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Articles 1 - 17 of 17
Full-Text Articles in Engineering
Multiple Agent Target Tracking In Gps-Denied Environments, Skyler Tolman
Multiple Agent Target Tracking In Gps-Denied Environments, Skyler Tolman
Theses and Dissertations
Unmanned aerial systems (UAS) are effective for surveillance and monitoring, but struggle with persistent, long-term tracking, especially without GPS, due to limited flight time. Persistent tracking can be accomplished using multiple vehicles if one vehicle can effectively hand off the tracking information to another replacement vehicle. This work presents a solution to the moving-target handoff problem in the absence of GPS. The proposed solution (a) a nonlinear complementary filter for self-pose estimation using only an IMU, (b) a particle filter for relative pose estimation between UAS using a relative range (c) visual target tracking using a gimballed camera when the …
Collaborative Uav Planning, Mapping, And Exploration In Gps-Denied Environments, Jacob Moroni Olson
Collaborative Uav Planning, Mapping, And Exploration In Gps-Denied Environments, Jacob Moroni Olson
Theses and Dissertations
The use of multirotor UAVs to map GPS-degraded environments is useful for many purposes ranging from routine structural inspections to post-disaster exploration to search for survivors and evaluate structural integrity. Multirotor UAVs are able to reach many areas that humans and other robots cannot safely access. Because of their relatively short operational flight time compared to other robotic applications, using multiple UAVs to collaboratively map these environments can streamline the mapping process significantly. This research focuses on four primary areas regarding autonomous mapping and navigation with multiple UAVs in complex unknown or partially unknown GPS-denied environments: The first area is …
Development Of A Tailored Flight Test Approach For Small Unmanned Aircraft Systems, Neil A. Wolfe
Development Of A Tailored Flight Test Approach For Small Unmanned Aircraft Systems, Neil A. Wolfe
Master's Theses
This document contains the details of a study conducted to determine an effective performance flight test approach specifically for small Unmanned Aircraft Systems (sUAS). This was done by taking proven procedures and documentation from the FAA and the Air Force for manned aircraft and tailoring them specifically for use with sUAS flight test programs. A ‘sUAS Flight Testing Handbook’ was created from the proceedings to aid commercial organizations and recreational developers conducting sUAS research without access to flight test experience. A performance flight test program was conducted with the AeroVironment RQ-20 Puma sUAS using the developed approach to verify that …
Robust Resource Allocation To Secure Physical Layer Using Uav-Assisted Mobile Relay Communications In 5g Technology, Shakil Ahmed
Robust Resource Allocation To Secure Physical Layer Using Uav-Assisted Mobile Relay Communications In 5g Technology, Shakil Ahmed
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
The unmanned aerial vehicles (UAVs) are also known as drones. Recently, UAVs have attracted the next generation researchers due to their flexible, dynamic, and cost-effective deployment, etc. Moreover, the UAVs have a wide range of application domains, such as rescue operation in the remote area, military surveillance, emergency application, etc. Given the UAVs are appropriately deployed, the UAVs provide continuous and reliable connectivity, on-demand, and cost-effective features to the desired destination in the wireless communication system. Thus, the UAVs can be a great choice to deploy as a mobile relay in co-existence with the base stations (BSs) on the ground …
Detecting Invasive Insects Using Unmanned Aerial Vehicles, Brian Stumph
Detecting Invasive Insects Using Unmanned Aerial Vehicles, Brian Stumph
Master's Theses (2009 -)
A key aspect to controlling and reducing the effects invasive insect species have on agriculture is to obtain knowledge about the migration patterns of these species. Current state-of-the-art methods of studying these migration patterns involve a mark-release-recapture technique, in which insects are released after being marked and researchers attempt to recapture them later. However, this approach involves a human researcher manually searching for these insects in large fields and results in very low recapture rates. This thesis proposes an automated system for detecting released insects using an unmanned aerial vehicle. Our system utilizes ultraviolet lighting technology, digital cameras, and lightweight …
A Case Study On The Use Of Drones On Heavy Civil Construction Projects, William Devers
A Case Study On The Use Of Drones On Heavy Civil Construction Projects, William Devers
Construction Management
Even though the construction industry is known for being behind the curve in adopting new technologies for change, construction professionals are constantly striving for ways to save money and improve efficiency. The emergence of drone technology in recent years has sparked new interest among these professionals for those exact reasons. These flying machines offer numerous benefits to construction companies such as bypassing traditional surveying methods, using photogrammetry to create 3D models used for estimating quantities, improving team communication, ensuring worker safety, increasing owner satisfaction, among other benefits. In this case study, personal interviews will be conducted on a single construction …
Gesture-Controlled Quadcopter System, Wenhao Yang, Anthony Xu, Kendra Crawford
Gesture-Controlled Quadcopter System, Wenhao Yang, Anthony Xu, Kendra Crawford
Honors Theses
According to the statistic given by the National Law Enforcement Officers Memorial Fund, 514 police officers casualties have been attributed to gunfire in the last decade(2008-2017). It is the leading cause of death among police officers and accounts for more than a third of the total 1511 police casualties in the past decade. In this project, we want to provide a safer solution to police officers that are surveying a building for one or multiple potential dangerous personnel. We are working to design and build a gesture-controlled quadcopter that can scout ahead of the officer and provide information about the …
Unmanned Aerial Power Line Surveillance Drone, Brock Arp, Wade Vine, Cameron Whigham, Lorenzo Stewart
Unmanned Aerial Power Line Surveillance Drone, Brock Arp, Wade Vine, Cameron Whigham, Lorenzo Stewart
Senior Design Project For Engineers
The purpose of our project is to provide power line workers and linemen with a safe way to inspect the power lines. Our Aircraft is an UAV that is capable of surveying 200 linear miles in a normal working shift. The aircraft will be launched/landed and operated from an F-150 pickup truck with a facilitated launch mechanism attached. The aircraft must maintain an altitude of 150-400 ft. It will be recovered via net that will extend from the truck as the plane comes in for a landing, This will eliminate the need for landing gear. The goal for this project …
Conceptual Design Of A Combat Search And Rescue Surveillance Unmanned Aerial Aircraft, Juan M. Chirinos-Paiz, Keegan J. Musser, Robert M. Zenko, Joshua Hunter
Conceptual Design Of A Combat Search And Rescue Surveillance Unmanned Aerial Aircraft, Juan M. Chirinos-Paiz, Keegan J. Musser, Robert M. Zenko, Joshua Hunter
Senior Design Project For Engineers
Unmanned aerial vehicles (UAV) are becoming more efficient and widely used. The military uses UAV’s because it greatly reduces civilian and combatant deaths and injuries. UAV’s also are used in search and rescue mission to find distress civilians. The team wanted to create an UAV for search and rescue missions and military applications. The aircraft needed to be compact, perform better than other UAV’s, and be low cost. The team did reach a successful aircraft that meet the design requirements. The aircraft was successfully sized around the electronics and allows utilization of additive manufacturing techniques. Project management techniques showed that …
Cyber-Attack Drone Payload Development And Geolocation Via Directional Antennae, Clint M. Bramlette
Cyber-Attack Drone Payload Development And Geolocation Via Directional Antennae, Clint M. Bramlette
Theses and Dissertations
The increasing capabilities of commercial drones have led to blossoming drone usage in private sector industries ranging from agriculture to mining to cinema. Commercial drones have made amazing improvements in flight time, flight distance, and payload weight. These same features also offer a unique and unprecedented commodity for wireless hackers -- the ability to gain ‘physical’ proximity to a target without personally having to be anywhere near it. This capability is called Remote Physical Proximity (RPP). By their nature, wireless devices are largely susceptible to sniffing and injection attacks, but only if the attacker can interact with the device via …
Product Development Process For Small Unmanned Aerial Systems, Jonathan D. Poole
Product Development Process For Small Unmanned Aerial Systems, Jonathan D. Poole
Theses and Dissertations
The DoD has recognized the need for persistent Intelligence, Surveillance and Reconnaissance (ISR) over the last two decades. Recent developments with commercial drones have changed the market structure; there is now a thriving and extensive market base for drone based remote sensing. This research provides system engineering methods to support the DoD use of this burgeoning market to meet operational ISR needs. The three contributions of this research are: a process to support Small Unmanned Aerial Systems (SUAS) design, tools to support the design process, and tools to support risk assessment and reduction for both design and operations. The process …
Unmanned Aerial And Traversing Vehicle -- A Mobile Platform For Bridge Inspections, Clayton A. Fritsche
Unmanned Aerial And Traversing Vehicle -- A Mobile Platform For Bridge Inspections, Clayton A. Fritsche
Masters Theses
“Unmanned aerial vehicles (UAVs), also known as drones, have been rapidly growing in popularity since their creation. This study aimed to create a robotic platform used to assist in the inspection process of the nation’s aging and deteriorating bridges. To this end, a multimodal inspection robot that utilized both flying and driving technologies, was designed, analyzed, and tested for aerial, traversing, and their transitional operability. The design, herein referred to as the “BridgeBot”, was evaluated both computationally and experimentally. A finite element model of the BridgeBot was established and analyzed under static loading scenarios to help determine stress distributions and …
Space Dynamics Laboratory Payload Challenge: Autonomous Water Sampling Uav, Thomas Wheeler, Zachary Williams, Joseph Stack
Space Dynamics Laboratory Payload Challenge: Autonomous Water Sampling Uav, Thomas Wheeler, Zachary Williams, Joseph Stack
Williams Honors College, Honors Research Projects
The following report has been completed over the course of the Fall 2018 and Spring 2019 semesters at The University of Akron by Joseph P. Stack (Aerospace Systems Engineering), Thomas J. Wheeler (Mechanical Engineering) and Zachary M. Williams (Mechanical Engineering). The purpose of this project was to create a payload system for the Akronauts Rocket Design Team to use at the Intercollegiate Rocket Engineering Competition (IREC) Spaceport America Cup. The Competition as a challenge that is sponsored by Space Dynamics Laboratory specifically regarding payload systems. The challenge in very open-ended and allows student to identify their own scientific experiment and …
Swat Operations Unmanned Vehicle, John K. Zelina, Tyler Meadows, Ryan Cook, Mathew Fellows
Swat Operations Unmanned Vehicle, John K. Zelina, Tyler Meadows, Ryan Cook, Mathew Fellows
Williams Honors College, Honors Research Projects
During SWAT operations, it is common to have a barricaded suspect who may be armed and a serious threat to SWAT team personnel. In these cases, sending a robot into harm's way to assess the situation as opposed to an operator has become the standard. The purpose of this of this research was to design and develop an unmanned system for the City of Akron's SWAT Team that can be injected into these scenarios to improve outcomes and mitigate risk to SWAT operators.
Routing Algorithm For The Ground Team In Transmission Line Inspection Using Unmanned Aerial Vehicle, Yu Li
Routing Algorithm For The Ground Team In Transmission Line Inspection Using Unmanned Aerial Vehicle, Yu Li
Masters Theses
"With the rapid development of robotics technology, robots are increasingly used to conduct various tasks by utility companies. An unmanned aerial vehicle (UAV) is an efficient robot that can be used to inspect high-voltage transmission lines. UAVs need to stay within a data transmission range from the ground station and periodically land to replace the battery in order to ensure that the power system can support its operation. A routing algorithm must be used in order to guide the motion and deployment of the ground station while using UAV in transmission line inspection. Most existing routing algorithms are dedicated to …
Artificial Immune System For Unmanned Aerial Vehicle Abnormal Condition Detection And Identification, Ryan G. Mclaughlin
Artificial Immune System For Unmanned Aerial Vehicle Abnormal Condition Detection And Identification, Ryan G. Mclaughlin
Graduate Theses, Dissertations, and Problem Reports
A detection and identification scheme for abnormal conditions was developed for an unmanned aerial vehicle (UAV) based on the artificial immune system (AIS) paradigm. This technique involves establishing a body of data to represent normal conditions referred to as “self” and differentiating these conditions from abnormal conditions, referred to as “non-self”. Data collected from simulation of the UAV attempting to autonomously fly a pre-decided trajectory were used to develop and test a scheme that was able to detect and identify aircraft sensor and actuator faults. These faults included aerodynamic control surface locks and damages and angular rate sensor biases. The …
System Identification And Model-Based Control Of Quadcopter Uavs, Andrew P. Szabo
System Identification And Model-Based Control Of Quadcopter Uavs, Andrew P. Szabo
Browse all Theses and Dissertations
As control systems become more sophisticated, more accurate system models are needed for control law design and simulation. In this research, a nonlinear dynamic model of a quadcopter UAV is presented and model parameters are estimated off-line using in-flight experimental data. In addition, a model-based classical control law for the quadcopter UAV is designed, simulated, and then deployed in UAV flight tests. The intent of this research is to identify a model which may be simple enough to easily use for control law design, and accurate enough for simulation. In addition, a model-based classical control law is designed to for …