Search

In this paper, 3D detonation numerical studies are conducted using reactive Euler equations in both straight and curved channels. These simulations are compared to investigate the response of detonation to curvature within infinitely long square ducts. The influence of the inner wall radius, cross-section size, and activation energy (Ea) on wave structures, pressure distributions, and velocity are carefully described. The results for detonation waves with low Ea in narrow ducts show that, in straight ducts, it typically exhibits rectangular or diagonal modes which depends on the initial perturbations. However, when propagating in curved ducts, the waves display significantly different patterns and curvature sensitive velocity deficits. For sufficient small radii, due to the compression and expansion in the lateral direction, an initial diagonal perturbation may transit into rectangular mode. For detonation waves with low Ea in wide ducts, mode transition may happen even for rectangular perturbations. An out-of-phase rectangular mode first appears, followed by the twisting of the transverse waves until a diagonal mode develops. The corresponding curved case shows that only one pair of transverse waves on each wall. Furthermore, the cellular patterns become irregular with increasing Ea: in the straight duct, the cells seem more randomly distributed; in curved duct, small cells are observed on the outer wall, while large-scale wave motions are noted on the inner wall, as a result of mixture with high Ea is more sensitive to the perturbations. The current results indicate that a fully developed detonation wave in a continuously curved duct is significantly affected by substantial compression and velocity deficit, which alter the wave structures.

This paper presents an experimental configuration to study high-enthalpy radiating flows under nonequilibrium de-excitation. A general design method is introduced, combiningtheoretical analysis and numerical simulations to tailor the flow conditions for various research objectives. The implementation involves considerations of the shock tube condition, the arrangement configuration, and the effective measurement zone. The interplay between shock tube condition and aerofoil geometry generates diverse de-excitation patterns. The shock tube test time, transition onset location, and radiance intensity determine the effective measurement zone. An example utilizing N2 as the test gas demonstrates the method, achieving one-dimensional flow with thermal nonequilibrium and chemical freezing along the centerline, validating the method's effectiveness. An effective measurement zone of 200 mm is obtained under this condition, and the primary constraint under high-enthalpy conditions is the limited shock tube test time due to the high shock velocity and low fill pressure.

Aerial grasping, particularly soft aerial grasping, holds significant promise for drone delivery and harvesting tasks. However, controlling UAV dynamics during aerial grasping presents considerable challenges. The increased mass during payload grasping adversely affects thrust prediction, while unpredictable environmental disturbances further complicate control efforts. In this study, our objective aims to enhance the control of the Soft Aerial Vehicle (SAV) during aerial grasping by incorporating a disturbance observer into a Nonlinear Model Predictive Control (NMPC) SAV controller. By integrating the disturbance observer into the NMPC SAV controller, we aim to compensate for dynamic model idealization and uncertainties arising from additional payloads and unpredictable disturbances. Our approach combines a disturbance observer-based NMPC with the SAV controller, effectively minimizing tracking errors and enabling precise aerial grasping along all three axes. The proposed SAV equipped with Disturbance Observer-based Nonlinear Model Predictive Control (DOMPC) demonstrates remarkable capabilities in handling both static and non-static payloads, leading to the successful grasping of various objects. Notably, our SAV achieves an impressive payload-to-weight ratio, surpassing previous investigations in the domain of soft grasping. Using the proposed soft aerial vehicle weighing 1.002 kg, we achieve a maximum payload of 337 g by grasping., Comment: 8 pages, 10 figures, submitted to IEEE Robotics Automation Letters

This study presents constructions of the space-time Conservation Element and Solution Element (CESE) methods to accommodate adaptive unstructured quadrilateral meshes. Subsequently, a novel algorithm is devised to effectively manage the mesh adaptation process for staggered schemes, leveraging a unique cell-tree-vertex data structure that expedites the construction of conservation elements and simplifies the interconnection among computational cells. The integration of second-order a-{\alpha}, Courant number-insensitive, and upwind CESE schemes with this adaptation algorithm is demonstrated. Numerical simulations focusing on compressible inviscid flows are carried out to validate the effectiveness of the extended schemes and the adaptation algorithm.

In this work, the stability and transition to turbulence over an experimental blunt flat plate with different leading-edge radii are investigated. The freestream Mach number is 5, the unit Reynolds number is $6\times10^7$ m$^{-1}$, and the maximum nose-tip radius 3 mm exceeds the experimental reversal value. High-resolution numerical simulation and stability analysis are performed. Three-dimensional broadband perturbation is added on the farfield boundary to initiate the transition. The highlight of this work is that the complete physical process is considered, including the three-dimensional receptivity, linear and nonlinear instabilities, and transition. The experimental reversal phenomenon is favourably reproduced in the numerical simulation for the first time. Linear stability analysis shows that unstable first and second modes are absent in the blunt-plate flows owing to the presence of the entropy layer, although these modes are evident in the sharp-leading-edge case. Therefore, the transition on the blunt plate is due to nonmodal instabilities. Numerical results for all the blunt-plate cases reveal the formation of streamwise streaky structures downstream of the nose (stage I) and then the presence of intermittent turbulent spots in the transitional region (stage II). In stage I, a preferential spanwise wavelength of around 0.9 mm is selected for all the nose-tip radii, and low-frequency components are dominant. In stage II, high-frequency secondary instabilities appear to grow, which participate in the eventual breakdown. By contrast, leading-edge streaks are not remarkable in the sharp-leading-edge case, where transition is induced by oblique first and Mack second modes. The transition reversal beyond the critical nose-tip radius arises from an increasing magnitude of the streaky response in the early stage, while the transition mechanism keeps similar qualitatively.

The hypersonic flow stability over a two-dimensional compression corner is studied using resolvent analysis, linear stability theory (LST) and parabolised stability equation (PSE) analysis. We find that the interaction between upstream convective-type disturbances and the laminar separation bubble can be divided into two regimes, whose behaviour can be well explained by comparative research. First, two-dimensional (2-D) high-frequency Mack modes neutrally oscillate with the presence of alternating stable and unstable regions inside the separation bubble. These discontinuous unstable regions are generated by repeated synchronisations between discrete modes with evolving branches. Through a modal sychronisation analysis, we report that the second modes upstream and downstream of the separation bubble can be essentially different from each other, since they originate from different branches of discrete modes due to flow separation. Second, the 2-D low-frequency `shear-layer mode' is found to be stable in the separation bubble by LST, whereas multiple unstable three-dimensional (3-D) eigenmodes are identified by LST. In general, three significant modes are dominant successively near the separation point, in the separation bubble and near the reattachment point. These modes are found to be sensitive to the streamline curvature effect. The locally dominant modes agree with the resolvent response in terms of the disturbance shape and the growth rate of energy. Thus, a combination of global and local analyses demonstrates that the separation bubble tends to selectively amplify low-frequency 3-D disturbances and `freeze' high-frequency Mack-mode disturbances in an explainable manner. These findings facilitate the understanding of the early evolution of low- and high-frequency instabilities in hypersonic separated flows., Comment: 17 pages, 20 figures

In this work, we propose a dynamic landing solution without the need for onboard exteroceptive sensors and an expensive computation unit, where all localization and control modules are carried out on the ground in a non-inertial frame. Our system starts with a relative state estimator of the aerial robot from the perspective of the landing platform, where the state tracking of the UAV is done through a set of onboard LED markers and an on-ground camera; the state is expressed geometrically on manifold, and is returned by Iterated Extended Kalman filter (IEKF) algorithm. Subsequently, a motion planning module is developed to guide the landing process, formulating it as a minimum jerk trajectory by applying the differential flatness property. Considering visibility and dynamic constraints, the problem is solved using quadratic programming, and the final motion primitive is expressed through piecewise polynomials. Through a series of experiments, the applicability of this approach is validated by successfully landing 18 cm x 18 cm quadrotor on a 43 cm x 43 cm platform, exhibiting performance comparable to conventional methods. Finally, we provide comprehensive hardware and software details to the research community for future reference.

It is challenging to model and control a tail-sitter unmanned aerial vehicle (UAV) because its blended wing body generates complicated nonlinear aerodynamic effects, such as wing lift, fuselage drag, and propeller-wing interactions. We therefore devised a hybrid aerodynamic modeling method and model predictive control (MPC) design for a quadrotor tail-sitter UAV. The hybrid model consists of the Newton-Euler equation, which describes quadrotor dynamics, and a feedforward neural network, which learns residual aerodynamic effects. This hybrid model exhibits high predictive accuracy at a low computational cost and was used to implement hybrid MPC, which optimizes the throttle, pitch angle, and roll angle for position tracking. The controller performance was validated in real-world experiments, which obtained a 57% tracking error reduction compared with conventional nonlinear MPC. External wind disturbance was also introduced and the experimental results confirmed the robustness of the controller to these conditions.

Aerial robots have garnered significant attention due to their potential applications in various industries, such as inspection, search and rescue, and drone delivery. Successful missions often depend on the ability of these robots to grasp and land effectively. This paper presents a novel modular soft gripper design tailored explicitly for aerial grasping and landing operations. The proposed modular pneumatic soft gripper incorporates a feed-forward proportional controller to regulate pressure, enabling compliant gripping capabilities. The modular connectors of the soft fingers offer two configurations for the 4-tip soft gripper, H-base (cylindrical) and X-base (spherical), allowing adaptability to different target objects. Additionally, the gripper can serve as a soft landing gear when deflated, eliminating the need for an extra landing gear. This design reduces weight, simplifies aerial manipulation control, and enhances flight efficiency. We demonstrate the efficacy of indoor aerial grasping and achieve a maximum payload of 217 g using the proposed soft aerial vehicle and its H-base pneumatic soft gripper (808 g)., Comment: 7 pages, 13 figures, accepted by IEEE RoboSoft 2024

For real applications of unmanned aerial vehicles, the capability of navigating with full autonomy in unknown environments is a crucial requirement. However, planning a shorter path with less computing time is contradictory. To address this problem, we present a framework with the map planner and point cloud planner running in parallel in this paper. The map planner determines the initial path using the improved jump point search method on the 2D map, and then it tries to optimize the path by considering a possible shorter 3D path. The point cloud planner is executed at a high frequency to generate the motion primitives. It makes the drone follow the solved path and avoid the suddenly appearing obstacles nearby. Thus, vehicles can achieve a short trajectory while reacting quickly to the intruding obstacles. We demonstrate fully autonomous quadrotor flight tests in unknown and complex environments with static and dynamic obstacles to validate the proposed method. In simulation and hardware experiments, the proposed framework shows satisfactorily comprehensive performance., Comment: 16 pages

In this paper, we present a novel stereo visual inertial pose estimation method. Compared to the widely used filter-based or optimization-based approaches, the pose estimation process is modeled as a control system. Designed feedback or feedforward loops are introduced to achieve the stable control of the system, which include a gradient decreased feedback loop, a roll-pitch feed forward loop and a bias estimation feedback loop. This system, named FLVIS (Feedforward-feedback Loop-based Visual Inertial System), is evaluated on the popular EuRoc MAV dataset. FLVIS achieves high accuracy and robustness with respect to other state-of-the-art visual SLAM approaches. The system has also been implemented and tested on a UAV platform. The source code of this research is public to the research community., Comment: 14 pages, 14 figures, 2 tables