2023 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第2页

A Fully-Actuated Drone with Rotating Seesaws 带有旋转跷跷板的全驱动无人机

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155984

Dolev Yecheskel, S. Arogeti

引用次数: 0

Ensuring Accuracy in Auto-Bounding Box Generation for the Autonomous Aerial Refueling Mission 自主空中加油任务自动边界框生成的准确性保证

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156598

Charles J. Doherty, Donald H. Costello, M. Kutzer

{"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}

引用次数: 0

Actuator Fault Detection in Centrally Powered Variable-Pitch Propeller Quadrotor Vehicles 中央动力变螺距螺旋桨四旋翼飞行器执行器故障检测

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156173

Sanjay Chaturvedi, S. R. Sahoo

{"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}

引用次数: 0

Deep Learning–based Reassembling of an Aerial & Legged Marsupial Robotic System–of–Systems 基于深度学习的空中有足有袋类机器人系统的重组

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155866

Prateek Arora, Tolga Karakurt, Eleni S. Avlonitis, S. Carlson, Brandon Moore, David Feil-Seifer, C. Papachristos

{"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}

引用次数: 0

Intelligent Diagnosis of Engine Failure in Air Vehicles Using the ALFA Dataset 基于ALFA数据集的飞行器发动机故障智能诊断

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156213

Isadora Garcia Ferrão, Leandro Marcos da Silva, Sherlon Almeida da Silva, C. Dezan, D. Espès, K. Branco

{"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}

引用次数: 0

Design of PrisMAV: An Omnidirectional Aerial Manipulator based on a 3-PUU Parallel Mechanism 基于3-PUU并联机构的全向航空机械手PrisMAV的设计

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 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

{"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}

引用次数: 1

Online Trajectory Generation for Aerial Manipulator Subject to Multi-tasks and Inequality Constraints 多任务不等式约束下航空机械臂在线轨迹生成

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156288

Rui Chen, Qianyuan Liu, Zeshuai Chen, Kexin Guo, Xiang Yu, Lei Guo

引用次数: 0

Path Gain and Channel Capacity for HAP-to-HAP Communications HAP-to-HAP通信的路径增益和信道容量

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155817

Atakan Yılmaz, Nihan Yılmaz, G. Kalem, M. A. Durmaz

{"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}

引用次数: 1

The practical and legal aspects of geographical zones for unmanned aircraft systems in Poland - facilitation or complication? 波兰无人驾驶飞机系统地理区域的实践和法律方面-便利还是复杂?

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156280

Magdalena Ostrihansky, Sylwia Fabisiak, A. Fortońska, Matylda Berus

引用次数: 0

Consider for Best Student Paper Award Model-Free Control for Quadrotor Attitude via Tent Map-Based Pigeon-Inspired Optimization 考虑最佳学生论文奖通过帐篷地图为基础的鸽子启发的优化四旋翼姿态无模型控制

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156491

Yang Yuan, H. Duan, Chen Wei

引用次数: 0