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Morphing UAVs: Integrating Extended Endurance, Agile Flight, and Enhanced Functionalities Through Hardware Innovations
Morphing UAVs: Integrating Extended Endurance, Agile Flight, and Enhanced Functionalities Through Hardware Innovations
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20260202103541
- ISBN
- 9798288862267
- DDC
- 741
- 저자명
- Tang, Jerry.
- 서명/저자
- Morphing UAVs: Integrating Extended Endurance, Agile Flight, and Enhanced Functionalities Through Hardware Innovations
- 발행사항
- [Sl] : University of California, Berkeley, 2025
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2025
- 형태사항
- 100 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 87-01, Section: B.
- 주기사항
- Advisor: Mueller, Mark W.
- 학위논문주기
- Thesis (Ph.D.)--University of California, Berkeley, 2025.
- 초록/해제
- 요약This dissertation presents a series of novel UAV designs that address notable limitations of conventional quadcopters through practical, hardware-centric modifications and corresponding control strategies. We first introduce an unactuated rotor tilting vehicle design (QUaRTM) that enables the quadcopter to passively adjust rotor orientation mid-flight, reducing frontal drag at higher speeds. By transitioning between untilted and tilted configurations using sprung hinges-without adding any actuators-QUaRTM achieves improved top speed, agility, and energy efficiency. Experiments show a 12.5% increase in max speed, better high-speed agility, and over 20% reduction in power consumption at 15-20 m/s. Building on this foundation, the active tilt-rotor concept PairTilt introduces pairwise rotor coupling to decouple forward translation from pitch rotation, enabling a balanced trade-off between mechanical simplicity and enhanced flight performance. This design reduces servo torque demands and gyroscopic effects by avoiding independent rotor tilting, while maintaining strong control authority. As a result, PairTilt supports faster and more energy-efficient cruising, improved agility during fast maneuvers, and enables novel capabilities such as sensor pointing and compact hovering in confined environments. Furthermore, the dissertation presents a dual-modal UAV design (Duawlfin) that, to the best of our knowledge, is the first to achieve ground locomotion without relying on aerodynamic propulsion and without adding any additional actuators. The same set of motors used for flight is mechanically repurposed to drive ground motion through a passive belt-and-differential drivetrain combined with one-way bearings, which automatically decouple the propellers during reverse motor operation. This unified actuation strategy enables seamless and efficient transitions between flying and driving, all within a compact and mechanically simple architecture. In addition, two co-authored studies-one on staging battery mass for extended flight time and another on midair reconfiguration using unactuated hinges-are briefly introduced here to underscore complementary design strategies that further enhance UAV capability. Collectively, these contributions not only extend the operational envelope of multirotor UAVs but also provide practical solutions for applications requiring high-performance, long-range, and versatile aerial robotics.
- 일반주제명
- Design
- 일반주제명
- Robotics
- 일반주제명
- Engineering
- 키워드
- Aerial robotics
- 키워드
- Hybrid mobility
- 키워드
- Vehicle design
- 기타저자
- University of California, Berkeley Mechanical Engineering
- 기본자료저록
- Dissertations Abstracts International. 87-01B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520260202103541
■006m o d
■007cr#unu||||||||
■020 ▼a9798288862267
■035 ▼a(MiAaPQ)AAI32040960
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a741
■1001 ▼aTang, Jerry.
■24510▼aMorphing UAVs: Integrating Extended Endurance, Agile Flight, and Enhanced Functionalities Through Hardware Innovations
■260 ▼a[Sl]▼bUniversity of California, Berkeley▼c2025
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2025
■300 ▼a100 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 87-01, Section: B.
■500 ▼aAdvisor: Mueller, Mark W.
■5021 ▼aThesis (Ph.D.)--University of California, Berkeley, 2025.
■520 ▼aThis dissertation presents a series of novel UAV designs that address notable limitations of conventional quadcopters through practical, hardware-centric modifications and corresponding control strategies. We first introduce an unactuated rotor tilting vehicle design (QUaRTM) that enables the quadcopter to passively adjust rotor orientation mid-flight, reducing frontal drag at higher speeds. By transitioning between untilted and tilted configurations using sprung hinges-without adding any actuators-QUaRTM achieves improved top speed, agility, and energy efficiency. Experiments show a 12.5% increase in max speed, better high-speed agility, and over 20% reduction in power consumption at 15-20 m/s. Building on this foundation, the active tilt-rotor concept PairTilt introduces pairwise rotor coupling to decouple forward translation from pitch rotation, enabling a balanced trade-off between mechanical simplicity and enhanced flight performance. This design reduces servo torque demands and gyroscopic effects by avoiding independent rotor tilting, while maintaining strong control authority. As a result, PairTilt supports faster and more energy-efficient cruising, improved agility during fast maneuvers, and enables novel capabilities such as sensor pointing and compact hovering in confined environments. Furthermore, the dissertation presents a dual-modal UAV design (Duawlfin) that, to the best of our knowledge, is the first to achieve ground locomotion without relying on aerodynamic propulsion and without adding any additional actuators. The same set of motors used for flight is mechanically repurposed to drive ground motion through a passive belt-and-differential drivetrain combined with one-way bearings, which automatically decouple the propellers during reverse motor operation. This unified actuation strategy enables seamless and efficient transitions between flying and driving, all within a compact and mechanically simple architecture. In addition, two co-authored studies-one on staging battery mass for extended flight time and another on midair reconfiguration using unactuated hinges-are briefly introduced here to underscore complementary design strategies that further enhance UAV capability. Collectively, these contributions not only extend the operational envelope of multirotor UAVs but also provide practical solutions for applications requiring high-performance, long-range, and versatile aerial robotics.
■590 ▼aSchool code: 0028.
■650 4▼aDesign
■650 4▼aRobotics
■650 4▼aEngineering
■653 ▼aAerial robotics
■653 ▼aControl strategies
■653 ▼aHybrid mobility
■653 ▼aTilt-rotor systems
■653 ▼aUnmanned Aerial Vehicles
■653 ▼aVehicle design
■690 ▼a0389
■690 ▼a0771
■690 ▼a0800
■690 ▼a0537
■71020▼aUniversity of California, Berkeley▼bMechanical Engineering.
■7730 ▼tDissertations Abstracts International▼g87-01B.
■790 ▼a0028
■791 ▼aPh.D.
■792 ▼a2025
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17357652▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
