Search results for "Six degrees of freedom"
showing 3 items of 3 documents
An Extended Kalman Filter-Based Technique for On-Line Identification of Unmanned Aerial System Parameters
2015
ABSTRACT: The present article deals with the identification, at the same time, of aircraft stability and control parameters taking into account dynamic damping derivatives. Such derivatives, due to the rate of change of the angle of attack, are usually neglected. So the damping characteristics of aircraft dynamics are attributed only on pitch rate derivatives. To cope with the dynamic effects of these derivatives, authors developed devoted procedures to estimate them. In the present paper, a complete model of aerodynamic coefficients has been tuned-up to identify simultaneously the whole set of derivatives. Besides, in spite of the employed reduced order model and/or decoupled dynamics, a s…
Influence of Geometrical Parameters, Wall Angle and Part Shape on Thickness Reduction of Single Point Incremental Forming
2014
Abstract The aim of this paper is to study the thickness reduction during the whole single point incremental forming process. The experimental setup is realized in such a way that the blank sheet is in the vertical position and forming is done using an anthropomorphic robot with six degrees of freedom. The vertical positioning of the blank sheet allows the on-line visualization using an optical measuring system of the major and minor strains and of the thickness reduction. The wall angle varied between values of 45 0 , 55 0 and 65 0 respectively. The logarithmic major strain and minor strains and logarithmic thickness reduction were analyzed in order to allow a comparison with values obtain…
State Estimation of a Nonlinear Unmanned Aerial Vehicle Model using an Extended Kalman Filter
2008
An Extended Kalman Filter is designed in order to estimate both state variables and wind velocity vector at the same time for a non conventional unmanned aircraft. The proposed observer uses few measurements, obtained by means of either conventional simple air data sensors or a low cost GPS. To cope with the low rate of the GPS with respect to the other sensors, the EKF algorithm has been modified to allow for a dual rate measurement model. State propagation is obtained by means of an accurate six degrees of freedom nonlinear model of the aircraft dynamics. To obtain joint estimation of state and disturbance, wind velocity components are included in the set of the state variables. Both stoc…