Due to technological advances in the drone industry, security threats induced by unmanned aerial vehicles (UAVs) are becoming more relevant. Fast and accurate localisation systems need to be designed. One approach is localisation of UAVs by their sound using acoustic techniques. So far, a systematic performance assessment of acoustic techniques for drone localisation, based on real-world data, is lacking. This work presents a comparison of selected techniques using real-world measurement data. The achieved performance serves as a baseline for future design of novel localisation methods. Three techniques are chosen. The first technique estimates the time-difference-of-arrival (TDOA) using generalised cross-correlation with phase transform weighting (GCC-PHAT). The second technique is differential evolution, which approaches the localisation task as a global optimisation problem. The third technique is conventional frequency domain beamforming. Real-world data of 5 quadrotor UAVs were used acquired with an acoustic microphone-array. The performance of the techniques is assessed using the absolute error between the estimated source location and the true source location obtained from the onboard GPS tracker of the drones. GCC-PHAT and differential evolution attempt to estimate the drone position in one or few steps. They have a much shorter runtime than beamforming, which is an exhaustive grid search algorithm. However, these techniques result in lower detection ranges and accuracy compared to beamforming.

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Threats posed by drones urge defence sectors worldwide to develop drone detection systems. Visible-light and infrared cameras complement other sensors in detecting and identifying drones. Application of Convolutional Neural Networks (CNNs), such as the You Only Look Once (YOLO) algorithm, are known to help detect drones in video footage captured by the cameras quickly, and to robustly differentiate drones from other flying objects such as birds, thus avoiding false positives. However, using still video frames for training the CNN may lead to low drone-background contrast when it is flying in front of clutter, and omission of useful temporal data such as the flight trajectory. This deteriorates the drone detection performance, especially when the distance to the target increases. This work proposes to pre-process the video frames using a Bio-Inspired Vision (BIV) model of insects, and to concatenate the pre-processed video frame with the still frame as input for the CNN. The BIV model uses information from preceding frames to enhance the moving target-to-background contrast and embody the target’s recent trajectory in the input frames. An open benchmark dataset containing infrared videos of small drones (< 25 kg) and other flying objects is used to train and test the proposed methodology. Results show that, at a high sensor-to-target distance, the YOLO algorithms trained on BIV-processed frames and concatenation of the BIV-processed frames with still frames increase the Average Precision (AP) to 0.92 and 0.88, respectively, compared to 0.83 when it is trained on still frames alone.

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This paper discusses the development and whirl tower testing of an active translation induced camber morphing system for rotorcraft. The system deploys the morphing flap based on the amplitude and type of the input signal. As a case study, a demonstrator is developed and tested primarily under the centrifugal force generated by a whirl tower setup. The actuation system consists of amplified piezoelectric actuators, while the morphing skin is made out of carbon fiber prepreg composite material. The response of the morphing skin and the actuators is measured and compared to the numerical studies used to design the morphing demonstrator. Results indicate that the response of the active system, including the actuators and the flexible skin, matches well to those predicted during the numerical studies. The outcome of these studies shows that the system has the potential to be used for the primary control of the rotorcraft if operated at 1/revolution or for mitigating noise and vibration if operated at 2/revolution or higher frequencies. Subsequently, the concept can be integrated into a Mach-scaled rotor blade which can be tested under both aerodynamic and centrifugal loads to further assess its performance.

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This paper presents a generic trim problem formulation, in the form of a constrained optimization problem, which employs forces and moments due to the aircraft control surfaces as decision variables. The geometry of the Attainable Moment Set (AMS), i.e. the set of all control forces and moments attainable by the control surfaces, is used to define linear equality and inequality constraints for the control forces decision variables. Trim control forces and moments are mapped to control surface deflections at every solver iteration through a linear programming formulation of the direct Control Allocation algorithm. The methodology is applied to an innovative box-wing aircraft configuration with redundant control surfaces, which can partially decouple lift and pitch control, and allow direct lift control. Novel trim applications are presented to maximize control authority about the lift and pitch axes, and a “balanced” control authority. The latter can be intended as equivalent to the classic concept of minimum control effort. Control authority is defined on the basis of control forces and moments, and interpreted geometrically as a distance within the AMS. Results show that the method is able to capitalize on the angle of attack or the throttle setting to obtain the control surfaces deflections which maximize control authority in the assigned direction. More conventional trim applications for minimum total drag and for assigned angle of elevation are also explored.

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This paper presents a Control Allocation formulation aimed at altering the dynamic transient response of an aircraft by exclusive means of the aerodynamic effectiveness of its control effectors. This is done, for a given Flight Control System architecture and, optionally, closed-loop performance, by exploiting the concept of Control Center of Pressure, i.e. the center of pressure due to only aerodynamic control forces. Two formulations are proposed, and their advantages and disadvantages presented. The first is based on the straightforward augmentation of the control effectiveness matrix, the second on a weighting matrix to prioritize control effectors. The latter is implemented in three application studies on a box-wing aircraft configuration with redundant control surfaces: a simple pull-up maneuver, a trajectory tracking task, and an altitude holding task in turbulent atmosphere. Results show that the proposed formulation can significantly impact performance metrics that are closely related to the aircraft transient response. In the best case scenario, the aircraft is able to completely cancel the non-minimum phase behavior typical of pitch dynamics, hence achieving a sharp initial response to longitudinal commands. If compared to a standard Control Allocation algorithm, the proposed formulation results in improved tracking precision, better disturbance rejection, and a measurably improved feeling of comfort on board.

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In the modern aircraft design process numerical simulation is one of the key enablers. However, computational time increases exponentially with the level of fidelity of the simulation. In the EU Horizon2020 project AGILE different aircraft design analysis tools relative to different levels of fidelity are used. One of the challenges is to reduce the computational time - e.g. to facilitate an efficient optimization process - by processing the analysis data of various fidelity levels in a global surrogate model. This paper focuses on fusion of data sets via an automatic iterative process embedded in the collaborative multidisciplinary analysis (MDA) chains as applied in AGILE. Surrogate modeling techniques are applied, taking into account the optimal sampling and the corresponding fidelities of the samples. This paper will detail the different steps of the proposed collaborative approach. As a test case handling qualities analysis of the AGILE reference conventional aircraft is performed, by fusing the computed aerodynamic coefficients and derivatives. A full set of aerodynamic data computed either with different levels of fidelity or with only a low-fidelity tool has been derived and evaluated. The data set with multiple levels of fidelity significantly improved the accuracy of the flight performance analysis, especially for the transonic region in which the low fidelity aerodynamic method is not reliable. Moreover, the test case shows that by combining a collaborative surrogate modeling approach with fusion of the data sets, the fidelity of the analysis data can be significantly improved giving maximum relative prediction error less than 5% with minimal computing efforts.

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The use of formation flight to achieve aerodynamic benefit as applied to rotorcraft is, unlike its fixed-wing counterpart, an unproven principle. This document presents a proof-of-concept of rotorcraft formation flight through a numerical research study, supported by results from an independent wind-tunnel experiment. In both cases, two helicopters are placed in an echelon formation aligned on the advancing side of the main rotor, though they do not simulate directly comparable flight conditions. The vertical and lateral alignment is varied in order to observe the achievable reductions in main rotor power required during cruise flight. The wind-tunnel experiment data yields an estimated maximum total power reduction for the secondary aircraft of 24%, while the numerical models yield reductions between 20% and 34% dependent on flight velocity. Both experiments predict a higher potential for aerodynamic benefit than observed for fixed-wing formations, which is contributed to the asymmetric upwash profile in the rotor wake. Optimal lateral alignment of both experimental and numerical results is found to feature overlap of the rotor disk areas due to circular area effects. Experimental data shows an optimal vertical alignment of the secondary rotorcraft below the primary, due to wake displacement. This is not present in the numerical simulations as a result of the applied leader wake modeling.

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Rotor morphing has been investigated in the past for improvement of rotor performance, either for reduction of rotor power demand or for vibratory load alleviation. The present study investigates the application of camber morphing for improvement of rotor performance in hover and vertical flight conditions, with a particular focus on the combination of camber morphing systems and variable RPM rotors. Camber morphing utilizes a smooth flap at the trailing edge of the rotor blade to modify the camber of blade airfoil sections without excessive drag penalties. Two different camber morphing systems will be investigated in this study, namely the active and passive systems. Passive camber morphing, which combines camber morphing with the variable speed rotor concept is the unique aspect of camber morphing which will be the primary focus of this study. The active system can be actuated at frequencies higher than 1/rev of the rotor and requires external power input for functioning. The passive system can be controlled only by varying the RPM of the rotor and requires no additional energy input. Therefore, the passive system is expected to show larger net performance benefits. Variable RPM rotors in themselves show potential towards the reduction of rotor power demand but are largely ineffective for low-speed applications. The combination of camber morphing and the variable speed rotor shows larger performance benefits than those obtained from the two technologies independent of each other. The two technologies, when combined in passive camber morphing, can remedy each other's deficiencies and improve the overall rotor performance. The use of camber morphing shows more benefit for operating points at or near the edge of the flight envelope since the rotor blade sections encounter high average angles of attack for these operating points. Vertical climb and hover at high altitude are examples of flight conditions investigated. Overall, passive camber morphing shows a larger performance benefit as compared to the active system.

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The use of formation flight to achieve aerodynamic benefit applied to rotorcraft has, unlike its fixed-wing counterpart, received little attention in the literature. This document presents a proof-of-concept of rotorcraft formation flight from two independent investigations: a numerical study of a fully articulated helicopter influenced by an upstream helicopter wake and a wind-tunnel experiment featuring two small-scale helicopter models with fixed-pitch blades. Both cases feature a representation of two helicopters in a diagonal, staggered formation aligned on the advancing side of the main rotor, but do not simulate directly comparable flight conditions. The vertical and lateral alignment of the two helicopters is varied in order to observe the achievable reductions in main rotor power required during cruise flight. The wind-tunnel experiment data yield an estimated maximum total power reduction for the secondary aircraft of approximately 24%, while the numerical models yield reductions between 20% and 34% dependent on flight velocity. Both experiments predict a higher potential for aerodynamic benefit than generally observed for fixed-wing formations, which is attributed to the asymmetric velocity profile induced by the wake of the upstream rotor. Optimal lateral alignment of both experimental and numerical results is found to feature overlap of the rotor disk areas, rather than tip-to-tip alignment, as a result of the circular rotor disk area. Experimental data show an optimal vertical alignment of the secondary rotorcraft below the primary, due to the self-induced vertical displacement of the rotor wake, which is absent from the numerical results due to the application of a flat wake assumption. The results show a promising potential for rotorcraft formation flight, though due to the limited nature of the models used, conclusions cannot be generalized. The potential aerodynamic benefit indicated by the present study invites further research in the field of rotorcraft formation flight.

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This paper presents a method to find trimmed flight conditions while maximizing the available control authority about one or more motion axes. Maximum pitch-up, or lift-up, control authority could find interesting application in aborted landing situations, while maximum balanced control authority about all motion axes is a reformulation of the classic concept of minimum control effort. The trim problem is formulated in the form of a constrained optimization problem. The constraints and the objective function are obtained by exploiting the geometric properties of the Attainable Moment Set, a convex polytope containing the forces and moments attainable by the aircraft control effectors. The method is applied to an innovative box-wing aircraft configuration called PrandtlPlane, whose double wing system can accommodate a large number of control surfaces, and hence allow Pure Torque and Direct Lift Control possibilities. Control surface deflections are compared for trim conditions with maximum control authority in the pitch axis, in the lift axis, and maximum balanced control authority, for symmetric and asymmetric flight. Results show that the method is able to capitalize on the angle of attack or the throttle setting to obtain the control surfaces deflections which maximize control authority in the assigned direction.@en

This paper presents an overview of the preliminary design process and findings aimed at morphing of trailing edge (TE) control surfaces for rotorcraft. A design methodology for a camber morphing control surface is presented, although twist can also be induced by applying differential camber of the morphing section span. The concept investigated relies on utilizing conventional aircraft structures and materials for morphing purposes; thus, in essence, has the potential to fulfil the conflicting requirements of lightweight, flexibility and strength at the same time. Based on this concept, the preliminary design work shows that an active trailing edge camber morphing mechanism can be designed after careful considerations of design and actuation requirements. The numerical results presented also indicate that such a morphing scheme increases the 2D aerodynamic efficiency.@en

Purpose: In recent years, increased awareness on global warming effects led to a renewed interest in all kinds of green technologies. Among them, some attention has been devoted to hybrid-electric aircraft – aircraft where the propulsion system contains power systems driven by electricity and power systems driven by hydrocarbon-based fuel. Examples of these systems include electric motors and gas turbines, respectively. Despite the fact that several research groups have tried to design such aircraft, in a way, it can actually save fuel with respect to conventional designs, the results hardly approach the required fuel savings to justify a new design. One possible path to improve these designs is to optimize the onboard energy management, in other words, when to use fuel and when to use stored electricity during a mission. The purpose of this paper is to address the topic of energy management applied to hybrid-electric aircraft, including its relevance for the conceptual design of aircraft and present a practical example of optimal energy management. Design/methodology/approach: To address this problem the dynamic programming (DP) method for optimal control problems was used and, together with an aircraft performance model, an optimal energy management was obtained for a given aircraft flying a given trajectory. Findings: The results show how the energy onboard a hybrid fuel-battery aircraft can be optimally managed during the mission. The optimal results were compared with non-optimal result, and small differences were found. A large sensitivity of the results to the battery charging efficiency was also found. Originality/value: The novelty of this work comes from the application of DP for energy management to a variable weight system which includes energy recovery via a propeller.

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There is an error in Equation 21 of the original article. The weight of the battery is a function of the energy stored at the start and will not vary during flight whereas the fuel weight will vary as a function of the energy level. Hence, the correct equation is.@en

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The research and innovation AGILE project developed the next generation of aircraft Multidisciplinary Design and Optimization processes, which target significant reductions in aircraft development costs and time to market, leading to more cost-effective and greener aircraft solutions. The high level objective is the reduction of the lead time of 40% with respect to the current state-of-the-art. 19 industry, research and academia partners from Europe, Canada and Russia developed solutions to cope with the challenges of collaborative design and optimization of complex products. In order to accelerate the deployment of large-scale, collaborative multidisciplinary design and optimization (MDO), a novel methodology, the so-called AGILE Paradigm, has been developed. Furthermore, the AGILE project has developed and released a set of open technologies enabling the implementation of the AGILE Paradigm approach. The collection of all the technologies constitutes AGILE Framework, which has been deployed for the design and the optimization of multiple aircraft configurations. This paper focuses on the application of the AGILE Paradigm on seven novel aircraft configurations, proving the achievement of the project’s objectives.

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Sub-scale Flight Testing (SFT) is potentially useful in predicting aircraft flight behaviour, especially in the case of unconventional designs for which legacy information is unavailable and wind tunnel tests are unable to predict aircraft dynamics. A necessary condition for SFT is the design of properly scaled models. However, even in case of perfect scaling, the sub-scale model needs adequate flight performance and handling qualities to enable the execution of flight tests. Thus, the (static and dynamic) stability and control (S&C) and handling qualities (HQ) of sub-scale designs should be evaluated accurately as well as quickly, to allow conceptual design iterations. To this purpose, we propose the use of a 3D panel method (3DPM) for the generation of the non-linear aerodynamic database, in combination with a non-linear flight dynamics analysis. Two main challenges affect the proposed approach. The first concerns the validity of the low-fidelity 3DPM data for the assessment of the sub-scale design S&C and HQ. The second is about the time consuming and error-prone pre/post-processing activity demanded by the hundreds of analysis cases for the aerodynamic database generation. The first issue is investigated by predicting the longitudinal S&C performance and HQ of a sub-scale design using 3DPM analysis and comparing them with the prediction from wind-tunnel test (static) data supplemented by (dynamic) data from 3DPM. Both models appear trimmable and stable and the difference in their HQ are quantified, thus verifying the suitability of 3DPM analysis for sub-scale design assessment. The pre/post-processing challenge is tackled by the development of a knowledge-based engineering application to automate the aerodynamics database generation, reducing the time needed for geometry modeling, discretization and postprocessing of hundreds of cases from weeks to hours. The proposed methodology and its flexibility are demonstrated in this paper, where a commercial 3DPM code and an in-house developed non-linear flight dynamics analysis tool have been used to assess two sub-scale designs, one conventional and one based on the box-wing configuration. @en

The aim of this research is to investigate the combined use of throttle and aerodynamic control vanes for aircraft optimal control. A new disruptive aircraft configuration concept is presented, featuring control vanes downstream of two rear-mounted ducted propellers. The aerodynamic interaction between the horizontal vane and the throttle is analyzed in the scope of a longitudinal control study. A static criterion is proposed to discern the efficiency of the interaction, with respect to a generic pitch command. A traditional control allocation logic is used to exploit the throttle as a secondary pitch effector, and a modified version based on the interaction criterion is proposed; its behavior is tested through an open-loop design space exploration of actuator time constants and effectors prioritization weights. A flexible control system architecture is designed to compare the aircraft closed-loop response in conjunction with a phugoid damper loop. Results show that the best tracking performance is obtained with pilot commands allocated to the elevator, and phugoid damper commands to both elevator and throttle. The traditional allocation method achieves the best tracking performance at the expense of the largest control effort. The modified allocation alleviates the effort while still achieving better performance than the non-coupled control. @en

Several morphing unmanned aircraft systems which can be deployed in-flight are currently being developed for a variety of missions. Key to a successful in-flight deployment of these aircraft is that they enter a stable and controllable flight phase following a potentially highly dynamic transition phase without exceeding structural limitations. The aim of the current study is to develop a new physics-based methodology which can be used to assess under which flight conditions an unmanned morphing aircraft can be safely deployed in terms of stability, controllability and dynamic flight loads. The method is based on a Monte Carlo Simulation of the deployment phase with a multibody dynamics simulation model. As test case, the Dash X UAV is analyzed in combination with different deployment scenarios. Parameters to be varied are initial flight conditions such as body angular rates and the morphing strategy. The model is validated against a limited set of flight test data in its deployed state. Example results of the aircraft motion and loads are presented for safe deployments with a highly dynamic transition phase. The procedure to construct stability limits and deployment load envelopes is presented. The deployment load envelopes are a natural extension to the V-n diagram typically used for structural design. The stability limits can be used to determine the operational limits under which a UAV can be deployed safely without the risk of entering an unstable or uncontrollable flight regime. Ultimately, this method can be used to support the design of in-flight deployable morphing UAVs and the related operational procedures. It is demonstrated that the Dash X UAV can be safely deployed under realistic conditions with acceptable structural loads. @en

Within the NATO STO AVT-251 Task Group a generic Unmanned Combat Air Vehicle (UCAV) planform is redesigned based on requirements derived from parts of the flight envelope of the defined mission. Because of the lambda-shape planform and associated flow phenomena including shocks and vortices, the aerodynamic design process relies heavily on high-fidelity CFD predictions. This enables accurate prediction of flight dynamics and any potential issues early in the design process. The flight dynamics model would be based on a reduced order model (ROM) derived from CFD calculations. This work investigates the creation of a ROM using nonlinear indicial response functions. The response functions are obtained using a grid motion approach that separates the effects of angle of attack and pitch rate. This approach is followed using three different CFD codes from various organizations: ENSOLV at the Netherlands Aerospace Centre, USM3D at NASA Langley Research Center, and Kestrel at the United States Air Force Academy. The ROM predictions were tested with a manoeuver resembling a low speed pull-up. The predictions are found to be sensitive to the quality of the steady state solutions from which step response calculations were started, as well as the convergence of the step response calculations themselves. Nevertheless, the indicial response method can provide accurate predictions including transient effects, and as such is a powerful method for building ROMs.

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Installation effects of the lateral rotors for a compound helicopter were investigated by means of unsteady CFD simulations. The helicopter featured a box-wing design for additional lift in cruise and wingtip-mounted lateral rotors in pusher configuration for additional thrust in cruise and counter-torque in hover. It was found that propeller performance installation effects for a compound helicopter are highly beneficial in cruise, while some penalties exist in extreme and specific cases in hover and autorotation. In cruise the main interaction was between the wing and lateral rotors, resulting in a propulsive efficiency increase up to 10.6% due to wingtip vortex energy recovery. In hover the main rotor slipstream resulted in a near perpendicular inflow to the lateral rotors, with a disturbance from the wings due to the deflection of the main rotor slipstream. For higher than nominal lateral rotor thrust settings, this resulted in a performance penalty. In autorotation a small power installation penalty was present due to inflow disturbances.@en