We present a vision-based algorithm designed to enable an autonomous helicopter to land on a moving target. The helicopter is required to identify a target, track it, and land on it while the target is in motion. We use Hu’s moments of inertia for precise target recognition and a Kalman filter for target tracking. Based on the output of the tracker a simple trajectory controller is implemented ...

Helicopters have highly stochastic, nonlinear, dynamics, and autonomous helicopter flight is widely regarded to be a challenging control problem. As helicopters are highly unstable at low speeds, it is particularly difficult to design controllers for low speed aerobatic maneuvers. In this paper, we describe a successful application of reinforcement learning to designing a controller for sustain...

In case of engine failure, skilled pilots can save a helicopter from crashing by executing an emergency procedure known as autorotation. In autorotation, rather than relying on the engine to drive the main rotor, the pilot has to control the helicopter such that potential energy from altitude is transferred to rotor speed. In fact, maintaining a sufficiently high rotor speed is critical to reta...

The next generation of rotorcraft will have to satisfy the appropriate handling qualities requirements before entering service. Many of these vehicles will operate at significantly greater speeds than the conventional helicopter and will therefore have different capabilities than current helicopters. Due to the different capabilities of the compound helicopter, it is possible that new Mission T...

Background Haemostatic resuscitation is an important component of the Novel Hybrid Resuscitation strategy. This approach aims to maintain tissue oxygenation, and to counter traumatic coagulopathy maintaining the circulating with blood products which in combination resemble whole blood. Major Trauma Centres (MTCs) have adopted protocolised rapid access to appropriate blood products, triggered by...

In this paper modelling and identification of a laboratory helicopter with the final aim to design a control system is presented. The CE 150 made by Humusoft is a laboratory helicopter designed for studying system dynamics and control engineering principles. First, the helicopter set-up is depicted. Next, theoretical and empyric modelling is systematically described. Identification of the neces...

INTRODUCTION Since 2001, a Japanese national project has developed a helicopter emergency medical service (HEMS) system ("doctor-helicopter") and a central Disaster Medical Assistance Team (DMAT) composed of mobile and trained medical teams for rapid deployment during the response phase of a disaster. PROBLEM In Japan, the DMAT Research Group has focused on command and control of doctor-helic...

This article presents novel results obtained using variance constrained controllers and maneuvering helicopters when also some helicopter sensors fail. For this purpose complex, control oriented, physics based helicopter models are used. A nonlinear model of the helicopter, which includes blade flexibility, is first linearized around specific maneuvering flight conditions (i.e. level banked tur...