- 1. Click here to design &build your UAV Dirk Gorissen
-Imperial College Robotics Society Megabyte Talks - 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 Antwerp University, Belgium Master in
Artificial Intelligence Catholic University of Leuven, Belgium PhD
in Computational Engineering Ghent University, Belgium Topic:
Surrogate Modeling & Surrogate based optimization During this
time also worked at Distributed Computing Laboratory Emory
University, Atlanta, USA Neuromodeling Lab Carleton University,
Ottawa, Canada Research Fellow at the Computational Engineering and
Design Groupunder Prof. Andy Keane Southampton University, UK Main
interest: Computational Engineering & Software Development 4.
Who are we? 5. What do we do? 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: Jim
Scanlan Jeroen van Schaik Andy Keane Mario Ferraro Kenji Takeda
Marc Bolinches Post doc: Ben Schumann Associated: Erika Quaranta
Dirk Gorissen Alex Forrester 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
thedesign How are decisions made? Who makes them? How final are
the? How arbitrary are they? Are they recorded? 9. Design decisions
Important to rationalize decisions Motivate them during design
review meetings However, Design of something is never finished Time
pressure leads to arbitrary detail decisions No immediate payoff
for recording rationale 10. Making decisions Which ones matter?
Heatmap? 11. Making decisions 12. Case Study: UAVs UAV: Unmanned
Aerial Vehicles (UAS) Mostly for military use but civilian market
growing fast Mapping/surveying, atmospheric measurements, searchand
rescue, wildlife management, UAV market in 2010: $6.6 b. & rise
to $55 b. by 2020 13. UAVs: Why? Complex enough to be taken
seriously Simple enough to be tackled within a university
researchproject We can go through the full lifecycle Design ->
build -> fly -> crash! Necessary to appreciate the impact and
constraints of decisions 14. UAVs: Why? Its cool Great for students
15. Outline About us The DECODE vision UAV (AUV/UGV) technology The
DECODE system Rapid manufacturing Future work 16. Fixed Wing UAVs
17. Wing technology Inflatable & morphing wings adapt to flight
conditions no movable surfaces (better flow) 18. Wind tunnel 19.
Rotary UAVs Control hardware and software developed from scratch
20. Rotary UAVs 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 Earth-based facility for the
testing of advanced control systems sought to be applied in space
24. Autonomous Underwater Vehicles (AUV) Autosub family Autosub1:
awarded Millennium Product status by the UK DesignCouncil more than
300 missions of increasing complexity over 2000kilometres Autosub
Under Ice programme, four expeditions under sea ice andunder an
Antarctic floating glacier Autosub Long Range: combining a 6000m
depth capability with anendurance of 6000km 25. Autonomous
Underwater Vehicles (AUV) A concept study for air-launched
underwater vehicles is also inprogress. 26. Soton ASTRA low cost
platform for science missions such as pollutionmonitoring and
weather prediction Modular balloon launched glider 27. The U 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
performancesystems, and high end / expensive military derived
systems 3-axis accelerometers, 3-axis gyroscopes,
3-axismagnetometers, dynamic and static pressure sensors 80g
Adjustable flight automation level Flight telemetry In flight
commands and mission scripts Modular payload interface 29.
Autopilot: Ground station Ground station 30. Autopilot:
Telemetry0.15 0.10.05pb/2V 0-0.05-0.1-0.15 0 2 4 68 10 12 14 16
Time (s) 31. Auto-takeoff 32. Auto Landing 33. Autopilot:
Scripting# set initial
parameterspressure.set_given_uav_at_zero_heightcontroller.architecture_add_links
alt_by_throttle# launchcr 5base_control[pitch].command
2base_control[roll].command 0base_control[yaw].command 0..# hold
current heading, set airspeed to 12 and reduce climb
ratescript.store[0] hcr 2as 12..# wait till at a safe altitude
(20m)script.wait_while_true "logic.less_than_float32 ht 20"nav.path
1 2 3 34. Outline About us The DECODE vision UAV (AUV/UGV)
technology The DECODE system Rapid manufacturing Future work 35.
The DECODE Project Looking at how complex aerospace systems are
designed Enhance the decision making process 36. DECODE System A
computer system to help understand the impact of adecision Is it
worth it? 37. Case study: Search and Rescue 38. Search and Resuce
The RLNI has to come look for you Helicopter costs 21 million and
6000 per hour Lifeboat costs 150,000 and 8000 per hour 39. Search
and Rescue: UAVs Design low cost UAVs for search and rescue UAV
costs < 10,000, and< 100 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? How big, how
heavy, how fast, Decisions guided by an operational simulation 41.
System building blocks Manufacturing 42. Concept Design / Sizing
43. Concept Design / SizingAero Cruise 44. Pacelab Design Suite 45.
Excel spreadsheet 46. Concept Design / Sizing 47. Concept Design /
Sizing 48. Concept Design / Sizing 49. CAD - SolidWorks Difficulty:
Concept CAD -> Analysis CAD Ultimate goal: fully parametric CAD
Difficult (Impossible) 50. Aerodynamics 51. Costing 52. Operational
Simulation Recreation of sample SARregion using AnyLogic
Agent-Based UAVs,lifeboats, helicopter Realistic data &
procedures Weather Situation-based searchesand decisions by
coastguard 53. Design rationale Design rationale: The explicit
listing of decisions made during a design process, and the reasons
why those decisions were made. Primary goal: Support designers by
providing a means to record and communicate the argumentation and
reasoning behind the design process. Not just on the CAD level Also
for mission, software tools, etc. 54. Compendium: Design rationale
55. Compendium Maps 56. DECODE System How many more lives can we
save by reducing the wingspan by 15% ? Is it worth it? 57. System
Architecture 58. Excel client 59. Matlab Client 60. Trades 61. Web
Client 62. Web client 63. Decode Vision Agile UAV design system
Probe design in real time Rough answers now, accurate answers later
Live geometry Design rationale 64. Decode Vision 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 cheap, fast complexity comes for free
But: important to know the limitations 67. SULSA Worlds first 3D
printed aircraft (that actually flew) Fully parametric geometry 68.
SULSA 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 Aim to fly by
March MSc course in Unmanned Systems Supported by QinetiQ, DSTL,
BAE systems, Cobham, Rolls-Royce, Roke Manor , Thales 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 Pollution, smuggling, migration, ocean monitoring,
If successful will drive DECODE III 74. Questions? News and updates
via Twitter: @elazungu
