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Zammit, C. (author), van Kampen, E. (author)Unmanned Aerial Vehicles (UAVs) are being integrated into a wide range of indoor and outdoor applications. In this light, robust and efficient path planning is paramount. An extensive literature review showed that the A* and Rapidly{Exploring Random Tree (RRT) algorithms and their variants are the most promising path planning algorithms...conference paper 2018
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author), De Breuker, R. (author)In this paper, an Incremental Nonlinear Dynamic Inversion (INDI) controller is<br/>developed for the flexible aircraft gust load alleviation (GLA) problem. First, a flexible aircraft model captures both inertia and aerodynamic coupling effects between flight dynamics and structural vibration dynamics is presented. Then an INDI GLA controller is...conference paper 2018
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Regtuit, Robert (author), Borst, C. (author), van Kampen, E. (author), van Paassen, M.M. (author)Acceptance of automation has been a bottleneck for successful introduction of automation in Air Trac Control. Strategic conformal automation has been proven to increase automation acceptance, by creating a better match between automation and operator decision-making. In this paper strategic conformal automation for Air Trac Control is designed...conference paper 2018
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Wang, Xuerui (author), van Kampen, E. (author), Chu, Q. P. (author), Lu, P (author)As a sensor-based control approach, the Incremental Nonlinear Dynamic Inversion (INDI) method has been successfully applied on various aerospace systems and shown desirable robust performance to aerodynamic model uncertainties. However, its previous derivations based on the so-called time scale separation principle is not mathematically rigorous...conference paper 2018
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Helmer, Alexander (author), de Visser, C.C. (author), van Kampen, E. (author)Reinforcement learning is a paradigm for learning decision-making tasks from interaction with the environment. Function approximators solve a part of the curse of dimensionality when learning in high-dimensional state and/or action spaces. It can be a time-consuming process to learn a good policy in a high dimensional state space directly. A...conference paper 2018
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Verbist, Stephen (author), Mannucci, T. (author), van Kampen, E. (author)Reinforcement Learning is a much researched topic for autonomous machine behavior and is often applied to navigation problems. In order to deal with growing environments and larger state/action spaces, Hierarchical Reinforcement Learning has been introduced. Unfortunately learning from experience, which is central to Reinforcement Learning,...conference paper 2018
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van 't Veld, Ronald (author), van Kampen, E. (author), Chu, Q. P. (author)Incremental nonlinear dynamic inversion (INDI) is a variation on nonlinear dynamic inversion (NDI), retaining the high-performance characteristics, while reducing model dependency and increasing robustness. After a successful flight test with a multirotor micro aerial vehicle, the question arises whether this technique can be used to...conference paper 2018
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Çakiroğlu, Can (author), van Kampen, E. (author), Chu, Q. P. (author)Incremental Nonlinear Dynamic Inversion (INDI) is a robust nonlinear control technique that is an adaptation of nonlinear dynamic inversion (NDI). By assuming time scale separation between fast and slow dynamics, and by using angular acceleration feedback, the inner loop of INDI directly controls angular accelerations with incremental control...conference paper 2018
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Jung, Ralf (author), Jourdan, Jacques-Henri (author), Krebbers, R.J. (author), Dreyer, Derek (author)Rust is a new systems programming language that promises to overcome the seemingly fundamental tradeoff between high-level safety guarantees and low-level control over resource management. Unfortunately, none of Rust's safety claims have been formally proven, and there is good reason to question whether they actually hold. Specifically, Rust...journal article 2018
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Mobertz, Xander (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (author)This paper describes a human-in-the-loop experiment performed in TU Delft’s SIMONA Research Simulator to explicitly investigate the effects of biodynamic feedthrough (BDFT) on the execution of a two-dimensional touchscreen waypoint dragging task in turbulence. In the experiment, 16 participants performed the same task in a stationary simulator...conference paper 2018
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van Baelen, D. (author), Ellerbroek, Joost (author), van Paassen, M.M. (author), Mulder, Max (author)Current Airbus aircraft use a fly-by-wire control device: a passive spring-damper system which generates, without any force feedback, an electrical signal to the flight control computer. Additionally, a hard flight envelope protection system is used which can limit the inputs of the pilot when approaching the edges of the flight envelope. To...conference paper 2018
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Armanini, S.F. (author), Karasek, M. (author), de Visser, C.C. (author)Biologically-inspired flapping-wing micro aerial vehicles are characterised by nonlinear, unsteady aerodynamics and complex dynamics, both highly challenging to model. To take full advantage of the flight capabilities of such vehicles, it is necessary to obtain insight into their dynamics in the different flyable conditions, and to provide...conference paper 2018
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Deldycke, Pieter-Jan (author), van Baelen, D. (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (author)The use of haptic feedback as a tool for skill training has shown benefits for the formation ofmotor-memory and support for certain temporal tasks. Therefore, this research focuses on the development of a haptic aid for supporting the training of the challenging manual flare maneuver in initial pilot training. The haptic aid, which consisted of...conference paper 2018
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Rijks, Frank (author), Karasek, M. (author), Armanini, S.F. (author), de Visser, C.C. (author)The effects of the horizontal tail surface on the longitudinal dynamics of an or- nithopter were studied by systematically varying its surface area, aspect ratio and its longitudinal position. The objective is to improve the understanding of the tail effect on the behaviour of the ornithopter and to assess if simple models based on tail geometry...conference paper 2018
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Horssen van, Laurens (author), de Visser, C.C. (author), Pool, D.M. (author)To meet the required flight simulator-based stall recovery training that will become mandatory for all aircarrier pilots in 2019, many flight simulators will need to be updated with accurate flightmodels at high anglesof- attack. Using a database of 69 symmetrical and quasi-steady recorded stalls performed with TU Delft’s Cessna Citation II...conference paper 2018
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van Grootheest, Andries (author), Pool, D.M. (author), van Paassen, M.M. (author), Mulder, Max (author)Time-varying human-operator (HO) adaptation in basic manual-control tasks is barely understood, as most HO identification methods do not explicitly take into account time variations. An identification procedure based on both batch and recursive autoregressive exogenous (ARX) models is used in this paper for captur- ing HO adaptation to time...conference paper 2018
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Naastepad, C.W.M. (author), Mulder, Jesse M. (author)(Expected) adverse effects of the ‘ICT Revolution’ on work and opportunities for individuals to use and develop their capacities give a new impetus to the debate on the societal implications of technology and raise questions regarding the ‘responsibility’ of research and innovation (RRI) and the possibility of achieving ‘inclusive and...journal article 2018
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Braber, T.I. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author), Babuska, R. (author)This article presents an adaptive control strategy to stabilize a micro quadrotor in all three axes using only an Inertial Measurement Unit (IMU) for the attitude control and a monocular camera for canceling position drift. The proposed control scheme automatically determines the appropriate optical flow control gains. This is achieved by...conference paper 2018
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Meddaikar, M.Y. (author), Dillinger, J.K.S. (author), Sodja, J. (author), De Breuker, R. (author)This paper presents the application of aeroelastic tailoring in the design of flying demonstrator wings. The work is part of the Flutter Free Flight Envelope eXpansion (FLEXOP) project, funded under the Horizon 2020 framework. The project involves the design, manufacturing and flight-testing of a UAV toward two principle goals: i) to demonstrate...conference paper 2018