Sophie Armanini

Sophie Armanini
Technische Universität München | TUM · Department of Aerospace Engineering

PhD

About

52
Publications
10,510
Reads
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303
Citations
Citations since 2017
41 Research Items
283 Citations
2017201820192020202120222023020406080
2017201820192020202120222023020406080
2017201820192020202120222023020406080
2017201820192020202120222023020406080
Additional affiliations
April 2018 - present
Imperial College London
Position
  • Research Associate
June 2017 - August 2017
Cornell University
Position
  • Researcher
November 2013 - February 2018
Delft University of Technology
Position
  • PhD Student
Education
November 2013 - February 2018
Delft University of Technology
Field of study
  • Aerospace Engineering
October 2007 - September 2013
Technische Universität München
Field of study
  • Aerospace Engineering

Publications

Publications (52)
Article
Full-text available
A time-varying model for the forward flight dynamics of a flapping-wing micro aerial vehicle is identified from free-flight optical tracking data. The model is validated and used to assess the validity of the widely applied time-scale separation assumption. Based on this assumption, each aerodynamic force and moment is formulated as a linear additi...
Article
Full-text available
Flapping-wing aerodynamic models that are accurate, computationally efficient and physically meaningful, are challenging to obtain. Such models are essential to design flapping-wing micro air vehicles and to develop advanced controllers enhancing the autonomy of such vehicles. In this work, a phenomenological model is developed for the time-resolve...
Article
Full-text available
Robotic vehicles that are capable of autonomously transitioning between various terrains and fluids have received notable attention in the past decade due to their potential to navigate previously unexplored and/or unpredictable environments. Specifically, aerial-aquatic mobility will enable robots to operate in cluttered aquatic environments and c...
Article
Aerial-aquatic robots possess the unique ability of operating in both air and water. However, this capability comes with tremendous challenges, such as communication incompatibility, increased airborne mass, potentially inefficient operation in each of the environments and manufacturing difficulties. Such robots, therefore, typically have small pay...
Article
Flapping-wing MAVs are starting to emulate the advanced flight maneuverability of insects and birds, however they struggle to achieve a similar aptitude for taking off and landing in challenging cluttered environments. The ability to perch on objects such as branches or metal struts would result in a wide range of potential landing sites, both indo...
Preprint
Full-text available
Biomimetic and Bioinspired design is not only a potent resource for roboticists looking to develop robust engineering systems or understand the natural world. It is also a uniquely accessible entry point into science and technology. Every person on Earth constantly interacts with nature, and most people have an intuitive sense of animal and plant b...
Conference Paper
This paper aims to simulate and design a V-shaped flight formation of flapping wing drones for the purpose of analyzing the induced drag experienced on each drone. Similar experiments have conducted analysis on V-shaped flight formations of drones. However, the distinct difference between this paper and other experiments is that this paper will uti...
Chapter
The previous chapters presented hybrid robot concepts and prototypes relying on the use of fixed wings for lift generation. The higher flight efficiency of such devices makes them suitable for covering large distances and can even serve to extend their locomotion envelope (see Chap. 11).
Chapter
This book would not be complete without a chapter on practical hardware and software elements used throughout the presented robots. We hope that this can serve as a rough toolbox for aerial-aquatic vehicle development, and cover some of the prototyping choices that are often under-reported in academic literature, but consume outsize research time.
Chapter
A wealth of research exists into the broader question of how robotic mobility can be expanded beyond a single domain/terrain. A significant amount of recent research attention has been given to the implementation of aerial-terrestrial mobility into miniature robots [94], resulting in mobile robots with shared subsystems and additional mechanisms wh...
Chapter
We live on a water-covered planet that is facing rapid change, both globally and locally, due to a combination of human behaviour and natural phenomena [31]. Understanding these changes requires in-depth scientific understanding of our environment. Key to enabling this is the fast, accurate and repeated provision of extensive physical data. However...
Chapter
Having measured the longitudinal aerodynamics of the AquaMAV in wind tunnel tests (cf. Chap. 7), the data gathered can then be used to analyse the dive performance of the vehicle, as well as estimate and evaluate its dynamic properties. As in Sect. 6.4, we begin by considering a quasi-steady state model, where, furthermore, the aerial and aquatic p...
Chapter
This book introduces the concept of small, unmanned aerial-aquatic robotics. This novel field of research aims to merge the benefits of flight and aquatic operation into one lightweight autonomous platform. As the reader will have seen in this book, wildly different robots can be envisioned as solutions to this formidable challenge.
Chapter
In a previous chapter an idealised water jet thruster was analysed, and it was argued that the most effective system would use large pressures to drive a small volume of water. In this chapter a more detailed physical model of water jet propulsion will be introduced, and the key design features of a jet thruster prototype detailed. Consistent stati...
Chapter
Most animals use different forms of locomotion to move through a varied environment. This allows them to adapt to find food, escape threats or migrate, while minimising their energetic cost of locomotion. To do so, animals must use the same locomotor modules to perform specialised tasks that often have opposed requirements. For example, an animal d...
Chapter
Several systems have been developed with aerial-aquatic locomotion capabilities but without demonstrating consecutive transitions to flight from water. Moreover, while some multirotor vehicles possess the ability to operate in both air and water [108, 109], the transition to flight is typically constrained to very calm sea conditions. Fixed-wing ro...
Chapter
In the previous chapters, aquatic launch and dives into water with small flying robots have been demonstrated. An AquaMAV prototype was presented which was capable of self propelled-flight in air and able to escape water, but this robot had no means of propelling itself beneath the surface. To add aquatic locomotion it is attractive to use the same...
Chapter
The field of aerial-aquatic robotics promises tremendous benefits in data collection as well as unmatched flexibility and remote access. However, the majority of existing aerial-aquatic robots are unable to perform scientific tasks at significant depth, limited by the weight penalty that any pressure resistant container would add. In addition, seal...
Chapter
In this chapter the design of a plunge diving AquaMAV is detailed. This enhanced AquaMAV prototype is capable of propelled flight, wing retraction for diving into water and jet propelled aquatic escape. The selection process for key components is detailed, as well as the specific attributes necessary for aerial-aquatic locomotion. The AquaMAV inclu...
Chapter
This chapter presents an overview of some fundamental physical laws and concepts at play in generic, as clarified in Figs. 5.1 and 5.2. The vehicle-specific physics are then introduced in the following chapters and form the basis for locomotion derived for the different vehicles presented.
Chapter
Water covers 363 million square km, or 72% of the earth’s surface. The vast majority of this water is saline (96%), frozen (2%) or groundwater (1%). The 10\(^5\) km\(^3\) of surface freshwater (0.008%) is in turn concentrated almost entirely in three large great lake systems (Fig. 3.1), with a vanishing small amount of surface freshwater forming la...
Book
This book reports on the state of the art in the field of aerial-aquatic locomotion, focusing on the main challenges concerning the translation of this important ability from nature to synthetic systems, and describing innovative engineering solutions that have been applied in practice by the authors at the Aerial Robotics Lab of Imperial College L...
Conference Paper
Full-text available
Autonomous aquatic vehicles capable of flight can deploy more rapidly, access remote or constricted areas, overfly obstacles and transition easily between distinct bodies of water. This new class of vehicles can be referred as Unmanned Aerial-Aquatic Vehicles (UAAVs), and is capable of reaching distant locations rapidly, conducting measurements and...
Article
Full-text available
Unmanned aerial vehicles (UAVs) have been shown to be useful for the installation of wireless sensor networks (WSNs). More notably, the accurate placement of sensor nodes using UAVs, opens opportunities for many industrial and scientific uses, in particular, in hazardous environments or inaccessible location. This publication proposes and demonstra...
Conference Paper
Full-text available
Aerial-aquatic mobility is envisaged to significantly facilitate applications involving aquatic sampling or underwater surveying. Allowing water vehicles to take flight would allow for rapid deployment, access to remote areas, over-flying of obstacles and easy transitioning between separate bodies of water. The use of a single vehicle capable of re...
Article
Despite significant research progress on small-scale aerial–aquatic robots, most existing prototypes are still constrained by short operation times and limited performance in different fluids. The main challenge is to design a vehicle that satisfies the partially conflicting design requirements for aerial and aquatic operations. In this letter we p...
Article
Full-text available
Despite significant interest in tailless flapping-wing micro aerial vehicle designs, tailed configurations are often favoured, as they offer many benefits, such as static stability and a simpler control strategy, separating wing and tail control. However, the tail aerodynamics are highly complex due to the interaction between the unsteady wing wake...
Article
Taking full advantage of the favorable flight properties of biologically inspired flapping-wing micro aerial vehicles requires having insight into their dynamics and providing adequate control in all flight conditions. Because of the high complexity of flapping flight and limited availability of accurate flight data, however, global models are not...
Thesis
Full-text available
The demand for always smaller, more manoeuvrable and versatile unmanned aerial vehicles cannot be met with conventional manned flight approaches. This has led engineers to seek inspiration in nature, giving rise to the bio-inspired flapping-wing micro aerial vehicle (FWMAV). FWMAVs achieve a remarkable flight performance at small scales, however th...
Conference Paper
Full-text available
While tailless flapping-wing micro aerial vehicle designs are attracting significant interest, the tailed option offers many benefits, such as static stability and simpler control strategy, which separates the wing control from the tail control. However, the interaction between wing wake and tail is complex, due to the unsteady, time-varying wing a...
Conference Paper
Full-text available
Bioinspired flapping-wing robots allow for unprecedented manoeuvrability and versatility, and increasingly small and light designs, with significant potential for flight in tight or cluttered spaces. For efficient design, operation and control of such vehicles, fully exploiting their potential and allowing for flight in a wide range of conditions,...
Conference Paper
Despite an intensive research on flapping flight and flapping wing MAVs in recent years, there are still no accurate models of flapping flight dynamics. This is partly due to lack of free flight data, in particular during manoeuvres. In this work, we present, for the first time, a comparison of free flight forces estimated using solely an on-board...
Article
Full-text available
With the increased use of unmanned aerial systems (UAS) for civil and commercial applications, there is a strong demand for new regulations and technology that will eventually permit for the integration of UAS in unsegregated airspace. This requires new technology to ensure sufficient safety and a smooth integration process. The absence of a pilot...
Conference Paper
Full-text available
A time-varying model for the forward flight dynamics of a flapping-wing micro aerial vehicle is determined from free-flight optical tracking data using system identification. Based on timescale separation, the aerodynamic forces and moments are each formulated as a linear addition of decoupled time-averaged and time-varying sub-models. The aerodyna...
Conference Paper
Full-text available
Valid models of flapping-wing aerodynamic forces would allow for the development of model-based control, necessary for active autonomous flight of flapping-wing micro aerial vehicles (FWMAVs). Two different models to describe the time-resolved aerodynamics of a clap-and-fling FWMAV are compared, with an outlook on control. The first is a quasi-stea...
Conference Paper
Full-text available
With the increased use of unmanned aerial systems (UAS) for civil and commercial applications, there is a strong demand for new regulations and technology that will eventually permit for the integration of UAS in unsegregated airspace. This requires new technology to ensure sufficient safety and a smooth integration process. The absence of a pilot...
Conference Paper
Full-text available
The existence of a simple and still physically representative aerodynamic model, that could be computed from states measured on-board of a flapping wing micro air vehicle would facilitate the development of autonomous ornithopters. In this regard, a phenomenological aerodynamic model of the forces acting on a clap-and-fling flapping wing robot is d...

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Projects

Projects (2)
Project
An opportunity for anyone to have their idea for a bioinspired robot be turned into a reality! If you've ever watched animal (or plant!) and thought 'Why can't we do it that way?', this is the place for you: www.naturalroboticscontest.com. Perhaps a robotic woodpecker that checks trees for disease? Maybe a robot falcon protecting the eggs of sea turtles? Or a mechanical plant that reinforces a riverbank? A team of robotics researchers are asking for drawings of robots inspired by nature, and we will be turning the winning design into a real, working prototype this summer Our main aim is to foster interest in biomimicry, and to let in some creativity from outside of engineering research offices - I often get some great impromptu pitches when I’m visiting schools / talking to the public, so this is a chance to take something off the drawing board that might not otherwise get made. Fee free to get in touch if you’d like to know more!
Archived project