Abstract: This paper describes an analysis of domestic and international trends of image processing for data in UAV (unmanned aerial vehicle) and also explains about UAV and Quadcopter. Overseas examples of image processing using UAV include image processing for totaling the total numberof vehicles, edge/target detection, detection and evasion algorithm, image processing using SIFT(scale invariant features transform) matching, and application of median filter and thresholding. In Korea, many studies are underway including visualization of new urban buildings.
Abstract: This paper presents the software conception of a quadrotor UAV, named SKYWATCHER, which is able to follow a target. This capacity can at a long turn time permit to follow another drone and combine their performance in order to military missions for example.
From a low-cost architecture constructed by five students we implemented a software and added a camera to create a visual servoing. This project demonstrates the possibility to associate the technology of stabilization and the technology of visual enslavement.
Abstract: Unmanned Aerial Vehicles (UAVs) have gained tremendous importance, in both Military and Civil, during first decade of this century. In a UAV, onboard computer (autopilot) autonomously controls the flight and navigation of the aircraft. Based on the aircraft role and flight envelope, basic to complex and sophisticated controllers are used to stabilize the aircraft flight parameters. These controllers constitute the autopilot system for UAVs. The autopilot systems, most commonly, provide lateral and longitudinal control through Proportional-Integral-Derivative (PID) controllers or Phase-lead or Lag Compensators. Various techniques are commonly used to ‘tune’ gains of these controllers. Some techniques used are, in-flight step-by-step tuning, software-in-loop or hardware-in-loop tuning methods. Subsequently, numerous in-flight tests are required to actually ‘fine-tune’ these gains. However, an optimization-based tuning of these PID controllers or compensators, as presented in this paper, can greatly minimize the requirement of in-flight ‘tuning’ and substantially reduce the risks and cost involved in flight-testing.
Abstract: The aim of this work is to present a multi-objective optimization method to find maximum efficiency kinematics for a flapping wing unmanned aerial vehicle. We restrained our study to rectangular wings with the same profile along the span and to harmonic dihedral motion. It is assumed that the birdlike aerial vehicle (whose span and surface area were fixed respectively to 1m and 0.15m2) is in horizontal mechanically balanced motion at fixed speed. We used two flight physics models to describe the vehicle aerodynamic performances, namely DeLaurier-s model, which has been used in many studies dealing with flapping wings, and the model proposed by Dae-Kwan et al. Then, a constrained multi-objective optimization of the propulsive efficiency is performed using a recent evolutionary multi-objective algorithm called є-MOEA. Firstly, we show that feasible solutions (i.e. solutions that fulfil the imposed constraints) can be obtained using Dae-Kwan et al.-s model. Secondly, we highlight that a single objective optimization approach (weighted sum method for example) can also give optimal solutions as good as the multi-objective one which nevertheless offers the advantage of directly generating the set of the best trade-offs. Finally, we show that the DeLaurier-s model does not yield feasible solutions.
Abstract: Unmanned aerial vehicles (UAVs) performing their
operations for a long time have been attracting much attention in
military and civil aviation industries for the past decade. The
applicable field of UAV is changing from the military purpose only to
the civil one. Because of their low operation cost, high reliability and
the necessity of various application areas, numerous development
programs have been initiated around the world. To obtain the optimal
solutions of the design variable (i.e., sectional airfoil profile, wing
taper ratio and sweep) for high performance of UAVs, both the lift and
lift-to-drag ratio are maximized whereas the pitching moment should
be minimized, simultaneously. It is found that the lift force and
lift-to-drag ratio are linearly dependent and a unique and dominant
solution are existed. However, a trade-off phenomenon is observed
between the lift-to-drag ratio and pitching moment. As the result of
optimization, sixty-five (65) non-dominated Pareto individuals at the
cutting edge of design spaces that are decided by airfoil shapes can be
obtained.
Abstract: This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for an unmanned helicopter model with coaxial rotor and ducted fan configuration. This control strategy for chosen model of TUAV has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast stabilization of engines in hovering, consequently, fast SA with economy in energy can be asserted during search-and-rescue operations.
Abstract: This paper shows how we can integrate
communication modeling into the design modeling at early stages of
the design flow. We consider effect of incorporating noise such as
impulsive noise on system stability. We show that with change of the
system model and investigate the system performance under the
different communication effects. We modeled a unmanned aerial
vehicle (UAV) as a demonstration using SystemC methodology.
Moreover the system is modeled by joining the capabilities of UML
and SystemC to operate at system level.
Abstract: This paper has introduced a slope photogrammetric mapping using unmanned aerial vehicle. There are two units of UAV has been used in this study; namely; fixed wing and multi-rotor. Both UAVs were used to capture images at the study area. A consumer digital camera was mounted vertically at the bottom of UAV and captured the images at an altitude. The objectives of this study are to obtain three dimensional coordinates of slope area and to determine the accuracy of photogrammetric product produced from both UAVs. Several control points and checkpoints were established Real Time Kinematic Global Positioning System (RTK-GPS) in the study area. All acquired images from both UAVs went through all photogrammetric processes such as interior orientation, exterior orientation, aerial triangulation and bundle adjustment using photogrammetric software. Two primary results were produced in this study; namely; digital elevation model and digital orthophoto. Based on results, UAV system can be used to mapping slope area especially for limited budget and time constraints project.
Abstract: Shape optimization of the airfoil with high aspect ratio
of long endurance unmanned aerial vehicle (UAV) is performed by the
multi-objective optimization technology coupled with computational
fluid dynamics (CFD). For predicting the aerodynamic characteristics
around the airfoil the high-fidelity Navier-Stokes solver is employed
and SMOGA (Simple Multi-Objective Genetic Algorithm), which is
developed by authors, is used for solving the multi-objective
optimization problem. To obtain the optimal solutions of the design
variable (i.e., sectional airfoil profile, wing taper ratio and sweep) for
high performance of UAVs, both the lift and lift-to-drag ratio are
maximized whereas the pitching moment should be minimized,
simultaneously. It is found that the lift force and lift-to-drag ratio are
linearly dependent and a unique and dominant solution are existed.
However, a trade-off phenomenon is observed between the lift-to-drag
ratio and pitching moment. As the result of optimization, sixty-five
(65) non-dominated Pareto individuals at the cutting edge of design
spaces that is decided by airfoil shapes can be obtained.
Abstract: In this work a dynamic model of a new quadrotor aerial
vehicle that is equipped with a tilt-wing mechanism is presented.
The vehicle has the capabilities of vertical take-off/landing (VTOL)
like a helicopter and flying horizontal like an airplane. Dynamic
model of the vehicle is derived both for vertical and horizontal flight
modes using Newton-Euler formulation. An LQR controller for the
vertical flight mode has also been developed and its performance
has been tested with several simulations.
Abstract: This paper describes a feasibility study that is
included with the research, development and testing of a micro
communications sonobuoy deployable by Maritime Fixed wing
Unmanned Aerial Vehicles (M-UAV) and rotor wing Quad Copters
which are both currently being developed by the University of
Adelaide. The micro communications sonobuoy is developed to act
as a seamless communication relay between an Autonomous
Underwater Vehicle (AUV) and an above water human operator
some distance away. Development of such a device would eliminate
the requirement of physical communication tethers attached to
submersible vehicles for control and data retrieval.
Abstract: In this present work, the development of an avionics
system for flight data collection of a Raptor 30 V2 is carried out. For the data acquisition both onground and onboard avionics systems are developed for testing of a small-scale Unmanned Aerial Vehicle
(UAV) helicopter. The onboard avionics record the helicopter state
outputs namely accelerations, angular rates and Euler angles, in real time, and the on ground avionics system record the inputs given to
the radio controlled helicopter through a transmitter, in real time. The avionic systems are designed and developed taking into consideration
low weight, small size, anti-vibration, low power consumption, and easy interfacing. To mitigate the medium frequency vibrations
embedded on the UAV helicopter during flight, a damper is designed
and its performance is evaluated. A number of flight tests are carried
out and the data obtained is then analyzed for accuracy and repeatability and conclusions are inferred.
Abstract: This paper focuses on a critical component of the
situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). With the SA strategy,
we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation
and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear eight-rotor helicopter
model. This control strategy for chosen model of mini-TUAV has been verified by simulation of hovering maneuvers using software
package Simulink and demonstrated good performance for fast
stabilization of engines in hovering, consequently, fast SA with
economy in energy of batteries can be asserted during search-andrescue
operations.
Abstract: Microstrip antennas are conformable to planar and
nonplanar surfaces, simple and inexpensive to fabricate using modern
printed-circuit technology. Circular polarization of low-profile
microstrip patch with high bandwidth is achieved in this research
through the use of a three-cross-arms branch-line coupler with
sequential rotated arrays, another low-profile antenna of hollow
cylinder is also proposed and the function of reconnaissance with
microstrip antenna on Mini UAV (unmanned aerial vehicle) are
evaluated in practical flight test.
Abstract: The adaptive power control of Code Division Multiple
Access (CDMA) communications using Remote Radio Head
(RRH) between multiple Unmanned Aerial Vehicles (UAVs) with
a link-budget based Signal-to-Interference Ratio (SIR) estimate is
applied to four inner loop power control algorithms. It is concluded
that Base Station (BS) can calculate not only UAV distance using
linearity between speed and Consecutive Transmit-Power-Control
Ratio (CTR) of Adaptive Step-size Closed Loop Power Control (ASCLPC),
Consecutive TPC Ratio Step-size Closed Loop Power Control
(CS-CLPC), Fixed Step-size Power Control (FSPC), but also UAV
position with Received Signal Strength Indicator (RSSI) ratio of
RRHs.
Abstract: This paper presents the application of Intelligent
Techniques to the various duties of Intelligent Condition Monitoring
Systems (ICMS) for Unmanned Aerial Vehicle (UAV) Robots. These
Systems are intended to support these Intelligent Robots in the event
of a Fault occurrence. Neural Networks are used for Diagnosis, whilst
Fuzzy Logic is intended for Prognosis and Remedy. The ultimate
goals of ICMS are to save large losses in financial cost, time and
data.
Abstract: In this paper, we proposed a new routing protocol for
Unmanned Aerial Vehicles (UAVs) that equipped with directional
antenna. We named this protocol Directional Optimized Link State
Routing Protocol (DOLSR). This protocol is based on the well
known protocol that is called Optimized Link State Routing Protocol
(OLSR). We focused in our protocol on the multipoint relay (MPR)
concept which is the most important feature of this protocol. We
developed a heuristic that allows DOLSR protocol to minimize
the number of the multipoint relays. With this new protocol the
number of overhead packets will be reduced and the End-to-End
delay of the network will also be minimized. We showed through
simulation that our protocol outperformed Optimized Link State
Routing Protocol, Dynamic Source Routing (DSR) protocol and Ad-
Hoc On demand Distance Vector (AODV) routing protocol in
reducing the End-to-End delay and enhancing the overall
throughput. Our evaluation of the previous protocols was based
on the OPNET network simulation tool.
Abstract: A Ground Control System (GCS), which controls Unmanned Aerial Vehicles (UAVs) and monitors their missionrelated data, is one of the major components of UAVs. In fact, some traditional GCSs were built on an expensive, complicated hardware infrastructure with workstations and PCs. In contrast, a GCS on a portable device – such as an Android phone or tablet – takes advantage of its light-weight hardware and the rich User Interface supported by the Android Operating System. We implemented that kind of GCS and called it Ground System Software (GSS) in this paper. In operation, our GSS communicates with UAVs or other GSS via TCP/IP connection to get mission-related data, visualizes it on the device-s screen, and saves the data in its own database. Our study showed that this kind of system will become a potential instrument in UAV-related systems and this kind of topic will appear in many research studies in the near future.
Abstract: This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for an unmanned aerial vehicle (UAV). Autonomous vertical flight is a challenging but important task for tactical UAVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear trirotor mini-UAV model. This control strategy for chosen mini-UAV model has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast SA in realtime search-and-rescue operations.
Abstract: In the present era of aviation technology, autonomous navigation and control have emerged as a prime area of active research. Owing to the tremendous developments in the field, autonomous controls have led today’s engineers to claim that future of aerospace vehicle is unmanned. Development of guidance and navigation algorithms for an unmanned aerial vehicle (UAV) is an extremely challenging task, which requires efforts to meet strict, and at times, conflicting goals of guidance and control. In this paper, aircraft altitude and heading controllers and an efficient algorithm for self-governing navigation using MATLAB® mapping toolbox is presented which also enables loitering of a fixed wing UAV over a specified area. For this purpose, a nonlinear mathematical model of a UAV is used. The nonlinear model is linearized around a stable trim point and decoupled for controller design. The linear controllers are tested on the nonlinear aircraft model and navigation algorithm is subsequently developed for for autonomous flight of the UAV. The results are presented for trajectory controllers and waypoint based navigation. Our investigation reveals that MATLAB® mapping toolbox can be exploited to successfully deliver an efficient algorithm for autonomous aerial navigation for a UAV.