Modeling and Control of a Co-axial Helicopter
Bibliographic record
Abstract
This thesis lays the foundations for the development of a small autonomous coaxial\nhelicopter. This is an helicopter with two propellers mounted on the same axis and\nrevolving in opposite directions. To steer the helicopter, this thesis proposes a mechanism\nthat moves the helicopter’s centre of mass. Although such a mechanism has already been\ninvestigated experimentally in the literature, it has never been rigorously modeled, and\na theoretical analysis has never been performed. This thesis, for the first time, presents\nan accurate mathematical model of the coaxial helicopter which takes into account the\ngyroscopic effects of the rotors, the reaction forces and torques exerted by the moving\nmass actuator on the helicopter body, and the fact that the inertia of the helicopter is\ntime-varying. A nonlinear controller is rigorously derived which makes the helicopter\nhover at desired positions in three-space. A number of physical prototypes are discussed.\nNone of them is capable of autonomous flight yet, but the experimental and simulation\nresults provide reassurances that the proposed methodology is viable.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".