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The concept of utilizing the Coandia effect to produce stable flight in saucer type Aerial Vehicles (AV) was first conceived in 1935 by Henri Marie Coanda. Coanda's proposed AV design remained a relatively unexplored curiosity for decades until the recent surge in popularity of small Unmanned Aerial Vehicles (UAV) revitalized interest in the topic. Coandä effect UAV offer some distinct advantages...
Multi rotor unmanned aerial vehicle is a hot topic in the field of UAV research. This paper presents a twin rotor copter whose dynamic system is able to tilt. We have a research on the principle of motion and the design of attitude stabilizing controller. Firstly, the dynamics model of the twin rotor aircraft is established. Then the prototype is designed and built to obtain the relevant physical...
This paper is a follow-up work of the hybrid modelling of a quadrotor helicopter proposed by the authors. Aiming at the structure damages in quadrotor helicopters, a hybrid model based dynamical feedback FTC scheme is studied. The proof of the closed-loop system's stability is also presented. Verification results on a 3-DOF hovering system can show the effectiveness of the proposed FTC scheme.
This paper presents a preliminary feasibility study of using aerial, fixed-pitch propellers, underwater. Tests were performs in both air and in water using a test stand that was designed to study the efficiency of commercially available, counter-rotating, multirotor propellers. Experimental results showed that the propellers can operate ably underwater in terms of thrust to power ratio at low rotational...
This paper focuses on a convertible unmanned aerial vehicle (CUAV) whose main characteristics is to perform hover flight for launch or recovery, and horizontal mode during cruise. The dynamic model is obtained using the Newton-Euler approach and it considers the aerodynamic effects. An adaptive backstepping control, based on quaternions, is proposed for the complete operation of the CUAV. The closed-loop...
This paper outlines development process of Y6-Rotor Micro UAV, which consists of concept of motion, modeling of the vehicle dynamics, rapid prototyping of the mechanics and finally practical realization of the VTOL. This paper presents a micro air vehicle designed to participate in the 2014 International Micro Air Vehicle Conference and Flight Competition (IMAV). Designed mechanical structure may...
In this article, downwash effect on the tail surfaces of a UAV is studied first. A theory to capture this unique characteristic is built and implemented in a nonlinear simulation environment. Both the thrust and downwash effect models emerging from the same Momentum Theory used and isolated results are validated for the specific UAV before stepping into the full model analysis. Hand launch trim settings...
A growing market is the application of multirotor vehicles to niche delivery services such as just-intime spare parts delivery, real-time asset repositioning, rapid food delivery, and remote medical supply delivery. These services are unique in their requirements, meaning there is no single aerial vehicle configuration that is optimal for every scenario. More importantly, these service providers do...
The quad-rotor (or quad copter) is a complex system that has lately submerged the aerospace field. In this article, components are chosen from Modelica's different block libraries to build the multi-body model. On this model, simplified dynamic equations are implemented according to a certain disposing configuration. Based on disk actuator theory, a multi-disciplinary optimization takes place in order...
Gyroplane is becoming popular these days for its characters of security, reliable and simple operation. Modeling is the first step that put mathematical theory into engineering studies such as aircraft stability, control and handling qualities. Considering the variable rotoring speed, propeller, tail aero forces and moment, this paper explores the mathematical model of an unmanned mode gyroplane based...
This paper presents a transition-flight mathematical model of a civil tilt-rotor VTOL unmanned aerial vehicle (UAV) TURAC. Forces and moments acting on the UAV body are calculated using Newton's second law. Aerodynamic effects of free airstream and propeller airstream are defined separately. CFD analyses are performed to specify aerodynamic coefficients for transitional flight regime. The trim point...
Ground effect on rotary aircraft has been studied for many decades. Although a large body of research results is now available for conventional helicopters, this topic is just beginning to receive attention in the unmanned aerial vehicle community, particularly for small size UAVs. The objective of this paper is to assess the applicability of a widely-used ground effect model, developed in the middle...
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