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Articles 1 - 14 of 14
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Vision-Based Target Geo-Location Using A Fixed-Wing Miniature Air Vehicle, D. Blake Barber, Joshua D. Redding, Timothy W. Mclain, Randal W. Beard, Clark N. Taylor
Vision-Based Target Geo-Location Using A Fixed-Wing Miniature Air Vehicle, D. Blake Barber, Joshua D. Redding, Timothy W. Mclain, Randal W. Beard, Clark N. Taylor
Faculty Publications
This paper presents a method for determining the GPS location of a ground-based object when imaged from a fixed-wing miniature air vehicle (MAV). Using the pixel location of the target in an image, with measurements of MAV position and attitude, and camera pose angles, the target is localized in world coordinates. The main contribution of this paper is to present four techniques for reducing the localization error. In particular, we discuss RLS filtering, bias estimation, flight path selection, and wind estimation. The localization method has been implemented and flight tested on BYU’s MAV testbed and experimental results are presented demonstrating …
Simulation Of A Carbon Nanotube-Based Compliant Parallel-Guiding Mechanism: A Nanomechanical Building Block, Martin L. Culpepper, Christopher M. Dibiasio, Robert M. Panas, Spencer P. Magleby, Larry L. Howell
Simulation Of A Carbon Nanotube-Based Compliant Parallel-Guiding Mechanism: A Nanomechanical Building Block, Martin L. Culpepper, Christopher M. Dibiasio, Robert M. Panas, Spencer P. Magleby, Larry L. Howell
Faculty Publications
The authors report the behavior of a nanoscale parallel-guiding mechanism wherein the compliant components are single-walled carbon nanotubes. Parallel-guiding mechanisms are often the building blocks of macro- and microscale mechanical systems. The authors present results that provide insight into the performance of a parallel-guiding mechanism for nanoscale devices. The device exhibits a range over 75% of the device size, i.e., 5.5 nm, when actuated with 6.4 nN. Below 3.6 nN, displacements are due to bulk elastic bending of the nanotubes. Above 5.2 nN, displacements are governed by the hingelike bending of kinks in the nanotubes. van der Waals forces are …
Maximizing Miniature Aerial Vehicles, Stephen Griffiths, Jeffery Brian Saunders, Andrew Curtis, Blake Barber, Timothy W. Mclain, Randal W. Beard
Maximizing Miniature Aerial Vehicles, Stephen Griffiths, Jeffery Brian Saunders, Andrew Curtis, Blake Barber, Timothy W. Mclain, Randal W. Beard
Faculty Publications
Despite the tremendous potential demonstrated by miniature aerial vehicles (MAV) in numerous applications, they are currently limited to operations in open air space, far away from obstacles and terrain. To broaden the range of applications for MAVs, methods to enable operation in environments of increased complexity must be developed. In this article, we presented two strategies for obstacle and terrain avoidance that provide a means for avoiding obstacles in the flight path and for staying centered in a winding corridor.
Preliminary Modeling, Control, And Trajectory Design For Miniature Autonomous Tailsitters, Nathan B. Knoebel, Stephen R. Osborne, Deryl Snyder, Timothy W. Mclain, Randal W. Beard, Andrew Mark Eldredge
Preliminary Modeling, Control, And Trajectory Design For Miniature Autonomous Tailsitters, Nathan B. Knoebel, Stephen R. Osborne, Deryl Snyder, Timothy W. Mclain, Randal W. Beard, Andrew Mark Eldredge
Faculty Publications
A tailsitter UAV has unique advantages over typical fixed wing aircraft or hovercraft. This paper highlights topics of interest in our preliminary research in developing a tailsitter UAV. An aerodynamic model and quaternion-based attitude and position control scheme is presented for controlling a tailsitter through hover maneuvers, with simulation results. Desired trajectories are also developed through feedback linearization of the dynamic equations, intended for quaternion-based attitude control. Finally, a hardware platform is proposed.
Vision-Based Target Localization From A Fixed-Wing Miniature Air Vehicle, Joshua D. Redding, Timothy W. Mclain, Randal W. Beard, Clark N. Taylor
Vision-Based Target Localization From A Fixed-Wing Miniature Air Vehicle, Joshua D. Redding, Timothy W. Mclain, Randal W. Beard, Clark N. Taylor
Faculty Publications
This paper presents a method for localizing a ground-based object when imaged from a small fixed-wing unmanned aerial vehicle (UAV). Using the pixel location of the target in an image, with measurements of UAV position and attitude, and camera pose angles, the target is localized in world coordinates. This paper presents a study of possible error sources and localization sensitivities to each source. The localization method has been implemented and experimental results are presented demonstrating the localization of a target to within 11 m of its known location.
Vector Field Path Following For Small Unmanned Aerial Vehicles, Derek R. Nelson, D. Blake Barber, Timothy W. Mclain, Randal W. Beard
Vector Field Path Following For Small Unmanned Aerial Vehicles, Derek R. Nelson, D. Blake Barber, Timothy W. Mclain, Randal W. Beard
Faculty Publications
This paper presents a new method for unmanned aerial vehicle path following using vector fields to represent desired ground track headings to direct the vehicle onto the desired path. The key feature of this approach is that ground track heading error and lateral following error approach zero asymptotically even in the presence of constant wind disturbances. Methods for following straight-line and circularorbit paths, as well as combinations of straight lines and arcs, are presented. Experimental results validate the effectiveness of this path following approach for small air vehicles flying in high-wind conditions.
An Xyz Micromanipulator With Three Translational Degrees Of Freedom, Kimberly A. Jensen, Craig P. Lusk, Larry L. Howell
An Xyz Micromanipulator With Three Translational Degrees Of Freedom, Kimberly A. Jensen, Craig P. Lusk, Larry L. Howell
Faculty Publications
This paper introduces a three degree of freedom XYZ Micromanipulator (XYZM) that is fabricated in the x-y plane and positions components in the x, y, and z directions using three independent linear inputs. The mechanism positions components on a platform using three legs, each composed of a slider mechanism and a parallelogram mechanism.
Forest Fire Monitoring Using Multiple Unmanned Air Vehicles, Timothy Mclain, Randal W. Beard, Ryan S. Holt, Joseph W. Egbert, Justin M. Bradley, Clark N. Taylor
Forest Fire Monitoring Using Multiple Unmanned Air Vehicles, Timothy Mclain, Randal W. Beard, Ryan S. Holt, Joseph W. Egbert, Justin M. Bradley, Clark N. Taylor
Faculty Publications
The ability to gather and process information on the condition of forest fires is essential to fighting the fires in a cost-effective, safe, and efficient manner. While high-altitude, long-endurance (HALE) unmanned air vehicles (UAVs) are currently used for fire surveillance; they are an expensive and scarce resource. As a proposed alternative, low-altitude, short-endurance (LASE) UAVs offer lower costs, quicker response times, and high- resolution information. In recent years, advances in solid-state sensor and autopilot technology have made LASE UAVs a feasible alternative. This paper overviews a current research project conducted by Brigham Young University and NASA Ames. In the project, …
Piezoresistive Feedback For Decreased Response Time Of Mems Thermal Actuators, Robert K. Messenger, Timothy W. Mclain, Larry L. Howell
Piezoresistive Feedback For Decreased Response Time Of Mems Thermal Actuators, Robert K. Messenger, Timothy W. Mclain, Larry L. Howell
Faculty Publications
Feedback control is commonly used in positioning systems to improve dynamic response, disturbance rejection, accuracy, and repeatability. Similar benefits can be expected for microelectromechanical systems (MEMS) that are used for positioning applications. Sensing at the micro level poses significant challenges. Most of these challenges are associated with the small size of the devices and the small motions and forces which are of interest. In many situations, applying the macro system paradigm, where the sensor is a component that is added to the system, leads to unacceptable results. At the macro level, sensors are typically small relative to the systems they …
Learning Real-Time A* Path Planner For Unmanned Air Vehicle Target Sensing, Jason K. Howlett, Timothy W. Mclain, Michael A. Goodrich
Learning Real-Time A* Path Planner For Unmanned Air Vehicle Target Sensing, Jason K. Howlett, Timothy W. Mclain, Michael A. Goodrich
Faculty Publications
This paper presents a path planner for sensing closely-spaced targets from a fixed-wing unmanned air vehicle (UAV) having a specified sensor footprint. The planner is based on the learning real-time A* (LRTA*) search algorithm and produces dynamically feasible paths that accomplish the sensing objectives in the shortest possible distance. A tree of candidate paths that span the area of interest is created by assembling primitive turn and straight sections of a specified step size in a sequential fashion from the starting position of the UAV. An LRTA* search of the tree produces feasible paths any time during its execution and …
Lattice-Based Structures For Studying Percolation In Two-Dimensional Grain Networks, Brent L. Adams, John A. Basinger, David T. Fullwood
Lattice-Based Structures For Studying Percolation In Two-Dimensional Grain Networks, Brent L. Adams, John A. Basinger, David T. Fullwood
Faculty Publications
This work was supported primarily by the MRSEC program of the National Science Foundation under DMR-0079996. The applicability of standard lattice percolation models to a random 2-D grain structure is explored. A random network based on the triangle lattice is proposed as a more appropriate model, and results in a higher percolation threshold (0.711 compared with 0.653 for the standard hexagonal lattice). The triple junction constraint inherent in grain boundary structures is subsequently applied to the new network. This results in a lowering of the percolation threshold to 0.686; this is opposite to its effect on the standard hexagonal lattice. …
Techniques In The Design Of Thermomechanical Microactuators, Larry L. Howell, Timothy W. Mclain, Michael S. Baker, Christian D. Lott
Techniques In The Design Of Thermomechanical Microactuators, Larry L. Howell, Timothy W. Mclain, Michael S. Baker, Christian D. Lott
Faculty Publications
The purpose of this chapter is to provide fundamental background for the design of thermomechanical microactuators. Actuation has been a particularly challenging aspect of microsystem development. Many actuation approaches used at the macro level, such as hydraulics, pneumatics, electric motors, internal combustion engines and turbines, are either too difficult to fabricate at the micro level or do not work well at that scale. Electrostatic attraction is one approach that has been widely used for actuation of microsystems; however, electrostatic actuators tend to have high voltage requirements and low output force capabilities. While electrostatic actuation is suitable for many applications, some …
Extending Taylor Plasticity Theory For Microscopic Slip Transfer Conditions, Brent L. Adams, Ray M. Merrill, John A. Basinger, Bassem S. El-Dasher
Extending Taylor Plasticity Theory For Microscopic Slip Transfer Conditions, Brent L. Adams, Ray M. Merrill, John A. Basinger, Bassem S. El-Dasher
Faculty Publications
This work was supported primarily by the MRSEC Program of the National Science Foundation under DMR-0079996. Most studies in crystal plasticity are based upon Taylor's original 1938 work. Within Taylor's framework the dependence of yield strength on microstructure, beyond lattice orientation, is carried within the critical resolved shear stress for slip. Thus, as the grain size decreases, the critical resolved shear stress is required to increase. This increase in critical resolved shear stress is applied, uniformly across the entire interior of the slipping grains according to the basic assumption of the model (uniform plastic strain or strain rate). It is …
Grain Boundary Property Determination Through Measurement Of Triple Junction Geometry And Crystallography, Brent L. Adams, D. Casasent, M. Demirel, Bassem S. El-Dasher, D. Kinderlehrer, C. Liu, I. Livshits, F. Manolache, D. Mason, A. Morawiec, W. W. Mullins, S. Ozdemir, Gregory S. Rohrer, Anthony D. Rollett, David M. Saylor, Shlomo Ta'asan, A. Talukder, Chialin T. Wu, C. C. Yang, W. Yang
Grain Boundary Property Determination Through Measurement Of Triple Junction Geometry And Crystallography, Brent L. Adams, D. Casasent, M. Demirel, Bassem S. El-Dasher, D. Kinderlehrer, C. Liu, I. Livshits, F. Manolache, D. Mason, A. Morawiec, W. W. Mullins, S. Ozdemir, Gregory S. Rohrer, Anthony D. Rollett, David M. Saylor, Shlomo Ta'asan, A. Talukder, Chialin T. Wu, C. C. Yang, W. Yang
Faculty Publications
This work was supported primarily by the MRSEC program of the National Science Foundation under Award Number DMR-0079996. Microstructure controls the properties of most useful materials. Thus an ability to control microstructure through the processing of materials is a key to optimization of materials performance. Most materials are polycrystalline and their grain structure is a very important aspect of their microstructure. Thanks to their complexity there is a great variety of grain boundary types even in relatively isotropic materials such as the cubic metals. Simply describing the crystallography requires five (macroscopic) parameters (e.g. disorientation and inclination). Evidently, acquiring a knowledge …