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Research & Engineering Research & Engineering Center Center
for for Unmanned VehiclesUnmanned Vehicles
Graduate Recruitment Visit March 9th, 2006
Cory DixonPh.D. Candidate
3/9/2006 http://recuv.colorado.edu 2
The Research and Engineering Center for Unmanned Vehicles at the University of Colorado at Boulder is a university, government, and industry partnership dedicated to advancing knowledge and capabilities in using unmanned vehicles for scientific experiments, collecting geospatial data, mitigation of natural and man-made disasters, and defense against terrorist and hostile military activities.
Research and Engineering Center forUnmanned Vehicles
University of Colorado at Boulderhttp://recuv.colorado.edu
Research & Engineering Research & Engineering Center for Unmanned Center for Unmanned
VehiclesVehicles
3/9/2006 http://recuv.colorado.edu 3
RECUV ProjectsRECUV Projects
3/9/2006 http://recuv.colorado.edu 4
Multidisciplinary Multidisciplinary FacultyFaculty
(and students)(and students)Brian Argrow AE
SPlatforms
Penny Axelrad
AES
GPS, Navigation
John Bennett CS Distributed Systems
Tim Brown ECE
ITP
Ad Hoc Comms
Bill Emery AES
Remote Sensing
Eric Frew AES
Collaborative Nav
Harvey Gates ITP Swarming, OPVs
Rick Han CS Wireless Sensor Nets
Dale Lawrence
AES
Platforms and Controls
YC Lee ME MEMS
Tom Lookabaugh
CSITP
Imagery
Jim Maslanik AES Atmospheric Sci
Kurt Maute AES Airframe Design
Kamran Mohseni AES Platforms
George Morgenthaler
AES Industry Outreach
Todd Murphey ECE Robotics
Ray Nettleton ITP Wireless Comms
Scott Palo AES Electronics
Lucy Pao ECE Control Systems
Zoya Popavic ECE Antennas
Doug Sicker CSITP
Security
Howard Snyder AES Industry Outreach
Alex Wolf CS Software, Comms
3/9/2006 http://recuv.colorado.edu 5
MAV and UUVMAV and UUV
• Dr. Kamran Mohseni• Dr. Dale Lawrence
http://enstrophy.colorado.edu/~mohseni/MicroVehicles1.html
3/9/2006 http://recuv.colorado.edu 6
AUGNetAUGNet
Scenario 1: increase ground node connectivity.
NOC
Scenario 2: increase UAV mission range.
We call such communication anAUGNet: Ad hoc UAV Ground Network
3/9/2006 http://recuv.colorado.edu 7
AUGNet WiFiAUGNet WiFiCommunication Communication
HardwareHardware
16cm
Common Hardware802.11b PCMCIA card
Soekris single board computer0.1-1W Amplifier
GPS (for monitoring)256MB CF “personality”
21cm
Environmental Enclosure UAV Mounting
3/9/2006 http://recuv.colorado.edu 8
Flight RangeFlight Range
Table Mountain Radio Quiet Zone
15km north of the University of Colorado
3/9/2006 http://recuv.colorado.edu 9
Hardware-in-the-loop Hardware-in-the-loop TestingTesting
Fast debugging in the lab!vs.
Painful lessons in the field!
FlightGear
VirtualCockpit
Operator Interface
Simulator
Ares-2
Ground Station
3/9/2006 http://recuv.colorado.edu 10
Networked UAV Networked UAV CC33
3/9/2006 http://recuv.colorado.edu 11
• Modular– No need for a central F.C. but
one can be easily added• Future upgrade of comm system
– Interface Board for each module– Subsystems
• Autopilot Interface• Communication• Supervisory Computer• Sensor Interfaces
• In-house System Design– Microcontroller Interface Boards– Using commercial components– SW drivers already written
• Systems– Plug-n-Play modules as needed
Naiad Naiad Avionics/Interface Avionics/Interface
BoardBoard
3/9/2006 http://recuv.colorado.edu 12
Leashing Leashing ProblemProblem
Radio Leashing: maintaining a communication link between a UAV and another mobile network node based on locally measured communication performance metrics.
• Leashing Goals– Maintain communication with a mobile base
station in an unknown environment– Increase communication range of base
station using UAV as airborne relay – Maximize ground coverage for on board
sensors
• Leashing Applications– Communication in mountainous terrain,
e.g. wildland firefighting– Perimeter surveillance– Stand-off tracking of ground vehicles
3/9/2006 http://recuv.colorado.edu 13
Network Chaining: maintaining a communication link between two disconnected nodes (networks) using only
information available from the established communication links.
Network ChainingNetwork Chaining
Leashed chain for long-range sensing.
3/9/2006 http://recuv.colorado.edu 14
Position Based?Position Based?
-1000 -500 0 500 1000
-1000
-500
0
500
1000
X-Location [m]
Y-L
ocat
ion
[m]
SNR Field Lines
-1000 -500 0 500 1000
-1000
-500
0
500
1000
X-Location [m]
Y-L
ocat
ion
[m]
SNR Field Lines
Communication Range
3/9/2006 http://recuv.colorado.edu 15
Track SNR Level Track SNR Level SetsSets
0 500 1000 1500 2000 2500 3000 3500 40000
500
1000
1500
2000
2500
3000
3500
4000UAV Location over Time
Y-P
ositi
on [
m]
X-Position [m]
25
2530
35
40
25
25
30
35
40
SNR Orbital LeashingSNR Orbital Leashing Constant SNR ChainingConstant SNR Chaining
3/9/2006 http://recuv.colorado.edu 16
Cooperative Search Cooperative Search and Trackingand Tracking
Image courtesy of MLB Co.
3/9/2006 http://recuv.colorado.edu 17
Vision-Based Vision-Based ControlControl
xtrack
ytrack
ztrack
Proad yb
xb
zb
3/9/2006 http://recuv.colorado.edu 18
PROPOSAL: PROPOSAL: Cooperative Mobile Cooperative Mobile Sensing SystemsSensing Systems
STORM
WILDFIRE
POLAR
Research Thrusts
WILDFIRE addresses the sensing, communications, and safety needs to support fire-fighting operations and increase capabilities for modeling and prediction;
POLAR addresses heterogeneous mixes of sensor-integrated unmanned vehicles for novel, in-situ data acquisition in volumes that range from beneath the ocean surface into the troposphere;
STORM addresses the challenges of volumetric in-situ data acquisition in severe storms, from the ground into the cloud.
3/9/2006 http://recuv.colorado.edu 19
StormStorm
STORM
WILDFIRE
POLAR
• Science Needs– Thermodynamic and microphysical properties aloft in
the rear-flank of supercell storms• 10-Year Goal:
– Routine sampling of the thermodynamic and microphysical properties of the supercell rear flank region above ground
• State of the Art– Balloon-borne soundings (generally unsuccessful)– Manned aircraft penetration (will not be repeated)– Attempts at thermodynamic retrieval from
documentation of flow• Barriers
– Horizontal and vertical wind shear and turbulence– Thermodynamic and microphysical observations to
complement mobile Doppler radar– Vehicle survival in hazardous environment– Rapid deployment, i.e., ‘scrambling’ vehicles
3/9/2006 http://recuv.colorado.edu 20
Mobile Doppler RadarMobile mesonet
UAVs sampling updraft region
Field Command Center
TornadoChaserTornadoChaser
Unraveling Tornadogenesis
3/9/2006 http://recuv.colorado.edu 21
Meteorological Aerial Meteorological Aerial Research SondeResearch Sonde
• Paraglider• Static Line Drop from
Tubes Mounted on small UAV
• GPS, XBee Pro Radio, Pressure Sensor mounted on PCB
• Temperature sensor in vehicle nose cone
• Two separate power systems – Avionics– Vehicle
• Parafoil detached upon landing
3/9/2006 http://recuv.colorado.edu 22
MARSMARSOperations OverviewOperations Overview
Table Mountain Radio Quiet ZonePicture from Reference 1
3/9/2006 http://recuv.colorado.edu 23
Flying isFlying isFUN!FUN!
3/9/2006 http://recuv.colorado.edu 24
On the Range!On the Range!
3/9/2006 http://recuv.colorado.edu 25
Not Always Hard Not Always Hard WorkWork
3/9/2006 http://recuv.colorado.edu 26
VisitorsVisitors
3/9/2006 http://recuv.colorado.edu 27
They Really Do They Really Do FlyFly