Ceiling Effects for Surface Locomotion of Small Rotorcraft

Yi Hsuan Hsiao; Pakpong Chirarattananon

doi:10.1109/IROS.2018.8593726

Ceiling Effects for Surface Locomotion of Small Rotorcraft

Yi Hsuan Hsiao
, Pakpong Chirarattananon^*

^*Corresponding author for this work

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

29 Citations (Scopus)

Abstract

Motivated by the potential of bimodal aerial and surface locomotion as an energy saving strategy for small flying robots, we investigate the effects of a flat overhang surface in the vicinity of a spinning propeller. We employ the classical momentum theory and the blade element method to describe the 'ceiling effects' in regards to the generated thrust, power, and rotational speed of the propeller in terms of a normalized distance between the ceiling and the propeller. Validating experiments were performed on a benchtop setup, and the results are in agreement with the proposed models. The presence of a ceiling was found to reduce the power consumption by more than a factor of three for the same thrust force. Overall, our findings show promise, paving the way for the use of perching maneuvers by small rotorcraft to extend their missions.

Original language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Publisher	IEEE
Pages	6214-6219
ISBN (Electronic)	978-1-5386-8094-0
DOIs	https://doi.org/10.1109/IROS.2018.8593726
Publication status	Published - Oct 2018
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems: Towards a Robotic Society - Madrid, Spain Duration: 1 Oct 2018 → 5 Oct 2018 https://www.iros2018.org/

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 2018
Place	Spain
City	Madrid
Period	1/10/18 → 5/10/18
Internet address	https://www.iros2018.org/

Access Output

10.1109/IROS.2018.8593726

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

@inproceedings{c5c93c460bc9481ba03f42a6cdcc12ce,

title = "Ceiling Effects for Surface Locomotion of Small Rotorcraft",

abstract = "Motivated by the potential of bimodal aerial and surface locomotion as an energy saving strategy for small flying robots, we investigate the effects of a flat overhang surface in the vicinity of a spinning propeller. We employ the classical momentum theory and the blade element method to describe the 'ceiling effects' in regards to the generated thrust, power, and rotational speed of the propeller in terms of a normalized distance between the ceiling and the propeller. Validating experiments were performed on a benchtop setup, and the results are in agreement with the proposed models. The presence of a ceiling was found to reduce the power consumption by more than a factor of three for the same thrust force. Overall, our findings show promise, paving the way for the use of perching maneuvers by small rotorcraft to extend their missions.",

author = "Hsiao, \{Yi Hsuan\} and Pakpong Chirarattananon",

year = "2018",

month = oct,

doi = "10.1109/IROS.2018.8593726",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "IEEE",

pages = "6214--6219",

booktitle = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018",

address = "United States",

note = "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems : Towards a Robotic Society, IROS 2018 ; Conference date: 01-10-2018 Through 05-10-2018",

url = "https://www.iros2018.org/",

}

Hsiao, YH & Chirarattananon, P 2018, Ceiling Effects for Surface Locomotion of Small Rotorcraft. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8593726, IEEE International Conference on Intelligent Robots and Systems, IEEE, pp. 6214-6219, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain, 1/10/18. https://doi.org/10.1109/IROS.2018.8593726

Ceiling Effects for Surface Locomotion of Small Rotorcraft. / Hsiao, Yi Hsuan; Chirarattananon, Pakpong.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. IEEE, 2018. p. 6214-6219 8593726 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Ceiling Effects for Surface Locomotion of Small Rotorcraft

AU - Hsiao, Yi Hsuan

AU - Chirarattananon, Pakpong

PY - 2018/10

Y1 - 2018/10

N2 - Motivated by the potential of bimodal aerial and surface locomotion as an energy saving strategy for small flying robots, we investigate the effects of a flat overhang surface in the vicinity of a spinning propeller. We employ the classical momentum theory and the blade element method to describe the 'ceiling effects' in regards to the generated thrust, power, and rotational speed of the propeller in terms of a normalized distance between the ceiling and the propeller. Validating experiments were performed on a benchtop setup, and the results are in agreement with the proposed models. The presence of a ceiling was found to reduce the power consumption by more than a factor of three for the same thrust force. Overall, our findings show promise, paving the way for the use of perching maneuvers by small rotorcraft to extend their missions.

AB - Motivated by the potential of bimodal aerial and surface locomotion as an energy saving strategy for small flying robots, we investigate the effects of a flat overhang surface in the vicinity of a spinning propeller. We employ the classical momentum theory and the blade element method to describe the 'ceiling effects' in regards to the generated thrust, power, and rotational speed of the propeller in terms of a normalized distance between the ceiling and the propeller. Validating experiments were performed on a benchtop setup, and the results are in agreement with the proposed models. The presence of a ceiling was found to reduce the power consumption by more than a factor of three for the same thrust force. Overall, our findings show promise, paving the way for the use of perching maneuvers by small rotorcraft to extend their missions.

UR - https://www.scopus.com/pages/publications/85062948647

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85062948647&origin=recordpage

U2 - 10.1109/IROS.2018.8593726

DO - 10.1109/IROS.2018.8593726

M3 - RGC 32 - Refereed conference paper (with host publication)

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 6214

EP - 6219

BT - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018

PB - IEEE

T2 - 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 1 October 2018 through 5 October 2018

ER -

Ceiling Effects for Surface Locomotion of Small Rotorcraft

Abstract

Publication series

Conference

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this