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

本博士将通过使用可控的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定点着陆和发射的新范式。固定翼飞机在飞行耐久性、有效载荷能力和能源效率方面比多旋翼飞机具有显著优势。但是，它们需要跑道，这使得它们不可能用于城市无人机应用。其目标是研究和开发固定翼无人机的无跑道起降方法，从而改变包裹运输、基础设施检查和监视等应用。混合FW VTOL解决方案已经被提出，然而额外的重量、复杂性和效率惩罚对FW无人机的期望能力产生了负面影响。这项研究需要高度的飞行自主性，它与我们的研究项目UKRI可信自主系统可验证性节点相联系，重点是为自主系统领域的验证研究提供一个焦点，与国家和国际倡议相联系。TAS节点旨在确保开发人员能够为动态环境设计可信赖的自主系统，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、高保真优化和仿真。B)设计、分析、物理模拟和评估(在规模上)能量耗散系统。C)设计、分析、物理模拟和评估(在规模上)可与能量耗散系统配对的发射系统。D)在UAS着陆过程中对主动减速系统进行全尺寸模拟，结合真实世界验证的执行器模型。e)对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在1：4比例(25%能量)下施加~5g减速[~5 kg，16米/S层，1.5米距离，~650J能量]。在高保真模拟中，结合基于1：4比例实验平台的真实、有效的物理执行器模型，演示在1个翼展上约5G的峰值减速

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