1MAV RC fun is defendable Bart Remes

A drone in everybody's pocket

Bart Remes

2MAV RC fun is defendable Bart Remes

In 2013

3MAV RC fun is defendable Bart Remes

www.mavlab.lr.tudelft.nl

www.enac.fr

4MAV RC fun is defendable Bart Remes

Processing:– 72MHz 32bit ARM Cortex M3

MCU with 16KB RAM and 512KB Flash

Sensing:– 3-axis accelerometers, gyros,

and magnetometer– barometer– uBlox GPS

Communication:SuperbitRF

Properties Lisa S http://paparazziuav.org/

5MAV RC fun is defendable Bart Remes

Processing:– 72MHz 32bit ARM Cortex M3

MCU with 16KB RAM and 512KB Flash

Sensing:– 3-axis accelerometers, gyros,

and magnetometer– barometer– uBlox GPS

Communication:SuperbitRF

Properties Lisa S http://paparazziuav.org/

6MAV RC fun is defendable Bart Remes

www.dailymail.co.ukmavlab.lr.tudelft.nl

7MAV RC fun is defendable Bart Remes

flyza

no.c

om

8MAV RC fun is defendable Bart Remes

9MAV RC fun is defendable Bart Remes

10MAV RC fun is defendable Bart Remes

http://paparazziuav.org/

11MAV RC fun is defendable Bart Remes

DelFly Introduction

• Evolved during the last 10 years

• September 2005 : DelFly I

=> 40cm span

• August 2006 : DelFly II

=> 28cm span

• July 2008 : DelFly Micro

=> 10cm span

• June 2010: Autonomous

=> using camera and autopilot

• … 2015 Tail less

=> controlled only by wing deformation

12MAV RC fun is defendable Bart Remes

15-09-2007 12/41

Battery Receiver & Actuators

Motor & Controller

3.0 gr. 0.9 + 2.3 gr. 1.5 + 1.0 gr.

High power

Fast data linksmooth control

Color 380 lines

High efficiencyHigh power

Total weight all components: 11 gram

Total weight of complete MAV: 15 gram

Camera &Transmitter

Low voltage5 mW

1.0 + 1.3 gr.

DelFly Components

13MAV RC fun is defendable Bart Remes

Kristien De Clercq TU Delft, 2008

DelFly Introduction

14MAV RC fun is defendable Bart Remes9/14Introduction Performance improvement Aerodynamic and Aeroelastic Study Conclusions

15MAV RC fun is defendable Bart Remes

Hovering set-upStereoscopic PIV

Aerodynamic and Aeroelastic study

16MAV RC fun is defendable Bart Remes

16/41

Kristien De Clercq TU Delft, 2008

Aerodynamic and Aeroelastic study

17MAV RC fun is defendable Bart Remes

Wake flow visualization of the DelFly II in forward flight configuration

• W wind tunnel with open test section (600×600 mm)

• Full DelFly II model on a 6-component ATI Nano-17 force sensor

• Three high speed cameras (1024×1024 pixels)

• Quantronix Darwin Duo Nd:YLF high speed laser

• Fog of droplets with 1µm diameter

18MAV RC fun is defendable Bart Remes

• Measurements at different spanwise planes at 10 mm distance between each other

• Image acquisition at 250 Hz and force measurements at 25 kHz

• Field of view of 200×200 mm

• Synchronization between PIV images, force data and wing stroke via a microcontroller system and a Hall sensor

Wake flow visualization of the DelFly II in forward flight configuration

19MAV RC fun is defendable Bart Remes

Kri

gin

gre

gre

ssio

nw

ithlo

cale

rror

est

imat

e

Wake flow visualization of the DelFly II in forward flight configuration

XY

Z1 cm

2 cm

20MAV RC fun is defendable Bart Remes

Wake video

XY

Z1 cm

2 cm

21MAV RC fun is defendable Bart Remes

22MAV RC fun is defendable Bart Remes

DelFly explorer

23MAV RC fun is defendable Bart Remes

DelFly explorer

24MAV RC fun is defendable Bart Remes

DelFly explorer

25MAV RC fun is defendable Bart Remes

26MAV RC fun is defendable Bart Remes

ww

w.fe

sto.

com

27MAV RC fun is defendable Bart Remes