Low-cost flight control system for a small autonomous helicopter

In this paper we describe a low-cost flight control system for a small (60 class) helicopter which is part of a larger project to develop an autonomous flying vehicle. Our approach differs from that of others in not using an expensive inertial/GPS sensing system. The primary sensors for vehicle stabilization are a low-cost inertial sensor and a pair of CMOS cameras. We describe the architecture of our flight control system, the inertial and visual sensing subsystems and present some flight control results.

Development of an autonomous helicopter for aerial powerline inspections

Autonomous mini-helicopters have been seen as a viable option for aerial-based powerline inspections, however there are numerous research and engineering challenges in developing a system capable of achieving this task in a dependable manner. We have developed an autonomous helicopter as a research platform which will allow us to demonstrate proof-of-concept capabilities for powerline inspections. Through numerous development cycles and from flight test experience we have gained insights into the key challenges in this area. We discuss these insights, describe the helicopter platform and present our research progress in the area of obstacle avoidance for mini-helicopters.

Autonomous helicopter hover using an artificial neural network

Details the developments to date of an unmanned air vehicle (UAV) based on a standard size 60 model helicopter. The design goal is to have the helicopter achieve stable hover with the aid of an INS and stereo vision. The focus of the paper is on the development of an artificial neural network (ANN) that makes use of only the INS data to generate hover commands, which are used to directly manipulate the flight servos. Current results show that networks incorporating some form of recurrency (state history) offer little advantage over those without. At this stage, the ANN has partially maintained periods of hover even with misaligned sensors.

Hingeless-rotor aeromechanical stability in axial and forward flight with wake dynamics

A finite-state wake model is used to investigate aeromechanical stability of hingeless-rotor helicopters in the ground-contact, hover and trimmed-night conditions. The investigation covers three items: (1) the convergence of the damping with increasing number of wake harmonics for the lag regressing, and body pitch and roll modes; (2) a parametric study of the damping over a range of thrust level, advance ratio and number of blades; and (3) correlations, primarily with the damping and frequency measurements of these lag and body modes. The convergence and parametric studies are conducted in the hover and trimmed-flight conditions; they include predictions from the widely used dynamic inflow model. The correlations are conducted in the ground-contact conditions and include predictions from the dynamic inflow and vortex models; recently, this vortex model is proposed for the axial-flight conditions and is used to investigate the coupled free vibrations of rotor flapping and body modes. The convergence and parametric studies show that a finite-state wake model that goes well beyond the dynamic inflow model is required for fairly converged damping, Moreover, the correlations from the finite-state wake, dynamic inflow and vortex models are generally satisfactory.

Non-linear dynamic analysis of rotors by finite element method

Non-linear natural vibration characteristics and the dynamic response of hingeless and fully articulated rotors of rectangular cross-section are studied by using the finite element method. In the formulation of response problems, the global variables are augmented with appropriate additional variables, facilitating direct determination of sub-harmonic response. Numerical results are given showing the effect of the geometric non-linearity on the first three natural frequencies. Response analysis of typical rotors indicates a possibility of substantial sub-harmonic response especially in the fully articulated rotors widely adopted in helicopters.

Fractal boundaries of basin of attraction of Newton-Raphson method in helicopter trim

A key problem in helicopter aeroelastic analysis is the enormous computational time required for a numerical solution of the nonlinear system of algebraic equations required for trim, particularly when free wake models are used. Trim requires calculation of the main rotor and tail rotor controls and the vehicle attitude which leads to the six steady forces and moments about the helicopter center of gravity to be zero. An appropriate initial estimate of the trim state is needed for successful helicopter trim. This study aims to determine the control inputs that can have considerable effect on the convergence of trim solution in the aeroelastic analysis of helicopter rotors by investigating the basin of attraction of the nonlinear equations (set of initial guess points from which the nonlinear equations converge). It is illustrated that the three main rotor pitch controls of collective pitch, longitudinal cyclic pitch and lateral cyclic pitch have a significant contribution to the convergence of the trim solution. Trajectories of the Newton iterates are shown and some ideas for accelerating the convergence of a trim solution in the aeroelastic analysis of helicopters are proposed. It is found that the basins of attraction can have fractal boundaries. (C) 2010 Elsevier Ltd. All rights reserved.

A new synoptic survey of Northern Ireland lakes: sampling from the air

Northern Ireland has approximately 1670 lakes, which cover 4.4% of the land surface. However, most of the water area is accounted for by the large lakes such as Lough Neagh (385 km2) and Lower Lough Erne (109.5 km ). The majority of lakes are less than 100 hectares in area. They tend to be distributed towards the south and west of the Province, where extensive drumlin swarms are rich in small waterbodies. In 1988-1991, 610 of the 708 lakes between one and 100 hectares were sampled by the Northern Ireland Lake Survey. The objective was to assess their conservation status based on their aquatic macrophyte flora, but in addition to extensive plant surveys, the water of each lake was analysed for a range of chemical variables. This article reports on a full-scale survey carried out in early March 2002. The survey was taken with help of two helicopters. The authorise summarise the results of the chemical analysis of the survey.

基于模型差分析的旋翼飞行机器人航向与垂向预测控制方法

本文针对旋翼飞行机器人全包线机动飞行中的驱动器滞后以及动力学模型时变的问题,提出了应对不确定性动力学模型的基于模型差分析的增量平稳预测控制方法。该方法首先通过建立增量平稳预测过程模型来应对驱动器输出滞后与稳态模型以及系统工作点的不确定性,并提升控制系统鲁棒性。然后通过自适应集员滤波器在线估计系统瞬态动力学与名义模型的偏差来补偿全包线飞行中时变模型对于名义控制器跟踪性能的影响。最后,通过实际的飞行试验验证了此方法能够有效的解决全包线飞行中航向与垂向的驱动器滞后与动力学时变问题,并且可以实用于旋翼机器人航向与垂向的全包线自主飞行控制。

Implementação de um programa de fiabilidade de aeronaves

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Mecânica

Article - "Fixed Wing to Whirly Bird"

An article written by Dorothy Rungeling about her experience flying a helicopter for the first time. She is instructed by Bert Ratliff of the Bell Helicopter Corp. in a Bell G2 Trooper.

Estudio de seguimiento de las audiometrías de los años 2009, 2010 y 2011 de los pilotos de las fuerzas militares

La audición es el segundo mecanismo sensorial más importante después de la visión para obtener información durante la operación de una aeronave. Les permite a los pilotos percibir, procesar identificar los sonidos del ambiente que los rodea. Así necesita oír bien tanto en vuelo como en tierra, especialmente entre 500 y 3000 Hz para la recepción del lenguaje hablado y de las señales auditivas. Objetivo: Determinar los cambios progresivos en el tiempo y las frecuencias auditivas que se afectan en las audiometrías de los pilotos militares de las fuerzas militares en los años 2009, 2010 y 2011. Material y Métodos: Se trata de un estudio longitudinal de cohorte en el cual se identificará el comportamiento de las audiometrías de la población de pilotos de las fuerzas militares de Colombia en los años 2009, 2010 y 2011. Se hará una revisión retrospectiva de dichas audiometrías. Para dicho fin se tomó la población de pilotos de fuerzas militares que fueron distribuidos en grupos de pilotos de aeronave de ala fija que corresponden a 47 pilotos y ala rotatoria que son 155. Conclusiones: Se encontró que la frecuencia mas alterada en la población total fue la de 6000 Hz, que en lo pilotos de ala fija las frecuencias más afectadas fueron las de 4000 Hz y la de 6000Hz, la frecuencia más afectada en los pilotos de ala rotatoria fueron las de 4000 Hz, 6000 Hz y 8000 Hz, con lo que se concluye que la exposición en los pilotos afecta las frecuencias altas en las audiometrías. Se observó una relación con el número de horas de vuelo y las alteraciones audiométricas encontrándose una alteración en los pilotos entre 1000 y 4000 horas de vuelo en las frecuencias de 4000 Hz, 6000 Hz y 8000 Hz y una alteración de las todas las frecuencias en aquellos pilotos con más de 5000 horas de vuelo en el año 2009, presentando posterior recuperación en los años posteriores sin poder determinar en este estudio las causas de dicha recuperación. Los pilotos de ala rotatoria presentaron un incremento sostenido en todas las frecuencias en comparación con los pilotos de ala fija.

'Operation motorway': landscapes of construction on England's M1 motorway

Recent years have seen an increasing number of academics attempt to write more process-oriented and 'nonrepresentational' accounts of landscape. Drawing upon this literature, I discuss a number of the movements, materialities, and practices entailed in constructing England's M1 motorway in the late 1950s. The performances, movements and durability of a diverse range of things-including earth-moving machines, public relations brochures, maps, helicopters, senior engineers, aggregate and labourers-are shown to be important to the construction and ordering of the motorway and spaces of the construction company in different times and spaces, with people's experiences or understandings of construction, both now and in the past, emerging through memories, talk and embodied encounters with architectures, texts and artefacts which are assembled, circulated and/or archived. Aerial perspectives assumed a prominent role in depictions of construction, while journalists and engineers frequently drew upon a military vocabulary and alluded to the military nature of the project when discussing the motorway. (c) 2005 Elsevier Ltd. All rights reserved.

Brennan torpedo, monorail and helicopter : a study of innovative activity in the process of forming three related military weapons

In the context of nineteenth-century British defence planning Actor-network theory is used to examine technological and social activity in the development and operation of a secret, successful military weapon, the Brennan torpedo. Also in two subsequent inventions the continuity and development of a core innovative concept, gyroscopy, is traced.

Taking account of dependent species in management of the Southern Ocean krill fishery: estimating crabeater seal abundance off east Antarctica

1. The crabeater seal Lobodon carcinophaga is considered to be a key species in the krill-based food web of the Southern Ocean. Reliable estimates of the abundance of this species are necessary to allow the development of multispecies, predator–prey models as a basis for management of the krill fishery in the Southern Ocean. 2. A survey of crabeater seal abundance was undertaken in 1500 000 km2 of pack-ice off east Antarctica between longitudes 64–150° E during the austral summer of 1999/2000. Sighting surveys, using double observer line transect methods, were conducted from an icebreaker and two helicopters to estimate the density of seals hauled out on the ice in survey strips. Satellite-linked dive recorders were deployed on a sample of seals to estimate the probability of seals being hauled out on the ice at the times of day when sighting surveys were conducted. Model-based inference, involving fitting a density surface, was used to infer densities in the entire survey region from estimates in the surveyed areas. 3. Crabeater seal abundance was estimated to be between 0.7 and 1.4 million animals (with 95% confidence), with the most likely estimate slightly less than 1 million. 4. Synthesis and applications. The estimation of crabeater seal abundance in Convention for the Conservation of Antarctic Marine Living Resources (CCAMLR) management areas off east Antarctic where krill biomass has also been estimated recently provides the data necessary to begin extending from single-species to multispecies management of the krill fishery. Incorporation of all major sources of uncertainty allows a precautionary interpretation of crabeater abundance and demand for krill in keeping with CCAMLR’s precautionary approach to management. While this study focuses on the crabeater seal and management of living resources in the Southern Ocean, it has also led to technical and theoretical developments in survey methodology that have widespread potential application in ecological and resource management studies, and will contribute to a more fundamental understanding of the structure and function of the Southern Ocean ecosystem.

Waldbrandprognose und Waldbrandbekämpfung in Deutschland

Ist Deutschland auf Waldbrandkatastrophen vorbereitet? Dies ist die zentrale Frage dieser wissenschaftlichen Arbeit. Zahlreiche Großwaldbrände der Vergangenheit zeigen ein deutliches Waldbrandpotential für die bundesdeutschen Areale, speziell in Ostdeutschland. Als eine der Folgen des global warming ist zukünftig mit einem Anstieg der Gefahrensituation zu rechnen. Anhand der Untersuchung zweier Katastrophenwaldbrände wurden Schwachstellen bei der Bekämpfung dieser Waldbrände aufgezeigt, aber auch positive Aspekte herausgestellt. Die wichtigste Erkenntnis ist hierbei die große Bedeutung der Brandbekämpfung aus der Luft. Sie spielt die Schlüsselrolle bei der Bekämpfung von Großwaldbränden. Daher untersucht diese Arbeit die aktuelle Situation in Deutschland und erstellt erstmals ein bundesweites Kataster der Hubschrauberaußenlastbehälter sowie den dazugehörigen Trägerfahrzeugen (Hubschrauber). Aufgrund dieses Katasters sowie einer Auflistung der Systeme zur Branddetektion (Feuerwachtürme und kameragestützte Systeme) kommt diese Arbeit zu dem Ergebnis, dass man in Deutschland gut auf Waldbrandkatastrophen vorbereitet ist. Gleichzeitig liefert diese Arbeit aber auch Optimierungsmöglichkeiten in Form eines Maßnahmenkatalogs. So ist beispielsweise das System der Waldbrandprognose nach M-68 zu überarbeiten, da es die tatsächliche Gefährdungslage teilweise unterschätzt, Simulationsprogramme zur Ausbreitung von Waldbränden sind zu entwickeln, Sicherheitsregeln sind einzuführen. Weiterhin ist die indirekte Brandbekämpfung durch die Aufstellung von task-forces in Deutschland erstmalig zu ermöglichen.