# Unmanned Systems

**Source**: https://www.fsd.ed.tum.de/infrastructure/unmanned-systems/
**Parent**: https://www.fsd.ed.tum.de/staff-members/johann-dambeck/

## Fixed Wing UAVs

### ExtremeStar

|  |  |
| --- | --- |
| Wingspan | 1.42 m |
| Take Off Weight | 3.2 kg |
| Flight Control System | Custom FCC + COTS IMU |
| Application | Nonlinear Adaptive Control, Control Allocation |
| Point of Contact | [Alexander Zollitsch](http://www.fsd.mw.tum.de/staff-members/alexander-zollitsch/ "Alexander Zollitsch, geb. Göbel") |

The FSD ExtremeStar is a high agility model airplane with 16 independent control inputs, including actuated canards and thrust vector control. It is used as a testbed to investigate nonlinear and adaptive control approaches as well as control allocation algorithms.

### Edge 540

|  |  |
| --- | --- |
| Wingspan | 1.215 m |
| Take Off Weight | 1.1 kg |
| Flight Control System | Graupner GR-24 PRO with custom software |
| Application | Basic Stability Augmentation Systems, Student Education |
| Point of Contact | [Christoph Krause](http://www.fsd.mw.tum.de/staff-members/christoph-krause/ "Christoph Krause") |

The Edge 540 is a commercial off-the-shelf aerobatic model airplane with a high thrust to weight ratio. It is used for investigations on basic stability augmentation systems, student education and to carry sensor payloads.

### StudentSnail

|  |  |
| --- | --- |
| Wingspan | 1.4 m |
| Take Off Weight | 1.0 kg |
| Flight Control System | AscTec Autopilot + PWM generator |
| Application | GPS Waypoint Flight, Student Education |
| Point of Contact | [Thomas Raffler](http://www.fsd.mw.tum.de/staff-members/thomas-raffler/ "Thomas Raffler") |

The FSD StudentSnail is a simple model airplane with 5 control inputs. Due to the high-wing configuration and the large dihedral, it exhibits a distinct roll-yaw coupling. It is mainly used for student education.

## Multirotor UAVs

### AscTec Hummingbird 1

|  |  |
| --- | --- |
| Rotor Distance | 0.34 m |
| Take Off Weight | 0.56 kg |
| Flight Control System | AscTec Autopilot + FSD Multirotor FCC |
| Application | Dynamic outdoor flight, GNSS aided navigation |
| Point of Contact | [Thomas Raffler](http://www.fsd.mw.tum.de/staff-members/thomas-raffler/ "Thomas Raffler") |

The AscTec Hummingbird is a small quadrotor UAV that is equipped with inertial sensors and a dedicated, real time linux based flight control computer. Its main purpose is research in dynamic outdoor flight with GNSS aided navigation. Additionally, it appears in live demonstrations during the lectures [Flight Control 2](http://www.fsd.mw.tum.de/teaching/fr2/ "Flugregelung 2") and [Nonlinear Adaptive Flight Control](http://www.fsd.mw.tum.de/teaching/nafc/ "Nonlinear and Adaptive Flight Control").

### AscTec Hummingbird 2

|  |  |
| --- | --- |
| Rotor Distance | 0.34 m |
| Take Off Weight | 0.65 kg |
| Flight Control System | AscTec Autopilot |
| Application | Indoor flight with external tracking system |
| Point of Contact | [Jian Wang](http://www.fsd.mw.tum.de/staff-members/jian-wang/ "Jian Wang") |

Our second AsTec Hummingbird features a protective frame and flexible propellers which makes it ideally suited for flight experiments in tight indoor areas. As part of our institute’s tour it is often shown in conjunction with a low-cost optical tracking system.

### AscTec Pelican

|  |  |
| --- | --- |
| Rotor Distance | 0.42 m |
| Take Off Weight | 1.05 kg |
| Flight Control System | AscTec Autopilot + AscTec Atomboard |
| Application | Image aided flight control |
| Point of Contact | [Jian Wang](http://www.fsd.mw.tum.de/staff-members/jian-wang/ "Jian Wang") |

The AscTec Pelican is a quadrotor that carries cameras and an additional onboard computer for image processing. It is mainly used for image aided flight control.

### AscTec Firefly (2x)

|  |  |
| --- | --- |
| Rotor Distance | 0.43 m |
| Take Off Weight | 1.0 kg |
| Flight Control System | AscTec Autopilot + AscTec Mastermind |
| Application | Fault tolerant flight control, Swarm exploration |
| Point of Contact | [Guillermo Falconí](http://www.fsd.mw.tum.de/staff-members/guillermo-falconi/ "Guillermo Falconí"), [Maximilian Mühlegg](http://www.fsd.mw.tum.de/staff-members/maximilian-muehlegg/ "Maximilian Mühlegg") |

The AscTec Firefly with its redundant six-rotor propulsion system is used for fault tolerant flight control research and swarm exploration. It has an additional, powerful onboard computer for image processing and navigation.

## Missiles

### Experimental Missile – xM1

|  |  |
| --- | --- |
| Length | 1.82 m |
| Diameter | 0.09 m |
| Mass | 9.3 kg |
| Maximum velocity | ca. 200 m/s (Mach 0.6) |
| Boost time | 4.8 s |
| Maximum height | 1400 m |
| Maximum acceleration | 70 m/s² |

The xM1 is a canard-controlled experimental missile with fixed fins, solid booster propulsion and a two-staged parachute recovery system. It is designed to perform subsonic test flights with advanced control algorithms as well as camera-aided navigation and target tracking.

### Experimental Missile – xM2

|  |  |
| --- | --- |
| Length | 0.93 m |
| Diameter | 0.078 m |
| Mass | 4.05 kg |
| Maximum velocity | ca. 180 m/s (Mach 0.53) |
| Boost time | 1.9 s |
| Maximum height | 1000 m |
| Maximum acceleration | 130 m/s² |

The xM2 is the second generation of re-usable canard-controlled experimental missiles at FSD. The improved system design uses a more robust single-staged recovery system and a modular propulsion compartment to fulfill the demands of different sensors and test scenario. At the same time, it reduces the missiles weight and size almost by half compared to xM1.

## Special Configurations

### ITB Flying Car

|  |  |
| --- | --- |
| Length | 1.11 m |
| Take Off Weight | 3.5 kg |
| Flight Control System | Custom Baseboard with ARM Cortex-M4 µC, ADIS IMU and GPS receiver + Gumstix based flight control computer |
| Application | Control of asymmetric multirotors, combined ground and flight control |
| Point of Contact | [Thomas Raffler](http://www.fsd.mw.tum.de/staff-members/thomas-raffler/ "Thomas Raffler") |

This unconventional multirotor design is the object of a joint project with the Center for Unmanned System Studies (CentrUMS) at Institut Teknologi Bandung (ITB). It is used as a testbed for a new flight control system and for research on combined flight and ground control.