Aerospace Engineering Commons^™

Robust Real-Time Uav Target Tracking With Onboard Vision-Based Yaw Control, Rylan Malarchick, Jose Castelblanco, Enrique Amaya, Carmen Dimario, Graysen Brinkman, Chirag Kumar, Kiwon Yoon, Sajid Berhane

Beyond: Undergraduate Research Journal

Autonomous tracking of agile unmanned aerial vehicles (UAVs) presents significant challenges for real-time perception and control systems. This work presents AIRHOUND (Autonomous Intelligent Rotorcraft for Hostile Object Unified Navigation and Detection), a UAV platform implementing vision-based yaw tracking through a modular ROS2 software architecture. The system employs YOLOv8 object detection optimized with NVIDIA TensorRT for embedded deployment on an NVIDIA Jetson Orin companion computer. Detected targets are processed through a geometric tracking module that converts pixel coordinates to angular yaw errors using pinhole camera intrinsics, with a proportional controller generating rate-limited yaw commands. These commands are streamed to a PX4 …

The Pid-Based Three Quadcopter Uavs Formation Control Under External Disturbance, Vo Van An, Trinh Luong Mien

Makara Journal of Technology

This paper presents the design and evaluation of a formation control strategy for three quadcopter UAVs, based on a PID controller in a leader–follower structure, under the influence of external disturbances. Each UAV employs a six-degree of-freedom dynamic model and utilises a cascade PID control architecture, in which the inner control loop stabilises the attitude. In contrast, the outer control loop regulates position and maintains the formation. The PID parameters are tuned using the Ziegler–Nichols method to ensure simple implementation and low computational cost. The performance of the control system is evaluated through simulations in the MATLAB environment for two …

Evaluating Uav Visual-Inertial Odometry Trajectory Error And Feature-Level Metrics Over Repetitive Floor Patterns, Anass El Mekkoussi

Doctoral Dissertations and Master's Theses

Visual-Inertial Odometry (VIO) is a widely used state estimation technique for Uncrewed Aerial Vehicle (UAV) navigation in environments where Global Navigation Satellite System (GNSS) signals are unavailable. VIO systems that rely on visual feature tracking are susceptible to performance degradation when operating over surfaces containing repetitive visual textures, where visually similar features can produce ambiguous correspondences that introduce errors into the trajectory estimate. Despite the prevalence of repetitive textures in indoor UAV operating environments such as warehouses, manufacturing facilities, and infrastructure corridors, the specific impact of different repetitive pattern geometries on per-surface VIO accuracy has received limited systematic study, and …

Dynamic Thrust Testbed For Uav Electric Motors, Colin M. Flowers, Robert C. Johnson Jr., Carson P. Holt

Williams Honors College, Honors Research Projects

This project seeks to bring new testing capability to the Zips Aero Design Team through the design, manufacture, integration, and testing of a dynamic thrust testbed for UAV electric motors. The project centers upon the revival and modification of a past prototype aircraft for use as a testbed for in-flight thrust measuring and recording. The team currently lacks the ability to test dynamic thrust under the operating conditions and flight speeds that are encountered in competition. Project technical areas include component and product design, electrical and electronics, and fluid mechanics, including the use of SolidWorks, MATLAB, and ArduPilot. Aside from …

Autonomous Landing Of An Unmanned Aerial Vehicle On An Unmanned Surface Vessel Using Model Predictive Control With An Adaptive-Covariance Extended Kalman Filter, Jorge Estupinan

Doctoral Dissertations and Master's Theses

This thesis presents the development of vision-based estimation and model predictive control (MPC) strategies to enable an Unmanned Aerial Vehicle (UAV) to land autonomously on an Unmanned Surface Vessel (USV) subjected to wave-induced motion. An innovative Adaptive-Covariance Extended Kalman Filter (AEKF) implementation was developed for the estimation of the 6 degree-of-freedom USV states using GPS and vision-based measurements of AprilTag markers on the USV landing platform. The AEKF employs an uncontrolled 6 degree-of-freedom nonlinear model augmented with second-order harmonic wave-induced motion dynamics. The AEKF implements two correction techniques: an adaptive covariance adjustment and an artificial covariance inflation regulated by a …

G.W.A.I.H.I.R. Guided Wing Aircraft For Intelligent Hybrid Insertion And Recovery, Abdirahman Ahmed Shirwa, Zach Richards, Derek Harwood, Alex Duncan

Senior Design Project For Engineers

The paper outlines the conceptual and preliminary design of a hybrid vertical takeoff and landing (VTOL) heavy lift unmanned aerial vehicle (UAV) for autonomous cargo transport missions. The primary design objective was to create an aircraft capable of carrying a 15 kg payload over a range of 33 km, achieving a top cruise speed of 45 km/h and maintaining an endurance capacity of at least 90 minutes.

A comprehensive literature review informed key design decision, including airfoil selection, structural material, propulsion system configuration, and control. Key requirements were established early in the design process, such as payload capacity, energy efficiency, …

Delivery Of Medical Supplies To Remote Locations Via Unmanned Aerial Vehicles: Approaches, Challenges, And Solutions, Meshari Aljohani, Ravi Mukkamala, Stephanie Olariu

Computer Science Faculty Publications

Unmanned Aerial Vehicles (UAVs) are becoming more important in improving healthcare logistics, in particular due to their cost effectiveness, minimized risk, and versatile operational capabilities. This study explores the deployment of autonomous UAVs to deliver medical supplies to remote areas. Advances in ledger technology, smart contracts, and machine learning have transformed tasks previously managed by human teams or manually controlled UAVs into fully autonomous missions. We present a comprehensive analysis of the challenges and initial solutions vital for the effective use of autonomous UAVs in the delivery of medical supplies. In addition, we propose a machine-learning model to optimize UAV …

Numerical Investigation Of Wind Disturbance Around A Multirotor Uav In Crosswind And Vertical Flight, Garrison Page

Theses and Dissertations--Mechanical and Aerospace Engineering

Uncrewed Aerial Vehicles (UAVs) are being increasingly utilized in a wide range of research applications, especially in meteorology. This is due to such factors as their ease of use, maneuverability compared to other forms of data collection, and for rotor- craft, the ability to hover. However, the rotorwash generated by UAVs can introduce significant disturbances, potentially affecting measurement accuracy from sensors. While several studies have investigated the rotorwash of individual UAVs utilizing Particle Image Velocimetry (PIV) and Computational Fluid Dynamics (CFD), there is limited exploration into how different rotor configurations and external wind conditions influence regions of turbulent flow around …

Development Of An Quadcopter Unmanned Aerial Vehicle For Atmospheric Remote Sensing, Omar J. Addasi

Dissertations and Theses

This paper explores the development of a quadcopter unmanned aerial vehicle (UAV, a.k.a. drone) for atmospheric remote sensing of temperature, pressure, humidity, and PM2.5 particulate matter quantities. A 3-D printed drone body is designed and flight tuning is performed. An optimal length for an upward extending mast for the drone body is determined. Low cost, lightweight sensors are compared against higher precision sensors in both static and dynamic conditions. In addition, an initial investigation into the design of a pressure sensor based anemometer is performed.

Performance Evaluation Of Routing Protocols And Ml-Based Enhancements For Uav-Assisted Post-Disaster Communication Networks, Prachi Choudhary

Doctoral Dissertations and Master's Theses

During natural disasters, the existing communication systems collapse, and the disaster-affected areas become disconnected without any means of exchanging information. The collapse of existing communication networks poses challenges for First-Responders (FRs) in locating survivors during Search and Rescue (SAR) operations and for survivors to communicate for emergency aid. To alleviate post-disaster consequences and save lives, Uncrewed Air Vehicles (UAVs), commonly known as drones, can be employed to establish adaptable and reliable emergency communication networks. UAVs offer portability and rapid deployment, making them effective in crises. This thesis presents two main contributions: 1) Evaluation and Comparison of Routing Protocol Performance: The …

Impact Of Weather Systems On Uav Parameters Using Computational Fluid Dynamics, Saif Aljuhaishi, Yaseen K. Al-Timimi, Basim I. Wahab

Karbala International Journal of Modern Science

Since drones cannot fly in any kind of weather, they are not safe for time-sensitive activities. The study examines how the passage of weather systems in Iraq leads to the ban on drone flights, and how these weather conditions impact the aerodynamic forces of the drone. Hourly climate data for the study area were obtained from ECMWF ERA5 and CAMS in NetCDF format for four climate stations (Erbil, Baghdad, Rutbah, and Basrah). A ScanEagle drone was chosen for this study. The Python programming language was used to perform mathematical operations to calculate the ban on drone flights. ArcGIS 10.8 was …

Unmanned Aerial Vehicle (Uav)-Based High-Throughput Phenotyping For Maize Improvement, Eric T. Rodene

Dissertations and Doctoral Documents, University of Nebraska-Lincoln, 2023–

Modern breeding programs rely heavily on efficiently screening large numbers of genotypes for agronomic traits, such as disease resistance, drought tolerance, and yield. Identifying the genetic loci or genes associated with these traits using GWAS or functional analyses will benefit future plant breeding efforts seeking to incorporate these traits into new crop varieties, whether through conventional breeding or gene editing techniques. Unmanned aerial vehicle (UAV)-based image data has been increasingly used for this task, as it allows entire test plots to be quickly and cost-effectively phenotyped. In my research, I have developed methods to improve the accuracy of machine learning …

System Identification For Motion Control Of Unmanned Aerial Vehicles Platform, Raj Ramesh Agarwal

Theses and Dissertations

Comprehensive research on Unmanned Aerial Vehicles (UAV) system identification for motion control parameters is presented in this thesis, with a focus on the necessity of precise control and improved performance. Using Pseudorandom Binary Sequence (PRBS) and Normally Distributed Random Numbers, it presents a unique technique for excitation of UAV dynamic systems. It also shows how effective random signals are in time-domain identification for precise control in a range of flying circumstances. The piece of research includes a thorough analysis and implementation of various approaches and its further improvements, highlighting the benefits and drawbacks of each. These approaches include the free …

Implementation Of Path Planning Methods To Detect And Avoid Gps Signal Degradation In Urban Environments, Ayush Raminedi

Doctoral Dissertations and Master's Theses

In the modern world, various missions are being carried out under the assistance of autonomous flight vehicles due to their ability to operate in a wide range of flight conditions. Regardless, these autonomous vehicles are prone to GPS signal loss in urban environments due to obstructions that cause scintillation, multi-path, and shadowing. These effects that decrease the GPS functionality can deteriorate the accuracy of GPS positioning causing losses in signal tracking leading to a decrease in navigation performance. These effects are modeled into the simulation environment and are used as part of the path planning algorithm to provide better navigation …

Automatic Detection Of Birds In Images Acquired With Remotely Piloted Aircraft For Managing Wildlife Strikes To Civil Aircraft, Maurycio Rodrigues Oviedo, Flavio A. C. Mendonca Ph.D., Jose Cabrera, Cole A. Mcnall, Raymond Ayres, Ricardo Luís Barbosa, Rodrigo Gallis

International Journal of Aviation, Aeronautics, and Aerospace

Wildlife strikes represent a significant threat to aviation safety and economics, as evidenced by notable incidents such as the emergency landing of US Airways Flight 1549 in 2009. The Federal Aviation Administration (FAA) acknowledges this growing concern, as evidenced by its report on Wildlife Strikes to Civil Aircraft in the United States from 1990 to 2019.To address the need for improved risk management, airports conduct Wildlife Hazard Assessments (WHA), a laborious process typically relying on visual identification by Qualified Airport Wildlife Biologists (QAWB). However, technological advancements, such as Remotely Piloted Aircraft (RPA) and machine learning (ML), offer promising solutions to …

A New Trajectory In Uav Safety: Leveraging Reinforcement Learning For Distance Maintenance Under Wind Variations, Xiaolin Xu, Jeffrey Sun

Journal of Aviation/Aerospace Education & Research

In the field of aviation, safety is a critical cornerstone, and the operation of Unmanned Aerial Vehicle (UAV) systems is deeply connected with this principle. A thorough analysis and rigorous simulation and testing of aircraft systems are essential to avoid severe safety hazards. This paper delves into the safety issue in UAV operations, specifically regarding maintaining minimum safety distances under fluctuating wind conditions. The study introduces a novel solution based on a Deep Deterministic Policy Gradient (DDPG) model, a reinforcement learning method. The DDPG model was trained using a simulated environment created through the Gazebo simulator, with values for wind …

Uav To Carry Heavy Loads, Jacob Cannon, Robert Connor Downs, Anthony Orlando

Williams Honors College, Honors Research Projects

Our senior design project aims to develop an innovative Unmanned Aerial Vehicle (UAV) capable of carrying heavy payloads up to 50 lbs. This UAV will address the growing demand for efficient and autonomous cargo transportation, unlocking new possibilities in logistics and remote deliveries. The primary goal is to design, build, and test a robust UAV platform equipped with advanced propulsion systems, stabilizing mechanisms, and a secure payload attachment system. The heavy-lift UAV will be capable of transporting payloads in challenging environments, enhancing its versatility for various industries, including emergency response, disaster relief, and commercial logistics. For the extent of this …

External Runtime Execution Monitoring Of A Cyber Physical System Via Trace Interfaces, Peter Vaughan Truslow

Theses and Dissertations

In the past two decades, Unmanned Aerial Systems have progressed from expensive military hardware or one-off custom builds, to include off-the-shelf drones that can be purchased for a rather affordable price and flown by nearly anyone. As the technology and performance have improved, the door is opened to applications that require operation in environments where the consequences for failure are high, such as operating in the navigable airspace or in urban environments, or with human passengers. This requires a great deal of trust in the reliability and integrity of the control systems of the aircraft. A method of monitoring the …

Autonomous Strike Uavs For Counterterrorism Missions: Challenges And Preliminary Solutions, Meshari Aljohani, Ravi Mukkamala, Stephan Olariu

Computer Science Faculty Publications

UAVs are becoming a crucial tool in modern warfare, primarily due to their cost-effectiveness, risk reduction, and ability to perform a wider range of activities. The use of autonomous UAVs to conduct strike missions against highly valuable targets is the focus of this research. Due to developments in ledger technology, smart contracts, and machine learning, such activities formerly carried out by professionals or remotely flown UAVs are now feasible. Our study provides the first in-depth analysis of challenges and potential solutions for successful implementation of an autonomous UAV mission.

Autonomous Strike Uavs In Support Of Homeland Security Missions: Challenges And Preliminary Solutions, Meshari Aljohani, Ravi Mukkamala, Stephan Olariu

Computer Science Faculty Publications

Unmanned Aerial Vehicles (UAVs) are becoming crucial tools in modern homeland security applications, primarily because of their cost-effectiveness, risk reduction, and ability to perform a wider range of activities. This study focuses on the use of autonomous UAVs to conduct, as part of homeland security applications, strike missions against high-value terrorist targets. Owing to developments in ledger technology, smart contracts, and machine learning, activities formerly carried out by professionals or remotely flown UAVs are now feasible. Our study provides the first in-depth analysis of the challenges and preliminary solutions for the successful implementation of an autonomous UAV mission. Specifically, we …

Precision Meteorological Prediction Employing A Data-Driven, Adaptive, Real-Time (Dart) Approach, Sujit Sinha

Theses and Dissertations--Mechanical and Aerospace Engineering

The objective of this research is to improve precision meteorological prediction, benefiting both uncrewed aerial vehicle (UAV) operations by avoiding hazardous flight conditions and tracking contaminant or toxic clouds caused by incidents, accidents, or fires. The operational concept is to collect meteorological observations from instruments mounted on a swarm of UAVs, telemeter the data to a weather simulation model, revise the predicted solution by adapting the flow field to the observations, and then transmit the updated forecast to appropriate personnel as well as to the guidance system of UAVs for repositioning to the next set of most beneficial measurements. While …

Enhancing Trajectory-Based Operations For Uavs Through Hexagonal Grid Indexing: A Step Towards 4d Integration Of Utm And Atm, Deepudev Sahadevan Neelakandan, Hannah Al Ali

International Journal of Aviation, Aeronautics, and Aerospace

Aviation is expected to face a surge in the number of manned aircraft and drones in the coming years, making it necessary to integrate Unmanned Aircraft System Traffic Management (UTM) into Air Traffic Management (ATM) to ensure safe and efficient operations. This research proposes a novel hexagonal grid-based 4D trajectory representation framework for unmanned aerial vehicle (UAV) traffic management that overcomes the limitations of existing square/cubic trajectory representation methods. The proposed model employs a hierarchical indexing structure using hexagonal cells, enabling efficient ground based strategic conflict detection and conflict free 4D trajectory planning. Additionally, the use of Hexagonal Discrete Global …

Integrated Immunity-Based Methodology For Uav Monitoring And Control, Ryan G. Mclaughlin

Graduate Theses, Dissertations, and Problem Reports (ETD)

A general integrated and comprehensive health management framework based on the artificial immune system (AIS) paradigm is formulated and an automated system is developed and tested through simulation for the detection, identification, evaluation, and accommodation (DIEA) of abnormal conditions (ACs) on an unmanned aerial vehicle (UAV). The proposed methodology involves the establishment of a body of data to represent the function of the vehicle under nominal conditions, called the self, and differentiating this operation from that of the vehicle under an abnormal condition, referred to as the non-self. Data collected from simulations of the selected UAV autonomously flying a set …

On-Board Artificial Intelligence For Failure Detection And Safe Trajectory Generation, Eduardo Morillo

Doctoral Dissertations and Master's Theses

The use of autonomous flight vehicles has recently increased due to their versatility and capability of carrying out different type of missions in a wide range of flight conditions. Adequate commanded trajectory generation and modification, as well as high-performance trajectory tracking control laws have been an essential focus of researchers given that integration into the National Air Space (NAS) is becoming a primary need. However, the operational safety of these systems can be easily affected if abnormal flight conditions are present, thereby compromising the nominal bounds of design of the system's flight envelop and trajectory following. This thesis focuses on …

Low-Cost Uav Swarm For Real-Time Object Detection Applications, Joel Valdovinos Miranda

Master's Theses

With unmanned aerial vehicles (UAVs), also known as drones, becoming readily available and affordable, applications for these devices have grown immensely. One type of application is the use of drones to fly over large areas and detect desired entities. For example, a swarm of drones could detect marine creatures near the surface of the ocean and provide users the location and type of animal found. However, even with the reduction in cost of drone technology, such applications result costly due to the use of custom hardware with built-in advanced capabilities. Therefore, the focus of this thesis is to compile an …

Formation Control With Collision Avoidance For Fixed-Wing Unmanned Air Vehicles With Speed Constraints, Christopher Heintz

Theses and Dissertations--Mechanical and Aerospace Engineering

Advances in the miniaturization of powerful electronic components and motors, the democratization of global navigation satellite systems (GNSS), and improvements in the performance, safety, and cost in lithium batteries has led to the proliferation of small and relatively inexpensive unmanned aerial vehicles (UAVs). Many of these UAVs are of the multi-rotor design, however, fixed-wing designs are often more efficient than rotary-wing aircraft, leading to a reduction in the power required for a UAV of a given mass to stay airborne. Autonomous cooperation between multiple UAVs would enable them to complete objectives that would be difficult or impossible for a single …

Precise Landing Of Vtol Uavs Using A Tether, Jeremy W. Rathjen

Graduate Theses, Dissertations, and Problem Reports (ETD)

Unmanned Aerial Vehicles (UAVs), also known as drones, are often considered the solution to complex robotics problems. The significant freedom to explore an environment is a major reason why UAVs are a popular choice for automated solutions. UAVs, however, have a very limited flight time due to the low capacity and weight ratio of current batteries. One way to extend the vehicles' flight time is to use a tether to provide power from external batteries, generators on the ground, or another vehicle. Attaching a tether to a vehicle may constrain its navigation but it may also create some opportunities for …

Determination Of Guidance Laws For Uav Systems In Communication Networks Using Collision Cone Theory, Utsav Mudgal

Mechanical and Aerospace Engineering Theses - Archive

Unmanned Aerial Vehicles (UAVs), also commonly known as drones, are used in various applications, including military applications such as surveillance and intelligence-gathering as well as civilian applications such as search and rescue. The use of UAVs to form communication networks is a topic of active research interest. This thesis aims to investigate the development of guidance laws for multiple UAVs to form such communication networks. Toward this end, this thesis employs tools from collision cone theory and incorporates them with parameters used to describe a communication network. Different types of networks are evaluated for use of the guidance laws. Simulation …

Autonomous Guidance Of Unmanned Combat Air Vehicles In Basic Fighter Maneuvering, Jeffery G. Dean

Mechanical and Aerospace Engineering Dissertations - Archive

Basic fighter maneuvering, or BFM, is the dynamic engagement of two or more aircraft in close-range air combat. The relatively recent introduction of advanced unmanned combat air vehicles (UCAVs) has opened the possibility for automated systems to be players in this arena of air-to-air combat, which has thus far been limited to manned aircraft. In order to design an unmanned system that could fight and win a BFM engagement, the system must include an advanced system for guidance. This dissertation leverages techniques from gain scheduling and incorporates adjustable aimpoint guidance, in order to address the capability for UCAVs to execute …

Tradespace Exploration Of A Uav Conceptual Design Using Model-Based Systems Engineering, Ayan Srivastava

All Theses

The objective of this research is to apply model-based systems engineering approaches to the conceptual design of unmanned aerial vehicles. This is accomplished by evaluating the models of aircraft performance, extracting input and output parameters from the models, creating chains of models, and implementing the models in the MATLAB programming language. By following this process, it is possible to identify the global parameters that remain constant across models, the shared input parameters, the dependencies between models, and the feedback loops with the systems models.

The models are currently implemented in two files using Microsoft MS Excel, one is focused on …