Iet Mav Talk
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![Page 1: Iet Mav Talk](https://reader033.fdocuments.net/reader033/viewer/2022050913/563db920550346aa9a9a4abe/html5/thumbnails/1.jpg)
Development of a Mini-UAV for Urban EnvironmentsTony Dodd and Beniamin Apopei
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20 February 2007 IET Seminar on Micro UAVs
Overview• UAVs@Sheffield• The urban environment• The challenges• Quadrotor MAV• Future plans
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20 February 2007 IET Seminar on Micro UAVs
UAVs@Sheffield• Platform development• Control, mission planning, co-operative UAVs• Simulation/hardware-in-the-loop co-simulation• Communications (wireless, fibre optics)• Smart and morphing structures• Advanced composites• Aerodynamics and design optimisation• Energy management
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20 February 2007 IET Seminar on Micro UAVs
Industrial links/projects• Three Rolls-Royce UTCs• Boeing sponsored AMRC• ASTRAEA• Blue Bear Systems Research• Home Office• EADS• SEAS DTC?
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20 February 2007 IET Seminar on Micro UAVs
UG/MSc Projects• Technology carrier
platform• MAV group project• Autonomous
control (inertial and GPS)
• …
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20 February 2007 IET Seminar on Micro UAVs
WUN Intelligent UAV Group• 19 research led universities• UK, Europe, US, China, Australia,
Canada• Brings together world’s leading
experts• Collaboration, funding and exchange
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20 February 2007 IET Seminar on Micro UAVs
Urban Applications• Security• Military• Communications
relay• Pollution
monitoring• Police and
surveillance
• Traffic monitoring• Fire brigade• Search and rescue• Crowd control• Building inspection• Mapping• ...
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20 February 2007 IET Seminar on Micro UAVs
MoD Grand Challenge• “Create a system with a
high degree of autonomy that can detect, identify, monitor and report a comprehensive range of military threats in an urban environment” [7]
• www.challenge.mod.uk[7]
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20 February 2007 IET Seminar on Micro UAVs
The Urban Environment
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20 February 2007 IET Seminar on Micro UAVs
The Urban Environment
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20 February 2007 IET Seminar on Micro UAVs
The Urban Environment
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[2]
[3]
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20 February 2007 IET Seminar on Micro UAVs
The Urban Environment
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[2]
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20 February 2007 IET Seminar on Micro UAVs
The Challenges• Simultaneous location and mapping (SLAM)• Autonomous/semi-autonomous control• Collision avoidance• Gusting and turbulence• Reliable wireless communications• Stealth• Power and energy management• User interface/mission management• Portable
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20 February 2007 IET Seminar on Micro UAVs
Urban UAVs• Fixed wing – OTH
reconnaissance (superior range and endurance)
[6]
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20 February 2007 IET Seminar on Micro UAVs
Urban UAVs• Fixed wing – OTH
reconnaissance (superior range and endurance)
• Rotary wing – urban operation (between and inside buildings)
![Page 16: Iet Mav Talk](https://reader033.fdocuments.net/reader033/viewer/2022050913/563db920550346aa9a9a4abe/html5/thumbnails/16.jpg)
20 February 2007 IET Seminar on Micro UAVs
Urban UAVs• Fixed wing – OTH
reconnaissance (superior range and endurance)
• Rotary wing – urban operation (between and inside buildings)
• Advanced rotary/flapping wing (indoors)
[5]
![Page 17: Iet Mav Talk](https://reader033.fdocuments.net/reader033/viewer/2022050913/563db920550346aa9a9a4abe/html5/thumbnails/17.jpg)
20 February 2007 IET Seminar on Micro UAVs
Urban UAVs• Fixed wing – OTH
reconnaissance (superior range and endurance)
• Rotary wing – urban operation (between and inside buildings)
• Advanced rotary/flapping wing (indoors)
• Lighter than air? [4]
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20 February 2007 IET Seminar on Micro UAVs
Quadrotor MAVDesign requirements:• VTOL• Stable and highly manoeuvrable• All electric• Indoor and outdoor operation• Flight time > 10 min• MTOW > 3.5kg (initial prototype > 400g)• Portable and robust
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20 February 2007 IET Seminar on Micro UAVs
Why Quadrotor?• Very efficient – all power to lift• Better payload/size ratio – compact• More stable• More manoeuvrable• More robust/fault tolerant
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20 February 2007 IET Seminar on Micro UAVs
COTS ComponentsSensors• Inertial measurement unit• GPS• Firewire cameras• Ultrasonic• LaserPower• Brushless motors• Tilting, counter-rotating props (+
configuration)• Lithium polymer batteriesStructure• Glass and carbon fibre chassisProcessing• Microcontroller• Dual FPGA-DSP processors (Firewire ports)
[8]
[9]
[10]
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20 February 2007 IET Seminar on Micro UAVs
Quadrotor Prototype I
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20 February 2007 IET Seminar on Micro UAVs
IMU Development• COTS gyros and accelerometers (Analog
Devices)• Gyros - 300 deg/s• Accelerometers - 2g • PCB design• Analogue to digital conversion by microcontroller• Very low cost < £200
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20 February 2007 IET Seminar on Micro UAVs
Simulation and control
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20 February 2007 IET Seminar on Micro UAVs
Simulation and control• Lyapunov stability analysis –
hovering operating point• Input coupling/correlation analysis• Hovering control• Nonlinear control – simulation• Tuned PID – simulation and real
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20 February 2007 IET Seminar on Micro UAVs
User interface
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20 February 2007 IET Seminar on Micro UAVs
Quadrotor Prototype II
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20 February 2007 IET Seminar on Micro UAVs
Tiltrotor Mechanism
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20 February 2007 IET Seminar on Micro UAVs
Video
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20 February 2007 IET Seminar on Micro UAVs
Future plansTechnical challenges• Sensor fusion• Navigation and collision avoidance• SLAM• Active/passive vibration suppressionUser interface/mission managementBatteries and structureTesting and applications
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20 February 2007 IET Seminar on Micro UAVs
References[1] http://www.americasarmy.com/gallery/index.php?id=27 [Accessed 2 February
2007][2]http://www2.soros.org/photogalleries/mw_gallery.php?series=/resources/
events/mw9/hemmerle/ [Accessed 2 February 2007][3] http://www.actionla.org/Iraq/IraqReport/iraq_gallery_03/pages/IMGP0060.html
[Accessed 2 February 2007][4] http://www.otherlandtoys.co.uk/silver-mylar-blimp-envelope-p-941.html
[Accessed 2 February 2007][5] http://bicoreeos.solarbotics.net/mav.html [Accessed 2 February 2007][6] http://www.nd.edu/~mav/photo.htm [Accessed 2 February 2007][7] http://www.challenge.mod.uk [Accessed 3 February 2007][8] http://www.traquair.com/ [Accessed 3 February 2007][9] http://www.unibrain.com/Products/VisionImg/Fire_i_BC.htm [Accessed 3
February 2007][10] http://www.xsens.com/ [Accessed 3 February 2007]