Fractional Order Motion Control

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] T: (209)228-4672; O: SE1-254; Lab: Castle #22 (T: 228-4398) Oct. 03, 2012. Wednesday 12:30-13:20 SoE Professional Seminar, COB 265

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Acknowledgements • Thanks to Dean Hirleman for inviting me for this seminar; • Thanks to my previous students at CSOIS of Utah State University, in particular Dee and Brandon. • NSF RAPID grant (2011-2012) • NASA UAS2NAS grant (2011-2014) • Utah Water Research Lab (UWRL) MLF grant 2006-2012. 10/03/2012

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!

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http://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 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! 10/03/2012


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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 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) 10/03/2012


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Mechatronics has good prospects for the future because knowledge economy demands to speed up development, improve quality, reduce cost and increase energy efficiency. Kevin Craig, Marquette Univ. 10/03/2012


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UAV: Unmanned Aerial Vehicle Also 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

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UAVs • History • Applications • Why we are good at small low cost UAVs

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MESA LAB 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)

[1].

MESA LAB UAV History P re W orld W ar I I

Kettering Bug (1918) Aerial Torpedo

UAV Radioplane 0Q-2A (1935)

UAV

Culver PQ-14B (1940)

Target drones

[1].

UAV

MESA LAB UAV History Reconnaissance UAVs Kettering Bug

(1918) Aerial Torpedo

UAV

UAV D21 Tagboard on M12 Mother Ship

[1].

Lightning Bug AQM-34

1960s

MESA LAB UAV History Com bat UAVsKettering - Have Bug Lem on AQM -34 (1918) Aerial Torpedo

UAV

UAV

EO Maverick

[1].

EO Hobo

1970s

MESA LAB UAV History Kettering Bug Boeing YQM-94A (1918) B-Gull Aerial Torpedo

1970s

Reconnaissance (Recce) UAVs UAV Teledyne Ryan YQM-96A R-Tern

Com pass Cope High Altitude Long Endurance (HALE) Endurance 28 hrs 11 min Un-refueled

[1].

MESA LAB UAV History Flight Research UAVs Kettering Bug (1918) Aerial Torpedo

HiMAT

YF-16 RPRV

Self-Repairing Flight Control Sys.

XBQM-106

[1].

1970s

MESA LAB UAV History 1980s

TacticalKettering and MBug edium Endurance UAVs

(1918) Aerial Torpedo Pioneer - USN/USMC

GNAT-750

US Army Hunter

MR - UAV

[1].

MESA LAB UAV History Kettering Bug DARO (1918) Aerial Torpedo Outrider (TUAV)

UAVs

Predator (Tier II)

Global Hawk (Tier II+)

[1].

Dark Star (Tier III-)

1990s

MESA LAB Global Haw k & P redator

UAV History Kettering Bug (1918) Aerial Torpedo Outrider (TUAV

Global Hawk (Tier II+)

[1].

Dark Star (Tier III-)

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UAV Applications • Military applications

• Civilian 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 UAV Military Applications • • • • • • •

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 UAV Military Applications

http://baronshobbies.com/blog/wp-content/uploads/2009/09/uav4tf3.jpg http://media.defenseindustrydaily.com/images/AIR_UAV_RQ4_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 UAV Civilian Applications

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

MESA LAB UAV Civilian Applications Monitoring • • • • • • • • •

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].


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 UAV Civilian Applications Disaster Management

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

Crop Management

• Countryside and Agriculture • Agricultural Activities • Crop Dusting

[7].


http://1.bp.blogspot.com/_-j3KQ2okBmw/S-SMT_Xv9nI/AAAAAAAADd8/fhoPvkhcy8/s1600/nashville+flood.jpg http://consci.s3.amazonaws.com//wp-content/uploads/crop-duster1.jpg

MESA LAB UAV Civilian Applications Communications

• Telecommunications • Telecom relay and signal coverage survey

Survey

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

[7].


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 UAV Civilian Applications Research

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

http://med.ee.nd.edu/MED9/Papers/Aerial_vehicles/med01164.pdf

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A Paper of $500 • Di Long and YangQuan Chen. Autonomous Flying Under 500 USD Based on RC Aircraft. Third International Symposium on Small UAV Technologies and Applications (SUAVTA), 7th ASME/IEEE International Conference on Mechatronics and Embedded Systems and Applications (MESA11), part of the 2011 ASME DETC/CIE. Washington DC, August 2011. 10/03/2012


MESA LAB Introduction to Paparazzi Project Paparazzi 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 Communications between the Paparazzi Agents Aircraft Sends telemetry messages Receives datalink messages

Data is sent with messages Divided into 3 classes: - Telemetry - Ground - Datalink

datalin k Wireless link telemetry Link Connects a hardware Wireless device to the network telemetry

ground

GCS Displays graphic data Controls the datalink Ground network

ground

Server Logs raw messages Dispatches synthetic messages

Messages (Debug) Display network messages

[25].

ground

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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 Offhttp://www.engr.usu.edu/wiki/index.php/OSAM Path Target. 10/03/2012


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• 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 10/03/2012


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• 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 10/03/2012


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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.edu 10/03/2012


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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) 10/03/2012


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“Unmanned System Integration into the National Airspace System” by Dr. Wilson Felder, Director, William J. Hughes Technical Center, FAA. ICUAS12 Keynote

• Five Challenges for UAS2NAS – Procedural – Technical (i.e.: Sense and Avoid, Lost Link etc.) – Aircraft Safety (Certification of aircraft) – Crew Credentialing (including engineers’), AND – Public Acceptance 10/03/2012


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When we can file-n-fly!

The new era of Personal Remote Sensing (PRS)!

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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 …) –… 10/03/2012


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WaterWatch? Water resources, Gates, flumes Weather, climate demand Water rights

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

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Irrigation control

•Right time •Right place •Right amount

irrigators Geo-Domain human

UAVs

crops animals etc.

calibration

Ground sensor pods

Credit: Dr. YangQuan Chen, 2005

SoE Professional Seminar "UAV: When we can file-n-fly?!" http://www.nasa.gov/centers/goddard/news/topstory/2004/0729soilshowdown.html

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A water treatment lagoon as a UAS-enabled CPS to create biofuel from waste

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Algal Bloom Tracking & Modeling

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Agriculture in 2100s when no more synthetic fertilizers available

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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/ 10/03/2012


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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, LowCost 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) 10/03/2012


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$949.00 1800 pages 2013 Two chapters from MESA Lab! 10/03/2012


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IEEE RAS TC ARUAV • http://www.flyingrobots.org

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Thank you for attending my talk!

For more information, check http://mechatronics.ucmerced.edu/ (coming soon) 10/03/2012
