Lost A Lightweight Quadcopter? Here Are The Best Ways To Find It

March 6, 2021 by 24 Comments

Lost aircraft are harder to find when they are physically small to begin with. Not only are they harder to see, but the smaller units lack features like GPS tracking; it’s not normally possible to add it to a tiny aircraft that can’t handle much more than its own weight in the first place. As a result, little lost quads tend to be trickier to recover in general.

Fluorescent tape adds negligible weight, and will glow brightly at night under a UV light.

The good news is that [Eric Brasseur] has shared some concise tips on how to more easily locate and recover lost aircraft, especially lightweight ones. Recovering aircraft is something every aircraft hobbyist has had to deal with in one way or another, but [Eric] really has gathered an impressive list of tricks and techniques, and some of them go into some really useful additional detail. It occurs to us that a lot of these tips could apply equally well to outdoor robots, or rovers.

Even simple techniques can be refined. For example, using bright colors on an aircraft is an obvious way to increase visibility, but some colors are better choices than others. Bright orange, white, and red are good choices because they are easily detected by the human eye while still being uncommon in nature. Violet, blue, and even cyan on the other hand may seem to be good choices when viewed indoors on a workbench, but if the quad is stuck in dark bushes, those colors will no longer stand out. Another good tip is to consider also adding a few patches of fluorescent tape to the aircraft. If all else fails, return at night with a UV lamp; those patches will glow brightly, and be easily seen from tens of meters.

Some of the tips are used while the device still has power, while others don’t depend on batteries holding out. [Eric] does a great job of summing up those and many more, so take a look. They might come in handy when test flying quadcopters that are little more than an 18650 cell, motors, and a 3D-printable frame.

Controlling A Quadcopter With One Dead Motor

January 28, 2021 by 17 Comments

Quadcopters have incredible flying abilities, but if one loses just a single motor, it drops like a rock. Researchers from the University of Zurich’s Robotics and Perception Group have proven that this does not need to be the case by keeping a quadcopter flying with only three motors.

A quadcopter usually has enough thrust to stay aloft with only three motors, but it will spin uncontrollably in the yaw axis. It is impossible to stop a quadcopter from spinning, so the focus for researchers was on keeping the drone controllable while it’s spinning. To achieve this, accurate position and motion estimation is required, so they attached a pair of cameras to the bottom of the craft for visual-inertial odometry (VIO). One is a normal optical camera, while the other is an event camera, which has pixels that can independently respond to changes in light as they occur. This means that it has better low light performance and does not suffer from motion blur.

The feeds from the cameras are analyzed in real-time by an onboard Nvidia Jetson TX2 for state estimation, which is then used with an optical range sensor and onboard IMU to maintain controlled flight, as demonstrated in the video after the break. The research paper is free to read, and all the code is available on GitHub.

New developments in drone control schemes are always fascinating, like this hexacopter with an innovative motor layout to achieve six degrees of freedom, or a conventional helicopter with a virtual swash plate.
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Quadcopter With Tensegrity Shell Takes A Beating And Gets Back Up

November 5, 2020 by 11 Comments

Many of us have become familiar with the distinctive sound of multirotor toys, a sound frequently punctuated by sharp sounds of crashes. We’d then have to pick it up and repair any damage before flying fun can resume. This is fine for a toy, but autonomous fliers will need to shake it off and get back to work without human intervention. [Zha et al.] of UC Berkeley’s HiPeRLab have invented a resilient design to do so.

We’ve seen increased durability from flexible frames, but that left the propellers largely exposed. Protective bumpers and cages are not new, either, but this icosahedron (twenty sided) tensegrity structure is far more durable than the norm. Tests verified it can survive impact with a concrete wall at speed of 6.5 meters per second. Tensegrity is a lot of fun to play with, letting us build intuition-defying structures and here tensegrity elements dissipate impact energy, preventing damage to fragile components like propellers and electronics.

But surviving an impact and falling to the ground in one piece is not enough. For independent operation, it needs to be able to get itself back in the air. Fortunately the brains of this quadcopter has been taught the geometry of an icosahedron. Starting from the face it landed on, it can autonomously devise a plan to flip itself upright by applying bursts of power to select propeller motors. Rotating itself face by face, working its way to an upright orientation for takeoff, at which point it is back in business.

We have a long way to go before autonomous drone robots can operate safely and reliably. Right now the easy answer is to fly slowly, but that also drastically cuts into efficiency and effectiveness. Having flying robots that are resilient against flying mistakes at speed, and can also recover from those mistakes, will be very useful in exploration of aerial autonomy.

[IROS 2020 Presentation video (duration 14:16) requires free registration, available until at least Nov. 25th 2020. One-minute summary embedded below]

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Flies Like A Quadcopter, But This Drone Design Has Only One Propeller

November 2, 2020 by 35 Comments

When mentioning drones, most people automatically think of fixed-wing designs like the military Reaper UAV or of small quadcopters. However, thanks in large part to modern electronics, motors, and open-source control systems, it is possible to build them in a variety of shapes and sizes. [Benjamin Prescher] is working on the second version of his single rotor Ball-Drone, which uses four servo-actuated fins for control.

Mk II in action

The first version of the ball drone flew but was barely controllable and had a tendency to tip over. After a bit of research, he found that he had fallen victim to the drone pendulum fallacy by mounting the heavy components below the propeller and control fins. Initially, he also used conventional fin control that caused the servos to jitter due to high torque loading. By changing to grid fins, the actuation torque was reduced, eliminating the servo jitter.

Mk2 corrected the pendulum problem by moving most of the components to the top of the drone. The 3D printed frame (available on Thingiverse) was also dramatically changed and simplified to reduce weight. Although [Benjamin] designed a custom flight controller with custom control software, the latest parts list contains an off-the-shelf flight controller. He mentions that he had started working with Betaflight. The most complex part of a drone is not the mechanics or even the electronics, but the control software. Thanks to open source projects like Betaflight and Ardupilot, you don’t need to write control software from scratch to get something in the air.

The ball drone seems well suited to an indoor environment, but we’re not sure if it has any real advantages over a quadcopter with ducted propellers. Servos are cheaper than motors and ESCs, so there might be a small cost saving. Drop your thoughts on the advantages/disadvantages in the comments below. Continue reading “Flies Like A Quadcopter, But This Drone Design Has Only One Propeller” →

Quadcopter With Stereo Vision

June 30, 2020 by 5 Comments

Flying a quadcopter or other drone can be pretty exciting, especially when using the video signal to do the flying. It’s almost like a real-life video game or flight simulator in a way, except the aircraft is physically real. To bring this experience even closer to the reality of flying, [Kevin] implemented stereo vision on his quadcopter which also adds an impressive amount of functionality to his drone.

While he doesn’t use this particular setup for drone racing or virtual reality, there are some other interesting things that [Kevin] is able to do with it. The cameras, both ESP32 camera modules, can make use of their combined stereo vision capability to determine distances to objects. By leveraging cloud computing services from Amazon to offload some of the processing demands, the quadcopter is able to recognize faces and keep the drone flying at a fixed distance from that face without needing power-hungry computing onboard.

There are a lot of other abilities that this drone unlocks by offloading its resource-hungry tasks to the cloud. It can be flown by using a smartphone or tablet, and has its own web client where its user can observe the facial recognition being performed. Presumably it wouldn’t be too difficult to use this drone for other tasks where having stereoscopic vision is a requirement.

Thanks to [Ilya Mikhelson], a professor at Northwestern University, for this tip about a student’s project.

Coandă Effect Makes A Better Hovercraft Than A Quadcopter

October 17, 2019 by 22 Comments

Leaving no stone unturned in his quest for alternative and improbable ways to generate lift, [Tom Stanton] has come up with some interesting aircraft over the years. But this time he isn’t exactly flying, with this unusual Coandă effect hovercraft.

If you’re not familiar with the Coandă effect, neither were we until [Tom] tried to harness it for a quadcopter. The idea is that air moving at high speed across a curved surface will tend to follow it, meaning that lift can be generated. [Tom]’s original Coandă-copter was a bit of a bust – yes, there was lift, but it wasn’t much and wasn’t easy to control. He did notice that there was a strong ground effect, though, and that led him to design the hovercraft. Traditional hovercraft use fans to pressurize a plenum under the craft, lifting it on a low-friction cushion of air. The Coandă hovercraft uses the airflow over the curved hull to generate lift, which it does surprisingly well. The hovercraft proved to be pretty peppy once [Tom] got the hang of controlling it, although it seemed prone to lifting off as it maneuvered over bumps in his backyard. We wonder if a control algorithm could be devised to reduce the throttle if an accelerometer detects lift-off; that might make keeping the craft on the ground a bit easier.

As always, we appreciate [Tom]’s builds as well as his high-quality presentation. But if oddball quadcopters or hovercraft aren’t quite your thing, you can always put the Coandă effect to use levitating screwdrivers and the like.

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Putting The Coanda Effect To Work On A Quadcopter

August 20, 2019 by 40 Comments

The Coanda effect is an aerodynamic principle regarding the way fluids tend to flow along curved surfaces. This can be used to direct a flow, and [Tom Stanton] wanted to try out its application on a quadcopter. (Video embedded below.)

The project began by firing up the 3D printer, which made experimenting with a variety of different aerodynamic forms easy. Wishing to avoid simply putting a large obstruction in the way of an otherwise efficient propeller, the experiment first used impellers to direct flow sideways, over the edge of the Coanda domes. The impellers, combined with the Coanda domes, were a factor of 5 less efficient at generating thrust compared to a standard prop setup, but [Tom] persevered.

In testing, the drone was unable to fly outside of ground effect, with its weight exceeding its maximum thrust. However, [Tom] noted that the Coanda domes helped create a cushion of air when flying in this ground effect region that was far more than experienced with a typical prop drone.

Wanting some further success, [Tom] then replaced the impellers with standard drone props. This greatly improved performance, with the drone now able to fly out of ground effect and use far less power. However, its performance was still worse than a standard drone without Coanda domes fitted. [Tom] suspects that this is due to the weight penalty most of all.

While it’s unlikely you’ll see Coanda effect drones going mainstream anytime soon, [Tom]’s project goes to show that you can perform viable aerodynamic research at home with little more than a 3D printer and a fog machine. There’s plenty more fun you can have with the Coanda effect, too. Video after the break.

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