Dual

Multirotor aircraft enjoy many intrinsic advantages, but as machines that fight gravity with brute force, energy efficiency is not considered among them. In the interest of stretching range, several air-ground hybrid designs have been explored. Flying cars, basically, to run on the ground when it isn’t strictly necessary to be airborne. But they all share the same challenge: components that make a car work well on the ground are range-sapping dead weight while in the air. [Youming Qin et al.] explored cutting that dead weight as much as possible and came up with Hybrid Aerial-Ground Locomotion with a Single Passive Wheel.

As the paper’s title made clear, they went full minimalist with this design. Gone are the driveshaft, brakes, steering, even other wheels. All that remained is a single unpowered wheel bolted to the bottom of their dual-rotor flying machine. Minimizing the impact on flight characteristics is great, but how would that work on the ground? As a tradeoff, these rotors have to keep spinning even while in “ground mode”. They are responsible for keeping the machine upright, and they also have to handle tasks like steering. These and other control algorithm problems had to be sorted out before evaluating whether such a compromised ground vehicle is worth the trouble.

Happily, the result is a resounding “yes”. Even though the rotors have to continue running to do different jobs while on the ground, that was still far less effort than hovering in the air. Power consumption measurements indicate savings of up to 77%, and there are a lot of potential venues for tuning still awaiting future exploration. Among them is to better understand interaction with ground effect, which is something we’ve seen enable novel designs. This isn’t exactly the flying car we were promised, but its development will still be interesting to watch among all the other neat ideas under development to keep multirotors in the air longer.

[IROS 2020 Presentation video (duration 10:49) requires no-cost registration, available until at least Nov. 25th 2020. Forty-two second summary embedded below]

Continue reading “One Wheel Is All We Need To Roll Into Better Multirotor Efficiency” →

[John] wrote in with a solution to a prototyping issue that has vexed us for quite some time. Above you can see the DIP friendly solution for dual-row pin headers which he came up with. With just a bit of easy soldering he now has a breadboard friendly device for prototyping.

He starts by soldering a dual row pin header on the board, then clips off all of the legs on the outside row. The row of legs that remain are then inserted into one side of the trench on his breadboard. The other side of the trench has a single row pin header, and he solders them to the outer row on the breakout board using another single pin header aligned horizontally. This isn’t a 100% convenient solution, as it’s still pretty hard to get your jumper wires in the breadboard on the side covered by the breakout board. But if you plan in advance you can place your wires first, then plug in the development board.

Here [John] is working with TI’s eZ430-RF2500 board. We’d like to go back and remove the dual pin socket we soldered on our eZ430-F2013, replacing it with this style of pins.