Heredia Benot, GuillermoOllero Baturone, AníbalGarófano Soldado, Ambar2025-06-262025-06-262025-03-28Garófano Soldado, A. (2025). Analysis and Modeling of aerodynamic Interactions and hybrid UAV Design for close proximity Operations. (Tesis Doctoral Inédita). Universidad de Sevilla, Sevilla.https://hdl.handle.net/11441/174681Unmanned Aerial Vehicles (UAVs) have evolved into versatile tools for diverse applications, particularly in industrial inspection and maintenance. These platforms are increasingly deployed in challenging environments such as tunnels, pipelines, and confined spaces, where their ability to operate near surfaces is critical. This Thesis investigates the aerodynamic interactions that influence UAV performance in these scenarios, addressing phenomena such as ground effect, wall effect, and pipe effect that can destabilize UAVs in confined or complex environments. A combination of Computational Fluid Dynamics (CFD) simulations, experimental studies, and aerodynamic modeling is employed to understand these effects and improve UAV stability and control. While understanding aerodynamic interactions is essential to optimizing UAV performance, this Thesis also demonstrates how such insights can inform innovative design approaches to improve UAV adaptability and operational efficiency. A hybrid aerial-ground UAV design is developed as a result of this aerodynamic understanding, aiming to achieve similar goals as aerodynamic optimization through integrated capabilities. These designs combine aerial flight with ground mobility, enabling UAVs to transition between modes for tasks requiring precision and stability. By perching or rolling along structures, hybrid UAVs reduce energy consumption, extend operational time, and improve stability during inspection and maintenance tasks. The research examines advanced UAV configurations, including tilted and coaxial rotors, with a focus on their aerodynamic interactions in ground effect and confined environments. Ground effect studies highlight the influence of rotor spacing, tilt, and proximity to the ground on thrust generation and aerodynamic efficiency. Aerodynamic models are developed and validated through numerical-experimental data, integrating these key parameters to ensure UAV maneuverability in various scenarios. A ground effect model for a complete UAV platform with tilted rotor is also validated through real-world indoor flight tests. The analysis extends to wall and corner effects on tilted rotors, evaluated through CFD simulations to assess their impact in constrained environments. Pipe effect is also studied in different types of UAV platforms. For morphing multirotors, a specific approach trajectory to pipelines is studied, while conventional multirotors are analyzed more broadly, considering the effect of propeller proximity to a pipe at different horizontal and vertical distances. The findings from the pipeline inspection studies are applied to the design of hybrid systems, ensuring that aerodynamic interactions are accounted for or mitigated to achieve optimal performance in particular applications. The Thesis also examines collaborative UAV operations, focusing on tasks such as power line inspection, where multiple UAVs operate in close proximity. Insights into aerodynamic disturbances, such as downwash effects, inform strategies for optimizing inter-UAV spacing and improving stability during cooperative missions. By integrating aerodynamic modeling, experimental techniques, and hybrid design solutions, this Thesis contributes to the development of UAV systems tailored for complex industrial environments. The findings provide a robust framework for optimizing UAV performance in inspection, maintenance, and collaborative tasks. This dual approach, combining aerodynamic insights and hybrid design innovations, advances the state of UAV technology, enabling safer, more efficient, and versatile operations in demanding scenarios.application/pdf284 p.engAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/doctoralThesisinfo:eu-repo/semantics/openAccess