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"Click here" to build your UAV
1. âClick hereâ to design &
build your UAV
Dirk Gorissen
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Imperial College Robotics Society â Megabyte Talks
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13 December 2011
2. Outline
⢠About us
⢠The DECODE vision
⢠UAV (AUV/UGV) technology
⢠The DECODE system
⢠Rapid manufacturing
⢠Future work
3. About me
⢠Master in Computer Science â Antwerp University, Belgium
⢠Master in Artificial Intelligence â Catholic University of Leuven, Belgium
⢠PhD in Computational Engineering â Ghent University, Belgium
â Topic: Surrogate Modeling & Surrogate based optimization
â During this time also worked at
⢠Distributed Computing Laboratory â Emory University, Atlanta, USA
⢠Neuromodeling Lab â Carleton University, Ottawa, Canada
⢠Research Fellow at the Computational Engineering and Design Group
under Prof. Andy Keane â Southampton University, UK
⢠Main interest: Computational Engineering & Software Development
6. Outline
⢠About us
⢠The DECODE vision
⢠UAV (AUV/UGV) technology
⢠The DECODE system
⢠Rapid manufacturing
⢠Future work
7. DECODE Project team
⢠Professors: ⢠PhD Students:
â Jim Scanlan â Jeroen van Schaik
â Andy Keane â Mario Ferraro
â Kenji Takeda â Marc Bolinches
⢠Post doc: â Ben Schumann
⢠Associated:
â Erika Quaranta
â Dirk Gorissen â Alex Forrester
â Ivan Vouchkov
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
â How are decisions made?
â Who makes them?
â How final are the?
â How arbitrary are they?
â Are they recorded?
9. Design decisions
⢠Important to rationalize decisions
â Motivate them during design
review meetings
⢠However,
â Design of something is never
âfinishedâ
â Time pressure leads to
arbitrary detail decisions
â No immediate payoff for
recording rationale
12. Case Study: UAVs
⢠UAV: Unmanned Aerial Vehicles (UAS)
⢠Mostly for military use but civilian market growing fast
â Mapping/surveying, atmospheric measurements, search
and rescue, wildlife management, âŚ
⢠UAV market in 2010: $6.6 b. & rise to $55 b. by 2020
13. UAVs: Why?
⢠Complex enough to be taken seriously
⢠âSimpleâ enough to be tackled within a university research
project
⢠We can go through the full lifecycle
â Design -> build -> fly -> crash!
â Necessary to appreciate the impact and constraints of
decisions
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. 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. Unmanned Ground Vehicles (UGV)
⢠Autonomous Systems Laboratory
â Earth-based facility for the testing of advanced control
systems sought to be applied in space
24. Autonomous Underwater Vehicles (AUV)
⢠Autosub family
â Autosub1: awarded Millennium Product status by the UK Design
Council
â more than 300 missions of increasing complexity over 2000
kilometres
â Autosub Under Ice programme, four expeditions under sea ice and
under an Antarctic floating glacier
â Autosub Long Range: combining a 6000m depth capability with an
endurance of 6000km
26. Soton ASTRA
⢠low cost platform for science missions such as pollution
monitoring and weather prediction
⢠Modular balloon launched glider
27. The âUâ in UAV
⢠Sky Circuits Autopilot (www.skycircuits.com)
⢠Originally developed at the NOC
⢠Closely affiliated with the DECODE project team
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
38. Search and Resuce
⢠The RLNI has to come look for you
â Helicopter costs ÂŁ21 million and ÂŁ6000 per hour
â Lifeboat costs ÂŁ150,000 and ÂŁ8000 per hour
39. Search and Rescue: UAVs
⢠Design low cost UAVs for search and rescue
â UAV costs < ÂŁ10,000, and< ÂŁ100 per hour
⢠Deploy to RNLI stations
⢠Reduce load on helicopters and lifeboats
40. Designing a S&R UAV
⢠What does a Search and Resuce UAV look like?
â How big, how heavy, how fast, âŚ
⢠Decisions guided by an operational simulation
52. Operational Simulation
⢠Recreation of sample SAR
region using AnyLogic Š
⢠Agent-Based UAVs,
lifeboats, helicopter
⢠Realistic data & procedures
⢠Weather
⢠Situation-based searches
and decisions by coastguard
53. Design rationale
⢠Design rationale:
â The explicit listing of decisions made during a design
process, and the reasons why those decisions were
made.
⢠Primary goal:
â Support designers by providing a means to record and
communicate the argumentation and reasoning behind
the design process.
⢠Not just on the CAD level
â Also for mission, software tools, etc.
63. Decode Vision
⢠Agile UAV design system
â Probe design in real time
â Rough answers now, accurate answers later
â Live geometry
â Design rationale
65. Outline
⢠About us
⢠The DECODE vision
⢠UAV (AUV/UGV) technology
⢠The DECODE system
⢠Rapid manufacturing
⢠Future work
66. Building UAVs
⢠Focus on rapid manufacturing, 3D printing
â cheap, fast
â complexity comes for âfreeâ
⢠But: important to know the limitations
67. SULSA
⢠Worlds first 3D printed aircraft (that actually flew)
⢠Fully parametric geometry
69. Outline
⢠About us
⢠The DECODE vision
⢠UAV (AUV/UGV) technology
⢠The DECODE system
⢠Rapid manufacturing
⢠Future work
70. Project status
⢠Halfway through design of DECODE II
â Aim to fly by March
⢠MSc course in Unmanned Systems
â Supported by QinetiQ, DSTL, BAE systems, Cobham,
Rolls-Royce, Roke Manor , Thales
â Students will use & extend the system
71. DECODE II
⢠~ 25 kg ⢠5 hr endurance
⢠4.5 kg payload ⢠165 km/h cruise speed
⢠600 km range
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. Two-Seas Project
⢠UAV monitoring system for the English channel
â Pollution, smuggling, migration, ocean monitoring, âŚ
â If successful will drive DECODE III