Unmanned aircraft systems : International symposium on unmanned aerial vehicles, UAV '08

Unmanned Aircraft Systems (UAS) have seen unprecedented levels of growth during the last decade in both military and civilian domains. It is anticipated that civilian applications will be dominant in the future, although there are still barriers to be overcome and technical challenges to be met. Integrating UAS into, for example, civilian space, navigation, autonomy, see-detect-and-avoid systems, smart designs, system integration, vision-based navigation and training, to name but a few areas, will be of prime importance in the near future. This special volume is the outcome of research presented at the International Symposium on Unmanned Aerial Vehicles, held in Orlando, Florida, USA, from June 23-25, 2008, and presents state-of-the-art findings on topics such as: UAS operations and integration into the national airspace system; UAS navigation and control; micro-, mini-, small UAVs; UAS simulation testbeds and frameworks; UAS research platforms and applications; UAS applications. This book aims at serving as a guide tool on UAS for engineers and practitioners, academics, government agencies and industry. Previously published in the Journal of Intelligent and Robotic Systems, 54 (1-3, 2009). cover-large.gif......Page 1 front-matter......Page 2 Guest Editorial for the Special Volume On Unmanned Aircraft Systems (UAS)......Page 20 Introduction......Page 22 UAV Operation and Accidents......Page 24 Simulation and Human Factor Studies......Page 25 X-Plane and UAV Model......Page 26 Human Factor Studies......Page 27 X-Plane and Motion Platform Interface......Page 28 Motion Platform......Page 29 Aerial Platform......Page 30 On Board Sensors......Page 31 Ground Station......Page 32 Control of Aircraft Servos......Page 33 Record and Replay Real Flight Data......Page 34 References......Page 37 Introduction......Page 39 Operational Requirements......Page 41 Platform Safety......Page 42 Remote Piloting......Page 44 Payload Management......Page 45 Operational Networking Requirements......Page 46 Communication Architectures......Page 47 Delay Tolerant Networking......Page 49 Exploiting Controlled Mobility......Page 50 Conclusion......Page 53 References......Page 54 Motivation and Objectives......Page 56 UAVs Using SWIM Applications During their Operation......Page 58 UAVs Improving the Performance of SWIM Applications......Page 63 UAVs Acting as Weather Sensors......Page 64 Surveillance in Specific Locations and Emergency Response......Page 65 Network-centric Nature......Page 66 The Publish/Subscribe Paradigm......Page 67 Architectures for the Brokers......Page 69 Access Solutions Proposed for the SWIM Clients......Page 71 UAVs Interfaces for Data and Services Access......Page 72 Aspects Requiring some Adaptation......Page 73 Collaborative UAVs Surveillance System......Page 74 References......Page 75 Abstract......Page 77 Introduction......Page 78 Approach......Page 79 Paper Layout......Page 80 Flight Control Technologies and Operations......Page 81 Link-Loss Procedures......Page 83 Data Links......Page 84 Lost-Link Procedures......Page 86 ATC Communication and Coordination......Page 87 Standardization Agreement 4586......Page 88 Joint Architecture for Unmanned Systems......Page 91 Conclusion and Future Work......Page 92 References......Page 93 Introduction......Page 95 Restricting Flight Operations at USAFA......Page 96 Restrictions Imposed......Page 98 Airworthiness Process......Page 99 Summary......Page 100 References......Page 101 Introduction......Page 102 Symposium Structure......Page 104 Results of Real-Time Participant Feedback......Page 105 Outcome: UAS in the Public Decade......Page 109 Summary and Conclusions......Page 111 Appendix......Page 112 References......Page 117 Abstract......Page 119 Introduction......Page 120 System Overview......Page 121 Communication Interface......Page 122 Image Processing......Page 124 Feature Tracking......Page 125 Appearance Based Tracking......Page 127 Control Scheme......Page 129 Visual References Integration......Page 130 Stereo Vision......Page 131 Height Estimation......Page 132 Motion Estimation......Page 133 Formulation of the Problem......Page 134 Prediction and Correction Stages......Page 135 Visual Servoing Experiments......Page 138 Power Lines Inspection......Page 141 Mapping and Positioning using Visual SLAM......Page 143 Conclusions......Page 146 References......Page 147 Abstract......Page 150 Introduction......Page 151 Related Work......Page 152 Robust Homography Estimation......Page 154 Geometry of Two Views of the Same Plane......Page 156 Motion Estimation from Homographies......Page 157 Correct Solution Disambiguation......Page 158 An Estimation of the Uncertainties......Page 159 Experimental Results......Page 161 Application of Homography-Based Odometry to the SLAM Problem......Page 164 The State Vector......Page 165 Updating Stage......Page 166 Filter and Landmarks Initialization......Page 167 Experimental Results on Homography-Based SLAM......Page 168 Experimental Results Including an Inertial Measurement Unit......Page 170 References......Page 172 Introduction......Page 175 Hierarchical Path Planning and Control Algorithm......Page 177 Hardware Description......Page 179 Real-Time Software Environment......Page 180 Cooperative Scheduling Method: Initial Design......Page 181 Preemptive Scheduling Method: Final Design......Page 182 Real-time software architecture......Page 184 Benefits of using a real-time kernel......Page 185 Hardware-in-the-Loop Simulation Results......Page 186 Simulation Scenario......Page 187 Real-Time Kernel Run-Time Statistics......Page 189 References......Page 192 Abstract......Page 194 Introduction......Page 195 Adaptive Control Architecture......Page 196 Single Hidden Layer Neural Network......Page 198 Radial Basis Function Neural Network......Page 200 Flight Simulation......Page 202 Analysis Metric......Page 203 Evaluation of Simulation Results for RBF and SHL Adaptive ElementsQ4A discrepancy was observed between the files ``UAV08.pdf'' and ``UAV08_compiled.pdf''; the former is missing text in the last paragraph of Section 6.1 and does not contain a heading for Section 6.2. The latter file was followed. Please check if this was appropriate.......Page 206 References......Page 210 Introduction......Page 211 Nonlinear Mathematical Model......Page 213 Dynamical Equations of Helicopter Motion......Page 217 Motion Around x-axis, y--z Plane......Page 218 Motion Around z-axis, x--y Plane......Page 219 Kinematical Equations of Motion......Page 221 Model Testing by Simulation......Page 222 Multiple Input Multiple Output Systems......Page 223 Mathematical Model Decomposition......Page 227 Closed-loop Control System Testing......Page 233 List of Symbols......Page 236 References......Page 237 Abstract......Page 239 Introduction......Page 240 UAV Flight Pattern Definition......Page 241 Navigation Computer Design......Page 243 Simulation and Simulation Results......Page 248 Conclusion......Page 253 References......Page 254 Abstract......Page 255 Introduction......Page 256 Understanding the Propulsion......Page 258 Understanding the Steering and the Passive Stability......Page 262 Designing the First Prototype......Page 264 Analyzing the Dynamics......Page 267 References......Page 269 Abstract......Page 271 Introduction......Page 272 Longitudinal Dynamic Model......Page 273 Aircraft's Aerodynamics......Page 275 Attitude Control......Page 276 Control Strategy......Page 277 Simulation Study......Page 281 Experimental Setup......Page 282 References......Page 283 Introduction......Page 284 EMRAN RBF NN......Page 287 NN Training......Page 289 Summary......Page 290 FADS System-Matrix of Pressure Orifices (MPO)......Page 291 FADS System-Data Acquisition (DAQ)......Page 293 Dynamic Tests......Page 294 Wind Tunnel Data......Page 295 Fault Accommodation......Page 296 Dynamic Tests......Page 299 Conclusions......Page 301 Future Work......Page 302 Appendix......Page 303 References......Page 304 Introduction......Page 305 Testing Facility......Page 307 Robotic Platform......Page 310 Missions and Algorithms......Page 311 Conclusions and Future Work......Page 312 References......Page 313 Introduction......Page 314 Framework......Page 315 Framework Description by UML......Page 317 Agent Structure......Page 318 Helicopter Dynamics Simulation......Page 322 Rigid Body Equations......Page 323 Flapping and Thrust Equations......Page 324 Basic Control Laws......Page 325 Performances and Partial Results......Page 326 Ground Control Station......Page 327 Virtual Reality and World Representation......Page 328 CAD Modelling......Page 329 Test Cases......Page 331 One Helicopter......Page 332 Two Helicopters: A Leader-follower Mission......Page 333 Conclusions and Future Works......Page 334 References......Page 335 Abstract......Page 337 COTS Components for UAS......Page 338 Software Development Processes for UAS......Page 341 Multi-UAV System Architecture......Page 343 A Framework for Distributed Autonomous Systems......Page 349 CommLibX/ServiceX Middleware......Page 352 Real-Time Multi-UAV Simulator......Page 356 References......Page 361 Abstract......Page 364 Introduction......Page 365 General Architecture......Page 368 Processors......Page 369 Sensor Suite......Page 372 Customized Boards: SmartCAN and Switch......Page 374 Microavionics Control Implementations......Page 376 Autonomous Control and Way-point Navigation Experiment on Humvee......Page 378 HIL Testing of the Autopilot System for Trainer 60......Page 381 HIL Integration......Page 384 Flight Network Simulator......Page 385 Simulation Control Center......Page 386 Unmanned Vehicle Simulation......Page 388 Hardware in-the-Loop Integration of the Microavionics System and the UAV Platforms......Page 389 References......Page 390 Introduction......Page 392 Problem Description......Page 393 The Helicopter Platform......Page 394 Organization of the Helicopter Control System......Page 395 The On-board System......Page 396 The ETXexpress Module......Page 397 The Real-Time Module......Page 398 The Inertial Measurement Unit......Page 401 The System Monitor Module (SMM)......Page 402 The Servomotors......Page 403 The Radio Transceivers......Page 404 The Vision System......Page 405 The Base Station......Page 406 Heterogenous Multi-vehicle Control......Page 407 Real-Time Control......Page 409 References......Page 411 Abstract......Page 412 Introduction......Page 413 System Requirements......Page 414 Initial Sizing......Page 415 System Design......Page 416 Flight Tests......Page 422 Conclusion......Page 425 References......Page 426 Abstract......Page 427 Platform and Hardware......Page 428 Platform......Page 430 Hardware......Page 431 Servo Cyclic and Collective Pitch Mixing......Page 432 Positional Error Calculations......Page 433 Acceleration Variant Calculation......Page 440 Antenna Translations......Page 441 Controller......Page 444 Experiments and Results......Page 450 Simulation Experiments......Page 452 Field Experiments......Page 453 Conclusions and Future Work......Page 455 References......Page 456 Abstract......Page 459 Introduction......Page 460 Characteristics of the Helicopter......Page 461 Euler--Lagrange Equations......Page 462 Forces......Page 463 Moments......Page 465 Stability Analysis......Page 466 Platform Architecture......Page 468 Experimental Results......Page 471 References......Page 473 Abstract......Page 475 Introduction......Page 476 Planned Mission......Page 477 The Aerial System......Page 480 The Aerial Platforms......Page 481 The Engine......Page 482 The Vehicle Control and Mission Management System......Page 484 INGV Sensors and Data Logger......Page 485 FCCS -- Flight Computer Control System......Page 486 ADAHRS -- Air Data Attitude and Heading Reference System......Page 488 Attitude Estimation......Page 490 Heading Estimation......Page 491 GDLS -- Ground Data Link System......Page 492 GBS -- Ground Base Station......Page 493 Experimental Results......Page 495 Conclusions......Page 496 References......Page 497 Abstract......Page 499 Path Planning Techniques......Page 500 ``A-Star'' Family......Page 501 Heuristic Algorithms......Page 502 The Genetic Algorithm Used......Page 503 Mutation......Page 504 Swap Mutation......Page 505 Evaluation......Page 506 Fixed Population Characteristics......Page 507 Control Unit......Page 508 Crossover Unit......Page 509 Testing Environment......Page 510 Timing Improvement Explanation......Page 511 References......Page 512 Abstract......Page 515 Introduction......Page 516 X-plane Model......Page 517 PID Control Scheme......Page 519 Simulation......Page 520 Waypoint Navigation......Page 522 Elementary Pilot Control Augmentation System......Page 523 Results, Discussion, and Conclusion......Page 525 Test Results......Page 527 Validation and Long-Term Goals......Page 529 Final Thoughts and Suggested Approach to Future Goals......Page 532 Appendix......Page 533 A2 Basic Vehicle Specifications for Simulation......Page 535 References......Page 536