MESA LAB Unmanned Aerial Vehicles When We Can

MESA LAB Unmanned Aerial Vehicles When We Can File-n-Fly ? ! Yang. Quan Chen, Ph. D. , Director, MESA (Mechatronics, Embedded Systems and Automation)LAB MEAM/EECS, School of Engineering, University of California, Merced E: yqchen@ieee. org; or, yangquan. chen@ucmerced. edu T: (209)228 -4672; O: SE 1 -254; Lab: Castle #22 (T: 228 -4398) Oct. 03, 2012. Wednesday 12: 30 -13: 20 So. E Professional Seminar, COB 265

Slide-2/1024 Outline • • About the new MESA Lab Unmanned Aerial Vehicles When we can file-n-fly? When we can file-n-fly! So. E Professional Seminar "UAV: When we can file-n-fly? !" MESA LAB

Slide-3/1024 MESA LAB http: //mechatronics. ucmerced. edu • Mechatronics, Embedded Systems and Automation – Backup name: Mechatronics, Energy Systems and Autonomy – ASME DED, MESA TC. http: //iel. ucdavis. edu/mesa/ • 2013 MESA conference: Portland, OR http: //www. asmeconferences. org/IDETC 2013/ So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-4/1024 MESA LAB MESA Lab Philosophy and Ambition • "We make real systems that work and others want them. " • MESA Lab: Staying on top and for sustainability. • Nationally and internationally visible and prominent! So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-5/1024 MESA LAB MESA Lab Founding Members • Dr. Yang. Quan Chen, Faculty – Dr. Huifang Dou, Lecturer – Brandon Stark, 3 rd year Ph. D. student, Lab Manager – 3 visiting research scholars – 4 undergraduate researchers – 2013 (5 more confirmed) • 1 Ph. D. to join 1/1/2013, 1 Ph. D. to join 5/1/2013 • 1 Postdoc to join Fall 2013 • 2 more visiting scholars to join in 2013 So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-6/1024 MESA LAB MESA Research Areas/Strengths • Unmanned Aerial Systems and UAV-based Personal Remote Sensing (PRS) • Cyber-Physical Systems (CPS) • Modeling and Control of Renewable Energy Systems • Mechatronics • Applied Fractional Calculus (AFC) So. E Professional Seminar "UAV: When we can file-n-fly? !"

MESA LAB Slide-7/1024 Mechatronics has good prospects for the future because knowledge economy demands to speed up development, improve quality, reduce cost and increase energy efficiency. Kevin Craig, Marquette Univ. So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-8/1024 Outline • • About the new MESA Lab Unmanned Aerial Vehicles When we can file-n-fly? When we can file-n-fly! So. E Professional Seminar "UAV: When we can file-n-fly? !" MESA LAB

MESA LAB UAV: Unmanned Aerial Vehicle Also called Unmanned Aircraft System (UAS), an aircraft that is controlled by Navigation electronics without human pilot on board. Figure: Global Hawk UAV http: //www. wpclipart. com/armed_services/airplanes_3/Global_Hawk_UAV. png

MESA LAB UAV History • The first “claimed” heavier-than-air, powered flight was of a UAV, over the Potomac River, by Dr. Sam Langley (1896) • The first radio-controlled UAV flights were converted Navy trainers, flown over Long Island (1917) • The first mass production UAV was the Kettering Bug, costing $400 and capable of carrying a 300 lb bomb (1918) • The British Queen Bee UAV was landed by dragging a weighted antenna line on the ground, which then pulled back the stick and the throttle (1935) • 4 UAVs with 2000 lb bombs attacked the Japanese merchantman, Yamazuki Maru, scoring two direct hits (1944) • Marilyn Monroe was “discovered” while working in the Radioplane OQ -3 UAV factory (1945) [1].

MESA LAB UAV History Pre World War II Kettering Bug (1918) Aerial Torpedo UAV Radioplane 0 Q-2 A (1935) UAV Culver PQ-14 B (1940) Target drones [1]. UAV

MESA LAB UAV History Reconnaissance UAVs Kettering Bug (1918) Aerial Torpedo UAV D 21 Tagboard on M 12 Mother Ship [1]. Lightning Bug AQM-34 1960 s

MESA LAB UAV History Combat UAVs. Kettering - Have Bug Lemon AQM-34 (1918) Aerial Torpedo UAV EO Maverick [1]. EO Hobo 1970 s

MESA LAB UAV History Kettering Bug Boeing YQM-94 A (1918) B-Gull Aerial Torpedo 1970 s Reconnaissance (Recce) UAVs UAV Teledyne Ryan YQM-96 A R-Tern Compass Cope High Altitude Long Endurance (HALE) Endurance 28 hrs 11 min Un-refueled [1].

MESA LAB UAV History Flight Research UAVs Kettering Bug (1918) Aerial Torpedo Hi. MAT YF-16 RPRV Self-Repairing Flight Control Sys. XBQM-106 [1]. 1970 s

MESA LAB UAV History 1980 s Bug Tactical. Kettering and Medium Endurance UAVs (1918) Aerial Torpedo Pioneer - USN/USMC GNAT-750 US Army Hunter MR - UAV [1].

MESA LAB UAV History Kettering Bug DARO (1918) Aerial Torpedo Outrider (TUAV) UAVs Predator (Tier II) Global Hawk (Tier II+) [1]. Dark Star (Tier III-) 1990 s

MESA LAB Global Hawk & Predator UAV History Kettering Bug (1918) Aerial Torpedo Outrider (TUAV Global Hawk (Tier II+) [1]. Dark Star (Tier III-)

MESA LAB UAV Applications • Military applications • Civilian applications

MESA LAB UAV Military Applications • Reconnaissance Surveillance and Target Acquisition (RSTA) • Surveillance for peacetime and combat Synthetic Aperture Radar (SAR) • Deception operations • Maritime operations (Naval fire support, over the horizon targeting, anti-ship missile defense, ship classification) [3].

MESA LAB UAV Military Applications • • Electronic Warfare (EW) and signals intelligence (SIGINT) Special and psychological Operations (PSYOPS) Meteorology missions Route and landing reconnaissance support Adjustment of indirect fire and Close Air Support (CAS) Battle Damage Assessment (BDA) Radio and data relay [3].

MESA LAB UAV Military Applications http: //baronshobbies. com/blog/wp-content/uploads/2009/09/uav 4 tf 3. jpg http: //media. defenseindustrydaily. com/images/AIR_UAV_RQ 4_Global_Hawk_High_Flight_lg. jpg

MESA LAB UAV Civilian Applications Security • • Security and Control Aerial Reconnaissance Aerial Policeman and Crowd Monitoring Aerial Traffic and Security Watch Search and Rescue • Maritime and Mountain Search and Rescue • Life raft Deployment • Rescue point marking [7].

MESA LAB UAV Civilian Applications http: //commons. wikimedia. org/wiki/File: US_Air_Force_U-2_reconnaissance_aircraft. jpg http: //img 2. scoop. co. nz/stories/images/0906/choppers. in. mountain. jpeg http: //uscgalaska. blogspot. com/2010/07/air-station-kodiak-hh-65 -dolphin. html

MESA LAB UAV Civilian Applications Monitoring • • • Civil engineering sites Waterways and shipping Oil and gas pipeline Forestry Fishery Protection The countryside Pollution Control and Air Sampling Crop Performance Litter on beaches and in parks [7].

MESA LAB UAV Civilian Applications http: //www. ouc. com/Libraries/OUC_Images/stanton 3. sflb. ashx http: //www. britannica. com/blogs/wp-content/uploads/2010/10/pipeline. jpg http: //www. agronomy. k-state. edu/extension/Desktop. Modules/IM. aspx? I=3298&M=0

MESA LAB UAV Civilian Applications Disaster Management • Disaster effects management • Rescue and clear up effort supervision • Disaster damage estimation Crop Management • Countryside and Agriculture • Agricultural Activities • Crop Dusting [7].

MESA LAB UAV Civilian Applications http: //1. bp. blogspot. com/_-j 3 KQ 2 ok. Bmw/S-SMT_Xv 9 n. I/AAAADd 8/fho. Pvkhcy 8/s 1600/nashville+flood. jpg http: //consci. s 3. amazonaws. com//wp-content/uploads/crop-duster 1. jpg

MESA LAB UAV Civilian Applications Communications • Telecommunications • Telecom relay and signal coverage survey Survey • Oil and Gas Exploration and Production • Mineral exploration • Geophysical surveys [7].

MESA LAB UAV Civilian Applications http: //www. defensemedianetwork. com/wp-content/uploads/2010/10/161. jpg http: //ceoworld. biz/ceo/wp-content/uploads/2009/07/Verenex-Energy-oil. jpg

MESA LAB UAV Civilian Applications Research Scientific research of any nature (environmental, atmospheric, archaeological, pollution etc) can be carried out by UAVs equipped with the appropriate payloads. http: //med. ee. nd. edu/MED 9/Papers/Aerial_vehicles/med 01164. pdf

MESA LAB Introduction to Paparazzi Project Paparazzi is an open-source autopilot system oriented toward inexpensive autonomous aircraft of all types. The project began in 2003 and has enjoyed constant growth and evolution ever since. The system has been used on dozens of airframes and implemented by several teams around the world. Hundreds of hours of autonomous flight have been successfully achieved with the Paparazzi system. [25].

MESA LAB Overview of the Paparazzi system [26].

MESA LAB Airborne components • • • Autopilot Battery Datalink GPS Infrared (Original) Motor Payload Receiver Servo [26].

MESA LAB System Architecture Communications between the Paparazzi Agents Aircraft Sends telemetry messages Receives datalink messages Data is sent with messages Divided into 3 classes: - Telemetry - Ground - Datalink datalin k Wireless link telemetry Link Connects a hardware Wireless device to the network telemetry ground GCS Displays graphic data Controls the datalink Ground network ground Server Logs raw messages Dispatches synthetic messages Messages (Debug) Display network messages [25]. ground

Slide-36 of 1024 MESA LAB OSAM UAV Team won 2 nd @ AUVSI UAS Competition, June 2008 Utah State – Wins $8, 000 for 2 nd Place Overall, 2 nd Place in Mission, Honorable Mention in both Orals and Journal, and Prize Barrels for Autonomous Mission Flight, Autonomous Landing, JAUS and Perfect Identification of the Offhttp: //www. engr. usu. edu/wiki/index. php/OSAM Path Target. So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-37 of 1024 MESA LAB • We won #1 in AUVSI 2009 UAS Competition!! – June 17 -21, 2009. Maryland AFB. – $14000 cash award. – Other registered participants: UCSD, MIT, Cornell, NCSU etc. – We made some headlines including ESPN 2! – We are the second time to participate this event! – UCSD, Embry Riddle, Cornell, U Alberta, UT Austin. Watch us at http: //www. youtube. com/user/USUOSAM So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-38 of 1024 MESA LAB • We won #1 again in AUVSI’ 11 UAS Competition!! – – – June 15 -19, 2011. Maryland AFB. $13400 cash award. Swept all three categories. Other registered participants: UCSD, NCSU, UT Austin etc. First time in the competition history to win 1 st place twice. VTOL team made history too by flying waypoints autonomously Watch our UAV-based real world applications (not just for fun!) at http: //aggieair. usu. edu So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-39/1024 Outline • • About the new MESA Lab Unmanned Aerial Vehicles When we can file-n-fly? When we can file-n-fly! So. E Professional Seminar "UAV: When we can file-n-fly? !" MESA LAB

Slide-40/1024 MESA LAB FAA: Federal Aviation Administration • Illegal flight unless authorized! (COA) • Too hard to get COA (certification of authorization) • Private company (university) cannot get COA! Only possible for government departments (public universities)! • A sample COA we got is at http: //aggieair. usu. edu So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-41/1024 MESA LAB FAA Retasking • In the United States, lawmakers just passed a long awaited bill setting requirements to integrate unmanned aerial systems (UAS) in the national airspace (NAS) on Feb. 6, 2012. Such requirements would set deadlines for full-scale integration in fall 2015. • NASA UAS 2 NAS $12. 5 M (only two universities awarded: USU and NMSU So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-42/1024 Outline • • About the new MESA Lab Unmanned Aerial Vehicles When we can file-n-fly? When we can file-n-fly! So. E Professional Seminar "UAV: When we can file-n-fly? !" MESA LAB

Slide-43/1024 MESA LAB When we can file-n-fly! The new era of Personal Remote Sensing (PRS)! So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-44 of 1024 MESA LAB An Analogy • 1970 s: Personal Computer (PC): Bill Gates/Steve Jobs • 2010 s: Personal Remote Sensing (PRS) - ? ? – Low cost, affordable. Robust, easy to use – Run way free; Autonomous/cognitive – Swarm/coven; – Enabling new apps and services • Google 4 D map (x, y, z, t) paid service – Ubiquitous remote sensing (Twitter as sensors …) –… So. E Professional Seminar "UAV: When we can file-n-fly? !"

MESA LAB Slide-45 of 1024 Water. Watch? Water resources, Gates, flumes Weather, climate demand Water rights www. athertonsc. qld. gov. au/ photogallery. htm Irrigation control • Right time • Right place • Right amount irrigators Geo-Domain human UAVs crops animals etc. calibration Ground sensor pods Credit: Dr. Yang. Quan Chen, 2005 So. E Professional Seminar "UAV: When we can file-n-fly? !" http: //www. nasa. gov/centers/goddard/news/topstory/2004/0729 soilshowdown. html

Slide-46/1024 MESA LAB A water treatment lagoon as a UAS-enabled CPS to create biofuel from waste So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-47/1024 MESA LAB Algal Bloom Tracking & Modeling So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-48/1024 MESA LAB Agriculture in 2100 s when no more synthetic fertilizers available So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-49/1024 MESA LAB Key references • Long Di and Yang. Quan Chen. “Multi UAV Systems. ” Course slide set for ECE 6930 Independent Study Course. pp. 1 -850. Dept. of Electrical and Computer Engineering, Utah State University, 2009 -2011. • [1]. THE UNIVERSITY OF TEXAS AT AUSTIN, AIRCRAFT DESIGN (ASE 261 K) and DESIGN LABORATORY (ASE 161 M), Dr. Armand J. Chaput. http: //www. ae. utexas. edu/ASE 261 KChaput/ So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-50/1024 MESA LAB UAV PRS References • Y. Q. Chen, D. L. Dee, A. Jenson, Multi-UAV Based Multi-Spectrum Collaborative Personal Remote Sensing: Concepts, Platform & Applications, Invited Full Day Tutorial at 2011 ICUAS, Denver, CO, (2011) • Y. Q. Chen, A. Jenson, G. Strahan, C. Coopmans, Low. Cost UAV-based precision thermal infrared (TIR) mapping – A new Personal Remote Sensing capability: UAV Platform, TIR Payload, in-flight calibration and applications, Invited Full Day Tutorial at 2012 ICUAS, Philadelphia, PA, (2012) So. E Professional Seminar "UAV: When we can file-n-fly? !"

Slide-51/1024 $949. 00 1800 pages 2013 Two chapters from MESA Lab! So. E Professional Seminar "UAV: When we can file-n-fly? !" MESA LAB

Slide-52/1024 IEEE RAS TC ARUAV • http: //www. flyingrobots. org So. E Professional Seminar "UAV: When we can file-n-fly? !" MESA LAB

Slide-53/1024 MESA LAB Thank you for attending my talk! For more information, check http: //mechatronics. ucmerced. edu/ coming soon So. E Professional Seminar "UAV: When we can file-n-fly? !"