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Prof. Kenzo NonamiDepartment of Mechanical EngineeringDivision of Artificial Systems ScienceGraduate School, Chiba University1-33 Yayoi-cho, Inage-kuChiba 263-8522, [email protected]
Dr. Kenzo Nonami has a Doctorate degree (1979) in Mechanical Engineering from Tokyo MetropolitanUniversity. He worked as an Associate Professor at Chiba University from 1988 to 1994 and as fullprofessor in the Department of Mechanical Engineering and Electronics from 2004. He won the NRCresearch fellowship at NASA (USA) in 1985 and did research on various fields like robots, unmannedsmall scale helicopter, Micro Air Vehicle to name a few. He is a member of Japan Society of MechanicalEngineers, Robotics Society of Japan, IEEE, ASME, etc. He has published more than 300 journalpapers and seven textbooks. He has guided 36 Ph.D students. He will be taking over as Vice-President of Chiba University in April 2008. He has many awards to his credit from Japan and AmericanSociety of Mechanical Engineers.
Autonomy in Robots
There is a widespread & rapid development of unmanned aircraft (UAV & MAV) equipped withautonomous control systems, called “robotic aircraft” in recent years. Although they can be used forboth civil and military applications, remarkable development has taken place for applications in militaryuse. However, by exploiting the outstanding characteristics of these devices, there are infinitepossibilities of making use of them for civilian use even though applications are not obvious. In thelight of the present scenario, we present here the recent research & development of these autonomousuninhabited aircraft for civilian use.
Chiba University UAV group started research on autonomous control from 1998, continued advancedjoint research with Hirobo, Ltd. from 2001 and realized in a small-scale hobby helicopter fullyautonomous control. We describe here the power line monitoring application of UAV calledSKYSURVEYOR. The helicopter with a gross weight of 48kgs, payload of 20kgs and with variouscameras mounted on them, with cruising time of one hour, catches power line, regardless of theshake of the helicopter. We have also developed another autonomous controlled hobby helicopterSST-eagle2-EX with a gross weight of 5kg - 7kg, payload of 1kg and cruising time of 20 minutes.This is a cheap, simple system, which can be flown by a single person and can be used for sprayingchemicals to fields, gardens, to orchards etc. It can also be used for aerial photographing, forsurveillance and for disaster prevention rescues. This system automated the hobby commercialradio control helicopter.
Chiba University and GH Craft are continuing research and development of autonomous control ofthe four rotor-tilt-wing aircraft. This QTW (Quad Tilt Wing) UAV is about 30kg in gross load, take-offand landing is made in helicopter mode and the high-speed cruising flight is carried out in airplanemode. Although Bell company in the US were the first to make this system and the first flight of theQTR(Quad Tilt Rotor)-UAV was carried out in January, 2006, QTW-UAV is not existing in the worldnow. Scientific observation flights in South pole –the Antartica Exploration using the above system isbeing done at a fast pace and there has been considerable development.
Chiba University and Seiko Epson have jointly tackled the autonomous control of micro flying robot ofthe smallest size in the world, weighing 12.3g. This offers an opportunity as a light weight MAV with
autonomous control in the interior of a room for image processing using a camera. Chiba Universitywith Hirobo, Ltd.has also succeeded in the development of a similar robot, though heavier by 170g.
The configuration of the autonomous control system in the power line monitoring helicopter hasbeen successfully demonstrated in this presentation. Generally, the autonomous UAV used forcivilian purpose consists of a power line monitoring helicopter SKYSURVEYOR as indicated earlier.The various systems which are carried on a Civil used UAV are (i) sensors for autonomous controlsuch as GPS receiver, an attitude sensor and a compass (ii) on- board computer and (iii) a powerlinemonitoring device. These will be dealt in detail in the presentation. The flight of the compound inertialnavigation of GPS/INS or 3D stereo vision base is also possible if needed. From the ground stationoperator assisted flight is also possible. In addition, although a power line surveillance image isrecorded on the video camera of UAV loading in automatic capture mode and it is simultaneouslytransmitted to a ground station, an operator can also perform posture control of a power line monitoringcamera and zooming by interruption at any time. Also, the autonomy ground robot like a hexapodrobot, a dual manipulator robots, and the autonomy marine robot like a robotic boat are brieflyintroduced in this presentation.
MAV08 1st US-Asian Demonstration and Assessment of Micro Aerial Vehicle(MAV)and Unmanned Ground Vehicle(UGV)Aerial Vehicle(MAV)and Unmanned Ground Vehicle(UGV)
Technology, 10-15 March 2008, Agra, India
Autonomy in RobotsAutonomy in Robots
Kenzo Nonami, Chiba Universityhttp://mec2.tm.chiba-u.jp/~nonami/ttp // ec t c ba u jp/ o a /
Outline1. Introduction
2.Autonomous Robots on the Ground3 Autonomous Robots in3. Autonomous Robots inthe Sky4 A t R b t th4. Autonomous Robots on the Water5.Conclusions
Recent Research topicsMine Detection Robot MHV;Mine Hunter VehicleMaster Slave Manipulator and Hand SystemMaster-Slave Manipulator and Hand SystemMaster-Slave Dual Arm SystemFully Autonomous Hexapod Walking Robot
UGV
Fully Autonomous Hexapod Walking RobotFully Autonomous Unmanned Helicopter(UAV)F ll A Fl i R b (MAV)
UAVFully AutonomousμFlying Robot(MAV)Fully Autonomous QTW-UAV(UAV)Fully Autonomous Boats
MAV
Fully Autonomous BoatsFlywheel Energy Storage System by AMBSemi-Active Susupension for Automotive
UMV
Semi Active Susupension for Automotive CarControl Theory and Its Applications
Others
Outline1. Introduction
2.Autonomous Robots on the Ground3 Autonomous Robots in3. Autonomous Robots inthe Sky4 A t R b t th4. Autonomous Robots on the Water5.Conclusions
Adaptive suspension vehicle
TITAN-XIp
OSU
The walking forest machine
Plustech TUM
Fully Autonomous Hexapod Walking Robot2002~22002 2005
Fully Autonomous Hexapod Walking RobotCOMETCOMET
COMET-I COMET-II1998~2000
2001~2002
COMET-III2002~2
Fuji TVMine detection
Spec. of COMET-IV(1) Average Velocity with tripod :1 km/h (5)Teleoperation
walking(2)Rough terrain :1 m (6)Fully autonomous
walking(3)Slope : 20 deg(4)Omni-directional locomotion(4)Omni directional locomotion
Hydraulically driven hexapod robot前進歩行 横進歩行 段差歩行 正面歩行実験
Hydraulically driven hexapod robotMine detection and Disaster restoration
Valve controller
Proportional solenoid
control valve
AD Board
危険作業支援マニピュレータ(Hazard Operation
Manipulator)ガソリンタンク:40 L(Fuel Tank)
ラダ 型フレ ム
TargetComputer
Thigh
HostComputer
WirelessLAN
比例電磁バルブ(Solenoid Valve)
制御ボックス発電機
GPS
ラダー型フレーム(Rudder Frame)
Hydraulicmotor
ShankShoulder
DA Board
制御ボックス(Control box)
ガソリンエンジン(Engine)
(Generator)
センサユニット(Sensor Unit)
Foot
Leg × 6
COMET IV
:Potentiometer:Pressure sensor:Potentiometer:Pressure sensor
油圧ポンプ/タンク:80L
(Hydraulic Pump / Tank)
バッテリボックス(Battery Box)
COMET-IV
GPS
全方位カメラ(Omni-Directional Camera)
レーザ距離計レ ザ距離計(Laser Range Finder)
ステレオビジョンカメラ(Stereo Vision Camera)ジョイスティック
(Joystick)
Master-slave
Mine Hunter Vehicle Project
JSTproject
Vision based
Autonomous cooperative control of dual manipulatorBartender BOX transfer
Outline1. Introduction
2.Autonomous Robots on the Ground3 Autonomous Robots in3. Autonomous Robots inthe Sky4 A t R b t th4. Autonomous Robots on the Water5.Conclusions
Fully autonomous UAV family at Chiba University
SF125 (48kg) SF86 (42kg)86 ( g)
SST-EAGLE2 (5.5kg)SF40 (17.5kg)
Fully autonomous UAV・MAV family at Chiba University(2)
Micro flying robot (12.3g) XRB (170g)
QTW-UAV 23kg
X-UFO (400g)
Dusting for rice paddy field by YAMAHA RMAX
Civil Use
Power Transmission Line Monitoring Helicopterby Chiba Univ Hirobo Ltd and Chugoku Power Coby Chiba Univ.,Hirobo Ltd. and Chugoku Power Co.
Civil Use
Advantages of more small-sized UAV(Unmanned
Our Motivation and GoalOur Motivation and Goal
Advantages of more small sized UAV(Unmanned Aerial Vehicle) comparing with YAMAHA RMAX
• Low cost and convenience to use (Always and• Low cost and convenience to use (Always and Anywhere)
• One or two person operation and the size put on a p p ppassenger car
Future applications
• Power transmission line minitoring (it starts soon)
• Disaster prevention information gathering• Disaster prevention information gathering
• Inspection of large structures, river, plants, etc
H manitarian demining assistance• Humanitarian demining assistance
• Environmental measurement
Important applicationImportant application
Power transmission line minitoring (This mission will start at this fall)
Disaster prevention information gathering
Trajectory following control using optimal preview controlTrajectory following control using optimal preview control
S character trajectory following flight (reproduction speed 3times)
model following sliding mode controlTrajectory following control usingTrajectory following control using
g g
Operator assistance flight control
R t h t iRecent research topics
3D stereo vision based flight controlFormation controlFormation control Development of autopilot unitM li bl t fli ht t lMore reliable autonomous flight controlAggressive flight controlMany application research for civil use
Control System Design withStereo VisionStereo Vision
Block diagram of control system
Low Cost Attitude SensorAHRS400CCAHRS400CCGU302XGU302X AHRS400CCAHRS400CC
QuaternionQuaternion based attitude determinationbased attitude determination(avoid the singularity problem(avoid the singularity problem))
3DM3DM‐‐GG CH3XCH3XComparison of attitude sensorsComparison of attitude sensors
Model GU302X AHRS400CC 3DM‐G CH3X
Size
Axis 2 3 3 3
Weight 800g 770g 30g 50g
Customizable × × × ○
Precision High Very High High Middle
Price (yen) 500,000 1,500,000 320,000 50,000
Our recent autopilot unit
Flight test by autopilot unit for SSTFlight test by autopilot unit for SST--Eagle2Eagle2--EXEX
Main Rotor Diameter 1 520[mm]Main Rotor Diameter 1,520[mm]
Tail Rotor Diameter 265[mm]Length 1,430[mm]
Onboard cameraLength 1,430[mm]Width 245[mm]Full Payload Capacity 5[kgf]
Engine 2 cycle glow engine
Main Rotor Dia.
2,500[mm]
Tail Rotor Dia. 273[mm]
Length 2,410[mm]
Width 600[mm]
Full Payload Capacity
48,000[gf]
Engine Gasoline 125[cc]
Power transmission line monitoring system by means of fully autonomous helicopter
125[cc]
SKY SURVEYOR
Power transmission line monitoring system by means of fully autonomous helicopter
自律制御装置Image
processingPC
Camera
Vision PCEmbedding system・GPS・INS/GPS
Embedding system・GPS・INS/GPS
Mesurement subsystem
stereo vision camera
PC
CCD2.4G
wireless LAN
・Attitude sensor・Attitude sensor
Safety operation
Mission commander
Advanced control systemautonomous flightmodel based control(unmanned helicopter)
・health monitoring of helicopter・image data transmitter
2.4GWireless LAN
S f iS f ti t
Safety operation・planning・surveillance・navigation&return
Navigation subsystem
Trajectory planning and Operation
・operator assist command・camera control command
Automated tracking antena
・pan/tilt
・Zooming Focus
Image data
moviedata
Suveillance monitor systemSuveillance monitor system
Path planning
navigation
Safe operation systemSafe operation systemCamera
controllerCamera
controllerjoystick
Zooming,Focus
・auto tracking(ON/OFF)Intelligent operation(Operator assist)
Intelligent operation(Operator assist)
Power transmission line monitoring system by means of fully autonomous helicopter
The World Smallest and Lightest Flying RobotThe World Smallest and Lightest Flying Robot
A Palm SizeμFRStabilizer
ジャイロ効果で機械的に飛行を安定させる
Supersonic motorsパワーウェイトレシオ(本体の重さに対するパワ の比率)世界最高対するパワーの比率)世界最高
CCD CameraCCD CameraGyro sensor厚さ1.3mm 重さ0.3g
Micro flying robot(μFR)
Specification of μFR(1)Power supply
4.2V
(2)Power 3.5W( )consumption
(3)Dimension 136mm in diameter85 i hi ht85mm in hight
(4)Maximum lift
17g MAX.
force8.6g(without battery) 12.3g(including battery)
(5)Mass each part
y)3.7g(battery)2.9g(rotary actuators)0.6g(linear actuators)g( )3.1g(electro circuit)2.0g(frame)
(6)Flying time 3 minutes
Hi h P f M tHigh Performance Motor
Efficiency Power weight ratio
C t l 25% 0 1W/gCreature muscle 25% 0.1W/g
DC motor 8-12%0 014-0 06W/gDC motor 0.014-0.06W/g
including gear loss
Super-sonic motor 25-30% 1W/gp 25 30% 1W/g
Flight principle of micro flying robot
3D Vision System
Z
M kX
Marker
Y
2.4cm×2.4cm
Modeling and Control Systemg y
4 inputs,4 output system and coupled MIMO systemXYZ
UXUYUZ
p , p y p y
YawUYaw
Single input and Single output system
UX XPx
Single input and Single output system
UY YPy
UZ ZPz
UYaw YawPθ
NHKXRB μFR
Fully autonomous QTW-UAV
Low speedHigh Speed
Helicopter modeAirplane mode Transition mode
Eageleye
Tilt-down control for QTW-UAV
V3flight V5flight V10flight NewV10flight
Way point flight and Cordination flight control
43/26Way point UGV & UAV/MAV
Autonomous Quadrotor-Based MAVs for Reconnaissance and Surveillance MissionsMAV08 1st US-Asian Demonstration and Assessment of Micro Aerial Vehicle(MAV) andUnmanned Ground Vehicle(UGV) Technology, 10-15 March 2008, Agra, India
Outline1. Introduction
2.Autonomous Robots on the Ground3 Autonomous Robots in3. Autonomous Robots inthe Sky4 A t R b t th4. Autonomous Robots on the Water5.Conclusions
Research and Development of Fully Autonomous U d B t f 3D M i f S b d B ttUnmanned Boat for 3D Mapping for Seabed, Bottom of the Lake, and River Bottom
Lake test Sea test
Spec of robotic boatSpec. of robotic boat
L th 1060Length: 1060mmHeight: 250mmWeight: 12 kgWeight: 12 kgMax.Speed: 1.2m/s
Actuator: DC MotorSensors: GPS, sonar, temperature
Rudder Screw
Sea test: Trajectroy following controlj y g
Sea test: Trajectroy following controlj y g
Outline1. Introduction
2.Autonomous Robots on the Ground3 Autonomous Robots in3. Autonomous Robots inthe Sky4 A t R b t th4. Autonomous Robots on the Water5.Conclusions
Conclusions and Future’s workConclusions and Future s work
Formation and cordination control of UAV,MAV,UGV and UMVIntegrated hierarchical control of UAV to gUMV : Various classes control simultaneouslyHigh precision trajectory following control All weather type autonomous vehiclesypAn intelligent system and operation management gVision based fully autonomous vehicles