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dc.contributor.authorNice, Eryk
dc.date.accessioned2004-03-09T15:20:30Z
dc.date.available2004-03-09T15:20:30Z
dc.date.issued2004-03-09T15:20:30Z
dc.identifier.otherbibid: 6475788
dc.identifier.urihttps://hdl.handle.net/1813/93
dc.descriptionRaffaello D'Andrea, committee chair; Mark Campbell; Ephrahim Garciaen_US
dc.description.abstractPotential applications of autonomous vehicles range from unmanned surveillance to search and rescue applications dangerous to human beings. Vehicles specifically designed for hover flight have their own possible applications, including the formation of high gain airborne phased antenna arrays. With this specific application in mind, the Cornell Autonomous Flying Vehicle (AFV) team sought to produce a four rotor hovering vehicle capable of eventual untethered acrobatic autonomous flights. The mechanical design of the AFV included both the selection of a battery-motor-gearing-prop combination for efficient thrust production and the design of a lightweight yet sufficiently stiff vehicle structure. The components chosen were selected from the variety of brushless motors, battery technologies and cell configurations, and fixed pitch propellers suited to use in a four rotor hovering vehicle. The vehicle structure settled upon achieved a high degree of stiffness with minimal weight through the use of thin walled aluminum compression members supported by stranded steel cable. In addition to an efficient mechanical design, the vehicle also required onboard control and inertial navigation. In order to evaluate a variety of potential vehicle sensor, actuator, estimation, and control scenarios, a fully configurable nonlinear simulation of vehicle and sensor dynamics was also constructed. For the current iteration of the vehicle, a square root implementation of a Sigma Point Filter was used for estimation while a simple Linear Quadratic Regulator based on the nonlinear vehicle dynamics linearized about hover provided vehicle control. Sensory feedback on the current vehicle included an onboard inertial measurement unit and a human observer, to be eventually replaced by GPS or an indoor equivalent. While a hardware failure prevented the completion of a full range of tests, the team was able to complete a hands-free hover test that demonstrated the capabilities of the vehicle. Supplemented with various other final hardware tests, the vehicle demonstrated stable hover flight, potential vehicle endurance in the range of 10-15 minutes, and possible vertical acceleration of 0.8g beyond hover thrust. The final vehicle represented a significant achievement in terms of overall design and vehicle capability while future improvements will demonstrate more advanced nonlinear control algorithms and acrobatic flight maneuvers.en_US
dc.description.sponsorshipAir Force Grant F49620-02-0388en_US
dc.format.extent1189597 bytes
dc.format.mimetypeapplication/pdf
dc.language.isoen_US
dc.subjectfour propen_US
dc.subjectpropelleren_US
dc.subjecthoveringen_US
dc.subjectautonomousen_US
dc.subjectmechanical designen_US
dc.subjecthoveren_US
dc.subjectflighten_US
dc.subjectsigma point filteren_US
dc.subjectvehicleen_US
dc.subjecthelicopteren_US
dc.subjectphased antenna arrayen_US
dc.subjectsimulationen_US
dc.subjectnonlinearen_US
dc.subjectdynamicsen_US
dc.subjectAFVen_US
dc.subjectrotoren_US
dc.titleDesign of a Four Rotor Hovering Vehicleen_US
dc.typedissertation or thesisen_US


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