aerial vehicle
Stability and control properties of an aeroelastic fixed wing micro aerial vehicle
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Micro aerial vehicles have been the subject of considerable interest and development over the last several years. The majority of current vehicle concepts rely on rigid fixed wings or rotors. An alternate design based on an aeroelastic membrane wing concept has also
A distributed architecture for autonomous unmanned aerial vehicle experimentation
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The emerging area of intelligent unmanned aerial vehicle (UAV) research has shown rapid development in recent years and offers a great number of research challenges for distributed autonomous robotics systems. In this article, a prototype distributed
A mini unmanned aerial vehicle (UAV): system overview and image acquisition
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ABSTRACT In the last years UAV (Unmanned Aerial Vehicle)-systems became relevant for applications in precision farming and in infrastructure maintenance, like road maintenance and dam surveillance. This paper gives an overview about UAV (Unmanned Aerial
Simulation and flight control of an aeroelastic fixed wing micro aerial vehicle
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Abstract Micro aerial vehicles have been the subject of continued interest and development over the last several years. The majority of current vehicle concepts rely on rigid fixed wings or rotors. An alternate design based on an aeroelastic membrane wing has also been
Roadway traffic monitoring from an unmanned aerial vehicle
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ABSTRACT Roadway networks span large distances and can be difficult to monitor. Most efforts to collect roadway usage data either require a large fixed infrastructure or are labor intensive. Technological advances in electronics and communication have recently
Prospective unmanned aerial vehicle operations in the future national airspace system
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The Unmanned Aerial Vehicle (UAV) market is expected to grow dramatically by 2020, as military, civil and commercial applications continue to develop. The National Airspace System (NAS) is also expected to change significantly over the next 16 years, with the
Combined visual and inertial navigation for an unmanned aerial vehicle
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We describe an UAV navigation system which combines stereo visual odometry with inertial measurements from an IMU. Our approach fuses the motion estimates from both sensors in an extended Kalman filter to determine vehicle position and attitude. We present results
Performance and stability of ducted-fan uninhabited aerial vehicle model
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The nonlinear model of a novel ducted-fan uninhabited aerial vehicle is presented, where the aerodynamic coef cients are determined by numerical analysis of the ow eld about the airframe. The model is used to investigate performance and stability characteristics and to
Nonlinear control of a helicopter based unmanned aerial vehicle model
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ABSTRACT. In this paper, output tracking control of a helicopter based unmanned aerial vehicle model is investigated. First, based on Newton-Euler equations, a dynamical model is derived by considering the helicopter as a rigid body upon which a set of forces and
Multilevel variable fidelity optimization of a morphing unmanned aerial vehicle
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Designing morphing aircraft that can undergo drastic shape change presents many technological and computational challenges. Typical morphing aircraft problems tend to be multilevel in nature because of their geometrical state changes. Combining this multilevel
Micro aerial vehicle development: design, components, fabrication, and flight-testing
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ABSTRACT The design of micro aerial vehicles (MAVs) is currently hindered by the lack of a thorough understanding of the flow physics of very small aircraft flying at low speeds. Trial and error has been the most effective design tool in many cases, often leading to lengthy
Optimized unmanned aerial vehicle with wing morphing for extended range and endurance
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ABSTRACT Due to their current successes, unmanned aerial vehicles (UAVs) are becoming a standard means of collecting information. However, as their missions become more complex and require them to fly farther, UAVs can become large and expensive due to fuel needs.
Acquisition, orthorectification, and object-based classification of unmanned aerial vehicle(UAV) imagery for rangeland monitoring
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ABSTRACT The use of unmanned aerial vehicles (UAVs) for natural resource applications has increased considerably in recent years due to their greater availability, the miniaturization of sensors, and the ability to deploy a UAV relatively quickly and repeatedly at low altitudes.
Conceptual design and simulation of a small hybrid-electric unmanned aerial vehicle
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TR= thrust required, N ut= controller command signals VCruise= cruise speed, m= s or kn VEndurance= endurance speed, m= s or kn VStall= stall speed, m= s or kn W= weight of UAV, N or lbs WEmpty= empty weight, N or lbs WFuel= fuel weight, N or lbs W0= gross
From motion planning to control-a navigation framework for an autonomous unmannedaerial vehicle
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ABSTRACT The use of Unmanned Aerial Vehicles (UAVs) which can operate autonomously in dynamic and complex operational environments is becoming increasingly more common. While the application domains in which they are currently used are still predominantly
Rapid frequency-domain modeling methods for unmanned aerial vehicle flight control applications
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UNMANNED aerial vehicles (UAVs) have an ever increasing utility in both civil and military settings for a wide range of applications and missions. UAVs are often tasked to fly in difficult weather conditions, in the presence of obstacles, and close to populated areas much like
The impact of intelligent aiding for multiple unmanned aerial vehicle schedule management
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ABSTRACT There is increasing interest in designing systems such that the current many-to-one ratio of operators to unmanned vehicles (UVs) can be inverted. Instead of lower-level tasks performed by today’s UV teams, the sole operator would focus on high-level supervisory
6.7 MMAV-A MINIATURE UNMANNED AERIAL VEHICLE (MINI-UAV) FOR METEOROLOGICAL PURPOSES
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Micro Aerial Vehicles (MAV) form a comparably new area of aeronautical research. This type of aircraft is defined by take-off weights typically less than 500 g and very small dimensions, eg wingspans under 50 cm. Intense research is conducted worldwide to further reduce
Software-enabled receding horizon control for autonomous unmanned aerial vehicleguidance
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INTEREST in the use of unmanned aerial vehicles (UAVs) has grown significantly in the last decade. Currently most UAVs are used for military surveillance and reconnaissance in practice, but the range of possible civilian applications is also promising. Current UAV
Linear programming and language processing for human/unmanned-aerial-vehicle team missions
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This paper presents a manned-vehicle/unmanned-aerial-vehicle (UAV) mission system that enables an operator in a manned aircraft to issue mission level commands to an autonomous aircraft in real time. A natural language interface allows the manned and
An operator function taxonomy for unmanned aerial vehicle missions
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This paper details a taxonomy generated for unmanned aerial vehicle (UAV) missions. Specifically, we examine the primary functions that a human operator would perform for a particular UAV mission within this taxonomy, including mission planning, management,
Simulated flight testing of an autonomous unmanned aerial vehicle using flightgear
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Small, low-cost, unmanned aerial vehicles (UAVs) are increasingly used by commercial organizations, researchers, and the military to perform a variety of missions. In many cases, these UAVs have on-board autopilots capable of autonomous flight. However, due to their
Words at the right time: Real-time dialogues with the witas unmanned aerial vehicle
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The WITAS project addresses the design of an intelligent, autonomous UAV (Unmanned Aerial Vehicle), in our case a helicopter. Its dialogue-system subprojects address the design of a deliberative system for natural-language and graphical dialogue with that robotic UAV
Tail-sitter vertical takeoff and landing unmanned aerial vehicle: transitional flight analysis
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A new design for a tail-sitter vertical takeoff and landing unmanned aerial vehicle was proposed. A nonlinear mathematical model of the vehicle dynamics was constructed by combining simple estimation methods. The flight characteristics were revealed through a
Position and orientation of an aerial vehicle through chained, vision-based pose reconstruction
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While a Global Positioning System (GPS) is the most widely used sensor modality for aircraft navigation, researchers have been motivated to investigate other navigational sensor modalities because of the desire to operate in GPS denied environments. Due to
Hardware-in-loop simulator for mini aerial vehicle
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ABSTRACT Hardware-In-Loop-Simulator (HILS) is an important step in system design development. In the present work a systematic approach has been adopted in creating the HILS for autonomous navigation of a Mini Aerial Vehicle (MAV). The issues addressed in
Design of an unmanned aerial vehicle for ecological conservation
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T is a well known fact that, in recent years, advanced technology has been applied to the development of aircraft able to operate without crew, under extreme or limiting conditions for the human being. The use of this technology has become essential in many countries
Flight trials of a rotorcraft unmanned aerial vehicle landing autonomously at unprepared sites
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ABSTRACT This paper describes the flight testing and evaluation of technologies for the autonomous landing of a Yamaha RMAX helicopter at non-cooperative sites without the aid of GPS. The Yamaha RMAX used for these flight trials has been modified to include stereo
Development of an unmanned aerial vehicle piloting system with integrated motion cueing for training and pilot evaluation
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ABSTRACT UAV accidents have been steadily rising as demand and use of these vehicles increases. A critical examination of UAV accidents reveals that human error is a major cause. Advanced autonomous systems capable of eliminating the need for human piloting
Situation identification by unmanned aerial vehicle
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An approach to a multi-facet task of situation identification by Unmanned Aerial Vehicle (UAV) is presented. The concept of multi-layered identi. cation system based on soft computing approach to reasoning with incomplete, imprecise or vague information is
LinkMAV, a prototype rotary wing micro aerial vehicle
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ABSTRACT This paper provides an overview oabout the design of the LinkMAV rotary wing autonomous Micro Aerial Vehicle. The paper describes the flying platform, the main problems related to aerodynamics and propulsion, the onboard avionics and the flight
A baro-altimeter augmented INS/GPS navigation system for an uninhabited aerial vehicle
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ABSTRACT This paper presents the results of augmenting an INS/GPS navigation system with a barometric altimeter for an autonomous Uninhabited Aerial Vehicle (UAV). The INS/GPS system was designed using a loosely coupled integration architecture that
Using obstacle analysis to identify contingency requirements on an unpiloted aerial vehicle
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ABSTRACT This paper describes the use of Obstacle Analysis to identify anomaly handling requirements for a safety-critical, autonomous system. The software requirements for the system evolved during operations due to an on-going effort to increase the autonomous
Full mission simulation of a rotorcraft unmanned aerial vehicle for landing in a non-cooperative environment
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ABSTRACT This paper describes the development and testing of an integrated simulation environment for the autonomous landing of a rotorcraft unmanned aerial vehicle at non- cooperative sites without the aid of GPS. The simulation includes a graphical display
GSM technology as a communication media for an autonomous unmanned aerial vehicle
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ABSTRACT Unmanned Aerial Vehicles (UAVs) are becoming more reliable, autonomous and easier to use with great potential for commercial use in common airspace in the near future. Though autonomous UAVs often do not rely on communication links with the
High altitude long endurance unmanned aerial vehicle of a new generation–a design challenge for a low cost, reliable and high performance aircraft
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ABSTRACT. This paper describes a design process of HALE PW-114 sensor-craft, developed for high altitude (20 km) long endurance (40 h) surveillance missions. Designed as a blended wing (BW) configuration, to be made of metal and composite materials. Wing
Hardware-in-the-loop simulation design for evaluation of unmanned aerial vehicle control systems
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This paper discusses the construction and testing of hardware-in-the-loop simulations using a commercial software simulation package and a custom-designed simulation. It discusses the process of integrating an avionics computer with Unmanned Aerial Vehicle (UAV)
Control system development and flight test experience with the MQ-8B fire scout vertical take-off unmanned aerial vehicle (VTUAV)
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ABSTRACT This paper describes the control system development of the MQ-8B Fire Scout autonomous helicopter. It includes a discussion of the system identification process and some details on implementing the identification output into a six degree of freedom
Numerical simulation of flow around the Colorado micro aerial vehicle
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Micro aerial vehicles (MAVs) are distinguished by their small size, low aspect ratio, and low velocity. As a result, MAVs fly at low Reynolds number flow regimes with significant drag characteristics and strong tip vortices. This investigation is focused on the aerodynamic
A procedure for orthorectification of sub-decimeter resolution imagery obtained with an unmanned aerial vehicle (UAV)
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ABSTRACT Digital aerial photography acquired with unmanned aerial vehicles (UAVs) has great value for resource management due to flexibility and relatively low cost for image acquisition. The very high resolution imagery (5 cm) allows for mapping bare soil and
Development of Autonomous Unmanned Aerial Vehicle Research Platform: Modeling, Simulating, and Flight Testing
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Page 1. DEVELOPMENT OF AUTONOMOUS UNMANNED AERIAL VEHICLE RESEARCH PLATFORM: MODELING, SIMULATING, AND FLIGHT TESTING THESIS Nidal M. Jodeh, Captain, USAF AFIT/GAE/ENY/06-M18 DEPARTMENT OF THE AIR FORCE AIR UNIVERSITY
Embedding a reactive tabu search heuristic in unmanned aerial vehicle simulations
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ABSTRACT We apply a Reactive Tabu Search (RTS) heuristic within a discrete event simulation to solve routing problems for Unmanned Aerial Vehicles (UAVs). Our formulation represents this problem as a multiple Traveling Salesman Problem with time windows (
Development of autonomous cargo transport for an unmanned aerial vehicle using visual servoing
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ABSTRACT This paper presents the design and testing of systems for autonomous tracking, payload pickup, and deployment of cargo via a UAV helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop velocity control of a 3DOF gantry
An investigation into the suitability of the use of unmanned aerial vehicle systems (UAVS) to support the initial needs assessment process in rapid onset humanitarian
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In the aftermath of any disaster situation, achieving an accurate and timely needs assessment is the key to the efficiency and effectiveness of the subsequent logistic response. However, in the light of the inevitable disruption to both the physical and
Role of information and communication in redefining unmanned aerial vehicle autonomous control levels
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Autonomous mission control, unlike automatic mission control which is generally pre- programmed to execute an intended mission, is guided by the philosophy of carrying out a complete mission on its own through online sensing, information processing, and control
Performance and stability analysis of a shrouded-fan unmanned aerial vehicle
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PERFORMANCE and stability calculation of a shrouded-fan un-manned aerial vehicle (UAV) is a very difficult task for various reasons. One of these is related to the intensive aerodynamic interaction between shroud and rotors1, 2 that, because of the large
Development of an autonomous aerial vehicle: A case study
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This paper describes the design, development, and deployment of an unmanned autonomous aerial vehicle developed at the Georgia Institute of Technology during 1990– 1991. The approach taken, the system architecture, and the embedded intelligence of the
Statistical analysis of multiple optical flow values for estimation of unmanned aerial vehicle height above ground
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ABSTRACT For a UAV to be capable of autonomous low-level flight and landing, the UAV must be able to calculate its current height above the ground. If the speed of the UAV is approximately known, the height of the UAV can be estimated from the apparent motion of
Object tracking in unmanned aerial vehicle (uav) videos using a combined approach
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ABSTRACT UAV videos are difficult to process because of fast abrupt motion, low resolution, noisy imagery, cluttered background, low contrast, and small target size. In particular, object size varies from several to thousands pixels in different videos, which is difficult to handle
Observations of sea ice using a low-cost unpiloted aerial vehicle
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ABSTRACT Routine observations of sea ice conditions present a variety of problems for piloted aircraft. Unpiloted Aerial Vehicles (UAVs) can provide a relatively low-cost platform that operates with little risk while offering many of the benefits of inhabited aircraft. One
Experimental characterization of propulsion system for mini aerial vehicle
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ABSTRACT In recent times, mini and micro aerial vehicles have shown significant potential as miniature unmanned aircraft for surveillance and reconnaissance purposes. Selection of correct combination of engine and propeller is very crucial step in the design of this class
A node-to-node composite graph and pseudo-Boolean modelling: an unmanned aerial vehicleenergy application
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Unmanned aerial vehicles (UAV) have been gaining momentum in recent years because of their vast application areas in the defence and civilian sectors. Their use can result in future missions to be more effective while also be conducted in a safer manner. UAVs, due to
Power Transmission to a Micro Aerial Vehicle
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I. Introduction t the University of Tokyo,Innovative Aerial Robot Project focusing on Unmanned/Micro Aerial Vehicles is being carried out as a part of the Japanese 21st century COE program. Microwave power transmission to a Micro Aerial Vehicle has been studied
Atmospheric considerations for uninhabited aerial vehicle (UAV) flight test planning
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ABSTRACT Atmospheric considerations are a key element in support of uninhabited aerial vehicle (UAV) flight testing. The local atmospheric environment (wind speed and direction, wind shear, temperature, precipitation, and turbulence) must be characterized and
Neural Adaptive Flight Control Testing on an Unmanned Experimental Aerial Vehicle
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Unmanned Aerial Vehicles have demonstrated potential as being effective platforms for supporting scientific and exploratory missions. They are capable of performing long endurance flights, and reaching remote areas that may be too dangerous for humans. As
Active multiple winglets for improved unmanned-aerial-vehicle performance
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AS the aerospace industry has matured, interest in biological-based concepts to improve flight has revived. Of particular interest has been the practically of winglets to improve a vehicle’s cruise performance. Richard Whitcomb at NASA Langley Research Center is
Towards autonomous cargo deployment and retrieval by an unmanned aerial vehicle using visual servoing
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ABSTRACT This paper presents the design and implementation of systems for autonomous tracking, payload pickup, and deployment of a 1/10th scale RC vehicle via a UAV helicopter. The tracking system uses a visual servoing algorithm and is tested using open loop
Quad-rotor Unmanned Aerial Vehicle
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Executive Summary Unmanned aerial vehicles are aircrafts capable of flight without an on- board operator. Such vehicles can be controlled remotely by an operator on the ground, or autonomously via a pre-programmed flight path. UAVs are already being used by the
Modeling of the Nonlinear Dynamic Behavior of a Micro-Aerial-Vehicle (MAV) in an Environment of a Turbulent Atmosphere
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ABSTRACT This paper describes the nonlinear modeling of the six degrees of freedom motion of a Micro Aerial Vehicle (MAV) in a turbulent atmosphere, and presents the results. The Institute of Aerospace Systems of the Technical University of Braunschweig (Germany) is
Wind Tunnel Experiments and CFD Analysis of Blended Wing Body (BWB) Unmanned Aerial Vehicle (UAV) at Mach 0.1 and Mach 0.3
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ABSTRACT This paper discusses the aerodynamics behavior of a baseline design of a Blended Wing Body (BWB) aircraft developed at MARA University of Technology (UiTM). Two methods of analysis are presented, ie Steady-state, three-dimensional Computational
Neural network based feedback linearization control of an unmanned aerial vehicle
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ABSTRACT This paper presents a flight control design for an unmanned aerial vehicle (UAV) using a nonlinear autoregressive moving average (NARMA-L2) neural network based feedback linearization and output redefinition technique. The UAV investigated is non-
Aerodynamic modeling and performance analysis of a shrouded-fan unmanned aerial vehicle
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ABSTRACT This paper deals with the estimation of the aerodynamic coefficients and performance analysis for a shrouded-fan unmanned aircraft. The complexity of the flow around this kind of vehicles in conjunction with the strong interaction between fan flow and
Tilt duct vertical takeoff and landing uninhabited aerial vehicle concept design study
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VERTICAL takeoff and landing (VTOL) capability brings many operational benefits to an aircraft. Whereas conventional transportation depends on airports and long, paved runways, VTOL can be performed in a quite compact area. VTOL aircraft offers a compromise
Unmanned Aerial Vehicle Research at Monash University
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Summary: Research related to unmanned aerial vehicles (UAVs) has become very popular within universities globally largely because of the wide range of engineering challenges they pose. Other researchers are interested in the use of UAVs in support of their own
Control design for unmanned aerial vehicle swarming
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The collective behaviour observed in many social insects and animals provides the inspiration for the development of multi-vehicle control systems. The distributed nature of the multi-vehicle control problem enhances the performance of the collective system along the
Development of unmanned aerial vehicle (UAV) for wildlife surveillance
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ACKNOWLEDGMENTS I have many people to thank for their assistance. I have confronted many difficulties during my academic career. However, I could not have overcome such difficulties without their support and help. In particular I am greatly indebted to my adviser,
Analysis of image sequences for the Unmanned Aerial Vehicle
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A method for extracting relevant information from image sequence data is presented. The image sequences, being output of video system of the Unmanned Aerial Vehicle, are analysed with use of EM-clustering techniques and Rough Set based methods. The
Inflight rerouting for an unmanned aerial vehicle
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of nonoverlapping useful vicinities of the reconnaissance sites, S, and the 3D space over them was represented using a discrete graph-model. Here, we consider two cases in
MM-UAV: Mobile manipulating unmanned aerial vehicle
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ABSTRACT Given significant mobility advantages, UAVs have access to many locations that would be impossible for an unmanned ground vehicle to reach, but UAV research has historically focused on avoiding interactions with the environment. Recent advances in
Validation of an unmanned aerial vehicle operator selection system
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ABSTRACT The purpose of this study was to validate selection performance standards for the screening of candidates for entrance into the US Navy and Marine Corps Unmanned Aerial Vehicle (UAV) Pioneer Pilot training program. A minimum Pioneer crew consists of an
Planning algorithms for autonomous aerial vehicle
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ABSTRACT Planning function is essential for increasing the autonomy of aerial systems. This paper presents some improvements dedicated to the management of degraded events in an existing control architecture. These events may start an online replanning. In a military <
Demonstration of submarine control of an unmanned aerial vehicle
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Imagine the benefit of giving a forward-deployed fast-attack submarine operating in the shallow littoral zone a 25,000-ft-high, movable periscope (say, out to 100 nmi from the submarine). The stealthy submarine would now be able to extend its eyes far out to sea
Vision-Based Following of Structures Using an Unmanned Aerial Vehicle (UAV)
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ABSTRACT Inspecting and monitoring oil-gas pipelines, roads, bridges, canals are very important in ensuring the reliability and life expectancy of these civil systems. An autonomous Unmanned Aerial Vehicle (UAV) can decrease the operational costs,
A passive dynamic approach for flapping-wing micro-aerial vehicle control
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ABSTRACT This article outlines a new control approach for flapping-wing micro-aerial vehicles (MAVs), inspired both by biological systems and by the need for lightweight actuation and control solutions. In our approach, the aerodynamic forces required for agile
Unmanned Aerial Vehicle (UAV) operated spectral camera system for forest and agriculture applications
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ABSTRACT VTT Technical Research Centre of Finland has developed a Fabry-Perot Interferometer (FPI) based hyperspectral imager compatible with the light weight UAV platforms. The concept of the hyperspectral imager has been published in the SPIE Proc.
Control of a miniducted-fan unmanned aerial vehicle using active flow control
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Therefore, the UAV’s propulsion and control systems are reduced to a single moving part, a xed pitch propeller. This mechanical simplicity makes the active ow control application particularly attractive for development of mini-and micro-UAVs. The directional and
Trajectory tracking controller design using neural networks for a tiltrotor unmanned aerial vehicle
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This article presents a design of trajectory tracking controller for a tiltrotor unmanned aerial vehicle (UAV). The objective of this design is to control the tiltrotor aircraft with one fixed controller architecture for all flight modes, viz. helicopter mode, conversion mode, and
Fractional order control of an unmanned aerial vehicle (UAV)
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ABSTRACT This paper deals with the trajectory control problem for a rotary-wing nonlinear vehicle model. The control of this kind of systems is one of the most challenging and attractive research areas. The design scheme presented is based on the use of fractional
The University of Texas at Arlington Autonomous Aerial Vehicle-An overview
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This paper reports on the status of The University of Texas at Arlington student effort to design, build and fly an Autonomous Aerial Vehicle. Both the 1991 entry into the First International Aerial Robotics Competition as well as refinements being made for 1992 are
PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision
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ABSTRACT We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. The main contribution is a MAV system that is able to run both the vision-based flight control and stereo-vision-based
Design and test of flight control laws for the Kaman BURRO unmanned aerial vehicle
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ABSTRACT A flight control system was developed for an unmanned vehicle based on the Kaman K-MAX helicopter. The initial design was based on an 8-DOF linear state-space aircraft model extracted from flight test data. The aircraft dynamics were combined with
Micro-Aerial Vehicle Design with Low Reynolds Number Airfoils
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ABSTRACT The goal of this project was to design, build and test a Micro-Aerial Vehicle (MAV) for competition in the 2002 International MAV Competition at Brigham Yound University. Topics researched include: gas and electric propulsion, low Reynolds Number
Design, Analysis and Experimental Modal Testing of a Mission Adaptive Wing of an Unmanned Aerial Vehicle
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ABSTRACT The mission adaptive wings aim to overcome the inefficient behaviour of the classical fixed wings, especially for the off-design conditions, by changing their geometry actively to adopt to changing flight conditions for maximized performance. This study
Design and Development of a Low Altitude Unmanned Aerial Vehicle
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ABSTRACT The activities concerning the development of an advanced composite, low altitude Unmanned Aerial Vehicle for civilian applications are presented. The project is co-ordinated by the Dipartimento di Progettazione Aeronautica (DPA) of the University of Naples
Development and conversion flight test of a small tiltrotor unmanned aerial vehicle
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THE tiltrotor configuration was selected as the unmanned aerial vehicle (UAV) platform for the Smart UAV (SUAV) development program, which is one of the 21st Frontier research and development programs supported by the Korean government . Some of the subsystems
The dynamic model of a combat target homing system of an unmanned aerial vehicle
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The work presents the concept of the application of an unmanned aerial vehicle (UAV) used in the process of direct reaching of ground targets (radio location stations, combat vehicles or even tanks). The kinematic model of UAV motion takes into consideration particular