Ce travail de thèse porte sur le comportement en vol de drones légers à voilure fixe en présence de vent. Ces dispositifs aériens offrent une transition en douceur de la théorie à la pratique dans le domaine de la commande autonome. En outre, ils fournissent une solution appropriée dans des environnements inaccessibles ou dangereux pour les êtres humains. Cependant, ne pas avoir un pilote humain à bord implique que les UAV reposent sur l'automatisation pour naviguer ou pour éviter les obstacles. De plus, leur vitesse de fonctionnement relativement faible les rend particulièrement affectés par le vent. Motivé par ces considérations, les objectifs de ce travail de recherche visent des résultats théoriques et expérimentaux dans le domaine de la conception de contrôleurs de vol pour les petits drones à voilure fixe de configuration classique permettant le vol stable dans les conditions de vent. Pour atteindre ces objectifs, plusieurs domaines de recherche sont abordés dans cette thèse comme il suit.Tout d'abord, une étude approfondie sur l'aspect aérodynamique de l'avion est menée afin d'obtenir le modèle mathématique du véhicule en présence de vent. En outre, des modèles qui reproduisent le comportement essentiel du système dans un contexte simplifié sont analysés. Par conséquent, des modèles non linéaires de complexité réduite, qui sont plus simples à analyser et simuler et plus adaptés à la conception de stratégies de contrôle, sont présentés. Deuxièmement, le problème à résoudre est formulé comme un problème de suivi de trajectoire dans lequel le dispositif de commande de vol doit être en mesure de diriger le véhicule le long d'un chemin. Des stratégies de navigation sont élaborées dans le but d'éliminer la déviation de l'avion par rapport à la trajectoire de référence. Le vent est considéré d'abord mesurable par une station au sol et, ensuite, estimé en utilisant une navigation adaptative basée sur la théorie de Lyapunov. La performance de l'algorithme d'estimation est améliorée en utilisant la stratégie de commande basée sur la méthode des fonctions de réglage. Le troisième axe de recherche est la conception et la mise en œuvre d'un dispositif expérimental qui se compose d'une station au sol utilisée pour la visualisation et la commande à distance du drone et d'un pilote automatique embarqué contenant la plate-forme de vol munie d'avionique appropriée. / This research work addresses the flight behavior of lightweight fixed-wing UAVs in windy conditions. Such aerial devices offer a smooth transition of autonomous flight control design from theory to practice in addition to providing a proper solution in environments inaccessible or dangerous to human beings. However, not having a human pilot onboard implies that UAVs rely on automation to navigate or to avoidobstacles. In addition, their relatively low operating speed makes them particularly affected by the wind field.Motivated by theses considerations, the objectives of the current research aim theoretical and experimental results in designing flight controllers for small fixed-wing UAVs of conventional configuration allowing for stable flight in windy conditions. In order to achieve these objectives, several research areas are being addresses in this thesis as it follows. First, a comprehensive study on the aerodynamic aspect of the aiplane in conducted in order to obtain the mathematical model of the aircraft in presence of wind. Further, models thet reproduce the essential behavior of the system in a simplified context are analyzed. consequently, nonlinear models of reduced complexity, that are easier to analyze and simulate and more adapted to the design of control strategies, are presented. Secondly, the problem to be solved is formulated as a trajectory following problem in which the flight controller must be able to steer the vehicle along a path. Navigation strategies are developed in order to minimize the airplane deviation relative to the reference trajectory. the wind is considered initially measurable by a ground station and, then, estimated using adaptative navigation based on the theory of Lyapunov. The performance of the estimation algorithm is improved using control design based on thr tuning functions method. The third axis of research is the design and the implementation of an experimental setup which consists of a ground station used for visualization and control purposes and an embedded autopilot architecture containing the airframe platform equipped with appropriate avionics.

<p>The use of drones, also called unmanned aerial vehicles (UAVs), is increasing every day. These aircraft are piloted either remotely by a human pilot or completely autonomously by an on-board computer. UAVs are typically equipped with a video camera providing a live video feed to the operator. While they were originally developed mainly for military purposes, many civil applications start to emerge as they become more affordable.<p><p><p>Micro air vehicles are a subgroup of UAVs with a size and weight limitation; many are designed also for indoor use. Designs with rotary wings are generally preferred over fixed wings as they can take off vertically and operate at low speeds or even hover. At small scales, designs with flapping wings are being explored to try to mimic the exceptional flight capabilities of birds and insects. <p><p><p>The objective of this thesis is to develop a control mechanism for a robotic hummingbird, a bio-inspired tail-less hovering flapping wing MAV. The mechanism should generate moments necessary for flight stabilization and steering by an independent control of flapping motion of each wing.<p><p><p>The theoretical part of this work uses a quasi-steady modelling approach to approximate the flapping wing aerodynamics. The model is linearised and further reduced to study the flight stability near hovering, identify the wing motion parameters suitable for control and finally design a flight controller. Validity of this approach is demonstrated by simulations with the original, non-linear mathematical model.<p><p><p>A robotic hummingbird prototype is developed in the second, practical part. Details are given on the flapping linkage mechanism and wing design, together with tests performed on a custom built force balance and with a high speed camera. Finally, two possible control mechanisms are proposed: the first one is based on wing twist modulation via wing root bars flexing; the second modulates the flapping amplitude and offset via flapping mechanism joint displacements. The performance of the control mechanism prototypes is demonstrated experimentally. / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished

Cette thèse s’inscrit dans une approche incarnée et située de la cognition humaine et de l’ergonomie des interfaces Homme-Machine (IHM). En rupture avec les théories computo-symboliques, cette approche considère que la cognition a pour seule vocation l’action dans le but de s’adapter au monde. Appliquée à l’ergonomie des IHM, elle met l’accent sur la perception, l’action et le contexte comme éléments clés de l’interaction Homme-Machine. Cette vision de l’ergonomie est ici mise au service de la conception de stations sol de drones militaires, sur lesquelles le manque de sollicitations perceptivo-motrices et le caractère isolé des opérateurs contribuent à une accidentologie symptomatique. L’objet de cette thèse est donc de montrer en quoi l’approche incarnée et située permet de guider une démarche ergonomique et, en particulier, la conception de deux stations sol de drones militaires développés par Airbus Defence and Space. Dans un premier temps, une analyse centrée sur les aspects moteurs, perceptifs et contextuels de l’activité des opérateurs de drones est réalisée. La seconde étape est dédiée à la définition d’une organisation matériel-logiciel standardisée pour tous types de drones. Cette organisation repose sur l’exploitation de processus perceptivo-moteurs, notamment au moyen du paradigme Stimulus-Response Compatibility (SRC). En troisième lieu, est présentée la conception matérielle et logicielle de deux stations sol de drones adaptées à leurs contextes respectifs d’utilisation. Des moyens de vérification (e.g. tests utilisateurs) sont mis en œuvre pour valider les solutions proposées. Les résultats obtenus montrent que la démarche adoptée permet d’améliorer significativement certains aspects de l’activité des opérateurs de drones, en particulier en termes de performances et de charge mentale. D’autre part, ces travaux soulignent l’intérêt de l’approche incarnée et située, et sa forte valeur applicative tant au sein de la démarche ergonomique que dans un cycle de conception industrielle. / Cette thèse s’inscrit dans une approche incarnée et située de la cognition humaine et de l’ergonomie des interfaces Homme-Machine (IHM). En rupture avec les théories computo-symboliques, cette approche considère que la cognition a pour seule vocation l’action dans le but de s’adapter au monde. Appliquée à l’ergonomie des IHM, elle met l’accent sur la perception, l’action et le contexte comme éléments clés de l’interaction Homme-Machine. Cette vision de l’ergonomie est ici mise au service de la conception de stations sol de drones militaires, sur lesquelles le manque de sollicitations perceptivo-motrices et le caractère isolé des opérateurs contribuent à une accidentologie symptomatique. L’objet de cette thèse est donc de montrer en quoi l’approche incarnée et située permet de guider une démarche ergonomique et, en particulier, la conception de deux stations sol de drones militaires développés par Airbus Defence and Space. Dans un premier temps, une analyse centrée sur les aspects moteurs, perceptifs et contextuels de l’activité des opérateurs de drones est réalisée. La seconde étape est dédiée à la définition d’une organisation matériel-logiciel standardisée pour tous types de drones. Cette organisation repose sur l’exploitation de processus perceptivo-moteurs, notamment au moyen du paradigme Stimulus-Response Compatibility (SRC). En troisième lieu, est présentée la conception matérielle et logicielle de deux stations sol de drones adaptées à leurs contextes respectifs d’utilisation. Des moyens de vérification (e.g. tests utilisateurs) sont mis en œuvre pour valider les solutions proposées. Les résultats obtenus montrent que la démarche adoptée permet d’améliorer significativement certains aspects de l’activité des opérateurs de drones, en particulier en termes de performances et de charge mentale. D’autre part, ces travaux soulignent l’intérêt de l’approche incarnée et située, et sa forte valeur applicative tant au sein de la démarche ergonomique que dans un cycle de conception industrielle.

Betesskador på skog kostar både skogsägare och industri stora summor pengar. Ett sätt att minska betesskador kan vara bättre kontroll över populationsstorleken av klövvilt. I Sverige används flera olika etablerade viltinventeringsmetoder. Svagheten är att de baseras på trender, index och avskjutningar mer än att få fram en siffra på antalet djur. En tillförlitlig inventeringsmetod är av stor vikt som beslutsunderlag till förvaltningsplaner. Drönare är ett obemannat luftfartyg som kan utrustas med olika kameror och sensorer. Tidigare fältstudier har visat att värme från vilt kan plockas upp av en drönare utrustad med termisk kamera. Svårigheten har varit att få tillförlitlighet vid artbestämning av vilt med enbart termiska kamera. I denna studie utfördes en viltinventering av ett 506 ha stort område norr om Ljungby i Kronobergs län under januari 2020. Med hjälp av en drönare utrustad med både termisk och RGB kamera utfördes en totalinventering av området. Resultatet visar att kombinationen av både termisk och RGB kamera ökar tillförlitligheten vid artbestämning av vilt. Metodens svagheter är täta krontak av gran, gällande regelverk från transportstyrelsen samt drönarens begränsande batterikapacitet. Slutsatsen är att vilt säkrare kan identifieras och artbestämmas med kombinationen av termisk- och RGB kamera jämfört med enbart termisk kamera men att metoden behöver vidareutvecklas.

<div> The Unmanned Aerial Vehicles (UAV) technology has evolved exponentially in recent years. Smaller and less expensive devices allow a world of new applications in different areas, but as this progress can be beneficial, the use of UAVs with malicious intentions also poses a threat. UAVs can carry weapons or explosives and access restricted zones passing undetected, representing a real threat for civilians and institutions. Acoustic detection in combination with machine learning models emerges as a viable solution since, despite its limitations related with environmental noise, it has provided promising results on classifying UAV sounds, it is adaptable to multiple environments, and especially, it can be a cost-effective solution, something much needed in the counter UAV market with high projections for the coming years. The problem addressed by this project is the need for a real-world adaptable solution which can show that an array of acoustic sensors can be implemented for the detection and localization of UAVs with minimal cost and competitive performance.<br><br></div><div> In this research, a low-cost acoustic detection system that can detect, in real time, about the presence and direction of arrival of a UAV approaching a target was engineered and validated. The model developed includes an array of acoustic sensors remotely connected to a central server, which uses the sound signals to estimate the direction of arrival of the UAV. This model works with a single microphone per node which calculates the position based on the acoustic intensity change produced by the UAV, reducing the implementation costs and being able to work asynchronously. The development of the project included collecting data from UAVs flying both indoors and outdoors, and a performance analysis under realistic conditions. <br><br></div><div> The results demonstrated that the solution provides real time UAV detection and localization information to protect a target from an attacking UAV, and that it can be applied in real world scenarios. </div><div><br></div>

<p>Машинско учење и неуронске мреже су алати који налазе све већу<br />примену у решавању практичних проблема. За креирање неуронске<br />мреже потребан је скуп података, који може бити прикупљен на<br />различите начине. У овој тези је показано да се подаци за тренинг<br />неуронске мреже могу успешно прикупити креирањем веб игре.<br />Сакупљени скуп података садржи стратегије решавања проблема<br />трговачког путника и проблема рутирања возила.</p> / <p>Mašinsko učenje i neuronske mreže su alati koji nalaze sve veću<br />primenu u rešavanju praktičnih problema. Za kreiranje neuronske<br />mreže potreban je skup podataka, koji može biti prikupljen na<br />različite načine. U ovoj tezi je pokazano da se podaci za trening<br />neuronske mreže mogu uspešno prikupiti kreiranjem veb igre.<br />Sakupljeni skup podataka sadrži strategije rešavanja problema<br />trgovačkog putnika i problema rutiranja vozila.</p> / <p>Machine learning and neural networks are the tools that are finding more and<br />more fields of application in solving practical problems. For the creation of<br />the neural networks, data can be successfully collected by creating a web<br />game. The data collected in this manner has strategic solutions for the<br />problems of Travel salesperson problem and vehicle routing problem.</p>

Urban air mobility has gained increased attention in recent years due to the emergence of novel technologies. Several use cases within different industries exist. These services can substitute existing services as well as offering entirely new ones. Previous research has focused on novel technologies and changes needed to be made in order for the technology to be established in the market. However, non-technological aspects are lacking, specifically concerning suitable business models. Thus, the role of business models, and changes related to these, required for a commercialization of urban air mobility services constitutes a research gap and are of interest for further exploration. To understand how actors are changing their business models to commercialize urban air mobility three different case studies were conducted on three projects focusing on use cases connected to urban air mobility. Interviews were used as the primary data gathering method, and in total 13 were conducted. The theoretical STOF framework, which delimits the business model into four domains, was used to identify potential changes. The main results indicate important future actors in a commercialization, the degree of change of these actors and potential challenges for them. Due to the uncertainty of the role business models play in a commercialization of urban air mobility services, this thesis will contribute to bridging this research gap. Concrete changes are identified, as well as specific business model areas in need of more attention. Furthermore, the thesis contributes to the literature concerning challenges related to urban air mobility services, as well as suggesting how they can be handled. Finally, the thesis evaluates and explains how the STOF framework can be extended to new industries. / Urban air mobility har fått ökad uppmärksamhet de senaste åren på grund av uppkomsten av nya teknologier. Flera användningsområden inom olika branscher existerar. Dessa tjänster kan ersätta befintliga tjänster samt erbjuda helt nya. Tidigare forskning har främst fokuserat på nya teknologier och förändringar som behöver göras för att tekniken ska etableras på marknaden. Emellertid saknas aspekter som inte är teknologiska, särskilt lämpliga affärsmodeller. Därmed är inte affärsmodellens roll samt nödvändiga förändringar relaterade till den för en kommersialisering av urban air mobility tillräckligt belysta och är därför intressant för vidare forskning. För att förstå hur aktörer ändrar sina affärsmodeller för att kommersialisera urban air mobility genomfördes tre olika fallstudier på tre projekt som fokuserar på användningsområden kopplade till urban air mobility. Den teoretiska STOF modellen, som avgränsar affärsmodellen i fyra områden, användes för att identifiera potentiella förändringar för de olika projektaktörernas affärsmodeller. De främsta resultaten indikerar vilka de viktiga framtida aktörerna i en kommersialisering är, graden av affärsmodellsförändring för dem, samt potentiella utmaningar. På grund av osäkerheten kring vilken roll affärsmodeller har vid kommersialisering av tjänster relaterade till urban air mobility bidrar denna avhandling till att ytterligare belysa detta forskningsområde. Konkret identifierar avhandlingen nödvändiga affärsmodellsförändringar för de olika aktörerna, samt specifika områden inom affärsmodellen som behöver mer uppmärksamhet. Dessutom bidrar avhandlingen till forskningslitteraturen om utmaningar relaterade till urban air mobility tjänster, samt föreslår hur de kan hanteras. Slutligen utvärderar och förklarar avhandlingen hur STOF modellen kan utökas till fler branscher än internetbaserade tjänster.

The rise of crowdsourcing practices has revolutionized the way in which organizational tasks can be performed. One application of crowdsourcing that has been receiving growing attention over the past decade is using the crowd to collect environmental data that is needed to monitor, manage and predict environmental events. Most projects are still in their initial stages and since these projects often require high levels of citizen participation, there is a need to better understand the motivations for individuals to(dis)engage in these crowdsourcing projects, especially when long-term participation is required. Therefore, the aim of this thesis is to explore the motivations of individuals that participated in a crowdsourcing project for environmental data collection. Building on Self-Determination Theory, Social Exchange Theory and Social Identity theory, a case was studied of an organization that successfully motivated citizens from all over the world to use their drones to collect geographic climate data. In total, ten interviews were conducted with the drone-operators. The findings suggest that participants felt intrinsically motivated to engage because they wanted to do good, cared about climate change and were passionate about flying drones. Additionally, they experienced extrinsic motivations such as the possibility of gaining future job offers, recognition, and experience. Moreover, since participation was deemed relatively easy and straightforward, costs of participation were low and outweighed by the benefits. Finally, feeling part of a wider community made the participants more motivated to engage. Using crowdsourcing to collect environmental data on a wider spatiotemporal scale can help guide policy-making that mitigates or manages the impacts of climate change. Future projects would benefit from more and diversified research that support the design of long-term participation schemes, as the success of the projects depends on the level of citizen engagement.

This is a master thesis by Maria Ader and David Axelsson, students at the Master of Science in Engineering degree program in Design and Product Realization at KTH, within the master program Integrated Product Design. The thesis work will benefit ÅF and the EU project ɪɴᴛᴇʀᴀᴄᴛ. The ɪɴᴛᴇʀᴀᴄᴛ project is part of the EU’s effort to forward climate research, and aims to “coordinate and harmonize research and monitoring efforts that will greatly contribute to our knowledge and understanding of changes occurring in the arctic environment.” One out of 12 subprojects within ɪɴᴛᴇʀᴀᴄᴛ aims to “increase awareness of drone technology and sensors among researchers and research station managers while making industry aware of innovative potential uses requiring drone and sensor development.” A drone is an unmanned aerial system/vehicle (UAS/UAV), i.e. an airborne vehicle without a human pilot aboard. This master thesis examines the need of drones at the ɪɴᴛᴇʀᴀᴄᴛ research stations and how arctic climates affect drone technology and the ergonomics of piloting a drone. The thesis also provides an overview of the current state of the drone market and the laws and regulations that affect the use of drones. A survey was distributed within ɪɴᴛᴇʀᴀᴄᴛ to map the researchers’ need of, and attitudes towards, drones, followed by exhaustive interviews with researchers and other key figures. Field testing at Tarfala Research Station provided complementing data. The primary insight from the study was that the researchers’ need, as well as the tasks and methods that they employ, vary greatly. Another insight was that many researchers want to use drones primarily as a sensor platform to collect data from large areas in a short time span. A situation-based drone recommendation and a concept proposal for a simple water sampling solution were made based on the results of the study / Detta är ett examensarbete utfört av Maria Ader och David Axelsson, studenter på civilingenjörsprogrammet Design och Produktframtagning på KTH, med masterinriktning Teknisk Design. Arbetet är utfört åt ÅF i syfte att bidra till EU-projektet ɪɴᴛᴇʀᴀᴄᴛ. Iɴᴛᴇʀᴀᴄᴛ är EU:s satsning på klimatforskning i Arktis och syftar till att “koordinera och harmonisera forskning och miljöbevakning som bidrar till vår kunskap och förståelse av förändringar som sker i de arktiska miljöerna.” Ett av tolv delprojekt inom ɪɴᴛᴇʀᴀᴄᴛ-projektet syftar till att öka medvetenheten om drönarteknologi och sensorer bland forskare och föreståndare på forskningsstationerna inom ɪɴᴛᴇʀᴀᴄᴛ, samt att göra drönarindustrin medveten om nya potentiella användningsområden. En drönare är ett obemannat luftfartyg, d.v.s. en flygfarkost utan pilot ombord. Drönare benämns ibland som “UAS” och “UAV”. I den här rapporten används främst den engelska termen “drones”. Detta examensarbete undersöker behovet av drönare på de forskningsstationer som är delaktiga i ɪɴᴛᴇʀᴀᴄᴛ och hur det arktiska klimatet påverkar drönartekniken och ergonomin. Arbetet kartlägger även drönarmarknaden och de lagar och regler som påverkar användandet av drönare. En utförlig studie genomfördes, där forskarnas behov av drönare undersöktes. En enkät skickades ut inom ɪɴᴛᴇʀᴀᴄᴛ och utförliga intervjuer genomfördes med forskare och andra nyckelpersoner. Ett studiebesök på Tarfala forskningsstation kompletterade med fältdata. Den främsta insikten från studien var att behov, arbetsuppgifter och metoder varierar mycket mellan de olika forskarna. En annan insikt var att många ville använda drönare som sensorbärare, och på så sätt insamla data från stora områden på kort tid. Resultatet från studien låg till grund för en situationsbaserad drönarrekommendation samt ett konceptförslag för en enkel vattenprovtagningslösning.

The potential of Unmanned Aerial Vehicles (UAVs) for surveillance and military applications is significant — with continued technical advances in the field. The number of incidents where UAVs have intruded into unauthorized areas has increased in recent years and armed drones are commonly used in modern warfare. It is therefore of great interest to investigate methods for UAVs to locate and track intruder drones to prevent and counter surveillance of unauthorized areas and attacks from intruder UAVs. This master’s thesis studied how two autonomous seeker UAVs can be used cooperatively to track and pursue a target UAV. To locate the target UAV, simulated measurements from received Radio Frequency (RF) signals were used by extracting bearing and Received Signal Strength (RSS) data. To track the target and predict its future position, the study employed an Extended Kalman Filter (EKF) on each seeker UAV, which acted together as a Mobile Wireless Sensor Network (MWSN). The thesis explored two formation control methods to keep the seeker UAVs in formation while pursuing the target drone. The formation methods used the predicted position of the target to produce reference positions and/or reference distances for a controller to follow. A Distributed Model Predictive Controller (DMPC) was implemented on the seeker UAVs to pursue the target while maintaining formation and avoiding collisions. The EKF, MPC, and formation methods were first evaluated individually in simulation to assess their performance and for parameter tuning. The respective modules were then combined into the complete system and tuned to achieve improved pursuit and formation in simulation. The results showed that, with the chosen parameters and with a high level of measurement noise, the seeker UAVs were able to pursue the target with a combined average distance error of less than 2 m when the target drone flew in a square pattern with a velocity of 2 m/s. The quality of the pursuit was highly affected by the increase in velocity of the target and the initial positions of the seekers, where a high velocity and a large initial deviation from the reference positions/distances resulted in poorer quality.