A transducer consisting of multiple layers of ionic polymer material is developed for applications in sensing, actuation, and control. The transducer consists of two to four individual layers each approximately 200 microns thick. The transducers are connected in parallel to minimize the electric field requirements for actuation. The tradeoff in deflection and force can be controlled by controlling the mechanical constraint at the interface. Packaging the transducer in an outer coating produces a hard constraint between layers and reduces the deflection with a force that increases linearly with the number of layers. This configuration also increases the bandwidth of the transducer. Removing the outer packaging produces an actuator that maintains the deflection of a single layer but has an increased force output. This is obtained by allowing the layers to slide relative to one another during bending. A Finite Element Analysis (FEA) method capable of modeling the structure of the multilayer transducers is developped. It is used to model the interfacial friction in multilayer transducers. Experiments on transducers with one to three layers are performed and the results are compared to Newbury's equivalent circuit model, which was modified to accommodate the multilayer polymers. The modification was performed on four different boundary conditions, two electrical the series and the parallel connection, and two mechanical the zero interfacial friction and the zero slip on the interface. Results demonstrate that the largest obstacle to obtaining good performance is water transport between the individual layers. Water crossover produces a near short circuit electrical condition and produces feedthrough between actuation layers and sensing layers. Electrical feedthrough due to water crossover eliminates the ability to produce a transducer that has combined sensing and actuation properties. Eliminating water crossover through good insulation enables the development of a small (5 mm x 30 mm) transducer that has sensing and actuation bandwidth on the order of 100 Hz. Due to the mechanical similarities of ionic transducers to biological muscles and their large flapping displacement capabilities we are studying the possibility of their use in flapping Micro Air Vehicle (MAV) application, as engines, controllers and sensors. The FEA modeling technique capable is used to design two ionic polymers actuated flapping wings. / Master of Science

Micro air vehicles (MAVs) are small remote controlled aircraft used by military personnel for reconnaissance and are currently powered by batteries. The MAVs rely on the battery for propulsion, navigation, and reconnaissance equipment. The thrust of this research is to develop a fuel cell system capable of higher power densities, higher power to weight ratios, and increased overall power output than the batteries in use today. To this end, a feasibility study is first conducted to determine if fuel cells could be used to replace batteries as the MAV power source and what fuel cell configurations would show the best performance. Hydrogen, methanol, and formic acid fuel cells are considered, using a conventional flat-plate design and a novel micro-tubular design. Several micro-tubular fuel cells (MTFCs) are tested to show that these cells are a possibility for power production in MAVs. Those tested are developed and improved in collaboration between Luna Innovations, Inc. and the Center for Energy Systems Research at Virginia Tech and then manufactured by Luna Innovations, Inc. Also, an isothermal, lumped-parameter (LP) model for MTFCs is developed to predict behavior. The use of this LP model aids in understanding the dominant losses of the cell and ways of improving cell performance. Results from the feasibility study indicate that by using methanol powered MTFCs a 50% increase in overall energy output is possible, while also decreasing the mass of the power production system. Through testing and an iterative design process, an increase of three orders of magnitude of the maximum power production of the MTFCs constructed by Luna Innovations, Inc., has been realized. Results of the LP MTFC model are compared with the experimental results from the MTFC testing and tubular cells from the literature. / Master of Science

Recent developments in autopilot technology have increased the potential use of micro air vehicles (MAVs). As the number of applications increase, the demand on MAVs to operate autonomously in any scenario increases. Currently, MAVs cannot reliably fly in cluttered environments because of the difficulty to detect and avoid obstacles. The main contribution of this research is to offer obstacle detection and avoidance strategies using laser rangers and cameras coupled with computer vision processing. In addition, we explore methods of visual target tracking and task allocation. Utilizing a laser ranger, we develop a dynamic geometric guidance strategy to generate paths around detected obstacles. The strategy overrides a waypoint planner in the presence of pop-up-obstacles. We develop a second guidance strategy that oscillates the MAV around the waypoint path and guarantees obstacle detection and avoidance. Both rely on a laser ranger for obstacles detection and are demonstrated in simulation and in flight tests. Utilizing EO/IR cameras, we develop two guidance strategies based on movement of obstacles in the camera field-of-view to maneuver the MAV around pop-up obstacles. Vision processing available on a ground station provides range and bearing to nearby obstacles. The first guidance law is derived for single obstacle avoidance and pushes the obstacle to the edge of the camera field-of-view causing the vehicle to avoid a collision. The second guidance law is derived for two obstacles and balances the obstacles on opposite edges of the camera field-of-view, maneuvering between the obstacles. The guidance strategies are demonstrated in simulation and flight tests. This research also addresses the problem of tracking a ground based target with a fixed camera pointing out the wing of a MAV that is subjected to constant wind. Rather than planning explicit trajectories for the vehicle, a visual feedback guidance strategy is developed that maintains the target in the field-of-view of the camera. We show that under ideal conditions, the resulting flight paths are optimal elliptical trajectories if the target is forced to the center of the image plane. Using simulation and flight tests, the resulting algorithm is shown to be robust with respect to gusts and vehicle modeling errors. Lastly, we develop a method of a priori collision avoidance in assigning multiple tasks to cooperative unmanned air vehicles (UAV). The problem is posed as a combinatorial optimization problem. A branch and bound tree search algorithm is implemented to find a feasible solution using a cost function integrating distance traveled and proximity to other UAVs. The results demonstrate that the resulting path is near optimal with respect to distance traveled and includes a significant increase in expected proximity distance to other UAVs. The algorithm runs in less than a tenth of a second allowing on-the-fly replanning.

No description available.

Approved for public release, distribution is unlimited / The geometric characteristics of flapping-wing propulsion are studied experimentally through the use of a force balance and a Micro Air Vehicle (MAV) system. The system used is built to duplicate the propulsion system currently on the flying model of the Naval Postgraduate School (NPS) MAV model. Experiments are carried out in a low speed wind tunnel to determine the effects of mean separation and plunge amplitude on the flapping wing propulsion system. Additionally, the effects of flapping-wing shape, flapping frequency, and MAV angle of attack (AOA) are also investigated. Some flow visualization is also performed. The intent is to optimize the system so that payload and controllability improvements can be made to the NPS MAV. / Ensign, United States Naval Reserve

Mini unmanned Air Vehicles (UAV) have high significance among other UAV&#039 / s, in different categories, due to their ease of production, flexibility of maintenance, decrease in weight due to the elimination of landing gear system and simplicity of use. They are usually built to meet &#039 / hand launching&#039 / and &#039 / belly landing&#039 / criteria in order to have easy flight and easy landing features. Due to the hand take-off and belly landing features there is no need to have a runway and this feature is a very significant advantage in operational use. In an operation, belly landing mini UAV&#039 / s may encounter tough landing areas like gravel, concrete or hard soil. Such landing areas may create landing loads which are impulsive in character. The effect of the landing loads on the airframe of the mini unmanned air vehicle must be completely understood and the mini UAV be designed accordingly in order not to damage the mini UAV during belly landing. Typical impact speeds during belly landing is relatively low (&lt / 10 m/s) and in general belly landing phenomenon can be treated as low velocity impact. The purpose of this study is to analyze the impact loads on the composite substructures of a mini UAV due to the belly landing. &#039 / G&uuml / vent&uuml / rk&#039 / Mini UAV which is designed and built in METU Aerospace Engineering Department, is used as the analysis platform. This study is limited to the calculation of stresses and deformation that is caused by the low velocity impact forces encountered during belly landing. The main purpose of this work is to help the designer in making design decisions for a mini UAV that is tolerable to low velocity impact loads. Initial part of the thesis includes analytical treatment of low velocity impact phenomenon. In the simplified analytical approach the loading is assumed as quasistatic and comparisons of such a simplified method of analysis is made with explicit finite element solutions on isotropic and composite plate structures to investigate the applicability of simplified analytical method of analysis. Belly landing analyses of the mini UAV are done by MSC.Dytran, which is an explicit finite element solver. Model building and post processing are done via MSC.Patran. Stress and deformation response of the mini UAV is investigated by performing low velocity impact analysis using sub-structure built-up approach.

In the last decade, the robotics community has pushed to develop increasingly small, autonomous flapping-wing robotic vehicles for a variety of civilian and military applications. The miniaturization of these vehicles has pushed the boundaries of technology in many areas, including electronics, artificial intelligence, and mechanics; as well as our understanding of biology. In particular, at the insect scale, fabrication, actuation, and flight control of a flapping-wing robot become especially challenging. This thesis addresses these challenges in the context of the “RoboBee” project, which has the goal of creating an autonomous swarm of at-scale robotic bees. A 100mg robot with a 3cm wingspan capable of generating roll, pitch and yaw torques in the range of \(\pm 1\mu Nm\) by using a large, central power actuator to flap the wings and smaller control actuators to steer is presented. A dynamic model is used to predict torque generation capabilities, and custom instrumentation is developed to measure and characterize the vehicle’s control torques. Finally, controlled flight experiments are presented, and the vehicle is capable of maintaining a stable pitch and roll attitude during ascending vertical flight. This is the first successful controlled flight of a truly insect-scale flapping-wing robot. / Engineering and Applied Sciences

Prohibited means and methods of armed conflicts The goal of this diploma thesis is to analyse more frequent use of Unmanned Air Vehicles (UAV) in armed conflicts under the international humanitarian law. Although the idea to use UAV is not new, there has been a boom of their deployment in last two decades. Technological progress, the transformation of the nature of armed conflicts and the idea of the war on terror are the main reasons why UAVs have become an indispensable tool in war equipment of all the main world's armies. But just like every new technology, also UAVs raise questions about their legality. Therefore, this work aims to assess whether UAVs may represent prohibited mean of warfare or whether their usage is not in contrary to international humanitarian law. The main text of this diploma thesis consists of five main thematic blocks. The first chapter represents an excursion into the history and development of international humanitarian law. It outlines its division into two branches, the Geneva and Haague law. In addition the first part also defines its position within public international law and its interaction with international law of human rights. The second part consists of definitions of basic terms which the norms of international humanitarian law operate with. The first of them...

There are many applications for which small unmanned aerial vehicles (SUAVs) are well suited, including surveillance, reconnaissance, search and rescue, convoy support, and short-range low-altitude perimeter patrol missions. As technologies for microcontrollers and small sensors have improved, so have the capabilities of SUAVs. These improvements in SUAV performance increase the possibility for hazardous missions through mountainous and urban terrain in the successful completion of many of these missions. The focus of this research was on remote terrain navigation and the issues faced when dealing with limited onboard processing and limited payload and power capabilities. Additional challenges associated with canyon and urban navigation missions included reactive path following, sensor noise, and flight test design and execution. The main challenge was for an SUAV to successfully navigate through a mountainous canyon by reactively altering its own preplanned path to avoid canyon walls and other stationary obstacles. A robust path following method for SUAVs that uses a vector field approach to track functionally curved paths is presented along with flight test results. In these results, the average tracking error for an SUAV following a variety of curved paths is 3.4~m for amplitudes ranging between 10 and 100~m and spatial periods between 125 and 500~m. Additionally, a reactive path following method is presented that allows a UAV to continually offset or bias its planned path as distance information from the left and right ranging sensors is computed. This allows the UAV to to center itself between potential hazards even with imperfect waypoint path planning. Flight results of an SUAV reactively navigating through mountainous canyons experimentally verify the feasibility of this approach. In a flight test through Goshen Canyon in central Utah, an SUAV biased its planned path by 3 to 10~m to the right as it flew to center itself through the canyon and avoid the possibility of crashing into a canyon wall.

UAVs have become an essential tool in many market segments, particularly the military where critical intelligence can be gathered by them. A tailsitter aircraft is a platform whose purpose is to efficiently merge the range and endurance of fixed-wing aircraft with the VTOL capabilities of rotorcraft and is of significant value in applications where launch and recovery area is limited or the use of launch and recovery equipment is not desirable. Developing autopilot software for a tailsitter UAV is unique in that the aircraft must be autonomously controlled over a much wider range of attitudes than conventional UAVs. Assumptions made in conventional estimation and control algorithms are not valid for tailsitter aircraft because of routine operation around gimbal lock. Quaternions are generally employed to overcome the limitations Euler angles; however, adapting the attitude representation to work at a full range of attitudes is only part of the solution. Kalman filter measurement updates and control algorithms must also work at any orientation. This research presents several methods of incorporating a magnetometer measurement into an extended Kalman filter. One method combines magnetometer and accelerometer sensor data using the solution to Wahba's problem to calculate an overall attitude measurement. Other methods correct only heading error and include using two sets of Euler angles to update the estimate, using quaternions to determine heading error and Euler angles to update the estimate, and using only quaternions to update the estimate. Quaternion feedback attitude control is widely used in tailsitter aircraft. This research also shows that in spite of its effective use in spacecraft, using the attitude error calculated via quaternions to drive flight control surfaces may not be optimal for tailsitters. It is shown that during hover when heading error is present, quaternion feedback can cause undesired behavior, particularly when the heading error is large. An alternative method for calculating attitude error called resolved tilt-twist is validated, improved, and shown to perform better than quaternion feedback. Algorithms are implemented on a commercially available autopilot and validation is performed using hardware in loop simulation. A custom interface is used to receive autopilot commands and send the autopilot simulated sensor information. The final topic covered deals with the tailsitter hovering in wind. As the tailsitter hovers, wind can cause the tailsitter to turn such that the wind is perpendicular to the wings. Wind tunnel data is taken and analyzed to explain this behavior.