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Prepared by: Long Di Dept. of Electrical and Computer Engineering Utah State University

ECE5320 Mechatronics Assignment#01: Literature Survey on Sensors and Actuators Topic: Unmanned aerial vehicle (UAV). Prepared by: Long Di Dept. of Electrical and Computer Engineering Utah State University

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Prepared by: Long Di Dept. of Electrical and Computer Engineering Utah State University

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  1. ECE5320 MechatronicsAssignment#01: Literature Survey on Sensors and Actuators Topic: Unmanned aerial vehicle (UAV) Prepared by: Long Di Dept. of Electrical and Computer Engineering Utah State University E: long.di@aggiemail.usu.edu ; T: (435)754-6787 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  2. Outline Slide-2 • Reference list • To Explore Further • Major Applications • Basic Working Principle • Typical Sample Configuration in Application • Major Specifications • Advantages • Limitations • Places to Buy • Conclusion 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  3. Reference list Slide-3 • H. Chao, Y. Luo, L. Di, and Y. Q. Chen, “Roll-channel fractional • order controller design for a small fixed-wing unmanned aerial vehicle,” Control Engineering Practice, accepted to appear. • H. Chao, Y. Cao, and Y. Q. Chen, “Autopilots for small unmanned aerial vehicles: A survey,” International Journal of Control, Automation, and Systems, vol. 8(1), pp. 36–44, 2010. • L. Di, H. Chao, and Y. Q. Chen, “A Two-stage Calibration Method for Low-cost UAV Attitude Estimation Using Infrared Sensor”, submitted to 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, July 15-17, 2010, Qingdao, ShanDong, China 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  4. Reference list Slide-4 • Paparazzi Autopilot • URL http://paparazzi.enac.fr/wiki/Main_Page • R. Beard, D. Kingston, M. Quigley, D. Snyder, R. Christiansen, W. Johnson, T. Mclain, and M. Goodrich, “Autonomous vehicle technologies for small fixed wing UAVs,” AIAA Journal of Aerospace Computing, Information, and Communication, vol. 5, pp. 92–108, 2005. • Advantages& Disadvantages http://people.bath.ac.uk/jw329/Advantages%20and%20Disadvantages.htm 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  5. To Explore Further (survival pointers of web references etc) Slide-5 • http://paparazzi.enac.fr/wiki/Main_Page • http://www.procerusuav.com/index.php • http://www.aerovision-uav.com/index.php 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  6. Major applications Slide-6 • Remote sensing • Transportation • Scientific data gathering • Surveillance for law enforcement and homeland security • Precision agriculture • Forest fire monitoring • Geological survey • Military reconnaissance • Search and rescue 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  7. Major applications Slide-7 Transportation UAVs can transport goods using various means based on the configuration of the UAV itself. Most payloads are stored in an internal payload bay somewhere in the airframe. With fix-wing UAVs, payloads can be attached to the airframe, but aerodynamics of the aircraft with the payload must be assessed. For such situations, payloads are often enclosed in aerodynamic pods for transport. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  8. Major applications Slide-8 Remote sensing UAV remote sensing functions include electromagnetic spectrum sensors, biological sensors, and chemical sensors. A UAV's electromagnetic sensors typically include visual spectrum, infrared or near infrared cameras as well as radar systems. Other electromagnetic wave detectors such as microwave and ultraviolet spectrum sensors may also be used, but are uncommon. Biological sensors are sensors capable of detecting the airborne presence of various microorganisms and other biological factors. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  9. Major applications Slide-9 Search and rescue UAVs will likely play an increased role in search and rescue in the United States. This was demonstrated by the successfuluse of UAVs during the 2008 hurricanes that struck Louisiana and Texas. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  10. Basic Working Principle Slide-10 Airframe Propulsion System Data Link and Data Storage System Control System UAV Launch and Recovery System Payload Operating Personnel Ground Control Station/Mission Support System Navigation and Guidance System 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  11. Typical Sample Configuration in Application (1) Slide-11 • CSOIS OSAM UAV • Infrared Sensor • Inertial Measurement Unit • Electrically Powered • Fully Autonomous 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  12. Typical Sample Configuration in Application (2) Slide-12 Motor Servos Speed Controller Batteries RC Receiver Paparazzi Autopilot Infrared Sensor 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  13. Typical Sample Configuration in Application (3) Slide-13 • Two infrared sensors applied on CSOIS unmanned aerial vehicle (UAV) for attitude estimations. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  14. Major Specifications Slide-14 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  15. Advantages (1) Slide-15 • Safety • In-flight safety for commercial aircraft would be increased, if modern day methods of terrorism were used, because computers would not be intimidated by threats. Considering military jets, reaction times and speed of “thought” would be exponentially increased as each aircraft could communicate with a central communications tower constantly with instant data transfer. Instant data transfer would be useful if a plane were about to be shot down or in process of being shot down then data could be transferred immediately without concern for the aircraft or the pilot’s own life being in danger/fatal danger. Plus no rescue mission would need to be undertaken as there would be no personal to rescue. Therefore, tactical data is secure. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  16. Advantages (2) Slide-16 Duration Flight lengths could increase as computers do not need sleep, or any type of break, allowing constant uninhibited communications between each party. When fuel efficiency further increases and commercial aircraft are able to embark on even longer journeys; journeys in which a pilot or two would not be able to stay operational for, then computer flown aircraft would help. A full non-stop journey around the world would be possible. Speed Engine technology is constantly increasing and being used more and more for commercial use, i.e. Concorde. With these enhancements, travelling speeds will increase more and more, until even the best human reactions will not be quick enough to stop say a collision. Computers on the other hand have a far greater visual range and reaction time allowing them to avoid fatalities. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  17. Advantages (3) Slide-17 Error Computers come into their own when it comes to errors, especially pilot errors. As they are able to track the progress and position of the aircraft constantly throughout the flight; they are able to determine what is ahead (like a forward looking camera) to assist the pilot in his decisions. However, if the pilot does make an error in his calculations then the computer would be able to give him significant warning so as to avoid the situation. E.g. if there is poor weather and visibility and the pilot is not able to see very far in front, and his altitude is too low and the plane is approaching a mountain, the computers would be able to give him warning either through direct contact or via Air Traffic Control so the pilot would be able to evade danger. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  18. Advantages (4) Slide-18 Costing One of the most expensive pieces of equipment today is human labour. With the use of UAVs there is less human labour, as there is no need for pilots (which are expensive). This allows a UAV campaign to function at a lower cost than one that uses pilot able planes. This becomes especially important when it comes down to scientific missions as they very nearly always have a budget to keep to, and if a greater work-force is needed then the price sky rockets, whereas with a UAV the price should be able to be kept to a minimum. Plus if the mission over-runs and a there is a greater work-force employed then the price is still expensive whereas with a UAV the cost is still kept down. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  19. Limitations (1) Slide-19 (1) Wind. Wind gusts could introduce a lot of problems for UAV control particularly for those small or micro platforms. (2) Flight altitude. UAVs may need to fly at any altitude above the ground for different missions. (3) Payload variation. A good UAV flight controller should be robust to the payload variation such that it will not enter stalling with a little perturbation. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  20. Limitations (2) Slide-20 (4) Manufacturing variation and modeling difficulties. Many research UAVs are built from remote controlled (RC) air frames, which makes it hard to get an accurate dynamic model. (5) Resources limitations. Small or micro UAVs are also constrained by the onboard resources like limited accuracy for onboard inertial sensors, limited computational power and limited size and weight, etc. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  21. Places to Buy Slide-21 • http://paparazzi.enac.fr/wiki/Main_Page • http://www.procerusuav.com/productPricing.php 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

  22. Conclusion Slide-22 UAVs have some shown many advantages (safety, cost and autonomous, etc.) They also have several restrictions (payload, accuracy etc.) They have been widely applied in different areas for both military and civilian application. They have growing potentials in the future. 3/10/2010 ECE5320 Mechatronics. Assignment#1 Survey on sensors and actuators

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