On November 23, 2017 LARICS researcher Tomislav Haus successfully defended his doctoral dissertation and received a Doctor of Science degree in Electrical Engineering. Tomislav’s thesis was entitled “Control of multirotor unmanned aerial vehicle based on moving mass concept”. The original scientific contributions of his thesis include: (i) A method for roll and pitch control of a multirotor unmanned aerial vehicle based on the moving mass concept, (ii) Analysis of dynamical and static characteristics of a multirotor unmanned aerial vehicle with internal combustion engines and moving masses based on the derived mathematical model and parameter identification, (iii) Adaptive control algorithm for a multirotor unmanned aerial vehicle with internal combustion engines and moving masses which compensates for changes of the center of mass and moment of inertia.
LARICS part of the MORUS team (Stjepan Bogdan, Matko Orsag, Tomislav Haus, Antun Ivanović, Marko Car) spent a week in a military base in Udbina preparing the MORUS aerial vehicle powered by four internal combustion engines for the first take off. We are happy to report that the maiden flight of the vehicle took place on November 17, 2017. In the final experiment, the vehicle was piloted through RC controller, with height, yaw, roll and pitch manually controlled by the pilot. This first flight demonstrated that the concept proposed within the project is feasible. There have been many lessons learned throughout the week spent in the base, which will be used to improve the vehicle design and performance.
LARICS Phd student Tomislav Haus spent four weeks (mid June to mid July 2017) at United States Military Academy at WestPoint, NY, as a part of their summer internship program. He was an intern at Department for Electrical Engineering and Computer Science under supervision of LTC Christopher M. Korpela, Ph.D. Tomislav worked on vision based control and navigation of a small multirotor aerial vehicle. In particular, an algorithm has been developed which tracks QR-like markers and allows the vehicle to localize itself in a space with randomly distributed markers. The video showing the achieved results is available here.
LARICS Phd student Tomislav Haus attended The 2017 International Conference on Unmanned Aircraft Systems (ICUAS), held in Miami, FL, USA, June 13-16. Tomislav presented the paper titled “A concept of a non-tilting multirotor-UAV based on moving mass control“. The results presented in the paper are part of the research efforts of the MORUS project, within which we aim to build a heavy-lift quadrotor powered by four internal combustion engines.
In front of the assessment committee (Prof. Matko Orsag, Prof. Stjepan Bogdan, and Prof. Zdravko Terze), LARICS PhD student Tomislav Haus mentored by Prof. Bogdan successfully presented and defended the topic of his doctoral dissertation titled „Control of multirotor unmanned aerial vehicle based on moving mass concept“. The Committee agreed upon expected scientific contributions and thereafter, the Faculty Council and the Technical Committee of the University of Zagreb should still approve the given topic proposal.
Three LARICS researchers and PhD students attended the 24th Mediterranean Conference on Control and Automation, that took place on 21-24 June 2016 in Athens, Greece. Goran Vasiljević presented the paper “Model predictive control based torque vectoring algorithm for electric car with independent drives” by G. Vasiljević and S. Bogdan. Edin Kočo gave a presentation of the paper “Multiobjective locomotion optimization of quadruped robot with different 2DOF configurations of actuated spine” by E. Kočo and Z. Kovačić. Finally, Tomislav Haus presented the paper “A novel concept of attitude control for large multirotor-UAVs based on moving mass control” by T. Haus, N. Prkut, K. Borovina, B. Marić, M. Orsag and S. Bogdan.
On 16 December 2015 the ASSISIbf LARICS team organized a training at the local Faculty for their master students. The purpose of the training was to present, through selected lectures and a practical session, the overall goals of the ASSISIbf project and the results accomplished in the first half of the project.
Prof. Bogdan gave talk on general concepts of the project. The students could find out what is the FET programme, FOCAS initiative, collective adaptive systems and the methodology applied within the project. Dr. Damjan Miklić and Karlo Griparić presented the software and hardware architecture developed for facilitating ethological experiments on honeybees. The emphasis was put on distributivity and modularity of the system.
In the practical session, the task for the students was to program Combined Actuator Sensor Units (CASUs), which are being developed within the project. LARICS staff prepared the arena with fully functional four CASUs and each CASU was given to a group of 3 students to program. Bristlebots were used to mimic the motion of bees and the task was to develop a CASU controller which detects the tiny robots and reacts to their presence by changing CASU temperature and color.