MESA LAB
Unmanned Aerial Vehicles
When We Can File-n-Fly ?!
YangQuan Chen, Ph.D., Director,
MESA(Mechatronics, Embedded Systems and Automation)LAB
MEAM/EECS, School of Engineering,
University of California, Merced
E: yqchen@ieee.org; or, yangquan.chen@ucmerced.edu
T: (209)228-4672; O: SE1-254; Lab: Castle #22 (T: 228-4398)
Oct. 03, 2012. Wednesday 12:30-13:20
SoE Professional Seminar, COB 265
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Outline
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About the new MESA Lab
Unmanned Aerial Vehicles
When we can file-n-fly?
When we can file-n-fly!
SoE Professional Seminar "UAV: When we can file-n-fly?!"
MESA LAB
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MESA LAB
MESA LAB
http://mechatronics.ucmerced.edu
• Mechatronics, Embedded Systems and
Automation
– Backup name: Mechatronics, Energy Systems and
Autonomy
– ASME DED, MESA TC. http://iel.ucdavis.edu/mesa/
• 2013 MESA conference: Portland, OR
http://www.asmeconferences.org/IDETC2013/
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MESA LAB
MESA Lab Philosophy and Ambition
• "We make real systems that work and others
want them."
• MESA Lab: Staying on top and for
sustainability.
• Nationally and internationally visible and
prominent!
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MESA LAB
MESA Lab Founding Members
• Dr. YangQuan Chen, Faculty
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Dr. Huifang Dou, Lecturer
Brandon Stark, 3rd year Ph.D. student, Lab Manager
3 visiting research scholars
4 undergraduate researchers
2013 (5 more confirmed)
• 1 Ph.D. to join 1/1/2013, 1 Ph.D. to join 5/1/2013
• 1 Postdoc to join Fall 2013
• 2 more visiting scholars to join in 2013
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MESA LAB
MESA Research Areas/Strengths
• Unmanned Aerial Systems and UAV-based
Personal Remote Sensing (PRS)
• Cyber-Physical Systems (CPS)
• Modeling and Control of Renewable Energy
Systems
• Mechatronics
• Applied Fractional Calculus (AFC)
SoE Professional Seminar "UAV: When we can file-n-fly?!"
MESA LAB
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Mechatronics
has good prospects
for the future
because knowledge
economy demands
to speed up
development,
improve quality,
reduce cost and
increase energy
efficiency.
Kevin Craig, Marquette Univ.
SoE Professional Seminar "UAV: When we can file-n-fly?!"
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Outline
•
•
•
•
About the new MESA Lab
Unmanned Aerial Vehicles
When we can file-n-fly?
When we can file-n-fly!
SoE Professional Seminar "UAV: When we can file-n-fly?!"
MESA LAB
MESA LAB
UAV: Unmanned Aerial Vehicle
Also called Unmanned Aircraft System (UAS),
an aircraft that is controlled by Navigation electronics
without human pilot on board.
Figure: Global Hawk UAV
http://www.wpclipart.com/armed_services/airplanes/airplanes_3/Global_Hawk_UAV.png
MESA LAB
UAV History
• The first “claimed” heavier-than-air, powered flight was of a UAV,
over the Potomac River, by Dr. Sam Langley (1896)
• The first radio-controlled UAV flights were converted Navy trainers,
flown over Long Island (1917)
• The first mass production UAV was the Kettering Bug, costing $400
and capable of carrying a 300 lb bomb (1918)
• The British Queen Bee UAV was landed by dragging a weighted
antenna line on the ground, which then pulled back the stick and the
throttle (1935)
• 4 UAVs with 2000 lb bombs attacked the Japanese merchantman,
Yamazuki Maru, scoring two direct hits (1944)
• Marilyn Monroe was “discovered” while working in the Radioplane
OQ-3 UAV factory (1945)
[1].
MESA LAB
UAV History
Pre World War II
Kettering Bug
(1918)
Aerial Torpedo
UAV
Radioplane 0Q-2A
(1935)
UAV
Culver PQ-14B
(1940)
Target drones
[1].
UAV
MESA LAB
UAV History
Reconnaissance UAVs
Kettering Bug
(1918)
Aerial Torpedo
UAV
UAV
D21 Tagboard on
M12 Mother Ship
[1].
Lightning Bug
AQM-34
1960s
MESA LAB
UAV History
Combat UAVsKettering
- Have Bug
Lemon AQM-34
(1918)
Aerial Torpedo
UAV
UAV
EO Maverick
[1].
EO Hobo
1970s
MESA LAB
UAV History
Kettering Bug
Boeing YQM-94A (1918)
B-Gull
Aerial Torpedo
1970s
Reconnaissance
(Recce) UAVs
UAV
Teledyne Ryan YQM-96A R-Tern
Compass Cope High Altitude Long
Endurance (HALE)
Endurance 28 hrs 11 min Un-refueled
[1].
MESA LAB
UAV History
Flight
Research UAVs
Kettering Bug
(1918)
Aerial Torpedo
HiMAT
YF-16 RPRV
Self-Repairing
Flight Control Sys.
XBQM-106
[1].
1970s
MESA LAB
UAV History
1980s
Bug
TacticalKettering
and Medium
Endurance UAVs
(1918)
Aerial Torpedo
Pioneer - USN/USMC
GNAT-750
US Army Hunter
MR - UAV
[1].
MESA LAB
UAV History
Kettering
Bug
DARO
(1918)
Aerial Torpedo
Outrider (TUAV)
UAVs
Predator (Tier II)
Global Hawk (Tier II+)
[1].
Dark Star (Tier III-)
1990s
MESA LAB
Global Hawk & Predator
UAV History
Kettering Bug
(1918)
Aerial Torpedo
Outrider (TUAV
Global Hawk (Tier II+)
[1].
Dark Star (Tier III-)
MESA LAB
UAV Applications
• Military applications
• Civilian applications
MESA LAB
UAV Military Applications
• Reconnaissance Surveillance and Target
Acquisition (RSTA)
• Surveillance for peacetime and combat
Synthetic Aperture Radar (SAR)
• Deception operations
• Maritime operations (Naval fire support,
over the horizon targeting, anti-ship
missile defense, ship classification)
[3].
MESA LAB
UAV Military Applications
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Electronic Warfare (EW) and signals
intelligence (SIGINT)
Special and psychological Operations
(PSYOPS)
Meteorology missions
Route and landing reconnaissance support
Adjustment of indirect fire and Close Air
Support (CAS)
Battle Damage Assessment (BDA)
Radio and data relay
[3].
MESA LAB
UAV Military Applications
http://baronshobbies.com/blog/wp-content/uploads/2009/09/uav4tf3.jpg
http://media.defenseindustrydaily.com/images/AIR_UAV_RQ4_Global_Hawk_High_Flight_lg.jpg
MESA LAB
UAV Civilian Applications
Security
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Security and Control
Aerial Reconnaissance
Aerial Policeman and Crowd Monitoring
Aerial Traffic and Security Watch
Search and Rescue
• Maritime and Mountain Search and Rescue
• Life raft Deployment
• Rescue point marking
[7].
MESA LAB
UAV Civilian Applications
http://commons.wikimedia.org/wiki/File:US_Air_Force_U-2_reconnaissance_aircraft.jpg
http://img2.scoop.co.nz/stories/images/0906/choppers.in.mountain.jpeg
http://uscgalaska.blogspot.com/2010/07/air-station-kodiak-hh-65-dolphin.html
MESA LAB
UAV Civilian Applications
Monitoring
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Civil engineering sites
Waterways and shipping
Oil and gas pipeline
Forestry
Fishery Protection
The countryside
Pollution Control and Air Sampling
Crop Performance
Litter on beaches and in parks
[7].
MESA LAB
UAV Civilian Applications
http://www.ouc.com/Libraries/OUC_Images/stanton3.sflb.ashx
http://www.britannica.com/blogs/wp-content/uploads/2010/10/pipeline.jpg
http://www.agronomy.k-state.edu/extension/DesktopModules/IM.aspx?I=3298&M=0
MESA LAB
UAV Civilian Applications
Disaster Management
• Disaster effects management
• Rescue and clear up effort supervision
• Disaster damage estimation
Crop Management
• Countryside and Agriculture
• Agricultural Activities
• Crop Dusting
[7].
MESA LAB
UAV Civilian Applications
http://1.bp.blogspot.com/_-j3KQ2okBmw/S-SMT_Xv9nI/AAAAAAAADd8/fhoPvkhcy8/s1600/nashville+flood.jpg
http://consci.s3.amazonaws.com//wp-content/uploads/crop-duster1.jpg
MESA LAB
UAV Civilian Applications
Communications
• Telecommunications
• Telecom relay and signal coverage survey
Survey
• Oil and Gas Exploration and Production
• Mineral exploration
• Geophysical surveys
[7].
MESA LAB
UAV Civilian Applications
http://www.defensemedianetwork.com/wp-content/uploads/2010/10/161.jpg
http://ceoworld.biz/ceo/wp-content/uploads/2009/07/Verenex-Energy-oil.jpg
MESA LAB
UAV Civilian Applications
Research
Scientific research of any nature (environmental, atmospheric,
archaeological, pollution etc) can be carried out by UAVs equipped
with the appropriate payloads.
http://med.ee.nd.edu/MED9/Papers/Aerial_vehicles/med01164.pdf
MESA LAB
Introduction to Paparazzi Project
Paparazzi is an open-source autopilot system
oriented toward inexpensive autonomous aircraft
of all types. The project began in 2003 and has
enjoyed constant growth and evolution ever
since. The system has been used on dozens of
airframes and implemented by several teams
around the world. Hundreds of hours of
autonomous flight have been successfully
achieved with the Paparazzi system.
[25].
MESA LAB
Overview of the Paparazzi system
[26].
MESA LAB
Airborne components
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Autopilot
Battery
Datalink
GPS
Infrared (Original)
Motor
Payload
Receiver
Servo
[26].
MESA LAB
System Architecture
Communications between the Paparazzi Agents
Aircraft
Sends telemetry messages
Receives datalink messages
Data is sent with messages
Divided into 3 classes:
- Telemetry
- Ground
- Datalink
datalin
k
Wireless link
telemetry
Link
Connects a hardware
Wireless device to the network
telemetry
ground
GCS
Displays graphic data
Controls the datalink
Ground network
ground
Server
Logs raw messages
Dispatches synthetic messages
Messages (Debug)
Display network messages
[25].
ground
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MESA LAB
OSAM UAV Team won 2nd
@ AUVSI UAS Competition, June 2008
Utah State – Wins
$8,000 for 2nd Place
Overall, 2nd Place in
Mission, Honorable
Mention in both Orals
and Journal, and Prize
Barrels for Autonomous
Mission Flight,
Autonomous Landing,
JAUS and Perfect
Identification of the Offhttp://www.engr.usu.edu/wiki/index.php/OSAM Path Target.
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MESA LAB
• We won #1 in AUVSI 2009 UAS Competition!!
– June 17-21, 2009. Maryland AFB.
– $14000 cash award.
– Other registered participants: UCSD, MIT, Cornell, NCSU etc.
– We made some headlines including ESPN2!
– We are the second time to participate this event!
– UCSD, Embry Riddle,Cornell, U Alberta, UT Austin.
Watch us at
http://www.youtube.com/user/USUOSAM
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MESA LAB
• We won #1 again in AUVSI’11 UAS Competition!!
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June 15-19, 2011. Maryland AFB.
$13400 cash award. Swept all three categories.
Other registered participants: UCSD, NCSU, UT Austin etc.
First time in the competition history to win 1st place twice.
VTOL team made history too by flying waypoints autonomously
Watch our UAV-based real world applications (not
just for fun!) at http://aggieair.usu.edu
SoE Professional Seminar "UAV: When we can file-n-fly?!"
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Outline
•
•
•
•
About the new MESA Lab
Unmanned Aerial Vehicles
When we can file-n-fly?
When we can file-n-fly!
SoE Professional Seminar "UAV: When we can file-n-fly?!"
MESA LAB
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MESA LAB
FAA: Federal Aviation Administration
• Illegal flight unless authorized! (COA)
• Too hard to get COA (certification of authorization)
• Private company (university) cannot get COA! Only
possible for government departments (public
universities)!
• A sample COA we got is at http://aggieair.usu.edu
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MESA LAB
FAA Retasking
• In the United States, lawmakers just passed a long
awaited bill setting requirements to integrate
unmanned aerial systems (UAS) in the national
airspace (NAS) on Feb. 6, 2012. Such
requirements would set deadlines for full-scale
integration in fall 2015.
• NASA UAS2NAS $12.5M (only two universities
awarded: USU and NMSU
SoE Professional Seminar "UAV: When we can file-n-fly?!"
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Outline
•
•
•
•
About the new MESA Lab
Unmanned Aerial Vehicles
When we can file-n-fly?
When we can file-n-fly!
SoE Professional Seminar "UAV: When we can file-n-fly?!"
MESA LAB
Slide-43/1024
MESA LAB
When we can file-n-fly!
The new era of Personal Remote Sensing (PRS)!
SoE Professional Seminar "UAV: When we can file-n-fly?!"
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MESA LAB
An Analogy
• 1970s: Personal Computer (PC): Bill Gates/Steve
Jobs
• 2010s: Personal Remote Sensing (PRS) - ????
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Low cost, affordable. Robust, easy to use
Run way free; Autonomous/cognitive
Swarm/coven;
Enabling new apps and services
• Google 4D map (x,y,z,t) paid service
– Ubiquitous remote sensing (Twitter as sensors …)
–…
SoE Professional Seminar "UAV: When we can file-n-fly?!"
MESA LAB
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WaterWatch?
Water resources,
Gates, flumes
Weather, climate
demand
Water rights
www.athertonsc.qld.gov.au/ photogallery.htm
Irrigation control
•Right time
•Right place
•Right amount
irrigators
Geo-Domain
human
UAVs
crops
animals
etc.
calibration
Ground sensor pods
Credit: Dr. YangQuan Chen, 2005
SoE Professional Seminar "UAV: When we can file-n-fly?!"
http://www.nasa.gov/centers/goddard/news/topstory/2004/0729soilshowdown.html
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MESA LAB
A water treatment lagoon as a UAS-enabled
CPS to create biofuel from waste
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MESA LAB
Algal Bloom Tracking & Modeling
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MESA LAB
Agriculture in 2100s
when no more synthetic fertilizers available
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MESA LAB
Key references
• Long Di and YangQuan Chen. “Multi UAV
Systems.” Course slide set for ECE6930
Independent Study Course. pp. 1-850. Dept. of
Electrical and Computer Engineering, Utah State
University, 2009-2011.
• [1]. THE UNIVERSITY OF TEXAS AT
AUSTIN, AIRCRAFT DESIGN (ASE 261K) and
DESIGN LABORATORY (ASE 161M), Dr.
Armand J. Chaput.
http://www.ae.utexas.edu/ASE261KChaput/
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MESA LAB
UAV PRS References
• Y.Q. Chen, D. L. Dee, A. Jenson, Multi-UAV Based
Multi-Spectrum Collaborative Personal Remote Sensing:
Concepts, Platform & Applications, Invited Full Day
Tutorial at 2011 ICUAS, Denver, CO, (2011)
• Y.Q. Chen, A. Jenson, G. Strahan, C. Coopmans, LowCost UAV-based precision thermal infrared (TIR)
mapping – A new Personal Remote Sensing capability:
UAV Platform, TIR Payload, in-flight calibration and
applications, Invited Full Day Tutorial at 2012 ICUAS,
Philadelphia, PA, (2012)
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$949.00
1800 pages
2013
Two chapters
from MESA
Lab!
SoE Professional Seminar "UAV: When we can file-n-fly?!"
MESA LAB
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IEEE RAS TC ARUAV
• http://www.flyingrobots.org
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MESA LAB
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MESA LAB
Thank you for attending my talk!
For more information, check
http://mechatronics.ucmerced.edu/
coming soon
SoE Professional Seminar "UAV: When we can file-n-fly?!"