相关论文: Simulating Airplane Aerodynamics with Body Forces:…

This paper analyzes the nonlinear Small-Time Local Controllability (STLC) of a class of underatuated aerial manipulator robots. We apply methods of Lagrangian reduction to obtain their lowest dimensional equations of motion (EOM). The…

Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…

The wind tunnel rotary-balance testing is widely used in aircraft dynamics to characterise aerodynamics at moderate and high angles of attack during stall and spin regimes. In such experiments an aircraft test model is rotated along the…

Aerial robotic systems have raised emerging interests in recent years. In this article, we propose a novel aerial manipulator system that is significantly different from conventional aerial discrete manipulators: An Aerial Continuum…

The motion of planar ground vehicles is often non-holonomic, and as a result may be modelled by the 2 DoF Ackermann steering model. We analyse the feasibility of estimating such motion with a downward facing camera that exerts…

Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…

The study described in this paper was conducted as part of the European Funded CleanSky2 project AFC4TR (Active Flow Control for Tilt-Rotor aircraft). High Fidelity numerical simulations were made to study various approaches of using Active…

Accurate prediction of model rocket flight performance requires estimating aerodynamic parameters that are difficult to measure directly. Traditional approaches rely on computational fluid dynamics or empirical correlations, while…

Attitude control of a novel regional truss-braced wing aircraft with low stability characteristics is addressed in this paper using Reinforcement Learning (RL). In recent years, RL has been increasingly employed in challenging applications,…

We investigate the dynamic response of flexible aircraft in low-altitude atmospheric turbulence. To this end, three turbulence models of increasing fidelity, namely, the one-dimensional von K{\'a}rm{\'a}n model, the two-dimensional Kaimal…

This paper presents a novel model of large-size tilt-rotor aircraft, which can operate as a helicopter as well as being capable of transition to fixed-wing flight. Aerodynamics of the dynamic large-size tilt-rotors based on blade element…

An image articulation manifold (IAM) is the collection of images formed when an object is articulated in front of a camera. IAMs arise in a variety of image processing and computer vision applications, where they provide a natural…

As one of the most robust global optimization methods, simulated annealing has received considerable attention, with many variations that attempt to improve the cooling schedule. This paper introduces a variant of simulated annealing that…

This study presents a comprehensive evaluation of dynamic aerodynamic derivatives during aircraft transition phases using advanced CFD simulations and forced oscillation testing. Two case studies are examined: a three dimensional fighter…

We present a design of a bird-inspired morphing wing aircraft, including bionic research, modeling, simulation and flight experiments. Inspired by birds and activated by a planar linkage, our proposed aircraft has three key states: gliding,…

Beam tracking software for accelerators typically falls into two categories: fast envelope simulations limited to linear beam optics, and slower multiparticle simulations that can model nonlinear effects. To find a middle ground between…

Fluidic locomotion of flapping Micro Aerial Vehicles (MAVs) can be very complex, particularly when the rules from insect flight dynamics (fast flapping dynamics and light wings) are not applicable. In these situations, widely used averaging…

A local Bundle Adjustment (BA) on a sliding window of keyframes has been widely used in visual SLAM and proved to be very effective in lowering the drift. But in lidar SLAM, BA method is hardly used because the sparse feature points (e.g.,…

A modeling paradigm is developed to augment predictive models of turbulence by effectively utilizing limited data generated from physical experiments. The key components of our approach involve inverse modeling to infer the spatial…

A novel application of machine-learning (ML) based image processing algorithms is proposed to analyze an all-sky map (ASM) obtained using the Fermi Gamma-ray Space Telescope. An attempt was made to simulate a one-year ASM from a…