Engineering Commons^™

Steerable Antenna Array For Uav Applications, Varsha Vijaykumar

Electrical Engineering Theses - Archive

An antenna array system design, demonstrating the possible application on an unmanned aerial vehicle platform using a full wave electromagnetic simulation software is presented. Linear array of patches in E plane and H plane are designed consisting of 4 elements with a beam steering ability of ±40 degree from the broadside direction with a peak gain of 12.23dB. Further an arrangement illustrating four such linear arrays, that can switch between each other to cover the entire azimuth scanning is shown. After a series of modified patch antenna designs with an attempt to increase the gain, an inset fed microstrip patch …

Detecting And Assessing Collision Potential Of Aircraft And Small Unmanned Aircraft Systems (Suas) By Visual Observers, Samuel M. Vance, Ryan J. Wallace, Jon M. Loffi, Jamey D. Jacob, Jared C. Dunlap, Taylor A. Mitchell

International Journal of Aviation, Aeronautics, and Aerospace

Visual observers are used to assist the Remote Pilot with maintaining sight of the unmanned aircraft as well as scanning the surrounding airspace for potential collision hazards. The purpose of this study was to examine the effectiveness of visual observers in detecting an intruding general aviation aircraft approaching the small unmanned aircraft system (sUAS) operations area. The study sought to determine the effectiveness of sUAS visual observers in detecting a general aviation aircraft collision hazard with a sUAS. Ten participants were asked to perform visual observer duties in support of a sUAS operation. Participants were asked to indicate when they …

Unmanned Aerial Vehicle (Uav): Flight Performance, Fevens Louis Jean

Student Works

It is important that when measuring the sideslip angle and angles of attack during flight test performance of a UAV (Unmanned Aerial Vehicle), to fully understand that the Angles of attack and sideslip are parameters that aid in determining the safety of the flight as they improve stability and control of the aircraft. The disadvantage of the measurement of these angles using this method is low accuracy of measurement due to friction to the potentiometers in connection with the vanes. To counter this, a new sensing method was developed to minimize friction and collect more accurate data. The method is …

Spatial Scale Gap Filling Using An Unmanned Aerial System: A Statistical Downscaling Method For Applications In Precision Agriculture, Leila Hassan-Esfahani, Ardeshir M. Ebtehaj, Alfonso F. Torres-Rua, Mac Mckee

Civil and Environmental Engineering Faculty Publications

Applications of satellite-borne observations in precision agriculture (PA) are often limited due to the coarse spatial resolution of satellite imagery. This paper uses high-resolution airborne observations to increase the spatial resolution of satellite data for related applications in PA. A new variational downscaling scheme is presented that uses coincident aerial imagery products from “AggieAir”, an unmanned aerial system, to increase the spatial resolution of Landsat satellite data. This approach is primarily tested for downscaling individual band Landsat images that can be used to derive normalized difference vegetation index (NDVI) and surface soil moisture (SSM). Quantitative and qualitative results demonstrate promising …

Deep Visual Gravity Vector Detection For Unmanned Aircraft Attitude Estimation, Gary J. Ellingson, David Wingate, Tim Mclain

Faculty Publications

This paper demonstrates a feasible method for using a deep neural network as a sensor to estimate the attitude of a flying vehicle using only flight video. A dataset of still images and associated gravity vectors was collected and used to perform supervised learning. The network builds on a previously trained network and was trained to be able to approximate the attitude of the camera with an average error of about 8 degrees. Flight test video was recorded and processed with a relatively simple visual odometry method. The aircraft attitude is then estimated with the visual odometry as the state …

Potential Benefits Of Combining Anomaly Detection With View Planning For Uav Infrastructure Modeling, R. Abraham Martin, Landen Blackburn, Joshua Pulsipher, Kevin W. Franke, John Hedengren

Faculty Publications

This paper presents a novel method for UAV-based 3D modeling of large infrastructure objects, such as pipelines, canals and levees, that combines anomaly detection with automatic on-board 3D view planning. The study begins by assuming that anomaly detections are possible and focuses on quantifying the potential benefits of the combined method and the view planning algorithm. A simulated canal environment is constructed, and several simulated anomalies are created and marked. The algorithm is used to plan inspection flights for the anomaly locations, and simulated images from the flights are rendered and processed to construct 3D models of the locations of …

Bird's Eye View: Cooperative Exploration By Ugv And Uav, Shannon Hood

Theses and Dissertations

This paper proposes a solution to the problem of cooperative exploration using an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicle (UAV). More specifically, the UGV navigates through the free space, and the UAV provides enhanced situational awareness via its higher vantage point. The motivating application is search and rescue in a damaged building. A camera atop the UGV is used to track a fiducial tag on the underside of the UAV, allowing the UAV to maintain a fixed pose relative to the UGV. Furthermore, the UAV uses its front facing camera to provide a birds-eye-view to the remote …

X650f Power Solution, Joseph Reed, Joe Lund, Donald Yu, Jessica Iglesias, Daniel Ewell

Aviation Technology Undergraduate Student Research

This poster presents the problem of how that students coming out of the UAV minor and major are not getting enough flight time in the starting courses such as AT 209 and AT 219. Due to this, they are not as prepared as they should be for the higher level courses such as AT 309 and AT 319. Our end goal is to somehow increase the level of flight time in the earlier courses so that they can be prepared and ready for the next level courses.

X650f Power Enhancement, Joseph Reed, Joe Lund, Donald Yu, Jessica Iglesias, Daniel Ewell

Aviation Technology Undergraduate Student Research

This proposal seeks to define the purpose, goals, and scope of the X650F Power Enhancement project. Five members of Purdue’s Aeronautical Engineering Technology program are leading this project as part of their senior capstone research course. The purpose of said project is to look into the many possibilities of enhancing the Unmanned Aerial Vehicle (UAV) power supply. This can open doors to several opportunities that can benefit both the Unmanned Aerial Systems (UAS) program here at Purdue University, as well as the all of the students expected to go into the industry. The ideas looked into include, but are not …

Effects Of System Reliability And Time Pressure On Autonomous Unmanned Aerial Vehicle Operator Performance And Mental Workload, Dahai Liu, Rania Ghatas, Christina Frederick-Recascino, Dennis Vincenzi Ph.D.

International Journal of Aviation, Aeronautics, and Aerospace

Unmanned Aerial Vehicles (UAVs) are in the midst of aviation’s next generation. UAVs are being utilized at an increasing rate by military and security operations and are becoming widely popular in usage for activities such as search and rescue and weather research to homeland security and border patrol. In order for a safer integration of UAV’s within the National Airspace System (NAS), many research questions need to be addressed. This study examined the effects of system reliability and time pressure on UAV operator performance and mental workload. Twenty-four undergraduate and graduate students, male and female, from Embry-Riddle Aeronautical University participated …

A Post-Accident Analysis Of Civil Remotely-Piloted Aircraft System Accidents And Incidents, Graham Wild, Kellie Gavin, John Murray, Jose Silva, Glenn Baxter

Research outputs 2014 to 2021

A sample of 152 accidents and incidents involving Remotely Piloted Aircraft Systems, more commonly referred to as "drones", have been analysed. The data was collected from a 10-year period, 2006 to 2015, conveniently sourced from a limited population owing to the scarcity of reports. Results indicate that safety occurrences involving Remotely Piloted Aircraft Systems (RPAS) have a significantly different distribution of contributing factors when sorted into distinct categories. This provides a thorough and up-to-date characterization of the safety deficiencies specific to RPAS. In turn, this contributes to the development of adequate safety management systems applicable to the RPAS sector. The …

Utah Water Research Lab Unveils Latest In Unmanned Aerial Vehicles | College Of Engineering, Usu College Of Engineering

College of Engineering News

Researchers at Utah State University last week unveiled their newest platform of unmanned aerial vehicles.

Development Of Guidance Laws For A Reduced Order Dynamic Aircraft Model, Jack W. Brendlinger

Browse all Theses and Dissertations

A set of guidance control laws has been developed for enabling three distinct modes of operation of a reduced order dynamic aircraft model. These include 1) a waypoint following control law, 2) a trajectory tracking control law, and 3) a set of kinematically constrained control laws for reaching a commanded altitude, speed or heading. The formulation of the reduced order model is presented so that the capabilities and limitations of the model are understood, and so that the interface architecture between the controllers and the plant is clearly defined. The controller formulations are then presented, together with sample results. The …

Uav-Based Bridge Inspection And Computational Simulations, Luis Duque

Electronic Theses and Dissertations

The use of Unmanned Aerial Vehicles (UAV), commonly known as drones, has significantly increased in the field of civil engineering due to the poor condition of the United States’ infrastructure. The American Society of Civil Engineers (ASCE) recently reported that more than 9.1% of the United States’ bridges were structurally deficient and required attention and maintenance to ensure appropriate structural performance. Meanwhile, current practices are expensive and unsafe for bridge inspectors, requiring innovative and safer methods for the study of bridges. The goal of this paper was to identify better techniques to not only inspect, quantify, and determine the effect …

System Identification Of A Circulation Control Unmanned Aerial Vehicle, Mohammed Agha

Electronic Theses and Dissertations

The advancement in automation and sensory systems in recent years has led to an increase the demand of UAV missions. Due to this increase in demand, the research community has gained interest in investigating UAV performance enhancing systems. Circulation Control (CC), which is an active control flow method used to enhance UAV lift, is a performance enhancing system currently studied. In prior research, experimental studies have shown that Circulation Control wings (CCW) implemented on class-I UAVs can reduce take-off distance by 54%. Wind tunnel tests reveal that CC improves aircraft payload capabilities through lift enhancement. Increasing aircraft payload capabilities causes …

Heterogeneous Multi-Sensor Fusion For 2d And 3d Pose Estimation, Hanieh Deilamsalehy

Dissertations, Master's Theses and Master's Reports

Sensor fusion is a process in which data from different sensors is combined to acquire an output that cannot be obtained from individual sensors. This dissertation first considers a 2D image level real world problem from rail industry and proposes a novel solution using sensor fusion, then proceeds further to the more complicated 3D problem of multi sensor fusion for UAV pose estimation.

One of the most important safety-related tasks in the rail industry is an early detection of defective rolling stock components. Railway wheels and wheel bearings are two components prone to damage due to their interactions with the …

Position Control Of An Unmanned Aerial Vehicle From A Mobile Ground Vehicle, Astha Tiwari

Dissertations, Master's Theses and Master's Reports

Quadcopters have been developed with controls providing good maneuverability, simple mechanics, and the ability to hover, take-off and land vertically with precision. Due to their small size, they can get close to targets of interest and furthermore stay undetected at lower heights. The main drawbacks of a quadcopter are its high-power consumption and payload restriction, due to which, the number of onboard sensors is constrained. To overcome this limitation, vision-based localization techniques and remote control for the quadcopter are essential areas of current research. The core objective of this research is to develop a closed loop feedback system between an …

Evolutionary View Planning For Optimized Uav Terrain Modeling In A Simulated Environment, Ronald A. Martin, Ivan Rojas, Kevin W. Franke, John Hedengren

Faculty Publications

This work demonstrates the use of genetic algorithms in optimized view planning for 3D reconstruction applications using small unmanned aerial vehicles (UAVs). The quality of UAV site models is currently highly dependent on manual pilot operations or grid-based automation solutions. When applied to 3D structures, these approaches can result in gaps in the total coverage or inconsistency in final model resolution. Genetic algorithms can effectively explore the search space to locate image positions that produce high quality models in terms of coverage and accuracy. A fitness function is defined, and optimization parameters are selected through semi-exhaustive search. A novel simulation …

Autonomous Satellite Recovery Vehicle (Asrv) Final Report, Devonte Grantham, Francisco Pastrana, Collin R. Topolski

Student Works

In collaboration with Embry-Riddle Future Space Explorers and Developers Society (ERFSEDS), we came up with the idea to build a quad-copter/sensor system that could be deployed from a rocket. The goal is to build a new chassis for the quad-copters electronic components that will allow the quad-copters arms to fold inwards to meet the required space constraints of a rocket. In addition to the critical components of the quad-copter, our design will integrate a number of other data collecting sub-systems currently being used in a weather balloon designed by Society 4 S.P.A.C.E. club members. After being jettisoned from the rocket, …

Trajectory Tracking Control Of A Quadrotor During Cooperative Operation Between Uav And Ugv, Ajibola S. Fowowe

Electrical Engineering Theses - Archive

In recent times, there has been an increase in the use and application of unmanned aerial vehicles (UAVs). UAVs are used for various operations ranging from military applications to civilian purposes such as traffic monitoring, photography, surveillance and others. Within the UAV family, rotorcrafts take precedence over the fixed wing aircraft especially because of their unique features such as vertical takeoff and landing, increased payload, high maneuverability and more. They can be used to perform dangerous tasks and access environments that pose danger to man such as observatory wood and building fire, military purposes etc. This project focused on one …

Autonomous Uavs For Near Earth Environmental Sensing, David J. Anthony

School of Computing: Dissertations, Theses, and Student Research

Unmanned aerial vehicles (UAVs) are playing an increasing role in large scale environmental monitoring. Small UAVs are increasingly used to monitor agricultural fields, infrastructure projects, and disaster areas. The combination of their sensors, ease of use, and portability make them an ideal tool for collecting information on demand about geographic regions. These small UAVs do have several significant limitations. The UAVs have very limited autonomy and fly pre-determined flight paths far above the underlying terrain, limiting the spatial resolution of the collected data. Current battery technology severely limits their flight times, which in turn limits the temporal resolution of the …

Unmanned Aerial Systems (Uas) - What Are They?, Jose R. Ruiz Phd, Mike A. Burgener, Gary Shafer, Jim Peterson Phd, Wayne R. Glass, Steven Goetz

ASA Multidisciplinary Research Symposium

A panel of five aviation experts will discuss Unmanned Aerial Systems (UAS). Particular emphasis will be placed on the rules governing UAS operation. A UAS operational demonstration will be conducted.

Data Fusion For Vision-Based Robotic Platform Navigation, Andrés F. Echeverri

Master's Theses (2009 -)

Data fusion has become an active research topic in recent years. Growing computational performance has allowed the use of redundant sensors to measure a single phenomenon. While Bayesian fusion approaches are common in general applications, the computer vision community has largely relegated this approach. Most object following algorithms have gone towards pure machine learning fusion techniques that tend to lack flexibility. Consequently, a more general data fusion scheme is needed. The motivation for this work is to propose methods that allow for the development of simple and cost effective, yet robust visual following robots capable of tracking a general object …

Seeing The Threat: Pilot Visual Detection Of Small Unmanned Aircraft Systems In Visual Meteorological Conditions, Jon M. Loffi, Ryan J. Wallace, Jamey D. Jacob, Jared C. Dunlap

International Journal of Aviation, Aeronautics, and Aerospace

One key challenge of integrating Unmanned Aircraft Systems (UAS) platforms into the National Airspace System (NAS) is the potential for midair collisions between manned aircraft and the unmanned system. The lack of an established UAS benchmark for Detect, Sense & Avoid Systems put the preponderance of avoidance efforts on manned aircraft pilots to visually see and avoid potential collision threats. The small size, unusual configurations, and diverse operational applications of unmanned systems make UAS platforms difficult to visually identify. This paper sought to determine the mean visibility distance of small UAS systems (sUAS) to an alerted pilot flying a general …

A Hybrid Optimization Technique Applied To The Intermediate-Target Optimal Control Problem, Clay J. Humphreys, Richard G. Cobb, David R. Jacques, Jonah A. Reeger

Faculty Publications

The DoD has introduced the concept of Manned-Unmanned Teaming, a subset of which is the loyal wingman. Optimal control techniques have been proposed as a method for rapidly solving the intermediate-target (mid-point constraint) optimal control problem. Initial results using direct orthogonal collocation and a gradient-based method for solving the resulting nonlinear program reveals a tendency to converge to or to get `stuck’ in locally optimal solutions. The literature suggested a hybrid technique in which a particle swarm optimization is used to quickly find a neighborhood of a more globally minimal solution, at which point the algorithm switches to a gradient-based …

2015-2016 Eraudb Aiaa Design/Build/Fly Technical Report, Trevor W. Perrott

Student Works

The economic potential of small unmanned aerial vehicles (SUAVs) has been well documented and reported. According to the Association for Unmanned Vehicle Systems International (AUVSI), there is an associated economic impact from the growth of the UAV industry. The goal of the American Institute of Aeronautics and Astronautics Design/Build/Fly Competition Research Program (AIAA DBF CRP) is to investigate design and manufacturing methods for application to SUAVs within the scope of the AIAA DBF Competition.

Students were engaged in the application of aerospace engineering knowledge for the production of a dual-aircraft system. Through the use of Computational Fluid Dynamics (CFD), Computer …

Design, Testing And Evaluation Of Robotic Mechanisms And Systems For Environmental Monitoring And Interaction, James K. Higgins

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Unmanned Aerial Vehicles (UAVs) have significantly lowered the cost of remote aerial data collection. The next generation of UAVs, however, will transform the way that scientists and practitioners interact with the environment. In this thesis, we address the challenges of flying low over water to collect water samples and temperature data. We also develop a system that allows UAVs to ignite prescribed fires. Specifically, this thesis contributes a new peristaltic pump designed for use on a UAV for collecting water samples from up to 3m depth and capable of pumping over 6m above the water. Next, temperature sensors and their …

Exploring Civil Drone Accidents And Incidents To Help Prevent Potential Air Disasters, Graham Wild, John Murray, Glenn Baxter

Research outputs 2014 to 2021

A recent alleged “drone” collision with a British Airways Airbus A320 at Heathrow Airport highlighted the need to understand civil Remotely Piloted Aircraft Systems (RPAS) accidents and incidents (events). This understanding will facilitate improvements in safety by ensuring efforts are focused to reduce the greatest risks. One hundred and fifty two RPAS events were analyzed. The data was collected from a 10-year period (2006 to 2015). Results show that, in contrast to commercial air transportation (CAT), RPAS events have a significantly different distribution when categorized by occurrence type, phase of flight, and safety issue. Specifically, it was found that RPAS …

Comparison Of Sfm Computer Vision Point Clouds Of A Landslide Derived From Multiple Small Uav Platforms And Sensors To A Tls Based Model, Samantha Ruggles, Joseph Clark, Kevin W. Franke, Derek Wolfe, Brandon Reimschiissel, Ronald Abraham Martin, Trent Okeson, John Hedengren

Faculty Publications

Structure from motion (SfM) computer vision is a remote sensing method that is gaining popularity due to its simplicity and ability to accurately characterize site geometry in three dimensions (3D). While many researchers have demonstrated the potential for SfM to be used with unmanned aerial vehicles (UAVs) to model in three dimensions various geologic features such as landslides, little is understood how the selection of the UAV platform can affect the resolution and accuracy of the model. This study evaluates the resolution and accuracy of 3D point cloud models of a large landslide that occurred in 2013 near Page, Arizona …

Rosflight: A Lightweight, Inexpensive Mav Research And Development Tool, Timothy Mclain, James Jackson, Gary J. Ellingson

Faculty Publications

To accelerate research and development of the autonomous capabilities of micro aerial vehicles we have developed flight control framework, ROSflight, as a research tool. ROSflight makes development of autopilot code easier and more efficient by minimizing the use of embedded systems, incorporating the Robot Operating System and using off-the-shelf and open-source hardware and software. Motivation and applications for use in the research community are discussed. Analysis of loop rate and communication bandwidth are presented as well as results from flight demonstration of two multi-rotor aircraft.