Podcast
Questions and Answers
What aspect of design did Wilbur Wright suggest was easier for helicopters compared to airplanes?
What aspect of design did Wilbur Wright suggest was easier for helicopters compared to airplanes?
- Efficiency in labor
- Design complexity (correct)
- Cost-effectiveness
- Safety features
Which inventor is associated with the development of the tail rotor in helicopters?
Which inventor is associated with the development of the tail rotor in helicopters?
- Cierva
- Boris Yurev (correct)
- Elmer Sperry
- Igor Sikorsky
What significant device did Elmer Sperry contribute to the field of helicopter design?
What significant device did Elmer Sperry contribute to the field of helicopter design?
- Proximity sensor
- Gyroscope (correct)
- Autopilot system
- Tail rotor
What was the year of the first unmanned helicopter developed by Igor Sikorsky?
What was the year of the first unmanned helicopter developed by Igor Sikorsky?
Which UAV was introduced first in the modern era?
Which UAV was introduced first in the modern era?
What type of experiments related to unmanned helicopters were mentioned in the content?
What type of experiments related to unmanned helicopters were mentioned in the content?
What year did Cierva contribute to helicopter development?
What year did Cierva contribute to helicopter development?
What kind of physical interactions do aerial vehicles have with their environment in unmanned operations?
What kind of physical interactions do aerial vehicles have with their environment in unmanned operations?
What are the key components of 6 degrees of freedom (6 DOF) for UAVs?
What are the key components of 6 degrees of freedom (6 DOF) for UAVs?
Why are UAVs described as underactuated systems?
Why are UAVs described as underactuated systems?
What does the term 'coupled' refer to in the context of UAV systems?
What does the term 'coupled' refer to in the context of UAV systems?
What does 'neutral buoyancy' imply for a blimp?
What does 'neutral buoyancy' imply for a blimp?
In which coordinate system is the body frame {B} positioned relative to?
In which coordinate system is the body frame {B} positioned relative to?
What are the effects of UAVs being nonlinear systems?
What are the effects of UAVs being nonlinear systems?
Which frame is typically the starting point for helicopter operations?
Which frame is typically the starting point for helicopter operations?
Which mathematical expression is used to describe transforms in UAV systems?
Which mathematical expression is used to describe transforms in UAV systems?
What does the equation $I \cdot \theta{\ddot{}} = \tau_{uz\alpha} - \tau_{\mu y} - \tau_{tr} - \tau_{Dy} + \tau_{G}$ represent?
What does the equation $I \cdot \theta{\ddot{}} = \tau_{uz\alpha} - \tau_{\mu y} - \tau_{tr} - \tau_{Dy} + \tau_{G}$ represent?
Which torque acts against the main rotor's torque in the roll motion equation?
Which torque acts against the main rotor's torque in the roll motion equation?
In the context of a helicopter's swash plate mechanism, what does the swash plate torque primarily affect?
In the context of a helicopter's swash plate mechanism, what does the swash plate torque primarily affect?
What does the symbol $\tau_{tr}$ represent in the motion equations of a helicopter?
What does the symbol $\tau_{tr}$ represent in the motion equations of a helicopter?
Which variable in the equations represents the angular acceleration in the roll motion?
Which variable in the equations represents the angular acceleration in the roll motion?
What do the terms $\tau_{ux\beta}$ and $\tau_{\mu x}$ represent in the helicopter's roll dynamics?
What do the terms $\tau_{ux\beta}$ and $\tau_{\mu x}$ represent in the helicopter's roll dynamics?
In the roll equation $I \cdot \phi{\ddot{}} = \tau_{uz\beta} - \tau_{\mu x} - \tau_{Dx}$, what does $\tau_{Dx}$ indicate?
In the roll equation $I \cdot \phi{\ddot{}} = \tau_{uz\beta} - \tau_{\mu x} - \tau_{Dx}$, what does $\tau_{Dx}$ indicate?
Which factor does gyroscopic torque primarily influence in a helicopter model?
Which factor does gyroscopic torque primarily influence in a helicopter model?
What primary function does the IMU serve in a UAV system?
What primary function does the IMU serve in a UAV system?
Which of the following is NOT a component of the UAV's hardware configuration?
Which of the following is NOT a component of the UAV's hardware configuration?
What role does the Kalman filter play in the UAV's sensor system?
What role does the Kalman filter play in the UAV's sensor system?
Which component is responsible for maintaining the UAV's speed measurements?
Which component is responsible for maintaining the UAV's speed measurements?
What is indicated by the factor $\lambda_i$ when analyzing rotor performance?
What is indicated by the factor $\lambda_i$ when analyzing rotor performance?
What technology is required for communication between the UAV and its ground control?
What technology is required for communication between the UAV and its ground control?
What is the function of the D-GPS in the UAV configuration?
What is the function of the D-GPS in the UAV configuration?
What does the equation $C_L = 2\pi\alpha_e$ calculate in relation to propellers?
What does the equation $C_L = 2\pi\alpha_e$ calculate in relation to propellers?
Which sensor measures the angular velocity of the UAV during flight?
Which sensor measures the angular velocity of the UAV during flight?
In analyzing the thrust produced by a propeller, which of the following factors is most critical?
In analyzing the thrust produced by a propeller, which of the following factors is most critical?
Which of the following systems provides data necessary for controlling a UAV's flight dynamics?
Which of the following systems provides data necessary for controlling a UAV's flight dynamics?
What effect does vertical motion have on the thrust generated by a propeller?
What effect does vertical motion have on the thrust generated by a propeller?
Which variable is used to quantify the drag force on a propeller during its operation?
Which variable is used to quantify the drag force on a propeller during its operation?
What is the primary use of the motion pack in the UAV's sensor suite?
What is the primary use of the motion pack in the UAV's sensor suite?
What type of sensor is primarily responsible for detecting the UAV's position relative to Earth?
What type of sensor is primarily responsible for detecting the UAV's position relative to Earth?
The stall torque of a DC motor refers to what scenario?
The stall torque of a DC motor refers to what scenario?
What does the variable $\Omega R$ denote in propeller operations?
What does the variable $\Omega R$ denote in propeller operations?
During aerial manipulation, what is the impact of back electromagnetic force on a DC motor?
During aerial manipulation, what is the impact of back electromagnetic force on a DC motor?
What is the significance of the term $\Theta_0$ in rotor performance equations?
What is the significance of the term $\Theta_0$ in rotor performance equations?
Which parameter affects the effective angle of attack according to horizontal motion dynamics?
Which parameter affects the effective angle of attack according to horizontal motion dynamics?
Which condition describes vertical motion when $V_{xy} = 0$ and $V_c = 0$?
Which condition describes vertical motion when $V_{xy} = 0$ and $V_c = 0$?
Which equation primarily determines thrust based on rotor dynamics?
Which equation primarily determines thrust based on rotor dynamics?
What can be concluded about the relationship between power and torque in a DC motor?
What can be concluded about the relationship between power and torque in a DC motor?
Which factor primarily influences the translational motion of a multirotor UAV?
Which factor primarily influences the translational motion of a multirotor UAV?
What defines the mapping of how propulsors are attached to a multirotor for independent control?
What defines the mapping of how propulsors are attached to a multirotor for independent control?
Which orientation describes the relationship between the body frame and the world frame in a UAV model?
Which orientation describes the relationship between the body frame and the world frame in a UAV model?
What was a significant technological advancement in the first quadcopter developed at FER in 2006?
What was a significant technological advancement in the first quadcopter developed at FER in 2006?
Which type of rotation is associated with the operation of propulsors in a multirotor?
Which type of rotation is associated with the operation of propulsors in a multirotor?
What motion does the drag produced by propulsors primarily affect in a UAV?
What motion does the drag produced by propulsors primarily affect in a UAV?
What is the primary role of the thrust produced by an individual propulsor?
What is the primary role of the thrust produced by an individual propulsor?
In UAV control, what is one main characteristic of rotational motion?
In UAV control, what is one main characteristic of rotational motion?
What does DOF stand for in the context of UAV control systems?
What does DOF stand for in the context of UAV control systems?
Which representation is used to describe the orientation of the UAV's body frame concerning the world frame?
Which representation is used to describe the orientation of the UAV's body frame concerning the world frame?
Which of the following best describes the behavior of multirotor UAVs under mechanical gyro influences?
Which of the following best describes the behavior of multirotor UAVs under mechanical gyro influences?
What is likely to happen if the propulsors on a multirotor are not configured using mapping Γ?
What is likely to happen if the propulsors on a multirotor are not configured using mapping Γ?
What aspect of UAV control is predominantly influenced by torque produced by propulsors?
What aspect of UAV control is predominantly influenced by torque produced by propulsors?
What is a primary requirement for effective multirotor motion control?
What is a primary requirement for effective multirotor motion control?
Flashcards
Helicopter vs. Airplane Design
Helicopter vs. Airplane Design
The helicopter is easier to design than the airplane, but its practical use is often limited.
Early Helicopter Developments (1909-1916)
Early Helicopter Developments (1909-1916)
Significant progress in the early 20th century included unmanned helicopters, tail rotors, and gyroscope applications.
Post-WWI Helicopter Design
Post-WWI Helicopter Design
New helicopter designs emerged after World War I, prominently by Cierva and Sikorsky, marking a phase of advancing technology.
Modern Era Unmanned Helicopters
Modern Era Unmanned Helicopters
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Environment and Aerial Vehicles (Manned)
Environment and Aerial Vehicles (Manned)
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Environment and Aerial Vehicles (Unmanned)
Environment and Aerial Vehicles (Unmanned)
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Predictions on UAV Autonomy (1985)
Predictions on UAV Autonomy (1985)
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LARICS Experiments
LARICS Experiments
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UAV Degrees of Freedom
UAV Degrees of Freedom
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UAV System Characteristics
UAV System Characteristics
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Body Frame {B}
Body Frame {B}
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World Frame {W}
World Frame {W}
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Mathematical Models (UAVs)
Mathematical Models (UAVs)
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Coordinate Transformations
Coordinate Transformations
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Blimp Math Model
Blimp Math Model
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Neutral Buoyancy
Neutral Buoyancy
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Helicopter Roll
Helicopter Roll
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Helicopter Pitch
Helicopter Pitch
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Swash Plate Torque
Swash Plate Torque
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Gyroscopic Torque
Gyroscopic Torque
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Friction Torque
Friction Torque
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Tail Rotor Drag Torque
Tail Rotor Drag Torque
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Gravity Torque
Gravity Torque
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What are the main factors affecting helicopter rotation?
What are the main factors affecting helicopter rotation?
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UAV Sensors
UAV Sensors
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Sensor Fusion
Sensor Fusion
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IMU (Inertial Measurement Unit)
IMU (Inertial Measurement Unit)
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GPS (Global Positioning System)
GPS (Global Positioning System)
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IMU Position Drift
IMU Position Drift
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On Board System
On Board System
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Flight Control Processor
Flight Control Processor
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Control Actuators
Control Actuators
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Ground Station
Ground Station
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Mission Control Station
Mission Control Station
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Multirotor Configuration Mapping (Γ)
Multirotor Configuration Mapping (Γ)
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Degrees of Freedom (DOFs)
Degrees of Freedom (DOFs)
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Multirotor Body Frame (B)
Multirotor Body Frame (B)
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Propulsors in Multirotor
Propulsors in Multirotor
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Translational Motion in Multirotors
Translational Motion in Multirotors
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Rotational Motion in Multirotors
Rotational Motion in Multirotors
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Thrust in Multirotor
Thrust in Multirotor
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Torque in Multirotor
Torque in Multirotor
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Drag in Multirotor
Drag in Multirotor
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CW and CCW Rotation in Multirotors
CW and CCW Rotation in Multirotors
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Body Frame and World Frame Relationship
Body Frame and World Frame Relationship
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Early Quadcopter (2006)
Early Quadcopter (2006)
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Mathematical Model of a Multirotor
Mathematical Model of a Multirotor
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Simulation Model for Multirotors (Simulink)
Simulation Model for Multirotors (Simulink)
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Propeller Thrust Formula
Propeller Thrust Formula
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Induced Velocity
Induced Velocity
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Mechanical Angle
Mechanical Angle
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Inflow Velocity
Inflow Velocity
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Angle of Attack
Angle of Attack
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Propeller Efficiency
Propeller Efficiency
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DC Motor Static Characteristics
DC Motor Static Characteristics
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Stall Torque
Stall Torque
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No-Load Speed
No-Load Speed
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Torque Constant
Torque Constant
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Propeller Drag
Propeller Drag
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Voltage Drop on Brushes
Voltage Drop on Brushes
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Back Electromagnetic Force
Back Electromagnetic Force
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Motor Power and Torque Relationship
Motor Power and Torque Relationship
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DC Motor Working Point
DC Motor Working Point
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Study Notes
Aerial Robotics
- Study focuses on aerial robotics, specifically unmanned aerial vehicles (UAVs)
- Course taught by Prof. Stjepan Bogdan, Prof. Matko Orsag, Antun Ivanović, Marko Car, and Lovro Marković
- Laboratory for Robotics and Intelligent Control Systems, Department of Control and Computer Engineering, University of Zagreb Faculty of Electrical Engineering and Computing
Grading System
- Two homework assignments (2 x 5 points), minimum 2 points to pass
- Two lab exercises (2 x 8 points), minimum 4 points to pass (report submissions required)
- Midterm exam (written): 30 points
- Final exam (written): 30 points
- Oral exam: 14 points
- If a student fails the midterm or final exam, or wants to improve their grade, there are written and oral exams with 60 and 14 points respectively for each.
- Grading scale:
- 2: [51-61]
- 3: [62-77]
- 4: [78-90]
- 5 [91-100]
Contents
- Introduction (history of aerial systems/rotorcrafts)
- Mathematical Models of UAVs
- Multirotor Aerodynamics and Actuation
- Sensors and Control
- Aerial Manipulator Kinematics
- Aerial Manipulator Dynamics
- Mission Planning
History of Aerial Systems
- 425 BC – Archytas (mechanical bird)
- 1483 – Leonardo da Vinci (aerial screw)
- 1843 – George Cayley (aerial coach)
- 1907 – Paul Cornu (helicopter)
- 1909 – Igor Sikorsky (unmanned helicopter)
- 1912 – Boris Yurev (tail rotor)
- 1916 – Elmer Sperry (gyroscope)
- Post WWI design: Bothezad (1922), Fa-61 (1936), Sikorsky (1939), Cierva (1923)
- Modern era (unmanned helicopters): RQ-8A Fire Scout (2002), Schiebel CAMCOPTER (2005)
Mathematical Models of UAVs
- 6 degrees of freedom (DOF): x, y, z, roll, pitch, yaw
- UAV as a system: nonlinear, multivariable, coupled, underactuated
- Complex for control
- Mathematical model of a blimp: neutral buoyancy, lift = weight, no propulsion
- Equations of motion (body frame): MV+D(V) v + g(n) = το
- Mass matrix of blimp's body
- Matrix D - air friction
- Gravitational and lift vector assumption
- Configuration of propulsors- arbitrary number and positions
- Configuration of propulsors – additional example with 3 propulsors
- Mathematical model of a helicopter: Fusion 360 Smart BNF, Yamaha R-50
- Equations of a helicopter motion (rotations): y-z plane (roll), x-z plane (pitch), x-y plane (yaw)
- Equations of a helicopter motion (translations)
- Main rotor input, Swash plate input, Tail rotor input
- Coupling (+linearization): roll, pitch, yaw
- Small-scale helicopter
- Simulation example: ellipsoidal blimp, 3 propulsors
- Simulink model
- Mathematical model of a multirotor: The first quadcopter at FER (2006)
UAV Applications
- Military: target and decoy, surveillance and tracking, battle activities, logistics
- Civilian: Traffic and weather monitoring, firefighting, agriculture, search & rescue, inspection & maintenance, research and development
UAV Control
- Obstacle Avoidance / Target Tracking
- Obstacle / Target Identification
- Obstacle / Target Detection
- Situation Awareness
- Mission Planning
- Mode Selection
- Mode Transitioning
- Fault Tolerant Control
- Flight Control System
- Emergency Diagnostics
- UAV Sensors
- Sensor Fusion
- Hardware configuration: Sensors (D-GPS, Motion Pak, 3-axis magnetometer, Altitude Sensor), On-Board System (Computer, Flight Control Processor, R-1 Integrated Avionics System) and Ground Station (Hand Held Radio, Control Transmitter, Mission Control Station)
- Main sensors: IMU (inertial measurement unit), GPS
- Linear and decoupled control (quadcopter)
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