Vertical Take-off Research Articles

Anticipating Current and Coming Technologies that Affect U.S. Travel Choices

Understanding the preferences for new and future transportation technologies is important to ensure an efficient and equitable future transportation system. A survey was conducted of Americans’ preferences for several such technologies. Americans are concerned about vehicle range and charging station availability for electric vehicles (EVs) and hesitant about autonomous vehicle (AV) safety. Opinions about many transportation technologies, such as vertical takeoff and landing (i.e., air taxis), shared parking, and air-drone delivery are mixed. These less familiar technologies require continued tracking of preferences. A 55% increase is estimated in the probability of an individual choosing a battery electric vehicle (BEV) pickup truck if its fuel economy increases by about 9%. This result supports a market for BEV pickup trucks currently under development by many automakers. The preference for vehicle autonomation appears to depend on the use case. Driving task automation is preferred by residents of low-density, car-dependent areas where long commutes are common. In contrast, automated parking technologies are favored by those living in denser communities. Intermittent bus lanes are favored by those living in high population density areas, but not among those in areas with high shares of zero-vehicle households. These results provide indications of where to direct future research in the field.

Model, Control, and Realistic Visual 3D Simulation of VTOL Fixed-Wing Transition Flight Considering Ground Effect

The research topic of VTOL (vertical take-off and landing) fixed wing (VFW) is gaining significant attention, particularly in the transition phase from VTOL to fixed wing and vice versa. One of the latest and most challenging transition strategies is the bird take-off mode, where vertical and horizontal take-off is carried out simultaneously, mimicking the behavior of birds. The condition that is rarely considered when taking off is the ground effect. Under natural conditions, a ground effect is bound to occur, which can significantly impact the stability of the transition when the VFW is close to the ground. This paper addresses this issue by proposing a model and control strategy and conducting realistic visual 3D simulations of the VFW transition that incorporates ground effect using full complex aerodynamic parameters. This research represents a novel approach, using the robot operating system (ROS) and Gazebo to conduct realistic visual 3D simulations for VFW transition. The linear quadratic regulator (LQR) control method is used to manage the transitions and compensate for any disturbances. The flight tests demonstrate the effectiveness of the proposed model and controller in executing flight missions using the bird take-off mode transition. Moreover, the controller has demonstrated reliability and robustness in compensating for attitude errors induced by ground effects and external disturbances.

Lightweight Solid Oxide Cell Design for Ammonia-Fed SOFC Systems

A lightweight solid oxide fuel cell (SOFC) was developed by OxEon Energy that demonstrates the potential for increased specific power (kW/g) suitable for the requirements of electric Vertical Take-off and Landing (eVTOL) applications. Fuel flexibility was demonstrated in button cells and stacks using both legacy electrolyte-supported SOFC structure and the lightweight structure. Button cell and stack performance was nearly identical among hydrogen, ammonia, and reformed natural gas. Durability testing shows similarly stable performance in each fuel. A button cell test in ammonia at 800 °C using the lightweight cell structure measured area specific resistance (ASR) of 0.25 Ω-cm2 in H2/N2 and NH3 fuel feeds and showed a peak power density of 0.98 W/ cm2 in NH3 fuel. Short term hold at 0.7 V showed stable performance.

Advanced Air Mobility Operation and Infrastructure for Sustainable Connected eVTOL Vehicle

Advanced air mobility (AAM) is an emerging sector in aviation aiming to offer secure, efficient, and eco-friendly transportation utilizing electric vertical takeoff and landing (eVTOL) aircraft. These vehicles are designed for short-haul flights, transporting passengers and cargo between urban centers, suburbs, and remote areas. As the number of flights is expected to rise significantly in congested metropolitan areas, there is a need for a digital ecosystem to support the AAM platform. This ecosystem requires seamless integration of air traffic management systems, ground control systems, and communication networks, enabling effective communication between AAM vehicles and ground systems to ensure safe and efficient operations. Consequently, the aviation industry is seeking to develop a new aerospace framework that promotes shared aerospace practices, ensuring the safety, sustainability, and efficiency of air traffic operations. However, the lack of adequate wireless coverage in congested cities and disconnected rural communities poses challenges for large-scale AAM deployments. In the immediate recovery phase, incorporating AAM with new air-to-ground connectivity presents difficulties such as overwhelming the terrestrial network with data requests, maintaining link reliability, and managing handover occurrences. Furthermore, managing eVTOL traffic in urban areas with congested airspace necessitates high levels of connectivity to support air routing information for eVTOL vehicles. This paper introduces a novel concept addressing future flight challenges and proposes a framework for integrating operations, infrastructure, connectivity, and ecosystems in future air mobility. Specifically, it includes a performance analysis to illustrate the impact of extensive AAM vehicle mobility on ground base station network infrastructure in urban environments. This work aims to pave the way for future air mobility by introducing a new vision for backbone infrastructure that supports safe and sustainable aviation through advanced communication technology.

Improved Radar Detection of Small Drones Using Doppler Signal-to-Clutter Ratio (DSCR) Detector

The detection of drones using radar presents challenges due to their small radar cross-section (RCS) values, slow velocities, and low altitudes. Traditional signal-to-noise ratio (SNR) detectors often fail to detect weak radar signals from small drones, resulting in high “Missed Target” rates due to the dependence of SNR values on RCS and detection range. To overcome this issue, we propose the use of a Doppler signal-to-clutter ratio (DSCR) detector that can extract both amplitude and Doppler information from drone signals. Theoretical calculations suggest that the DSCR of a target is less dependent on the detection range than the SNR. Experimental results using a Ku-band pulsed-Doppler surface surveillance radar and an X-band marine surveillance radar demonstrate that the DSCR detector can effectively extract radar signals from small drones, even when the signals are similar to clutter levels. Compared to the SNR detector, the DSCR detector reduces missed target rates by utilizing a lower detection threshold. Our tests include quad-rotor, fixed-wing, and hybrid vertical take-off and landing (VTOL) drones, with mean SNR values comparable to the surrounding clutter but with DSCR values above 10 dB, significantly higher than the clutter. The simplicity and low radar requirements of the DSCR detector make it a promising solution for drone detection in radar engineering applications.

Tri-Rotor Propeller Design Concept, Optimization and Analysis of the Lift Efficiency During Hovering

This study introduces the simulation of a tri-rotor contra-rotating propeller for thrust force and hover lift efficiency during vertical take-off. Vertical take-off or landing is a method used by many aircraft and makes the vehicle more convenient and easier to use. The second rotor revolved in the opposite direction of the first and third rotors. The proposed multi-rotor system has NACA 0012 untwisted and symmetric airfoil and includes three rotors with two blades for each. The airflow analysis was optimized with computational fluid dynamics simulation by using different pitch combinations to achieve the highest hover lift efficiency with sufficient overall thrust value. The critical angle of attack for the chosen airfoil gave the boundary conditions for the pitch of rotors. The results showed us that the most efficient combinations for three rotors work better with an increase of pitch angle from top to bottom so that there is a difference of at least two degrees between propellers. Experiments with angles of attack within the boundary conditions showed that the blade combinations starting from three degrees and increasing values gave positive and adequate results in many cases. In addition, the results showed that a regular increase in the angle of attack does not relate to a regular increment in thrust force.

A tilt-wing VTOL UAV configuration: Flight dynamics modelling and transition control simulation

AbstractThis paper aims to present a vertical take-off and landing unmanned aerial vehicle (VTOL UAV) configuration and numerically simulate its flight transition from hover to cruise and from cruise to hover. It can tilt the canard and wing along with two attached propellers. Additionally, two fixed front propellers are pointing upwards. Multi-body equations of motion are derived for this concept of aircraft, which are used to compute the flight transition trajectory from hover to cruise configuration. Furthermore, a transition control algorithm based on gain scheduling is described, which stabilises the aircraft while it accelerates from hover to cruise, gradually tilting the wing along with its propellers, sequentially switching between equilibrium states, as the stability cost functions thresholds are reached. The transition control algorithm of the conceptual aircraft model is numerically simulated.

Flight Guidance Concepts to Mitigate Flight Control System Degradation in Urban Air Mobility Scenarios

Continued safe flight under all foreseeable scenarios will be crucial to assure airworthiness and build trust in future vertical takeoff and landing (VTOL) urban air mobility (UAM) concepts. Successful pilot intervention will be especially important for handling emergency procedures. This paper demonstrates the use of human-centric flight guidance concepts to mitigate the effects of non-catastrophic failures in future VTOL UAM aircraft. Specifically, a single failure in the lateral steering function of an automatic flight control system is considered. A new waypoint guidance law is proposed to generate the required roll command to manually steer the aircraft toward a predefined safe landing zone. Two display concepts are proposed to aid the manual execution of the roll steering command: a head-down display (HDD), and a head-mounted display (HMD). The guidance law and the display concepts were integrated into a high-fidelity, wide field-of-view rotorcraft simulation environment. Human-in-the-loop experiments were performed with non-pilot test subjects. The effectiveness of the guidance law and display concepts along with the associated piloting performance and human factor impacts were assessed. The results indicated that all test subjects were able to reach a close vicinity of the final waypoint. The HMD induced lower workload whereas the HDD resulted in better tracking performance.

Fast Sizing Methodology and Assessment of Energy Storage Configuration on the Flight Time of a Multirotor Aerial Vehicle

Urban air mobility (UAM), defined as safe and efficient air traffic operations in a metropolitan area for manned aircraft and unmanned aircraft systems, is being researched and developed by industry, academia, and government. This kind of mobility offers an opportunity to construct a green and sustainable sub-sector, building upon the lessons learned over decades by aviation. Thanks to their non-polluting operation and simple air traffic management, electric vertical take-off and landing (eVTOL) aircraft technologies are currently being developed and experimented with for this purpose. However, to successfully complete the certification and commercialization stage, several challenges need to be overcome, particularly in terms of performance, such as flight time and endurance, and reliability. In this paper, a fast methodology for sizing and selecting the propulsion chain components of an eVTOL multirotor aerial vehicle was developed and validated on a reduced-scale prototype of an electric multirotor vehicle with a GTOW of 15 kg. This methodology is associated with a comparative study of energy storage system configurations, in order to assess their effect on the flight time of the aerial vehicle. First, the optimal pair motor/propeller was selected using a global nonlinear optimization in order to maximize the specific efficiency of these components. Second, five energy storage technologies were sized in order to evaluate their influence on the aerial vehicle flight time. Finally, based on this sizing process, the optimized propulsion chain gross take-off weight (GTOW) was evaluated for each energy storage configuration using regression-based methods based on propulsion chain supplier data.

Experimental investigation of propeller noise in ground effect

The aerodynamic propeller performance and aeroacoustic characteristics of a single two-bladed propeller subjected to Ground Effect are investigated using experiments in an anechoic chamber. A strong increase in thrust, torque and power coefficients when a propeller operates in Ground Effect is demonstrated, consistent with previous studies. A low-fidelity Blade Element Momentum Theory model adapted for Ground Effect is implemented to cross-validate the aerodynamic results. The near-field and far-field spectra and their coherence are studied for various propeller distances from the ground plane and compared with the isolated case. The far-field noise measurements indicate that additional tonal peaks appear with the introduction of the ground plane when compared to isolated configuration. While in-Ground Effect, additional high-frequency broadband humps are observed at some polar angles not seen in isolated configuration. Two discrete regions, a shielded and reflection zone, with respective reduction and enhancement of the Overall Sound Pressure levels are observed. The primary reason for noise increase within the reflection zone is a result of pure acoustic reflection from the ground surface. The near-field measurements from an array of embedded high-response microphones in the ground plane indicate that the main source of the propeller noise is in the tip region. Near-field measurements reconfirm flow results from literature with near-field and far-field acoustic results. The present study may find important practical applications within Urban Air Mobility (UAM), especially in the design of vertiport landing pads and propellers for effective noise mitigation, aerodynamic performance, and prediction during the vertical take-off and landing phases of flight.

Battery cycle life assessment for a lift+cruise electric vertical takeoff and landing transporter drone

Advanced Air Mobility (AAM) is a new future concept of air transportation to move people and cargo effectively and safely between places that are under or not served by different transportation modes. Transporter drone is one of the potential vehicles envisaged to fulfill this future AAM needs. One of the key challenges and crucial components in enabling successful transporter drone flight is the batteries used as they have limited usage cycle lifespan that affects the system airworthiness significantly. Hence to ensure continuous airworthiness of the platform, it is vital to know or predict the battery State of Health (SOH) and cycle life accurately. This paper describes a systematic approach on battery cycle life assessment through experimental battery usage cycle test for a lift+cruise transporter drone using realistic operating flight profile. Analysis on the battery cycle test data collected provides useful battery health and usage cycle lifespan information for system preventive and predictive maintenance in maintaining its airworthiness. Battery SOH estimation was done using linear predictive models with the collected battery cycle data while battery cycle life model was formulated using a double exponential parametric regression model. The battery cycle data collected is made publicly available for the community.

ANALISIS KINEMATIK MANUVER TERBANG VERTIKAL PADA KOMPONEN SWASH PLATE, ROTOR HEAD DAN ROTOR BLADES HELIKOPTER SEJENIS NBO - 105 MENGGUNAKAN CATIA V5R16

Helicopters have a unique advantage over airplanes in that they can adjust the direction of their blades to generate lift in any direction, allowing them to perform vertical takeoffs and landings and hover in one spot. This capability makes them highly valuable for a variety of operations, including transportation. A crucial component in the helicopter control system is the swash plate, which allows for adjustments to the angle of the rotor blades to achieve specific maneuvers.To manufacture and model components such as the swash plate, rotor head, and rotor blades, CATIA V5R16 software can be used. This involves modeling the individual parts in the workbench part design, assembling them in the workbench assembly design, or conducting kinematic analysis using the DMU Kinematics workbench to obtain values for linear velocity, angular velocity, linear acceleration, and angular acceleration. When compared to manual calculations, the differences between the results produced by the CATIA V5R16 software and theoretical calculations are negligible. Therefore, it can be concluded that CATIA V5R16 software is highly capable and suitable for conducting kinematic analysis of three-dimensional components.

A Comprehensive Design and Experiment of a Biplane Quadrotor Tail-Sitter UAV

Tail-sitter unmanned aerial vehicles (UAVs) are promising vertical takeoff and landing (VTOL) UAV suitable for multi-missions but the road to the commercialization of tail-sitter UAVs is tortuous. This paper aims to provide a systematic design methodology and present the development process for a novel biplane quadrotor tail-sitter UAV platform named TW10 to accelerate commercialization of this type of UAV. All the design choices and trade-offs in aerodynamics, structure, avionics, and the control scheme are detailed. A simulation and real flight test results are demonstrated to prove the feasibility of our design methodology. TW10 can carry a 1 kg mission load to achieve more than 2.5 h of flight time. This work serves as a meaningful reference for the promotion of tail-sitter UAVs in practical industrial applications.

Effect of Control Parameters on Hybrid Electric Propulsion UAV Performance for Various Flight Conditions: Parametric Study

Nowadays, great efforts of ongoing research are devoted to hybrid-electric propulsion technology that offers various benefits, such as reduced noise and pollution emissions and enhanced aircraft performance and fuel efficiency. The ability to estimate the performance of an aircraft in any flight situation in which it may operate is essential for aircraft development. In the current study, a simulation model was developed that allows estimating the flight performance and analyzing the mission of a fixed-wing multi-rotor Unmanned Aerial Vehicle (UAV) with a hybrid electric propulsion system (HEPS), with both conventional and Vertical Takeoff and Landing (VTOL) capabilities. The control is based on the continuous specification of pitch angle, propulsion thrust, and lift thrust to achieve the required conditions of a given flight segment. Six different missions were considered to analyze the effect of control parameters exhibiting the most influence on the UAV mission performance. An appropriate set of control parameters was selected through a multidimensional parametric study. The results show that the control parameters, if not well tuned, affect the mission performance: for example, in the deceleration transition, a longer time to reduce the cruise speed to stand still may be the result because the controller struggles to adjust the pitch angle. In addition, the implemented methodology captures the effects of transient maneuvers, unlike typical quasi-static analysis without the complexity of full simulation models.

A new method to perform lithium-ion battery pack fault diagnostics – Part 3: Adaptation for fast charging

Electric Vertical Take-Off and Landing (eVTOL) aircraft are expected to become ubiquitous in the future Urban Air Mobility (UAM) landscape. Several eVTOL aircraft propelled using Lithium-ion batteries are under development. However, despite the early spotlight, the manufacturers need to ensure safe long-term operation of the vehicles including strict checks on battery-related hazards. On the other hand, fast charging of eVTOL batteries is crucial to enable multiple flights per day and justify the economics of UAM. This work is aimed at contextualising battery safety for eVTOL through the modification of a battery fault diagnosis algorithm for fast charging. The algorithm was developed in Parts 1 and 2 of the paper to use the charging cycle data for detecting disconnection faults but tested only for low charging currents. This paper adapts the algorithm for fast charging through a novel technique termed as Partial Incremental Capacity (PIC). The PIC method was developed using experiments at single cell and supercell level before integrating it into the algorithm. Finally, the fault detection ability of the adapted algorithm was validated using a real-life eVTOL battery module. Thus, the updated version of the algorithm facilitates fault diagnosis while charging fast, making it ideal for implementation in eVTOL.

Exploring Radar Micro-Doppler Signatures for Recognition of Drone Types

In this study, we examine the use of micro-Doppler signals produced by different blades (i.e., puller and lifting blades) to aid in radar-based target recognition of small drones. We categorize small drones into three types based on their blade types: fixed-wing drones with only puller blades, multi-rotor drones with only lifting blades, and hybrid vertical take-off and landing (VTOL) fixed-wing drones with both lifting and puller blades. We quantify the radar signatures of the three drones using statistical measures, such as signal-to-noise ratio (SNR), signal-to-clutter ratio (SCR), Doppler speed, Doppler frequency difference (DFD), and Doppler magnitude ratio (DMR). Our findings show that the micro-Doppler signals of lifting blades in all three drone types were stronger than those of puller blades. Specifically, the DFD and DMR values of pusher blades were below 100 Hz and 0.3, respectively, which were much smaller than the 200 Hz and 0.8 values for lifting blades. The micro-Doppler signals of the puller blades were weaker and more stable than those of the lifting blades. Our study demonstrates the potential of using micro-Doppler signatures modulated by different blades for improving drone detection and the identification of drone types by drone detection radar.

Validation of Quad Tail-sitter VTOL UAV Model in Fixed Wing Mode

Vertical take-off and landing (VTOL) is a type of unmanned aerial vehicle (UAV) that is growing rapidly because its ability to take off and land anywhere in tight spaces. One type of VTOL UAV, the tail-sitter, has the best efficiency. However, besides the efficiency offered, some challenges must still be overcome, including the complexity of combining the ability to hover like a helicopter and fly horizontally like a fixed-wing aircraft. This research has two contributions: in the form of how the analytical model is generated and the tools used (specifically for the small VTOL quad tail-sitter UAV) and how to utilize off-the-shelf components for UAV empirical modeling. This research focuses on increasing the speed and accuracy of the UAV VTOL control design in fixed-wing mode. The first step is to carry out analysis and simulation. The model is analytically obtained using OpenVSP in longitudinal and lateral modes. The next step is to realize this analytical model for both the aircraft and the controls. The third step is to measure the flight characteristics of the aircraft. Based on the data recorded during flights, an empirical model is made using system identification technique. The final step is to vali-date the analytical model with the empirical model. The results show that the characteristics of the analytical mode fulfill the specified requirements and are close to the empirical model. Thus, it can be concluded that the analytical model can be implemented directly, and consequently, the VTOL UAV design and development process has been shortened.

A novel heat pipe bipolar plate for proton exchange membrane fuel cells

The proton exchange membrane fuel cell (PEMFC) system is appealing for electric vertical takeoff and landing vehicles, but its power density needs to be improved for practical applications. Ultra-thin flat heat pipes (UTFHP) have potential to improve the power density of PEMFC system by reducing the complexity of thermal management subsystem, but the large stack volume have hindered their wider adoption. This paper proposes a novel design of heat pipe bipolar plates (HPBP) to reduce the volume of heat pipe cooled stack. A three-dimensional numerical model has been developed for analyzing and comparing the performance of the PEMFCs with HPBP and UTFHP. Compared to the UTFHP, the HPBP could significantly reduce the stack volume while maintaining comparable maximum heat load. It can also significantly reduce the maximum temperature and improve the temperature uniformity over the cathode catalyst layer middle plane. The operating range and the peak power density of the PEMFC cooled by HPBP are larger than that cooled by UTFHP. We also performed system-level evaluations and found that the PEMFC system with HPBP cooling exhibits 22% and 36% higher gravimetric and volumetric power densities than that with conventional liquid cooling, respectively.

Intelligent Vision-based Autonomous Ship Landing Of VTOL UAVs

The paper discusses an intelligent vision-based control solution for autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on ships without utilizing GPS signals. The central idea involves automating the Navy helicopter ship landing procedure where the pilot utilizes the ship as the visual reference for long-range tracking; however, it refers to a standardized visual cue installed on most Navy ships called the "horizon bar" for the final approach and landing phases. This idea is implemented using a uniquely designed nonlinear controller integrated with machine vision. The vision system utilizes machine learning based object detection for long-range ship tracking and classical computer vision for the estimation of aircraft relative position and orientation utilizing the horizon bar during the final approach and landing phases. The nonlinear controller operates based on the information estimated by the vision system and has demonstrated robust tracking performance even in the presence of uncertainties. The developed autonomous ship landing system was implemented on a quad-rotor UAV equipped with an onboard camera, and approach and landing were successfully demonstrated on a moving deck, which imitates realistic ship deck motions. Extensive simulations and flight tests were conducted to demonstrate vertical landing safety, tracking capability, and landing accuracy.

Analysis of cost-efficient urban air mobility systems: Optimization of operational and configurational fleet decisions

With the introduction of low-noise and low-emission electric vertical take-off and landing vehicles, passenger air transportation in urban areas is becoming increasingly important. Previous studies have designed vehicle concepts based on reference mission profiles, however, without considering strategic decisions about fleet operations, such as charging infrastructure, range and battery capacity. Comprehensive cost analyses for urban air mobility fleets have been largely neglected. In this paper, we develop an optimization model to analyze the cost-efficient operation of urban air mobility systems. Strategic decisions on vehicle concepts, battery capacity, and charging infrastructure are incorporated and evaluated using a total cost of ownership approach. We consider state-of-the-art modeling approaches, including vehicle-specific parameters, for accurate calculation of energy consumption. The optimization model is applied to the multi-agent transport simulation MATSim in a case study of the Ruhr (Germany) scenario to evaluate key parameter variations.The study results indicate the feasibility of an urban air mobility system in the study region with trip costs ranging from 27 US-$ to 46 US-$ per requested trip, depending on the scenario settings. Based on parameter variations, we find that a high cruising speed has a detrimental effect on the total cost. A medium charging power level is sufficient and energy costs account for only a moderate share. The latter is in contrast to previous research results, but can be attributed to the more detailed modeling approach of vehicle-specific parameters. We propose a cost incentive system as the ground handling time of the vehicles outweighs the recharging and flight time. The overall results provide a promising basis for model extensions.