scholarly journals Yaw control torque generation for a hovering robotic hummingbird

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141882396 ◽  
Author(s):  
Ali Roshanbin ◽  
André Preumont
Keyword(s):  
Control Mechanism ◽  
Cross Coupling ◽  
Parallel Mechanisms ◽  
Design Development ◽  
Control Torque ◽  
Coupling Effects ◽  
Flight Tests ◽  
Wing Kinematics ◽  
Yaw Control ◽  
Torque Generation

This study describes the design, development, and flight tests of a novel control mechanism to generate yaw control torque of a hovering robotic hummingbird (known as Colibri). The proposed method generates yaw torque by modifying the wing kinematics while minimizing its influence on roll and pitch torques. To achieve this, two different architectures of series and parallel mechanisms are investigated; they are mathematically analyzed to investigate their behavior with respect to cross-coupling effects. The analysis is verified by measuring the control torque characteristics. The efficacy of the proposed method is also explored by flight experiments.

scholarly journals KUBeetle-S: An insect-like, tailless, hover-capable robot that can fly with a low-torque control mechanism

2019 ◽  
Vol 11 ◽  
pp. 175682931986137 ◽  
Author(s):  
Hoang Vu Phan ◽  
Steven Aurecianus ◽  
Taesam Kang ◽  
Hoon Cheol Park
Keyword(s):  
Flight Control ◽  
Attitude Control ◽  
High Speed ◽  
Control Mechanism ◽  
Torque Control ◽  
Control Force ◽  
Wing Kinematics ◽  
Torque Generation ◽  
Torque Load ◽  
Flying Robot

For an insect-like tailless flying robot, flapping wings should be able to produce control force as well as flight force to keep the robot staying airborne. This capability requires an active control mechanism, which should be integrated with lightweight microcontrol actuators that can produce sufficient control torques to stabilize the robot due to its inherent instability. In this work, we propose a control mechanism integrated in a hover-capable, two-winged, flapping-wing, 16.4 g flying robot (KUBeetle-S) that can simultaneously change the wing stroke-plane and wing twist. Tilting the stroke plane causes changes in the direction of average thrust and the wing twist distribution to produce control torques for pitch and roll. For yaw (heading change), root spars of left and right wings are adjusted asymmetrically to change the wing twist during flapping motion, resulting in yaw torque generation. Changes in wing kinematics were validated by measuring wing kinematics using three synchronized high-speed cameras. We then performed a series of experiments using a six-axis force/torque load cell to evaluate the effectiveness of the control mechanism via torque generation. We prototyped the robot by integrating the control mechanism with sub-micro servos as control actuators and flight control board. Free flight tests were finally conducted to verify the possibility of attitude control.

LaCoste and Romberg straight‐line gravity meter

Geophysics ◽  
1983 ◽  
Vol 48 (5) ◽  
pp. 606-610 ◽  
Author(s):  
Lucien LaCoste
Keyword(s):  
Cross Coupling ◽  
Coupling Effects ◽  
New Model ◽  
Silicone Fluid ◽  
Air Damping ◽  
Straight Line ◽  
New Instrument ◽  
Spring Suspension ◽  
Fluid Damping ◽  
Rough Handling

The LaCoste and Romberg straight‐line gravity meter uses a new suspension in which the movable element moves vertically in a straight line rather than in an arc of a circle (LaCoste, 1973a). It was designed primarily for shipboard operation to avoid effects from cross coupling between various ship accelerations, thereby making it unnecessary to correct for such effects. The straight‐line suspension is a modification of the zero length spring suspension used in all LaCoste and Romberg gravity meters. The new model also uses silicone fluid damping rather than the air damping used in earlier models. Its main advantages over the older models appear to be: it is (1) free of cross‐coupling effects, (2) easier to build and adjust, (3) less subject to slight degradation in performance from rough handling, and (4) less sensitive to ship vibrations. In spite of the above advantages it is doubtful whether the new model will give substantially better accuracy than the previous models, if the previous models are kept in good operating condition by making occasional crosscorrelation analyses (LaCoste, 1973b). Valliant (1983, this issue) describes sea tests of the new instrument.

Aero-Propulsive and Propulsor Cross-Coupling Effects on a Distributed Propulsion System

2018 ◽  
Vol 55 (6) ◽  
pp. 2414-2426 ◽  
Author(s):  
Aaron T. Perry ◽  
Phillip J. Ansell ◽  
Michael F. Kerho
Keyword(s):  
Cross Coupling ◽  
Propulsion System ◽  
Coupling Effects ◽  
Distributed Propulsion

scholarly journals Development of attitude control system for hybrid airship vehicle

2018 ◽  
Vol 7 (4.13) ◽  
pp. 99
Author(s):  
Azizi Malek ◽  
M F Sedan ◽  
A S M Harithuddin
Keyword(s):  
Control System ◽  
Attitude Control ◽  
Pid Controller ◽  
Control Mechanism ◽  
Attitude Control System ◽  
Flight Tests ◽  
Aerial Vehicle ◽  
The Mathematical Model ◽  
Monitoring Software ◽  
Acquisition Method

This paper documents and presents the development of attitude control system of Hybrid Airship Unmanned Aerial Vehicle (HAU) that should be able to change its attitude condition based on the response processed from the provided input. This is accomplished by data acquisition method that retrieves data from a flight controller and processes it into the control system without looking in deep on the mathematical model of the airship. Besides that, PID controller is used in order to create a good stable response for the hybrid airship. A working hybrid airship prototype was successfully developed and built, which is five meters in length and has four propellers that is symmetrically distanced to each other. A quadcopter attitude control mechanism is adopted into the hybrid airship to allow for good hovering capability and direct pure attitude control. Outdoor flight tests have been conducted to prove its stability in responding to attitude input given to the hybrid airship attitude controller. A data monitoring software is also written to make the data observation on the behaviour of the hybrid airship response to be easier and understandable. Result demonstrates that the hybrid airship does response to pitch, roll and yaw input from the operator, albeit the lack response stability and speed which can be improved in conservative continuation of research on the airship attitude control system.  

New compact quad-passband bandpass filter based on multi-layer substrate technique

2014 ◽  
Vol 7 (6) ◽  
pp. 679-683
Author(s):  
Hung-Wei Wu ◽  
Shih-Hua Huang
Keyword(s):  
Bandpass Filter ◽  
Cross Coupling ◽  
Bottom Layer ◽  
The Other ◽  
Input Output ◽  
Coupling Effects ◽  
Layered Substrate ◽  
Stepped Impedance Resonator ◽  
Multi Mode

A new compact quad-passband bandpass filter (BPF) using multi-mode resonators (MMRs) based on multi-layered substrate technique is proposed. The filter consists of a pair of multi-mode resonators (uniform impedance resonator and stepped impedance resonator) operated at 1.8/3.7 GHz on top layer and the other pair of the multi-mode resonators operated at 2.4/3 GHz on bottom layer. Source–load coupling lines are used to be the input/output (I/O) ports for providing the multi-paths propagations by cross-coupling effects in the filter. Specifically, the operated frequencies of the filter at 1.8/2.4/3/3.7 GHz with bandwidths of 6.7, 8.2, 4.6, and 7.2% are successfully designed and implemented. The proposed filter is useful for the multi-passband filters design, especially when the passbands are needed to be very close.

Sign in / Sign up

Export Citation Format

Share Document