Publications




Articles

  • [DOI] K. McGuire, G. de Croon, K. Tuyls, and B. Kappen, “Efficient optical flow and stereo vision for velocity estimation and obstacle avoidance on an autonomous pocket drone,” Ieee robotics and automation letters, vol. 2, iss. 2, pp. 1070-1076, 2017.
    [Bibtex]
    @article{TIJMONS2017,
    title = "Efficient Optical Flow and Stereo Vision for Velocity Estimation and Obstacle Avoidance on an Autonomous Pocket Drone",
    journal = "IEEE Robotics and Automation Letters",
    year = "2017",
    volume = "2",
    issue = "2",
    number = "2",
    pages = "1070-1076",
    note = "",
    issn = "2377-3766",
    doi = "http://dx.doi.org/10.1109/LRA.2017.2658940",
    author = "McGuire, Kimberly and de Croon, Guido and Tuyls, Karl and Kappen, Bert",
    }
  • [DOI] K. Y. W. Scheper, S. Tijmons, C. C. de Visser, and G. C. H. E. de Croon, “Behaviour Trees for Evolutionary Robotics,” Artificial life, vol. 22, iss. 1, pp. 23-48, 2016.
    [Bibtex]
    @article{Scheper2016a,
    author = {Scheper, Kirk Y W and Tijmons, Sjoerd and de Visser, Cornelius C and de Croon, Guido C H E},
    doi = {10.1162/ARTL_a_00192},
    eprint = {arXiv:1411.7267v1},
    isbn = {1064-5462$\backslash$n1530-9185},
    issn = {10645462},
    journal = {Artificial life},
    keywords = {Behaviour Tree,Evolutionary Robotics,Reality Gap},
    number = {1},
    pages = {23--48},
    pmid = {23373976},
    title = {{Behaviour Trees for Evolutionary Robotics}},
    volume = {22},
    url = {http://www.mitpressjournals.org/doi/10.1162/ARTL_a_00192},
    year = {2016}
    }
  • [PDF] S. F. Armanini, J. V. Caetano, G. C. H. E. de Croon, C. C. de Visser, and M. Mulder, “Quasi-steady aerodynamic model of clap-and-fling flapping mav and validation using free-flight data,” Bioinspiration & biomimetics, vol. 11, iss. 4, p. 46002, 2016.
    [Bibtex]
    @article{armanini2016quasi,
    title={Quasi-steady aerodynamic model of clap-and-fling flapping MAV and validation using free-flight data},
    author={Armanini, S.F. and Caetano, J.V. and de Croon, G.C.H.E. and de Visser, C.C. and Mulder, M.},
    journal={Bioinspiration \& Biomimetics},
    volume={11},
    number={4},
    pages={046002},
    year={2016},
    publisher={IOP Publishing},
    pdf = {https://www.researchgate.net/publication/304661595_Quasi-steady_aerodynamic_model_of_clap-and-fling_flapping_MAV_and_validation_using_free-flight_data}
    }
  • [PDF] [DOI] S. F. Armanini, D. C. C. Visser, D. G. C. H. E. Croon, and M. Mulder, “Time-varying model identification of flapping-wing vehicle dynamics using flight data,” Journal of guidance, control, and dynamics, vol. 39, iss. 3, pp. 526-541, 2016.
    [Bibtex]
    @Article{Armanini2016,
    Title = {{Time-varying model identification of flapping-wing vehicle dynamics using flight data}},
    Author = {Armanini, S. F. and Visser, C C De and Croon, G C H E De and Mulder, M},
    Journal = {Journal of Guidance, Control, and Dynamics},
    Year = {2016},
    Number = {3},
    Pages = {526--541},
    Volume = {39},
    Doi = {10.2514/1.G001470},
    File = {:C$\backslash$:/Users/Sophie/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Armanini et al. - 2015 - Time-varying model identification of a flapping-wing micro aerial vehicle using flight data.pdf:pdf},
    pdf = {https://www.researchgate.net/publication/287376416_Time-Varying_Model_Identification_of_Flapping-Wing_Vehicle_Dynamics_Using_Flight_Data}
    }
  • J. A. Koopmans, S. Tijmons, C. De Wagter, and G. C. H. E. de Croon, “Passively Stable Flapping Flight From Hover to Fast Forward Through Shift in Wing Position,” International journal of micro air vehicles, vol. 7, iss. 4, 2015.
    [Bibtex]
    @article{Koopmans2015,
    abstract = {Flapping Wing Micro Air Vehicles (FWMAVs) hold the potential to both cover large distances and perform precision flights when arrived at destination. However, flying at different speeds leads to a complex control problem for attitude stabilization. Inspired by nature, we present a morphing mechanism that allows tailed FW- MAVs to have a passively stabilized attitude both in fast forward flight and in slow hovering flight. The mechanism displaces the wings and hence aerodynamic center. It is implemented on the DelFly II and tested in-flight in a motion tracking arena. The experimental tests show that the morphing mechanism indeed allows to fly passively stable in multiple flight modes. Just changing the aerodynamic center allows the DelFly II to fly fast forward ({\~{}} 6 m/s, pitch attitude of 10°), transition to slow forward flight ({\~{}} 0.8 m/s, pitch attitude of 55°), and back. The proposed mechanism paves the way for FWMAVs performing long range missions such as search-and-rescue.},
    author = {Koopmans, J.A. and Tijmons, S. and De Wagter, C. and de Croon, G. C. H. E.},
    isbn = {10.1260/1756-8293.7.4.407},
    journal = {International Journal of Micro Air Vehicles},
    language = {en},
    month = {jan},
    number = {4},
    publisher = {Multi Science Publishing},
    title = {{Passively Stable Flapping Flight From Hover to Fast Forward Through Shift in Wing Position}},
    url = {http://multi-science.atypon.com/doi/abs/10.1260/1756-8293.7.4.407},
    volume = {7},
    year = {2015}
    }
  • J. Caetano, M. Weehuizen, C. De Visser, G. De Croon, and M. Mulder, “Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle,” Journal of guidance, control, and dynamics, vol. 38, iss. 12, pp. 2257-2269, 2015.
    [Bibtex]
    @article{caetano2015rigid,
    title={Rigid-body kinematics versus flapping kinematics of a flapping wing micro air vehicle},
    author={Caetano, JV and Weehuizen, MB and De Visser, CC and De Croon, GCHE and Mulder, M},
    journal={Journal of Guidance, Control, and Dynamics},
    volume={38},
    number={12},
    pages={2257--2269},
    year={2015},
    publisher={American Institute of Aeronautics and Astronautics}
    }
  • J. Caetano, M. Percin, B. van Oudheusden, B. Remes, C. de Wagter, G. de Croon, and C. de Visser, “Error analysis and assessment of unsteady forces acting on a flapping wing micro air vehicle: free flight versus wind-tunnel experimental methods,” Bioinspiration & biomimetics, vol. 10, iss. 5, p. 56004, 2015.
    [Bibtex]
    @article{caetano2015error,
    title={Error analysis and assessment of unsteady forces acting on a flapping wing micro air vehicle: free flight versus wind-tunnel experimental methods},
    author={Caetano, JV and Percin, M and van Oudheusden, BW and Remes, B and de Wagter, C and de Croon, GCHE and de Visser, CC},
    journal={Bioinspiration \& biomimetics},
    volume={10},
    number={5},
    pages={056004},
    year={2015},
    publisher={IOP Publishing}
    }
  • [PDF] W. B. Tay, B. W. van Oudheusden, and H. Bijl, “Numerical simulation of a flapping four-wing micro-aerial vehicle,” Journal of fluids and structures, vol. 55, pp. 237-261, 2015.
    [Bibtex]
    @article{TayEtAl2015b,
    author = {Tay, W.B. and van Oudheusden, B.W. and Bijl, H.},
    title = {{Numerical simulation of a flapping four-wing micro-aerial vehicle}},
    journal = {Journal of Fluids and Structures},
    volume = {55},
    pages = {237-261},
    pdf = {https://drive.google.com/file/d/0B6yRUhfE-y6eSmxwbVE4RXRrYjQ/view?usp=sharing},
    year = {2015}
    }
  • [PDF] W. B. Tay, S. Deng, B. W. van Oudheusden, and H. Bijl, “Validation of immersed boundary method for the numerical simulation of flapping wing flight,” Computers & fluids, vol. 115, pp. 226-242, 2015.
    [Bibtex]
    @article{TayEtAl2015,
    author = {Tay, W.B. and Deng, S. and van Oudheusden, B.W. and Bijl, H.},
    title = {{Validation of immersed boundary method for the numerical simulation of flapping wing flight}},
    journal = {Computers {\&} Fluids},
    volume = {115},
    pages = {226-242},
    pdf = {https://drive.google.com/file/d/0B6yRUhfE-y6eaFRPTjFyZWlUUGs/view?usp=sharing},
    year = {2015}
    }
  • S. F. Armanini, C. C. de Visser, G. C. H. E. de Croon, and M. Mulder, “Time-varying model identification of flapping-wing micro aerial vehicle dynamics using flight data,” Journal of guidance, control, and dynamics, vol. 39, iss. 3, 2015.
    [Bibtex]
    @article{ArmaniniEtAl2015,
    author = { Armanini, S.F. and de Visser, C.C. and de Croon, G.C.H.E. and Mulder, M.},
    title = {{Time-varying model identification of flapping-wing micro aerial vehicle dynamics using flight data}},
    journal = {Journal of Guidance, Control, and Dynamics},
    volume = {39},
    number = {3},
    year = {2015}
    }
  • [PDF] [DOI] W. B. Tay, B. W. van Oudheusden, and H. Bijl, “Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method.,” Bioinspiration & biomimetics, vol. 9, iss. 3, p. 36001, 2014.
    [Bibtex]
    @article{Tay2014,
    abstract = {The numerical simulation of an insect-sized 'X-wing' type biplane flapping wing configuration is performed in 3D using an immersed boundary method solver at Reynolds numbers equal to 1000 (1 k) and 5 k, based on the wing's root chord length. This X-wing type flapping configuration draws its inspiration from Delfly, a bio-inspired ornithopter MAV which has two pairs of wings flapping in anti-phase in a biplane configuration. The objective of the present investigation is to assess the aerodynamic performance when the original Delfly flapping wing micro-aerial vehicle (FMAV) is reduced to the size of an insect. Results show that the X-wing configuration gives more than twice the average thrust compared with only flapping the upper pair of wings of the X-wing. However, the X-wing's average thrust is only 40{\%} that of the upper wing flapping at twice the stroke angle. Despite this, the increased stability which results from the smaller lift and moment variation of the X-wing configuration makes it more suited for sharp image capture and recognition. These advantages make the X-wing configuration an attractive alternative design for insect-sized FMAVS compared to the single wing configuration. In the Reynolds number comparison, the vorticity iso-surface plot at a Reynolds number of 5 k revealed smaller, finer vortical structures compared to the simulation at 1 k, due to vortices' breakup. In comparison, the force output difference is much smaller between Re = 1 k and 5 k. Increasing the body inclination angle generates a uniform leading edge vortex instead of a conical one along the wingspan, giving higher lift. Understanding the force variation as the body inclination angle increases will allow FMAV designers to optimize the thrust and lift ratio for higher efficiency under different operational requirements. Lastly, increasing the spanwise flexibility of the wings increases the thrust slightly but decreases the efficiency. The thrust result is similar to one of the spanwise studies, but the efficiency result contradicts it, indicating that other flapping parameters are involved as well. Results from this study provide a deeper understanding of the underlying aerodynamics of the X-wing type, which will help to improve the performance of insect-sized FMAVs using this unique configuration.},
    author = {Tay, W B and van Oudheusden, B W and Bijl, H},
    doi = {10.1088/1748-3182/9/3/036001},
    journal = {Bioinspiration {\&} biomimetics},
    month = {sep},
    number = {3},
    pages = {036001},
    pmid = {24584155},
    title = {{Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method.}},
    url = {http://www.ncbi.nlm.nih.gov/pubmed/24584155},
    volume = {9},
    year = {2014},
    pdf = {https://drive.google.com/file/d/0B6yRUhfE-y6eT0RZa2RaMHVtckk/view?usp=sharing}
    }
  • [DOI] J. V. Caetano, M. Percin, C. C. de Visser, B. Van Oudheusden, G. C. H. E. de Croon, C. De Wagter, B. D. W. Remes, and M. Mulder, “Tethered vs. free flight force determination of the delfly II flapping wing micro air vehicle,” 2014 international conference on unmanned aircraft systems, icuas 2014 – conference proceedings, pp. 942-948, 2014.
    [Bibtex]
    @article{Caetano2014a,
    abstract = {The determination of dynamic forces acting on a Flapping Wing Micro Aerial Vehicle (FWMAV) is a challenging task due to the unsteady nature of force generation mechanisms. To assure a proper force identification in future researches, this work compares two different methods to obtain the longitudinal forces acting on FWMAVs and discusses their applicability regions. The methods were 1) calculation of forces from the recordings of the FWMAV's position in a free flight condition; 2) direct force measurements in a tethered flight condition in a wind tunnel. The DelFly II is used as the FWMAV test platform in the measurements. During free flight experiments, its position and attitude were recorded at a rate of 200Hz using an external visual tracking system, whose acquired information was then analyzed to obtain the flight states and calculate the forces and moments that act on the platform during flight, under a set of kinematic assumptions. Subsequently, similar flight conditions were tested in the tethered situation. An ATI Nano-17 Titanium force transducer was used to measure time-resolved forces. The results for the most common flight regime of the DelFly, which is a slow forward flight at a high body pitch angle, are presented. It is shown that the tethered force balance tests agree with the free flight data when assessing the aerodynamic forces that are perpendicular to the stroke plane of the flapping wing. However, the forces that act along the stroke plane are coupled with structural dynamic terms, thus affecting the final lift and thrust identification. These results point to inadequate force identification in fixed point force measurements, due to effect the of the dynamic modes of the FWMAV body, thus advising proper cross-comparing between experimental methods. {\textcopyright} 2014 IEEE.},
    author = {Caetano, J. V. and Percin, M. and de Visser, C. C. and Van Oudheusden, B. and de Croon, G. C. H. E. and De Wagter, C. and Remes, B. D. W. and Mulder, M.},
    doi = {10.1109/ICUAS.2014.6842344},
    isbn = {9781479923762},
    journal = {2014 International Conference on Unmanned Aircraft Systems, ICUAS 2014 - Conference Proceedings},
    pages = {942--948},
    title = {{Tethered vs. free flight force determination of the delfly II flapping wing micro air vehicle}},
    year = {2014}
    }
  • [PDF] [DOI] C. De Wagter, S. Tijmons, B. D. W. Remes, and G. C. H. E. de Croon, “Autonomous Flight of a 20-gram Flapping Wing MAV with a 4-gram Onboard Stereo Vision System,” Ieee international conference on robotics & automation (icra), pp. 4982-4987, 2014.
    [Bibtex]
    @article{DeWagter2014,
    abstract = {Autonomous flight of Flapping Wing Micro Air Vehicles (FWMAVs) is a major challenge in the field of robotics, due to their light weight and the flapping-induced body motions. In this article, we present the first FWMAV with onboard vision processing for autonomous flight in generic environments. In particular, we introduce the DelFly ‘Explorer', a 20-gram FWMAV equipped with a 0.98-gram autopilot and a 4.0-gram onboard stereo vision system. We explain the design choices that permit carrying the extended payload, while retaining the DelFly's hover capabilities. In addition, we introduce a novel stereo vision algorithm, LongSeq, designed specifically to cope with the flapping motion and the desire to attain a computational effort tuned to the frame rate. The onboard stereo vision system is illustrated in the context of an obstacle avoidance task in an environment with sparse obstacles.},
    author = {De Wagter, C. and Tijmons, S and Remes, B. D. W. and de Croon, G. C. H. E.},
    doi = {10.1109/ICRA.2014.6907589},
    isbn = {9781479936847},
    issn = {10504729},
    journal = {IEEE International Conference on Robotics {\&} Automation (ICRA)},
    pages = {4982--4987},
    title = {{Autonomous Flight of a 20-gram Flapping Wing MAV with a 4-gram Onboard Stereo Vision System}},
    year = {2014},
    pdf = {http://www.delfly.nl/publications/delfly_onboard_stereovision.pdf}
    }
  • W. B. Tay, V. B. W. Oudheusden, and H. Bijl, “Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method,” Bioinspiration & biomimetics, vol. 9, iss. 3, p. 36001, 2014.
    [Bibtex]
    @article{Tay2014a,
    abstract = {The numerical simulation of an insect-sized ‘X-wing' type biplane flapping wing configuration is performed in 3D using an immersed boundary method solver at Reynolds numbers equal to 1000 (1 k) and 5 k, based on the wing's root chord length. This X-wing type flapping configuration draws its inspiration from Delfly, a bio-inspired ornithopter MAV which has two pairs of wings flapping in anti-phase in a biplane configuration. The objective of the present investigation is to assess the aerodynamic performance when the original Delfly flapping wing micro-aerial vehicle (FMAV) is reduced to the size of an insect. Results show that the X-wing configuration gives more than twice the average thrust compared with only flapping the upper pair of wings of the X-wing. However, the X-wing's average thrust is only 40{\%} that of the upper wing flapping at twice the stroke angle. Despite this, the increased stability which results from the smaller lift and moment variation of the X-wing configuration makes it more suited for sharp image capture and recognition. These advantages make the X-wing configuration an attractive alternative design for insect-sized FMAVS compared to the single wing configuration. In the Reynolds number comparison, the vorticity iso-surface plot at a Reynolds number of 5 k revealed smaller, finer vortical structures compared to the simulation at 1 k, due to vortices' breakup. In comparison, the force output difference is much smaller between Re = 1 k and 5 k. Increasing the body inclination angle generates a uniform leading edge vortex instead of a conical one along the wingspan, giving higher lift. Understanding the force variation as the body inclination angle increases will allow FMAV designers to optimize the thrust and lift ratio for higher efficiency under different operational requirements. Lastly, increasing the spanwise flexibility of the wings increases the thrust slightly but decreases the efficiency. The thrust result is similar to one of the spanwise studies, but the efficiency result contradicts it, indicating that other flapping parameters are involved as well. Results from this study provide a deeper understanding of the underlying aerodynamics of the X-wing type, which will help to improve the performance of insect-sized FMAVs using this unique configuration.},
    author = {Tay, W B and Oudheusden, B.W. Van and Bijl, H},
    issn = {1748-3190},
    journal = {Bioinspiration {\&} Biomimetics},
    number = {3},
    pages = {36001},
    title = {{Numerical simulation of X-wing type biplane flapping wings in 3D using the immersed boundary method}},
    volume = {9},
    year = {2014}
    }
  • [PDF] T. Gillebaart, W. Tay, A. van Zuijlen, and H. Bijl, “A modified ale method for fluid flows around bodies moving in close proximity,” Computers & structures, vol. 145, pp. 1-11, 2014.
    [Bibtex]
    @article{gillebaart2014modified,
    title={A modified ALE method for fluid flows around bodies moving in close proximity},
    author={Gillebaart, T and Tay, WB and van Zuijlen, AH and Bijl, H},
    journal={Computers \& Structures},
    volume={145},
    pages={1--11},
    year={2014},
    publisher={Elsevier},
    pdf = {https://drive.google.com/file/d/0B6yRUhfE-y6eT01XSFdtbTBjX28/view?usp=sharing}
    }
  • M. Percin, B. van Oudheusden, H. Eisma, and B. Remes, “Three-dimensional vortex wake structure of a flapping-wing micro aerial vehicle in forward flight configuration,” Experiments in fluids, vol. 55, iss. 9, pp. 1-16, 2014.
    [Bibtex]
    @article{percin2014three,
    title={Three-dimensional vortex wake structure of a flapping-wing micro aerial vehicle in forward flight configuration},
    author={Percin, M and van Oudheusden, BW and Eisma, HE and Remes, BDW},
    journal={Experiments in Fluids},
    volume={55},
    number={9},
    pages={1--16},
    year={2014},
    publisher={Springer}
    }
  • S. Deng, M. Percin, B. van Oudheusden, B. Remes, and H. Bijl, “Experimental investigation on the aerodynamics of a bio-inspired flexible flapping wing micro air vehicle,” International journal of micro air vehicles, vol. 6, iss. 2, pp. 105-115, 2014.
    [Bibtex]
    @article{deng2014experimental,
    title={Experimental investigation on the aerodynamics of a bio-inspired flexible flapping wing micro air vehicle},
    author={Deng, Shuanghou and Percin, Mustafa and van Oudheusden, Bas and Remes, Bart and Bijl, Hester},
    journal={International Journal of Micro Air Vehicles},
    volume={6},
    number={2},
    pages={105--115},
    year={2014},
    publisher={SAGE Publications}
    }
  • [PDF] T. Noyon, W. Tay, B. Van Oudheusden, and H. Bijl, “Effect of chordwise deformation on unsteady aerodynamic mechanisms in hovering flapping flight,” International journal of micro air vehicles, vol. 6, iss. 4, pp. 265-277, 2014.
    [Bibtex]
    @article{noyon2014effect,
    title={Effect of chordwise deformation on unsteady aerodynamic mechanisms in hovering flapping flight},
    author={Noyon, TA and Tay, WB and Van Oudheusden, BW and Bijl, H},
    journal={International Journal of Micro Air Vehicles},
    volume={6},
    number={4},
    pages={265--277},
    year={2014},
    publisher={SAGE Publications},
    pdf = {https://drive.google.com/file/d/0B6yRUhfE-y6eVnA3eWRJQjhFUFE/view?usp=sharing}
    }
  • [DOI] J. Caetano, C. C. de Visser, G. C. H. E. de Croon, B. D. W. Remes, C. De Wagter, J. Verboom, and M. Mulder, “Linear Aerodynamic Model Identification of a Flapping Wing MAV Based on Flight Test Data,” International journal of micro air vehicles, vol. 5, iss. 4, pp. 273-286, 2013.
    [Bibtex]
    @article{Caetano2013,
    abstract = {This paper presents an approach to the system identification of the Delfly II Flapping Wing Micro Air Vehicle (FWMAV) using flight test data. It aims at providing simple FWMAV aerodynamic models that can be used in simulations as well as in nonlinear flight control systems. The undertaken methodology builds on normal aircraft system identification methods and extends these with techniques that are specific to FWMAV model identification. The entire aircraft model identification cycle is discussed covering the set-up and automatic execution of the flight test experiments, the aircraft states, the aerodynamic forces and moments' reconstruction, the aerodynamic model structure selection, the parameter estimation and finally, the model validation. In particular, a motion capturing facility was used to record the flapper's position in time and from there compute the states and aerodynamic forces and moments that acted on it, assuming flap-averaged dynamics and linear aerodynamic model structures. It is shown th...},
    author = {Caetano, J. and de Visser, C. C. and de Croon, G. C. H. E. and Remes, B. D. W. and De Wagter, C. and Verboom, J. and Mulder, M.},
    doi = {10.1260/1756-8293.5.4.273},
    issn = {1756-8293},
    journal = {International Journal of Micro Air Vehicles},
    language = {en},
    month = {dec},
    number = {4},
    pages = {273--286},
    publisher = {Multi Science Publishing},
    title = {{Linear Aerodynamic Model Identification of a Flapping Wing MAV Based on Flight Test Data}},
    url = {http://multi-science.atypon.com/doi/10.1260/1756-8293.5.4.273},
    volume = {5},
    year = {2013}
    }
  • J. V. Caetano, J. Verboom, C. C. De Visser, G. C. H. E. De Croon, B. D. W. Remes, C. De Wagter, and M. Mulder, “Near-hover flapping wing mav aerodynamic modelling — a linear model approach,” International journal of micro air vehicles, vol. 5, iss. 4, 2013.
    [Bibtex]
    @article{caetano2013near,
    title={Near-hover flapping wing mav aerodynamic modelling -- A linear model approach},
    author={Caetano, J.V. and Verboom, J. and De Visser, C.C. and De Croon, G.C.H.E. and Remes, B.D.W. and De Wagter, C. and Mulder, M.},
    journal={International Journal of Micro Air Vehicles},
    year={2013},
    volume={5},
    number={4}
    }
  • [PDF] W. Tay, H. Bijl, and B. van Oudheusden, “Biplane and tail effects in flapping flight,” Aiaa journal, vol. 51, iss. 9, pp. 2133-2146, 2013.
    [Bibtex]
    @article{tay2013biplane,
    title={Biplane and tail effects in flapping flight},
    author={Tay, WB and Bijl, H and van Oudheusden, BW},
    journal={AIAA journal},
    volume={51},
    number={9},
    pages={2133--2146},
    year={2013},
    publisher={American Institute of Aeronautics and Astronautics},
    pdf = {https://drive.google.com/file/d/0B6yRUhfE-y6edXJfZFkxOGswUXc/view?usp=sharing}
    }
  • [DOI] K. M. E. {De Clercq}, R. de Kat, B. D. W. Remes, B. W. van Oudheusden, and H. Bijl, “Aerodynamic Experiments on DelFly II: Unsteady Lift Enhancement,” International journal of micro air vehicles, vol. 1, iss. 4, pp. 255-262, 2010.
    [Bibtex]
    @article{DeClercq2010,
    abstract = {Particle image velocimetry measurements and simultaneous force measurements have been performed on the DelFly II flapping-wing MAV, to investigate the flow-field behavior and the aerodynamic forces generated. For flapping wing motion it is expected that both the clap and peel mechanism and the occurrence of a leading edge vortex during the translational phase play an important role in unsteady lift generation. Furthermore, the flexibility of the wing foil is also considered of primary relevance. The PIV analysis shows a strong influx between the wings during the peel but no downward expelling jet during the clap. The force measurements reveal that the peel, oppositely to the clap, contributes significantly to the lift. The PIV visualization suggests the occurrence of a leading edge vortex during the first half of the in- and outstroke, which is supported by a simultaneous augmentation in lift. The early generation of a leading edge vortex during the flex cannot be assessed from the PIV images due to optical obstruction, but is likely to appear since the wing flexing is accompanied with a large increase in lift.},
    author = {{De Clercq}, Kristien M.E. and de Kat, Roeland and Remes, B. D. W. and van Oudheusden, Bas W. and Bijl, Hester},
    doi = {10.1260/175682909790291465},
    isbn = {1756-8293},
    issn = {1756-8293},
    journal = {International Journal of Micro Air Vehicles},
    number = {4},
    pages = {255--262},
    title = {{Aerodynamic Experiments on DelFly II: Unsteady Lift Enhancement}},
    volume = {1},
    year = {2010}
    }
  • K. M. E. {De Clercq}, R. de Kat, B. Remes, B. W. van Oudheusden, and H. Bijl, “Aerodynamic Experiments on DelFly II: Unsteady Lift Enhancement,” International journal of micro air vehicles, vol. 1, iss. 4, pp. 255-262, 2009.
    [Bibtex]
    @article{deClercqEtAl2009b,
    abstract = {Particle image velocimetry measurements and simultaneous force measurements have been performed on the DelFly II flapping-wing MAV, to investigate the flow-field behavior and the aerodynamic forces generated. For flapping wing motion it is expected that both the clap and peel mechanism and the occurrence of a leading edge vortex during the translational phase play an important role in unsteady lift generation. Furthermore, the flexibility of the wing foil is also considered of primary relevance. The PIV analysis shows a strong influx between the wings during the peel but no downward expelling jet during the clap. The force measurements reveal that the peel, oppositely to the clap, contributes significantly to the lift. The PIV visualization suggests the occurrence of a leading edge vortex during the first half of the in- and outstroke, which is supported by a simultaneous augmentation in lift. The early generation of a leading edge vortex during the flex cannot be assessed from the PIV images due to optical obstruction, but is likely to appear since the wing flexing is accompanied with a large increase in lift.},
    address = {Brentwood, GB},
    author = {{De Clercq}, Kristien M E and de Kat, Roeland and Remes, Bart and van Oudheusden, Bas W and Bijl, Hester},
    journal = {International Journal of Micro Air Vehicles},
    keywords = {delfly},
    number = {4},
    pages = {255--262},
    publisher = {Multi-Science Publishing},
    title = {{Aerodynamic Experiments on DelFly II: Unsteady Lift Enhancement}},
    volume = {1},
    year = {2009}
    }
  • [PDF] G. C. H. E. De Croon, K. M. E. De Clercq, R. Ruijsink, B. Remes, and C. De Wagter, “Design, aerodynamics, and vision-based control of the delfly,” International journal of micro air vehicles, vol. 1, iss. 2, pp. 71-97, 2009.
    [Bibtex]
    @article{de2009design,
    title = {Design, aerodynamics, and vision-based control of the DelFly},
    author = {De Croon, G.C.H.E. and De Clercq, K.M.E. and Ruijsink, R. and Remes, B. and De Wagter, C},
    journal = {International Journal of Micro Air Vehicles},
    issn = {1756-8293},
    volume = {1},
    number = {2},
    pages = {71--97},
    year = {2009},
    publisher = {SAGE Publications},
    pdf = {http://mav.sagepub.com/content/1/2/71.full.pdf}
    }

Books

  • [PDF] [DOI] G. C. H. E. de Croon, M. Percin, B. D. W. Remes, R. Ruijsink, and C. De Wagter, The DelFly – Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot, Springer Netherlands, 2016.
    [Bibtex]
    @book{DeCroon2016,
    author = {de Croon, G. C. H. E. and Percin, Mustafa and Remes, B. D. W. and Ruijsink, Rick and De Wagter, C.},
    doi = {10.1007/978-94-017-9208-0},
    isbn = {978-94-017-9207-3},
    pages = {218},
    publisher = {Springer Netherlands},
    title = {{The DelFly - Design, Aerodynamics, and Artificial Intelligence of a Flapping Wing Robot}},
    pdf = {http://www.springer.com/us/book/9789401792073},
    year = {2016},
    website = {delfly, mavlab}
    }

In Books

  • [PDF] D. Lentink, S. R. Jongerius, and N. L. Bradshaw, “The scalable design of flapping micro-air vehicles inspired by insect flight,” , D. Floreano, Z. J.C., M. V. Srinivasan, and C. Ellington, Eds., Springer-Verlag Berlin, 2009, pp. 185-205.
    [Bibtex]
    @inbook{lentink2009scalable,
    title={The scalable design of flapping micro-air vehicles inspired by insect flight},
    author={Lentink, David and Jongerius, Stefan R and Bradshaw, Nancy L},
    editor={Floreano, D. and Zufferey J.C. and Srinivasan, M.V. and Ellington, C.},
    pages={185--205},
    chapter={4},
    year={2009},
    publisher={Springer-Verlag Berlin},
    pdf = {http://www.delfly.nl/publications/BC1.pdf}
    }

In Collections

  • [DOI] K. Y. W. Scheper and G. C. H. E. de Croon, “Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics,” in From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016, E. Tuci, A. Giagkos, M. Wilson, and J. Hallam, Eds., Aberystwyth University, Wales, UK: Springer International Publishing, 2016, pp. 280-292.
    [Bibtex]
    @incollection{Scheper2016b,
    address = {Aberystwyth University, Wales, UK},
    author = {Scheper, Kirk Y W and de Croon, Guido C. H. E.},
    booktitle = {{From Animals to Animats 14: 14th International Conference on Simulation of Adaptive Behavior, SAB 2016}},
    doi = {10.1007/978-3-319-43488-9_25},
    editor = {Tuci, Elio and Giagkos, Alexandros and Wilson, Myra and Hallam, John},
    isbn = {978-3-319-43488-9},
    issn = {00237205},
    keywords = {Evolutionary Robotics,abstraction,homogeneous swarm control,reality gap},
    pages = {280--292},
    pmid = {22352717},
    publisher = {Springer International Publishing},
    title = {{Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics}},
    url = {http://link.springer.com/10.1007/978-3-319-43488-9{\_}25 http://dx.doi.org/10.1007/978-3-319-43488-9{\_}25},
    year = {2016}
    }
  • C. De Wagter, A. Koopmans, G. C. H. E. de Croon, B. Remes, and R. Ruijsink, “Autonomous Wind Tunnel Free-Flight of a Flapping Wing MAV,” in Advances in aerospace guidance, navigation and control, Berlin, DE: Springer, 2013, pp. 603-621.
    [Bibtex]
    @incollection{deWagterEtAl2013,
    address = {Berlin, DE},
    author = {De Wagter, Christophe and Koopmans, Andries and de Croon, Guido C H E and Remes, Bart and Ruijsink, Rick},
    booktitle = {Advances in Aerospace Guidance, Navigation and Control},
    keywords = {control delfly flapping-wing in-flight master-thes},
    pages = {603--621},
    publisher = {Springer},
    title = {{Autonomous Wind Tunnel Free-Flight of a Flapping Wing MAV}},
    year = {2013}
    }

In Proceedings

  • [PDF] K. McGuire, G. de Croon, C. de Wagter, B. Remes, K. Tuyls, and H. Kappen, “Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones,” in 2016 ieee international conference on robotics and automation (icra), 2016, pp. 3255-3260.
    [Bibtex]
    @inproceedings{McGuire2016,
    author = {K. McGuire and G. de Croon and C. de Wagter and B. Remes and K. Tuyls and H. Kappen},
    title = {Local histogram matching for efficient optical flow computation applied to velocity estimation on pocket drones},
    booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2016},
    pages = {3255-3260},
    month = {May},
    pdf = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487496}
    doi = {10.1109/ICRA.2016.7487496},
    keywords = {image sequences;mobile robots;robot vision;velocity measurement;STM32F4 microprocessor;autonomous flight;edge histograms;local histogram matching;local optical flow;optical flow computation efficiency;pocket drones;stereo-camera;subpixel flow determination;time horizon adaptation;velocity control-loop;velocity estimation;velocity measurements;Cameras;Drones;Estimation;Histograms;Image edge detection;Optical imaging;Optical sensors}
    }
  • T. Cunis, M. Karásek, and G. C. H. E. de Croon, “Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel,” in The international micro air vehicle conference and competition 2016 (imav 2016), beijing, china, october 17-21, 2016.
    [Bibtex]
    @inproceedings{Cunis,
    author = {Cunis, Torbj{\o}rn and Kar{\'{a}}sek, Mat{\v{e}}j and de Croon, Guido C H E},
    booktitle = {The International Micro Air Vehicle Conference and Competition 2016 (IMAV 2016), Beijing, China, October 17-21},
    keywords = {DelFly,MAVLab},
    mendeley-tags = {DelFly,MAVLab},
    title = {{Precision Position Control of the DelFly II Flapping-wing Micro Air Vehicle in a Wind-tunnel}},
    year = {2016}
    }
  • [PDF] M. Karásek, A. J. Koopmans, S. F. Armanini, B. D. W. Remes, and G. C. H. E. de Croon, “Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU,” in The 2016 ieee/rsj international conference on intelligent robots and systems (iros 2016), daejeon, korea, 9-14 october 2016 (accepted), Daejeon, Korea, 2016.
    [Bibtex]
    @inproceedings{Karasek2016,
    abstract = {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 IMU with wind tunnel measurements. The IMU based estimation brings higher sampling rates and even lower variation among individual wingbeats, compared to what has been achieved with an external motion tracking system in the past. A good match was found in comparison to wind tunnel measurements; the slight differences observed are attributed to clamping effects. Further insight was gained from the on-board rpm sensor, which showed motor speed variation of +/- 15{\%} due to load variation over a wingbeat cycle. The IMU based force estimation represents an attractive solution for future studies of flapping wing MAVs as, unlike wind tunnel measurements, it allows force estimation at high temporal resolutions also during manoeuvres.},
    author = {Kar{\'{a}}sek, Mat{\v{e}}j and Koopmans, Andries Jan and Armanini, Sophie F. and Remes, Bart D. W. and de Croon, Guido C.H.E.},
    booktitle = {The 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, 9-14 October 2016 (Accepted)},
    keywords = {DelFly,MAVLab},
    mendeley-tags = {DelFly,MAVLab},
    title = {{Free flight force estimation of a 23.5 g flapping wing MAV using an on-board IMU}},
    year = {2016},
    Address = {Daejeon, Korea},
    pdf = {https://www.researchgate.net/publication/309419018_Free_Flight_Force_Estimation_of_a_235_G_Flapping_Wing_MAV_Using_an_On-Board_IMU}
    }
  • [PDF] K. Lamers, S. Tijmons, C. De Wagter, and G. de Croon, “Self-supervised monocular distance learning on a lightweight micro air vehicle,” in Intelligent robots and systems (iros), 2016 ieee/rsj international conference on, 2016, pp. 1779-1784.
    [Bibtex]
    @inproceedings{lamers2016self,
    title={Self-supervised monocular distance learning on a lightweight micro air vehicle},
    author={Lamers, Kevin and Tijmons, Sjoerd and De Wagter, Christophe and de Croon, Guido},
    booktitle={Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on},
    keywords = {DelFly,MAVLab},
    pages={1779--1784},
    year={2016},
    organization={IEEE},
    pdf = {https://www.researchgate.net/publication/311757884_Self-supervised_monocular_distance_learning_on_a_lightweight_micro_air_vehicle}
    }
  • [PDF] S. F. Armanini, J. V. Caetano, C. C. de Visser, G. C. H. E. de Croon, and M. Mulder, “Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches,” in Aiaa atmospheric flight mechanics (afm) conference, jan.4-8, san diego, usa, 2016, pp. 1-15.
    [Bibtex]
    @InProceedings{Armanini2016b,
    Title = {{Aerodynamic Model Identification of a Clap-and-Fling Flapping-Wing MAV : a Comparison between Quasi-Steady and Black-Box Approaches}},
    Author = {Armanini, S. F. and Caetano, J.V. and de Visser, C.C. and de Croon, G.C.H.E and Mulder, M.},
    Booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
    Year = {2016},
    Pages = {1--15},
    pdf = {https://www.researchgate.net/publication/290955446_Aerodynamic_Model_Identification_of_a_Clap-and-Fling_Flapping-Wing_MAV_a_Comparison_between_Quasi-Steady_and_Black-Box_Approaches}
    }
  • [PDF] S. F. Armanini, C. C. a. de Visser, G. C. H. E. de Croon, and M. Mulder, “A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle,” in Aiaa atmospheric flight mechanics (afm) conference, jan.4-8, san diego, usa, 2016, pp. 1-19.
    [Bibtex]
    @InProceedings{Armanini2016a,
    Title = {{A time-scale separation approach for time-varying model identification of a flapping-wing micro aerial vehicle}},
    Author = {Armanini, S. F. and de Visser, C.C.a and de Croon, G.C.H.E and Mulder, M.},
    Booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Jan.4-8, San Diego, USA},
    Year = {2016},
    Pages = {1--19},
    pdf = {https://www.researchgate.net/publication/290955280_A_Time-Scale_Separation_Approach_for_Time-Varying_Model_Identification_of_a_Flapping-Wing_Micro_Aerial_Vehicle}
    }
  • [PDF] J. L. Verboom, S. Tijmons, C. De Wagter, B. Remes, R. Babuska, and G. C. H. E. de Croon, “Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle,” in 2015 ieee international conference on robotics and automation (icra), 2015, pp. 5846-5851.
    [Bibtex]
    @inproceedings{Verboom2015,
    author = {Verboom, J. L. and Tijmons, S. and De Wagter, C. and Remes, B. and Babuska, R. and de Croon, G. C. H. E.},
    title = {{Attitude and altitude estimation and control on board a Flapping Wing Micro Air Vehicle}},
    booktitle = {2015 IEEE International Conference on Robotics and Automation (ICRA)},
    year = {2015},
    month = {may},
    publisher = {IEEE},
    pages = {5846--5851},
    pdf = {http://www.delfly.nl/publications/onboard_attitude_control_plain.pdf}
    }
  • [PDF] [DOI] S. F. Armanini, C. C. de Visser, and G. C. H. E. de Croon, “Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics,” in Aiaa atmospheric flight mechanics conference, Reston, Virginia, 2015.
    [Bibtex]
    @inproceedings{Armanini2015d,
    address = {Reston, Virginia},
    author = {Armanini, Sophie F. and de Visser, C. C. and de Croon, G. C. H. E.},
    booktitle = {AIAA Atmospheric Flight Mechanics Conference},
    doi = {10.2514/6.2015-0234},
    isbn = {978-1-62410-340-7},
    year = {2015},
    month = {jan},
    publisher = {American Institute of Aeronautics and Astronautics},
    title = {{Black-box LTI modelling of flapping-wing micro aerial vehicle dynamics}},
    pdf = {https://www.researchgate.net/publication/281275050_Black-box_LTI_modelling_of_flapping-wing_micro_aerial_vehicle_dynamics?ev=prf_pub}
    }
  • [PDF] J. V. Caetano, S. F. Armanini, D. C. C. Visser, D. G. C. H. E. Croon, and M. Mulder, “Data-Informed Quasi-Steady Aerodynamic Model of a Clap-and-Fling Flapping Wing MAV,” in Int. conf. on intelligent unmanned systems (icius), Bali, Indonesia, 2015.
    [Bibtex]
    @InProceedings{Caetano2015,
    Title = {{Data-Informed Quasi-Steady Aerodynamic Model of a Clap-and-Fling Flapping Wing MAV}},
    Author = {Caetano, J. V. and Armanini, S. F. and Visser, C. C. De and Croon, G. C. H. E. De and Mulder, M.},
    Booktitle = {Int. conf. on Intelligent Unmanned Systems (ICIUS)},
    Year = {2015},
    Address = {Bali, Indonesia},
    File = {:C$\backslash$:/Users/Sophie/AppData/Local/Mendeley Ltd./Mendeley Desktop/Downloaded/Caetano et al. - 2015 - Data-Informed Quasi-Steady Aerodynamic Model of a Clap-and-Fling Flapping Wing MAV.pdf:pdf},
    pdf = {https://www.researchgate.net/publication/283545562_Data-Informed_Quasi-Steady_Aerodynamic_Model_of_a_Clap-and-Fling_Flapping_Wing_MAV}
    }
  • [DOI] S. F. Armanini, J. L. Verboom, G. C. H. E. de Croon, and C. C. de Visser, “Determination of trim curves for a flapping-wing MAV,” in Imav 2014: international micro air vehicle conference and competition 2014, delft, the netherlands, august 12-15, 2014, Delft, 2014, pp. 212-217.
    [Bibtex]
    @inproceedings{Armanini2014,
    abstract = {This paper presents the results of a series of flight tests conducted in order to assess the steady-state flight characteristics and basic control behaviour of the DelFly, a flapping-wing micro aerial vehicle (FWMAV). Flights were conducted in an indoor motion tracking facility and included steady-level flight at a range of different velocities and turn manoeuvres. A number of different trim points were determined and approximate trim curves constructed to describe elevator effectiveness. Aileron effectiveness was then evaluated in terms of resulting turn radii and turn rates. The results provide insight into some of the basic flight properties of the DelFly and represent a starting point for further modelling work. The flight testing process also highlighted some of the major issues to be addressed in order to obtain meaningful experimental results.},
    author = {Armanini, S.F. and Verboom, J.L. and de Croon, G. C. H. E. and de Visser, C. C.},
    booktitle = {IMAV 2014: International Micro Air Vehicle Conference and Competition 2014, Delft, The Netherlands, August 12-15, 2014},
    doi = {10.4233/uuid:30b89d0f-fb8a-4acd-99d9-dc8c20e819a8},
    keywords = {IMAV2014,MAV,Micro Air Vehicle,flapping wing,trim curves},
    language = {en},
    month = {aug},
    publisher = {Delft University of Technology},
    title = {{Determination of trim curves for a flapping-wing MAV}},
    url = {http://repository.tudelft.nl/view/ir/uuid{\%}3Aea4d67c6-5cf3-437e-8aa0-5aa3d70f92a5/},
    year = {2014},
    Address = {Delft},
    Pages = {212--217},
    }
  • [DOI] J. V. Caetano, M. Percin, C. C. de Visser, B. van Oudheusden, G. C. H. E. de Croon, C. De Wagter, B. D. W. Remes, and M. Mulder, “Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle,” in 2014 international conference on unmanned aircraft systems (icuas), 2014, pp. 942-948.
    [Bibtex]
    @inproceedings{Caetano2014,
    abstract = {The determination of dynamic forces acting on a Flapping Wing Micro Aerial Vehicle (FWMAV) is a challenging task due to the unsteady nature of force generation mechanisms. To assure a proper force identification in future researches, this work compares two different methods to obtain the longitudinal forces acting on FWMAVs and discusses their applicability regions. The methods were 1) calculation of forces from the recordings of the FWMAV's position in a free flight condition; 2) direct force measurements in a tethered flight condition in a wind tunnel. The DelFly II is used as the FWMAV test platform in the measurements. During free flight experiments, its position and attitude were recorded at a rate of 200Hz using an external visual tracking system, whose acquired information was then analyzed to obtain the flight states and calculate the forces and moments that act on the platform during flight, under a set of kinematic assumptions. Subsequently, similar flight conditions were tested in the tethered situation. An ATI Nano-17 Titanium force transducer was used to measure time-resolved forces. The results for the most common flight regime of the DelFly, which is a slow forward flight at a high body pitch angle, are presented. It is shown that the tethered force balance tests agree with the free flight data when assessing the aerodynamic forces that are perpendicular to the stroke plane of the flapping wing. However, the forces that act along the stroke plane are coupled with structural dynamic terms, thus affecting the final lift and thrust identification. These results point to inadequate force identification in fixed point force measurements, due to effect the of the dynamic modes of the FWMAV body, thus advising proper cross-comparing between experimental methods.},
    author = {Caetano, J.V. and Percin, M. and de Visser, C. C. and van Oudheusden, B. and de Croon, G. C. H. E. and De Wagter, C. and Remes, B. D. W. and Mulder, M.},
    booktitle = {2014 International Conference on Unmanned Aircraft Systems (ICUAS)},
    doi = {10.1109/ICUAS.2014.6842344},
    isbn = {978-1-4799-2376-2},
    keywords = {ATI Nano-17 Titanium force transducer,Aerodynamics,DelFly II,FWMAV,Force,Force measurement,Kinematics,Vehicle dynamics,Vehicles,aerodynamic forces,aerodynamics,aerospace components,direct force measurement,fixed point force measurement,flapping wing microair vehicle,force generation mechanism,force measurement,free flight force determination,lift,longitudinal forces,pitch angle,stroke plane,tethered flight force,thrust identification,visual tracking system,wind tunnel,wind tunnels},
    month = {may},
    pages = {942--948},
    publisher = {IEEE},
    shorttitle = {Unmanned Aircraft Systems (ICUAS), 2014 Internatio},
    title = {{Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle}},
    url = {http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6842344},
    year = {2014}
    }
  • [PDF] [DOI] J. V. Caetano, M. Percin, C. C. de Visser, B. van Oudheusden, G. C. H. E. de Croon, C. De Wagter, B. D. W. Remes, and M. Mulder, “Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle,” in 2014 international conference on unmanned aircraft systems (icuas), 2014, pp. 942-948.
    [Bibtex]
    @inproceedings{Caetano2014b,
    author = {Caetano, J.V. and Percin, M. and de Visser, C. C. and van Oudheusden, B. and de Croon, G. C. H. E. and De Wagter, C. and Remes, B. D. W. and Mulder, M.},
    booktitle = {2014 International Conference on Unmanned Aircraft Systems (ICUAS)},
    doi = {10.1109/ICUAS.2014.6842344},
    isbn = {978-1-4799-2376-2},
    keywords = {ATI Nano-17 Titanium force transducer,Aerodynamics,DelFly II,FWMAV,Force,Force measurement,Kinematics,Vehicle dynamics,Vehicles,aerodynamic forces,aerodynamics,aerospace components,direct force measurement,fixed point force measurement,flapping wing microair vehicle,force generation mechanism,force measurement,free flight force determination,lift,longitudinal forces,pitch angle,stroke plane,tethered flight force,thrust identification,visual tracking system,wind tunnel,wind tunnels},
    language = {English},
    month = {may},
    pages = {942--948},
    publisher = {IEEE},
    title = {{Tethered vs. free flight force determination of the DelFly II Flapping Wing Micro Air Vehicle}},
    url = {http://ieeexplore.ieee.org/articleDetails.jsp?arnumber=6842344},
    year = {2014},
    pdf = {https://www.researchgate.net/profile/Joao_V_Caetano/publication/269299791_Tethered_vs_free_flight_force_determination_of_the_DelFly_II_Flapping_Wing_Micro_Air_Vehicle/links/548feed90cf225bf66a80744.pdf}
    }
  • S. Deng, M. Percin, B. W. van Oudheusden, B. D. W. Remes, and A. Tenaglia, “Force and flow field measurements of a bio-inspired flapping-wing MAV ‘Delfly Micro’ in hovering flight,” in 32nd aiaa applied aerodynamics conference, 2014.
    [Bibtex]
    @inproceedings{Deng2014a,
    abstract = {A detailed characterization of the aerodynamic performance of a small flapping-wing micro air vehicle (MAV) 'DelFly Micro' model was addressed by combined aerodynamic force measurements and quantitative visualization of the flow field topology. A miniature six-component force sensor was used for an accurate recording of the force variation during the flapping cycle, while simulatenously measuring the power required to drive the motor allows to assess the flapping efficiency in terms of the thrust-to-power ratio. The timeresolved velocity field measurements in the wake of 'DelFly Micro' were obtained by means of Stereoscopic Particle Image Velocimetry (Stereo-PIV) technique. The PIV measurements were performed at several streamwise positions at a high framing rate, and a Kriging interpolation procedure was employed to allow reconstruction of the three-dimensional wake flow field from the separate planes. The experimental set-up is capable of temporally synchronizing the force measurements with the flow visualization, permitting to link the specificfeatures in the force generation to particular flow characteristics. The effects of flapping frequency and wing aspect ratio are examined in terms of force generation and wake structures. Finally, a temporal interpolation method to reconstruct the threedimensional wake topology from a single measurement plane is demonstrated to yield satisfactory results for a provisional flow-field analysis.},
    author = {Deng, S. and Percin, M. and van Oudheusden, B. W. and Remes, B. D. W. and Tenaglia, A.},
    booktitle = {32nd AIAA Applied Aerodynamics Conference},
    isbn = {9781624102882},
    title = {{Force and flow field measurements of a bio-inspired flapping-wing MAV 'Delfly Micro' in hovering flight}},
    year = {2014}
    }
  • J. V. Caetano, M. B. Weehuizen, C. C. de Visser, G. C. H. E. de Croon, C. de Wagter, B. Remes, and M. Mulder, “Rigid vs. Flapping: The Effects of Kinematic Formulations in Force Determination of a Free Flying Flapping WIng Micro Air Vehicle,” in International conference on unmanned aircraft systems, Orlando, US-FL, 2014, pp. 949-959.
    [Bibtex]
    @inproceedings{caetanoEtAl2014,
    address = {Orlando, US-FL},
    author = {Caetano, J V and Weehuizen, M B and de Visser, C C and de Croon, G C H E and de Wagter, C and Remes, B and Mulder, M},
    booktitle = {International Conference on Unmanned Aircraft Systems},
    keywords = {aero-dynamics aero-forces delfly flapping-wing fre},
    organization = {Institute of Electrical and Electronics Engineers},
    pages = {949--959},
    title = {{Rigid vs. Flapping: The Effects of Kinematic Formulations in Force Determination of a Free Flying Flapping WIng Micro Air Vehicle}},
    year = {2014}
    }
  • [DOI] J. V. Caetano, C. C. de Visser, B. D. W. Remes, C. De Wagter, E. {Van Kampen}, and M. Mulder, “Controlled Flight Maneuvers of a Flapping Wing Micro Air Vehicle: a Step Towards the Delfly II Identification,” in Aiaa atmospheric flight mechanics (afm) conference, guidance, navigation, and control and co-located conferences, 2013.
    [Bibtex]
    @inproceedings{Caetano2013b,
    author = {Caetano, Joao V. and de Visser, C. C. and Remes, B. D. W. and De Wagter, C. and {Van Kampen}, Erik-Jan and Mulder, Max},
    booktitle = {AIAA Atmospheric Flight Mechanics (AFM) Conference, Guidance, Navigation, and Control and Co-located Conferences},
    doi = {10.2514/6.2013-4843},
    language = {en},
    title = {{Controlled Flight Maneuvers of a Flapping Wing Micro Air Vehicle: a Step Towards the Delfly II Identification}},
    url = {http://arc.aiaa.org/doi/abs/10.2514/6.2013-4843},
    year = {2013}
    }
  • M. Percin, H. E. Eisma, V. B. W. Oudheusden, B. Remes, R. Ruijsink, D. C. Wagter, A. Section, A. Section, and A. Section, “Flow visualization in the wake of flapping-wing MAV `DelFly II’ in forward flight,” in 30th aiaa applied aerodynamics conference, New Orleans, US-LA, 2012.
    [Bibtex]
    @inproceedings{percinEtAl2015,
    address = {New Orleans, US-LA},
    author = {Percin, M and Eisma, H E and Oudheusden, B W Van and Remes, B and Ruijsink, R and Wagter, C De and Section, Aerodynamics and Section, Aerodynamics and Section, Aerodynamics},
    booktitle = {30th AIAA Applied Aerodynamics Conference},
    keywords = {delfly piv forward-flight},
    month = {jun},
    organization = {American Institute of Aeronautics and Astronautics},
    title = {{Flow visualization in the wake of flapping-wing MAV `DelFly II' in forward flight}},
    year = {2012}
    }
  • K. M. E. {De Clercq}, R. D. Kat, B. Remes, B. V. W. Oudheusden, and H. Bijl, “Flow Visualization and Force Measurements on a Hovering Flapping-Wing MAV `DelFly II’,” in Proceedings of the 39th aiaa fluid dynamics conference, San Antonio, US-TX, 2009.
    [Bibtex]
    @inproceedings{deClercqEtAl2009a,
    abstract = {Particle image velocimetry measurements and simultaneous force measurements have been performed on the DelFly II flapping-wing MAV, to investigate the flow-field behavior and the aerodynamic forces generated. For flapping wing motion it is expected that both the clap and peel mechanism and the occurrence of a leading edge vortex during the translational phase play an important role in unsteady lift generation. Furthermore, the flexibility of the wing foil is also considered of primary relevance. The PIV analysis shows a strong influx between the wings during the peel but no downward expelling jet during the clap. The force measurements reveal that the peel, oppositely to the clap, contributes significantly to the lift. The PIV visualization suggests the occurrence of a leading edge vortex during the first half of the in- and outstroke, which is supported by a simultaneous augmentation in lift. The early generation of a leading edge vortex during the flex cannot be assessed from the PIV images due to optical obstruction, but is likely to appear since the wing flexing is accompanied with a large increase in lift.},
    address = {San Antonio, US-TX},
    author = {{De Clercq}, Kristien M E and Kat, Roland De and Remes, Bart and Oudheusden, Bas W Van and Bijl, Hester},
    booktitle = {Proceedings of the 39th AIAA Fluid Dynamics Conference},
    keywords = {delfly piv aero-forces},
    organization = {American Institute of Aeronautics and Astronautics},
    title = {{Flow Visualization and Force Measurements on a Hovering Flapping-Wing MAV `DelFly II'}},
    year = {2009}
    }

Master’s Theses

  • Y. S. Janssen, “Reinforcement Learning Policy Approximation by Behavior Trees,” Master Thesis, Delft, NL, 2016.
    [Bibtex]
    @mastersthesis{Janssen2016,
    address = {Delft, NL},
    author = {Janssen, Y.S.},
    school = {Delft University of Technology},
    title = {{Reinforcement Learning Policy Approximation by Behavior Trees}},
    url = {uuid:f6008da9-d688-4b9f-9880-8d7c3b51a777},
    year = {2016}
    }
  • K. Lamers, “Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle,” Master Thesis, Delft, NL, 2016.
    [Bibtex]
    @mastersthesis{Lamers2016,
    address = {Delft, NL},
    author = {Lamers, K.},
    school = {Delft University of Technology},
    title = {{Self-Supervised Monocular Distance Learning on a Lightweight Micro Air Vehicle}},
    url = {uuid:55f9ab7a-2651-4a90-93a0-a8c9ddc7c6a9},
    year = {2016}
    }
  • M. Paz Gomes Verdugo, “Event-based Optical Flow using a Dynamic Vision Sensor for MAV Landing,” Master Thesis, Delft, NL, 2015.
    [Bibtex]
    @mastersthesis{PazGomesVerdugo2015,
    address = {Delft, NL},
    author = {Paz Gomes Verdugo, M},
    keywords = {address-event-representation,divergence,dynamic vision sensor,landing,optical flow,ventral flow},
    school = {Delft University of Technology},
    title = {{Event-based Optical Flow using a Dynamic Vision Sensor for MAV Landing}},
    year = {2015}
    }
  • T. Szabo, “Autononomous Collision Avoidance for Swarms of MAVs Based solely on RSSI measurements,” Master Thesis, Delft, NL, 2015.
    [Bibtex]
    @mastersthesis{Szabo2016,
    address = {Delft, NL},
    author = {T. Szabo},
    school = {Delft University of Technology},
    title = {{Autononomous Collision Avoidance for Swarms of MAVs Based solely on RSSI measurements}},
    url = {uuid:f6008da9-d688-4b9f-9880-8d7c3b51a777},
    year = {2015}
    }
  • K. Y. W. Scheper, “Behaviour Trees for Evolutionary Robotics: Reducing the Reality Gap,” Master Thesis, Delft, NL, 2014.
    [Bibtex]
    @mastersthesis{Scheper2014,
    address = {Delft, NL},
    author = {Scheper, Kirk Y W},
    keywords = {Behaviour Tree, Evolutionary Robotics, Reality Gap, Micro Aerial Vehicle},
    school = {Delft University of Technology},
    title = {{Behaviour Trees for Evolutionary Robotics: Reducing the Reality Gap}},
    url = {uuid:dde8d42e-590a-465d-abaf-760ec304760f},
    year = {2014}
    }
  • A. J. Koopmans, “Delfly Freeflight — Autonomous Flight of the Delfly in the Wind Tunnel using Low-Cost Sensors,” Master’s thesis Master Thesis, Delft, NL, 2012.
    [Bibtex]
    @mastersthesis{koopmans2012,
    address = {Delft, NL},
    author = {Koopmans, J Andries},
    keywords = {control delfly flapping-wing in-flight master-thes},
    school = {Delft University of Technology},
    title = {{Delfly Freeflight -- Autonomous Flight of the Delfly in the Wind Tunnel using Low-Cost Sensors}},
    type = {Master's thesis},
    year = {2012}
    }
  • [PDF] D. Trips, “Aerodynamic Design and Optimization of a Long-range Mini-UAV,” Master’s thesis Master Thesis, Delft, NL, 2010.
    [Bibtex]
    @mastersthesis{trips2010,
    address = {Delft, NL},
    author = {Trips, D.},
    keywords = {delfly master-thesis piv aero-forces},
    number = {December},
    school = {Delft University of Technology},
    title = {{Aerodynamic Design and Optimization of a Long-range Mini-UAV}},
    type = {Master's thesis},
    year = {2010},
    pdf = {http://www.delfly.nl/publications/MSc-Trips.pdf}
    }
  • [PDF] M. A. Groen, “PIV and force measurements on the flapping-wing MAV DelFly II,” Master’s thesis Master Thesis, Delft, NL, 2010.
    [Bibtex]
    @mastersthesis{groen2010,
    address = {Delft, NL},
    author = {Groen, M.A.},
    keywords = {delfly master-thesis piv aero-forces},
    number = {December},
    school = {Delft University of Technology},
    title = {{PIV and force measurements on the flapping-wing MAV DelFly II}},
    type = {Master's thesis},
    year = {2010},
    pdf = {http://www.delfly.nl/publications/MSc-Groen.pdf}
    }
  • [PDF] B. Bruggeman, “Improving flight performance of DelFly II in hover by improving wing design and driving mechanism,” Master’s thesis Master Thesis, 2010.
    [Bibtex]
    @mastersthesis{Bruggeman2010,
    author = {Bruggeman, Bart},
    pages = {123},
    school = {Delft University of Technology},
    title = {{Improving flight performance of DelFly II in hover by improving wing design and driving mechanism}},
    type = {Master's thesis},
    year = {2010},
    pdf = {http://www.delfly.nl/publications/MSc-Bruggeman.pdf}
    }
  • [PDF] K. De Clercq, “Flow visualization and force measurements on a hovering flapping-wing MAV ‘DelFly II’,” Master’s thesis Master Thesis, Delft, NL, 2009.
    [Bibtex]
    @mastersthesis{declerck2009,
    address = {Delft, NL},
    author = {De Clercq, K.},
    keywords = {delfly master-thesis piv aero-forces},
    number = {December},
    school = {Delft University of Technology},
    title = {{Flow visualization and force measurements on a hovering flapping-wing MAV 'DelFly II'}},
    type = {Master's thesis},
    year = {2009},
    pdf = {http://www.delfly.nl/publications/MSc-DeClercq.pdf}
    }