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"Click here" to build your UAV

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"Click here" to build your UAV

  1. 1. “Click here” to design &build your UAV Dirk Gorissen - Imperial College Robotics Society – Megabyte Talks - 13 December 2011
  2. 2. Outline• About us• The DECODE vision• UAV (AUV/UGV) technology• The DECODE system• Rapid manufacturing• Future work
  3. 3. About me• Master in Computer Science – Antwerp University, Belgium• Master in Artificial Intelligence – Catholic University of Leuven, Belgium• PhD in Computational Engineering – Ghent University, Belgium – Topic: Surrogate Modeling & Surrogate based optimization – During this time also worked at • Distributed Computing Laboratory – Emory University, Atlanta, USA • Neuromodeling Lab – Carleton University, Ottawa, Canada• Research Fellow at the Computational Engineering and Design Group under Prof. Andy Keane – Southampton University, UK• Main interest: Computational Engineering & Software Development
  4. 4. Who are we?
  5. 5. What do we do?
  6. 6. Outline• About us• The DECODE vision• UAV (AUV/UGV) technology• The DECODE system• Rapid manufacturing• Future work
  7. 7. DECODE Project team• Professors: • PhD Students: – Jim Scanlan – Jeroen van Schaik – Andy Keane – Mario Ferraro – Kenji Takeda – Marc Bolinches• Post doc: – Ben Schumann • Associated: – Erika Quaranta – Dirk Gorissen – Alex Forrester – Ivan Vouchkov
  8. 8. The DECODE Project• Looking at how complex aerospace systems are designed • £800k EPSRC project• In particular, the decision making process related to the design – How are decisions made? – Who makes them? – How final are the? – How arbitrary are they? – Are they recorded?
  9. 9. Design decisions• Important to rationalize decisions – Motivate them during design review meetings• However, – Design of something is never “finished” – Time pressure leads to arbitrary detail decisions – No immediate payoff for recording rationale
  10. 10. Making decisions • Which ones matter? • Heatmap?
  11. 11. Making decisions
  12. 12. Case Study: UAVs • UAV: Unmanned Aerial Vehicles (UAS) • Mostly for military use but civilian market growing fast – Mapping/surveying, atmospheric measurements, search and rescue, wildlife management, … • UAV market in 2010: $6.6 b. & rise to $55 b. by 2020
  13. 13. UAVs: Why?• Complex enough to be taken seriously• „Simple‟ enough to be tackled within a university research project• We can go through the full lifecycle – Design -> build -> fly -> crash! – Necessary to appreciate the impact and constraints of decisions
  14. 14. UAVs: Why?• Its cool • Great for students
  15. 15. Outline• About us• The DECODE vision• UAV (AUV/UGV) technology• The DECODE system• Rapid manufacturing• Future work
  16. 16. Fixed Wing UAVs
  17. 17. Wing technology• Inflatable & morphing wings – adapt to flight conditions – no movable surfaces (better flow)
  18. 18. Wind tunnel
  19. 19. Rotary UAVs• Control hardware and software developed from scratch
  20. 20. Rotary UAVs
  21. 21. Rotary UAV - Specs• Angstrom / Open Embedded linux.• Gumstix Overo Fire, 720 MHz ARM Cortex-A8 OMAP 3530• 802.11 Wifi, Ethernet, serial TTY for IMU, I2C bus.• CH Robotics UM6 AHRS/IMU.• E-Flite Part 450 BLDC motors, 890KV.• Mikrokopter BL-CTRL electronic speed controllers, I2C setpoint• APC 12x6 Slow Fly Electric propellers.• Daventec SRF10 ground sonar.• ublox GS407 5Hz GPS• Bosh BMP085 absolute pressure altimeter.• Arduino Mini Pro 16MHz helper processors on I2C bus.• 3-cell LiPo.• Spektrum DX8.
  22. 22. Rotary UAV - Specs• Video downlink FPV kit:• vTx: IftronTech 5.8 GHz 25mW with 3dBi duck.• vRx: Yellow Jacket Diversity Pro 5.8GHz (-85dBm) with 3dBi duck and 11dBi patch.• Sony PAL/CCD camera• Fatshark FPV goggles• 9-inch LCD monitor• tripod
  23. 23. Unmanned Ground Vehicles (UGV)• Autonomous Systems Laboratory – Earth-based facility for the testing of advanced control systems sought to be applied in space
  24. 24. Autonomous Underwater Vehicles (AUV)• Autosub family – Autosub1: awarded Millennium Product status by the UK Design Council – more than 300 missions of increasing complexity over 2000 kilometres – Autosub Under Ice programme, four expeditions under sea ice and under an Antarctic floating glacier – Autosub Long Range: combining a 6000m depth capability with an endurance of 6000km
  25. 25. Autonomous Underwater Vehicles (AUV)• A concept study for air-launched underwater vehicles is also in progress.
  26. 26. Soton ASTRA• low cost platform for science missions such as pollution monitoring and weather prediction• Modular balloon launched glider
  27. 27. The „U‟ in UAV• Sky Circuits Autopilot (www.skycircuits.com)• Originally developed at the NOC• Closely affiliated with the DECODE project team
  28. 28. Sky Circuits Autopilot• Bridges the gap between very low cost / low performance systems, and high end / expensive military derived systems• 3-axis accelerometers, 3-axis gyroscopes, 3-axis magnetometers, dynamic and static pressure sensors• 80g• Adjustable flight automation level• Flight telemetry• In flight commands and mission scripts• Modular payload interface
  29. 29. Autopilot: Ground station• Ground station
  30. 30. Autopilot: Telemetry 0.15 0.1 0.05pb/2V 0 -0.05 -0.1 -0.15 0 2 4 6 8 10 12 14 16 Time (s)
  31. 31. Auto-takeoff
  32. 32. Auto Landing
  33. 33. Autopilot: Scripting# set initial parameterspressure.set_given_uav_at_zero_heightcontroller.architecture_add_links alt_by_throttle# launchcr 5base_control[pitch].command 2base_control[roll].command 0base_control[yaw].command 0..# hold current heading, set airspeed to 12 and reduce climb ratescript.store[0] hcr 2as 12..# wait till at a safe altitude (20m)script.wait_while_true "logic.less_than_float32 ht 20"nav.path 1 2 3
  34. 34. Outline• About us• The DECODE vision• UAV (AUV/UGV) technology• The DECODE system• Rapid manufacturing• Future work
  35. 35. The DECODE Project• Looking at how complex aerospace systems are designed• Enhance the decision making process
  36. 36. DECODE System• A computer system to help understand the impact of a decision• “Is it worth it?”
  37. 37. Case study: Search and Rescue
  38. 38. Search and Resuce• The RLNI has to come look for you – Helicopter costs £21 million and £6000 per hour – Lifeboat costs £150,000 and £8000 per hour
  39. 39. Search and Rescue: UAVs• Design low cost UAVs for search and rescue – UAV costs < £10,000, and< £100 per hour• Deploy to RNLI stations• Reduce load on helicopters and lifeboats
  40. 40. Designing a S&R UAV• What does a Search and Resuce UAV look like? – How big, how heavy, how fast, …• Decisions guided by an operational simulation
  41. 41. System building blocks Manufacturing
  42. 42. Concept Design / Sizing
  43. 43. Concept Design / Sizing Aero Cruise
  44. 44. Pacelab Design Suite
  45. 45. Excel spreadsheet
  46. 46. Concept Design / Sizing
  47. 47. Concept Design / Sizing
  48. 48. Concept Design / Sizing
  49. 49. CAD - SolidWorks• Difficulty: Concept CAD -> Analysis CAD• Ultimate goal: fully parametric CAD – Difficult (Impossible)
  50. 50. Aerodynamics
  51. 51. Costing
  52. 52. Operational Simulation• Recreation of sample SAR region using AnyLogic ©• Agent-Based UAVs, lifeboats, helicopter• Realistic data & procedures• Weather• Situation-based searches and decisions by coastguard
  53. 53. Design rationale• Design rationale: – The explicit listing of decisions made during a design process, and the reasons why those decisions were made.• Primary goal: – Support designers by providing a means to record and communicate the argumentation and reasoning behind the design process.• Not just on the CAD level – Also for mission, software tools, etc.
  54. 54. Compendium: Design rationale
  55. 55. Compendium Maps
  56. 56. DECODE System• How many more lives can we save by reducing the wing span by 15% ?• “Is it worth it?”
  57. 57. System Architecture
  58. 58. Excel client
  59. 59. Matlab Client
  60. 60. Trades
  61. 61. Web Client
  62. 62. Web client
  63. 63. Decode Vision• Agile UAV design system – Probe design in real time – Rough answers now, accurate answers later – Live geometry – Design rationale
  64. 64. Decode Vision
  65. 65. Outline• About us• The DECODE vision• UAV (AUV/UGV) technology• The DECODE system• Rapid manufacturing• Future work
  66. 66. Building UAVs• Focus on rapid manufacturing, 3D printing – cheap, fast – complexity comes for „free‟• But: important to know the limitations
  67. 67. SULSA• Worlds first 3D printed aircraft (that actually flew)• Fully parametric geometry
  68. 68. SULSA
  69. 69. Outline• About us• The DECODE vision• UAV (AUV/UGV) technology• The DECODE system• Rapid manufacturing• Future work
  70. 70. Project status• Halfway through design of DECODE II – Aim to fly by March• MSc course in Unmanned Systems – Supported by QinetiQ, DSTL, BAE systems, Cobham, Rolls-Royce, Roke Manor , Thales – Students will use & extend the system
  71. 71. DECODE II• ~ 25 kg • 5 hr endurance• 4.5 kg payload • 165 km/h cruise speed• 600 km range
  72. 72. Future• Interest from the BBC, Police, Met Office, Antarctic Survey, and US Navy• Potentially film Olympic Torch bearer• Rocket launched UAV from a balloon
  73. 73. Two-Seas Project• UAV monitoring system for the English channel – Pollution, smuggling, migration, ocean monitoring, … – If successful will drive DECODE III
  74. 74. Questions?• News and updates via Twitter: @elazungu

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