UAV Research at CU (Colorado Center for Unmanned Vehicle Systems)

1. UAV Research at CU(Colorado Center for Unmanned Vehicle Systems) Cory Dixon University of Colorado Aerobotics Lab

2. Overview • Aerobotics • UAVs • UAV Avionics • AUGNet Cory Dixon AES Aerobotics

3. AES Aerobotics • Goal: Develop mission-adaptable UAV systems. • Multidisciplinary, Vertically Integrated Teams • AE, EE, ME, CS, PAOS, • Undergrads  Ph.D. • Graduate Curriculum • Under development to complement the AES Curriculum 2000 • First graduates in May 2003 • Highlighted Projects • Aerosonde • TornadoChaser • AUGNet Cory Dixon AES Aerobotics

4. Aircraft Miniature Size: < 15 ft span Weight: < 55 lbs Power: ~60 W Micro Size: < 6 inches Weight: ~2 oz Power: < 1 W Missions In-situ Atmospheric Measurement Reconnaissance Operations Remotely Piloted – Stability Augmented Control Autonomous UAV Systems Cory Dixon AES Aerobotics

5. UAVs at CU Cory Dixon AES Aerobotics

6. DBF Competition Results Cory Dixon AES Aerobotics

7. DBF Winning Trends Cory Dixon AES Aerobotics

8. Hybrid Avionics Hybrid – A control system that combines continuous physical behavior with discrete control algorithms. • Central Flight Computer • Single Internal Bus • Multiple IO • RS232/422/485 • Analog/Digital • Motor Control (PWM) • Subsystems • Power • IMU/Attitude • GPS/Navigation • Communication • Video/Telepresence • Recovery • Science Common University Avionic System Cory Dixon AES Aerobotics

9. TornadoChaser Avionics System • Off-the-shelf • Rapid development • Inexpensive • Modular • PC104 standard • Changeable components • Systems • PC104 Flight Stack • Failsafe/Backup • R/C • Locator beacon Cory Dixon AES Aerobotics

10. TornadoChaser Cory Dixon AES Aerobotics

11. TornadoChaser Improvements • Weight / Size / Cost / Power • Not truly modular • Forced to use PC104 form factor • A PC104 board change affects ALL other systems • Stack and components is a fixed system • Future Student Involvement • Operating System (VxWorks) • Electronics • Stack becomes fixed system => No ownership Cory Dixon AES Aerobotics

12. FUAV Avionics(Fire monitoring UAV) • Modular • No central F.C. • External Control Bus • Interface Board for each module • In-house System Design • Microcontroller Interface Boards • Using commercial components • Subsystems • IMU • Communication • Systems • Plug-n-Play modules as needed Cory Dixon AES Aerobotics

13. Cost / Size / Weight Increased Modularity Removed inter-dependency on subsystems Not restricted to any form factor Only constraint on subsystem is a CAN interface Future Student Involvement Modularity => Ownership Interface Board 0.1 Fault tolerant CAN Network 6 PWM 2 RS232 6 10-bit A/D 8 DIO FUAV Avionics(Fire Monitoring UAV) Cory Dixon AES Aerobotics

14. AUGNet(Ad-Hoc UAV Ground Network) • Goal Demonstrate last-mile networking using airborne wireless nodes to extend network range over terrain. • Wireless Network • 802.11 Network • Compaq’s IPAQ running Linux • Airplanes • 3 UAVS • Modified COTS Aircraft • Composite Construction • Remotely Controlled • VirtualCockpit • GPS Waypoint nav Cory Dixon AES Aerobotics

15. Status & Future Work • TornadoChaser • Has flown in large R/C aircraft • New airframe under development • Project is dead at Senior Design level • FUAV • Has been used to provide pilot control in miniature aircraft • System modules now under development • Becoming primary Avionics system • AUGNet • Project is in prototyping phase • First flight demo in February Cory Dixon AES Aerobotics

16. That’s All Questions Cory.Dixon@Colorado.edu 303-492-4469 Cory Dixon AES Aerobotics