Laboratory of Critical Embedded
Systems (LSEC)
Supervisor: Profa. Dra. Kalinka R. L. J. C. Branco

A control system focused on
minimizing drift - specification of a
VTOL
Natássya B. F. da Silva

Concepts
• UAV (Unmanned Aerial Vehicles)
▫ Critical Embedded System.
▫ Composed by sensors, microprocessors and
communication units.
▫ Ground station.

Concepts
• VTOL (Vertical Takeoff and Landing)
▫ Fixed-wing aircrafts, helicopters and others with
powered rotors like quadcopters.
▫ Increased flexibility.
• Tailsitter
▫ Takeoff and land on its tail.
▫ Uncomfortable position for the pilot.

Concepts
• VTOL operation.

Concepts
• PID Control (Proportional, Integral and
Derivative)

Application Scenario
• A manned aircraft is responsible for the
pesticide spraying.
• VTOL used for direct sensing.
• Communication with the manned aircraft.
• Minimize the drift.

Objective
• To build a control system that allows the VTOL
to fly autonomously in its three modes:
takeoff, land and cruise.

Tools and Techniques
• Model Driven Development.
• Simulink and Real-Time Workshop.

Tools and Techniques

Tools and Techniques
• X-Plane Simulator

Tools and Techniques
• Hardware in the loop

Extending unmanned aircraft systems:
specification of a data communication
architecture
Daniel F. Pigatto

Goals
• There are researches that specify and validate
architectures for UAS, but they do not focus
specifically on data communication aspects;
• These researches also do not consider the
concept of IFA (In-flight awareness), which is
based on Sense and avoidance;
• The main goal of this project is the
development of a data communication
architecture for UAS.

Reference
model for
UAV
architectures

Reference
model for
UAV
architectures

Service-oriented architectures for
complex safety-critical embedded
systems: a case study on UAVs
Douglas Rodrigues

PhD Project
• This project proposes the use of SOA for critical
embedded systems, focusing on UAVs.
• The approach proposed in this PhD project
considers critical embedded systems can be
divided into sections of low and high
criticality, from a reference model architecture
for UAVs proposed in Rodrigues et al. (2011).

PhD Project
• KBF extends the broker service discovery
capability adding knowledge about the
application domain.
• In this way, the application designer, or even the
application itself, can choose or compose the
best service based on a set of usage rules and
some selection criteria such as:
▫ dependability, security, performance and real
time response.

Development of a Plug and Play
Mechanism for using Smart Sensors
Arrays in UAVs
Rayner M. Pires

Objectives
• Contribute for the progress of UAV autonomy
• Dissociate from the aircraft the mission
processing task
▫ Use of MOSA (Mission-Oriented Sensors Array)
▫ Proposal and development of
SSP (Smart Sensor Protocol) and
SSI (Smart Sensor Interface)

Mission-Oriented Sensors Array

SSP
Hardware
connection
Data exchange
via SSP/SSI
⁞
Mission
accomplishment

SSP
Connection and Mission parameters On-the-fly
Mission feasibility data
Session establishment negotiation
exchange
•Is it na aircraft?
•Is it ready to fly?
•What’s the estimated
remaining autonomy
time? MOSA and UAV
•Feasible
•Can it fly over the given •Partially feasible
exchange data while
GPS points? •Unfeasible mission
•Can it fly under specific accomplishment
speed and height?
•Does it have external
services?
•How can they be
invoked?

SSI
• It’s a connection middleware
• Via of communication between both parts
• Enables conversation through SSP

Generation of spectral signatures for
detection of pathologies in Eucalyptus
crops - A study using UAVs
Adimara B. Colturato

Objective
• Comparison between:
▫ Direct methods -
counting diseased plants
and quantification of the
percentage of injured
tissue by pathogens
▫ Indirect methods - analysis of
reflectance at different wavelengths
(multispectral analysis) making use
UAV's and image processing.

Pathologies considered
Rust
Ceratocystis wilt
Tip drought
Bronze bug

Objective
• The spectral signatures produced will be used in
the design of specific low cost multispectral
sensors that can be embedded in UAVs for the
automatic mapping of each problem.

Computer Network Virtualization: An
approach considering mobility and
georeferencing
Paulo Henrique Moreira Gurgel

Difficulties in the study of computer
networks
• How to study computer networks?
▫ Routing protocols? (RIP, OSPF, EIGRP)
▫ How to verify if the message was really sent from a
machine to another one?
▫ How to test a distributed application without the
final environment?

Visiting a network laboratory

Scenario Sample

Virtualization x Simulation
• Virtualization as a solution
▫ You can go further
▫ Not restricted by simulation rules

Cisco Packet Tracer

Netkit Tool

Mobile Networks
• More protocols and equipments
▫ Ad-hoc networks
▫ Wireless Routers
▫ GPRS, GSM, 3G, 4G, etc.
▫ GPS

Master Degree Project
• The actual tool does not supports mobility.
▫ Need of mobile devices
▫ Use of embedded devices special virtual machines

Structural Diagram

Structural Diagram

Draft 1

Draft 2

Thank you!