Interview: Cornelia Freund
ED: How did you come to the topic? What makes working at the Professorship for Autonomous Aerial Systems, respectively working with aerial robots, interesting for you?
Yuxia Yuan: My academic journey began with a Bachelor’s degree in Automation, where I built a strong foundation in dynamics, control systems, and robotics. During my undergraduate studies, I participated in two competitions: a smart vehicle competition and a quadrotor challenge. These experiences sparked my fascination with control theory and its real-world applications, motivating me to pursue a Master’s degree in Robotics.
During my Master’s, I worked on projects related to signal processing, robot navigation, control algorithms, and machine learning, with applications primarily in mobile robots and exoskeletons. After completing my Master’s, I worked at TU Delft on automated vehicles. It took some time to figure out the right direction for my research. I am now thrilled to be working with Prof. Markus Ryll at the Professorship for Autonomous Aerial Systems.
What excites me about working with aerial robots is the opportunity to combine cutting-edge technology with practical applications. The Professorship offers a dynamic environment focused on innovative research, problem-solving, and collaboration with leading experts in aerial robotics. I also deeply appreciate the supportive work environment, the collegial atmosphere, and most importantly, the guidance of Markus Ryll, whose mentorship has been invaluable.
ED: What doctoral project are you working on?
Yuxia Yuan: My doctoral research focuses on the modelling, control, and optimization of cargo delivery using quadrotor UAV. The primary objective is to develop robust control algorithms that ensure stable and efficient UAV operations under varying load and environmental conditions. This involves formulating dynamic models that accurately capture the coupled behaviour of the UAV and its load, developing control strategies capable of handling external disturbances and load variations, and ensuring precise trajectory tracking to achieve safe and efficient cargo transportation.
ED: One of the biggest hurdles is that no model for vehicle and load together has been established so far. What are the challenges in the research field of quadrotor with swing-load, and what is your goal?
Yuxia Yuan: In the context of UAV with cable-suspended load control, the primary challenge lies in managing the complex dynamic interaction between the UAV and the load. Unlike rigidly attached payloads, suspended loads introduce additional degrees of freedom, resulting in coupled, nonlinear, and underactuated dynamics. This complexity makes accurate modelling and controller design particularly challenging.
My goal is to tackle these challenges by developing scalable models and advanced control strategies that enhance the reliability and efficiency of UAV operating with suspended loads. This research aims to contribute to safer, more versatile UAV applications in logistics, construction, and disaster response.
ED: What does your daily research work look like? How much time do you invest in the technical development of UAV, and how much time is spent on modelling, simulation, and analysis?
Yuxia Yuan: My daily research work varies depending on the phase of the project. At the start of a new study, I devote time to conducting a thorough literature review to understand the current state of the field. This is followed by intensive work on model formulation and algorithm development.
Once the theoretical foundation is done, I proceed to test the models and algorithms through simulations. After achieving satisfactory simulation results, I conduct experiments with real UAVs to validate the findings. During this phase, I often encounter various technical challenges that need to be addressed. This is normal and expected because there is always a gap between simulation and reality, and bridging this gap is a key part of our work.
If the results are promising, I consider writing and submitting a paper for publication, which is one of the most important aspects of a PhD candidate's work. Although it's difficult to quantify the exact time allocation, I estimate that over 50 per cent of my time is dedicated to problem formulation, modelling, and algorithm development, while at least 20 per cent is spent on hands-on technical development and experimentation.
ED: What change do you want to achieve in the future?
Yuxia Yuan: In the future, I aim to contribute to the widespread adoption of autonomous aerial systems in real-world applications. I envision UAV technology becoming more reliable, autonomous, and seamlessly integrated across various sectors.
Specifically, my goal is to develop robust, scalable solutions for cargo UAV that can operate safely and efficiently in complex, dynamic environments with minimal human intervention. This advancement could significantly expand UAV applications in humanitarian aid, environmental monitoring, and infrastructure inspection, ultimately improving societal outcomes.
My aspiration is to see UAV become an integral part of everyday life, addressing complex challenges and enhancing efficiency across diverse industries.
Publication:
Yuxia Yuan and Markus Ryll, Dual Quaternion Control of UAVs with Cable-suspended Load, 2024
Degree Programs:
Aerospace B. Sc.
Aerospace M. Sc.
Aerospace Engineering M. Sc. (TUM Asia)
Professorship of Autonomous Aerial Systems
The research field of Prof. Markus Ryll is, like his interests, interdisciplinary: Employees of the professorship bring knowledge from many areas, from drone construction to programming. A passion for robotics and computer science is just as welcome as for mechanics or physics.
The focus is on fully actuated flight systems, drones that can independently control their position and orientation. As a result, these systems are superior in maneuverability to conventional helicopters.
His research focuses on human-machine interaction, sensors for high-speed flights, and drone for the transportation of objects and people.