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doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Project: IEEE P802.15 Working Group for Wireless Personal Area Networks (WPANs)Submission Title: [IG DEP Wireless Technologies to Assist Search and Localization of Victims of Wide-scale Natural Disasters by Unmanned Aerial Vehicles(UAVs) ]Date Submitted: [6 March 2018]Source: [Takumi Kobayashi1, Satoshi Seimiya1, Kouhei Harada1 , Masaki Noi1, Zane Barker4, Josh McCulloch4, Andreas Willig4, Graeme K Woodward4, Ryuji Kohno1,2,3] [1;Yokohama National University, 2;Centre for Wireless Communications(CWC), University of Oulu, 3;University of Oulu Research Institute Japan CWC-Nippon, 4;University of Canterbury, New Zealand] Address [1; 79-5 Tokiwadai, Hodogaya-ku, Yokohama, Japan 240-8501
2; Linnanmaa, P.O. Box 4500, FIN-90570 Oulu, Finland FI-900143; Yokohama Mitsui Bldg. 15F, 1-1-2 Takashima, Nishi-ku,Yokohama, Japan 220-0011]
Voice:[1; +81-45-339-4115, 2:+358-8-553-2849], FAX: [+81-45-338-1157], Email:[1: [email protected], 2: [email protected], 3: [email protected]] Re: []Abstract: [This a part of the authort’s plenary keynote in 20th International Symposium On Wireless Personal Multimedia Communications (WPMC2017), Royal Ambarrukmo Yogyakarta, Indonesia, December 19, 2017. As a typical use case of dependable wireless networks, reliable sensing and controlling multiple UAVs is introduced]Purpose: [information]Notice: This document has been prepared to assist the IEEE P802.15. It is offered as a basis for discussion and is not binding on the contributing individual(s) or organization(s). The material in this document is subject to change in form and content after further study. The contributor(s) reserve(s) the right to add, amend or withdraw material contained herein.Release: The contributor acknowledges and accepts that this contribution becomes the property of IEEE and may be made publicly available by P802.15.
Slide 1
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Wireless Technologies to Assist Search and Localization of Victims of Wide-scale
Natural Disasters by Unmanned Aerial Vehicles(UAVs)
Slide 2
March 2018
Ref. 1. A part of plenary keynote speech in the 20th International Symposium On Wireless Personal Multimedia Communications (WPMC2017), Royal Ambarrukmo Yogyakarta, Indonesia, December 19, 20172. 2016-2017 NZ(UC)-Japan(YNU) Joint Project: Dependable Wireless Body Area Networks to Support Search and Rescue and Medical Treatment in Disaster Scenarios Using Multiple UAVs
Takumi Kobayashi*, Satoshi Seimiya*, Kouhei Harada* , Masaki Noi*, Zane Barker**, Josh McCulloch**, Andreas
Willig**, Graeme K Woodward** , and Ryuji Kohno*†*Graduate School of Engineering, Yokohama National University, Japan
**,,University of Canterbury, New Zealand
† University of Oulu Research Institute Japan–CWC-Nippon, Co. Ltd.
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)3
Yokohama National University
Earthquakes in Christchurch, NZ on Feb.22, and in Fukushima, Japan on March 11, 2011
Fukushima
Christchurch
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Emergency in Disasters e.g. Earthquake, Tsunami
• In case of emergent disaster environment such as earthquake and Tsunami, Dependable networks must be important to rescue victims and recovering infrastructure.
4
• Most of existing infrastructure networks are not available to find and rescue victims.
• Dependable and cost effective emergency networks are necessary to guarantee life and life line for human living.
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Search and Rescue for Victims in Disaster
• Due to damage of buildings, it is very difficult that to find victims remained in broken buildings.
• To deliver rescue team and robot, victim location should be found.
5
• UAVs (Unmanned Aerial Vehicles) or Drones can be applied by cost effective manner.
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Joint Japan and New Zealand Project forSearch and Rescue in Disaster by Using Multipole UAVs(Drones)
• UAVs or drones which can…– be used indoor and outdoor– be operated by anyone– hover in mid air stably– be easy remote controllable
is suitable for search and rescue victims.
6
Subject: Dependable Sensing and Controlling Multiple Drones
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)7
2016-2017 NZ(UC)-Japan(YNU) Joint Project;Dependable Wireless Body Area Networks to Support Search and Rescue
and Medical Treatment in Disaster Scenarios Using Multiple UAVs
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)8
University of Canterbury
Yokohama National
University
Wireless Communication
Drone
GPS positioning
Practical skill
Experiment
Operation
Highly reliable, dependable
communication
Reliable control communication
UWB
Localization
MICT
BAN
2016-2017 NZ(UC)-Japan(YNU) Joint Project;Dependable Wireless Body Area Networks to Support Search and
Rescue and Medical Treatment in Disaster Scenarios
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
2016-2017 NZ(UC)-Japan(YNU) Joint Project;Dependable Wireless Body Area Networks to Support Search and Rescue
and Medical Treatment in Disaster Scenarios Using Multiple UAVs
9
mobile’s base station
GNSS: GPS, GLONAS, BeiDou, QZS(Quasi-Zenith Satellite System)
Unexplored area episode bldgs.
Anchor nodes
Victim
Base station
Step1; Positioning for anchor node UAVs using GNSS
Step2; Expanding UWB ranging area by recursive process
Step3; Localization of victim by TDOA ranging with UWB-BAN
Step4; Triage using sensed vital signs from UWB-BAN
Step5; Wireless power transmission to recharge battery of UAVs
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Flowchart to Search CasualtiesGNSS Positioning for anchor nodes
Spreading the seek areaFor UWB positioning
UWB communication between UAV and BAN devices
UWB Positioning for casualties
Communication between UAVs and base station for triage
Detection of BAN signals of casualties
10
Okamoto
Noi
No
Yes
Wireless power feeding Harada
UWB communication between UAVs
Kinugasa
Seimiya
Seimiya
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
GNSS Positioning for anchor nodes
Spreading the seek areaFor UWB positioning
UWB communication between UAV and BAN devices
UWB Positioning for casualties
Communication between UAVs and base station for triage
Detection of BAN signals of casualties
11
Okamoto
Noi
No
Yes
Wireless power feeding Harada
UWB communication between UAVs
Kinugasa
Seimiya
Seimiya
Flowchart to Search CasualtiesMarch 2018
11
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Cooperative Satellite Positioning for UAVs with UWB Ranging Measurements
12
GNSS positioning for anchor nodes
Key IssuesCan we cancel the main errors included in GNSS measurement by using several drones where are located in short distance?
Key Ideas• Cooperative satellite positioning
can cancel main errors e.g. ionosphere delay, troposphere delay, satellite clock offset etc.
• Use of UWB ranging measurement may reduce positioning error
• Combining GNSS positioning and UWB ranging is new.
GPS
GLONAS
BeiDou
QZS
Geolocaton Using Multiple GNSS such as GPS, GLONAS, BeiDou and QZS
March 2018
12
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Cooperative Satellite Positioning for UAVs with UWB Ranging Measurements
1) Mathematical ModelResidual of pseudorange measurements between rcv 𝑎𝑎 and rcv 𝑏𝑏�𝜌𝜌𝑎𝑎,𝑏𝑏𝑗𝑗 = 𝜌𝜌𝑎𝑎
𝑗𝑗 − 𝜌𝜌𝑏𝑏𝑗𝑗 = 𝑟𝑟𝑎𝑎
𝑗𝑗 − 𝑟𝑟𝑏𝑏𝑗𝑗 + 𝑠𝑠𝑎𝑎 − 𝑠𝑠𝑏𝑏 + 𝜖𝜖
∆ �𝜌𝜌𝑎𝑎,𝑏𝑏𝑗𝑗 = 𝑥𝑥𝑎𝑎−𝑥𝑥𝑗𝑗
𝑟𝑟𝑎𝑎𝑗𝑗 ∆𝑥𝑥𝑎𝑎 + 𝑦𝑦𝑎𝑎−𝑦𝑦𝑗𝑗
𝑟𝑟𝑎𝑎𝑗𝑗 ∆𝑦𝑦𝑎𝑎 + 𝑧𝑧𝑎𝑎−𝑧𝑧𝑗𝑗
𝑧𝑧𝑎𝑎𝑗𝑗 ∆𝑧𝑧𝑎𝑎 −
𝑥𝑥𝑏𝑏−𝑥𝑥𝑗𝑗
𝑟𝑟𝑏𝑏𝑗𝑗 ∆𝑥𝑥𝑏𝑏 −
𝑦𝑦𝑏𝑏−𝑦𝑦𝑗𝑗
𝑟𝑟𝑏𝑏𝑗𝑗 ∆𝑦𝑦𝑏𝑏 −
𝑧𝑧𝑏𝑏−𝑧𝑧𝑗𝑗
𝑧𝑧𝑏𝑏𝑗𝑗 ∆𝑧𝑧𝑏𝑏 + ∆𝑠𝑠𝑎𝑎 − ∆𝑠𝑠𝑏𝑏
∆da,b = 𝑥𝑥𝑎𝑎−𝑥𝑥𝑏𝑏𝑑𝑑𝑎𝑎,𝑏𝑏
∆𝑥𝑥𝑎𝑎 + 𝑦𝑦𝑎𝑎−𝑦𝑦𝑏𝑏𝑑𝑑𝑎𝑎,𝑏𝑏
∆𝑦𝑦𝑎𝑎 + 𝑧𝑧𝑎𝑎−𝑧𝑧𝑏𝑏𝑑𝑑𝑎𝑎,𝑏𝑏
∆𝑧𝑧𝑎𝑎 −𝑥𝑥𝑎𝑎−𝑥𝑥𝑏𝑏𝑑𝑑𝑎𝑎,𝑏𝑏
∆𝑥𝑥𝑏𝑏 −𝑦𝑦𝑎𝑎−𝑦𝑦𝑏𝑏𝑑𝑑𝑎𝑎,𝑏𝑏
∆𝑦𝑦𝑏𝑏 −𝑧𝑧𝑎𝑎−𝑧𝑧𝑏𝑏𝑑𝑑𝑎𝑎,𝑏𝑏
∆𝑧𝑧𝑏𝑏
Estimation by the least square method𝑿𝑿 = 𝑨𝑨−1𝑩𝑩Unknown state vector: (4𝑛𝑛 × 1)𝑿𝑿 = ∆𝑥𝑥1,∆𝑦𝑦1,∆𝑧𝑧1,⋯ ,∆𝑥𝑥𝑛𝑛,∆𝑦𝑦𝑛𝑛 ,∆𝑧𝑧𝑛𝑛,∆𝑠𝑠1,⋯ ,∆𝑠𝑠𝑛𝑛 𝑇𝑇
Vector of measurements: (𝑛𝑛(𝑛𝑛 − 1)(𝑚𝑚 + 1)/2 × 1)
𝑩𝑩 = 𝜌𝜌1,1,⋯𝜌𝜌𝑛𝑛,𝑚𝑚 ,𝑑𝑑1,2,⋯ ,𝑑𝑑𝑖𝑖,𝑗𝑗 ,⋯ ,𝑑𝑑𝑛𝑛−1,𝑛𝑛𝑇𝑇
13
Positioning for anchor nodes using GNSS
𝑠𝑠𝑎𝑎𝜖𝜖𝑛𝑛𝑚𝑚
Receiver 𝑎𝑎 clock offset (m)Noise (m)Num. of receiversNum. of satellites
Schedule1) Mathematical model construction2) Logging GNSS measurements ← Ongoing3) Performance evaluation4) Experiment using drone
Distance between rcv 𝑖𝑖 and sat 𝑗𝑗𝑟𝑟𝑖𝑖𝑗𝑗 = 𝒙𝒙𝑖𝑖 − 𝒙𝒙𝑗𝑗
Distance between rcv 𝑎𝑎 and rcv𝑏𝑏𝑑𝑑𝑎𝑎,𝑏𝑏 = 𝒙𝒙𝑎𝑎 − 𝒙𝒙𝑏𝑏
Geometry matrix: (𝑛𝑛(𝑛𝑛 − 1)(𝑚𝑚 + 1)/2 ×4𝑛𝑛)
𝑨𝑨 = 𝑨𝑨𝒙𝒙 𝑨𝑨𝒔𝒔𝑨𝑨𝒅𝒅 𝑶𝑶
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
2) Logging GNSS measurements in NZ (Plan)Logging using two GNSS receivers
14
Schedule1) Mathematical model construction2) Logging GNSS measurements ← Ongoing3) Performance evaluation4) Experiment using drone
RCV a RCV b
𝑑𝑑𝑎𝑎,𝑏𝑏
PC PC
Cooperative Satellite Positioning for UAVs with UWB Ranging Measurements
Positioning for anchor nodes using GNSSMarch 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Flowchart to Search CasualtiesGNSS Positioning for anchor nodes
Spreading the seek areafor UWB positioning
UWB communication between UAV and BAN devices
UWB Positioning for casualties
Communication between UAVs and base station for triage
Detection of BAN signals of casualties
15
Okamoto
Noi
No
Yes
Wireless power feeding Harada
UWB communication between UAVs
Kinugasa
Seimiya
Seimiya
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Geolocation & Error Compensation for UAVs
16
Spreading the seek area
Key IssuesHow to search the victims trapped inside buildings where GNSS signals cannot be received?
Key Ideas• Recursive process spreads the seek
area.
Anchor nodes
Anchor nodes
Unexplored area
Positioning for UAV in unexplored area by using
UAVs in explored area
Move UAVs to un explored area
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)17
Schedule1) Design UWB ranging and communication
model in 3D area2) Design searching algorithm3) Write searching simulation program
↑Ongoing4) Consider search precision and throughput5) Experiment and evaluation
Fig.2 Flow chart
■ : Node― : Movement・ : Positioning
Fig.1 Positioning in 3D area
1) Design UWB ranging and communication model in 3D area
2) Design searching algorithm
Geolocation & Error Compensation for UAVsSpreading the seek area
17
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)18
Schedule1) Design UWB ranging and
communication model in 3D area2) Design searching algorithm3) Write searching simulation program
↑Ongoing4) Consider search precision and
throughput5) Experiment and evaluation
Fig.3 Searching simulation
Search by five dronesThe case which rough information:
• 100m × 100m × 3m• Flat• No obstacle• AWGN model
3) Write searching simulation program Geolocation & Error Compensation for UAVs
Spreading the seek areaMarch 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Flowchart to Search CasualtiesGNSS Positioning for anchor nodes
Spreading the seek areaFor UWB positioning
UWB communication between UAV and BAN devices
UWB Positioning for casualties
Communication between UAVs and base station
Detection of BAN signals of casualties
19
Okamoto
Noi
No
Yes
Wireless power feeding Harada
UWB communication between UAVs
Kinugasa
Seimiya
Seimiya
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Cooperative Localization of Casualties Using UWB-BAN
20
UWB positioning for casualties
Key IssuesWhat is the best positional relation between anchor node (UAV) and target node (victim) for precise positioning?
Key Ideas
Identify the area, where victim is, using
UWB ranging
Precise localizationusing particle filter
Rough
Fine
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)21
Flowchart of localization of casualties
Schedule 1) Algorithm construction2) Simulation
←Ongoing3) Performance
evaluation
Cooperative Localization of Casualties Using UWB-BAN
UWB positioning for casualtiesMarch 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)22
Schedule 1) Algorithm construction2) Simulation ←Ongoing3) Performance evaluation
Cooperative Localization of Casualties Using UWB-BAN
UWB positioning for casualtiesMarch 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)23
UAVs Target Estimate point
2) SimulationUAVs, arranged in a triangle shape, fly at same heightNum. of trials = 1000
Schedule 1) Algorithm construction2) Simulation ←Ongoing3) Performance evaluation
Future Works• Evaluation in NLOS environment• Algorithm to search multi-casualties
Cooperative Localization of Casualties Using UWB-BAN
UWB positioning for casualtiesMarch 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Flowchart to Search CasualtiesGNSS Positioning for anchor nodes
Spreading the seek areaFor UWB positioning
UWB communication between UAV and BAN devices
UWB Positioning for casualties
Communication between UAVs and base station
Detection of BAN signals of casualties
24
Okamoto
Noi
No
Yes
Wireless power feeding Harada
UWB communication between UAVs
Kinugasa
Seimiya
Seimiya
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)25
Communication between BAN device and UAVs
START
Manual Distance Measurement for 𝑑𝑑01 and 𝑑𝑑03
Manual Delay Time Measurementfor 𝑇𝑇01, 𝑇𝑇02 and 𝑇𝑇03 with the app. of
“MeasRng”
Derivation of 𝑑𝑑02 and off-setwith the calculation program of
“keisan.m”
1000 Trials
Filling all of the data into the Positioning Software “TDOAv3”, then
push the start button
END
Estimating Channel Conditions to Realize Dependable Wireless Control among Multi-Drone Environment
Movie: Practice of Controlling a Drone
◎ Drone + UWB Tag
× Drone + Anchor Node
Schedule for Experiments1) Position Estimation
using a Drone with the Existing UWB System ← Ongoing
2) Trials to Synchronize among Drones, Wirelessly
3) Position Estimation with Multi Drones inside the Building
4) Experiment outside the Building
Movie: A Drone with A UWB Tag
Movie: A Drone with an Anchor Node
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)26
Key IssuesHow to keep the connections (1)among Multi Drones and (2)between a Drone and a tagas long as possible?Key Ideas• By using QoS-HARQ, the unequal error protection(UEP) will be realized.• QoS-HARQ will reduce the power consumption of each drone and expand the
searching time.
Schedule for Theoretical Analysis1) With the rotary inverted pendulum,
propose the unequal error protection scheme
2) Changing the controlled object into the rotary camera model, which has several sensing data and control variables← Ongoing
3) Apply our UEP scheme for multi drones:
Schedule for Experiments1) Position Estimation using a Drone with the
Existing UWB System ← Ongoing2) Trials to Synchronize among Drones,
Wirelessly3) Position Estimation within Multi Drones
inside/outside the Building 4) Position Estimation outside Multi Dronesinside/outside the Building
:
Changing the Capability of Error Correction depending on the QoS and the channel environment
Communication between BAN device and UAVsEstimating Channel Conditions to Realize Dependable Wireless Control among Multi-Drone Environment
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)27
Average Time of 1000 Trials
START
Manual Distance Measurement for 𝑑𝑑01 and 𝑑𝑑03
Manual Propagation Time Measurementfor 𝑇𝑇01, 𝑇𝑇02 and 𝑇𝑇03 with the app. of
“MeasRng”
Derivation of 𝑑𝑑02 and off-setwith the calculation program of
“keisan.m”
Filling all of the data into the Positioning Software “TDOAv3”,
then push the start button
ENDFig: Flowchart of the UWB Measurement with TDOA Fig: Layout of Anchor Nodes and a Tag @Mitsui Building
In case of applying the conventional UWB positioning system, we have to set the environment as below, and we need to set up the system with the process as the right figure.
Communication between BAN device and UAVsEstimating Channel Conditions to Realize Dependable Wireless Control among Multi-Drone Environment
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Flowchart to Search CasualtiesGNSS Positioning for anchor nodes
Spreading the seek areaFor UWB positioning
UWB communication between UAV and BAN devices
UWB Positioning for casualties
Communication between UAVs and base station
Detection of BAN signals of casualties
28
Okamoto
Noi
No
Yes
Wireless power feeding Harada
UWB communication between UAVs
Kinugasa
Seimiya
Seimiya
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Feedback Control of Wireless Power Transfer to UAVs
29
Wireless power feeding
Key IssuesHow to supply power high efficiency?Key Ideas• Receiver transmits UWB signals to transmitters.
(Fig.1)• Transmitters calculate Receiver’s position.• One of transmitter transmits power to receiver.
(Fig.2)
TT
TT R
TT
TT R
Fig.1
Fig.2
Transmitting pulse
START
Changing transmitted powerdepends on the distance
Power transmission
Charge completion
END
Receiving pulse
Estimation of position of R
YES
NO
UWBsystem
WPTsystem
Receiver measures input power
Notice power is unsuitable to transmitter
Is Input power
optimal?YES
NO
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)30
TT
TT R
TT
TT RKey IssuesHow to supply power high efficiency?Key Ideas• Receiver transmits UWB signals
to transmitters. (Fig.1)• Transmitters calculate
Receiver’s position.• One of transmitter transmits
power to receiver. (Fig.2)
Fig.1
Fig.2
Communication between BAN device and UAVsEstimating Channel Conditions to Realize Dependable Wireless Control among Multi-Drone Environment
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)31
Schedule1) Mathematical model construction2) Performance evaluation in ideal evaluation←
Ongoing3) Performance evaluation in consideration of errors4) Increasing the getting power
Rectenna’s modelArray antenna model
Communication between BAN device and UAVsEstimating Channel Conditions to Realize Dependable Wireless Control among Multi-Drone Environment
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Wireless Feedback Sensing and Controlling Loop for Rescue of Victims
controllerWirelesschannel
NavigationRescue Team UAVs/Drones
Localization
For Remote Controlling UAVs
By Using GNSS and Localization of UAVs/Drones
KWirelesschannel
Bd 1/S
Ad
u[k]r[k]
u[k]
x[k] x[k]
y[k]
^
^
++
+-
ControllerUAVs/Drones Model and LocalizingSystem
Remote Localization and Rescue of Missing Victims Using Wireless Dependable BAN of Things/M2M
Feedback Delay Loop Model with Motion Equation
Missing Victims
32
March 2018
doc.: IEEE 802.15-18-0132-00-0dep
Submission Ryuji Kohno(YNU/CWC-Nippon)
Concluding Remarks(1) UAV or drone is an example of machine for us to research and
develop dependable remote sensing and controlling, and to extend to apply the same technologies to autonomous driving cars.
(2) We can apply our established dependable and trustworthy wireless networking, computing and data mining for remote medicine to these remote sensing and controlling UAVs, cars, robots and other machines which all are life critical applications.
(3) The joint team between New Zealand and Japan has submitted the next project on Dependable Remote Monitoring All Social Infrastructures to be extended from the current project.
(4) Japanese team is coordinating more projects with USA and EU..
33
March 2018