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Horse raceway path based formation flight with Helion and Shelion | August 2009 |
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| The leader performs a horse raceway path based task, and the follower realizes the automatic formation flight. | |||||
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Circle path based formation flight with Helion and Shelion | August 2009 |
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| The leader performs a circle path based task, and the follower realizes the automatic formation flight. | |||||
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MAV lead formation flight with Helion and Shelion | August 2009 |
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| The manned leader UAV perform zigzag like path, while the follower performs the formation flight based on the position and heading of the leader. | |||||
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Initial formation flight with Helion and Shelion | August 2009 |
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| The Helion is commanded to perform a line path tracking task, while Shelion performs the formation flight based on the position and heading of Helion. | |||||
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Helion full envelope flight with CNF outer-loop control | July 2009 |
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| The CNF control law is implemented on the outer-loop. The flight operations consists of hover, zigzag, pirouette, head turning, and vertical wheeling. | |||||
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Leader-follower based formation flight among Trex 450 | July 2009 |
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| The formation flight is implemented in a circle path. | |||||
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2nd Trex 450 circle path tracking | July 2009 |
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| The 2nd Trex 450 performs a good circle path tracking control. | |||||
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1st Trex 450 circle path tracking | July 2009 |
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| The 1st Trex 450 performs a good circle path tracking control. | |||||
 | Second Trex450 automatic hover | July 2009 | |||
| After three weeks construction, the test of second Trex450 is able to hover with good performance. This flight lasted about 130 seconds. | |||||
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Trex 450 automatic flight test scene 4 | June 2009 |
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| The schedule sequence is as follows: hover 10 seconds, forward/north 10 meters (last 20 seconds), hover 10 seconds, rightward/east 10 meters (last 20 seconds), hover 10 seconds, backward/south 10 meters(last 20 seconds), hover 10 seconds, leftward/west 10 meters (last 20 seconds), then hover at the original point. | |||||
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Trex 450 successful automatic landing | June 2009 |
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| The UAV realized automatic landing with height control. | |||||
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Trex 450 new automatic hover | June 2009 |
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| Newly realized automatic hovering. | |||||
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Trex 450 automatic flight test scene 6 | June 2009 |
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| The UAV hovers at the point, then turns 90 degree, hovers several seconds, turns 90 degree again. Then keeps hovering. | |||||
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Trex 450 automatic flight test scene 5 | June 2009 |
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| A refined stable hover lasting about 1 minute. | |||||
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Trex 450 automatic flight test scene 3 | June 2009 |
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| After automatic hovering, the ground station sent waypoint commands to 5 meters ahead to the north. After the UAV reached the destination, it kept hovering there. | |||||
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Trex 450 automatic flight test scene 2: fly to 5 meters north ahead with nose northward | June 2009 |
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| The flight sequence is to hover at original point for 10 seconds, fly north 5 meters by speed of 0.5m/s, hover for 10 seconds, then fly south/backward to the original point by speed of 0.5m/s, hover at the original point. | |||||
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Trex 450 automatic flight test scene 1 | June 2009 |
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| The hover lasted about one minute. | |||||
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A New Scheduled Flight | 13 March 2007 |
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| A new scheduled flight combined of some actions, including slithering, head turning, pirouette, wheeling and backward spiral down. The flight is started and ended with automatic takeoff and landing. | |||||
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SheLion | 27 Feburary 2007 |
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| The new unmanned helicopter named SheLion, with smaller wight and better maneuverability. The video shows the flight test to collect data for modelling in roll channel. | |||||
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Spiral Up and Down | 27 Feburary 2007 |
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| A section of video the helicopter perfoms spiral up and down. (Extracted from new scheduled flight) | |||||
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A New Scheduled Flight | 27 Feburary 2007 |
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| A new scheduled flight, including auto-takeoff, slithering, head turning, spiral up, pirouette down and auto-landing. | |||||
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Automatic Takeoff & Landing, A Complete Scheduled Flight | 15 Feburary 2007 |
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| A complete scheduled flight including automatic takeoff and landing. The helicopter first perform takeoff, then perform a cruising trajectory tracking, then perform landing at the original position. | |||||
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Ground Effect | 15 Feburary 2007 |
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| Ground effect while the helicopter is performing automatic landing. The helicopter meet strong refection when it is trying to descend near the ground. | |||||
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Target Aiming | 4 January 2007 |
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| A new target aiming flight. The helicopter flies along an ellipse path. In the flight the heading direction of the helicopter keeps aiming the target (red flag). | |||||
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Full Envelop Flight | 20 December 2006 |
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| A flight composed of a series of actions - asending, descending, pirouette, slithering, head turning, etc. The helicopter finally returns to the initial position. | |||||
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Target Aiming | 12 December 2006 |
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| A target aiming flight. The helicopter flies along a circle path while its head keeps pointing to the target place ( red flag). This is to perform the aiming on an object in flight. | |||||
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Slither | 12 December 2006 |
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| A slithering flight. The helicopter flies in both forward and right direction. Its heading angle is 45 degrees from its flight direction. | |||||
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Descending | 12 December 2006 |
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| The helicopter descends down. The slope is about 7.5 degree down. The velocity is about 1.5 m/s. | |||||
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Ascending | 12 December 2006 |
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| The helicopter asends. The slope is about 7.5 degree. The asending velocity is about 1.5 m/s. | |||||
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Head Turning | 11 December 2006 |
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| The helicopter fly in a forward straight path while its heading angle keeps turning. | |||||
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Pirouette | 11 December 2006 |
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| Pirouette action. The helicopte performs slithering and yawing along a circle path. | |||||
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Yaw Control | 11 December 2006 |
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| A flight test with new control law in yaw channel. The video shows the stability and maneuverability of the helicopter with large yaw rate (0.5 rad/s). | |||||
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Automatic Hover with Decoupled Control | 11 December 2006 |
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| A hovering flight by decoupled control. The helicopter is given a initial condition of forward flight. It is designed to hover at a forward-right position 4 meter from the current position while the command is received. | |||||
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Scheduled Flight | 21 October 2006 |
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| An scheduled flight in which several sections of flight pathes and behaviors are designed. The helicopter performs three forward flights and way point hovering in different directions. The whole path forms a triangle with three way points. | |||||
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Path Tracking | 21 October 2006 |
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| The helicopter performs a path tracking. The path is an '8' path composed of two circles. The helicopter flies first along the right circle and then the left circle. In circling, the heading angle of the helicopter is kept constant. | |||||
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Automatic Hovering with CNF Control | 16 September 2006 |
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| CNF control law is used to implement the automatic hover. In the test, the helicopter is in a initial condition of forward flight. It is designed to hover at a forward right position 4 meter ahead the current position while the command is received. | |||||
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The Second Helicopter | 13 July 2006 |
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| The second helicopter. Construction of its onboard devices is in a distributive way to lower its weight and improve its agility. | |||||
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A Sad Moment | 25 March 2006 |
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| A crash happened in flight test. | |||||
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Backward Flying | ||||
| Automatic backward flight. Perturbances are injected for purpose of modeling. | |||||
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Modeling and Preliminary Control | ||||
| The helicopter performs automatic forward flight. Perturbances are injected in different channels. The flight test is for purpose of modeling. | |||||