Author
Murat Bronz
Other affiliations: University of Toulouse, École Normale Supérieure
Bio: Murat Bronz is an academic researcher from École nationale de l'aviation civile. The author has contributed to research in topics: Propeller & Airspeed. The author has an hindex of 12, co-authored 62 publications receiving 440 citations. Previous affiliations of Murat Bronz include University of Toulouse & École Normale Supérieure.
Topics: Propeller, Airspeed, Computer science, Propulsion, Aerodynamics
Papers
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12 Aug 2014TL;DR: An overview of the Paparazzi UAV system and its recent use in scientific research is presented.
Abstract: This paper presents an overview of the Paparazzi UAV system and its recent use in scientific research. Paparazzi is an open-source project that aims at providing a complete solution to fly fixedwing aircraft and rotorcrafts. Several hardware boards and sensors are also developed within the project. Since several years, it has been used by various institutes for scientific research. The recent use on scientific research for meteorological studies is presented as an example.
84 citations
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01 Sep 2017TL;DR: The new era of small UAVs necessitates intelligent approaches towards the issue of fault diagnosis to ensure a safe flight, and an approach of implementing machine learning practices to diagnose faults on a small fixed-wing is selected.
Abstract: The new era of small UAVs necessitates intelligent approaches towards the issue of fault diagnosis to ensure a safe flight. A recent attempt to accommodate quite a number of UAVs in the airspace requires to assure a safety level. The hardware limitations for these small vehicles point the utilization of analytical redundancy rather than the usual practice of hardware redundancy in the conventional flights. In the course of this study, fault detection and diagnosis for aircraft is reviewed. An approach of implementing machine learning practices to diagnose faults on a small fixed-wing is selected. The selection criteria behind is that, data-driven fault diagnosis enables avoiding the burden of accurate modeling needed in model-based fault diagnosis. In this study, first, a model of an aircraft is simulated. This model is not used for the design of Fault Detection and Diagnosis (FDD) algorithms, but instead utilized to generate data and test the designed algorithms. The measurements are simulated using the statistics of the hardware in the house. Simulated data is opted instead of flight data to isolate the probable effects of the controller on the diagnosis, which will complicate this preliminary study on FDD for drones. A supervised classification method, SVM (Support Vector Machines) is used to classify the faulty and nominal flight conditions. The features selected are the gyro and accelerometer measurements. The fault considered is loss of effectiveness in the control surfaces of the drone. Principle component analysis is used to investigate the data by reducing the feature space dimension. The training is held offline due to the need of labeled data. The results show that for simulated measurements, SVM gives very accurate results on the classification of loss of effectiveness fault on the control surfaces.
39 citations
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TL;DR: In this article, a conceptual design and performance analysis method for long-endurance mini-micro UAVs is presented, and a real mission is also explained, whose objective is to accomplish a 200 km straight line flight autonomously with the smallest electric platform possible.
Abstract: A conceptual design and performance analysis method (Long Endurance Conceptual Design Program) for long-endurance mini-micro UAVs is presented. Recent long endurance oriented results and achievements are looked through for possible usage for mini-micro scale. A real mission is also explained, whose objective is to accomplish a 200 km straight line flight autonomously with the smallest electric platform possible. Design phases of the platform by using the presented method, flight tests and comparison of the results are included. On the following section a design study for long-endurance MAVs using a hybrid energy system combining solar energy and Lithium batteries and the effect of size and cruise speed are investigated. We demonstrate that under a certain size, the use of solar energy becomes not useful at all. We conclude with the study of a candidate design for EMAV09 Endurance Mission in the light of the rules and scoring of the mission.
33 citations
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TL;DR: In this paper, an incremental nonlinear dynamic inversion control for the attitude and position control of a hybrid UAV is proposed. And the proposed controller can track the desired acceleration of the vehicle across the flight envelope.
Abstract: Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control, because their aerodynamics are hard to model and they are susceptible to wind gusts. This often leads to composite and complex controllers, with different modes for hover, transition and forward flight. In this paper, we propose incremental nonlinear dynamic inversion control for the attitude and position control. The result is a single, continuous controller, that is able to track the desired acceleration of the vehicle across the flight envelope. The proposed controller is implemented on the Cyclone hybrid UAV. Multiple outdoor experiments are performed, showing that unmodeled forces and moments are effectively compensated by the incremental control structure. Finally, we provide a comprehensive procedure for the implementation of the controller on other types of hybrid UAVs.
31 citations
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01 Sep 2017TL;DR: An algorithm for stabilizing circular formations of fixed-wing UAVs with constant speeds based on the idea of tracking circles with different radii is proposed, which proves that the origin of the error dynamics of the inter-vehicle phases is exponentially stable.
Abstract: In this paper we propose an algorithm for stabilizing circular formations of fixed-wing UAVs with constant speeds. The algorithm is based on the idea of tracking circles with different radii in order to control the inter-vehicle phases with respect to a target circumference. We prove that the origin of the error dynamics of the inter-vehicle phases is exponentially stable. Furthermore, thanks to the stability properties of the guidance vector field that guides the vehicles, the algorithm can be extended to other closed trajectories. One of the main advantages of this approach is that the algorithm guarantees the confinement of the team in a specific area, even when communications or sensing among vehicles are lost. We show the effectiveness of the algorithm with an actual formation flight of three aircraft. The algorithm is ready to use for the general public in the open-source Paparazzi autopilot.
27 citations
Cited by
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TL;DR: There is, I think, something ethereal about i —the square root of minus one, which seems an odd beast at that time—an intruder hovering on the edge of reality.
Abstract: There is, I think, something ethereal about i —the square root of minus one. I remember first hearing about it at school. It seemed an odd beast at that time—an intruder hovering on the edge of reality.
Usually familiarity dulls this sense of the bizarre, but in the case of i it was the reverse: over the years the sense of its surreal nature intensified. It seemed that it was impossible to write mathematics that described the real world in …
33,785 citations
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TL;DR: This review paper identifies a novel classification of flying drones that ranges from unmanned air vehicles to smart dusts at both ends of this spectrum, with their new defined applications.
828 citations
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01 Jul 1992151 citations
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02 Apr 2020
TL;DR: Using systems of multiple UAVs is the next obvious step in the process of applying this technology for variety of applications.
Abstract: Nowadays, Unmanned Aerial Vehicles (UAVs) are used in many different applications. Using systems of multiple UAVs is the next obvious step in the process of applying this technology for variety of ...
135 citations
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TL;DR: A review of the current state of the art and identifying the challenges of design and fabrication of micro-and nano-air vehicles is provided in this article. But the main advantages and drawbacks for each typology are identified and discussed.
Abstract: Micro- and nano air vehicles are defined as “extremely small and ultra-lightweight air vehicle systems” with a maximum wingspan length of 15 cm and a weight less than 20 grams. Here, we provide a review of the current state of the art and identify the challenges of design and fabrication. Different configurations are evaluated, such as fixed wings, rotary wings, and flapping wings. The main advantages and drawbacks for each typology are identified and discussed. Special attention is given to rotary-wing vehicles (helicopter concept); including a review of their main structures, such as the airframe, energy storage, controls, and communications systems. In addition, a review of relevant sensors is also included. Examples of existing and future systems are also included. Micro- and nano-vehicles with rotary wings and rechargeable batteries are dominating. The flight times of current systems are typically around 1 hour or less due to the limited energy storage capabilities of the used rechargeable batteries. Fuel cells and ultra capacitors are promising alternative energy supply technologies for the future. Technology improvements, mainly based on micro- and nanotechnologies, are expected to continue in an evolutionary way to improve the capabilities of future micro- and nano air vehicles, giving improved flight times and payload capabilities.
129 citations