Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10155984
Dolev Yecheskel, S. Arogeti
Standard drones are generally underactuated systems, an attribute that limits their maneuvering ability. This limitation is because of the inherent coupling between the total thrust direction and the angular state of the drone body. To decouple these quantities, we suggest using seesaws, which allow controlling the thrust direction independently. Unlike other structures based on additional actuators to tilt the thrust, our solution is not based on any extra actuator that does not contribute to the lifting force. The presented configuration is an octocopter with eight propellers and four seesaws. These results extend a former suggested structure based on a single seesaw.
{"title":"A Fully-Actuated Drone with Rotating Seesaws","authors":"Dolev Yecheskel, S. Arogeti","doi":"10.1109/ICUAS57906.2023.10155984","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155984","url":null,"abstract":"Standard drones are generally underactuated systems, an attribute that limits their maneuvering ability. This limitation is because of the inherent coupling between the total thrust direction and the angular state of the drone body. To decouple these quantities, we suggest using seesaws, which allow controlling the thrust direction independently. Unlike other structures based on additional actuators to tilt the thrust, our solution is not based on any extra actuator that does not contribute to the lifting force. The presented configuration is an octocopter with eight propellers and four seesaws. These results extend a former suggested structure based on a single seesaw.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"241 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129775056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156598
Charles J. Doherty, Donald H. Costello, M. Kutzer
The United State Navy has a vested interest in developing methods for the certification of autonomous aerial refueling by uncrewed aircraft. For leadership to accept the risk of allowing an uncrewed platform to act as the receiver for autonomous aerial refueling there needs to be standards and methods of compliance for allowing an uncrewed platform to complete the task. The United States Naval Academy, with the support of the Office of Naval Research, has begun a line of research into developing certification evidence that will enable an uncrewed aircraft to complete the autonomous aerial refueling task. This line of research assumes the use of a deep neural network to properly identify the refueling drogue and coupler. As with most items revolving around training a neural network, they will only perform as well as the labeled data set that was used to train them. The United States Naval Academy has focused on generating large data sets for this line of research through auto-labeling techniques. This paper highlights the generation of one of those data sets and details a follow on effort for improving the technique.
美国海军在开发无人驾驶飞机自主空中加油认证方法方面具有既得利益。为了让领导层接受允许无人平台充当自主空中加油接收器的风险，需要制定允许无人平台完成任务的标准和合规方法。在海军研究办公室(Office of Naval Research)的支持下，美国海军学院(United States Naval Academy)已经开始了一系列研究，以开发认证证据，使无人驾驶飞机能够完成自主空中加油任务。这条研究路线假设使用深度神经网络来正确识别加油管道和耦合器。与大多数围绕训练神经网络的项目一样，它们的表现只能与用于训练它们的标记数据集一样好。美国海军学院一直致力于通过自动标记技术为这一研究领域生成大型数据集。本文重点介绍了其中一个数据集的生成，并详细介绍了改进该技术的后续工作。
{"title":"Ensuring Accuracy in Auto-Bounding Box Generation for the Autonomous Aerial Refueling Mission","authors":"Charles J. Doherty, Donald H. Costello, M. Kutzer","doi":"10.1109/ICUAS57906.2023.10156598","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156598","url":null,"abstract":"The United State Navy has a vested interest in developing methods for the certification of autonomous aerial refueling by uncrewed aircraft. For leadership to accept the risk of allowing an uncrewed platform to act as the receiver for autonomous aerial refueling there needs to be standards and methods of compliance for allowing an uncrewed platform to complete the task. The United States Naval Academy, with the support of the Office of Naval Research, has begun a line of research into developing certification evidence that will enable an uncrewed aircraft to complete the autonomous aerial refueling task. This line of research assumes the use of a deep neural network to properly identify the refueling drogue and coupler. As with most items revolving around training a neural network, they will only perform as well as the labeled data set that was used to train them. The United States Naval Academy has focused on generating large data sets for this line of research through auto-labeling techniques. This paper highlights the generation of one of those data sets and details a follow on effort for improving the technique.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"130 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130420078","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156173
Sanjay Chaturvedi, S. R. Sahoo
Centrally powered variable-pitch propeller(VPP) quadrotors have a single motor that transfers power to all four rotors through a transmission mechanism. All four rotors have their respective blade pitch servo motors controlling the pitch of rotor blades. Unlike conventional quadrotors, these quadrotors are controlled only by varying the pitch angle of each propeller blades. In this work, we have focused on two types of actuator faults common in these type of quadrotors: a Lock-in-Place(LIP) type of failure in rotor blades and Loss of Effectiveness(LoE) of rotor blades. In a LIP failure, the servo motor controlling the blade pitch angle freezes at a position. It does not respond to commands from the flight controller, making the thrust from that rotor constant. In Loss of Effectiveness failure, the actuator responds less or more to the commanded signal. To detect such faults under hover and normal flight conditions, we propose a non-linear observer-based fault detection method. In this method, we design a Thau observer-based residual generator where the generated residuals are used to detect the actuator fault in the quadrotor. The proposed method is simulated under different levels of fault conditions, and the presented results show the designed method’s efficacy.
{"title":"Actuator Fault Detection in Centrally Powered Variable-Pitch Propeller Quadrotor Vehicles","authors":"Sanjay Chaturvedi, S. R. Sahoo","doi":"10.1109/ICUAS57906.2023.10156173","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156173","url":null,"abstract":"Centrally powered variable-pitch propeller(VPP) quadrotors have a single motor that transfers power to all four rotors through a transmission mechanism. All four rotors have their respective blade pitch servo motors controlling the pitch of rotor blades. Unlike conventional quadrotors, these quadrotors are controlled only by varying the pitch angle of each propeller blades. In this work, we have focused on two types of actuator faults common in these type of quadrotors: a Lock-in-Place(LIP) type of failure in rotor blades and Loss of Effectiveness(LoE) of rotor blades. In a LIP failure, the servo motor controlling the blade pitch angle freezes at a position. It does not respond to commands from the flight controller, making the thrust from that rotor constant. In Loss of Effectiveness failure, the actuator responds less or more to the commanded signal. To detect such faults under hover and normal flight conditions, we propose a non-linear observer-based fault detection method. In this method, we design a Thau observer-based residual generator where the generated residuals are used to detect the actuator fault in the quadrotor. The proposed method is simulated under different levels of fault conditions, and the presented results show the designed method’s efficacy.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127021402","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10155866
Prateek Arora, Tolga Karakurt, Eleni S. Avlonitis, S. Carlson, Brandon Moore, David Feil-Seifer, C. Papachristos
In this work we address the System-of-Systems reassembling operation of a marsupial team comprising a hybrid Unmanned Aerial Vehicle and a Legged Locomotion robot, relying solely on vision-based systems and assisted by Deep Learning. The target application domain is that of large-scale field surveying operations under the presence of wireless communication disruptions. While most real-world field deployments of multi-robot systems assume some degree of wireless communication to coordinate key tasks such as multi-agent rendezvous, a desirable feature against unrecoverable communication failures or radio degradation due to jamming cyber-attacks is the ability for autonomous systems to robustly execute their mission with onboard perception. This is especially true for marsupial air / ground teams, wherein landing onboard the ground robot is required. We propose a pipeline that relies on Deep Neural Network-based Vehicle-to-Vehicle detection based on aerial views acquired by flying at typical altitudes for Micro Aerial Vehicle-based real-world surveying operations, such as near the border of the 400ft Above Ground Level window. We present the minimal computing and sensing suite that supports its execution onboard a fully autonomous micro-Tiltrotor aircraft which detects, approaches, and lands onboard a Boston Dynamics Spot legged robot. We present extensive experimental studies that validate this marsupial aerial / ground robot’s capacity to safely reassemble while in the airborne scouting phase without the need for wireless communication.
{"title":"Deep Learning–based Reassembling of an Aerial & Legged Marsupial Robotic System–of–Systems","authors":"Prateek Arora, Tolga Karakurt, Eleni S. Avlonitis, S. Carlson, Brandon Moore, David Feil-Seifer, C. Papachristos","doi":"10.1109/ICUAS57906.2023.10155866","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155866","url":null,"abstract":"In this work we address the System-of-Systems reassembling operation of a marsupial team comprising a hybrid Unmanned Aerial Vehicle and a Legged Locomotion robot, relying solely on vision-based systems and assisted by Deep Learning. The target application domain is that of large-scale field surveying operations under the presence of wireless communication disruptions. While most real-world field deployments of multi-robot systems assume some degree of wireless communication to coordinate key tasks such as multi-agent rendezvous, a desirable feature against unrecoverable communication failures or radio degradation due to jamming cyber-attacks is the ability for autonomous systems to robustly execute their mission with onboard perception. This is especially true for marsupial air / ground teams, wherein landing onboard the ground robot is required. We propose a pipeline that relies on Deep Neural Network-based Vehicle-to-Vehicle detection based on aerial views acquired by flying at typical altitudes for Micro Aerial Vehicle-based real-world surveying operations, such as near the border of the 400ft Above Ground Level window. We present the minimal computing and sensing suite that supports its execution onboard a fully autonomous micro-Tiltrotor aircraft which detects, approaches, and lands onboard a Boston Dynamics Spot legged robot. We present extensive experimental studies that validate this marsupial aerial / ground robot’s capacity to safely reassemble while in the airborne scouting phase without the need for wireless communication.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126237123","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156213
Isadora Garcia Ferrão, Leandro Marcos da Silva, Sherlon Almeida da Silva, C. Dezan, D. Espès, K. Branco
Smart cities enable economic and social development through intelligent solutions to various problems, such as access to essential services, mobility, unnecessary energy consumption, security flaws, etc. Regarding urban mobility problems, smart cities propose the development of Urban Air Mobility (UAM) through a safe, sustainable, and affordable air transport system for passenger mobility, cargo delivery, and emergency services within or between metropolitan areas. However, these vehicles are still incipient and their implementation in cities presents challenges such as failures, security, and safety issues. In this sense and according to the database of the Center for Research and Prevention of Aeronautical Accidents (CENIPA), engine failures are the main causes of problems in air vehicles. Because of that, this study was structured to detect engine failures in electric Vertical Take-Off and Landing aircraft (eVTOLs). We propose a new machine learning algorithm based on Multi-Layer Perceptron, Support Vector Machine, Gradient Boosting, and Random Foresting to the detection of engine failures. The results demonstrate the effectiveness of our technique. Our strategy presents a superior detection, being 21% more effective concerning other recent studies in accuracy, using the same database as the one in this study, and the same engine failure class in aerial vehicles.
{"title":"Intelligent Diagnosis of Engine Failure in Air Vehicles Using the ALFA Dataset","authors":"Isadora Garcia Ferrão, Leandro Marcos da Silva, Sherlon Almeida da Silva, C. Dezan, D. Espès, K. Branco","doi":"10.1109/ICUAS57906.2023.10156213","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156213","url":null,"abstract":"Smart cities enable economic and social development through intelligent solutions to various problems, such as access to essential services, mobility, unnecessary energy consumption, security flaws, etc. Regarding urban mobility problems, smart cities propose the development of Urban Air Mobility (UAM) through a safe, sustainable, and affordable air transport system for passenger mobility, cargo delivery, and emergency services within or between metropolitan areas. However, these vehicles are still incipient and their implementation in cities presents challenges such as failures, security, and safety issues. In this sense and according to the database of the Center for Research and Prevention of Aeronautical Accidents (CENIPA), engine failures are the main causes of problems in air vehicles. Because of that, this study was structured to detect engine failures in electric Vertical Take-Off and Landing aircraft (eVTOLs). We propose a new machine learning algorithm based on Multi-Layer Perceptron, Support Vector Machine, Gradient Boosting, and Random Foresting to the detection of engine failures. The results demonstrate the effectiveness of our technique. Our strategy presents a superior detection, being 21% more effective concerning other recent studies in accuracy, using the same database as the one in this study, and the same engine failure class in aerial vehicles.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115746696","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156414
Matthias Rubio, Joshua Näf, Franz Bühlmann, Philippe Brigger, Moritz Hüsser, Martin Inauen, Nicole Ospelt, D. Gisler, M. Tognon, R. Siegwart
The study of aerial robots capable to interact with their environment, also known as aerial manipulation, is a particularly new field in robotics research. Most existing solutions of aerial manipulators utilize commercially available multirotors as base flying platforms which are often extended by a suitable robotic arm. Although this design approach allows for fast prototyping, it impedes the development of a well-composed system where the base and the manipulator are designed conjointly. In contrast, this work presents a novel aerial manipulator featuring a 3-PUU (prismatic universal universal) parallel mechanism making up the structure of the flying platform. The key idea of using a parallel mechanism comes from its ability to quickly compensate positional errors of the platform while keeping the inertia of the moving parts low. To enable manipulation from any pose, PrisMAV is further designed to be omnidirectional by utilizing four tiltable rotor groups. The concept was successfully verified in a pick and place mission by grasping and releasing an object from above and from the side. The end-effector position tracking of PrisMAV is proven to be more accurate compared to a hypothetical fixed end-effector. The final result is a full proof of concept of an omnidirectional aerial manipulator.
{"title":"Design of PrisMAV: An Omnidirectional Aerial Manipulator based on a 3-PUU Parallel Mechanism","authors":"Matthias Rubio, Joshua Näf, Franz Bühlmann, Philippe Brigger, Moritz Hüsser, Martin Inauen, Nicole Ospelt, D. Gisler, M. Tognon, R. Siegwart","doi":"10.1109/ICUAS57906.2023.10156414","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156414","url":null,"abstract":"The study of aerial robots capable to interact with their environment, also known as aerial manipulation, is a particularly new field in robotics research. Most existing solutions of aerial manipulators utilize commercially available multirotors as base flying platforms which are often extended by a suitable robotic arm. Although this design approach allows for fast prototyping, it impedes the development of a well-composed system where the base and the manipulator are designed conjointly. In contrast, this work presents a novel aerial manipulator featuring a 3-PUU (prismatic universal universal) parallel mechanism making up the structure of the flying platform. The key idea of using a parallel mechanism comes from its ability to quickly compensate positional errors of the platform while keeping the inertia of the moving parts low. To enable manipulation from any pose, PrisMAV is further designed to be omnidirectional by utilizing four tiltable rotor groups. The concept was successfully verified in a pick and place mission by grasping and releasing an object from above and from the side. The end-effector position tracking of PrisMAV is proven to be more accurate compared to a hypothetical fixed end-effector. The final result is a full proof of concept of an omnidirectional aerial manipulator.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131007459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This article tackles the problem of generating coordinated trajectory for unmanned aerial manipulator (UAM) system. The kinematic redundancy nature of this class of system makes it challenging to design constraints-satisfied trajectories of both the aerial vehicle and the robotic arm simultaneously that can accomplish a series of tasks with varying levels of priority. This paper presents a redundancy utilized trajectory generation method based on hierarchical quadratic programming (HQP). The method is computationally inexpensive to execute online, allowing the UAM to dynamically adjust its configuration within inequality constraints (e.g. velocity bounds) to execute multi-tasks such as end-effector tracking, joint limits avoidance, and center of gravity (CoG) alignment. An experiment case study, where UAM is assigned to track and grasp a moving target, has been reported to illustrate the effectiveness of our approach.
{"title":"Online Trajectory Generation for Aerial Manipulator Subject to Multi-tasks and Inequality Constraints","authors":"Rui Chen, Qianyuan Liu, Zeshuai Chen, Kexin Guo, Xiang Yu, Lei Guo","doi":"10.1109/ICUAS57906.2023.10156288","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156288","url":null,"abstract":"This article tackles the problem of generating coordinated trajectory for unmanned aerial manipulator (UAM) system. The kinematic redundancy nature of this class of system makes it challenging to design constraints-satisfied trajectories of both the aerial vehicle and the robotic arm simultaneously that can accomplish a series of tasks with varying levels of priority. This paper presents a redundancy utilized trajectory generation method based on hierarchical quadratic programming (HQP). The method is computationally inexpensive to execute online, allowing the UAM to dynamically adjust its configuration within inequality constraints (e.g. velocity bounds) to execute multi-tasks such as end-effector tracking, joint limits avoidance, and center of gravity (CoG) alignment. An experiment case study, where UAM is assigned to track and grasp a moving target, has been reported to illustrate the effectiveness of our approach.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124328856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10155817
Atakan Yılmaz, Nihan Yılmaz, G. Kalem, M. A. Durmaz
High Altitude Platforms (HAPs), which are unmanned aerial vehicles (UAV) to provide communication services at high altitudes, are alternative cutting edge communication technologies which combine the benefits of satellite and terrestrial communication systems. HAP systems have several key benefits including simple deployment, reconfigurability, low operating costs, low propagation delay, high elevation angles, wide coverage, broadcast capability and mobility in several scenarios. In this study, we focused on a channel model analysis between HAPs to calculate the channel capacity for a HAP-to-HAP communication link using a model that takes into account the antenna radiation pattern, the effects of atmospheric gases, rain, and cloud/fog, and also the polarization mismatches of the transmitting and receiving antennas. With the simulation results, we demonstrated the path gain characteristics and the channel capacity of the high-altitude air-to-air channel for various scenarios depending on different antenna types, platform altitudes, carrier frequencies, etc. Lastly, we mentioned a future work representing a real-life use case which is also appropriate to apply this method.
{"title":"Path Gain and Channel Capacity for HAP-to-HAP Communications","authors":"Atakan Yılmaz, Nihan Yılmaz, G. Kalem, M. A. Durmaz","doi":"10.1109/ICUAS57906.2023.10155817","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155817","url":null,"abstract":"High Altitude Platforms (HAPs), which are unmanned aerial vehicles (UAV) to provide communication services at high altitudes, are alternative cutting edge communication technologies which combine the benefits of satellite and terrestrial communication systems. HAP systems have several key benefits including simple deployment, reconfigurability, low operating costs, low propagation delay, high elevation angles, wide coverage, broadcast capability and mobility in several scenarios. In this study, we focused on a channel model analysis between HAPs to calculate the channel capacity for a HAP-to-HAP communication link using a model that takes into account the antenna radiation pattern, the effects of atmospheric gases, rain, and cloud/fog, and also the polarization mismatches of the transmitting and receiving antennas. With the simulation results, we demonstrated the path gain characteristics and the channel capacity of the high-altitude air-to-air channel for various scenarios depending on different antenna types, platform altitudes, carrier frequencies, etc. Lastly, we mentioned a future work representing a real-life use case which is also appropriate to apply this method.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114339565","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156280
Magdalena Ostrihansky, Sylwia Fabisiak, A. Fortońska, Matylda Berus
Geographical zones for unmanned aircraft systems (UAS) in Poland are still in the deployment phase, though they have already found their vast practical application. Today, not all of the UAS restrictions are yet published as geographical zones for UAS, therefore there is always more than one source of restrictions for UAS pilots and operators that they need to be aware of for UAS operations. For that reason, there is a need to adopt hard law at the national level, as the current regulations in the form of guidelines are often not enough to prevent criminal offenses often deriving from the lack of knowledge or awareness of UAS pilots. The article explains the current legal basis of geozones and explores their possibilities.
{"title":"The practical and legal aspects of geographical zones for unmanned aircraft systems in Poland - facilitation or complication?","authors":"Magdalena Ostrihansky, Sylwia Fabisiak, A. Fortońska, Matylda Berus","doi":"10.1109/ICUAS57906.2023.10156280","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156280","url":null,"abstract":"Geographical zones for unmanned aircraft systems (UAS) in Poland are still in the deployment phase, though they have already found their vast practical application. Today, not all of the UAS restrictions are yet published as geographical zones for UAS, therefore there is always more than one source of restrictions for UAS pilots and operators that they need to be aware of for UAS operations. For that reason, there is a need to adopt hard law at the national level, as the current regulations in the form of guidelines are often not enough to prevent criminal offenses often deriving from the lack of knowledge or awareness of UAS pilots. The article explains the current legal basis of geozones and explores their possibilities.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"202 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114392711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-06-06DOI: 10.1109/ICUAS57906.2023.10156491
Yang Yuan, H. Duan, Chen Wei
The attitude control problem of the quadrotor in the presence of disturbance and model uncertainty is studied in this paper. Firstly, a first-order filter is applied to generate the desired derivate of the reference signal. Then, a model-free adaptive attitude controller is designed for the condition that model parameters are not available. The discrete equation of the angular velocity is obtained by using the compact form dynamic linearization method, and the cascade controller is established based on the continuous kinematics and discrete dynamics. In addition, tent map-based pigeon-inspired optimization is designed to optimize the parameters of the filter and controller. Compared with original pigeon-inspired optimization, the premature problem can be effectively contained. Finally, the simulation results demonstrate the feasibility of the model-free attitude controller and the advantages of the Tent map-based pigeon-inspired optimization.
{"title":"Consider for Best Student Paper Award Model-Free Control for Quadrotor Attitude via Tent Map-Based Pigeon-Inspired Optimization","authors":"Yang Yuan, H. Duan, Chen Wei","doi":"10.1109/ICUAS57906.2023.10156491","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156491","url":null,"abstract":"The attitude control problem of the quadrotor in the presence of disturbance and model uncertainty is studied in this paper. Firstly, a first-order filter is applied to generate the desired derivate of the reference signal. Then, a model-free adaptive attitude controller is designed for the condition that model parameters are not available. The discrete equation of the angular velocity is obtained by using the compact form dynamic linearization method, and the cascade controller is established based on the continuous kinematics and discrete dynamics. In addition, tent map-based pigeon-inspired optimization is designed to optimize the parameters of the filter and controller. Compared with original pigeon-inspired optimization, the premature problem can be effectively contained. Finally, the simulation results demonstrate the feasibility of the model-free attitude controller and the advantages of the Tent map-based pigeon-inspired optimization.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116960898","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：