {2014-01-01},
journal = {International Journal of Micro Air Vehicles},
volume = {6},
number = {4},
pages = {211--229},
publisher = {Multi-Science Publishing Co. Ltd},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
D Izzo; LF Simoes; GCHE de Croon An evolutionary robotics approach for the distributed control of satellite formations (Journal Article) In: Evolutionary Intelligence, vol. 7, no. 7, pp. 107–118, 2014, ISSN: 1864-5909. @article{6da3c2e0e7244e849b48cd832bc583fa,
title = {An evolutionary robotics approach for the distributed control of satellite formations},
author = {D Izzo and LF Simoes and GCHE {de Croon}},
url = {https://research.tudelft.nl/en/publications/an-evolutionary-robotics-approach-for-the-distributed-control-of-},
issn = {1864-5909},
year = {2014},
date = {2014-01-01},
journal = {Evolutionary Intelligence},
volume = {7},
number = {7},
pages = {107--118},
publisher = {Springer},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
|
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) In: IEEE International Conference on Robotics & Automation (ICRA), pp. 4982–4987, 2014, ISSN: 10504729. @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) In: Experiments in Fluids, vol. 55, no. 9, pp. 1–16, 2014. @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) In: International Journal of Micro Air Vehicles, vol. 6, no. 2, pp. 105–115, 2014. @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) In: International Journal of Micro Air Vehicles, vol. 6, no. 4, pp. 265–277, 2014. @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) In: Bioinspiration & Biomimetics, vol. 9, no. 3, pp. 36001, 2014, ISSN: 1748-3190. @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. |
T Gillebaart; WB Tay; AH van Zuijlen; H Bijl A modified ALE method for fluid flows around bodies moving in close proximity (Journal Article) In: Computers & Structures, vol. 145, pp. 1–11, 2014. @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}
}
|
Proceedings Articles
|
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 (Proceedings Article) In: 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. @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. |
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 (Proceedings Article) In: 2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp. 942–948, IEEE, 2014, ISBN: 978-1-4799-2376-2. @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. |
EJJ Smeur; QP Chu; GCHE de Croon; BDW Remes; C de Wagter; E van der Horst Modelling of a Hybrid UAV Using Test Flight Data (Proceedings Article) In: de Croon, GCHE; van Kampen, E; de Wagter, C; de Visser, CC (Ed.): Proceedings of the International Micro Air Vehicle Conference and Competition 2014, pp. 196–203, Delft University of Technology, Netherlands, 2014, (The International Micro Air Vehicle Conference and Competition 2014 ; Conference date: 12-08-2014 Through 15-08-2014). @inproceedings{c552f30539804c0b945bb19f43c91dcc,
title = {Modelling of a Hybrid UAV Using Test Flight Data},
author = {EJJ Smeur and QP Chu and GCHE {de Croon} and BDW Remes and C {de Wagter} and E {van der Horst}},
editor = {GCHE {de Croon} and E {van Kampen} and C {de Wagter} and CC {de Visser}},
url = {https://research.tudelft.nl/en/publications/modelling-of-a-hybrid-uav-using-test-flight-data},
year = {2014},
date = {2014-01-01},
booktitle = {Proceedings of the International Micro Air Vehicle Conference and Competition 2014},
pages = {196--203},
publisher = {Delft University of Technology},
address = {Netherlands},
note = {The International Micro Air Vehicle Conference and Competition 2014 ; Conference date: 12-08-2014 Through 15-08-2014},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S Tijmons; GCHE de Croon; BDW Remes; C de Wagter; HM Ruijsink; EJ van Kampen; QP Chu Off-board processing of Stereo Vision images for Obstacle Avoidance on a flapping Wing MAV (Proceedings Article) In: s.n., (Ed.): Proceedings of the PEGASUS - AIAA Student Conference, pp. 1–16, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2014, (The PEGASUS - AIAA Student Conference ; Conference date: 23-04-2014 Through 25-04-2014). @inproceedings{6c0c4dcf26cd4479ac7378655a780e2f,
title = {Off-board processing of Stereo Vision images for Obstacle Avoidance on a flapping Wing MAV},
author = {S Tijmons and GCHE {de Croon} and BDW Remes and C {de Wagter} and HM Ruijsink and EJ {van Kampen} and QP Chu},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/off-board-processing-of-stereo-vision-images-for-obstacle-avoidan},
year = {2014},
date = {2014-01-01},
booktitle = {Proceedings of the PEGASUS - AIAA Student Conference},
pages = {1--16},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
note = {The PEGASUS - AIAA Student Conference ; Conference date: 23-04-2014 Through 25-04-2014},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
BDW Remes; P Esden-Tempski; F van Tienen; EJJ Smeur; C de Wagter; GCHE de Croon Lisa-S 2.8g autopilot for GPS-based flight of MAVs (Proceedings Article) In: Remes, BDW; Esden-Tempski, P; van Tienen, F; Smeur, EJJ; de wagter, C; de Croon, GCHE (Ed.): Proceedings of the International Micro Air Vehicle conference and competitions, pp. 280–285, Delft University of Technology, Netherlands, 2014, (The International Micro Air Vehicle Conference and Competitions ; Conference date: 12-08-2014 Through 15-08-2014). @inproceedings{5da684b969cb4e94876ac62a2c05fc91,
title = {Lisa-S 2.8g autopilot for GPS-based flight of MAVs},
author = {BDW Remes and P Esden-Tempski and F {van Tienen} and EJJ Smeur and C {de Wagter} and GCHE {de Croon}},
editor = {BDW Remes and P Esden-Tempski and F {van Tienen} and EJJ Smeur and C {de wagter} and GCHE {de Croon}},
url = {https://research.tudelft.nl/en/publications/lisa-s-28g-autopilot-for-gps-based-flight-of-mavs},
year = {2014},
date = {2014-01-01},
booktitle = {Proceedings of the International Micro Air Vehicle conference and competitions},
pages = {280--285},
publisher = {Delft University of Technology},
address = {Netherlands},
note = {The International Micro Air Vehicle Conference and Competitions ; Conference date: 12-08-2014 Through 15-08-2014},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
A Tenaglia; M Percin; BW van Oudheusden; S Deng; BDW Remes Vortex Formation and Force Generation Mechanisms of the DelFly II in Hovering Flight (Proceedings Article) In: s.n., (Ed.): Proceedings of the International micro air vehicle conference and competition IMAV 2014, pp. 204–211, Delft University of Technology, Netherlands, 2014, (2014 International Micro Air Vehicle Conference and Competition (IMAV 2014) ; Conference date: 12-08-2014 Through 15-08-2014). @inproceedings{dc08784967c04825b223f1df54979eee,
title = {Vortex Formation and Force Generation Mechanisms of the DelFly II in Hovering Flight},
author = {A Tenaglia and M Percin and BW {van Oudheusden} and S Deng and BDW Remes},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/vortex-formation-and-force-generation-mechanisms-of-the-delfly-ii},
year = {2014},
date = {2014-01-01},
booktitle = {Proceedings of the International micro air vehicle conference and competition IMAV 2014},
pages = {204--211},
publisher = {Delft University of Technology},
address = {Netherlands},
note = {2014 International Micro Air Vehicle Conference and Competition (IMAV 2014) ; Conference date: 12-08-2014 Through 15-08-2014},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
C Fuchs; C Borst; GCHE de Croon; MM van Paassen; M Mulder An Ecological Approach to the Supervisory Control of UAV Swarms (Proceedings Article) In: de Croon, GCHE (Ed.): Proceedings of the international Micro Air Vehicle Conference and Competitions, pp. 188–195, Delft University of Technology, Netherlands, 2014, (The International Micro Air Vehicle Conference and Competitions ; Conference date: 12-08-2014 Through 15-08-2014). @inproceedings{da0f79a461c54fe2833fa9569e54fc64,
title = {An Ecological Approach to the Supervisory Control of UAV Swarms},
author = {C Fuchs and C Borst and GCHE {de Croon} and MM {van Paassen} and M Mulder},
editor = {GCHE {de Croon}},
url = {https://research.tudelft.nl/en/publications/an-ecological-approach-to-the-supervisory-control-of-uav-swarms-2},
year = {2014},
date = {2014-01-01},
booktitle = {Proceedings of the international Micro Air Vehicle Conference and Competitions},
pages = {188--195},
publisher = {Delft University of Technology},
address = {Netherlands},
note = {The International Micro Air Vehicle Conference and Competitions ; Conference date: 12-08-2014 Through 15-08-2014},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
GCHE de Croon; PK Gerke; IG Sprinkhuizen-Kuyper Crowdsourcing as a Methodology to Obtain Large and Varied Robotic Data Sets (Proceedings Article) In: s.n., (Ed.): Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 1595–1600, IEEE Society, 2014, (IROS 2014: IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 14-09-2014 Through 18-09-2014). @inproceedings{fd9d74b8ecb249fe873bf41022f699fd,
title = {Crowdsourcing as a Methodology to Obtain Large and Varied Robotic Data Sets},
author = {GCHE {de Croon} and PK Gerke and IG Sprinkhuizen-Kuyper},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/crowdsourcing-as-a-methodology-to-obtain-large-and-varied-robotic},
year = {2014},
date = {2014-01-01},
booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)},
pages = {1595--1600},
publisher = {IEEE Society},
note = {IROS 2014: IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 14-09-2014 Through 18-09-2014},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
|
S Deng; M Percin; BW van Oudheusden; BDW Remes; A Tenaglia Force and flowfield measurements of a bio-inspired flapping MAV `DelFly Micro¿. (Proceedings Article) In: s.n., (Ed.): AIAA, pp. 1–10, American Institute of Aeronautics and Astronautics Inc. (AIAA), United States, 2014, ISBN: 2014-2564. @inproceedings{7913b6c5aafd4f45b74169a7d3bb41b3,
title = {Force and flowfield measurements of a bio-inspired flapping MAV `DelFly Micro¿.},
author = {S Deng and M Percin and BW {van Oudheusden} and BDW Remes and A Tenaglia},
editor = {s.n.},
url = {https://research.tudelft.nl/en/publications/force-and-flowfield-measurements-of-a-bio-inspired-flapping-mav-d},
isbn = {2014-2564},
year = {2014},
date = {2014-01-01},
booktitle = {AIAA},
pages = {1--10},
publisher = {American Institute of Aeronautics and Astronautics Inc. (AIAA)},
address = {United States},
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 (Proceedings Article) In: International Conference on Unmanned Aircraft Systems, pp. 949–959, Institute of Electrical and Electronics Engineers Orlando, US-FL, 2014. @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 (Proceedings Article) In: 32nd AIAA Applied Aerodynamics Conference, 2014, ISBN: 9781624102882. @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. |
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?
