DelFly II Ir. Rick Ruijsink Ing. Bart Remes Ir. Christophe de - - PowerPoint PPT Presentation

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DelFly II Ir. Rick Ruijsink Ing. Bart Remes Ir. Christophe de - - PowerPoint PPT Presentation

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DelFly II Ir. Rick Ruijsink Ing. Bart Remes Ir. Christophe de Wagter Ir. David Lentink Ir. Meine Oosten Ren Lagarde Stefan Jongerius Ir. Nancy Bradshaw Ir. Bert Bijnens Todd Reichert Prof. Bob Mulder 1/41 15-09-2007 RUIJSINK DYNAMIC

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DelFly II

  • Ir. Rick Ruijsink
  • Ing. Bart Remes
  • Ir. Christophe de Wagter
  • Ir. David Lentink
  • Ir. Meine Oosten

René Lagarde Stefan Jongerius

  • Ir. Nancy Bradshaw
  • Ir. Bert Bijnens

Todd Reichert

  • Prof. Bob Mulder
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DelFly II: Contents

1/ Introduction 2/ Current status DelFly II 3/ Aerodynamics 4/ Mechanics 5/ Image processing 6/ Future Technology

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DelFly II: Introduction

Delfly I (2005)

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DelFly II: Aerodynamics

Research by: PhD student :

  • Ir. David Lentink

Wageningen University

  • Ir. Frank Bos

TU Delft Together with MSc. students TU Delft: Nancy Bradshaw Stefan Jongerius Nonthipat Thaweewat University of Toronto Todd Reichert

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DelFly II: Aerodynamics

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DelFly II: Aerodynamics

Source: Nancy Bradshaw

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DelFly II: Aerodynamics

Source: Nancy Bradshaw

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DelFly II: Aerodynamics

Source: Nancy Bradshaw

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DelFly II: Aerodynamics

Source: Nancy Bradshaw

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DelFly II: Aerodynamics

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DelFly II: Mechanics

Research by:

  • Ir. Rick Ruijsink
  • Ing. Bart Remes
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DelFly II: Wing design

Mylar foil

Stiffness tuned through thickness of carbon spars

Front spar/leading edge: D shape

  • Stiff in flap direction
  • Flexible in flight direction for wake recovery

Evaluation version in epoxy For DelFly II Stereolithography

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DelFly II: Simulation drive geometry

Variables:

Maximum flap angle Crank length Angle connecting rods Angle ruby bearings

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Battery Receiver & Actuators Motor & Controller

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

High power Fast data link smooth control Color 380 lines High efficiency High power

Total weight all components: 11 gram Total weight of complete MAV: 15 gram

Camera & Transmitter Low voltage 5 mW

1.0 + 1.3 gr.

DelFly II: Components

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DelFly II: Brushless Motor

Motor development

  • Ir. Rick Ruijsink

DC Enterprises, India 1.5 gram, 1.5 W O/P η = 60% Design changes i.c.w.

  • Dr. Ir. Elena Lomonova, TU Eindhoven
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DelFly II: BL controller, sensorless

Specially tuned for the small Uttam / Ruijsink 1.5 gram BL Motor i.c.w. Jean Louis Coural Micro Plane Solutions France.

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DelFly II: Image processing

Image recognition and Vision Based Control

  • Ir. Christophe de Wagter

with:

  • Ir. Bert Bijnens PhD Student TU Delft

René Lagarde Msc Student TU Delft

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DelFly II: Image processing

Control loop based on images: CPU calculates control signals from image analysis

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DelFly II: Camera system

  • Balance: Resolution - Viewing angle - Sensitivity - Color
  • NTSC 1.5 Lux - EIA 0.05 Lux
  • 5.0 V Stabilized from 3.7 - 2.7 V LiPo battery
  • Camera Resolution 400 x 288
  • Rigidly attached to fuselage

8 x 8 x 8 mm3

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DelFly II: Dual Camera system

  • 2 Camera’s perfectly synchronized on one transmitter
  • Each camera delivers full frames at 30 Hz.
  • For bigger field of view or stereo vision
  • Light weight: 2 camera’s + 1 transmitter < 3 grams

First working test system on flying leads

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DelFly II: Flight Demo

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But also a new start

  • f a much smaller aircraft
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DelFly II – Future Technology