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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SoE Professional Seminar "UAV: When we can file-n-fly?!"
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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!
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SoE Professional Seminar "UAV: When we can file-n-fly?!"
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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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SoE Professional Seminar "UAV: When we can file-n-fly?!"
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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)
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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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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
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
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[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)
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UAV History
Kettering Bug (1918)
Aerial Torpedo
Radioplane 0Q-2A (1935)
Culver PQ-14B (1940)
Target dronesUAV UAV
UAV
Pre World War II
[1].
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UAV History
Kettering Bug (1918)
Aerial Torpedo
D21 Tagboard onM12 Mother Ship
Lightning Bug AQM-34
1960sReconnaissance UAVs
UAV UAV
[1].
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UAV History
Kettering Bug (1918)
Aerial Torpedo
1970sCombat UAVs - Have Lemon AQM-34
EO Maverick EO Hobo
UAVUAV
[1].
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UAV History
Kettering Bug (1918)
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].
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UAV History
Kettering Bug (1918)
Aerial Torpedo
1970s
HiMAT YF-16 RPRV
Self-RepairingFlight Control Sys.XBQM-106
Flight Research UAVs
[1].
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UAV History
Kettering Bug (1918)
Aerial Torpedo
1980sTactical and Medium Endurance UAVs
Pioneer - USN/USMC US Army Hunter
GNAT-750 MR - UAV
[1].
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UAV History
Kettering Bug (1918)
Aerial Torpedo
1990sDARO UAVs
Outrider (TUAV) Predator (Tier II)
Global Hawk (Tier II+) Dark Star (Tier III-)
[1].
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UAV History
Kettering Bug (1918)
Aerial Torpedo
Global Hawk & Predator
Outrider (TUAV
Global Hawk (Tier II+) Dark Star (Tier III-)
[1].
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• Military applications• Civilian applications
UAV Applications
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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].
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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].
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UAV Military Applications
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
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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].
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UAV Civilian Applications
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
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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].
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UAV Civilian Applications
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
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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].
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UAV Civilian Applications
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
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UAV Civilian ApplicationsCommunications• Telecommunications• Telecom relay and signal coverage survey
Survey• Oil and Gas Exploration and Production• Mineral exploration• Geophysical surveys
[7].
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UAV Civilian Applications
http://www.defensemedianetwork.com/wp-content/uploads/2010/10/161.jpg http://ceoworld.biz/ceo/wp-content/uploads/2009/07/Verenex-Energy-oil.jpg
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UAV Civilian Applications
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.
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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].
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Overview of the Paparazzi system
[26].
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Airborne components• Autopilot• Battery• Datalink• GPS• Infrared (Original)• Motor• Payload• Receiver• Servo
[26].
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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].
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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 Off-Path Target.
http://www.engr.usu.edu/wiki/index.php/OSAM
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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 SoE Professional Seminar "UAV: When we can file-n-fly?!"
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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 SoE Professional Seminar "UAV: When we can file-n-fly?!"
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
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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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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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
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 …)– …
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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
SoE Professional Seminar "UAV: When we can file-n-fly?!"
MESA LABA water treatment lagoon as a UAS-enabled
CPS to create biofuel from waste
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SoE Professional Seminar "UAV: When we can file-n-fly?!"
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Algal Bloom Tracking & Modeling
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Agriculture in 2100swhen 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/
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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, 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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$949.001800 pages
2013
Two chapters from MESA
Lab!
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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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