Thesis (M.S.)--Naval Postgraduate School, 2002. / Cover title. "June 2002." AD-A406 036. Includes bibliographical references. Also available via the World Wide Web.

Unmanned Aircraft Systems (UAS) have grown in popularity due to their widespread potential applications, including efficient package delivery, monitoring, surveillance, search and rescue operations, agricultural uses, along with many others. As UAS become more integrated into our society and airspace, it is anticipated that the development and maintenance of a path planning collision-free system will become imperative, as the safety and efficiency of the airspace represents a priority. The dissertation defines this problem as the UAS Collision-free Path Planning Problem. The overall objective of the dissertation is to design an on-demand, efficient and scalable aerial highway path planning system for UAS. The dissertation explores two solutions to this problem. The first solution proposes a space-time algorithm that searches for shortest paths in a space-time graph. The solution maps the aerial traffic map to a space-time graph that is discretized on the inter-vehicle safety distance. This helps compute safe trajectories by design. The mechanism uses space-time edge pruning to maintain the dynamic availability of edges as vehicles move on a trajectory. Pruning edges is critical to protect active UAS from collisions and safety hazards. The dissertation compares the solution with another related work to evaluate improvements in delay, run time scalability, and admission success while observing up to 9000 flight requests in the network. The second solution to the path planning problem uses a batch planning algorithm. This is a new mechanism that processes a batch of flight requests with prioritization on the current slack time. This approach aims to improve the planning success ratio. The batch planning algorithm is compared with the space-time algorithm to ascertain improvements in admission ratio, delay ratio, and running time, in scenarios with up to 10000 flight requests. / Includes bibliography. / Dissertation (PhD)--Florida Atlantic University, 2021. / FAU Electronic Theses and Dissertations Collection

In recent years, there has been an increase in the development of drone technologies. Furthermore a considerable interest in developing drones that utilizes platforms allowing for adaptive morphology has been growing steadily. In this work, we use a quadcopter to develop a drone with the feature of transforming its shape from a flat triangle to a tetrahedron. To achieve this property, two main features are considered. First, a controller for the propeller thrust force to control the movement of the triangular side facet. Second, a 60-degree angled bevel gear is used to ensure the positioning concurrency of the facets. In this study, we use MATLAB simulations to study the feasibility of the proposed concept. We use the simulations to determine the base requirement for the controller dynamics by simulating the output angle of the facets and to study the effect of the controllers on the angle reached by the facets. In addition, we perform an experimental analysis to validate our results from the simulations. We investigate the design limitations of the controllers and check the feasibility of the proposed drone design by studying the thrust force generated. The simulations and experiments showed that the presence of bevel gears can reduce the controller dynamics requirement to only a proportional controller. Furthermore, the thrust test for this drone design showed an estimated thrust force of approximately 1.7 times the thrust of a single motor. These results are promising and contribute to setting the foundation for more rigorous study of this design of drones, which have a noticeable impact on the ease of packaging and transportation applications.

The Coulomb propulsion system has no exhaust plume impingement problem with neighboring spacecraft and does not contaminate their sensors because it requires essentially no propellant. It is suitable to close formation control on the order of dozens of meters. The Coulomb forces are internal forces of the formation and they influence all charged spacecraft at the same time. Highly nonlinear and strongly coupled equations of motion of Coulomb formation makes creating a Coulomb control method a challenging task. Instead of positioning all spacecraft, this study investigates having a sensor craft be sequentially controlled using dedicated drone craft. At least three drone craft are required to control a general sensor craft position in the inertial space. However, the singularity of a drone plane occurs when a sensor craft moves across the drone plane. A bang-bang control method with a singularity check can avoid this problem but may lose formation control as the relative distances grow bounded. A bang-coast-bang control method utilizing a reference trajectory profile and drone rest control is introduced to increase the control effectiveness. The spacecraft are assumed to be floating freely in inertial space, an approximation of environments found while underway to other solar system bodies. Numerical simulation results show the feasibility of sensor craft control using Coulomb forces. / Master of Science

No description available.

Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: This thesis presents the development and implementation of a position based kinematic guidance system, the derivation and testing of a Dynamic Pursuit Navigation algorithm and a thorough analysis of an aircraft’s runway interactions, which is used to implement automated take-off of a fixed wing UAV. The analysis of the runway is focussed on the aircraft’s lateral modes. Undercarriage and aerodynamic effects are first analysed individually, after which the combined system is analysed. The various types of feedback control are investigated and the best solution suggested. Supporting controllers are designed and combined to successfully implement autonomous take-off, with acceleration based guidance. A computationally efficient position based kinematic guidance architecture is designed and implemented that allows a large percentage of the flight envelope to be utilised. An airspeed controller that allows for aggressive flight is designed and implemented by applying Feedback Linearisation techniques. A Dynamic Pursuit Navigation algorithm is derived that allows following of a moving ground based object at a constant distance (radius). This algorithm is implemented and verified through non-linear simulation. / AFRIKAANSE OPSOMMING: Hierdie tesis handel oor die ontwikkeling en toepassing van posisie-afhanklike, kinematiese leidings-algoritmes, die ontwikkeling van ’n Dinamiese Volgings-navigasie-algoritme en ’n deeglike analise van die interaksie van ’n lugraam met ’n aanloopbaan sodat outonome opstygprosedure van ’n vastevlerk vliegtuig bewerkstellig kan word. Die bogenoemde analise het gefokus op die laterale modus van ’n vastevlerk vliegtuig en is tweeledig behartig. Die eerste gedeelte het gefokus op die analise van die onderstel, terwyl die lugraam en die aerodinamiese effekte in die tweede gedeelte ondersoek is. Verskillende tipes terugvoerbeheer vir die outonome opstygprosedure is ondersoek om die mees geskikte tegniek te bepaal. Addisionele beheerders, wat deur die versnellingsbeheer gebaseerde opstygprosedure benodig word, is ontwerp. ’n Posisie gebaseerde kinematiese leidingsbeheerstruktuur om ’n groot persentasie van die vlugvermoë te benut, is ontwikkel. Terugvoer linearisering is toegepas om ’n lugspoedbeheerder , wat in staat is tot aggressiewe vlug, te ontwerp. ’n Dinamiese Volgingsnavigasie-algoritme wat in staat is om ’n bewegende grondvoorwerp te volg, is ontwikkel. Hierdie algoritme is geïmplementeer en bevestig deur nie-lineêre simulasie.

As science and technology continue to advance, innovative developments in transportation can enhance product safety and security for the benefit and welfare of society. The federal government requires every commercial truck to be inspected before each trip. This pre-trip inspection ensures the safe mechanical condition of each vehicle before it is used. An Unmanned Aerial Vehicle (UAV) could be used to provide an automated inspection, thus reducing driver workload, inspection costs and time while increasing inspection accuracy. This thesis develops a primary component of the algorithm that is required to implement UAV pre-trip inspections for commercial trucks using an android-based application. Specifically, this thesis provides foundational work of providing stable height control in an outdoor environment using a laser sensor and an android flight control application that includes take-off, landing, throttle control, and real-time video transmission. The height algorithm developed is the core of this thesis project. Phantom 2 Vision+ uses a pressure sensor to calculate the altitude of the drone for height stabilization. However, these altitude readings do not provide the precision required for this project. Rather, the goal of autonomously controlling height with great precision necessitated the use of a laser rangefinder sensor in the development of the height control algorithm. Another major contribution from this thesis research is to extend the limited capabilities of the DJI software development kit in order to provide more sophisticated control goals without modifying the drone dynamics. The results of this project are also directly applicable to a number of additional uses of drones in the transportation industry.

Unmanned Aerial Vehicles (UAV), often referred to as drones, have seen increased use in search and rescue (SAR) missions. Traditionally, these missions involve manual control of each drone for aerial surveillance. As UAV autonomy progresses, the next phase in drone technology consists of a shift to autonomous collaborative multi-drone operations, where drones function collectively in swarms. A significant challenge lies in designing user interfaces that can effectively support UAV pilots in their mission without an overload of information from each drone and of their surroundings. This thesis evaluates important human factors, such as situational awareness (SA) and cognitive workload, within complex search and rescue scenarios, with the goal of increasing trust in multi-drone systems through the design and testing of various components. Conducting these user studies aims to generate insights for the future design of multi-drone systems. Two prototypes were developed with a multi-drone user interface, and simulated a stressful search and rescue mission with high cognitive workload. In the second prototype, a heatmap guided UAV pilots based on the lost person model. The prototypes were tested in a conducted user study with experienced UAV pilots in different SAR organizations across Sweden. The results showed variability in SA while monitoring drone swarms, depending on user interface components and SA levels. The prototypes caused significant cognitive workload, slightly reduced in the heatmap-equipped prototype. Furthermore, there was a marginal increase in trust observed in the prototype with the heatmap. Notably, a lack of manual control raised challenges for the majority of participants and many desired features were suggested by participants. These early expert insights can serve as a starting point for future development of multi-drone systems. / The HERD project, supported by the Innovation Fund Denmark for the DIREC project (9142-00001B)

No description available.

Thesis (MScEng)--Stellenbosch University, 2003. / ENGLISH ABSTRACT: The aerodynamic performance of a mission-adaptive air inlet for a stealthy unmanned aircraft was examined using CFX 5.5, a commercial Computational Fluid Dynamics package. In order to ensure that the numerical results were reliable, the package was validated against a number of flow situations for which previously-known results exist. This was done for both external and internal flow, and in all cases the conclusion could be made that the code produces realistic results. The simulation of the inlet was done in two steps. A first-order design was simulated using robust simulation parameters: the focus was on obtaining a "picture" of the flow into the inlet, not on the quantitative values of flow variables. On account of the results of these simulations, the design was suitably modified. This second-order design was then simulated using more accurate simulation parameters, and the results analysed in detail. Comparative simulations between the two design iterations showed that their pressure recoveries are similar, but that the distortion of the velocity profile at the engine compressor face is lower for the second-order design than for the first-order design over a significant portion of the operational range. When compared with an idealized theoretical analysis, the numerical results showed that the performance of the inlet was severely degraded at most operating conditions. This is mainly due to the effects of flow separation ahead of the inlet capture plane. To alleviate this problem, recommendations for the modification of the design are proposed. This thesis demonstrates that CFD is a valuable tool for both qualitative and quantitative evaluation of performance during the design process of an air inlet. / AFRIKAANSE OPSOMMING: Die lugdinamiese werkverrigting van 'n missie-aanpasbare luginlaat vir 'n radarontduikende onbemande vliegtuig is ondersoek, deur gebruik te maak van CFX 5.5, 'n kommersiële numeriese vloeidinamika-sagteware pakket. Om te verseker dat die numeriese resultate betroubaar was, is die pakket gevalideer teen 'n aantal gevalle waarvoor vooraf-bekende resultate bestaan. Dit is gedoen vir beide interne en eksterne vloei, en die gevolgtrekking kon gemaak word dat die kode wel realistiese resultate lewer. Die simulasie van die inlaat is in twee stappe gedoen. 'n Eerste-orde ontwerp is gesimuleer deur gebruik te maak van robuuste simulasieparameters: die fokus hiervan was om 'n visuele indruk van die vloeipatrone in die inlaat te kry, nie op kwantitatiewe waardes van die vloeiveranderlikes nie. Na aanleiding van hierdie resultate van hierdie simulasies is die ontwerp dienooreenkomstig aangepas. Hierdie tweede orde ontwerp is dan gesimuleer deur gebruik te maak van meer akkurate simulasieparameters, en die resultate is in detail geanaliseer. Vergelykende simulasies tussen die twee ontwerps-iterasies het gewys dat hulle drukherwinnings soortgelyk is, maar dat die distorsie in die snelheidsprofiel by die enjin kompressor-vlak laer is vir die tweede-orde ontwerp as vir die eerste-orde ontwerp, oor 'n beduidende gedeelte van die operasionele bestek. Wanneer dit met 'n ideale teoretiese analise vergelyk word, het die numeriese resultate getoon dat die werkverrigting van die inlaat ernstig gedegradeer is by meeste operasionele toestande. Dit kan meestal toegeskryf word aan die effekte van vloei-wegbreking voor die intreevlak van die inlaat. Om hierdie probleem te verlig, word aanbevelings vir die aanpassing van die ontwerp voorgestel. Hierdie tesis demonstreer dat numeriese vloeidinamika waardevolle gereedskap is vir beide kwalitatiewe en kwantitatiewe evaluering van werkverrigting tydens die ontwerpsproses van 'n luginlaat.