From the Test Benches to the First Prototype of the muFly Micro Helicopter

Schafroth, Dario; Bouabdallah, Samir; Bermes, Christian; Siegwart, Roland

doi:10.1007/s10846-008-9264-z

Cited by 47 publications

(18 citation statements)

References 7 publications

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“…With the miniaturization, a lot of challenges arise. Examples are low efficiency of the rotor system and the low thrust-to-weigh ratio [26]. Despite these disadvantages, rotary AVS are the only configuration capable to "combine acceptable high and low speed characteristic including hovering" [1].…”

Section: Rotary Wingsmentioning

confidence: 99%

Micro- and Nano-Air Vehicles: State of the Art

Petricca

Øhlckers

Grinde

2011

International Journal of Aerospace Engineering

121

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Micro- and nano air vehicles are defined as “extremely small and ultra-lightweight air vehicle systems” with a maximum wingspan length of 15 cm and a weight less than 20 grams. Here, we provide a review of the current state of the art and identify the challenges of design and fabrication. Different configurations are evaluated, such as fixed wings, rotary wings, and flapping wings. The main advantages and drawbacks for each typology are identified and discussed. Special attention is given to rotary-wing vehicles (helicopter concept); including a review of their main structures, such as the airframe, energy storage, controls, and communications systems. In addition, a review of relevant sensors is also included. Examples of existing and future systems are also included. Micro- and nano-vehicles with rotary wings and rechargeable batteries are dominating. The flight times of current systems are typically around 1 hour or less due to the limited energy storage capabilities of the used rechargeable batteries. Fuel cells and ultra capacitors are promising alternative energy supply technologies for the future. Technology improvements, mainly based on micro- and nanotechnologies, are expected to continue in an evolutionary way to improve the capabilities of future micro- and nano air vehicles, giving improved flight times and payload capabilities.

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Section: Rotary Wingsmentioning

confidence: 99%

Micro- and Nano-Air Vehicles: State of the Art

Petricca

Øhlckers

Grinde

2011

International Journal of Aerospace Engineering

121

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“…The aerodynamical coefficients are calculated from the measurements on a coaxial rotor test-bench designed for blade optimization [11].…”

Section: Aerodynamical Parametersmentioning

confidence: 99%

Modeling and System Identification of the muFly Micro Helicopter

Schafroth

Bermes

Bouabdallah

et al. 2009

J Intell Robot Syst

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An accurate mathematical model is indispensable for simulation and control of a micro helicopter. The nonlinear model in this work is based on the rigid body motion where all external forces and moments as well as the dynamics of the different hardware elements are discussed and derived in detail. The important model parameters are estimated, measured or identified in an identification process. While most parameters are identified from test bench measurements, the remaining ones are identified on subsystems using the linear prediction error method on real flight data. The good results allow to use the systems for the attitude and altitude controller design.

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“…Including the development of a dual rotor helicopter with omnidirectional camera [4] the use of visuals to land a helicopter while avoiding the obstacle is also being developed [5]. One of the visual processing algorithms being developed is optical flow algorithm.…”

Section: Introductionmentioning

confidence: 99%

The use of video processing for quadrotor flight stability control monitoring

Dharmawan¹,

Ashari²,

Putra³

et al. 2016

AIP Conference Proceedings

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Abstract. The quadrotor is one kind of Unmanned Aerial Vehicles (UAV). Quadrotor has the ability to hover with minimal translational velocity approaching a stationary state. This capability is supported by the four rotors. These rotors are used to lift the Quadrotor to fly. These rotors are placed on all four sides of the tip of Quadrotor. In order to fly with good stability, we can use an IMU sensor (Inertial Measurement Unit). Imu sensor consists of some DOF (degrees of freedom) sensors, such as 3-axis accelerometer sensor, 3-axis gyroscope sensor, 3-axis magnetometer sensor, and so on in accordance with the needs of flight. To test the stability of Quadrotor can be done by utilizing the video and image processing methods. This processing act as the 'eyes' of Quadrotor. Sobel method as one of the image processing algorithms can be used to read the edges of the object. This method can measure the level of stability fly. But before reading the results of the edge must first be converted to black and white format. Otsu method can be used to perform the conversion. Then we find the center point of the result of the conversion of the object being viewed. This point can be used to read the movement of Quadrotor. It is used to determine the position of the quadrotor movement on vertical and horizontal axes. The position can be used as input to control the quadrotor flight stability.

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From the Test Benches to the First Prototype of the muFly Micro Helicopter

Cited by 47 publications

References 7 publications

Micro- and Nano-Air Vehicles: State of the Art

Micro- and Nano-Air Vehicles: State of the Art

Modeling and System Identification of the muFly Micro Helicopter

The use of video processing for quadrotor flight stability control monitoring

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