DOCSLIB.ORG

The Javiator Quadrotor

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
The Javiator Quadrotor Design and Implementation of The JAviator Quadrotor an Aerial Software Testbed DISSERTATION zur Erlangung des akademischen Grades Doktor der technischen Wissenschaften Angefertigt am Fachbereich fur¨ Computerwissenschaften der Naturwissenschaftlichen Fakultat¨ der Paris-Lodron-Universitat¨ Salzburg Eingereicht von Dipl.-Ing. Rainer Karl Ludwig Trummer Eingereicht bei Univ.-Prof. Dr.-Ing. Christoph M. Kirsch Salzburg, 2010 Copyright c 2010 by Rainer K. L. Trummer To Irene, Ella, and Josef. Abstract Helicopters don't look very elegant either ... but they fly reasonably well. Heinrich Dorfmann, The Flight of the Phoenix, 1965 In recent years, the research community has shown an increasing interest in autonomous aerial vehicles. Compared to fixed-wing aircraft that do not have the potential to hold some constant position in space, rotorcraft can be deployed in a much broader variety of missions, like search & rescue, traffic surveillance, area mapping, and wild-life monitoring, which are just a few examples of civil applications. Autonomous operation with respect to scout, observation, and also combat missions are further examples that give reasons for the particular interest indicated by military institutions. Besides the demand for high maneuverability, rotorcraft involved in such scenarios also need to provide sufficient flight durations, payload capacities, and robustness against disturbances. The broad availability of various low-cost small-scale quadrotors that appeared over the last decade has established this type of rotorcraft as the de-facto standard platform chosen for research applications. However, the majority of research projects involving quadrotor vehicles is concerned with pure control engineering problems, paying only little or no attention to the rotorcraft design and software-specific aspects. Particularly, the platforms commonly consist of rather filigree airframes that suffer from low robustness and the propulsion systems provide insufficient payload capacities. Moreover, the control systems mostly represent classical event-triggered approaches that are typically tuned to some specific execution environment, and consequently, do not support time portability. In other words, the temporal behavior of the control-specific algorithm may vary or even be distorted largely upon changing the hardware platform. To address these drawbacks and contribute some elaborate solutions, a high-precision quadrotor aircraft, called the JAviator, is designed and built completely from scratch. The JAviator quadrotor not only stands out from other vehicles of this kind with its high mechanical integrity, it also incorporates a very efficient propulsion system that provides both either high payload capacities or relatively long flight durations. The predominant method for providing positional feedback for autonomous indoor navigation is to employ vision-based sensing systems. As a low-cost alternative, radio-frequency-based localization i is used to enable position flight control. To cope with the quite low sensing accuracy offered by this system, a sensor-fusion-based state estimation scheme is developed. It is demonstrated that the achieved autonomous-hover accuracy represents a reasonably-well performance in relation to the error in the positional information. In order to facilitate changing the execution environment, a time-portable software architecture is presented. It is shown that the temporal behavior of the control system is preserved across various hardware platforms, even in the presence of high additional workload. ii Contents Abstract i List of Figures vii List of Tables xi Acknowledgements xiii 1 Introduction1 1.1 JAviator Aircraft................................2 1.2 Quadrotor Dynamics..............................3 1.3 Related Research................................5 1.4 Main Contributions............................... 10 1.5 Thesis Outline.................................. 14 2 Quadrotor History 17 2.1 Br´eguet-Richet Gyroplane No. 1........................ 18 2.2 De-Bothezat-Jerome Helicopter........................ 19 2.3 Œhmichen's No. 2 Helicopter......................... 20 2.4 Convertawings, Model A............................ 21 2.5 Curtiss-Wright VZ-7AP............................ 23 2.6 Naito's Yuri I Helicopter............................ 24 2.7 Spectrolutions, RC Flyers........................... 26 3 Platform Development 29 3.1 Airframe Construction............................. 29 3.1.1 Design Elaboration........................... 32 3.1.2 Composites and Joints......................... 33 3.1.3 Parts and Assembly........................... 35 3.2 Propulsion System............................... 38 3.2.1 Power Transformation......................... 39 3.2.2 Thrust Generation........................... 41 3.3 Energy Distribution............................... 42 3.3.1 Power Board Development....................... 43 iii 3.3.2 Brushless-Motor Controllers...................... 47 3.4 Sensor Equipment................................ 47 3.4.1 Ultrasonic Range Finder........................ 48 3.4.2 Barometric Measurement Unit..................... 48 3.4.3 Inertial Measurement Unit....................... 50 3.4.4 Stationary Localization System.................... 51 3.4.5 Laser Distance Sensor......................... 52 3.5 Computer System................................ 53 3.5.1 JAviator Avionics............................ 53 3.5.2 Ground Station............................. 54 3.5.3 Interconnectivity............................ 54 4 Control System Design 57 4.1 Preliminaries.................................. 57 4.1.1 Aircraft Orientation.......................... 58 4.1.2 Coordinate Transformations...................... 59 4.1.3 Applied Control Principle....................... 60 4.2 Quadrotor Plant................................ 61 4.2.1 Sensor Measurements.......................... 62 4.2.2 Sampling Characteristics........................ 62 4.3 Digital Filters.................................. 63 4.3.1DT Outlier Filter............................ 63 4.3.2 FIR Low-Pass Filter.......................... 65 4.3.3 IIR Low-Pass Filter........................... 65 4.4 State Estimator................................. 66 4.4.1 Estimation Principle.......................... 66 4.4.2 EKF Formalization........................... 68 4.4.3 EKF Implementation.......................... 72 4.5 Motion Control................................. 78 4.5.1 Manual Flight Control......................... 80 4.5.2 Position Flight Control......................... 81 4.5.3 Spin Limit Extension.......................... 82 5 Software Architecture 85 5.1 Design Approach................................ 85 5.1.1 Logical Timing............................. 86 5.1.2 Communication............................. 88 5.1.3 System Layers.............................. 88 5.2 JAviator Plant................................. 90 5.2.1 RoboMaster............................... 90 5.2.2 RoboSlave................................ 90 5.2.3 MockJAviator.............................. 90 iv 5.2.4 JAP-FCS Interface........................... 91 5.3 Flight Control System............................. 91 5.3.1 JControl................................. 92 5.3.2 EControl................................. 92 5.3.3 CControl................................. 93 5.3.4 TControl................................. 94 5.4 Ground Control System............................ 94 5.4.1 Control Terminal............................ 95 5.4.2 TuningFork............................... 97 5.4.3 Location Engine............................. 98 5.4.4 GCS-FCS Interface........................... 98 6 System Performance 99 6.1 Platform Capability............................... 99 6.1.1 Lifting Capacity............................. 100 6.1.2 Flight Endurance............................ 101 6.2 Vehicle Controllability............................. 102 6.2.1 4-DOF Characteristics......................... 103 6.2.2 6-DOF Characteristics......................... 106 6.3 Time Portability................................ 110 6.3.1 Low I/O Load.............................. 111 6.3.2 High I/O Load............................. 112 7 Conclusion 115 7.1 Thesis Review.................................. 115 7.2 Future Work................................... 116 A JAviator V1 Drawings 119 B JAviator V2 Drawings 137 Team Contributions 159 Abbreviations 161 Bibliography 165 v vi List of Figures 1 Introduction1 1.1 The JAviator quadrotor \aerial software testbed"..............2 1.2 Fundamental flight maneuvers of a quadrotor helicopter...........4 1.3 Outdoor flights performed in the courtyard of the Department of Computer Sciences at the University of Salzburg..................... 11 2 Quadrotor History 17 2.1 Br´eguet-Richet Gyroplane No. 1 helicopter of 1907............. 18 2.2 De-Bothezat-Jerome helicopter of 1922.................... 19 2.3 Œhmichen's No. 2 helicopter of 1922..................... 21 2.4 Convertawings, Model A quadrotor of 1956.................. 22 2.5 Curtiss-Wright VZ-7AP \Flying Jeep" of 1958................ 23 2.6 Naito's Yuri I human-powered helicopter of 1993............... 25 2.7 Dammar's 3rd prototype of 1991 and HMX-4 flyer of 1999......... 26 2.8 Spectrolutions, X-Pro flyer of 2002 and V-Ti flyer of 2004.......... 27 3 Platform Development 29 3.1 Prototype design of the JAviator V1..................... 30 3.2 Initial design of the JAviator V2........................ 31 3.3 JAviator V2 initial design versus JAviator V2 final design......... 33 3.4 Components in the wireframe graphics of a JAviator
Load more

Recommended publications
  • The Flying Octopus--October 1990
    The Flying Octopus--October 1990 http://www.afa.org/magazine/1990/1090octopus.html October 1990, Vol. 73, No. 10 Sikorsky's was the first practical helicopter, but a different Russian and a younger Air Service got a chopper off the ground in 1922 The Flying Octopus By C. V. Glines MOST aviation historians agree that Igor I. Sikorsky deserves credit for designing, building, and flying the first practical helicopter. His XR-4, the first rotary-winged aircraft accepted by the Air Force, weighed 1,900 pounds and could lift 500 pounds of payload. It first flew in January 1942 and was demonstrated to Gen. Henry H. "Hap" Arnold the next July. General Arnold liked what he saw. "The Army Air Force," said he, "has taken flyers before with not so much gain promised." One "flyer" to which General Arnold may have been referring was an earlier helicopter venture. Sikorsky's helicopter was not the first bought by the organization that would eventually become the United States Air Force. World War I had stimulated many to explore the possibility of true vertical flight. None had solved the riddle of stability, but the potential of vertical lift machines for military purposes continued to interest many. Among these were a few officers of the Army Air Service who had become intrigued with the writings of a Russian with a French name: Dr. George de Bothezat. De Bothezat, a scientist who had fled the Bolshevik Revolution, was a big, bearded man with a quick wit and a violent temper. He was also an extreme egotist who once boasted publicly, "I am the world's greatest mathematician and scientist." In Russia, de Bothezat had gained international renown for his theories about vertical flight.
    [Show full text]
  • Monthly Catalogue, United States Public Documents, July 1920
    I " ■Pp :: Monthly Catalogue United States Public Documents No. 307 July, 1920 ISSUED BY THE SUPERINTENDENT OF DOCUMENTS .. 1920 Abbreviations Appendix ---------------------------- __________ app. Page, pages--------------------- ---------------------- P-~ Congress------------------------------_________Cong. Part, parts-------------------------------------pt., pts.. Department________________ _________ Dept. Plate, plates------------------------------------------PL Document------ ---------------------__________ doc. Portrait, portraits___________________ por. Facsimile, facsimiles------------_______ facsim. Quarto__________________________ _______ 4°- Folio_______________________ _____________fo House______________________ ____________ H. House bill------ -------------------- _________H. R. Section, sections----------------------------------sec. House concurrent resolution. _ H. Con. Res. Senate, Senate bill--------------------- .----------- 8- House document----------------- _______ H. doc. Senate concurrent resolution S. Con. Res. House executive document—____ H. ex. doc. Senate document---------------------------- S. doc. House joint resolution--------- ____ H. J. Res. Senate executive document--------- S. ex. doc. House report---------------------- ________ H. rp. Senate joint resolution---------------- S. J. Res. House resolution (simple) —_______ H. Res. Senate report----------------------------------- S. rp. Illustration, illustrations----____________ 11. Senate resolution (simple)-------------- S. Res. Inch, inches ------------------------____________In.
    [Show full text]
  • Aircraft Propellers
    U.S. WORKS PROGRESS ADMINISTRATION BIBLIOGRAPHY OF A E R 0 N A U T I C S Part 27 - Aircraft Propellers Compiled from the INDEX OF AERONAUTICS of the INSTITUTE OF THE AERONAUTICAL SCIENCES 30 Rockefeller Plaza New York City The Index and Bibliographies have been prepared by workers under the supervision of the U.S. WORKS PROGRESS ADMINISTRATION Cecil A. Ross Senior Project Supervisor Project 465-97-S-S1 (Formerly 165-97-6055) 19 3 7 FOREWORD This bibliography is one of a series which aims to cover a large part of aeronautical literature. It is pub­ lished by the U. S. Works Progress Administration Project 465-97-3-21 (formerly 165-97-6055) under the sponsorship of the New York City Department of Docks with the cooperation of the Institute of the Aeronautical Sciences. Request for Additions The Institute of the Aeronautical Sciences which is directing the U. S. Works Progress Administration staff of workers will appreciate receiving additional references, corrections and criticism, so that the bibliographies will be.more helpful when issued in final form. Request for Copies The bibliographies have been prepared with funds allotted by the U. S. Works Progress Administration. They may not be sold. Persons and organizations wishing to procure copies may apply for them by letter, stating the use for which they are needed. When it is possible to prepare additional copies such requests will receive first consideration. Robert R. Dexter Aeronautical Engineer Address all correspondence to: John R. Palmer Managing Project Supervisor U- S. Works Progress Administration 5111 R.C.A.
    [Show full text]
  • Autumn Offerings
    Autumn Offerings • Air-to-Air Helicopters • Joint Operations Perspectives • Autogyros and Doctrine Secretary of the Air Force Edward C. Aldridge, Jr. Air Force Chief of Staff Gen Larry D. Welch Commander, Air University Lt Gen Ralph E. Havens Commander, Center for Aerospace Doctrine, Research, and Education Col Sidney J. Wise Editor Col Keith W. Geiger Associate Editor Maj Michael A. Kirtland Professional Staff Hugh Richardson. Contributing Editor Marvin W. Bassett, Contributing Editor John A. Westcott, Art Director and Production Manager Steven C. Garst, Art Editor and Illustrator The Airpower Journal, published quarterly, is the professional journal of the United States Air Force. It is designed to serve as an open forum for presenting and stimulating innovative thinking on m ilitary doctrine, strategy, tactics, force struc- ture, readiness, and other national defense mat- ters. The views and opinions expressed or implied in the Journal are those of the authors and should not be construed as carrying the official sanction of the Department of Defense, the Air Force, Air University, or other agencies or departments of the US government. Articles in this edition may be reproduced in whole or in part without permis- sion. If reproduced, the Airpower Journal re- quests a courtesy line. JOURNAL FALL 1988, Vol. II, No. 3 AFRP 50-2 Editorial Mayday! Mayday! Mayday! 2 Joint Operations: The W orld Looks Different From 10,000 Feet Col Dennis M. Drew, USAF 4 A Question of Doctrine Maj Richard D. Newton, USAF 17 The Operator-Logistician Disconnect Col Gene S. Bartlow, USAF 23 Of Autogyros and Dinosaurs Lt Col L.
    [Show full text]
  • Replace with Your Title
    Advancing Vertical Flight: A Historical Perspective on AHS International and its Times M.E. Rhett Flater L. Kim Smith AHS Executive Director (1991-2011) AHS Deputy Director (1993-2011) M. E. Rhett Flater & Associates M.E. Rhett Flater & Associates Pine Knoll Shores, NC Pine Knoll Shores, NC ABSTRACT1 This paper describes AHS’s vital role in the development of the rotorcraft industry, with particular emphasis on events since 1990. It includes first-hand accounts of the formation of the Society, how it matured and evolved, and the particular influences that compelled change. It describes key events which occurred during various stages of the Society’s growth, including the formation of its technical committees, the evolution of the AHS Annual Forum and technical specialists’ meetings, and the creation and evolution of the Society’s publications. Featured prominently are accounts of AHS’s role in pursuing a combined government, industry and academia approach to rotorcraft science and technology. Also featured is the creation in 1965 of the Army-NASA Agreement for Joint Participation in Aeronautics Technology, the establishment of the U.S. Army Rotorcraft Centers of Excellence, the National Rotorcraft Technology Center (NRTC), the inauguration of the Congressional Rotorcraft Caucus and its support for the U.S. defense industrial base for rotorcraft, the battle for the survival of NASA aeronautics and critical NASA subsonic ground test facilities, and the launching of the International Helicopter Safety Team (IHST). First Annual AHS Banquet, October 7, 1944. 1Presented at the AHS 72nd Annual Forum, West Palm Beach, Florida, USA, May 17-19, 2016. Copyright © 2016 by the American Helicopter Society International, Inc.
    [Show full text]
  • Up from Kitty Hawk Chronology
    airforcemag.com Up From Kitty Hawk Chronology AIR FORCE Magazine's Aerospace Chronology Up From Kitty Hawk PART ONE PART TWO 1903-1979 1980-present 1 airforcemag.com Up From Kitty Hawk Chronology Up From Kitty Hawk 1903-1919 Wright brothers at Kill Devil Hill, N.C., 1903. Articles noted throughout the chronology provide additional historical information. They are hyperlinked to Air Force Magazine's online archive. 1903 March 23, 1903. First Wright brothers’ airplane patent, based on their 1902 glider, is filed in America. Aug. 8, 1903. The Langley gasoline engine model airplane is successfully launched from a catapult on a houseboat. Dec. 8, 1903. Second and last trial of the Langley airplane, piloted by Charles M. Manly, is wrecked in launching from a houseboat on the Potomac River in Washington, D.C. Dec. 17, 1903. At Kill Devil Hill near Kitty Hawk, N.C., Orville Wright flies for about 12 seconds over a distance of 120 feet, achieving the world’s first manned, powered, sustained, and controlled flight in a heavier-than-air machine. The Wright brothers made four flights that day. On the last, Wilbur Wright flew for 59 seconds over a distance of 852 feet. (Three days earlier, Wilbur Wright had attempted the first powered flight, managing to cover 105 feet in 3.5 seconds, but he could not sustain or control the flight and crashed.) Dawn at Kill Devil Jewel of the Air 1905 Jan. 18, 1905. The Wright brothers open negotiations with the US government to build an airplane for the Army, but nothing comes of this first meeting.
    [Show full text]
  • Un Pionier Al Inventicii Românești–George De Bothezat
    CZU 929:629.73 U – G B. R (3)* | EC. ING. BOGDAN BORESCHIEVICI (Continuare din Intellectus nr. 1 și 2, 2018) Un gând special de recunoștinţă dlui dr. ing. Vasile BUIU, fără de susţinerea căruia acest articol nu apărea Încheiem prin acest capitol (Epilog) prezentarea da- telor biografi ce ale lui Gheorghe Botezatu, inventa- tor de origine basarabeană, cel care a inventat unul dintre primele elicoptere din lume. EPILOG În 1951, la 2 Octombrie, George de Bothezat va pri- mi, postum, brevetul de inventie 2.569.882.- ”CON- TROL AND SUPPORT CONNECTION FOR `HELICOP- TER ROTOR SYSTEMS” kpuGpz{vyphGpu}luŨppsvyaGklGshGpkllGˀGshGptwsltlu{hyl myvtG{olGopz{vyGvmGpu}lu{pvuzaGmyvtGpklhGˀG{vGptwsltlu{h{pvu * În prima parte a articolului (Intellectus nr. 1/2018) și în cea de a doua (Intellectus 2/2018), autorul ne prezintă prodigioasa activitate știinţifi că și inventivă a lui George de Botezat. Partea a treia cuprinde anexele ce documentează multirateral rea- lizările marelui inventator. 106 | pu{lsslj{|zG[VYWX_ Inventatorul este GEORGE DE BOTHEZAT – decedat; executorii testamentari sunt WATSON WASHBURN coexecutor New York; JULIA R(AMSAYHILTON) DE BOTHEZAT coexecutrix, Lar- chmont, New York, assignors to Elicopter Corpora- tion of America, Flushing, N.Y., a corporation of New York. Application June 29, 1946, Serial Mo. 680384. ------------------------------------------------------------------- ANEXA 1 Lista documentelor disponibile neincluse în articol 1. Listă brevete: Ţara și nr.brevet Titlul Data depunerii GB191211493A Aeroplane having Automatic
    [Show full text]
  • A Quadrotor Sensor Platform
    A Quadrotor Sensor Platform A dissertation presented to the faculty of the Russ College of Engineering and Technology of Ohio University In partial fulfillment of the requirements for the degree Doctor of Philosophy Michael J. Stepaniak November 2008 2 The views expressed in this dissertation are those of the author and do not reflect the official policy or position of the United States Air Force, the Department of Defense, or the United States Government. 3 This dissertation titled A Quadrotor Sensor Platform by MICHAEL J. STEPANIAK has been approved for the School of Electrical Engineering and Computer Science and the Russ College of Engineering and Technology by Frank van Graas Fritz J. and Dolores H. Russ Professor of Electrical Engineering Maarten Uijt de Haag Associate Professor of Electrical Engineering and Computer Science Dennis Irwin Dean, Russ College of Engineering and Technology 4 Abstract STEPANIAK, MICHAEL J., Ph.D., November 2008, Electrical Engineering A Quadrotor Sensor Platform (124 pp.) Directors of Dissertation: Frank van Graas and Maarten Uijt de Haag A quadrotor sensor platform capable of lifting a ten pound payload is presented. Platform stabilization is accomplished using classical control methodology and is implemented on a field programmable gate array. The flight control system relies on attitude information derived using a technique that circumvents the electromagnetic susceptibility of the inertial unit while minimizing the propagation of errors. This dissertation develops models for the high-power brushless motors. In particular, the rotational losses as a function of motor speed and the operational characteristics of the electronic speed controller are considered. Furthermore, losses within the batteries are found to dominate the power budget at planned operating speeds.
    [Show full text]
  • Invenţia În Standardele De Evaluare a Performanţei Academice
    REVISTA ROMÂNĂ DE PROPRIETATE INDUSTRIALĂ EDITORIAL EDITORIAL Invențiile românești primesc zeci de premii Romanian Inventions Are Awarded Tens of internaționale, dar performanța inovatoare a International Prizes, however Romania’s 3 României este modestă Innovative Performance Is Rather Low ing. jur. Eduard Gabriel VLAD, OSIM Dipl. Eng. Jur. Eduard Gabriel VLAD, OSIM GHID DE PRACTICĂ PRACTICE GUIDELINES De ce ignoră cercetarea serviciile de consiliere în Why Research System Disregards the Patent brevetarea invenției? Attorneys’ Services upon patenting their 7 prof. univ. dr. ing. Tudor ICLĂNZAN, Consilier PI inventions? Univ. Professor Eng. Tudor ICLĂNZAN, PhD, IP Attorney CONTRIBUTIONS TO THE DEVELOPMENT OF IP CONTRIBUŢII LA DEZVOLTAREA DPI LAW Reglementări ale proprietăţii intelectuale la nivel International and National Intellectual internaţional şi naţional Property Regulations 21 dr. jur. Dănuţ NEACŞU, OSIM Jur. Dănuţ NEACŞU, PhD, OSIM Brevetele lui George Botezat - George De The Patents of George Botezat - George de Bothezat - Partea I Bothezat - Part I 54 ing. ec. Bogdan BORESCHIEVICI Dipl. Eng. Ec. Bogdan BORESCHIEVICI Inventatori români la a 46-a ediţie a Expoziţiei Romanian Inventors at the 46th International internaţionale a invenţiilor de la Geneva Exhibition of Inventions of Geneva 96 ec. Cristina-Maria BARARU, OSIM Ec. Cristina-Maria BARARU, OSIM DIN ISTORIA PI FROM IP HISTRORY Românce faimoase și celebre - Ștefania Mărăcineanu Famous Romanian Women - Ştefania ing. jur. Eduard Gabriel VLAD, OSIM Mărăcineanu 133 Dipl. Eng. Jur. Eduard Gabriel VLAD, OSIM Invenţii antice orientale Ancient Orient Inventions fil. Adriana-Cătălina GRIGORE, OSIM Phil. Adriana-Cătălina GRIGORE, OSIM 150 CALEIDOSCOP KALEIDOSCOPE Invenţii mai puţin obişnuite (XIII) Less Ordinary Inventions (XIII) fil. Adriana NEGOIŢĂ, OSIM Phil.
    [Show full text]
  • Spectroscopic Tools for Quantitative Studies of DNA Structure And
    INSTITUTO POLITÉCNICO NACIONAL Escuela Superior de Ingeniería Mecánica y Eléctrica Unidad Profesional Ticomán Modelado y Control de un Vehículo Aéreo sin Tripulación de Cuatro Rotores Tesina que para oprobar el Seminario de Actualización con opción a Titulación “Sistemas de Aviónica” Daniel Alvarado García Consejeros académicos: Jorge Sandoval1, Raymundo Hernández2 & J. Cesar Jiménez 3 1,2Departamento de Control 3Departamento de Electrónica Ingeniería Aeronáutica Sistemas de Aviónica Ciudad de México Comité de evaluación: M. en C. José Javier Roch Soto Escuela Superior de Ingeniería Mecánica y Eléctrica, Director. M. en I. Raymundo Hernández Barcenas Sistemas de Aviónica, Coordinador. M. en C. Juan Jesús Navarro Parada Escuela Superior de Ingeniería Mecánica y Eléctrica, Departmento de Titulación. MÉXICO Modelado y control de un Vehícu- lo Aéreo sin Tripulación de Cua- tro Rotores Resumen corto: Helicópteros de cuatro rotores o Quad-Rotor helicopters, han emergido como una plataforma popular de investigación de los Vehículos Aéreos sin tripulación, UAV’s, gracias a la facilidad de su construcción y man- tenimiento, su habilidad de hover y su capacidad de aterrizar y despe- gar verticalmente, VTOL. En el presente documento presentaremos las principales características del helicópero de cuatro rotores así como el modelo dinámico del mismo utilizando una aproximación Lagrangiana. Palabras clave: UAV’s, VTOL. Lista de Documentos I A. Y. Elruby, M. M. El-khatib, N.H. El-Amary and A. I. Hashad Dynamic Modeling and Control of Quadrotor Vehicle Arab Academy for Science and Technology, Egypt (2012), 13 II Paul Pounds, Robert Mahony and Peter Corke Modelling and Control of a Quad-Rotor Robot CSIRO ICT Centre, Brisbane, Australia (2010), 10 III Nitin Sydney, Brendan Smyth and Derek A.
    [Show full text]
  • Major Contributor to the Evolution of Aircraft Design
    MAE 371 Yuan ● MAE371-ch2.pdf ● MAE371-ch3.pdf ● Shear flow in open thin-walled beams.pdf ● Homework ❍ Hr#1 formula.pdf ● Homework Solutions: ● Exams: ❍ 1st hr exam MAE371, 2001 ❍ 1st hr exam MAE371, 2002 ❍ 2nd hr exam sample Major Contributors to the Evolution of Aircraft Design Oleg Antonov Ed Heinemann John K. Northrop Walter Beech Ernst Heinkel Hans von Ohain Lawrence Dale Bell Stanley Hiller Frank Piasecki Louis Blériot V. I. Ilyushin William Piper William Edward Boeing Clarence L. "Kelly" Johnson Arthur Raymond George de Bothezat Hugo Junkers Alliot Verdon Roe Louis Charles Breguet Charles Kaman Burt Rutan George Cayley "Dutch" Kindelberger Igor Sikorsky Clyde V. Cessna Samuel P. Langley Andrei Nikolaevich Tupolev Octave Chanute William P. Lear Chance B. Vought Juan de la Cierva Otto Lilienthal Barnes Wallis Paul Cornu Alexander M. Lippisch Fred Weick Glenn Curtiss Paul MacCready Richard T. Whitcomb Marcel Dassault Glenn L. Martin Frank Whittle Geoffrey DeHavilland James S. McDonnel, Jr. Orville Wright & Wilbur Wright Claudius Dornier Willy Messerschmitt Alexander Sergeivitch Yakovlev Donald W. Douglas Artem Mikoyan Arthur Young Anton Flettner Mikhail Mil - Henrich Focke Reginald Mitchell - Anthony H. G. Fokker Sanford Moss - Oleg Constantinovitch Antonov (1906-1984) (by Jeffrey Arthur) Designer, academician, one of the founders of the soviet gliders. In early years designed glider OKA-1, -2, -3, Standart-1, -2, City of Lenin. Upon graduation from Leningrad Polytechnic (1930) - chief of glider KB of Osavaichim in Moscow, 1933-38 designer at glider factory in Tushino. Designed more than 30 types of gliders, including UPAR, Us-1, Us-4, BS-3, -4, -5, Rot-Front-1 through -7, IP, RE, M, BA-1.
    [Show full text]
  • American Aviation Heritage
    National Park Service U.S. Department of the Interior National Historic Landmarks Program American Aviation Heritage Draft, February 2004 Identifying and Evaluating Nationally Significant Properties in U.S. Aviation History A National Historic Landmarks Theme Study Cover: A Boeing B-17 “Flying Fortress” Bomber flies over Wright Field in Dayton, Ohio, in the late 1930s. Photograph courtesy of 88th Air Base Wing History Office, Wright-Patterson Air Force Base. AMERICAN AVIATION HERITAGE Identifying and Evaluating Nationally Significant Properties in U.S. Aviation History A National Historic Landmarks Theme Study Prepared by: Contributing authors: Susan Cianci Salvatore, Cultural Resources Specialist & Project Manager, National Conference of State Historic Preservation Officers Consultant John D. Anderson, Jr., Ph.D., Professor Emeritus, University of Maryland and Curator for Aerodynamics, Smithsonian National Air and Space Museum Janet Daly Bednarek, Ph.D., Professor of History, University of Dayton Roger Bilstein, Ph.D., Professor of History Emeritus, University of Houston-Clear Lake Caridad de la Vega, Historian, National Conference of State Historic Preservation Officers Consultant Marie Lanser Beck, Consulting Historian Laura Shick, Historian, National Conference of State Historic Preservation Officers Consultant Editor: Alexandra M. Lord, Ph.D., Branch Chief, National Historic Landmarks Program Produced by: The National Historic Landmarks Program Cultural Resources National Park Service U.S. Department of the Interior Washington, D.C.
    [Show full text]