Academic literature on the topic 'Drones multirotors'
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Journal articles on the topic "Drones multirotors"
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Kaiser, Dennis, Veronika Lesch, Julian Rothe, et al. "Towards Self-Aware Multirotor Formations." Computers 9, no. 1 (2020): 7. http://dx.doi.org/10.3390/computers9010007.
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In the present day, unmanned aerial vehicles become seemingly more popular every year, but, without regulation of the increasing number of these vehicles, the air space could become chaotic and uncontrollable. In this work, a framework is proposed to combine self-aware computing with multirotor formations to address this problem. The self-awareness is envisioned to improve the dynamic behavior of multirotors. The formation scheme that is implemented is called platooning, which arranges vehicles in a string behind the lead vehicle and is proposed to bring order into chaotic air space. Since multirotors define a general category of unmanned aerial vehicles, the focus of this thesis are quadcopters, platforms with four rotors. A modification for the LRA-M self-awareness loop is proposed and named Platooning Awareness. The implemented framework is able to offer two flight modes that enable waypoint following and the self-awareness module to find a path through scenarios, where obstacles are present on the way, onto a goal position. The evaluation of this work shows that the proposed framework is able to use self-awareness to learn about its environment, avoid obstacles, and can successfully move a platoon of drones through multiple scenarios.
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Matus-Vargas, Antonio, Gustavo Rodriguez-Gomez, and Jose Martinez-Carranza. "A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect." Sensors 19, no. 22 (2019): 4948. http://dx.doi.org/10.3390/s19224948.
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Multirotor micro air vehicles can operate in complex and confined environments that are otherwise inaccessible to larger drones. Operation in such environments results in airflow interactions between the propellers and proximate surfaces. The most common of these interactions is the ground effect. In addition to the increment in thrust efficiency, this effect disturbs the onboard sensors of the drone. In this paper, we present a fault-tolerant scheme for a multirotor with altitude sensor faults caused by the ground effect. We assume a hierarchical control structure for trajectory tracking. The structure consists of an external Proportional-Derivative controller and an internal Proportional-Integral controller. We consider that the sensor faults occur on the inner loop and counteract them in the outer loop. In a novel approach, we use a metric monocular Simultaneous Localization and Mapping algorithm for detecting internal faults. We design the fault diagnosis scheme as a logical process which depends on the weighted residual. Furthermore, we propose two control strategies for fault mitigation. The first combines the external PD controller and a function of the residual. The second treats the sensor fault as an actuator fault and compensates with a sliding mode action. In either case, we utilize onboard sensors only. Finally, we evaluate the effectiveness of the strategies in simulations and experiments.
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Carrera, Fausto Freire, Pablo Tamayo, Olga Chadrina, and Sergei Kharlamov. "Multirotor Heavy Lift Drone." EPJ Web of Conferences 248 (2021): 02010. http://dx.doi.org/10.1051/epjconf/202124802010.
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This article begins by analysing the fields of application of cargo drones at an international level, to then determine the most used configurations and with the best performance to lift important loads, from which a coaxial octocopter drone with X8 configuration was designed and built, with a payload capacity of up to 20 kg and a flight range of 45 minutes. The relevance to build in Ecuador of this type of drones was also analysed and thus minimize technological dependence. The results showed that it starts with 31% of national components and that by executing activities aimed at reducing dependency, in a period of 5 years it can reach 63.8% of national components for the construction of drones of these characteristic.
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Walendziuk, Wojciech, Piotr Falkowski, and Krzysztof Kulikowski. "The Analysis of Power Supply Topologies for Tethered Drone Applications." Proceedings 51, no. 1 (2020): 25. http://dx.doi.org/10.3390/proceedings2020051025.
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This article presents three technical variants of a power supply system of a tethered multirotor drone. The proposed solutions can be applied as power sources for multirotor flying constructions used, among others, for surveillance systems or air quality measurements. The paper describes the topologies of the drones’ supply systems as well as their functional analysis.
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Makode, Kunal. "Parcel providing and Patrolling Hexacopter with High Payload." International Journal for Research in Applied Science and Engineering Technology 9, no. VI (2021): 1977–80. http://dx.doi.org/10.22214/ijraset.2021.35378.
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The different varieties of drones may be differentiated in terms of the sort (fixed-wing, multirotor, etc.), the degree of autonomy, the dimensions and weight, and also the power supply. These specifications are dynamic, as an example for the drone’s cruising vary, the utmost flight length, and also the loading capability. Apart from the drone itself (i.e., the ‘platform’) varied varieties of payloads may be distinguished, together with freight (e.g., mail parcels, medicines, hearth ending material, flyers, etc.) and differing kinds of sensors (e.g., cameras, sniffers, meteorological sensors, etc.). Applications of various payloads are described. So as to perform a flight, drones have a necessity for (a specific amount of) wireless communication with a pilot on the bottom. During this paper we tend to are introducing drone consists of six blades referred to as hexocoptor that's upraised and propelled by six motor will which may which might carry a load up to ten weight unit or can fly up to thirty minute with payload. It contain twilight vision camera and GPS controller is employed for remote location in night. During this system, brushless DC motors are adjoined with the electronic speed controller.
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Kelaher, Brendan P., Victor M. Peddemors, Brent Hoade, Andrew P. Colefax, and Paul A. Butcher. "Comparison of sampling precision for nearshore marine wildlife using unmanned and manned aerial surveys." Journal of Unmanned Vehicle Systems 8, no. 1 (2020): 30–43. http://dx.doi.org/10.1139/juvs-2018-0023.
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Aerial surveys of large marine wildlife in nearshore areas can support management actions to ensure conservation of this megafauna. While most aerial surveys of marine wildlife have been carried out using manned aircraft, unmanned aerial systems (commonly known as drones) are being increasingly used. Here, we compare the relative accuracy and precision of marine wildlife surveys from a multirotor drone and a manned helicopter for the first time. At two locations on the east coast of Australia, we simultaneously surveyed sharks (including white sharks, Carcharodon carcharias), dolphins, rays, and sea turtles in nearshore coastal areas using a multirotor drone (DJI Inspire I) and a helicopter (Robinson 44 Clipper II) over 26 separate flights. Sampling included the real-time quantification of marine wildlife by an observer in the helicopter and the pilot of the drone. The video feed from the drone was then later re-sampled in the laboratory. Of the three methods, post-hoc analysis of drone video footage is likely to provide the most accurate and precise estimates of marine wildlife in nearshore areas. When real-time data are required (e.g., for shark-risk mitigation), manned helicopters (over larger stretches of coast) and drones (across localised beaches) will both be useful.
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Vargas-Ramírez, Nicolás, and Jaime Paneque-Gálvez. "The Global Emergence of Community Drones (2012–2017)." Drones 3, no. 4 (2019): 76. http://dx.doi.org/10.3390/drones3040076.
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The use of drones with or by communities—what we call community drones—has emerged globally over the last decade to serve diverse purposes. Despite a growing academic interest in community drones, most experiences have been documented as gray literature and there are still no publications that review and systematize their use worldwide. Here, we present an overview of the first experiences using community drones—what we refer to as their global emergence (2012–2017). We reviewed gray and academic literature in English and Spanish for the period 2012–2017. We then analyzed the experiences according to their location, date, purpose, type of drone(s) used, agent(s) that carried them out, and methodology used for community participation; “good” and “bad” practices were also included when information was available. We reviewed 39 experiences and found that (1) they mostly occurred in Latin America from 2014; (2) commercial and multirotor drones were the most frequently employed; (3) the main purposes were community training to acquire territorial information for improved defense and/or informed decision-making; (4) most initiatives were driven by external agents and communities’ allies; (5) the most usual forms of community participation were participatory mapping and training workshops, yet local knowledge was either neglected or little valued to complement drone information; and (6) there were no appropriate practices established for community drone usage. Our study improves the little knowledge we have regarding the global emergence of community drones, its geographic trends, and the existing opportunities and challenges to meet the needs and expectations from community drones. In addition, we provide guidelines for appropriate practices that will be useful for communities and social agents interested in the acquisition, training, and use of drones. We conclude by suggesting new avenues to develop theoretical and methodological approaches in relation to the new field of community drones.
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Coluccia, Angelo, Gianluca Parisi, and Alessio Fascista. "Detection and Classification of Multirotor Drones in Radar Sensor Networks: A Review." Sensors 20, no. 15 (2020): 4172. http://dx.doi.org/10.3390/s20154172.
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Thanks to recent technological advances, a new generation of low-cost, small, unmanned aerial vehicles (UAVs) is available. Small UAVs, often called drones, are enabling unprecedented applications but, at the same time, new threats are arising linked to their possible misuse (e.g., drug smuggling, terrorist attacks, espionage). In this paper, the main challenges related to the problem of drone identification are discussed, which include detection, possible verification, and classification. An overview of the most relevant technologies is provided, which in modern surveillance systems are composed into a network of spatially-distributed sensors to ensure full coverage of the monitored area. More specifically, the main focus is on the frequency modulated continuous wave (FMCW) radar sensor, which is a key technology also due to its low cost and capability to work at relatively long distances, as well as strong robustness to illumination and weather conditions. This paper provides a review of the existing literature on the most promising approaches adopted in the different phases of the identification process, i.e., detection of the possible presence of drones, target verification, and classification.
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Pleşca, Vasile, and Cristian Purece. "Predictive maintenance of photovoltaic plants using multirotor drones with automatic recharging system of Li-Po batteries." E3S Web of Conferences 180 (2020): 02007. http://dx.doi.org/10.1051/e3sconf/202018002007.
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Creating the correct maintenance of the strings that form the electric generators, from a photovoltaic park, it requires scanning of the equipment with thermal vision cameras, in the visible and infrared field, at an optimum angle determined precisely for each location depending on the geographic position and the architecture of the power station. In general, this angle is difficult to maintain from the ground so it is necessary to mount the cameras on a support, or most efficiently on a multi-rotor drone that is very stable and easy to handle. Maintenance using multi-rotor drones and heat sensitive cameras is no longer a novelty and has multiple advantages: low costs, minimization of work accidents, and the data acquired can be analyzed in real time or can be stored for later analysis. But this process also has disadvantages: limited flight autonomy of drones, generated by the hard development of battery technology and a small number of specialized personnel in this field. To minimize these disadvantages, we have developed an automatic recharging system of batteries, without disconnecting them, which allows the automation of the scanning process and offers the possibility of taking control of the drones and from a distance.
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Shukla, Dhwanil, and Narayanan Komerath. "Multirotor Drone Aerodynamic Interaction Investigation." Drones 2, no. 4 (2018): 43. http://dx.doi.org/10.3390/drones2040043.
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Aerodynamic interactions between rotors are important factors affecting the performance of in-plane multirotor Unmanned Air Vehicles (UAVs) or drones, which are the majority of small size UAVs (or mini-drones). Optimal design requires knowledge of the flow features. The low Reynolds number of many UAV rotors raises the question of how these features differ from those expected by traditional analytical methods for rotorcraft. Aerodynamics of a set of side-by-side rotors in hover over a range of rotor separation and Reynolds number is studied using high-speed Stereo Particle Image Velocimetry (SPIV) and performance measurements. The instantaneous and time-averaged SPIV data presented here indicate an increase in inter-rotor wake interactions with decrease in rotor spacing and Reynolds number. A dip in rotor efficiency at small rotor spacing at low Reynolds number is observed through thrust and torque measurements. The basic components of in-plane multirotor wake and velocity profiles are identified and discussed to help generalize the findings to a wide range of drones. However, the data provide confidence in traditional analysis tools, with small modifications.
Dissertations / Theses on the topic "Drones multirotors"
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Bouzid, Yasser. "Guidance and control system for autonomous aerial vehicles navigation." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLE014.
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Cette thèse traite du guidage et du pilotage de véhicules aériens qui peuvent assurer des missions dans des lieux particulièrement hostiles, dangereux ou inaccessibles avec des véhicules conventionnels. Nous sommes tout d'abord motivés par le scénario de couverture, qui est généralement un processus long pouvant utiliser un grand nombre de personnes et d'équipements. Or, la nature de la couverture nécessite un véhicule aérien avec des capacités de vol stationnaire. Pour cela, nous nous intéressons alors aux multirotors, qui sont considérés comme une bonne étude de cas pour concevoir, analyser et mettre en œuvre des stratégies de contrôle de vol.En réalité, de nombreux défis sont encore ouverts pour ce qui concerne le scénario de couverture comme la faisabilité, l’optimalité en visitant tous les points d’intérêts. De plus, un système de contrôle robuste est indispensable pour contrer des effets néfastes tel le vent. Par ailleurs, la conception d'un algorithme de contrôle répondant à certaines exigences (structure simple, précision, énergie minimale consommée) constitue un défi supplémentaire. Ensuite, notre travail introduit un modèle mathématique générique pour les multi-rotors en considérant l’effet du vent.Dans la première partie du manuscrit, nous proposons des planificateurs en utilisant comme base l'algorithme RRT* (optimal Rapidly-exploring Random Tree). En fait, dans les grands espaces, un grand nombre de nœuds est généré augmentant alors le temps de calcul et la mémoire consommée. Pour y remédier, une procédure de suppression est impliquée pendant le processus « ReWire » pour les réduire. De plus, un planificateur multidirectionnel qui renvoie un ensemble de chemins optimaux à partir d'un point de départ et d'un ensemble de points objectifs est proposé. Notre travail introduit également une stratégie CPP (Coverage path-planning) optimale dans un espace contraint. Celle-ci consiste à procéder par un algorithme en deux phases. Dans la première, un planificateur multidirectionnel est utilisé pour définir les chemins les plus courts de chaque point à ses voisins. Dans la seconde phase, au moyen des coûts entre les points, le chemin global le plus court est obtenu en résolvant un problème de voyageur en utilisant des algorithmes génétiques. Puis, compte tenu de l'énergie embarquée limitée, un problème de routage est adapté et est résolu par la méthode de savings. Dans une seconde partie, nous nous sommes penchés sur la conception d'un système de pilotage efficace permettant au véhicule de suivre une trajectoire paramétrée dans le temps. D’une part nous proposons une extension de la commande par modèle interne au non-linéaire (NLIMC). Notre technique repose sur l’utilisation du principe de base IMC pour synthétiser un contrôleur non linéaire qui fait intervenir la propriété de platitude. D’autre part, nous proposons une autre forme de contrôleur dont la structure apparente est un PID mais dans lequel est incorporée la technique des modes glissants que l'on appellera aussi PID non linéaire bien qu’il diffère de l’existant. Cette combinaison a l’avantage de conduire à un bon niveau de robustesse fourni par les modes glissants et en même temps à un bon comportement spécifié par la structure PID. En outre, en guise de complément, nous proposons deux contrôleurs redondants basés sur deux principes distincts afin de booster et d’améliorer les capacités de tout contrôleur. Le premier est basé sur l’approche MFC (Model-Free Control) tandis que le second est basé sur les modes glissants dynamiques DSMC (Dynamic Sliding Mode Controller). Enfin, pour montrer les performances de ces contrôleurs, nous avons effectué une série de tests avec plusieurs illustrations et scénarios, nous avons dressé un tableau de comparaison avec les approches conventionnelles. Les résultats issus des simulations numériques et ceux des tests expérimentaux réalisés sur un drone quadrotor se sont avérés cohérents et semblent bien prometteurs<br>This thesis deals with the guidance and control of aerial vehicles, which can also ensure missions in hostile, dangerous environments, or inaccessible workspaces with conventional vehicles. First, we are motivated by the coverage scenario, which is in general a long process, requiring a large number of individuals and specific equipment. However, the nature of sensing coverage requires an aerial vehicle with hovering capabilities. For this purpose, we are interested in multirotors that are considered as a good case study to design, analyze and implement flight control strategies.As matter of fact, many challenges are still open with respect to the coverage scenario such as for instance the feasibility and the optimality when passing through the Points of Interest. In addition, a robust control system is essential to mitigate the adverse effects such as the wind. Moreover, designing a control algorithm, which meet some requirements (simplicity, accuracy, consumed energy, etc.) constitutes a complementary challenge. Then, our work introduces a generic mathematical model for multirotors flying under the effect of wind.In a first part, we propose planners using as a basis the optimal Rapidly-exploring Random Tree (RRT*) algorithm. In fact, in large workspaces, a large number of nodes is generated and then increasing the computation time and the consumed memory. To counter these latter, a removal procedure is involved during the rewiring process. In addition, a multidirectional planner that returns a set of optimal paths from a starting point and a set of objective points is proposed. Our work also introduces an optimal Coverage path-planning (CPP) strategy in a constrained workspace. This one proceeds through a two-phases algorithm. In the first one, a Connected Multi-directional planner is used to define the shortest paths from each point to its neighbors. In the second phase, by means of the pair-wise costs between points, the overall shortest path is obtained by solving a Traveling Salesman Problem using Genetic Algorithms. Then, taking into account the limited on-board energy, a Capacitated-Vehicle Routing Problem is adapted and solved by the savings approach.In a second part, we study the design of an effective control system allowing the vehicle to track a trajectory parameterized in time. On the one hand, we propose an extension to nonlinear systems of the Internal Model Control (NLIMC). Our technique is based on the use of the basic IMC principle to synthesize a nonlinear controller that involves the property of flatness. On the other hand, we propose another form of controller whose apparent structure is a PID but in which the technique of sliding modes is incorporated that will also call the nonlinear PID (NLPID). This combination has the advantage to lead to a good level of robustness provided by the sliding modes and at the same time to a good behavior specified by the PID structure. Besides, as a complement, we present two redundant controllers based on two distinct principles in order to boost and to improve the capabilities of any controller. The first one is based on the Model-Free Control (MFC) approach while the second one is based on Dynamic Sliding Mode Controller (DSMC).Finally, to highlight the performance of these controllers, we have performed a series of tests with several illustrations and scenarios and we have drawn up a comparison table with conventional approaches. The results of both the numerical simulations and the experimentation that are performed on a quadrotor are consistent and seem to be quite promising
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Saied, Majd. "Fault-tolerant control of an octorotor unmanned aerial vehicle under actuators failures." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2287.
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La sûreté de fonctionnement est devenue indispensable pour tous les systèmes critiques où des vies humaines sont en jeu (comme l’aéronautique, le ferroviaire, etc.). Ceci a conduit à la conception et au développement des architectures tolérantes aux fautes, l’objectif de ces architectures étant de maintenir un service correct délivré par le système malgré la présence de fautes, et en particulier de garantir la sécurité-innocuité et la fiabilité du système. La tolérance aux fautes sur les drones aériens multirotors a récemment reçu une attention importante de la part de la communauté scientifique. En particulier, plusieurs travaux ont été développés sur la tolérance aux fautes des quadrirotors suite à des fautes partielles sur les actionneurs, et récemment des recherches ont abordé le problème de panne totale de l’un des actionneurs. D’après ces études, il a été montré qu’une défaillance totale d’un actionneur dans un quadrirotor rend le système non complètement contrôlable. Une solution proposée est de considérer des multirotors avec des actionneurs redondants (hexarotors ou octorotors). La redondance inhérente disponible dans ces véhicules est exploitée, en cas de défaillance sur les actionneurs, pour redistribuer les efforts de commande sur les moteurs sains de façon à garantir la stabilité et la contrôlabilité complète du système. Dans ce travail de thèse, des approches pour la conception de systèmes de commande tolérants aux fautes des drones multirotors sont étudiées et appliquées au contrôle des octorotors. Toutefois, les algorithmes sont conçus de manière à être applicables sur les autres types de multirotors avec des modifications mineures. D’abord, une analyse de contrôlabilité de l’octorotor après l’occurrence de défaillances sur les actionneurs est présentée. Ensuite, un module de détection et d’isolation de pannes moteurs basé sur un observateur non-linéaire et les mesures de la centrale inertielle est proposé. Les mesures des vitesses et des courants de moteurs fournis par les contrôleurs de vitesse sont également utilisées dans un autre algorithme de détection pour détecter les défaillances des actionneurs et distinguer les pannes moteurs des pertes des hélices. Un module de rétablissement basé sur la reconfiguration du multiplexage est proposé pour redistribuer les efforts de commande d’une manière optimale sur les actionneurs sains après l’occurrence de défaillances dans le système. Une architecture complète, comprenant la détection et l’isolation des défauts suivie par le rétablissement du système est validée expérimentalement sur un octorotor coaxial puis elle est comparée à d’autres architectures basées sur l’allocation de commande et la tolérance aux fautes passive par mode glissant<br>With growing demands for safety and reliability, and an increasing awareness about the risks associated with system malfunction, dependability has become an essential concern in modern technological systems, particularly safety-critical systems such as aircrafts or railway systems. This has led to the design and development of fault tolerant control systems (FTC). The main objective of a FTC architecture is to maintain the desirable performance of the system in the event of faults and to prevent local faults from causing failures. The last years witnessed many developments in the area of fault detection and diagnosis and fault tolerant control for Unmanned Aerial rotary-wing Vehicles. In particular, there has been extensive work on stability improvements for quadrotors in case of partial failures, and recently, some works addressed the problem of a quadrotor complete propeller failure. However, these studies demonstrated that a complete loss of a quadrotor motor results in a vehicle that is not fully controllable. An alternative is then to consider multirotors with redundant actuators (octorotors or hexarotors). Inherent redundancy available in these vehicles can be exploited, in the event of an actuator failure, to redistribute the control effort among the remaining working actuators such that stability and complete controllability are retained. In this thesis, fault-tolerant control approaches for rotary-wing UAVs are investigated. The work focuses on developing algorithms for a coaxial octorotor UAV. However, these algorithms are designed to be applicable to any redundant multirotor under minor modifications. A nonlinear model-based fault detection and isolation system for motors failures is constructed based on a nonlinear observer and on the outputs of the inertial measurement unit. Motors speeds and currents given by the electronic speed controllers are also used in another fault detection and isolation module to detect actuators failures and distinguish between motors failures and propellers damage. An offline rule-based reconfigurable control mixing is designed in order to redistribute the control effort on the healthy actuators in case of one or more motors failures. A complete architecture including fault detection and isolation followed by system recovery is tested experimentally on a coaxial octorotor and compared to other architectures based on pseudo-inverse control allocation and a robust controller using second order sliding mode
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Valdivia, Tuesta Janier Albert. "Sistema mecatrónico automático para intercambio de baterías en una plataforma de aterrizaje para drones de tipo multirotor." Bachelor's thesis, Pontificia Universidad Católica del Perú, 2019. http://hdl.handle.net/20.500.12404/17035.
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La presente tesis aborda el problema del abastecimiento de batería de los drones siendo su periodo de duración insuficiente para cubrir operaciones de mayor durabilidad. En la actualidad, la utilidad de los drones ha ido en aumento en los diversos campos en los que se desenvuelve, así como también su automatización. Con respecto a ello, con la constante evolución de la tecnología y la creciente demanda de automatizar los procesos en los que son requeridos estos dispositivos, se ha logrado que los UAVs (Unmanned Aerial Vehicles) sean autónomos en las operaciones que se requieren. De esta forma, ya no es necesario que sea controlado por algún operario en tiempo real, sino que puede funcionar de forma autónoma. Sin embargo, como se mencionó brevemente, las operaciones realizadas por estos dispositivos pueden tomar un tiempo mayor al de la duración de su batería, por lo que más tiempo implica menos operaciones por día y esto afecta a la productividad. De aumentar esta característica en los drones, se podrían usar, por ejemplo, como sistemas de vigilancia, ya que estos sistemas requieren una continuidad en su operación. Como segundo ejemplo podrían usarse para el envío de objetos a largas distancias de forma autónoma. Se propuso realizar el diseño preliminar de un sistema mecatrónico automático que realizará el abastecimiento de batería de los drones con baterías LiPo 6S (6 celdas). Para lograr este diseño son necesarios los siguientes subsistemas: subsistema de transporte de batería, subsistema de sujeción de dron y el subsistema de adaptación de batería. El subsistema de transporte de batería estará conformado por un robot cartesiano ensamblado con un gripper magnético y un anaquel para guardar las baterías. Este arreglo permitirá la sujeción, extracción y colocación de la batería. El segundo subsistema está conformado por dos actuadores lineales, los cuales se encargarán mantener el dron fijo para poder realizarse el proceso de abastecimiento de la batería. Por último, el subsistema de adaptación de batería, que es el diseño de un sistema mecánico que se ubicará en la parte media del dron para facilitar la extracción y colocación de la batería. Las baterías a emplear en este diseño son baterías LiPo 6S y estas tienen unas dimensiones aproximadas de 59 mm x 64 mm x 158 mm. Además, su peso es aproximadamente de 1.5 kg. Esto permitirá realizar un mejor diseño para las consideraciones mostradas. Eventualmente, se delimitó a este tipo de batería ya que son las que más se usan en promedio para drones de dimensiones mayores a un metro de diámetro. El sistema procesará la información en un controlador y estará constantemente validando, enviando y recibiendo data de internet, es decir, monitoreando en la nube. Se realizará un monitoreo de la información en la nube ya que estos sistemas operan de forma automática y además porque es necesario alertar sobre los posibles fallos para que el sistema sea reparado lo antes posible.<br>Trabajo de investigación
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Valdivia, Tuesta Janier Albert. "Sistema mecatrónico automático para intercambio de baterías en una plataforma de aterrizaje para drones de tipo multirotor." Bachelor's thesis, Pontificia Universidad Católica del Perú, 2020. http://hdl.handle.net/20.500.12404/19749.
Full textAbstract:
La presente tesis aborda el problema del abastecimiento de batería de los drones siendo su periodo de duración insuficiente para cubrir operaciones de mayor durabilidad. En la actualidad, la utilidad de los drones ha ido en aumento en los diversos campos en los que se desenvuelve, así como también su automatización. Con respecto a ello, con la constante evolución de la tecnología y la creciente demanda de automatizar los procesos en los que son requeridos estos dispositivos, se ha logrado que los UAVs (Unmanned Aerial Vehicles) sean autónomos en las operaciones que se requieren. De esta forma, ya no es necesario que sea controlado por algún operario en tiempo real, sino que puede funcionar de forma autónoma.
Sin embargo, como se mencionó brevemente, las operaciones realizadas por estos dispositivos pueden tomar un tiempo mayor al de la duración de su batería, por lo que más tiempo implica menos operaciones por día y esto afecta a la productividad. De aumentar esta característica en los drones, se podrían usar, por ejemplo, como sistemas de vigilancia, ya que estos sistemas requieren una continuidad en su operación. Como segundo ejemplo podrían usarse para el envío de objetos a largas distancias de forma autónoma.
Se propuso realizar el diseño preliminar de un sistema mecatrónico automático que realizará el abastecimiento de batería de los drones con baterías LiPo 6S (6 celdas). Para lograr este diseño son necesarios los siguientes subsistemas: subsistema de transporte de batería, subsistema de sujeción de dron y el subsistema de adaptación de batería. El subsistema de transporte de batería estará conformado por un robot cartesiano ensamblado con un gripper magnético y un anaquel para guardar las baterías. Este arreglo permitirá la sujeción, extracción y colocación de la batería. El segundo subsistema está conformado por dos actuadores lineales, los cuales se encargarán mantener el dron fijo para poder realizarse el proceso de abastecimiento de la batería. Por último, el subsistema de adaptación de batería, que es el diseño de un sistema mecánico que se ubicará en la parte media del dron para facilitar la extracción y colocación de la batería.
Las baterías a emplear en este diseño son Baterías LiPo de 6S y estas tienen unas dimensiones aproximadas de 59 mm x 64 mm x 158 mm. Además, su peso es aproximadamente de 1.5 kg. Esto permitirá realizar un mejor diseño para las consideraciones mostradas. Eventualmente, se delimitó a este tipo de batería ya que son las que más se usan en promedio para drones de dimensiones mayores a un metro de diámetro.
El sistema procesará la información en un controlador y estará constantemente validando, enviando y recibiendo data de internet, es decir, monitoreando en la nube. Se realizará un monitoreo de la información en la nube ya que estos sistemas operan de forma automática y además porque es necesario alertar sobre los posibles fallos para que el sistema sea reparado lo antes posible.
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Mikkelsen, Markus. "Development, Modelling and Control of a Multirotor Vehicle." Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-110889.
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The interest of drones in all forms has exploded in the recent years. The development of multirotor vehicles such as quadcopters and octocopters, has reached a point where they are cheap and versatile enough to start becoming a part of everyday life. It is clear to say that the future applications seem limitless. This thesis goes through the steps of development, modelling and control design of an octocopter system. The developed octocopter builds on a concept of using the mini computer Raspberry Pi together with the code generation functionality of Matlab/Simulink. The mathematical modelling of the octocopter includes the thrust and torques generated by the propellers, added with gyroscopic torque. These are combined with the aerodynamic effects caused by incoming air. The importance of modelling the later mentioned effects has increased with the demand of precise controlled extreme manoeuvres. A full state feedback based hybrid controller scheme is designed against a linearized model, which makes use of the motor dynamics. The controllers show good performance in simulations and are approved for flight tests, which are conducted on two separate occasions. The octocopter makes two successful flights, proving that the concept can be applied on multirotor vehicles. However, there is a miss-match between the mathematical model and the physical octocopter, leaving questions for future work.
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Bennetts, Alexander. "Aerodynamic interactions of non-planar rotors." Thesis, University of Manchester, 2018. https://www.research.manchester.ac.uk/portal/en/theses/aerodynamic-interactions-of-nonplanar-rotors(ede657de-a7d8-43d2-a659-453f31c086c1).html.
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The aim of this thesis is to improve understanding of the effects of rotor-rotor interference on small scale rotor systems used on Micro Air Vehicles (MAVs). Previous research on rotor-rotor interactions has focused primarily on planar co-axial and tandem rotors of large scale rotorcraft. The work presented is distinct from prior research not only in its consideration of non-planar rotor systems, but also because of the lower Reynolds numbers and the use of fixed-pitch variable-speed propulsion systems. A design for a novel adjustable rotor interaction test-rig is presented along with a methodology for acquiring accurate and repeatable steady state performance data for two interacting rotor systems. Two six-axis force balances are used to acquire instantaneous and time averaged force and torque data and PIV is used to derive instantaneous and time-averaged flow field data for single and interacting rotor cases. The resulting performance and flow field data represents a unique dataset that can be used in the analysis of small scale rotor interactions, and in the validation of CFD investigations. Results show that for disc angles of between 180 degrees and 90 degrees interactions between rotors are negligible. As the disc angle is reduced from the orthogonal case to the coaxial case interactions significantly effect thrust, pitching moment, and efficiency. It is recommended that in the design of non-planar multirotor vehicles disc angles greater than 75 degrees are utilised to avoid the strong rotor-rotor interactions seen at lower disc angles. A review of existing and future non-planar multirotor concepts shows that the majority avoid significant rotor interactions by virtue of large disc angles.
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Sandi, Nathanyel. "Modelagem e análise de topologias para veículos aéreos não-tripulados do tipo multirotor." Universidade Tecnológica Federal do Paraná, 2017. http://repositorio.utfpr.edu.br/jspui/handle/1/2817.
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Com a evolução dos projetos de multirotores e dos seus componentes, os projetistas vem tendo inúmeras opções de combinações de componentes na fase de projeto do multirotor, buscando melhor performance e menor custo. Isto deixa um problema em aberto: como atingir o multirotor pode atingir uma boa performance ainda na fase de projeto. A motivação para realização deste estudo se justifica no fato que não há trabalhos relacionado ao levantamento de métricas e análise de performance dos multirotores. Assim como o fator de não haver formas de mensurar a qualidade dos projetos e ter possibilidade de comparação, uma vez que tem-se várias formas de projetar um multirotor para diferentes aplicações. Este trabalho propõe uma abordagem para a análise do projeto de multirotores em termos de sua capacidade de voo (definida como voabilidade), levando em consideração as características de seus rotores, peso e topologia. O principal objetivo é apresentar uma forma de qualificar e quantificar uma aeronave multirotor para otimizar seu projeto. A abordagem discutida tem como objetivo analisar as habilidades de voo dos multirotores em seu projeto teórico para suportar os requisitos de projeto (como tamanho da hélice, torque do motor, topologia de armação), garantindo as capacidades de voo exigidas pela tarefa. Como resultado deste trabalhos, um conjunto de índices foi proposto para avaliar a qualidade de projeto de multirotores, sendo eles: voo, estabilidade, posicionamento e flutuação. A soma destes índices compõem o índice de voabilidade. Este índice oferece a possibilidade de comparação da análise do veículo em função das especificações do conjunto motor, hélice, topologia e tamanho do quadro. Para a validação destas métricas, uma análise das topologias tradicionais foi realizada, permitindo uma comparação em função do desempenho e esforço delas.<br>With an evolution of the multi-curral projects and their components, the designers have been having numerous options of combinations of components in the multirotor design phase, seeking better performance and lower cost. This leaves an open problem: as what the multirotor can achieve a good performance still in the design phase. One motivation to carry out this study is justified in that there are no works related to the survey of metrics and analysis of the performance of multirotors. As well as the factor there are no ways to measure a quality of projects and possibility of comparison, since there are several ways to design a multirotor for different applications. This work proposes an approach for an analysis of the design of multirotors in terms of their flight capacity, defining as characteristics of their rotors, weight and topology. The main objective is to present a way to qualify and quantify a multirotor aircraft to optimize its design. An approach approached for design design to support design requirements (such as power size, engine torque, frame topology), ensuring as required flight capabilities. As a result of this work, a set of indexes proposed to evaluate a multirole project quality, being: flight, stability, hover and heading. The sum of these indices compose the voleability index. This index offers a possibility of comparing the vehicle analysis according to the specifications of the engine assembly, propeller, topology and frame size. For a metric validation, an analysis of the topologies was performed, allowing a comparison for the performance function and their effort.
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Mazzei, Augusto. "Modellazione e simulazione di scenario multiagente con velivoli multirotore non cooperativi." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2018. http://amslaurea.unibo.it/16987/.
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La tesi discute sulle problematiche della realizzazione di un sistema da più agenti in grado di agire in totale autonomia.
Lo scenario realizzato consiste nell'inseguimento di un velivolo multirotore, Drone Target, da parte di un altro, Drone Hunter. Filo conduttore di tutto l'elaborato è l'applicazione di un modello efficiente di navigazione per la riuscita dell'inseguimento, modello che si identifica con quello della Navigazione Proporzinale (PN), solitamente utilizzato per altri tipi di velivolo. Vengono inoltre discusse le caratteristiche minime per elaborare interfacce grafiche di facile utilizzo, con cui creare ed assistere a nuove simulazioni.
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Bouzgou, Kamel. "Contribution à l'architecture, la modélisation et la commande d'un bras manipulateur aérien." Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG012.
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Les véhicules aériens sans pilote (UAV), de plus en plus utilisés pour différentes applications militaires comme civiles, ont la possibilité de se déplacer dans un environnement 3D en coordonnées cartésiennes pour assister l'homme, inspection des zones cibles ou bien photographier. Parmi ces missions, certaines nécessitent une interaction avec l'environnement comme par exemple la manipulation d'objet en vol. Pour satisfaire ce type de mission, la thèse a permis de choisir et concevoir un double système composé d'un bras manipulateur attaché à la base d'un multirotor. Le problème majeur émanant de cette nouvelle structure concerne la faculté à stabiliser le système simultanément avec un changement permanent de son inertie dû au mouvement du manipulateur. Dans ce manuscrit, une nouvelle conception de manipulateur aérien est proposée, capable de stabiliser le système avec la mise en œuvre d'une articulation prismatique pour agir sur le centre de gravité du système global tout en le maintenant le plus proche possible de l'axe vertical. Une contribution complémentaire a permis de présenter une nouvelle classification des systèmes de manipulation aérienne basée sur une formule symbolique, capable de définir le type et le nombre de multirotors et de manipulateurs utilisés au sein de la structure mécanique. Un nouvel algorithme de calcul des solutions du modèle géométrique inverse, basé sur une approche analytique, est ainsi développé et comparé à des algorithmes itératifs issus de la littérature. Le modèle dynamique du système global est obtenu à l'aide d'outils mathématiques symboliques et de fonctions développées dans ce projet. Deux approches de modélisation, couplées et découplées, sont développées. La partie contrôle-commande est conçue en utilisant trois lois de commande pour un système couplé et appliquées sur différents scénarios, chacun se composant de multiples couches (planification de trajectoire, couche interne de contrôle de position et d'attitude, bloc de contrôle d'entrée virtuelle). L'efficacité de l'articulation prismatique est étudiée et examinée pour différentes valeurs d'angles des articulations du bras manipulateur. Trois approches d'interaction de l'organe terminal du bras robotisé avec l'environnement sont implémentées et simulées. Une étude de cas et l'application du module d'impédance de contrôle sont simulées. Finalement, les approches et méthodes mises en œuvre sont validées à l'aide d'un prototype virtuel dans l'environnement SimMechanics où une interface utilisateur graphique GUI est conçue pour manipuler et visualiser le système lors de scénarios programmés, montrant ainsi l'apport des contributions principales de la thèse<br>Unmanned aerial vehicles (UAVs), progressively used by different military and commercial tasks, have the possibility to move in a 3D environment in Cartesian coordinates to assist humans, inspect dangerous areas or photography. Some of these missions require contact with the environment, such as handling objects in flight. In order to accomplish this kind of mission, that thesis made it possible to consider and design a dual system consisting of a manipulator arm connected to the base of a multirotor. The main problem resulting from this new structure involves the ability to stabilize the mechanism concurrently with a permanent change in its inertia due to the movement of the manipulator. In this manuscript, a new concept of the aerial manipulator is proposed, capable of stabilizing the system with the implementation of a prismatic joint to operate the center of gravity of the whole system while keeping it as close as possible to the vertical axis. A further contribution in this study, when a new classification of aerial manipulation systems based on a symbolic formula is introduced, capable of specifying the type and number of multirotors and manipulators used within the mechanical structure. A new algorithm for calculating the solutions of the inverse geometric model, based on an analytical approach, is thus developed and compared to iterative algorithms presented in the literature. The dynamic model of the overall system is obtained by the use of symbolic mathematical tools and functions developed in this project. Two modeling methods, coupled and decoupled, have been introduced. The control part is designed for a coupled system using three control laws and applied to various scenarios, each consisting of multilayer blocks (trajectory planning, internal layer of position and attitude control, control block of virtual entry). Different values of the angles of the manipulator arm joints are analyzed and tested for the efficiency of the prismatic joint. Three approaches to the interaction of the end organ of the robotic arm with the environment are implemented and simulated. A case study and the application of the control impedance module are simulated. Finally, the approaches and methods implemented in this thesis are validated using a virtual prototype in the SimMechanics environment, where a graphical user interface GUI is designed to manipulate and visualize the system during programmed scenarios, thus demonstrating the interest of the main thesis contributions
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Lucena, Alysson Nascimento de. "Desenvolvimento de um ve?culo a?reo n?o tripulado com sustenta??o e propuls?o h?brida." PROGRAMA DE P?S-GRADUA??O EM ENGENHARIA MEC?NICA, 2018. https://repositorio.ufrn.br/jspui/handle/123456789/24977.
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Previous issue date: 2018-01-31<br>Este trabalho busca apresentar o desenvolvimento de um Ve?culo A?reo n?o Tripulado (VANT) duplamente h?brido, capaz de conciliar as vantagens de dois tipos de aeronaves (asa fixa e multirotor), utilizando motores a combust?o e el?tricos para a propuls?o e para a sustenta??o em voo a asa e o multirotor, capaz de decolar e pousar verticalmente, executar voos lentos ou parados, tamb?m executar voo horizontal com sustenta??o pela asa e propuls?o por motor a combust?o que garante maior autonomia. Para a realiza??o desse estudo foram desenvolvidas tr?s aeronaves, inicialmente uma asa voadora e um multirotor tric?ptero com objetivo de analisar separadamente cada tipo de aeronave, ap?s os testes e an?lises foi desenvolvido um VANT duplamente h?brido, uma asa voadora e um hexac?ptero, propuls?o por motores el?tricos e ? combust?o. A partir dos testes e c?lculos te?ricos da aeronave h?brida observou-se a viabilidade de um novo tipo de aeronave, com caracter?sticas pr?prias, capaz de conciliar as vantagens de dois tipos de aeronaves.<br>This work aims to present the development of a double hybrid unmanned aerial vehicle (UAV), capable of reconciling the advantages of two types of aircraft (fixed wing and multirotor), using combustion and electric motors for propulsion and in flight support the wing and the multirotor, able to take off and land vertically, to perform slow or stopped flights, also to execute horizontal flight with support by the wing and propulsion by combustion engine that guarantees greater autonomy. In order to carry out this study, three aircraft were developed, initially a flying wing and a tricopter multirotor with the objective of analyzing separately each type of aircraft, after the tests and analyzes a double hybrid VANT was developed, a flying wing and a hexacopter, motor propulsion electrical and combustion. From the theoretical tests and calculations of the hybrid aircraft, the viability of a new type of aircraft, with its own characteristics, was able to reconcile the advantages of two types of aircraft.
Books on the topic "Drones multirotors"
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Wich, Serge A., and Lian Pin Koh. Typology and anatomy of drones. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780198787617.003.0002.
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In this chapter we discuss the typology of drones that are currently being used for different kinds of environmental and conservation applications. Drones are also commonly known variously as Remotely Piloted Aircraft Systems (RPAS), Unmanned Aerial Vehicles (UAV), and Unmanned Aircraft Systems (UAS). We focus on the most popular aircraft types including multirotor (of various configurations), fixed wing, and hybrid ‘vertical-take-off-and-landing’ (VTOL) craft, and briefly discuss the relative pros and cons of each type. We also broadly discuss the essential components common to all remotely piloted aircraft systems, including the power source, flight controller (or autopilot), and ground control station.
Book chapters on the topic "Drones multirotors"
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Doukhi, Oualid, Abdur Razzaq Fayjie, and Deok-Jin Lee. "Supervisory Control of a Multirotor Drone Using On-Line Sequential Extreme Learning Machine." In Advances in Intelligent Systems and Computing. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-01054-6_64.
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Kotarski, Denis, and Josip Kasać. "Generalized Control Allocation Scheme for Multirotor Type of UAVs." In Drones - Applications. InTech, 2018. http://dx.doi.org/10.5772/intechopen.73006.
Full textConference papers on the topic "Drones multirotors"
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De Oliveira, Sérgio, Pedro Mitsuo Shiroma, Marconi De Arruda Pereira, Rone Ilídio Da Silva, and Cristiano Maciel Da Silva. "Modelagem Genética para Estender o Tempo de Vida de Redes de Sensores Sem Fio com Sorvedouro Móvel*." In VIII Simpósio Brasileiro de Computação Ubíqua e Pervasiva. Sociedade Brasileira de Computação - SBC, 2020. http://dx.doi.org/10.5753/sbcup.2016.9455.
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Sorvedouros móveis têm sido usados em Redes de Sensores Sem Fios (RSSF) visando aumentar o tempo de vida da rede, especialmente por distribuir, de forma mais homogênea, o consumo de energia por todos os nós. O desenvolvimento de drones multirotores, veículos aéreos não-tripulados capazes de voos autônomos, de baixo custo, os tornam aptos a serem usados como sorvedouros móveis. Este trabalho considera que o drone pode parar em um número fixo de pontos da rede, característica dos multirotores, coletando dados de sensoriamento em um número fixo predefinido de pontos da rede. Este trabalho propõe um modelo genético que mostra como a distribuição da carga de trabalho dos nós pode estender o tempo de vida da rede. Simulações foram executadas para ajustar os parâmetros do modelo e avaliar seu desempenho.
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Yakimenko, Oleg. "Using multirotor drones in engineering of systems curricula." In 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS). IEEE, 2017. http://dx.doi.org/10.1109/red-uas.2017.8101653.
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Mirzaeinia, Amir, Mostafa Hassanalian, and Kooktae Lee. "Drones for Borders Surveillance: Autonomous Battery Maintenance Station and Replacement for Multirotor Drones." In AIAA Scitech 2020 Forum. American Institute of Aeronautics and Astronautics, 2020. http://dx.doi.org/10.2514/6.2020-0062.
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Tahar, Khairul Nizam. "Keynote speech 1: Multirotor UAV for geomatics applications in Malaysia." In 2017 International Conference on Computer and Drone Applications (IConDA). IEEE, 2017. http://dx.doi.org/10.1109/iconda.2017.8270386.
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Delbecq, Scott, Marc Budinger, Clément Coic, and Nathalie Bartoli. "Trajectory and design optimization of multirotor drones with system simulation." In AIAA Scitech 2021 Forum. American Institute of Aeronautics and Astronautics, 2021. http://dx.doi.org/10.2514/6.2021-0211.
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Apeland, J., D. Pavlou, and T. Hemmingsen. "State-of-Technology and Barriers for Adoption of Fuel Cell Powered Multirotor Drones." In 2020 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2020. http://dx.doi.org/10.1109/icuas48674.2020.9213971.
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Hsiao, Shih Wen, and Po Hsiang Peng. "Using FCE and FAHP to Explore the multirotor drone appearance preference." In Design Research Society Conference 2020. Design Research Society, 2020. http://dx.doi.org/10.21606/drs.2020.164.
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Murakami, Motonao, Hiroyuki Abe, Hikaru Aono, and Hitoshi Ishikawa. "Effects of Wind Environment on Propeller Performance of Multirotor Drone in Hover." In ASME-JSME-KSME 2019 8th Joint Fluids Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/ajkfluids2019-4854.
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Abstract The purpose of this study is to understand the effect of cross flow and fluctuating flow on the propeller performance of MAV. This study especially has focused on the propeller performance during hovering flight under several cross flow velocity in actual flight conditions. We investigated four test cases of propellers with different starting point of design. The thrust and the torque of each propeller were experimentally measured by using the force transducer in wind tunnel. Figure of Merit (FM) of each propeller were evaluated based on the thrust and the torque measurement. The results showed that low cross flow velocity reduced FM. However, high cross flow velocity improved FM. Fluctuating flow yielded the change of FM with time. Furthermore, it was found that the starting point of the propeller design had a great effect on FM under wind environments.