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2013 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献

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Trajectory control of a class of articulated aerial robots 一类铰接式空中机器人的轨迹控制
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564782
Marin Kobilarov
{"title":"Trajectory control of a class of articulated aerial robots","authors":"Marin Kobilarov","doi":"10.1109/ICUAS.2013.6564782","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564782","url":null,"abstract":"This paper studies trajectory control of aerial vehicles equipped with robotic manipulators. The proposed approach employs free-flying multi-body dynamics modeling and backstepping control to develop stabilizing control laws for a general class of underactuated aerial systems. A simulated hexrotor vehicle with a simple manipulator is employed to demonstrate the proposed techniques.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114082002","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}
引用次数: 7
Neural control for longitudinal dynamics of hypersonic aircraft 高超声速飞行器纵向动力学的神经网络控制
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564786
B. Xu, Zhong-ke Shi, Danwei W. Wang, Han Wang, Senqiang Zhu
{"title":"Neural control for longitudinal dynamics of hypersonic aircraft","authors":"B. Xu, Zhong-ke Shi, Danwei W. Wang, Han Wang, Senqiang Zhu","doi":"10.1109/ICUAS.2013.6564786","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564786","url":null,"abstract":"This paper investigated the discrete adaptive controller with neural network for the longitudinal dynamics of a generic hypersonic flight vehicle. Based on functional decomposition, we design the controller for the altitude subsystem and the velocity subsystem separately. The altitude subsystem is transformed into the explicit 4-step ahead prediction model with four 1-step ahead prediction subsequences. The control design is based on the state feedback and neural approximation. For each subsystem only one neural network is employed to approximate the lumped system uncertainty. The controller is considerably simpler than the ones based on back-stepping scheme. The velocity subsystem is transformed into the output feedback form and the indirect discrete NN controller is applied. The semiglobal uniform ultimate boundedness stability and the output tracking error are made within a neighborhood of zero. The simulation is presented to show the effectiveness of the proposed control approach.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"300 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116261979","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}
引用次数: 0
A vision-based target tracking control system of a quadrotor by using a tablet computer 基于平板电脑的四旋翼飞行器视觉目标跟踪控制系统
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564808
Jeongwoon Kim, D. Shim
{"title":"A vision-based target tracking control system of a quadrotor by using a tablet computer","authors":"Jeongwoon Kim, D. Shim","doi":"10.1109/ICUAS.2013.6564808","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564808","url":null,"abstract":"This paper proposes a vision-based target tracking system of a quadrotor. The system consists of a vision-based target detection algorithm using color and image moment of a target candidate. A flight control layer working with the vision layer and the low level quadrotor control layer is designed using the offset of the target from the center of the image frame. The image processing and control algorithms are all implemented on a latest tablet computer, which was capable of running those algorithms in real-time. The proposed system was validated on a commercially available quadrotor platform and demonstrated satisfactory target tracking performance.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123172140","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}
引用次数: 38
A literature review on Fault Diagnosis methods for manned and unmanned helicopters 有人与无人直升机故障诊断方法的文献综述
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564801
Xin Qi, D. Theilliol, Juntong Qi, Youmin Zhang, Jianda Han
{"title":"A literature review on Fault Diagnosis methods for manned and unmanned helicopters","authors":"Xin Qi, D. Theilliol, Juntong Qi, Youmin Zhang, Jianda Han","doi":"10.1109/ICUAS.2013.6564801","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564801","url":null,"abstract":"In the past two decades, the reliability and safety of helicopters have attracted the attention of many researchers. Especially with the development of Unmanned Helicopters, Fault Diagnosis approaches were used for manned or unmanned helicopter platforms. In this paper, a brief state-of-the-art on Fault Diagnosis approaches is presented for helicopters, including analytical model-based, signal processing-based and knowledge-based Fault Diagnosis approaches. A short description of fault types is presented before the main part of the review.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"19 17-19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123574915","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}
引用次数: 40
Hardware-in-the-loop simulation of an attitude control with switching actuators for SUAV 基于开关作动器的无人机姿态控制硬件在环仿真
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564682
Adriano Bittar, Neusa Maria Franco de Oliveira
{"title":"Hardware-in-the-loop simulation of an attitude control with switching actuators for SUAV","authors":"Adriano Bittar, Neusa Maria Franco de Oliveira","doi":"10.1109/ICUAS.2013.6564682","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564682","url":null,"abstract":"The attitude control law for fixed-wing small unmanned aircraft proposed in this paper is constructed based on two phases of a flight: stable flight and maneuvering flight. In the maneuvering flight, the aircraft deflects the main control surfaces (ailerons and elevator), whereas on the stable flight only the trim tabs are deflected. The switch between the two flights is done when the aircraft enters a zone in which the difference between the aircraft's attitude and the reference value that the airplane needs to reach is less than a predetermined value. The control laws are implemented on an on-board computer and are validated though Hardware-In-the-Loop (HIL) simulations, between the hardware and the flight simulator X-Plane, which simulates the unmanned aircraft dynamics, sensors, and actuators. The results presented prove that this implementation can reduce the rise time and the overshoot, compared with traditional implementations.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127574849","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}
引用次数: 7
A survey of unmanned aerial vehicles (UAVs) for traffic monitoring 用于交通监控的无人驾驶飞行器(uav)综述
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564694
Konstantinos Kanistras, Gonçalo Martins, M. Rutherford, K. Valavanis
{"title":"A survey of unmanned aerial vehicles (UAVs) for traffic monitoring","authors":"Konstantinos Kanistras, Gonçalo Martins, M. Rutherford, K. Valavanis","doi":"10.1109/ICUAS.2013.6564694","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564694","url":null,"abstract":"The focus of this paper is on surveying UAV-based systems for traffic monitoring and management. Although there has been voluminous research on the subject, unmanned aerial vehicles (UAVs) are proven to be a viable and less time-consuming alternative to real-time traffic monitoring and management, providing the eye-in-the-sky solution to the problem.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127221230","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}
引用次数: 330
Mobile networking with UAVs: Opportunities and challenges 无人机移动网络:机遇与挑战
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564779
O. K. Sahingoz
{"title":"Mobile networking with UAVs: Opportunities and challenges","authors":"O. K. Sahingoz","doi":"10.1109/ICUAS.2013.6564779","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564779","url":null,"abstract":"With the advances in computation, sensor, communication and networking technologies, utilization of Unmanned Aerial Vehicles (UAVs) for military and civilian areas has become extremely popular for the last two decades. Since small UAVs are relatively cheap, the focus is changing, and usage of several small UAVs is preferred rather than one large UAV. This change in orientation is dramatic, and it is resulting to develop new networking technologies between UAVs, which can constitute swarm UAV teams for executing specific tasks with different levels of intra and inter vehicle communication especially for coordination and control of the system. Setting up a UAV network not only extends operational scope and range but also enables quick and reliable response time. Because UAVs are highly mobile nodes for networking, setting up an ad-hoc network is a challenging issue, and this networking has some requirements, which differ from traditional networks, mobile ad-hoc networks (MANETs) and vehicular ad-hoc networks (VANETs) in terms of connectivity, routing process, services, applications, etc. In this paper, it is aimed to point out the challenges in the usage of UAVs as mobile nodes in an ad-hoc network and to depict open research issues with analyzing the opportunities and future works.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116836617","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}
引用次数: 96
A UAV based system for real time flash flood monitoring in desert environments using Lagrangian microsensors 一种基于无人机的沙漠环境中使用拉格朗日微传感器的山洪实时监测系统
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564670
Mohamed Abdelkader, Mohammad Shaqura, C. Claudel, W. Gueaieb
{"title":"A UAV based system for real time flash flood monitoring in desert environments using Lagrangian microsensors","authors":"Mohamed Abdelkader, Mohammad Shaqura, C. Claudel, W. Gueaieb","doi":"10.1109/ICUAS.2013.6564670","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564670","url":null,"abstract":"Floods are the most common natural disasters, causing thousands of casualties every year in the world. In particular, flash flood events are particularly deadly because of the short timescales on which they occur. Most casualties could be avoided with advance warning, for which real time monitoring is critical. While satellite-based high resolution weather forecasts can help predict floods to a certain extent, they are not reliable enough, as flood models depend on a large number of parameters that cannot be estimated beforehand. In this article, we present a novel flood sensing architecture to monitor large scale desert hydrological basins surrounding metropolitan areas, based on unmanned air vehicles. The system relies on Lagrangian (mobile) microsensors, that are released by a swarm of UAVs. A preliminary testbed implementing this technology is briefly described, and future research directions and problems are discussed.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114182786","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}
引用次数: 68
UAS in the (Inter)national airspace: Approaching the debate from an ethnicity perspective (国际)国家空域的无人机:从种族角度探讨辩论
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564689
Gwendolyn C. H. Bakx, J. Nyce
{"title":"UAS in the (Inter)national airspace: Approaching the debate from an ethnicity perspective","authors":"Gwendolyn C. H. Bakx, J. Nyce","doi":"10.1109/ICUAS.2013.6564689","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564689","url":null,"abstract":"This paper brings a theory from the sociological and ethnicity literature to bear on an important UAS issue - manned and unmanned flight in the same airspace. Applying acculturation theory to this issue suggests a way forward, i.e., one that could strengthen dialogue and discussion on this issue, as well as gain a more adequate scientific understanding of the socio-technological issues that this problem raises.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131115070","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}
引用次数: 2
Point navigation guidance for small unmanned helicopter under predicting future position 预测未来位置的小型无人直升机点导航制导
2013 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2013-05-28 DOI: 10.1109/ICUAS.2013.6564751
Jangho Lee, Jindeog Chung
{"title":"Point navigation guidance for small unmanned helicopter under predicting future position","authors":"Jangho Lee, Jindeog Chung","doi":"10.1109/ICUAS.2013.6564751","DOIUrl":"https://doi.org/10.1109/ICUAS.2013.6564751","url":null,"abstract":"Following the path of an autonomous, an agile vehicle in a dynamic environment is a very complex problem, especially one is required to use its full maneuvering capabilities facing crosswind condition. To resolve this issue, using bank angle to change direction of helicopter is the new trend of the current researches. This paper introduces a new point navigation guidance law which is useful for the control of the unmanned helicopter. Predicting the future position, generating the guidance law and commanding the heading are used as means of input. The suggested method differs from the conventional guidance law which is directly used the reorienting logic in the direction of flight velocity instead of directly applying bank angle. Results of simulation show that the proposed law correctly guides an unmanned helicopter along the path within a given area. Also the flight test verified the effectiveness and performance of the proposed guidance law. The proposed guidance law can be extended to the collision avoidance with a minor tuning of law.","PeriodicalId":322089,"journal":{"name":"2013 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129791254","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}
引用次数: 0
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