DelFly Versions. See Figs. A.1, A.2, A.3, A.4 and A.5.

Transcription

1 DelFly Versions A See Figs. A.1, A.2, A.3, A.4 and A.5. Springer Science+Bussiness Media Dordrecht 2016 G.C.H.E. de Croon et al., The DelFly, DOI /

2 210 Appendix A: DelFly Versions Fig. A.1 DelFly I: Average specifications of the DelFly I. The Reynolds number is determined on the basis of the mean wingtip velocity (Eq. 5.6). Only 5 were built and specifications like endurance also varied with aging. Reprinted with permission

3 Appendix A: DelFly Versions 211 Fig. A.2 Early DelFly II: Average specifications of the early DelFly II. Encircled photo by Jaap Oldenkamp. Reprinted with permission

4 212 Appendix A: DelFly Versions Fig. A.3 Recent DelFly II: With injection moulded and extruded parts, the reproducibility of construction was significantly improved. But due to the large variety of research performed on DelFly II, specifications also vary. Typical values are given in this figure. Reprinted with permission

5 Appendix A: DelFly Versions 213 Fig. A.4 DelFly Micro: After several unsuccessful prototypes, a single DelFly Micro was built with the given specifications. Reprinted with permission

6 214 Appendix A: DelFly Versions Fig. A.5 DelFly Explorer: Based on a DelFly II parts but packed with electronics and improved control and power, the DelFly Explorer can autonomously navigate in unknown indoor environments avoiding obstacles with onboard stereo vision. Reprinted with permission

7 Glossary AI AUC CDM CFRP CMOS CPLD DARPA EA EMAV EMD ER ESC EMF FoE FOV FPGA FSM FWMAV GPS HSV IMAV IMU LED LEV MAV MEMS MSL NAV NTSC Artificial Intelligence. Area Under the Curve. Color Distribution Method. Carbon Fiber Reinforced Polymer. Complementary MetalOxideSemiconductor. Complex Programmable Logic Device. Defense Advanced Research Projects Agency. Evolutionary Algorithm. European Micro Air Vehicle conference and competitions. Elementary Motion Detector. Evolutionary Robotics. Electronic Speed Controller. Electromotive force. Focus of Expansion. Field Of View. Field Programmable Gate Array. Finite State Machine. Flapping Wing Micro Air Vehicle. Global Positioning System. Hue Saturation Value (image space). International Micro Air Vehicle conference and competitions. Inertial Measurement Unit. Light-Emitting Diode. Leading Edge Vortex. Micro Air Vehicle. Microelectromechanical systems. Mean Sea Level. Nano Air Vehicle. Analog camera system named after National Television System Committee. Springer Science+Bussiness Media Dordrecht 2016 G.C.H.E. de Croon et al., The DelFly, DOI /

8 216 Glossary PET PID PIV PWM RAM ROC RPM SLAM SMA SNR TEV TMG TMC TTC UAV Polyethylene terephthalate. Proportional Integral Derivative. Particle Image Velocimetry. Pulse Width Modulation. Random Access Memory. Receiver Operator Characteristic. Revolutions Per Minute. Simultaneous Localization And Mapping. Shape Memory Alloy. Signal to Noise Ratio. Trailing Edge Vortex. Texton Method with a Gray-scale dictionary. Texton Method with a Color dictionary. Time To Contact. Unmanned Air Vehicle.

9 Index A Active vision, 128 Actuation strategies, 15 Actuator disk theory, 66 Actuators, 16 Added mass effect, 76 Algorithm, 125 Angle of attack, 60 Appearance Variation Cue (AVC), 141 Area Under the Curve (AUC), 153 Artificial Intelligence, 125 Aspect ratio, 59 B Battery discharge curves, 22 Behavior trees, 202 Behavioral approach to robotics, 127 Brushless motors, 26 C Camber, 59 Chord length, 58 Clap-and-fling, 74 Cogging torque, 44 D Delayed rotation, 73 Delayed stall, 69 DelFly Explorer, 180 DelFly I, 11 DelFly II, 11 DelFly Micro, 13 Developmental robotics, 129 Dimensionless force coefficients, 59 Disparity, 179 Downwash, 62 Drag, 59 Drag coefficient, 59 Droplet avoidance strategy, 184 Dynamic pressure, 59 E Electromotive force (EMF), 44 Embracement, 45 Energy and power, 18 Energy density, 19 Energy sources, 19 Energy-to-weight ratio, 19 Entropy, 142 Evolutionary robotics, 128 F Fixed wing aerodynamics, 58 Flapping wing aerodynamics, 64 Flight efficiency, 19 Force generation during stroke reversal, 73 I Induced angle of attack, 62 K Kelvin s circulation theorem, 61 Kutta condition, 61 Kutta-Joukowski theorem, 60 L Leading edge vortex, 68 Levels of autonomous flight, 130 Lift, 59 Lift coefficient, 59 Logic modelling approach to robotics, 126 Springer Science+Bussiness Media Dordrecht 2016 G.C.H.E. de Croon et al., The DelFly, DOI /

10 218 Index O Offboard versus onboard processing, 134 P Particle Image Velocimetry (PIV), 76 Point of Expansion (PoE), 152 Power density, 19 Power-to-weight ratio, 19 Probabilistic robotics, 129 Pronation, 65 Purposive vision, 128 R Receiver Operator Characteristic (ROC), 153 Reduced frequency, 68 Reynolds number, 65 S Sensory-motor coordination, 128 Shannon entropy, 142 Simultaneous Localization And Mapping (SLAM), 129 Span length, 58 Specific energy, 19 Specific power, 19 Stagnation point, 60 Stall, 62 Stereo vision, 179 Stroke amplitude, 65 Stroke angle, 65 Stroke plane, 64 Strouhal number, 67 Sub-sampling, 146 Subsumption architecture, 127 Supination, 65 System identification, 201 T Tail configurations, 11 Texton method, 142 Time-to-impact, 151 U Unsteady force generation mechanisms, 68 W Wake capture, 76 Wing configurations, 12 Wing design, 12