A Fully Actuated Aerial Vehicle using Two Actuators
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- Опубліковано 29 тра 2018
- A "fully actuated" MAV using only two actuators: independent, simultaneous control over position and orientation.
For more details, see our paper "Emulating a Fully Actuated Aerial Vehicle using Two Actuators" by James Paulos, Bennet Caraher, and Mark Yim.
We are the Modlab, a part of the GRASP Robotics lab at the University of Pennsylvania. Visit our website at modlabupenn.org for more pictures, videos, and links to our research papers. - Наука та технологія
oh my gosh i saw the first swashplateless demo years ago and i am so excited to see that you're still working on this!
Even better, this is a different, new method that uses blade offset instead of blade pitch for control, I think.
@@neolexiousneolexian6079 you can tell by the 45degree angle of the flapping hinge that it actually pitches as it flaps.
🔵 Absolutely marvelous!!.... I'd better be seeing more about this technology in the near-future or it's gonna mean that somethin' is terribly wrong.
this is one of the few drone research projects which I think is actually useful and practical. good job
Very very beautiful, Physics and control at extreme level. Congratulations!
Can you upload a 10 hour version of how this works?
Exactly!
ua-cam.com/video/d80oXSCcHTk/v-deo.html :)
@@notoast4u haha, just watched that video before I saw this, really awesome and ingenious design.
Of course, that is a very good idea to implement these electric motors in that helicopter system so that it cannot be guided by radio control when a person is going to ride.
That is a very good idea to incorporate that type of engine into the system.
Wow this is so geniously simple, and it works so well. I'm deeply impressed by both the manouvering and steady hoover. This also changes how small you can make it.
Simple and elegant
probably this design is as simple as possible. good job.
Ingenious design. I think this is the simplest aircraft design fully capable of complex movements that traditionally require tilting of the engines, additional rotors and swashplates.
You make it look so easy!
Absolutely incredible.
Good job, it's a good project. I was thinking of doing something similar with coaxial blades above and below all the electronics.
Very interesting video
Great work ❤
Which type of actuators you have used?
How do you change the inclination?
Excelente desarrollo !! .miles de aplicaciones ! 👍👍👍👍👍👍
Pretty amazing work! Kind of disappointing that it’s now patented and so now no one can make, use or sell these teetering hinges unless they get a licensing agreement. I get that it’s capitalism and that it’ll help the people who developed it, but it would have been cool to have the hobby community be able to play with this.
Do you have a link to the patent?
Who says you can't make it? As long as it's for personal use I doubt it's illegal. Hobbyists can go wild, assuming they aren't selling their builds. Good luck re-engineering it, though.
@@shivaargula4735 You can make it for your self. But you can not sell it. And that stops you from improving it and selling it. So the only way this will come to market is if the original inventor brings it to market in a good configuration, and at a fair price. Or that he license it to someone that produce it. A lot of god inventions dies with the original inventor not being capable of bringing the product to market.
And re-engineering this is pretty easy. It is just a angled joint at the root of the rotor blades, and a fast motor controller with position feedback to be able to vary the motor torque at the precise points it needs.
Seems you haven't heard of China. They'll make copy of the same, even sell it allover the World 😂
@@shivaargula4735 Tom Stanton Already did, Look it up.
Ingenious!
More details, please - graphs, slow motion video of blades with torque curve superimposed, details of hinge kinematics...
Watch the Tom Stanton video he did a few days ago.
Whear we get such vector and control system.
Mad genius !
Question: how does rotor tilt blades?
I've read their publications a couple times, there are no hidden actuators and I think I understand so bare with me for a second while I try to explain. If you take a piece of paper from one end and pull it through the air quickly, the other end of the paper will rise up due to drag pushing up on the paper. When you slow down a bit the paper will sag a bit as the drag force is now lower. The amount that the paper sags or rises are proportional to the drag force applied to it. With your hand, you can control this amount of drag force by adjusting the force with which you pull the paper through the air. Similarly, if you imagine trying to do the same experiment using a motor to drag the paper through the air, you could control the amount the paper sags or rises by varying the torque applied by the motor.
This is precisely what I believe they are doing here. the narrator mentions driving the motor with a sinewave input, if you doing this slowly with the paper example you would see the paper cycle between rising and sagging. The 3d printed passive joint allows the rigid propeller blades to respond to the variable torque similar to how a flexible object would and intern allows control of the inclination of the blade.
My question is how do they ensure the phase of the motor, input signal and blades all remain properly aligned, I understand the theory proposed in the paper but do real-world factors affect the system enough to require state estimation for stable control or is the theoretical model enough to implement the system? Are the motors tracked using encoders?
Where do I buy this from?
whats the power efficiency compared to a quad of the same weight?
how it tilting the rotors?
Would I be correct in saying that this would us less power to do the same as a quadcopter and can it do the same amount of things of 3vor 4 router quote
That's just Genius 👏👏👏
Awesome. Do you have the plans so the diy guy can build one?
Amazing
Very nice ! It looks like you have perfected the variable rpm/ passive hinge blade pitching method. I am still working on the Mars Electric Flyer bi-rotor VTOL concept and think that it is a perfect fit for this technology. Wondering if you might be interested in building one at UPenn? Also, I would think the JPL/Aerovironment Mars coaxial helicopter team would be very interested in this. Their helicopter is now officially on the Mars 2020 mission. -Dave North, NASA Langley
Sir, can you give me link to learn the propeller pitch changing with this type... i dont seen any actuator in it.. then how the blade changing the anglee..
Now, this is the kind of feedback we need to see more of on channels featuring ingenious solutions for rather common problems.
Wow!! perfect!
Greate work dine. Can u tell me that how the rotor blade pitch and angle changes with..?? Any actuator behind that..?? not visible thats why.. pls replay me..
This video may help you a little:
ua-cam.com/video/d80oXSCcHTk/v-deo.html
Also, what's with the excessive punctuation, dude? You seem confused to the point of questioning if this is even real science.
really cool
This should also be very efficient because of the weight savings of a compact design and less motors compared to a quadcopter. And of course the propeller size is large giving you higher efficiently yet again.
Very cool.
the continuous instant acceleration and deceleration to achieve the pitch of the hinge consumes much more power and motor are likely to be overheated, if the motor can be modified to adapt sinuous pattern natively I bet this can outperform the traditional quadcopter, but as of now it can’t.
I wonder how this handles high speeds though.
amazing my friend
Daaaaaamn awesome
0:41 So by changing the speed of the motor (or better yet the change in torque) you are able to change the tip-path plane?
Change angular acceleration not speed
WTF... GENIOUS!
Great
wow, seems to be even more steady than quadcopter. Can this be better for aerial photography ?
good point, it probably would be
@@ScienceAlliance
You would have to put some effort into vibration-damping the camera so you don't get jello vision.
The way in which it drives the motors will create vibrations.
A large film grade hex/octa will almost certainly be smoother with the added benefit of motor and ESC redundancy in case of a failure.
chris746568462 yea true, it would need time to allow stuff like that to be figured out. But like, theoretically with those improvements over time, it would be a better solution atleast in a lot of cases.
the thing is that most of the space where you can put a camera is obstructed by the blades, so you have a very limited FOV up and down.
a quad is technically simpler with only 4 moving parts. this has at least 6 and vibrates. i'm also very curious how efficient this design is, would not be surprised if it's like half as efficient given lots of energy goes into slowing the rotor half the time. one pro tho is being able to tilt with no lateral motion, that could easily point a frame-fixed camera or sensor (like lidar), making a flying 3 axis (downward-facing) gimbal who's entirety is only 6 moving parts. or some type of manipulator could be attached and used for tasks since it can tilt and rotate without flying away. or vice versa, the thrust can tilt to find wind without actually tilting the airframe like a typical multi. if those props+encoderbrainthing are cheaper to make than buying 2 more motors and 2 more escs then this arrangement could be mass produced for cheaper than an equally capable quad.
this video needs like 10 gazillion views
How it works at time 1:08 ? Thanks!
ua-cam.com/video/aEPf0QHVuMM/v-deo.html check this
It's so stable Wow!!
could this work with more then 2 blades per rotor?
by the look of it i think yes.
👍Very 🚁 Cool!👍
Top notch, but couldn’t grasp how you can tilt the tip path plane by torque, with no physical actuation similar to single rotor helicopters.
Can you change the collective pitch by manipulating the amplitude of your drive signal...?
Omg wonderful great solution for swash plate issues make so simple omg 😍🥰🥳🥵😱
Wow amazing...😍🤤
Is there a loss of efficiency having the lower rotor being in the wash of the top one?
To the contrary it can improve the efficiency by recapturing fluid rotational losses. The same reason there are stators in ducted units.
@@thebunnisher109 but in practice coaxials are less efficient than tandem rotors.
i think its more important to ask if there's a loss of efficency by electrically braking and then accelerating the motor once a rotation. i'm guessing there's a big energy penalty.
Chrismofer “in practice” in which application? Coaxials in practice in numerous applications are significantly more efficient than a tandem arrangement in a properly designed system. Proper design requires the two rotors are not the same: the downstream rotor must have variable pitch and speed to counter the input of the first rotor, and it must have a smaller diameter to be wholly within the accelerated flow of the primary rotor.
For your second statement...a rotating mass is a battery in itself. Perhaps the most efficient means of “cyclic braking” is with a mechanical differential between both rotors that is varied by positive input of a secondary motor rather than the start/stop of the primary.
@@thebunnisher109 oh. Michael was asking about this vehicle with symmetrical rotors as is most typically seen in the full scale coaxial helicopters as well. but let me ask, if the downstream rotor is smaller and pitch+speed follow the most efficient energy recovery from the top rotor is torque still conserved or would this sort of coaxial heli still need a tail rotor? the above vehicle requires that the props exert equal torques in flight (as actively controlled) to maintain yaw stability. Actually I've never seen a coaxial helicopter with differently sized rotors, because they always use the differential torque to control yaw. works in tandem too, except more efficiently AFAIK.
Chrismofer very fair assessment and you are correct there is a hit to efficiency in non steady-state situations. However, if we assume that our operational profile relies PRIMARILY on steady-state hover then it is likely the net efficiency will be greater. For a high-performance racing POV drone I’d probably scrap the coaxial altogether like you suggested. One way to mitigate this is with blades that feather, which these blades might do since their pitch is a product of blade inertia and aerodynamic drag. In this case I’d play with the number of blades to fine tune the torque for the blade speed. One additional benefit of this is structural vibration and noise reduction if I can have a coaxial setup with two different prime numbers for my number of blades, some good maths in action and a physical analog to cryptographic keys ;)
Круто, молодцы! Думаю у такой технологии большое будущее. Особенно если применять в небольших дронах.
пожалуйста помогите понять как он меняет цыклический шаг и перемещаеться в сторону !!! у меня с английским проблемы вот и понять ни как не могу!(((((
@@gmannikonov4250С Английским тоже плохо к сожалению.
@@gmannikonov4250 Тут всё гениально просто: модулируют крутящий момент двигателя в зависимости от положения ротора. То есть полоборота двигатель разгоняется, вторую половину - тормозит. При разгоне лопасти по инерции отстают и поворачиваются на петлях. Но так как петли расположены под углом к ротору, одна лопость при этом отклоняется вверх, уменьшая угол атаки, а другая - вниз, увеличивая его. При торможении всё тоже самое, только наоборот. Меняя амплитуду и фазу этой модуляции можно управлять направлением и величиной циклического шага.
سلام .سواش بلیت راشما ازچه دستگاهی درست میکنید با تشکر
Nice
Isn`t that the technologie used in the FLIR Black Hornet?...
No. They still have a swashplate and actuators for that. But use rollers on the swashplate in stead of linkages.
Beautifull project. I understand the principle. But I am affraid the the mechanical simplification is balanced by the complexity of the motor control electronic module.
Remove teetering hinge at rotor head and instead mount the motor using a 2-axis teetering hinge for uninhibited 6DOF flight?
plus the addition of 2 more actuators, remember.
Chrismofer only when the rotor axes are aligned, involving a 90 degree rotation of the body similar to “gimbal lock”. This might be able to be controlled via differential torque with the addition of a damped mechanical connection between the two hinge assemblies or by constraining the motion of the 2-axis teetering hinge.
How to become will we all make a video
something for me to do for the next outbreak.
It won't be long this kind of similar tech will change most drones and how they fly...
Its a really clever idea but I wonder about scalability of the concept. Varying collective thrust by rotor speed changes is not viable at the scale of today's helicopters due to rotor inertia...time constants of seconds do not give enough control bandwidth. Hence, Volocopter and the rest use multiple small rotors (each with low moment of inertia) to give large effective rotor area and therefore low pressure / disc loading and acceptable energy efficiency. So at the scale of passenger electric rotorcraft you are going to have multiple rotors anyway, and each one is an actuator, so you might as well use it for attitude control as well. I reckon this new concept is applicable to rotors of up to 2m diameter or so due to this inertia limitation. With disc load of 400pa that means takeoff mass of 120kg... not enough for passengers but OK for a larger drone.
Mechanical simplicity (lack of swashplate, flap bearings etc) is one of the advantages of multirotors over helicopters. This new concept re-introduces some mechanical complexity, but reduces the number of rotors. That might be a good tradeoff for some medium sized drones but it's not a universal solution. If we accept mechanical complexity then just driving a conventional helicopter rotor and tailrotor with electric motors and using servos on the conventional pitch controls is always an option. Where is the market niche for this I wonder?
But the other way is where it shines. This lends itself to microscopic drones. Ditching so many parts makes it possible to really scale it down. This makes the fly on the wall an easy project.
Clearly advanced Alien technology 👽
what actuator did you use?
The drive motor itself speeding up and slowing down relative to the fairly constant speed of the blades themselves.
being able to control body rotation is nice for some uses
But doing it by adding a time and amplitude-varying vibration for each motor on the MAV? How do you keep the vibration caused by changing motor torque from a) swamping any accelerometers on the uav and b) ruining the picture from any cameras?
I notice this is an externally controlled copter, flying in a cage with beacons and cameras. Has this thing flown with stabilization ON the aircraft? Ideally from normal MEMS accelerometers or some other common cheap method of stabilization that would work on an aircraft that is optimized for simplicity and low cost/low parts count?
Not only would you have to isolate the camera from huge vibration, which might be as much trouble as just using a regular elastic isolator like normal quads have on camera gimbals, but you would either have to control it externally or put extremely high-performance accelerometers and filter logic, and/or huge amounts of physical isolation.
It might be possible to fix this but it's a pretty huge obstacle. I'd need to see vibration addressed next, before anyone took this and developed it further. It seems like the kind of problem that could make a project completely fail if it wasn't taken seriously from the beginning.
my understanding is that the torque is rotating with the motor, that means that it doesn't introduce vibrations in a different manner than what the rotor imbalance does.
Why didn't you create the mars helicopter? the mars heli what is now underway is so prehistoric
DARPA has noted this video
May i to buy this one please!
And where , how much
these are researchers. this is not a product.
Please connect with youtuber Tom Stanton who did this exact kind of pitch control uiit without swashplate to create a helicopter for collaboration
How is this not a product yet? Take my money! Make a kit, or put the files on thingiverse please!
genius
Tutorial..😍
пожалуйста помогите понять как он меняет цыклический шаг и перемещаеться в сторону !!! у меня с английским проблемы вот и понять ни как не могу!(((((
This reminds me of Tom Stanton’s recent helicopter project.
The other way around, Tom's video reminds you of this work xD. These are the original researchers he referenced in his video.
Arthur Vieira I’d totally forgotten! Thanks for the correction 👍
Active flex, is this the concept developed by the creators of Alta pro
Holy shit
It's a good thing they don't make a large version on this with people in it, terrible if you had to jump from that helicopter. ;)
This is how you get when you are going to build a helicopter with that type of engine, greater reliability.And optimize the flight
عالی بود
An outrunner is no good choice for such kind of torque modulation. Its massive momentum of inertia requires huge power to modulate its speed by accelerating/decelerating. You need a low inertia motor. And still, the efficiency of such vehicle drive concept will always be bad compared to a simple quad.
I can do the same with one motor and two servos.
you cannot tilt while stationary.
@@SpeedFlap Airplanes do this all the time. I am just flipping the concept 90 degrees.
@@SpeedFlap you could if you had 2 motors and 4 servos.
#muktaralikhan👈👈👈👈👈👈👈👍👍👍
We can soon no longer make it more cheaper with few actuator
Brownies Waptrick
سلام.معذرت فارسی بنویسید متوجه شم
why arent you working at the nasa??????
i have just learned about a colombian youtuber who just flies gps quads (dji lover) and makes tutorials on how to install their dji app, update firmwares...
you're asking the University of Pennsylvania why it doesn't work for nasa lol
ITS GOT THE SAME BLADES AS MY BLADE SCOUT HELI, IF I TAKE THE TAIL AND SHELL OFF THEY LOOK LIKE THEY EVEN FLY EXACTLY THE SAME, BOTH ARE CO AXIAL!
So still 4 actuators
English, please.
Legible body language might be a stretch lol
нихуя не понял но интересно...
Drone Prathap will make better then this
He have Non Disclosure Agreement!!
David Clawson, you seem to have the wrong idea about patents. You can make and use these hinges to produce such aircraft for yourself and no law will stop you. You just can't market a product containing said patent in the country the patent is granted (the idea there being that the originator gets a competitive head start over people who might otherwise just rip off and duplicate the idea and possibly beat the originator to the market). Such patent gets more and more expensive to maintain over time, until it expires. So, nothing is holding you up playing with it yourself! Savvy?
Looks like design stolen from Drone Pratap 😋😂
Excelente desarrollo !! .miles de aplicaciones ! 👍👍👍👍👍👍
Amazing
#muktaralikhan👈👈👈👈👈👈👈👍👍👍
#muktaralikhan👈👈👈👈👈👈👈👍👍👍