Software Enabled Control for Intelligent Uninhabited Air Vehicles UAVs

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Software Enabled Controlfor Intelligent
Uninhabited Air Vehicles (UAVs)
Contract Number F33615-98-C-1341

• Principal Investigators
• Daniel Schrage (AE), George Vachtsevanos (ECE)
• Co-PIs and Key Personnel
• Bonnie Heck (ECE), Eric Johnson (AE), J.V.R.
  Prasad (AE), Linda Wills (ECE)

controls.ae.gatech.edu/projects/sec
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Problem Description Objectives

• Develop software-enabled control methods for
  complex dynamic systems with application focus on
  intelligent UAVs
• Support-the-development and implement a
  plug-and-play, real-time software architecture
  for SEC integration (OCP-based)
• Hardware-in-the-loop simulation and flight testing

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Milestone Schedule

• Benchmark Flight Tests Spring/Summer 3QFY02
• Mid-Term Spring/Summer 3QFY03
• SEC/University Final Exam Winter 2QFY04

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Benchmark

• Flight Tests of the OCP and Other SEC Research
  Products

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VTOL UAV Platform Integration Progress

• Yamaha R-Max for VTOL UAV Platform
• Avionics and Simulation Developed
• Corresponding Hardware-in-the-Loop Simulation
  Started in November
• Ground Testing in January/February
• Flight Testing Started in March

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Planned 2002 Flight Tests

• Navigation System
• Reconfiguration Using OCP
• Low Level (Inner Loop) Control
• Transition Between Low Level Control
  Configurations
• Mid Level Control
• Flight Mode Switching, Fault Tolerant Control
• Execution of Hybrid Controls API

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Onboard Hardware Architecture
Ext Power
Magneto-meter
Power Dist
Sonar Altimeter
Servo- Interface
Radar Altimeter
Computer 1
IMU
Computer 2
D-GPS
Wireless Serial
Ethernet Hub
Wireless Ethernet
Serial Data
Ethernet
Power
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Boeing-GIT Baseline OCP Implementation
Controls API Input Port
Controls API Output Port
timeout_in
100 Hz Timer
DataLink Interface
Ethernet Serial Port
Input datalink ports read _at_ 100 Hz
Serial port
ControlData_out
NavData_out
Ethernet Serial Port
1 Hz 10 Hz
m0 written at 10 Hz m1 written at 1 Hz
Serial port
1 Hz 10 Hz
50 Hz
100 Hz
ControlData_in
NavData_in
NavControl_in
50 Hz
50 Hz
NavControl_out
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Navigation System Ground Tests
D-GPS Reference Test on Campus
Sensors/Processor Being Tested on Truck
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Early Flight Tests and Simulation
Scene Generator for Simulation (Hardware-in- The-L
oop, or Desktop Only)
Early Test Flight of Yamaha R-Max
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Navigation Filter Flight Test

• Extended Kalman Filter test (Moderately
  aggressive maneuvers flown manually by ground
  pilot)

Position Estimate (98 seconds of flight)
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Mid-Term

• Georgia Tech

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Mid-Term

• Multiple Platforms
• R-Max VTOL UAV
• Aerial Robotics Scenario
• Coordinated Aerial-Ground Vehicle Scenario
• OCP (multi-vehicle version)
• Application Domains
• Urban, Homeland Defense
• International Aerial Robotics Competition
  Scenario
• Aggressive Maneuvering

options under consideration
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Aerial Robotics Scenario
Optically Guided Glider Flown into Opening
Video
Mother Ship
Simulated Structure with Opening
Coordinated Control
Small iROBOT Ground Robots for Insertion in
Opening
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Aerial-Ground Vehicle Scenario

• Ground Platform Requirements
• Move on Desired Terrain (Medium Grass, Small
  Slopes)
• Accommodate Sensing, Communication, Control
  Subsystems On Line Customization through Mature
  Version of OCP
• Various Payloads
• COTS Devices Preferred

Coordinated Control
Larger iROBOT Ground Robot for Mine Detection,
Weapons Firing or Logistics Support
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Final Exam

• University-Led Experiments

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Approach

• SEC/University Final Exam Follows From Mid Term
• Platforms
• Components
• Develop R-Max VTOL UAV, Ground Control Station,
  and Simulation Infrastructure
• Add additional Platforms (Heterogeneous)
• Fixed Wing Aircraft
• Ground Vehicles
• Developed as an Open Experimental System
• Other Researchers Utilize Simulation Tools to
  Develop OCP Components and Test on Desktop
  Machines

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University Collaborators

• Several Ways to Collaborate on Mid-Term and Final
  Exam
• Utilize Simulation Tools, Scenarios
• Utilize Baseline Algorithms, OCP
• Develop Capabilities that are Additional Flight
  Test Elements
• Add OCP Components that are Integrated with Core
  Final Exam Flight Tests
• Industry Collaboration, in addition to Boeing,
  Should Also be Appropriate

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Yamaha R-Max Specs

• Dimension    
• Max. Length 3630 mm.(Rotor blade included)
• Fuselage Length 2750 mm.
• Width 720 mm.
• Height 1080 mm
• Fuel Tank 6 Liter
• Main Rotor Diameter 3115mm.
• Tail Rotor Diameter 545mm.
• Max Gross Weight 93g N.
• Max. Payload  30g N.
• Powerplant
• Type Gasoline 2 cycle
• Cylinder Configuration  Horizontal Opposition 2
  Cylinder
• Displacement 246cc.
• Engine RPM. 6350 RPM (Hovering)
• Max Power Ouput 15.4 KW (21PS)
• Max Torque 25.5Nm
• Cooling Type Liquid Cooling
• Fuel Auto Gas    Lubrication Oil mixed
  in Gasoline