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1MAV RC fun is defendable Bart Remes
A drone in everybody's pocket
Bart Remes
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2MAV RC fun is defendable Bart Remes
In 2013
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3MAV RC fun is defendable Bart Remes
www.mavlab.lr.tudelft.nl
www.enac.fr
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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/
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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/
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6MAV RC fun is defendable Bart Remes
www.dailymail.co.ukmavlab.lr.tudelft.nl
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7MAV RC fun is defendable Bart Remes
flyza
no.c
om
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8MAV RC fun is defendable Bart Remes
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9MAV RC fun is defendable Bart Remes
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10MAV RC fun is defendable Bart Remes
http://paparazziuav.org/
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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
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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
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13MAV RC fun is defendable Bart Remes
Kristien De Clercq TU Delft, 2008
DelFly Introduction
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14MAV RC fun is defendable Bart Remes9/14Introduction Performance improvement Aerodynamic and Aeroelastic Study Conclusions
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15MAV RC fun is defendable Bart Remes
Hovering set-upStereoscopic PIV
Aerodynamic and Aeroelastic study
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16MAV RC fun is defendable Bart Remes
16/41
Kristien De Clercq TU Delft, 2008
Aerodynamic and Aeroelastic study
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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
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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
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19MAV RC fun is defendable Bart Remes
Kri
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cale
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est
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Wake flow visualization of the DelFly II in forward flight configuration
XY
Z1 cm
2 cm
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20MAV RC fun is defendable Bart Remes
Wake video
XY
Z1 cm
2 cm
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21MAV RC fun is defendable Bart Remes
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22MAV RC fun is defendable Bart Remes
DelFly explorer
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23MAV RC fun is defendable Bart Remes
DelFly explorer
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24MAV RC fun is defendable Bart Remes
DelFly explorer
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25MAV RC fun is defendable Bart Remes
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26MAV RC fun is defendable Bart Remes
ww
w.fe
sto.
com
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27MAV RC fun is defendable Bart Remes