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RISS 인기검색어
- 검색키워드
- 저자 : Ariyur, (검색결과 7 건)
- 무료
- 기관 내 무료
- 유료
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Automated Wireless Recharging for Small UAVs
Jung, Sunghun,Ariyur, Kartik B. The Korean Society for Aeronautical and Space Scie 2017 International Journal of Aeronautical and Space Sc Vol.18 No.3
We develop a wireless, contact free power transfer mechanism that is safer than the direct metallic contact and robust to imperfect alignment on landing at the base station. A magnetic field is created using inductors on both the transmitting and receiving sides. We use the inductive wireless recharging to increase autonomy and decrease the sensor interference by reducing the inductor loop size. By locating four independent small receiver loops and corresponding four circuits around the quadrotor UAV, we can increase safety from circuit malfunctions in comparison to the use of just one loop. On the base station, four folding robotic bars are used to realign the receiver loops over the transmitter loops. After adequate recharging as measured by battery voltages or power consumption at the bae station, the UAV sends a signal to the base station to open the robotic bars and takes off once freed from the robotic bars.
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Robustness for Scalable Autonomous UAV Operations
Jung, Sunghun,Ariyur, Kartik B. The Korean Society for Aeronautical and Space Scie 2017 International Journal of Aeronautical and Space Sc Vol.18 No.4
Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).
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Strategic Cattle Roundup using Multiple Quadrotor UAVs
Jung, Sunghun,Ariyur, Kartik B. The Korean Society for Aeronautical and Space Scie 2017 International Journal of Aeronautical and Space Sc Vol.18 No.2
Four quadrotor UAVs are maneuvered to guide four animals into their pen within the minimum time by creating noises of predators modeled with an exponential function. The quadrotor UAVs are controlled via PID controllers, follow time optimal trajectories, and avoid collisions through altitude separations. The stability of the proposed PID controller is analyzed and verified using MATLAB/Simulink based simulations. Proposed step by step strategies would be practical solutions of actual cattle roundup problems.
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Compensating UAV GPS data accuracy through use of relative positioning and GPS data of UGV
정성훈,Kartik B. Ariyur 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.9
We improve the performance of a low-quality GPS data on a UGV through use of multiple low-quality GPS modules on a UGV within line of sight of the UAV. The UGV sends GPS data corrections to the UAV on the basis of the distance from the UAV to the UGV as measured by scaling of a standard image pattern stuck on the UGV. Geolocation of both UGV and UAV are performed through the use of the extended Kalman filter integrating GPS aided INS. The positioning error is reduced by a factor of 2.3 in simulation studies and a factor of 1.6 in experiment when 3 GPS sensors are used on the UGV. This is better than what one can get through pure averaging of the GPS sensors in the presence of noise in measuring the UAV-UGV distance. We show how our exploitation of geometry improves GPS sensor performance as more GPS sensors are used.
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Strategic Cattle Roundup using Multiple Quadrotor UAVs
Sunghun Jung,Kartik B. Ariyur 한국항공우주학회 2017 International Journal of Aeronautical and Space Sc Vol.18 No.2
Four quadrotor UAVs are maneuvered to guide four animals into their pen within the minimum time by creating noises of predators modeled with an exponential function. The quadrotor UAVs are controlled via PID controllers, follow time optimal trajectories, and avoid collisions through altitude separations. The stability of the proposed PID controller is analyzed and verified using MATLAB/Simulink based simulations. Proposed step by step strategies would be practical solutions of actual cattle roundup problems.
-
Automated Wireless Recharging for Small UAVs
Sunghun Jung,Kartik B. Ariyur 한국항공우주학회 2017 International Journal of Aeronautical and Space Sc Vol.18 No.3
We develop a wireless, contact free power transfer mechanism that is safer than the direct metallic contact and robust to imperfect alignment on landing at the base station. A magnetic field is created using inductors on both the transmitting and receiving sides. We use the inductive wireless recharging to increase autonomy and decrease the sensor interference by reducing the inductor loop size. By locating four independent small receiver loops and corresponding four circuits around the quadrotor UAV, we can increase safety from circuit malfunctions in comparison to the use of just one loop. On the base station, four folding robotic bars are used to realign the receiver loops over the transmitter loops. After adequate recharging as measured by battery voltages or power consumption at the bae station, the UAV sends a signal to the base station to open the robotic bars and takes off once freed from the robotic bars.
-
Robustness for Scalable Autonomous UAV Operations
정성훈,Kartik B. Ariyur 한국항공우주학회 2017 International Journal of Aeronautical and Space Sc Vol.18 No.4
Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).
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