MyDRONES

INTERACTIVE CONFIGURATIONS

Visual-based Reactive Pick-and-Place Operations

v0.1 (2015) (ongoing)

see Research Activities

Autonomous Contact-based Perching

v0.1 (2016) (ongoing)

see Research Activities

ROTARY-WING CONFIGURATIONS

Classical Quadrotor

This is the first configuration that I addressed the developed regarding the autonomous stabilization based on the embbeded control/sensor system. This platform is ideal to validate the "homemade" embedded architectures as well as control laws.

v2.0 (2016) -Embedded Vision Processing- (ongoing)

Airframe: I'm designing (FreeCAD) the airframe to be adapted to plug aerial robotic manipulators currently under development. The final design will be printed MargeOne

Embedded Flight Control System (EFCS): Embbeded Microprocesor UDOO (CPU Freescale i.MX 6 ARM Cortex-A9 Quad core 1GHz + Arduino Due ) Microcontroller (60Mhz).

Inertial Measurement Unit: I developed an "IMUduino" based on a MPU6050 (3-axis gyroscope and 3-axis accelerometer) sensor and an Arduino Nano (16Mhz) that contains the state estimation algorithm (Kalman Filter running @ 200Hz)

Ground Station: (1) Simulink-based + Xbee Wireless Com Link + Linux Ubuntu 14.04 - (2) Standalone C++-based interface + WiFi (ongoing)

v1.2 (2015)

Airframe: A commercial airframe (AsTech - Hummingbird).

Embedded Flight Control System: Rabbit4300 Microcontroller (60Mhz)

Inertial Measurement Unit: I developed an "IMUduino" based on a MPU6050 (3-axis gyroscope and 3-axis accelerometer) sensor and an Arduino Nano (16Mhz) that contains the state estimation algorithm (Complementary filter running @ 300Hz)

Ground Station: Simulink-based within Linux Ubuntu 14.04

v1.1 (2011)

Airframe: Off-the-shelf airframe (AR-DRONE)

Embedded Flight Control System:

Inertial Measurement Unit: A commercial IMU (microstrain)

Ground Station: Simulink-based within WinXP-OS

v0.2 (2007)

Airframe: Off-the-shelf airframe (DraganFly)

Embedded Flight Control System: This version was developed to enhance aspects as the motorization (DC to brushless) as well as the corresponding drivers (customized MOSFET-based interface to Brushless drivers).

Inertial Measurement Unit: A modular IMU entailing an extra-microcontroller PIC that deals with analog information of the inertial sensors and then the information is sent via the serial port.

v0.1 (2005-6)

The first version of the quad-rotor was based on an commercial airframe an a very basic homemade IMU including two accelerometer and three gyroscopes.

Tricopter Delta

v1.1 (2016) -Energy-efficient MAV- (ongoing)

This version is the evolution of the Tricopter Delta proposed in 2007 towards a Hybrid configuration that is meant to enhance the Hovering flight endurance.

v1.0 (2007)

I proposed and built a novel tricopter configuration called Delta, which features three equidistant tilting rotors with respect to the center of gravity (CG) aiming at reducing the coupling between attitude and heading. Such design feature allows to obtain a balanced thrust contribution (symmetric thrust/moments) from the rotors that simplifies the maneuverability and control design of the proposed tricopter in comparison to those tricopters having one tail-tilting rotor.

HYBRID CONFIGURATIONS

Hybrid (or convertible) MAVs combine/merge the operational flight profile of the fixed- and rotary-wing. Obviously this feature provides several operational advantages (no need of runway, long endurance flight, hovering flight). But it also entails significant challenges as the hybrid dynamics during the transition between both operational modes.

Convertible Birotor

The proposed design aims to the mechanical simplicity, avoiding swashplate or variable-pitch rotors, as Boeign's Heliwing. Our goal is to design a low-cost convertible MAV that simplifies the maintenance/replacement as well as the experimental tests. The vertical regime of tailsitter configurations features an unstable nonlinear dynamics. Indeed, control algorithm must focus not only in stabilization but also in external disturbances due to wind gusts

v0.1 (2007)

Airframe: It is mainly composed of carbon fiber and a depron wing profile NACA0009

ECFS: This configuration shares the EFCS of the quadrotor v0.2 (2007). However the program is adapted to not only the output the brushless motors but also the control surfaces.

IMU: v0.2 (2007)

v0.1 (2005)

Airframe: It is mainly composed of carbon fiber and depron

ECFS: This configuration shares the EFCS of the quadrotor v0.1 (2005). However the program is adapted to not only the output the brushless motors but also the control surfaces.

IMU: IMU Quadcopter v0.1 (2005)

Single-tilting Rotor

This configuration features a single rotor that is tilted in function of the angle deviation from the horizontal, doing so provides a pendulum-like stabillity since the propeller's slipstream is controlled to remains vertical.