Type UAV Research Articles

THE DESIGN AND TESTING OF A LIDAR PLATFORM FOR A UAV FOR HERITAGE MAPPING

Abstract. In the discovering, identifying and mapping work of heritage objects in forest or desert areas, LiDAR ensures work efficiency and can provide the most complete and accurate 3D data. In the field of heritage documentation in China, the integration of LiDAR and small UAV is highly desirable. However, due to issues on the vibration of flying platform, load capacity, safety and other factors, not all UAVs can be used as LiDAR carriers. Therefore, the selection and design of suitable UAVs are very important. Little research has been done in this area and related experiments, complete test data and clear conclusions are hard to find. After long-term selection, design, trial-manufacturing and testing, the authors compare the vibration, capacity, reliability, stability of many UAV types, and finally develop two UAV platforms which are most suitable for carrying LiDAR for heritage mapping projects.

A Modified Simulated Annealing Algorithm for SUAVs Path Planning

Small Unmanned Aerial Vehicles are becoming very popular for several applications including precision agriculture, road and building inspections and aerial photography. One possible scenario for these sUAV is to use them in a cooperative flights. In this case one UAV finds Points of Interest and the others inspect them based on each UAV's capabilities. This scenario requires that the path planning algorithm is executed by the embedded processors such that the UAVs can collaborate directly. This paper presents a path planning algorithm based on Simulated Annealing for small Unmanned Aerial Vehicles. The objective of the algorithm is to find flight paths to allow the UAVs to inspect numerous points of interest placed over a region, considering that these points may belong to different kinds and should be inspected by a specific type of UAV. This is considered as a multiple Traveler Salesman Problem, solved by the proposed SA algorithm where the Energy function takes into account the mismatches between POI type and UAV specialty. The algorithm is implemented on a Raspberry Pi and tested using a ArduCopter platform flight simulator, considering two inspector UAVs. The results show that the algorithm is capable of calculating paths matching POI and UAV types with an execution time that is suitable for on-the-fly mission generation.

Recursive Identification of Motion Model Parameters for ultralight UAV

In the paper the possibility of using parameter estimations is examined. Identification algorithm is used to get quadrocopter model parameters. It is shown that this method is applicable for this type of UAVs. Experiments with different configurations were conducted and described. The results obtained show the eficiency of the applied identification procedure. Comparison with the results of the non-recursive least-squares identification scheme is presented.

Control Strategies for Unmanned Aerial Vehicles under Parametric Uncertainty and Disturbances: a Comparative Study

UAVs within the class of Mini Aerial Vehicles (MAVs) are autonomous aircrafts with low inertias that fly at relatively low speeds. In this sense, MAVs are exposed to high airspeed uncertainties since unexpected changes in wind velocity represent an important percentage of the total airspeed of the vehicle. Moreover, such changes directly modify the aerodynamic forces acting along the vehicle, which leads to important variations on their acceleration owed to their low inertia. Although the structure of the dynamic model of an aircraft is well known, important difficulties arise on the identification of an specific MAV due to its particular characteristics. Thus, modelling errors become an additional source of uncertainty when control algorithms are designed. In this situation, studying the ability that different control strategies present in performing trajectory tracking is of great interest on the development of applications for this type of UAVs. In this paper a comparative study of four control strategies is presented. All algorithms have been implemented in a MAV flight computer. Results from both, Hardware-In-the-Loop (HIL) simulations and real flight experiments, are presented as the main contribution of this work.

2A1-F05 新しい回転翼型UAVの制御についての研究

New rotor wing type UAV is the aerial vehicle which has a stator wing mechanism to deny the anti-torque by the main rotor. The stator wing is the wing attached under the main rotor. The stator wing causes torque to the body by the downwash of the main rotor and performs attitude control by the torque. This rotor wing type UAV was named SWUM. It perform a horizontal mobility by doing attitude control of an aerial vehicle by control of stator wing angle, not pitch angle control of main rotor bride. The validity of the attitude control by stator wings was confirmed by numerical simulation.

Modeling Internal Logistics by Using Drones on the Stage of Assembly of Products

The subject addressed in this paper is the issue of using an UAV type Quadcopter in the internal logistics within a manufacturing plant, particularly at the stage of assembly and /or customization of products. The vertical takeoff and landing, as well as horizontal flight, both with the characteristic of low speed and high precision, are major requirements for this work. The quadrotor architecture has been chosen for analysis because of its low dimensions, good maneuverability, simple mechanics and available payload capacity. As a major drawback, the high energy consumption when operating is a constraint to be modeled and optimized. In the first step, an internal logistics modeling is performed in order to determine the location of depots, clusters and sub-clusters; workstations are defined and routes are generated using a genetic algorithm for each quadcopter of a particular fleet. In a second step, the weight to be transported by each quadcopter is determined, depending on the assigned route and workstations that should go through the sequence either to remove materials (picking) or to deliver materials (delivery). In a third step, it is determined the electric power amount to be drained off the battery of every quadcopter for a given route depending on the weight carried, distance covered, number of workstations visited and the quadcopter aerodynamic efficiency.

Designing a Two Stage Controller for a VTOL Copter Type UAV

The research in the field of VTOL UAVs has intensified considerably in the past few years due to military and civilian growing interest and due to electronics development This paper present the designing of a controller for a surveillance homemade heavy quadrotor UAV tolerant to wind perturbations.

Comparison of Controllers for a UAV Type Quadrotor: Feedback Control by Bessel´s Polynomials and LQR with Kalman Filter

This paper presents the development of two different control techniques as an approach having to remove steady-state error present in the response of attitude of a mini unmanned aerial vehicle of four rotor model. The Bessel approximation allows the selection of the eigenvalues in function to a specified response time for a feedback pole placement controller and state estimator. On the other hand presents an optimal control technique combined with Kalman filter to estimate the state affected by perturbations in the system, both cases using the integral effect to eliminate the steady state error.

Parameter Identification and Attitude Control of Ducted Fan UAVs

For UAVs are favored by many countries, the reason is that they are not affected by man-induced factor. While the ducted fan UAV is a new type of UAV, rises in recent years, but it has become very hot in the field of the research and development of miniature unmanned aerial vehicle. This paper is based on the research of a kind of small ducted fan UAVs, and works on the system parameter identification of the UAV and the design of attitude controller.

Evaluation of an Unmanned Aircraft for Geophysical Survey

UAV aircraft differ significantly from manned aircraft. This paper investigates what the differences are and how that will affect decisions made by purchasers of airborne geophysical data.Differences between manned and unmanned aircraft produce either positive or negative impact on the geophysical data due to a range of factors such as permanent, induced, eddy current, electromagnetic and microphonic noise. Flight characteristics, terrain to be surveyed, location of the survey, safety aspects and regulations are also a consideration.Whether a purchaser of geophysical data chooses a UAV aircraft over a manned aircraft or a particular type of UAV, differs for every company. Every company will have different safety requirements, prospects, locations to survey and budget.

The Research of UAV Sensors Training Virtual Laboratory

This paper introduces the research and design of a certain type of UAV optical electronics sensors battle operation training laboratory based on VR technology. It expatiates the function and structure of the lab. The lab can solve the critical problems faced by present real UAV equipment battle education training and improve training effect distinctly. The lab also can help cadets to inquire and learn more knowledge and skill effectively.

전기동력 무인기용 하이브리드 추진시스템 비행시험

This paper deals with the flight test of propulsion system of middle size electrically powered UAV (EAV2, Electric Aerial Vehicle 2) which is under development in KARI. EAV2 is low speed endurance type UAV whose wing span is 6.9 m, and weight is 18 kg. The UAV has flown for 22 hours in June of 2012. The flight test result showed that the propulsion system worked well suppling power for any circumstances during the test flight. Each power source worked according to the design purpose.

STABILIZED CONTROLLER DESIGN FOR ATTITUDE AND ALTITUDE CONTROLLING OF QUAD-ROTOR UNDER DISTURBANCE AND NOISY CONDITIONS

This article presents a control approach to obtain the better stabilization in attitude and altitude o f quad-rotor under different disturbance conditions. In the stan dard Quad-rotor rotor type UAV, controlling of atti tude and altitude is one of the most critical tasks and appr opriate controller for stabilization of UAV is esse ntial and necessary. These two controls under various conditi ons of disturbances was a field of research stimula ting for the researchers. The controller proposed is contingent on the PID feedback structure with Extended Kalman Filter (EKF). From Lyapunov Stability Theorem, it is proved that quad-rotor proposed altitude control system is asymptotic as well exponentially stability. Extende d Kalman Filter (EKF) is used to filter out the sen sors and system noises. Finally, the simulations carried out on MATLAB and the result proved the effectiveness of proposed recommended method for stabilization of attitude and altitude of quad-rotor.

Discuss of Unmanned Plane Braking Experiment Base on Eddy Current Technology

In the process of unmanned aerial vehicle (uav) landing safely and quickly brake problem，Puts forward a uav electric eddy current braking method.The method through the eddy current and magnetic field interact to produce braking torque. According to the uav braking requirements, Design the uav electric eddy current brake simulation system. Test results show that: Based on the eddy current brake technology the average braking torque for 870N·m is greater than the “inner” type uav brake the average braking torque for 530N·m, Can meet the requirements of the uav braking system, So will the eddy current brake applied to unmanned aerial vehicle is feasible.

205 ダクトファン型UAV内の高アスペクト比プロペラによる流れ特性(流体工学II,学術講演)

205 ダクトファン型UAV内の高アスペクト比プロペラによる流れ特性(流体工学II,学術講演)

Estimation of In-Flight Icing Characteristics of UAVs During Different Meteorological Conditions

The in-flight structural icing phenomenon is very important for the UAV's because it causes some serious problems such as reduced lift and increased drag forces, significantly decreased angle of attack, increased weight, sturctural imbalances and improper radio communications. In order to increase flight safety of UAV's we develop a meteorological support for the UAV pilots, mission controllers and decision makers, too. The mentioned support based on 3D observational data, statistical and numerical methods, as well. In our paper we show the in-flight structural icing estimation method as a part of this support system based on both a simple 2D ice accretion model and WRF numerical weather predictions. We point out the role of the air temperature, LWC and airfoil geometry in the icing process on the wings of UAVs. With the help of our system we made an estimation of geometry and amount of ice accretion on the wing of a shor-range and a HALE UAVs during a hypothetical flight under a typical icy weather situation with St clouds over the carpathian-basin (a case study). FInally we point out that our icing estimation system can easily be adapted for supporting the missions of other types of UAVs.

Design Methodology of a Hybrid Propulsion Driven Electric Powered Miniature Tailsitter Unmanned Aerial Vehicle

Contrary to the manned tailsitter aircraft concepts, which have been shelved and forgotten after mid 1960's, the unmanned versions of these concepts have become popular. Since, tailsitter type UAVs combine both vertical takeoff and landing (VTOL) operation and relatively high speed cruise flight capabilities which provide manifest advantages over the other VTOL aircraft concepts, including helicopters and organic air vehicles (OAVs). However, there is no mini class tailsitter UAV with efficient high speed cruise flight capability. This paper presents the design methodology and optimization of ITU Tailsitter UAV concept with hybrid propulsion system approach to fill that gap. The initial design and analysis show the advantageous performance over other mini-class VTOL UAVs.

Modeling and Autopilot Design of Blended Wing-Body UAV

This paper describes the modeling and autopilot design procedure of a Blended Wing-Body(BWB) UAV. The BWB UAV is a tailless design that integrates the wing and the fuselage. This configuration shows some aerodynamic advantages of lower wetted area to volume ratio and lower interference drag as compared to conventional type UAV. Also, BWB UAV may be increase payload capacity and flight range. However, despite of these benefits, this type of UAV presents several problems related to flying qualities, stability, and control. In this paper, the detailed modeling procedure of BWB UAV and stability analysis results using the linearized model at trim condition are represented. Finally, we designed the autopilot of BWB UAV based on a simple control allocation scheme and evaluated its performance through nonlinear simulation.