Runway-less take-off and landing for fixed wing UAVs

本博士将通过使用受控机器人无人机能量吸收和减速装置，探索固定翼无人机精确点着陆和发射的新模式。固定翼飞机在飞行耐力，有效载荷能力和能源效率方面比多旋翼飞机具有显着优势。但是，它们需要的跑道使其不可能用于城市无人机应用。其目的是研究和开发固定翼无人机的无跑道起飞和降落方法，从而改变包裹运输，基础设施检查和监视等应用。混合FW VTOL解决方案已被提出，但额外的重量，复杂性和效率的惩罚负面影响FW无人机的理想能力。这项研究需要高度的飞行自主权，这将我们的研究项目“UKRI值得信赖的自主系统验证节点”联系起来，重点是为自主系统领域的验证研究提供一个焦点，与国家和国际倡议联系起来。TAS节点旨在确保开发人员能够为动态环境设计值得信赖的自治系统，并提供其可信度的证据。目标：A）对无人机机器人减速系统进行分析、高保真度优化和仿真。B）设计、分析、物理建模和评估（按比例）能量耗散系统，使不希望的惯性，摩擦和静摩擦效应最小化。C）设计，分析，物理建模与评价D）在无人机系统着陆期间对主动减速系统进行全尺寸模拟，并结合真实的世界验证的致动器模型。E）对所开发的方法进行验证实验飞行测试。成功措施：物理演示我们的受控能量吸收系统以1：4的比例（25%能量）施加约5g的减速[约5 kg，16 m/s速度，1.5m距离，~ 650 J能量]。在高保真模拟中，结合基于1：4比例实验平台的真实、经验证的物理致动器模型，在1翼展范围内演示峰值减速度~5g

This PhD will explore new paradigms in precision point-landing and launch of fixed wing unmanned aircraft, through employing controlled robotic UAV energy absorption and deceleration devices.Fixed wing (FW) aircraft have significant advantages over multirotor aircraft in terms of flight endurance, payload capacity and energy efficiency. But, they require runways that make their use impossible for urban UAV applications. The aim is to research and develop runway-less take-off and landing methods for fixed wing UAVs and therefore transforming applications such as parcel shipping, infrastructure inspection and surveillance. Hybrid FW VTOL solutions have been proposed however the additional weight, complexity and efficiency penalties negatively impact the desirable capabilities of FW UAVs.This research requires a high level of flight autonomy which links our research project "UKRI Trustworthy Autonomous Systems Verifiability Node" focused on providing a focal point for verification research in the area of autonomous systems, linking to national and international initiatives. The TAS Node aims to ensure developers can design trustworthy autonomous systems for dynamic environments and provide evidence of their trustworthiness.Objectives: A) Perform analysis, high fidelity optimization and simulation of a UAV robotic deceleration system.B) Devise, analyse, physically model and evaluate (at scale) energy dissipation systems that minimize undesirable inertial, frictional and stiction effects.C) Devise, analyse, physically model and evaluate (at scale) launch systems that can be paired with the energy dissipation system.D) Undertake full-scale simulation of active deceleration system during a UAS landing, incorporating a real world validated actuator model.E) Conduct validation experimental flight tests for the developed methods.Success Measures: Physically demonstrate our controlled energy absorption system exerting ~5g deceleration, at 1:4 scale (at 25% energy) [~5kg, 16 m/s vel., 1.5m distance, ~650J energy]. In high fidelity simulation, demonstrate peak deceleration ~5g over 1 wingspan incorporating a realistic, validated physical actuator model based on 1:4 scale experimental platform