Abstract:
Utilizing the core technologies of emerging microrobotic structures, the rapid design and prototyping of a passive micro air vehicle with the final goal of locating an au...Show MoreMetadata
Abstract:
Utilizing the core technologies of emerging microrobotic structures, the rapid design and prototyping of a passive micro air vehicle with the final goal of locating an audio source while avoiding hazardous obstacles is presented. The airfoil and control surfaces are optimized empirically to maximize lift and maneuverability while minimizing drag. Bimorph piezoelectric bending cantilevers actuate the control surfaces. Since such actuators require high voltages, an efficient boost circuit is presented along with appropriate high voltage electronics. To locate audio sources, a pair of acoustic sensors is designed and prototyped using a phase detection algorithm while a custom optic flow sensor is developed to avoid obstacles and give estimates of object distances and velocities. Finally, each subsystem is demonstrated and the complete glider is integrated to demonstrate initial open loop control performance.
Date of Conference: 06-10 November 2005
Date Added to IEEE Xplore: 16 January 2006
Print ISBN:0-7803-9252-3
Print ISSN: 1553-572X
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- High Voltage ,
- Optical Sensors ,
- Optical Flow ,
- Control Surface ,
- Piezoelectric Actuator ,
- Air Vehicles ,
- Micro Air Vehicles ,
- Image Processing ,
- Phase Difference ,
- Microphone ,
- Pulse Wave ,
- Far-field ,
- Drag Force ,
- Phase-locked ,
- Sound Source ,
- Obstacle Avoidance ,
- Sound Localization ,
- Phase-locked Loop ,
- Wind Tunnel ,
- Control Board ,
- Lift Force ,
- Boost Converter ,
- Flight Control ,
- Flight Simulator ,
- Angle Of Attack ,
- Lift Coefficient
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- High Voltage ,
- Optical Sensors ,
- Optical Flow ,
- Control Surface ,
- Piezoelectric Actuator ,
- Air Vehicles ,
- Micro Air Vehicles ,
- Image Processing ,
- Phase Difference ,
- Microphone ,
- Pulse Wave ,
- Far-field ,
- Drag Force ,
- Phase-locked ,
- Sound Source ,
- Obstacle Avoidance ,
- Sound Localization ,
- Phase-locked Loop ,
- Wind Tunnel ,
- Control Board ,
- Lift Force ,
- Boost Converter ,
- Flight Control ,
- Flight Simulator ,
- Angle Of Attack ,
- Lift Coefficient