MESA LAB Unmanned Aerial Vehicles When We Can File-n-Fly ?! YangQuan Chen, Ph.D., Director, MESA LAB MESA (Mechatronics, Embedded Systems and Automation)

MESA LAB

Unmanned Aerial Vehicles When We Can File-n-Fly ?!

YangQuan Chen, Ph.D., Director, MESA (Mechatronics, Embedded Systems and Automation)LAB

MEAM/EECS, School of Engineering,University of California, Merced

E: [email protected]; or, [email protected]: (209)228-4672; O: SE1-254; Lab: Castle #22 (T: 228-4398)

Oct. 03, 2012. Wednesday 12:30-13:20SoE Professional Seminar, COB 265

MESA LAB

SoE Professional Seminar "UAV: When we can file-n-fly?!"

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Outline

• About the new MESA Lab• Unmanned Aerial Vehicles• When we can file-n-fly?• When we can file-n-fly!

MESA LAB

MESA LABhttp://mechatronics.ucmerced.edu

• Mechatronics, Embedded Systems and Automation – Backup name: Mechatronics, Energy Systems and

Autonomy– ASME DED, MESA TC. http://iel.ucdavis.edu/mesa/

• 2013 MESA conference: Portland, OR http://www.asmeconferences.org/IDETC2013/

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MESA LAB

MESA Lab Philosophy and Ambition

• "We make real systems that work and others want them."

• MESA Lab: Staying on top and for sustainability.

• Nationally and internationally visible and prominent!

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MESA LAB

MESA Lab Founding Members• Dr. YangQuan Chen, Faculty

– Dr. Huifang Dou, Lecturer– Brandon Stark, 3rd year Ph.D. student, Lab Manager– 3 visiting research scholars– 4 undergraduate researchers– 2013 (5 more confirmed)

• 1 Ph.D. to join 1/1/2013, 1 Ph.D. to join 5/1/2013• 1 Postdoc to join Fall 2013• 2 more visiting scholars to join in 2013

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MESA LAB

MESA Research Areas/Strengths

• Unmanned Aerial Systems and UAV-based Personal Remote Sensing (PRS)

• Cyber-Physical Systems (CPS)• Modeling and Control of Renewable Energy

Systems• Mechatronics• Applied Fractional Calculus (AFC)

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MESA LAB

Kevin Craig, Marquette Univ.

Mechatronics

has good prospects for the future because knowledge economy demands to speed up development, improve quality, reduce cost and increase energy efficiency.

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MESA LAB


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Outline


MESA LAB

UAV: Unmanned Aerial VehicleAlso called Unmanned Aircraft System (UAS),an aircraft that is controlled by Navigation electronics without human pilot on board.

Figure: Global Hawk UAV

http://www.wpclipart.com/armed_services/airplanes/airplanes_3/Global_Hawk_UAV.png

MESA LAB

[1].

UAV History• The first “claimed” heavier-than-air, powered flight was of a

UAV, over the Potomac River, by Dr. Sam Langley (1896)• The first radio-controlled UAV flights were converted Navy

trainers, flown over Long Island (1917)• The first mass production UAV was the Kettering Bug,

costing $400 and capable of carrying a 300 lb bomb (1918)• The British Queen Bee UAV was landed by dragging a

weighted antenna line on the ground, which then pulled back the stick and the throttle (1935)

• 4 UAVs with 2000 lb bombs attacked the Japanese merchantman, Yamazuki Maru, scoring two direct hits (1944)

• Marilyn Monroe was “discovered” while working in the Radioplane OQ-3 UAV factory (1945)

MESA LAB

UAV History

Kettering Bug (1918)

Aerial Torpedo

Radioplane 0Q-2A (1935)

Culver PQ-14B (1940)

Target dronesUAV UAV

UAV

Pre World War II

[1].

MESA LAB

UAV History


Aerial Torpedo

D21 Tagboard onM12 Mother Ship

Lightning Bug AQM-34

1960sReconnaissance UAVs

UAV UAV

[1].

MESA LAB

UAV History


Aerial Torpedo

1970sCombat UAVs - Have Lemon AQM-34

EO Maverick EO Hobo

UAVUAV

[1].

MESA LAB

UAV History


Aerial Torpedo

1970s

Boeing YQM-94A B-Gull

Teledyne Ryan YQM-96A R-Tern

Endurance 28 hrs 11 min Un-refueled

Reconnaissance(Recce) UAVs

Compass Cope - High Altitude

Long Endurance (HALE)

UAV

[1].

MESA LAB

UAV History


Aerial Torpedo

1970s

HiMAT YF-16 RPRV

Self-RepairingFlight Control Sys.XBQM-106

Flight Research UAVs

[1].

MESA LAB

UAV History


Aerial Torpedo

1980sTactical and Medium Endurance UAVs

Pioneer - USN/USMC US Army Hunter

GNAT-750 MR - UAV

[1].

MESA LAB

UAV History


Aerial Torpedo

1990sDARO UAVs

Outrider (TUAV) Predator (Tier II)

Global Hawk (Tier II+) Dark Star (Tier III-)

[1].

MESA LAB

UAV History


Aerial Torpedo

Global Hawk & Predator

Outrider (TUAV

Global Hawk (Tier II+) Dark Star (Tier III-)

[1].

MESA LAB

• Military applications• Civilian applications

UAV Applications

MESA LAB

UAV Military Applications

• Reconnaissance Surveillance and Target Acquisition (RSTA)

• Surveillance for peacetime and combat Synthetic Aperture Radar (SAR)

• Deception operations• Maritime operations (Naval fire

support, over the horizon targeting, anti-ship missile defense, ship classification)

[3].

MESA LAB


• Electronic Warfare (EW) and signals intelligence (SIGINT)

• Special and psychological Operations (PSYOPS)

• Meteorology missions• Route and landing reconnaissance

support• Adjustment of indirect fire and Close Air

Support (CAS)• Battle Damage Assessment (BDA)• Radio and data relay

[3].

MESA LAB


http://baronshobbies.com/blog/wp-content/uploads/2009/09/uav4tf3.jpghttp://media.defenseindustrydaily.com/images/AIR_UAV_RQ-4_Global_Hawk_High_Flight_lg.jpg

MESA LAB

UAV Civilian Applications

Security• Security and Control• Aerial Reconnaissance• Aerial Policeman and Crowd Monitoring• Aerial Traffic and Security Watch

Search and Rescue• Maritime and Mountain Search and Rescue• Life raft Deployment• Rescue point marking

[7].

MESA LAB


http://commons.wikimedia.org/wiki/File:US_Air_Force_U-2_reconnaissance_aircraft.jpghttp://img2.scoop.co.nz/stories/images/0906/choppers.in.mountain.jpeghttp://uscgalaska.blogspot.com/2010/07/air-station-kodiak-hh-65-dolphin.html

MESA LAB

UAV Civilian ApplicationsMonitoring• Civil engineering sites• Waterways and shipping• Oil and gas pipeline• Forestry• Fishery Protection• The countryside• Pollution Control and Air Sampling• Crop Performance• Litter on beaches and in parks

[7].

MESA LAB


http://www.ouc.com/Libraries/OUC_Images/stanton3.sflb.ashx http://www.britannica.com/blogs/wp-content/uploads/2010/10/pipeline.jpg http://www.agronomy.k-state.edu/extension/DesktopModules/IM.aspx?I=3298&M=0

MESA LAB


Disaster Management• Disaster effects management• Rescue and clear up effort supervision• Disaster damage estimation

Crop Management• Countryside and Agriculture• Agricultural Activities• Crop Dusting

[7].

MESA LAB


http://1.bp.blogspot.com/_-j3KQ2okBmw/S-SMT_Xv9nI/AAAAAAAADd8/fhoPv-khcy8/s1600/nashville+flood.jpghttp://consci.s3.amazonaws.com//wp-content/uploads/crop-duster1.jpg

MESA LAB

UAV Civilian ApplicationsCommunications• Telecommunications• Telecom relay and signal coverage survey

Survey• Oil and Gas Exploration and Production• Mineral exploration• Geophysical surveys

[7].

MESA LAB


http://www.defensemedianetwork.com/wp-content/uploads/2010/10/161.jpg http://ceoworld.biz/ceo/wp-content/uploads/2009/07/Verenex-Energy-oil.jpg

MESA LAB


http://med.ee.nd.edu/MED9/Papers/Aerial_vehicles/med01-164.pdfhttp://www.spyplanes.com/pages_new/products.htm

ResearchScientific research of any nature (environmental, atmospheric, archaeological, pollution etc) can be carried out by UAVs equipped with the appropriate payloads.

MESA LAB

Introduction to Paparazzi ProjectPaparazzi is an open-source autopilot system oriented toward inexpensive autonomous aircraft of all types. The project began in 2003 and has enjoyed constant growth and evolution ever since. The system has been used on dozens of airframes and implemented by several teams around the world. Hundreds of hours of autonomous flight have been successfully achieved with the Paparazzi system.

[25].

MESA LAB

Overview of the Paparazzi system

[26].

MESA LAB

Airborne components• Autopilot• Battery• Datalink• GPS• Infrared (Original)• Motor• Payload• Receiver• Servo

[26].

MESA LAB

System Architecture

AircraftSends telemetry messages

Receives datalink messages

Communications between the Paparazzi Agents

Wireless link

LinkConnects a hardware

Wireless device to the network

Messages (Debug)Display network messages

ServerLogs raw messages

Dispatches synthetic messages

GCSDisplays graphic dataControls the datalink

Data is sent with messagesDivided into 3 classes:

- Telemetry- Ground- Datalink

datalink

telemetry

telemetry

ground ground groundGround network

[25].

MESA LABSlide-36 of 1024

OSAM UAV Team won 2nd @ AUVSI UAS Competition, June 2008

Utah State – Wins $8,000 for 2nd Place Overall, 2nd Place in Mission, Honorable Mention in both Orals and Journal, and Prize Barrels for Autonomous Mission Flight, Autonomous Landing, JAUS and Perfect Identification of the Off-Path Target.

http://www.engr.usu.edu/wiki/index.php/OSAM



• We won #1 in AUVSI 2009 UAS Competition!!– June 17-21, 2009. Maryland AFB.– $14000 cash award.– Other registered participants: UCSD, MIT, Cornell, NCSU etc.– We made some headlines including ESPN2!– We are the second time to participate this event!– UCSD, Embry Riddle,Cornell, U Alberta, UT Austin.

Watch us at http://www.youtube.com/user/USUOSAM SoE Professional Seminar "UAV: When we can file-n-fly?!"


• We won #1 again in AUVSI’11 UAS Competition!!– June 15-19, 2011. Maryland AFB.– $13400 cash award. Swept all three categories.– Other registered participants: UCSD, NCSU, UT Austin etc.– First time in the competition history to win 1st place twice.– VTOL team made history too by flying waypoints autonomously

Watch our UAV-based real world applications (not just for fun!) at http://aggieair.usu.edu SoE Professional Seminar "UAV: When we can file-n-fly?!"

MESA LAB


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Outline


MESA LAB

FAA: Federal Aviation Administration

• Illegal flight unless authorized! (COA)• Too hard to get COA (certification of authorization)

• Private company (university) cannot get COA! Only possible for government departments (public universities)!

• A sample COA we got is at http://aggieair.usu.eduSoE Professional Seminar "UAV: When we can file-n-fly?!"

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MESA LAB

FAA Retasking

• In the United States, lawmakers just passed a long awaited bill setting requirements to integrate unmanned aerial systems (UAS) in the national airspace (NAS) on Feb. 6, 2012. Such requirements would set deadlines for full-scale integration in fall 2015.

• NASA UAS2NAS $12.5M (only two universities awarded: USU and NMSU


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MESA LAB


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Outline


MESA LAB

When we can file-n-fly!

The new era of Personal Remote Sensing (PRS)!


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MESA LAB

An Analogy• 1970s: Personal Computer (PC): Bill Gates/Steve

Jobs• 2010s: Personal Remote Sensing (PRS) - ????

– Low cost, affordable. Robust, easy to use– Run way free; Autonomous/cognitive– Swarm/coven; – Enabling new apps and services

• Google 4D map (x,y,z,t) paid service

– Ubiquitous remote sensing (Twitter as sensors …)– …

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WaterWatch?

Geo-Domain

Water resources,Gates, flumes

Weather, climate

demand

Irrigation control

human

crops

animalsetc.

Water rights

UAVs

Ground sensor

pods

irrigators

calibration

www.athertonsc.qld.gov.au/ photogallery.htm

http://www.nasa.gov/centers/goddard/news/topstory/2004/0729soilshowdown.html

Credit: Dr. YangQuan Chen, 2005

• Right time• Right place• Right amount


http://www.nasa.gov/centers/goddard/images/content/95621main_Very-Dry-field.jpg

MESA LABA water treatment lagoon as a UAS-enabled

CPS to create biofuel from waste


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MESA LAB


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Algal Bloom Tracking & Modeling

MESA LAB

Agriculture in 2100swhen no more synthetic fertilizers available


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MESA LAB

Key references• Long Di and YangQuan Chen. “Multi UAV

Systems.” Course slide set for ECE6930 Independent Study Course. pp. 1-850. Dept. of Electrical and Computer Engineering, Utah State University, 2009-2011.

• [1]. THE UNIVERSITY OF TEXAS AT AUSTIN, AIRCRAFT DESIGN (ASE 261K) and DESIGN LABORATORY (ASE 161M), Dr. Armand J. Chaput. http://www.ae.utexas.edu/ASE261KChaput/


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MESA LAB

UAV PRS References

• Y.Q. Chen, D. L. Dee, A. Jenson, Multi-UAV Based Multi-Spectrum Collaborative Personal Remote Sensing: Concepts, Platform & Applications, Invited Full Day Tutorial at 2011 ICUAS, Denver, CO, (2011)

• Y.Q. Chen, A. Jenson, G. Strahan, C. Coopmans, Low-Cost UAV-based precision thermal infrared (TIR) mapping – A new Personal Remote Sensing capability: UAV Platform, TIR Payload, in-flight calibration and applications, Invited Full Day Tutorial at 2012 ICUAS, Philadelphia, PA, (2012)


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MESA LAB

$949.001800 pages

2013

Two chapters from MESA

Lab!


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MESA LAB

IEEE RAS TC ARUAV

• http://www.flyingrobots.org


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MESA LAB

Thank you for attending my talk!

For more information, check

http://mechatronics.ucmerced.edu/ coming soon


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Documents

MESA LAB Unmanned Aerial Vehicles When We Can File-n-Fly ?! YangQuan Chen, Ph.D., Director, MESA LAB MESA (Mechatronics, Embedded Systems and Automation)