Post on 21-Oct-2020
transcript
Project Robo Raven:
Endowing Flapping Wing Aerial Vehicles
with New Capabilities
Satyandra K. Gupta
Aerospace and Mechanical Engineering Department
University of Southern California
Hugh A. Bruck
Department of Mechanical Engineering
University of Maryland
Robo Raven I
• Goal: Develop a highly
maneuverable flapping wing
aerial vehicle
• Accomplishments:
─ Developed a raven-size platform
─ Demonstrated outdoor flight with
programmable wings
─ Used independent wing control to
perform aerobatics
─ Demonstrated use of 3D printing for
realizing complex lightweight
structural members
─ Vehicle Characteristics
o Vehicle weight = 290g
o Flight speed = 6.7 m/s
o Flight time = 4 minutes 45 secondsFirst Flight in April 2013
See Videos athttps://www.youtube.com/watch?v=mjOWpwbnmTw
https://www.youtube.com/watch?v=XhsXul39DZg
https://www.youtube.com/watch?v=mGoyZoKWuVI
https://www.youtube.com/watch?v=mjOWpwbnmTwhttps://www.youtube.com/watch?v=XhsXul39DZghttps://www.youtube.com/watch?v=mGoyZoKWuVI
Robo Raven II(Work done in Collaboration with Army Research Lab)
• Goal: Increase system-level
performance through
subsystem interaction
modeling and optimization
• Accomplishments:
─ Increased payload
─ Increased flight endurance
─ Demonstrated flight in cold
conditions
─ Vehicle Characteristics
o Vehicle weight = 272 - 350g
o Flight speed = 6.7 m/s
o Estimated flight time = 15 minutes
Battery
voltage
current
Wings
position
velocity
Code
custom kinematics
multiple flapping modes
Tail
yaw
elevator
Body
airspeed
attitude
altitude
position
See Video athttps://www.youtube.com/watch?v=q6ga9hxm6FY
https://www.youtube.com/watch?v=bsMSxowdqe8
https://www.youtube.com/watch?v=q6ga9hxm6FYhttps://www.youtube.com/watch?v=bsMSxowdqe8
• Goal: Use on-board solar cells
to charge batteries for Robo
Raven
• Accomplishments:
─ Demonstrated flight with
multifunctional wings with
integrated solar cells
─ Demonstrated feasibility of flying
using power generated by high
efficiency flexible solar cells
Robo Raven III
See Videos at
https://www.youtube.com/watch?v=K7ICOCfPIm8
https://www.youtube.com/watch?v=t1_mPe8Y0V4
https://www.youtube.com/watch?v=a8x8P5F3qTI
https://www.youtube.com/watch?v=t1_mPe8Y0V4https://www.youtube.com/watch?v=a8x8P5F3qTI
Robo Raven IV
• Goal: Implement autonomous
loitering, trajectory following,
and dive maneuvers on Robo
Raven
• Accomplishments:
─ Demonstrated flight with sensors
and autopilot
─ Demonstrated autonomous
waypoint navigation
─ Demonstrated autonomous
loitering
─ Demonstrated autonomous dives
See Videos at
https://www.youtube.com/watch?v=nZ0sOFI5suw
https://www.youtube.com/watch?v=WLAMqNg4lGs
https://www.youtube.com/watch?v=nZ0sOFI5suwhttps://www.youtube.com/watch?v=WLAMqNg4lGs
Robo Raven V
• Goal: Develop takeoff capability,
increase payload capacity and
expand maneuverability
• Accomplishments:
─ Demonstrated significant increase
in thrust production by using
propellers
─ Demonstrated significant increase
in payload
o Payload capacity: 224 g
─ Demonstrated increased agility of
platform
See Video athttps://www.youtube.com/watch?v=Yryz8PSAwmA
https://www.youtube.com/watch?v=Yryz8PSAwmA
References
• A.E. Holness, H.A. Bruck and S.K. Gupta. Characterizing and modeling the enhancement of lift and payload
capacity resulting from thrust augmentation in a propeller-assisted flapping wing air vehicle, Accepted for
publication in International Journal of Micro Air Vehicles, doi:10.1177/1756829317734836.
• L.J. Roberts, H.A.Bruck and S.K. Gupta. Modeling of dive maneuvers for executing autonomous dives with a
flapping wing unmanned aerial vehicle. Accepted for publication in ASME Journal of Mechanisms and Robotics
doi:10.1115/1.4037760.
• J.W. Gerdes, H.A. Bruck, S.K. Gupta. Improving prediction of flapping-wing motion by incorporating actuator
constraints with models of aerodynamic loads using in-flight data. ASME Journal of Mechanisms and Robotics;
9(2):021011-021011-11, doi:10.1115/1.4035994, 2017.
• J.W. Gerdes, H.A. Bruck, S.K. Gupta. Experimental Power Model Identification of a Flapping Wing Air Vehicle
With Flight Test Data. ASME Mechanisms and Robotics Conference, Cleveland, OH, August 2017.
• J.W. Gerdes, H.A. Bruck, and S.K. Gupta. Validation of flight power modeling by direct measurement of a
flapping wing aerial vehicle. AIAA Atmospheric Flight Mechanics Conference, AIAA SciTech Forum, Texas,
January 2017.
• L. Roberts, H.A. Bruck, and S.K. Gupta. Using a large two degree of freedom tail for autonomous aerobatics on
a flapping wing unmanned serial vehicle. ASME Mechanisms and Robotics Conference, Charlotte, NC, August
2016.
• J. Gerdes, H.A. Bruck, and S.K. Gupta. Instrumenting a flapping wing air vehicle system for free flight
measurement. ASME Mechanisms and Robotics Conference, Charlotte, NC, August 2016.
• A. Holness, E. Steins, H.A. Bruck, M. Peckerar, and S.K. Gupta. Performance characterization of
multifunctional wings with integrated flexible batteries for flapping wing unmanned air vehicles. ASME
Mechanisms and Robotics Conference, Charlotte, NC, August 2016.
• A. Perez-Rosado, H.A. Bruck, and S.K. Gupta. Integrating solar cells into flapping wing air vehicles for
enhanced flight endurance. ASME Journal of Mechanisms and Robotics, 8(10):051006, October 2016.
.
References (Cont.)
• A. Perez-Rosado, R. D. Gehlhar, S. Nolen, S. K. Gupta, and H. A. Bruck. Design, fabrication, and
characterization of multifunctional wings to harvest solar energy in flapping wing air vehicles. Smart Materials
and Structures, 24(6):065042, 2015.
• A. Holness, H.A. Bruck, and S.K. Gupta. Design of propeller-assisted flapping wing air vehicles for enhanced
aerodynamic performance. ASME Mechanism and Robotics Conference, Boston, MA, August 2015.
• J.W. Gerdes, H.A. Bruck, and S.K. Gupta. A systematic exploration of wing size on flapping wing air vehicle
performance. ASME Mechanism and Robotics Conference, Boston, MA, August 2015.
• A. Perez-Rosado, H.A. Bruck, and S.K. Gupta. Enhancing the Design of Solar-powered Flapping Wing Air
Vehicles using Multifunctional Structural Components. ASME Mechanism and Robotics Conference, Boston,
MA, doi: 10.1115/DETC2015-47570, August 2015
• J.W. Gerdes, A. Holness, A. Perez-Rosado, L. Roberts, A. Greisinger, E. Barnett, J. Kempny, D. Lingam,
C.H. Yeh, H.A. Bruck, and S.K. Gupta. Robo Raven: A flapping wing air vehicle with highly compliant and
independently controlled wings. Soft Robotics, 1(4):275--288, 2014.
• L. Roberts, H.A. Bruck, S.K. Gupta. Autonomous loitering control for a flapping wing aerial vehicle with
independent wing control. ASME Mechanism and Robotics Conference, Buffalo, NY, August 2014.
• Perez-Rosado, A.G.J. Griesinger, H.A. Bruck, and S.K. Gupta. Performance characterization of multifunctional
wings with integrated solar cells for miniature air vehicles. ASME Mechanism and Robotics Conference,
Buffalo, NY, August 2014.
• J.W. Gerdes, L. Roberts, E. Barnett. J. Kempny, A. Perez-Rosado H.A. Bruck, and S.K. Gupta. Wing
performance characterization for flapping wing air vehicles. ASME Mechanism and Robotics Conference,
Portland, OR, August 2013.
Team
Luke Roberts
John Gerdes
Alex Holness Ariel Perez-Rosado
Hugh A. BruckSatyandra K, Gupta
Sponsors