arXiv subjects

Sophie F. Armanini

Publications and source records attributed to Sophie F. Armanini.

11 recordsLinked to original sources

arXiv2026

Future Pathways for eVTOLs: A Design Optimization Perspective

The rapid development of advanced urban air mobility, particularly electric vertical take-off and landing (eVTOL) aircraft, requires interdisciplinary approaches involving the future urban air mobility ecosystem. Operational cost efficiency, regulatory aspects, sustainability, and environmental compatibility should be incorporated directly into the conceptual design of aircraft and across operational and regulatory strategies. In this work, we apply a multidisciplinary design optimization framework for the conceptual design of eVTOL aircraft. The framework optimizes conventional design elements of eVTOL aircraft over a generic mission and integrates operational cost and an energy and battery-based emissions model to capture sustainability incentives of the designed system. We introduce a novel metric, the cross-transportation Figure of Merit (FoM), to compare the optimized eVTOL system with various competing road, rail, and air transportation modes in terms of sustainability, cost, and travel time. The framework incorporates regulatory, technical, and operational constraints to evaluate four distinct stakeholder-centric configurations: profit-maximizing, cost-minimizing, environmental impact-minimizing, and FoM-optimized designs. The results highlight the importance of integrating multiple operational disciplines into the design process, while underscoring the differing priorities of operators, regulators, and society.

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arXiv2026

A Multimodal Tiltwing Framework for Bioinspired Aerial Robots

Tailless flapping-wing micro-aerial vehicles (FWMAVs) mimic the impressive flight performance of hummingbirds, utilising unsteady aerodynamic effects. However, existing designs are still limited and purpose-built with a restricted flight envelope and poor endurance. We therefore propose an adaptable tiltwing framework enabling bioinspired aerial robots to switch between hovering flight, high-speed directional flight, and energy-efficient gliding flight. The proposed framework utilises thrust vectoring with a wide actuation range via two fully independent propulsion units, each flapping a single wing, for effective control and enhanced manoeuvrability. For this, we developed a hybrid Scotch-yoke-based flapping mechanism that ensures a symmetric motion profile with a modular design guaranteeing an arbitrarily wide flapping angle to exploit the lift-enhancing clap-and-fling effect. Additionally, we implemented a passive wing-rotation mechanism, which, in combination with our dual-wing thrust-vectoring approach, allows unprecedented wing-design freedom, unlocking potential for precise optimisation. A contactless leading-edge tracking sensor provides accurate feedback on the wing's orientation and, in the gliding mode, enables dihedral-angle control, augmenting the active wing-pitch control. Extensive testing of a propulsion unit was conducted with a six-axis force/torque sensor, demonstrating the flapping mechanism's performance while optimising transmission efficiency and the passive wing-pitch mechanism. At full throttle, the average lift force generated by a single wing, flapping with a 188° amplitude, was 21.1 gf for a small 3.1 g 1S BLDC motor. Additional tests covering the full range of the wide-angle tilting capability showed an effective thrust-vectoring control architecture with a linear and symmetric response curve of the moments generated.

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arXiv2025

Repeatable Energy-Efficient Perching for Flapping-Wing Robots Using Soft Grippers

With the emergence of new flapping-wing micro aerial vehicle (FWMAV) designs, a need for extensive and advanced mission capabilities arises. FWMAVs try to adapt and emulate the flight features of birds and flying insects. While current designs already achieve high manoeuvrability, they still almost entirely lack perching and take-off abilities. These capabilities could, for instance, enable long-term monitoring and surveillance missions, and operations in cluttered environments or in proximity to humans and animals. We present the development and testing of a framework that enables repeatable perching and take-off for small to medium-sized FWMAVs, utilising soft, non-damaging grippers. Thanks to its novel active-passive actuation system, an energy-conserving state can be achieved and indefinitely maintained while the vehicle is perched. A prototype of the proposed system weighing under 39 g was manufactured and extensively tested on a 110 g flapping-wing robot. Successful free-flight tests demonstrated the full mission cycle of landing, perching and subsequent take-off. The telemetry data recorded during the flights yields extensive insight into the system's behaviour and is a valuable step towards full automation and optimisation of the entire take-off and landing cycle.

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arXiv2025

Learning Agile Tensile Perching for Aerial Robots from Demonstrations

Perching on structures such as trees, beams, and ledges is essential for extending the endurance of aerial robots by enabling energy conservation in standby or observation modes. A tethered tensile perching mechanism offers a simple, adaptable solution that can be retrofitted to existing robots and accommodates a variety of structure sizes and shapes. However, tethered tensile perching introduces significant modelling challenges which require precise management of aerial robot dynamics, including the cases of tether slack & tension, and momentum transfer. Achieving smooth wrapping and secure anchoring by targeting a specific tether segment adds further complexity. In this work, we present a novel trajectory framework for tethered tensile perching, utilizing reinforcement learning (RL) through the Soft Actor-Critic from Demonstrations (SACfD) algorithm. By incorporating both optimal and suboptimal demonstrations, our approach enhances training efficiency and responsiveness, achieving precise control over position and velocity. This framework enables the aerial robot to accurately target specific tether segments, facilitating reliable wrapping and secure anchoring. We validate our framework through extensive simulation and real-world experiments, and demonstrate effectiveness in achieving agile and reliable trajectory generation for tensile perching.

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arXiv2024

Features characterizing safe aerial-aquatic robots

This paper underscores the importance of environmental monitoring, and specifically of freshwater ecosystems, which play a critical role in sustaining life and global economy. Despite their importance, insufficient data availability prevents a comprehensive understanding of these ecosystems, thereby impeding informed decision-making concerning their preservation. Aerial-aquatic robots are identified as effective tools for freshwater sensing, offering rapid deployment and avoiding the need of using ships and manned teams. To advance the field of aerial aquatic robots, this paper conducts a comprehensive review of air-water transitions focusing on the water entry strategy of existing prototypes. This analysis also highlights the safety risks associated with each transition and proposes a set of design requirements relating to robots' tasks, mission objectives, and safety measures. To further explore the proposed design requirements, we present a novel robot with VTOL capability, enabling seamless air water transitions.

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arXiv2024

Camber-changing flapping hydrofoils for efficient and environmental-safe water propulsion system

This research introduces a novel hydrofoil-based propulsion framework for unmanned aquatic robots, inspired by the undulating locomotion observed in select aquatic species. The proposed system incorporates a camber-modulating mechanism to enhance hydrofoil propulsive force generation and eventually efficiency. Through dynamic simulations, we validate the effectiveness of the camber-adjusting hydrofoil compared to a symmetric counterpart. The results demonstrate a significant improvement in horizontal thrust, emphasizing the potential of the cambering approach to enhance propulsive performance. Additionally, a prototype flipper design is presented, featuring individual control of heave and pitch motions, as well as a camber-adjustment mechanism. The integrated system not only provides efficient water-based propulsion but also offers the capacity for generating vertical forces during take-off maneuvers for seaplanes. The design is tailored to harness wave energy, contributing to the exploration of alternative energy resources. This work advances the understanding of bionic oscillatory principles for aquatic robots and provides a foundation for future developments in environmentally safe and agile underwater exploration.

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arXiv2024

Exploring the Potential of Multi-modal Sensing Framework for Forest Ecology

Forests offer essential resources and services to humanity, yet preserving and restoring them presents challenges, particularly due to the limited availability of actionable data, especially in hard-to-reach areas like forest canopies. Accessibility continues to pose a challenge for biologists collecting data in forest environments, often requiring them to invest significant time and energy in climbing trees to place sensors. This operation not only consumes resources but also exposes them to danger. Efforts in robotics have been directed towards accessing the tree canopy using robots. A swarm of drones has showcased autonomous navigation through the canopy, maneuvering with agility and evading tree collisions, all aimed at mapping the area and collecting data. However, relying solely on free-flying drones has proven insufficient for data collection. Flying drones within the canopy generates loud noise, disturbing animals and potentially corrupting the data. Additionally, commercial drones often have limited autonomy for dexterous tasks where aerial physical interaction could be required, further complicating data acquisition efforts. Aerial deployed sensor placement methods such as bio-gliders and sensor shooting have proven effective for data collection within the lower canopy. However, these methods face challenges related to retrieving the data and sensors, often necessitating human intervention.

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arXiv2024

Aerial Tensile Perching and Disentangling Mechanism for Long-Term Environmental Monitoring

Aerial robots show significant potential for forest canopy research and environmental monitoring by providing data collection capabilities at high spatial and temporal resolutions. However, limited flight endurance hinders their application. Inspired by natural perching behaviours, we propose a multi-modal aerial robot system that integrates tensile perching for energy conservation and a suspended actuated pod for data collection. The system consists of a quadrotor drone, a slewing ring mechanism allowing 360° tether rotation, and a streamlined pod with two ducted propellers connected via a tether. Winding and unwinding the tether allows the pod to move within the canopy, and activating the propellers allows the tether to be wrapped around branches for perching or disentangling. We experimentally determined the minimum counterweights required for stable perching under various conditions. Building on this, we devised and evaluated multiple perching and disentangling strategies. Comparisons of perching and disentangling manoeuvres demonstrate energy savings that could be further maximized with the use of the pod or tether winding. These approaches can reduce energy consumption to only 22\% and 1.5\%, respectively, compared to a drone disentangling manoeuvre. We also calculated the minimum idle time required by the proposed system after the system perching and motor shut down to save energy on a mission, which is 48.9\% of the operating time. Overall, the integrated system expands the operational capabilities and enhances the energy efficiency of aerial robots for long-term monitoring tasks.

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arXiv2024

Gotta catch 'em all, safely! Aerial-deployed soft underwater gripper

Underwater soft grippers exhibit potential for applications such as monitoring, research, and object retrieval. However, existing underwater gripping techniques frequently cause disturbances to ecosystems. In response to this challenge, we present a novel underwater gripping framework comprising a lightweight gripper affixed to a custom submarine pod deployable via drone. This approach minimizes water disturbance and enables efficient navigation to target areas, enhancing overall mission effectiveness. The pod allows for underwater motion and is characterized by four degrees of freedom. It is provided with a custom buoyancy system, two water pumps for differential thrust and two for pitching. The system allows for buoyancy adjustments up to a depth of 6 meters, as well as motion in the plane. The 3-fingered gripper is manufactured out of silicone and was successfully tested on objects with different shapes and sizes, demonstrating a maximum pulling force of up to 8 N when underwater. The reliability of the submarine pod was tested in a water tank by tracking its attitude and energy consumption during grasping maneuvers. The system also accomplished a successful mission in a lake, where it was deployed on a hexacopter. Overall, the integration of this system expands the operational capabilities of underwater grasping, makes grasping missions more efficient and easy to automate, as well as causing less disturbance to the water ecosystem.

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arXiv2023

Validation of Collision Detection and Avoidance Methods for Urban Air Mobility through Simulation

Urban Air Mobility is a new concept of regional aviation that has been growing in popularity as a solution to the issue of ever-increasing ground traffic. Electric vehicles with vertical take-off and landing capabilities are being developed by numerous market companies as a result of the push toward environmentally sustainable aviation. The next stage in the eVTOL development process would be to define the concept of operation of these conceptual aircraft and then to integrate them with the existing airspace once they are airborne. In addition to coordinating with conventional air traffic and other Urban Air Mobility (UAM) vehicles, collision avoidance with uncooperative airspace users has to be addressed. Birds and drones of all sizes could be dangerous for these low-flying aircraft. Innovative collision detection and avoidance techniques need to be employed due to the uncooperative nature of these airspace users and different performance characteristics of urban air mobility vehicles compared to classical fixed-wing aircraft. The aim of this study is to validate one such system by means of fast-time solutions. This system uses a decision tree and safety envelopes to prevent collisions with non-cooperative airspace members. The system is designed to work with different aircraft configurations used for Urban Air Mobility (UAM) operations. Various scenarios are modelled by varying intruder type, location, flight path among others. Changes in flight time and closest point of approach are assessed to evaluate the system with regard to safety and efficiency.

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arXiv2023

Experimental Evaluation of Bird Strikes in Urban Air Mobility

Advanced mobility concepts such as Urban Air Mobility are emerging in full swing. In that concept, a safe and efficient aviation transportation system will use highly automated aircraft that will transport passengers or cargo at low altitudes within and between metropolitan regions. To accomplish these missions, new types of aircraft which are sometimes known as air taxis are being developed. A successful integration of these aircraft into existing airspace is complicated and needs to take into account various aspects. One of these is the risk of wildlife strikes which is predicted to be higher in case of air taxis. The proposed operational cruising altitude of air taxis is lower resulting in higher probability of collision as these are the altitudes where birds typically fly. Additionally, air taxis are smaller in size and have lower certification requirements compared to conventional aircraft. As a result, the severity of damaging bird strikes is higher. To assess the risk and formulate suitable regulations, an extensive analysis is required providing more quantitative insight into the bird strike challenge. Therefore, a theoretical model of bird strike to quantify the impact force by considering different bird and aircraft related parameters was developed previously. This paper aims to validate this theoretical model experimentally. It presents a methodology for implementing an experimental setup, allowing for the theoretical impact force model to be fully validated. A test matrix containing seven test cases, nine test scenarios and 135 iterations is formulated to conduct the bird strike experiment and the influencing parameters are considered for theoretical model verification. The paper closes with the presentation of the experimental results for validating the theoretical model which indicate 92.89 % conformance of experimental results with the theoretical model.

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