Aeronautical Vehicles 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 …

Digital Twin Technologies For Battery Systems: Advancements, Applications, And Future Directions, Seyed Saeed Madani, Yasmin Shabeer, Michael Fowler, Satyam Panchal, Carlos Ziebert, Hicham Chaoui, François Allard

Electrical & Computer Engineering Faculty Publications

The relationships among deep learning, edge computing, artificial intelligence (AI), and the most recent advancements in digital twin (DT) technology for battery energy storage systems are discussed in this paper. The study highlights the need for improved cloud-edge coordination, AI model development, and stronger cybersecurity features by demonstrating real-world applications of digital twin technology in electric vehicles (EVs), aircraft, and grid storage. It also described DT-based structures for fault detection, real-time monitoring, and optimization through standardization and battery management system (BMS) fusion. Because DT-based solutions for distributed energy resources (DERs) offer improved energy management systems, various studies have been conducted …

Reconfigurable Python Autopilot Software For Rc Aircraft, Kate Doiron

Honors Theses

No abstract provided.

Choosing Robust Leadership: Encompassing The Best-Of-N Model And Swarm Intelligence Optimization For Heterogeneous Multiple Autonomous Unmanned Aerial Vehicle Systems, Kudamuhandiramlage Harith Kolitha Warnakulasooriya

Shelby Hall Graduate Research Forum Presentations

Presentation slides for a presentation given at the 1st annual Shelby Hall Graduate Research Forum at the University of South Alabama.

Security Enhancement In Aav Swarms: A Case Study Using Federated Learning And Shap Analysis, Sushmitha Halli Sudhakara, Lida Haghnegahdar

School of Cybersecurity Faculty Publications

As cyber-physical systems (CPSs) increasingly integrate physical and digital realms, securing critical infrastructure, such as the Port of Virginia, becomes paramount. Among CPSs, Autonomous Aerial Vehicles (AAVs) are vital for monitoring, communication, and supporting the command and control through remote reconnaissance and surveillance missions. These AAV applications often require coordination, planning, and runtime reconfiguration, traditionally managed by human decision-makers. However, this approach has limitations, as extensively documented in the literature. Artificial Intelligence (AI) has emerged as a pivotal tool to address these limitations, enhancing risk mitigation and informed decision-making. This research proposes a machine learning (ML) based security mechanism, leveraging …

The Interacting Roles Of Attention Allocation And Trust In Highly Automated Aam Environments, Yusuke Yamani

Psychology Faculty Publications

[First slide]

Mechanisms of attentive visual processing

• Attention control
• Visual search
• Eye movement
• Aging and individual differences

Limits of human performance in applied environment

• Complex displays
• Machine operation
• Surface transportation
• Advanced air mobility
• Nuclear operation

Methods to ameliorate human cognitive performance

• Human-machine interface
• Human autonomy/AI teaming
• Human-systems integration
• Training

Controller Software: Evolution, Identification, And Implementation, Balaji Balasubramaniam

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

In the annals of automation history and advancement, one can find control technology is at the core. Modern-day controllers rely heavily on software capability to provide stability and improve the system's performance. In particular, drone flight controllers use autopilot control software to accomplish autonomous navigation from take-off to landing. However, we know very little about how the controller code modifications and its impact, particularly at the software level. No general framework has been developed to identify the control code changes and observe the real values of software control loops at the kernel layer.

In this thesis, we lay the foundation …

Applications Of Ai/Ml In Maritime Cyber Supply Chains, Rafael Diaz, Ricardo Ungo, Katie Smith, Lida Haghnegahdar, Bikash Singh, Tran Phuong

School of Cybersecurity Faculty Publications

Digital transformation is a new trend that describes enterprise efforts in transitioning manual and likely outdated processes and activities to digital formats dominated by the extensive use of Industry 4.0 elements, including the pervasive use of cyber-physical systems to increase efficiency, reduce waste, and increase responsiveness. A new domain that intersects supply chain management and cybersecurity emerges as many processes as possible of the enterprise require the convergence and synchronizing of resources and information flows in data-driven environments to support planning and execution activities. Protecting the information becomes imperative as big data flows must be parsed and translated into actions …

Assessing The Performance Of A Particle Swarm Optimization Mobility Algorithm In A Hybrid Wi-Fi/Lora Flying Ad Hoc Network, William David Paredes

UNF Graduate Theses and Dissertations

Research on Flying Ad-Hoc Networks (FANETs) has increased due to the availability of Unmanned Aerial Vehicles (UAVs) and the electronic components that control and connect them. Many applications, such as 3D mapping, construction inspection, or emergency response operations could benefit from an application and adaptation of swarm intelligence-based deployments of multiple UAVs. Such groups of cooperating UAVs, through the use of local rules, could be seen as network nodes establishing an ad-hoc network for communication purposes.

One FANET application is to provide communication coverage over an area where communication infrastructure is unavailable. A crucial part of a FANET implementation is …

Characterizing And Predicting Human Visual Perception Of Unmanned Aerial Vehicle Gestures, Paul Fletcher

School of Computing: Dissertations, Theses, and Student Research

Unmanned Aerial Vehicles (UAVs) are being used in public domains and hazardous environments where effective communication strategies are critical. UAV gesture techniques have been shown to communicate meaning to human observers and may be ideal in contexts that require lightweight systems such as unmanned aerial flight, however, this work may be limited to an idealized range of viewer perspectives. As gesture is a visual communication technique it is necessary to consider how the perception of a robot gesture may suffer from obfuscation or self-occlusion from some viewpoints. This thesis presents the results of three online user-studies that examine participants’ ability …

Parallel Anisotropic Unstructured Grid Adaptation, Christos Tsolakis, Nikos Chrisochoides, Michael A. Park, Adrien Loseille, Todd Michal

Computer Science Faculty Publications

Computational fluid dynamics (CFD) has become critical to the design and analysis of aerospace vehicles. Parallel grid adaptation that resolves multiple scales with anisotropy is identified as one of the challenges in the CFD Vision 2030 Study to increase the capacity and capability of CFD simulation. The study also cautions that computer architectures are undergoing a radical change, and dramatic increases in algorithm concurrency will be required to exploit full performance. This paper reviews four different methods to parallel anisotropic grid adaptation. They cover both ends of the spectrum: 1) using existing state-of-the-art software optimized for a single core and …

Power-Over-Tether Uas Leveraged For Nearly-Indefinite Meteorological Data Acquisition, Daniel Rico, Carrick Detweiler, Francisco Muñoz-Arriola

School of Computing: Dissertations, Theses, and Student Research

Use of unmanned aerial systems (UASs) in agriculture has risen in the past decade. These systems are key to modernizing agriculture. UASs collect and elucidate data previously difficult to obtain and used to help increase agricultural efficiency and production. Typical commercial off-the-shelf (COTS) UASs are limited by small payloads and short flight times. Such limits inhibit their ability to provide abundant data at multiple spatiotemporal scales. In this paper, we describe the design and construction of the tethered aircraft unmanned system (TAUS), which is a novel power-over-tether UAS leveraging the physical presence of the tether to launch multiple sensors along …

Nonlinear Least Squares 3-D Geolocation Solutions Using Time Differences Of Arrival, Michael V. Bredemann

Mathematics & Statistics ETDs

This thesis uses a geometric approach to derive and solve nonlinear least squares minimization problems to geolocate a signal source in three dimensions using time differences of arrival at multiple sensor locations. There is no restriction on the maximum number of sensors used. Residual errors reach the numerical limits of machine precision. Symmetric sensor orientations are found that prevent closed form solutions of source locations lying within the null space. Maximum uncertainties in relative sensor positions and time difference of arrivals, required to locate a source within a maximum specified error, are found from these results. Examples illustrate potential requirements …

Cyber Risk Assessment And Scoring Model For Small Unmanned Aerial Vehicles, Dillon M. Pettit

Theses and Dissertations

The commercial-off-the-shelf small Unmanned Aerial Vehicle (UAV) market is expanding rapidly in response to interest from hobbyists, commercial businesses, and military operators. The core commercial mission set directly relates to many current military requirements and strategies, with a priority on short range, low cost, real time aerial imaging, and limited modular payloads. These small vehicles present small radar cross sections, low heat signatures, and carry a variety of sensors and payloads. As with many new technologies, security seems secondary to the goal of reaching the market as soon as innovation is viable. Research indicates a growth in exploits and vulnerabilities …

Developing A Uas-Deployable Methane Sensor Using Low-Cost Modular Open-Source Components, Gavin Demali

Williams Honors College, Honors Research Projects

This project aimed to develop a methane sensor for deployment on an unmanned aerial system (UAS), or drone, platform. This design is centered around low cost, commercially available modular hardware components and open source software libraries. Once successfully developed, this system was deployed at the Bath Nature Preserve in Bath Township, Summit County Ohio in order to detect any potential on site fugitive methane emissions in the vicinity of the oil and gas infrastructure present. The deliverables of this project (i.e. the data collected at BNP) will be given to the land managers there to better inform future management and …

Autonomous Watercraft Simulation And Programming, Nicholas J. Savino

Undergraduate Theses and Capstone Projects

Automation of various modes of transportation is thought to make travel more safe and efficient. Over the past several decades advances to semi-autonomous and autonomous vehicles have led to advanced autopilot systems on planes and boats and an increasing popularity of self-driving cars. We simulated the motion of an autonomous vehicle using computational models. The simulation models the motion of a small-scale watercraft, which can then be built and programmed using an Arduino Microcontroller. We examined different control methods for a simulated rescue craft to reach a target. We also examined the effects of different factors, such as various biases …

Autonomous Watercraft Simulation And Programming, Nicholas J. Savino

Student Scholar Showcase

Automation of various modes of transportation is thought to make travel more safe and efficient. Over the past several decades, advances to semi-autonomous and autonomous vehicles have led to advanced autopilot systems on planes and boats, and an increasing popularity of self-driving cars. We predicted the motion of an autonomous vehicle using simulations in Python. The simulation models the motion of a small scale watercraft, which can then be built and programmed using an Arduino Microcontroller. We examined different control methods for a simulated rescue craft to reach a target. We also examined the effects of different factors, such as …

Behavior Flexibility For Autonomous Unmanned Aerial Systems, Taylor B. Bodin

Theses and Dissertations

Autonomous unmanned aerial systems (UAS) could supplement and eventually subsume a substantial portion of the mission set currently executed by remote pilots, making UAS more robust, responsive, and numerous than permitted by teleoperation alone. Unfortunately, the development of robust autonomous systems is difficult, costly, and time-consuming. Furthermore, the resulting systems often make little reuse of proven software components and offer limited adaptability for new tasks. This work presents a development platform for UAS which promotes behavioral flexibility. The platform incorporates the Unified Behavior Framework (a modular, extensible autonomy framework), the Robotic Operating System (a RSF), and PX4 (an open- source …

Stereo Vision: A Comparison Of Synthetic Imagery Vs. Real World Imagery For The Automated Aerial Refueling Problem, Nicholas J. Seydel

Theses and Dissertations

Missions using unmanned aerial vehicles have increased in the past decade. Currently, there is no way to refuel these aircraft. Accomplishing automated aerial refueling can be made possible using the stereo vision system on a tanker. Real world experiments for the automated aerial refueling problem are expensive and time consuming. Currently, simulations performed in a virtual world have shown promising results using computer vision. It is possible to use the virtual world as a substitute environment for the real world. This research compares the performance of stereo vision algorithms on synthetic and real world imagery.

General Solution Of The Wind Triangle Problem And The Critical Tailwind Angle, Nihad E. Daidzic

Aviation Department Publications

A general analytical solution of the navigational wind-triangle problem and the calculation of the critical tailwind angle are presented in this study among other findings. Any crosswind component will effectively create a headwind component on fixed course tracks. The meaning of a route track is lost with excessive crosswinds representing the bifurcation point between the possible and the impossible navigational solutions. Any wind of constant direction and speed will effectively reduce groundspeed and increase time-of-flight on closed-loop multi-segment flights. Effective wind track component consists, in general, of true and induced components. The average groundspeed of multiple-leg flights is a harmonic …

Experimental Investigation Of Stochastic Parafoil Guidance Using A Graphics Processing Unit, Nathan Slegers, Andrew Brown, Jonathan Rogers

Faculty Publications - Biomedical, Mechanical, and Civil Engineering

Control of autonomous systems subject to stochastic uncertainty is a challenging task. In guided airdrop applications, random wind disturbances play a crucial role in determining landing accuracy and terrain avoidance. This paper describes a stochastic parafoil guidance system which couples uncertainty propagation with optimal control to protect against wind and parameter uncertainty in the presence of impact area obstacles. The algorithm uses real-time Monte Carlo simulation performed on a graphics processing unit (GPU) to evaluate robustness of candidate trajectories in terms of delivery accuracy, obstacle avoidance, and other considerations. Building upon prior theoretical developments, this paper explores performance of the …

Integrated Collision Avoidance System Sensor Evaluation Final Design Project, Alex F. Graebe, Bridgette S. Kimball, Drew T. Lavoise

Mechanical Engineering

Following the development of Aircraft Collision Avoidance Technology (ACAT) by the National Aeronautics and Space Administration (NASA), a need arose to transition the life-saving technology to aid the general aviation community. Considering the realistic cost of implementation, it was decided that the technology should be adapted to function on any smartphone, using that device as an end-to-end solution to sense, process, and alert the pilot to imminent threats. In September of 2012, the SAS (Sense and Survive) Senior Project Team at California Polytechnic University (Cal Poly), San Luis Obispo was assigned the task of using smartphone technology to accurately sense …

Senior Project Report - Doctest, Stephen Weessies

Computer Engineering

DocTest is a program that, simply put, allows a programmer or user to document STANAG 4586 (a standard for unmanned aerial vehicle interoperability) messages and test the vehicle system at Lockheed Martin [5]. The program is extensible to allow for further development aiding our software team to do what they do best and not get bogged down in tedious but necessary documentation. DocTest is also used to aid in testing, keeping track of the issues and bugs found and creating a document that captures each issue so an issue is not missed or forgotten. This program was made for use …

Modification And Application Of A Turbulence Response Analysis Method For Flexible Aircraft Configurations, Christie Jeanne Funk

Mechanical & Aerospace Engineering Theses & Dissertations

A software program and associated methodology to study gust loading on aircraft exists for a classification of geometrically simplified flexible configurations. This program consists of a simple aircraft response model with two rigid and three flexible symmetric degrees of freedom and allows for the calculation of various airplane responses due to a discrete one-minus-cosine gust as well as continuous turbulence. Simplifications, assumptions, and opportunities for potential improvements pertaining to the existing software program are first identified, then a revised version of the original software tool is developed with improved methodology to include more complex geometries, additional excitation cases, and output …

Modeling Of Heat Transfer Attenuation By Ablative Gases During The Stardust Re-Entry, Alexandre Martin, Iain D. Boyd

Mechanical Engineering Faculty Publications

The great majority of modern space vehicles designed for planetary exploration use ablative materials to protect the payload against the high heating environment experienced during re-entry. In order to properly model and predict the aerothermal environment of the vehicle, it is imperative to account for the gases produced by ablation processes. In the case of charring ablators, where an inner resin is pyrolyzed at a relatively low temperature, the composition of the gas expelled into the boundary layer is complex and may lead to thermal chemical reactions that cannot be captured with simple flow chemistry models. In order to obtain …

Unmanned Aerial Vehicles Collision Avoidance From Moving Obstacles, Atila Ozdemir

Electrical & Computer Engineering Theses & Dissertations

The usage of the unmanned aerial vehicles (UAV) is becoming more diverse day by day in both military and civil applications. Specifically in military applications, they are becoming a "must-have" component in every arsenal. Low cost, and especially the importance of human life, makes these vehicles desired in any military situation. But in order to take advantage of the UAVs, these vehicles should be able to navigate safely and not collide with other air vehicles, especially ones that are manned and carry personnel. As a result, the importance of a collision avoidance system of the UA V arises and begins …

Multidisciplinary Design Optimization Of Transonic Airfoil Sections Using Multiobjective Optimization And Computational Intelligence Tools, Amit A. Kulkarni

Mechanical & Aerospace Engineering Theses & Dissertations

The design of transonic airfoils for civil aviation applications has been a major engineering challenge in the last fifty years. This design problem arises due to the need to limit shock wave drag at a given transonic speed. In recent years, the requirement to reduce the levels of aircraft noise has started to affect the airfoil design process. The multidisciplinary aerodynamic shape optimization problem is treated in this thesis using a multi-objective approach. The objectives correspond to the design of transonic airfoil sections with low drag during cruise and low trailing edge noise levels during the approach condition. The optimization …

Electronic Warfare By Using Unmanned Aerial Vehicles, Aydin Meric

Electrical & Computer Engineering Theses & Dissertations

Technology continues to evolve rapidly by the day. Developments in technology should be followed closely if a country wants to become more powerful. Nowadays nobody can afford to ignore the importance of Electronic Warfare and Unmanned Aerial Vehicles (UAV) in military applications. Both of them play a crucial role in military operations that they can change the course of a war.

There are different kinds of Electronic Warfare methods that can be applied according to the situations and any evolving circumstances. In the beginning Electronic Warfare was used mainly for defensive purposes, but these days Electronic Warfare is used for …

A Compact Lidar For Aircraft Ozone Atmospheric Measurements, Joel A. Marcia

Electrical & Computer Engineering Theses & Dissertations

Researchers and the general public have expressed great concern over how human activities exacerbate pollution's deteriorating impact upon the environment. Effects such as global warming, air quality and ozone layer depletion are but a few examples that can have a dramatic effect on the quality of life worldwide.

A compact lidar system for the purpose of aircraft ozone atmospheric measurements was tested and evaluated. This system will eventually be deployed for aircraft-based, and possibly unpiloted atmospheric vehicle (UAV), ozone and aerosol measurements to improve our understanding of ozone production and transport. Each of the major subsystems was characterized and from …

Using Predictive Rendering As A Vision-Aided Technique For Autonomous Aerial Refueling, Adam D. Weaver

Theses and Dissertations

This research effort seeks to characterize a vision-aided approach for an Unmanned Aerial System (UAS) to autonomously determine relative position to another aircraft in a formation, specifically to address the autonomous aerial refueling problem. A system consisting of a monocular digital camera coupled with inertial sensors onboard the UAS is analyzed for feasibility of using this vision-aided approach. A three-dimensional rendering of the tanker aircraft is used to generate predicted images of the tanker as seen by the receiver aircraft. A rigorous error model is developed to model the relative dynamics between an INS-equipped receiver and the tanker aircraft. A …