Collaborative Research: A Solar-Powered Aerial Transformer for Enhanced Mobility and Endurance

在这个机器人基础研究(FRR)项目下，来自塔斯基吉大学和普渡大学的一组研究人员将研究折纸结构，为无人机(UAV)创造可伸展的机翼，四个万向节螺旋桨能够在旋翼机模式下垂直操作，或在固定翼模式下水平操作。机翼的伸展和缩回总是在旋翼机模式下进行，分别是在螺旋桨万向节之前或之后。形状变形能力将允许安装在机翼表面的太阳能电池延长固定翼的运行时间，同时提高灵活性并降低旋翼机飞行中对阵风的脆弱性。该项目还将创建用于飞行控制和任务规划的相关算法，以在机翼伸展和缩回期间稳定旋翼飞行器模式，在螺旋桨万向节期间稳定飞机，并根据任务要求、特征和约束设置旋翼机和固定翼飞行剖面和过渡点。许多无人机任务将受益于延长的作战时间，多功能，以及形状变形的机翼和太阳能电池带来的更高的机动性。其中包括监视和侦察、搜救和精准农业。将进行实验，以演示和优化新车在各种现实目标和条件下的性能。此外，联合教育活动将为两所大学的教职员工和学生创造交流和合作的渠道，为塔斯基吉大学航空科学工程系和普渡大学航空航天系之间持续和扩大的伙伴关系奠定基础。这项研究解决的技术挑战是，延长任务时间需要高表面积来安装光伏电池，然而高表面积对应于高空气动力扰动力，这可能会压倒飞机在旋翼机模式下的能力。研究中探索的解决方案是使用基于Miura折叠图案的变形机翼，这种折叠式机翼延伸用于固定翼操作，缩回用于旋翼机操作。可以利用Miura折叠图案的特征来实现相当于副翼、襟翼和板条的操纵面。该研究方法包括设计太阳能电池板与混合无人机的集成平台，开发形状变形机翼的制导和驱动策略，实施用于有效旋翼转换的学习控制律，以及建立系统性能评估的阶梯程序。为了提高复杂系统设计的计算效率和可扩展性，采用了优化算法。支持学习的控制框架能够在减少数据训练要求的情况下实现实时最优控制。通过这些技术努力，该项目寻求对未来无人驾驶航空系统的安全性、减少人力、能源节约和洞察力产生重大影响。该奖项反映了NSF的法定使命，并通过使用基金会的智力优势和更广泛的影响审查标准进行评估，被认为值得支持。

Under this Foundational Research in Robotics (FRR) project, a team of researchers from Tuskegee University and Purdue University will investigate origami structures to create extendable wings for unpiloted aerial vehicles (UAVs), with four gimballed propellors capable of operating vertically in rotorcraft mode or horizontally in fixed-wing mode. Wing extension and retraction is always performed in rotorcraft mode, respectively just before or just after gimballing of the propellors. The shape-morphing capability will allow solar cells mounted on the wing surfaces to prolong fixed-wing operations, while enhancing agility and reducing vulnerability to wind gusts in rotorcraft flight. The project will also create associated algorithms for flight control and mission planning, to stabilize the rotorcraft mode during wing extension and retraction, to stabilize the aircraft during propellor gimballing, and to set rotorcraft and fixed-wing flight profiles and transition points based on mission requirements, characteristics, and constraints. Many UAV missions will benefit from the extended operational time, multifunctionality, and increased mobility conferred by the shape morphing wing and solar cells. These include surveillance and reconnaissance, search and rescue, and precision agriculture. Experiments will be conducted to demonstrate and optimize the performance of the new vehicle under a variety of realistic objectives and conditions. Additionally, joint educational activities will create communication and collaboration channels for faculty and students from both universities, laying the foundation for a continued and expanded partnership between the Tuskegee University Aerospace Science Engineering Department and the Purdue University Aeronautics and Astronautics Department.The technical challenge addressed by this research is that extending mission times requires a high surface area for mounting photovoltaic cells, however high surface areas correspond to high aerodynamic disturbance forces that may overwhelm the capabilities of the aircraft in rotorcraft mode. The solution explored in the research is to use morphing wings based on Miura folding patterns that extend for fixed wing operation and retract for rotorcraft operation. Features of the Miura fold patterns may be exploited to implement control surfaces equivalent to ailerons, flaps, and slats. The research approach encompasses design of a platform for integrating solar panels with hybrid UAVs, development of guidance and actuation strategies for a shape-morphing wing, implementation of learning-enabled control laws for efficient rotor conversion, and the establishment of a laddered procedure for system performance evaluation. Optimization algorithms are employed to improve computational efficiency and scalability for complex system design. The learning-enabled control framework enables real-time optimal control with reduced data training requirements. Through these technical efforts, the project seeks to have a significant impact on safety, reduced manpower, energy savings, and insights for future unmanned aerial systems.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.