Person: Aláez Gómez, Daniel
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Aláez Gómez
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Daniel
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Estadística, Informática y Matemáticas
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ISC. Institute of Smart Cities
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0000-0002-5346-2562
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812347
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Publication Open Access VTOL UAV digital twin for take-off, hovering and landing in different wind conditions(Elsevier, 2023) Aláez Gómez, Daniel; Olaz Moratinos, Xabier; Prieto Míguez, Manuel; Villadangos Alonso, Jesús; Astrain Escola, José Javier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Institute of Smart Cities - ISC; Gobierno de Navarra / Nafarroako GobernuaWith UAVs becoming increasingly popular in the industry, vertical take-off and landing (VTOL) convertiplanes are emerging as a compromise between the advantages of planes and multicopters. Due to their large wing surface area, VTOL convertiplanes are subject to a strong wind dependence on critical phases such as take-off, landing, and hovering. Developing a new and improved unmanned aerial vehicle (UAV) is often expensive and associated with failures and accidents. This paper proposes the dynamic characterization of a commercial VTOL convertiplane UAV in copter mode and provides a novel method to estimate the aerodynamic forces and moments for any possible wind speed and direction. Starting from Euler’s equations of rigid body dynamics, we have derived the mathematical formulation to precisely consider aerodynamic forces and moments caused by any wind speed and direction. This unique approach will allow for VTOL convertiplane UAVs to be trained and tested digitally in takeoff, hovering, and landing maneuvers without the cost and hassle of physical testing, and the dependence on existing wind conditions. A digital twin of a VTOL convertiplane UAV in copter mode has been modeled and tested in the Gazebo robotics simulator. Take-off, hovering and landing maneuvers have been compared with and without the wind physics model. Finally, the simulator has been tested against real flight conditions (reproducing the mean wind speed and direction only), showing a natural and realistic behavior.Publication Open Access Digital twin modelling of open category UAV radio communications: a case study(Elsevier, 2024) Aláez Gómez, Daniel; López Iturri, Peio; Celaya Echarri, Mikel; Azpilicueta Fernández de las Heras, Leyre; Falcone Lanas, Francisco; Villadangos Alonso, Jesús; Astrain Escola, José Javier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Ingeniería Eléctrica, Electrónica y de Comunicación; Ingeniaritza Elektrikoa, Elektronikoa eta Telekomunikazio Ingeniaritza; Institute of Smart Cities - ISC; Universidad Pública de Navarra / Nafarroako Unibertsitate PublikoaThe modeling of radio links plays a crucial role in achieving mission success of unmanned aerial vehicles (UAVs). By simulating and analyzing communication performance, operators can anticipate and address potential challenges. In this paper, we propose a full-featured UAV software-in-the-loop digital twin (SITL-DT) for a heavy-lifting hexacopter that integrates a radio link module based on an experimental path loss model for ‘Open’ category Visual Line of Sight (VLOS) conditions and drone-antenna radiation diagrams obtained via electromagnetic simulation. The main purpose of integrating and simulating a radio link is to characterize when the communication link can be conflicting due to distance, the attitude of the aircraft relative to the pilot, and other phenomena. The system architecture, including the communications module, is implemented and validated based upon experimental flight data.Publication Embargo Quadcopter neural controller for take-off and landing in windy environments(Elsevier, 2023) Olaz Moratinos, Xabier; Aláez Gómez, Daniel; Prieto Míguez, Manuel; Villadangos Alonso, Jesús; Astrain Escola, José Javier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Institute of Smart Cities - ISCThis paper proposes the design of a quadcopter neural controller based on Reinforcement Learning (RL) for controlling the complete maneuvers of landing and take-off, even in variable windy conditions. To facilitate RL training, a wind model is designed, and two RL algorithms, Deep Deterministic Policy Gradient (DDPG) and Proximal Policy Optimization (PPO), are adapted and compared. The first phases of the learning process consider extended exploration states as a warm-up, and a novel neural network controller architecture is proposed with the addition of an adaptation layer. The neural network’s output is defined as the forces and momentum desired for the UAV, and the adaptation layer transforms forces and momentum into motor velocities. By decoupling attitude from motor velocities, the adaptation layer enhances a more straightforward interpretation of the neural network output and helps refine the rewards. The successful neural controller training has been tested up to 36 km/h wind speed.