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Autonomous Landing Of A Rotary Unmanned Aerial Vehicle In A Non-Cooperative Environment Using Machine Vision, Joshua Martin Hintze
Autonomous Landing Of A Rotary Unmanned Aerial Vehicle In A Non-Cooperative Environment Using Machine Vision, Joshua Martin Hintze
Theses and Dissertations
Landing an Unmanned Aerial Vehicle (UAV) is a non-trivial problem. Removing the ability to cooperate with the landing site further increases the complexity. This thesis develops a multi-stage process that allows a UAV to locate the safest landing site, and then land without a georeference. Machine vision is the vehicle sensor used to locate potential landing hazards and generate an estimated UAV position. A description of the algorithms, along with validation results, are presented. The thesis shows that software-simulated landing performs adequately, and that future hardware integration looks promising.
Integrated Microbattery Charger For Autonomous Systems, Brian W. Lefevre
Integrated Microbattery Charger For Autonomous Systems, Brian W. Lefevre
Theses and Dissertations
This thesis presents a microbattery recharging circuit suitable for autonomous microsystems. The battery charger chosen for this design is a constant current battery charger. Two methods of regulating the constant-current are discussed. A published shunt regulator design is analyzed and is presented with enhancements to the design. A series regulator that controls the current to the battery with a switch is designed and fabricated in a 1.5µm CMOS process. The fabricated prototype occupies less than 2.20x2.20mm and is expected to dissipate less than 25µW of power. A discrete model of the integrated circuit is constructed and tested to demonstrate that …