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The Tricopter: an Agile UAV 117 6.1 Design of the Tricopter
ECOLE DOCTORALE UNIVERSITÉ PARIS-SUD ÉCOLE DOCTORALE : Sciences et Technologie de l’Information, des Télécommunications et des Systèmes Laboratoire des Signaux et Systèmes (L2S) Centre de Robotique MinesParisTech (CAOR) DISCIPLINE : Physique THÈSE DE DOCTORAT Présentée et soutenue publiquement par Étienne SERVAIS le 18 septembre 2015. TRAJECTORY PLANNING AND CONTROL OF COLLABORATIVE SYSTEMS: APPLICATION TO TRIROTOR UAVS. Directeurs de thèse : Brigitte d’ANDRÉA-NOVEL Professeur (Mines ParisTech) Hugues MOUNIER Professeur (Université Paris XI) Composition du jury : Rapporteurs : Tarek HAMEL Professeur (Université de Nice Sophia Antipolis) Miroslav KRSTIC´ Professeur (Université de Californie à San Diego) Examinateurs : Jean-Michel CORON Professeur (Université Pierre et Marie Curie) Joachim RUDOLPH Professeur (Université de la Sarre) Claude SAMSON Directeur de recherche (INRIA) Membres invités : Silviu-Iulian NICULESCU Directeur de recherche (CNRS) Arnaud QUADRAT Ingénieur (Sagem-DS) Planification de trajectoire et contrôle d’un système collaboratif : Application à un drone trirotor. Résumé : L’objet de cette thèse est de proposer un cadre complet, du haut niveau au bas niveau, de génération de trajectoires pour un groupe de systèmes dynamiques indé- pendants. Ce cadre, basé sur la résolution de l’équation de Burgers pour la génération de trajectoires, est appliqué à un modèle original de drone trirotor et utilise la platitude des deux systèmes différentiels considérés. La première partie du manuscrit est consacrée à la génération de trajectoires. Celle-ci est effectuée en créant formellement, par le biais de la platitude du système considéré, des so- lutions à l’équation de la chaleur. Ces solutions sont transformées en solution de l’équation de Burgers par la transformation de Hopf-Cole pour correspondre aux formations voulues. -
Recent Developments in Aerial Robotics: a Survey and Prototypes Overview Chun Fui Liew, Danielle Delatte, Naoya Takeishi, Takehisa Yairi
1 Recent Developments in Aerial Robotics: A Survey and Prototypes Overview Chun Fui Liew, Danielle DeLatte, Naoya Takeishi, Takehisa Yairi Abstract—In recent years, research and development in aerial cite all related papers in a short paper. To date, there is no sur- robotics (i.e., unmanned aerial vehicles, UAVs) has been growing vey that attempt to list all the UAV papers in a systematic way. at an unprecedented speed, and there is a need to summarize In this work, we systematically identify 1,318 UAV papers that the background, latest developments, and trends of UAV research. Along with a general overview on the definition, types, categories, appear in the top robotic journals/conferences since 2001. The and topics of UAV, this work describes a systematic way to identification process includes screening paper abstracts with identify 1,318 high-quality UAV papers from more than thirty a program script and eliminating non-UAV papers based on thousand that have been appeared in the top journals and several criteria with meticulous human checks. We categorize conferences. On top of that, we provide a bird’s-eye view of the selected UAV papers in several ways, e.g., with regard UAV research since 2001 by summarizing various statistical information, such as the year, type, and topic distribution of to UAV types, research topics, onboard camera systems, off- the UAV papers. We make our survey list public and believe that board motion capture system, countries, years, etc. In addition, the list can not only help researchers identify, study, and compare we provide a high-level view of UAV research since 2001 by their work, but is also useful for understanding research trends summarizing various statistical information, including year, in the field. -
We Find Igor Sikorsky III in Northern Maine
GETAWAYS | SIKORSKY WEEKEND | Summer camp We find Igor Sikorsky III in northern Maine BY JULIE SUMMERS WALKER PHOTOGRAPHY BY CHRIS ROSE 78 | AOPA PILOT March 2016 www.aopa.org/pilot AOPA PILOT | 79 IGOR SIKORSKY III sits on the dock at Bradford Camps on Munsungan Lake in northern Maine. That’s his 1968 Cessna 172 on floats behind him (right). Visitors relax on Adirondack chairs overlooking the lake (below). eep in the woods of Maine, the grandson of one of the most loving man who led a charmed life. During his fireside talks in the influential aircraft designers hosts “Sikorsky Weekend” sporting camp lodge, with a massive moose head and equally massive each year, telling tales of his grandfather, Russia before the deer head overlooking the room, the entertaining younger Sikorsky DBolshevik revolution, and the early days of helicopter design—and shares his grandfather’s years in Russia, the construction of the four- taking visitors seaplane flying and fishing. Meet Igor Sikorsky III. engine Le Grand for the czar, his early years in the United States as a Sikorsky and his wife, Karen, run the 100-year-old Bradford nearly penniless immigrant with big ideas, the Pan Am flying boats, Camps on the shores of Munsungan Lake, a four-mile-long body of and life as a test pilot building helicopters for United Aircraft (later pristine water that is home to trout, salmon, and perch. Bradford is United Technologies). Rich with original photographs, drawings, a traditional sporting camp, with eight waterfront log cabins—the and correspondence, the experience is truly a taste of history. -
Foe's Fire Pounds Viet Base in Laos
O ' »|1 ' ' -tSSULi:------ • • ^ Average Dally Net Press Ron The Weather For The Week Ended Mnrch U, l»n Clearing, windy tonight; low about 40. Tomorrow partly sun iEanrtofitpr Eiipntng raUi ny; highs in the IM, 15,901 Mancheater—A City of Vittage Charm VOL. LXXXX, NO. 139 TWENTY-JWO PAGES MANCHESTER, CONN., MONDAY, MARCH 15, 1971 (Claoelfled AdvertUIng on Page 20) PRICE FIFTEEN CENTS Appropriations Unit U .S . Eases Foe’s Fire Pounds 1 * In House Approves T ra v e lB a rs Viet Base in Laos O n P eking By GEORGE ESPER WASHINGTON (AP) — The A ssisted Press Writer Full SST Financing State Defxartment lifted today HAM NGHI, Vietnam (AP) — Enemy troops launched 20-year-old restrictions on the heavy artillery and tank attacks against a South Vie^ WASHINGTON (AP) — Expressing “complete con- travel of American citizens to namese base in Laos today and threw up a wall of anti fidence” that environmental hazards will be resolvfd, Communist csiina. aircraft fire gainst U.S. helicopters supporting the the House Appropriations Committee approved to^ y Following up earlier meas- base, field officers said. ~ fuU financing of continued development of the SST loosened restraints, The enemy also struck at south Vietnapiese troops sweep- supersonic civilian aircraft. ^ r e t a r y of sta te w iiuam p . South Vietnam’s northwest cor- jj,j. thp westernmost section of It sent to the House floor for ----------------------^--------------------- Bogers ordered that passports ner, shelling the big allied Khe ti,e highway. r/iS Sarh combat base near the Lao- Officers said Lolo was hit with tlan border lor three hours. -
A Review of the Magnus Effect in Aeronautics
Progress in Aerospace Sciences 55 (2012) 17–45 Contents lists available at SciVerse ScienceDirect Progress in Aerospace Sciences journal homepage: www.elsevier.com/locate/paerosci A review of the Magnus effect in aeronautics Jost Seifert n EADS Cassidian Air Systems, Technology and Innovation Management, MEI, Rechliner Str., 85077 Manching, Germany article info abstract Available online 14 September 2012 The Magnus effect is well-known for its influence on the flight path of a spinning ball. Besides ball Keywords: games, the method of producing a lift force by spinning a body of revolution in cross-flow was not used Magnus effect in any kind of commercial application until the year 1924, when Anton Flettner invented and built the Rotating cylinder first rotor ship Buckau. This sailboat extracted its propulsive force from the airflow around two large Flettner-rotor rotating cylinders. It attracted attention wherever it was presented to the public and inspired scientists Rotor airplane and engineers to use a rotating cylinder as a lifting device for aircraft. This article reviews the Boundary layer control application of Magnus effect devices and concepts in aeronautics that have been investigated by various researchers and concludes with discussions on future challenges in their application. & 2012 Elsevier Ltd. All rights reserved. Contents 1. Introduction .......................................................................................................18 1.1. History .....................................................................................................18 -
Information to Users
INFORMATION TO USERS This manuscript has been reproduced from the microfihn master. UMI fihns the text directly from the original or copy submitted. Thus, some thesis and dissertation copies are in typewriter 6ce, while others may be from any type of computer printer. The quality of this reproduction is dependent upon the quality of the copy submitted. Broken or indistinct print, colored or poor quality illustrations and photographs, print bleedthrough, substandard margins, and improper alignment can adversely afreet reproduction. In the unlikely event that the author did not send UMI a complete manuscript and there are missing pages, these will be noted. Also, if unauthorized copyright material had to be removed, a note will indicate the deletion. Oversize materials (e.g., maps, drawings, charts) are reproduced by sectioning the original, beginning at the upper left-hand comer and continuing from left to right in equal sections with small overlaps. Each original is also photographed in one exposure and is included in reduced form at the back of the book. Photographs included in the original manuscript have been reproduced xerographically in this copy. Higher quality 6” x 9” black and white photographic prints are available for any photographs or illustrations appearing in this copy for an additional charge. Contact UMI directly to order. UMI A Bell & Howell Information Company 300 North Zeeb Road, Ann Arbor MI 48106-1346 USA 313/761-4700 800/521-0600 A PEOPLE^S AIR FORCE: AIR POWER AND AMERICAN POPULAR CULTURE, 1945 -1965 DISSERTATION Presented in Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in the Graduate School of The Ohio State University By Steven Charles Call, M.A, M S. -
Charting the Future of Flight
12–14 AUGUST 2O13 LOS ANGELES, CALIFORNIA CHARTING THE FUTURE OF FLIGHT FINAL PROGRAM Sponsored by www.aiaa.org/aviation2013 #aiaaAviation GET YOUR CONFERENCE INFO ON THE GO! Download the FREE AIAA 2013 Conference Mobile App FEATURES • Browse Program – View the program at your fingertips • My Itinerary – Create your own conference schedule • Conference Info – Including special events • Take Notes – Take notes during sessions • Venue Map – Hyatt Regency Century Plaza • City Map – See the surrounding area • Connect to Twitter – Tweet about what you’re doing and who you’re meeting with #aiaaAviation HOW TO DOWNLOAD Any version can be run without an active Internet connection! You can also sync an itinerary you created online with the app by entering your unique itinerary name. Compatible with MyItinerary Mobile App MyItinerary Web App • For optimal use, we recommend • For optimal use, we recommend: iPhone/iPad, rd iPhone 3GS, iPod Touch (3 s iPhone 3GS, iPod Touch (3rd Android, and generation), iPad iOS 4.0, or later generation), iPad iOS 4.0, or later • Download the MyItinerary app by s Most mobile devices using Android searching for “ScholarOne” in the BlackBerry! 2.2 or later with the default browser App Store directly from your mobile device. Or, access the link below or s y BlackBerr Torch or later device using scan the QR code to access the iTunes BlackBerry OS 7.0 with the default page for the app. http://itunes.apple. browser com/us/app/scholarone-my-itinerary/ • Download the MyItinerary app by id497884329?mt=8 scanning the QR code or accessing • Select the meeting “AIAA AVIATION http://download.abstractcentral.com/ 2013” aiaa-mav13/index.htm • Once downloaded, you can bookmark the site to access it later or add a link to your home screen. -
1934-1935 Obituary Record of Graduates of Yale University
'"'"JLJ'^:_-'i .j' *-*i7i in T.' "-. \ f .'/" ; Bulletin of Yale University New Haven 15 October 1935 Obituary Record of Graduates of Yale University Deceased during the Year BULLETIN OF YALE UNIVERSITY if Entered as second-class matter, August 30,1906, at the'post ^ office at New Haven, Conn,, under the Act of Congress ofJ July 16, 1894, Acceptance for mailing at the special rate of postage pro- vided for in Section 1103, Act of October 3, 1917, authonzed August 12, 1918. The BULLETIN, which is issued semimonthly, includes: 1. The University Catalogue. _ - - 2. The Reports of the President and Treasurer. s_ 3. The Catalogues of the several Schools. 4. The Alumni Directory and the Quinquennial Catalogue. 5. The Obituary Record. ; \ Bulletin of Yale University OBITUARY RECORD OF GRADUATES DECEASED DURING THE YEAR ENDING JULY i, 1935 INCLUDING THE RECORD OF A FEW WHO DIED PREVIOUSLY, HITHERTO UNREPORTED NUMBER 94 Thirty-second Series • Number Three New Haven • 15 October 1935 YALE UNIVERSITY OBITUARY RECORD* YALE COLLEGE Augustus Field Beard, B.A. 1857, Born May 11, 1833, in Norwalk, Conn. Died December 22,1934, in Norwalk, Conn. Father, Algernon Edwin Beard; a hat manufacturer and banker in South Norwalk; representative in State Legislature; son of Dr. Daniel Beard and Betsy (Field) Beard, of Oakham, Mass., and Stratford, Conn. Mother, Mary Esther (Mallory) Beard; daughter of Lewis and Ann (Seymour) Mallory, of Norwalk. Yale relatives include. James Beard (honorary M.A. 1754) (great-grandfather); and Dr. George M. Beard, *6i (cousin). Wilhston Academy. Entered with Class of 1856, joined Class of 1857 following year; on Spoon Committee; member Linoma, Sigma Delta, Kappa Sigma Theta, Alpha Delta Phi, and Scroll and Key. -
DOCUMENT RESUME ED 115 646 SP 009 718 TITLE Multi-Ethnic
DOCUMENT RESUME ED 115 646 SP 009 718 TITLE Multi-Ethnic Contributions to American History.A Supplementary Booklet, Grades 4-12. INSTITUTION Caddo Parish School Board, Shreveport, La. NOTE' 57p.; For related document, see SP 009 719 EDRS PRICE MF-$0.76 HC-$3.32 Plus Postage DESCRIPTORS Achievement; *American History; *Cultural Background; Elementary Secondary Education; *Ethnic Groups; *Ethnic Origins; *Teaching Guides IDENTIFIERS *Multicultural Education ABSTRACT This booklet is designed as a teacher guide for supplementary use in the rsgulat social studies program. It lists names and contributions of Americans from all ethnic groups to the development of the United States. Seven units usable at three levels (upper elementary, junior high, and high school) have been developed, with the material arranged in outline form. These seven units are (1) Exploration and Colonization;(2) The Revolutionary Period and Its Aftermath;(3) Sectionalism, Civil War, and Reconstruction;(4) The United States Becomes a World Power; (5) World War I--World War II; (6) Challenges of a Transitional Era; and (7) America's Involvement in Cultural Affairs. Bibliographical references are included at the end of each unit, and other source materials are recommended. (Author/BD) *********************************************************************** Documents acquired by ERIC include many informal unpublished * materials not available from other sources. ERIC makes every effort * * to obtain the best copy available. Nevertheless, items of marginal * * reproducibility are often encountered and this affects the quality * * of the microfiche and hardcopy reproductions ERIC makes available * via the ERIC Document-Reproduction Service (EDRS). EDRS is not * responsible for the qUa_lity of the original document. Reproductions * supplied-by EDRS are the best that can be made from the original. -
Jerome Hunsaker
NATIONAL ACADEMY OF SCIENCES JEROME CLARKE HUNSAKER 1886–1984 A Biographical Memoir by JACK L. KERREBROCK Biographical Memoirs, VOLUME 78 PUBLISHED 2000 BY THE NATIONAL ACADEMY PRESS WASHINGTON, D.C. JEROME CLARKE HUNSAKER August 26, 1886–September 10, 1984 BY JACK L. KERREBROCK HEN JEROME C. HUNSAKER died in September 1984 at the Wage of ninety-eight, his illustrious career had spanned the entire existence of the aerospace industry, from the very beginnings of aeronautics to exploration of the solar system. His colleagues had extended from the Wright Brothers to Charles Stark Draper, and included virtually all of the founders and leaders of aeronautics and astronautics. Be- ginning with important technical contributions, he soon turned his attention to creating and managing the new in- stitutions needed to deal with the growth of the aeronau- tics industry. By the early 1930s he was at the pinnacle of the aeronautics industry with leadership roles in academia, government, and industry. In recognition of these achieve- ments, in 1933 he was awarded the prestigious Guggenheim Medal, the fifth such recipient after Orville Wright, Ludwig Prandtl, Fredrick Lanchester, and Juan de la Cuerva. His career continued at this level for nearly three decades. Even after his retirement in 1951 as head of the Depart- ment of Aeronautics at the Massachusetts Institute of Tech- nology, a department he founded in 1939, Hunsaker con- tinued as chairman of the National Advisory Committee for Aeronautics (NACA) until 1956, a position he had held 95 96 BIOGRAPHICAL MEMOIRS since 1941. Recognized the world over for his contributions to aeronautics, Hunsaker was also well regarded in the larger society. -
Memorial Tributes: Volume 12
THE NATIONAL ACADEMIES PRESS This PDF is available at http://nap.edu/12473 SHARE Memorial Tributes: Volume 12 DETAILS 376 pages | 6.25 x 9.25 | HARDBACK ISBN 978-0-309-12639-7 | DOI 10.17226/12473 CONTRIBUTORS GET THIS BOOK National Academy of Engineering FIND RELATED TITLES Visit the National Academies Press at NAP.edu and login or register to get: – Access to free PDF downloads of thousands of scientific reports – 10% off the price of print titles – Email or social media notifications of new titles related to your interests – Special offers and discounts Distribution, posting, or copying of this PDF is strictly prohibited without written permission of the National Academies Press. (Request Permission) Unless otherwise indicated, all materials in this PDF are copyrighted by the National Academy of Sciences. Copyright © National Academy of Sciences. All rights reserved. Memorial Tributes: Volume 12 Memorial Tributes NATIONAL ACADEMY OF ENGINEERING Copyright National Academy of Sciences. All rights reserved. Memorial Tributes: Volume 12 Copyright National Academy of Sciences. All rights reserved. Memorial Tributes: Volume 12 NATIONAL ACADEMY OF ENGINEERING OF THE UNITED STATES OF AMERICA Memorial Tributes Volume 12 THE NATIONAL ACADEMIES PRESS Washington, D.C. 2008 Copyright National Academy of Sciences. All rights reserved. Memorial Tributes: Volume 12 International Standard Book Number-13: 978-0-309-12639-7 International Standard Book Number-10: 0-309-12639-8 Additional copies of this publication are available from: The National Academies Press 500 Fifth Street, N.W. Lockbox 285 Washington, D.C. 20055 800–624–6242 or 202–334–3313 (in the Washington metropolitan area) http://www.nap.edu Copyright 2008 by the National Academy of Sciences. -
Aerodynamics and Aircraft Design
RESTRICTED AND AIRCRAFT DESIGN A REPORT PREPARED FOR THE AAF SCIENTIFIC ADVISORY GROUP By H. S. TSIEN Gllggenheim Laboratory California Institllte of Technology W. R. SEARS AND IRVING ASHKENAS Northrop Aircraft Company, Hawthorne, California C. N. HASERT Captain, Air Corps N. M. NEWMARK Talbot Laboratory Unif!ersity of Illinois • Pllblished MIIY, 1946 by HEADQUARTERS AIR MATERIEL COMMAND PUBLICATIONS BRANCH. INTELLIGENCE T-2 •• WRIGHT FIELD, DAYTON, OHIO RESTRICTED The AAF Scientific Advisory Group was activated late in 1944 by General of the Army H. H. Arnold. He se cured the services of Dr. Theodore von Karman, re nowned scientist and consultant in aeronautics, who agreed to organize and direct the group. Dr. von Karman gathered:wbout him a group of Ameri can scientists from every field of research having a bearing on air power. These men then analyzed im portant developments in the basic sciences, both here and abroad, and attempted to evaluate the effects of their application to air power. This volume is one of a group of reports made to the Army Air Forces by the Scientific Advisory Group. This document contains information affedlng the national defense of the United States within the meaning of the Espionage Act, SO U. S. C., 31 and 32, as amended. Its transmission or the revelation of its contents in any manner to an unauthorized person is prohibited by law. AA. SCIENTI.IC ADVISORY GROUP Dr. Th. von Karman Director Colonel F. E. Glantzberg Dr. H. L. Dryden Deputy Director, Military Deputy Director, Scientific Lt Col G. T. McHugh, Executive Capt C. H.