Technical Data Flying objects: Wingspan: 240 mm Total length: 220 mm Weight: 34 g Drives: 1 brushless motor 10,000 rpm/V 1 servo motor with an actuating force of 100 g, weighing 2 g 2 servo motors with an actuating force of 60 g, each weighing 0.7 g Battery: Battery with 300 mAh and 4.3 V Flight time: approx. 4 min Wingbeat frequency: 15 – 20 Hz Wireless circuit boards: 2.4 GHz Material of flying objects: Frame structure: using additive design in 3D printing Support elements on the inside: milled from carbon fiber Body (head and tail): Vector boards Wings: Vector boards Project Participants Project initiator: Dr. Wilfried Stoll, Managing Partner, Festo Holding GmbH Project team: Sebastian Schrof, Xiaojia Yao, Karoline von Häfen, Philipp Eberl, Max Kimpel, Dr. Elias Knubben, Dr. Michael Sinsbeck, Festo SE & Co. KG Cooperation partner: Airstage by Effekt-Technik GmbH, Riederich Partner in research: Prof. Dr. Markus Ryll, Autonomous Aerial Systems, TU Munich Localization and swarm flight: 8 anchors with UWB technology Update rate anchor: 15 Hz Frequency band: 3.5 – 6.5 GHz 1 central master computer Path planning: Swarm algorithm Software for position detection: TDoA-Kalman filter Position recognition: 6-DoF sensor fusion Flight position controller: based on geometric control theory Swarm trajectories: Trajectories of minimum jerk en 4/2024 Festo SE & Co. KG Ruiter Strasse 82 73734 Esslingen Germany Phone +49 711 347-0 cc@festo.com www.festo.com/bionics
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