Date post: | 17-Jun-2018 |
Category: |
Documents |
Upload: | hoangkhanh |
View: | 216 times |
Download: | 0 times |
Dr. Manish Kumar Associate Professor
University of Cincinnati
UAV Multi-Agent SysTEm
Research (MASTER) LAB
Dr. Kelly Cohen Professor,
Univ. of Cincinnati
UAVs for Emergency Responders University of Cincinnati-Aug. 10, 2016
UAV Research @UC • UC has a very strong research
program in the areas of UAVs
that focuses on the following
research areas
– Navigation and path planning
– Multi-sensor fusion for situational
awareness and tracking
– Novel UAV design, system ID, and
control
– Large scale optimization for
tasking and resource allocation
Novel quad-rotor design and control
Tracking of ground objects
System identification and control of
multi-copters
UAV path planning in National Air-
Space
UAV Operations @ UC
UAVs for wildfire monitoring
UAVs for package delivery with Workhorse
Winner of Indoor Navigation
Challenge, AAVC 2014-15 Prof. Franck Cazaurang flying a
quad-copter in the UAV Master
Lab
Dr. Wei in West Virginia
Introduction to SIERRA
Intro to SIERRA Value Proposition Timeline Publications
and Media
Main Features of the
Technology
• A small-UAV gathers real-time
data that includes vision/infra-
red videos, and flight data from
GPS and Inertial Measurement
Unit
• Data processed to obtain
current locations of wildfires
and geo-referenced to mapping
services such as google maps
• Real-time data combined with
environmental and topographic
information fed to fire prediction
model to provide predicted
growth of fire fronts to aid
resource allocation/decision-
making
People
Impacted
Introduction to SIERRA
Technological Innovations Control and autonomous navigation
Data processing and information portrayal
User interface development
Intro to SIERRA Value Proposition Timeline Publications and Media
Autonomous search of ground
events
Autonomous hot-spot visit for
persistent monitoring
Auto-pilot Design Tracking of Maneuvering
Ground Targets
Video processing for smoke removal, hot-spot and human
identification
Value Proposition
Save lives and property by enhanced real-time
information and decision making: The proposed
UAV based platform provides an unprecedented
opportunity to gather real-time information and deliver
emergency supplies. Such capability, currently
unavailable, will allow the firefighters to make
decisions to save lives and suppress fire in most
efficient manner.
Ease of use by first responders: As opposed to
other UAV platforms available in the market, this
platform will provide push-button facility to operate the
UAV and visualize the information. Such a capability
is invaluable for non-pilots working in heavy stress
situations.
Intro to SIERRA Value Proposition Timeline Publications and Media
SIERRA - Timeline
Fall 2010 Spring
2011- Fall 2011
2010-2012
July 2013-Feb 2014
June 2014 – Nov 2015
Winter 2016
• NASA/OSGC
funding of $25K
• UAV flight training
in Georgia
• Demo #1 & #2 with
West Virginia
Forestry
• Fire-fighting training
for UC graduate
student
• NSF BECS
Project (EFRI-
1024608)
• NSF I-Corps
Project (IIP-
1343498)
• Extensive media
coverage of SIERRA on
Discovery Channel, BBC
radio, local TV
• Demo #3 with
West Virginia
Forestry
• NSF PFI Project:
(IIP-1414346)
• Prep of 3 invention
disclosures
• NSF CHSI Project:
(1526677)
• Demo #4 with West
Virginia Forestry
• Seeking support from
UC business
accelerator program
• UAV Package
delivery system
gets extensive
media coverage
• UC receives
COAs for flight
operations
• Team wins 2
consecutive
Autonomous Aerial
Vehicle
Competitions: 2014-
15
Intro to SIERRA Value Proposition Timeline Publications and Media
People Impacted Intro to SIERRA Value Proposition Timeline
Publications
and Media
People
Impacted
Graduate Students Undergraduate Students Collaborators
Mr. Rodger Osborne West Virginia, Dept. of
Forestry
Ch. Thomas Lakamp District Fire Chief, Cincinnati Fire
Department
Steve Burns Workhorse Group
Connor Kress and Kyle Lentz Founders, Hephaestus LLC
Mohammad Sarim, Current Ph.D. Student
Bryan Brown, Current M.S. Student
Ruoyu Tan, M.S. 2013, Now at PSU
Balaji Sharma, Ph.D. 2013, Now at
Mathworks
Sushil Garg, M.S. 2013, Now at Google
Alireza Nemati, Current Ph.D. Student
M. Radmanesh, Current M.S. Student
Liberty Shockley, Current Undergraduate
Anoop Sathyan, Current Ph.D. Student
Sarthak Kukreti Current Ph.D. Student
Jeff Bennett, Current Undergrad Student
Nathaniel Richards, Current Undergraduate
Student
Prof. Larry Bennett Head, Fire Science, University of
Cincinnati
Nick Stockton, Current Undergrad Student
Publications and Media
Intro to SIERRA Value Proposition Timeline Publications
and Media
People
Impacted
Publications: 11 Journal papers, 2 book chapters, 1 invention disclosure, 20+ conference papers • HomChaudhuri, B., Kumar, M., and Cohen, K., “Resource Allocation and Optimal Fireline Building using a Genetic Algorithm for Fighting Forest Fires”,
International Journal of Computational Methods, Vol. 10, No. 6, 28 pages, 2013, DOI No.: 10.1142/S0219876213500357.
• Tan, R. and Kumar, M., “Tracking of Ground Mobile Targets by Quadrotor UAVs”, Journal of Unmanned Systems, Vol. 2, No. 2, pp. 157-173, 2014.
• Radmanesh, M., Kumar, M., Nemati, A., and Sarim, M., “Dynamic Optimal UAV Trajectory Planning in the National Airspace System via Mixed Integer
Linear Programming”, accepted in the Journal of Aerospace Engineering, 2015.
• Wei W., Tischler, M., Schwartz, N., and Cohen, K., “System Identification and Flight Control of a Unmanned Quadrotor,” Novel Concepts in Unmanned
Aircraft Aerodynamics and Flight Stability, Editor Pascual Marques, Wiley, 2015 (Chapter written, reviewed and accepted by Editors in final version
Estimated Print – Fall 2015.
• Kivelevitch E., Cohen, K., and Kumar, M., “Near-Optimal Assignment of UAVs to Targets Using a Market-Based Approach,” Operations Research for
Unmanned Systems, Jeffrey R. Cares and John Q. Dickmann, PhD, editors. Wiley, 2015, Chapter written, reviewed and accepted by Editors in final
version, Estimated Print – Winter 2015.
• Sharma, B., Kumar, M., and Cohen, K., “Spatio-Temporal Estimation of Fire Growth”, ASME Dynamic Systems and Control Conference, Palo Alto, CA,
2013.
• Brown, B., Wei, W., Ozburn, R., Kumar, M., and Cohen, K., “Surveillance for Intelligent Emergency Response Robotic Aircraft (SIERRA)- VTOL Aircraft
for Emergency Response”, AIAA Infotech @ Aerospace, AIAA Science and Technology Forum, Jan. 2015.
Invention disclosure/provisional patent
Media coverage: 4 Local and national TV, 1 Radio (BBC), and 20+ print media TV • WCPO “Ahead of the storm”, http://www.wcpo.com/weather/tonight-9-first-warning-weather-teams-
ahead-of-the-storm-special, March 26, 2015
• SIERRA, Daily Planet, Discovery Channel Canada, Feb. 9, 2012
• Horsefly: delivery drone, Bloomberg TV, http://www.bloomberg.com/news/videos/2014-12-22/making-
deliveries-greener-ups-set-to-buy-electric-trucks, Dec. 22, 2014
Print • Using Unmanned Systems to Fight Wildfires, http://www.insidegnss.com/node/4287, Nov. 2014
• The Dream of Delivery Drones Is Alive (And On A Truck), http://www.popsci.com/dream-delivery-drones-
alive-and-truck, Deb. 18, 2015
• Onlinemd: Top ten UAV programs in US, http://www.onlineamd.com/article/amd1014-UAS-school-
programs#.VD6S-yldVm1
Earth-Fixed Inertial Frame Based Radio Controller (RC) for Multi-copter UAVs, Disclosure filed on 02/09/15, Approved for provisional patent application on
9/10/15
Octo-Copter Package Delivery • UC is partnering with AMP Electric
Vehicles on package delivery using
Octo-rotor UAVs.
• Rather than a UAV traveling straight
from warehouse to delivery site, this
duo will be able to more efficiently
deliver a large amount of packages.
• The UAV can recharge wirelessly
using the truck’s battery, and safety
redundancies are in place such as the
octorotor design.
• Other ease-of-use features are
planned, such as the ability for the
HorseFly to scan a package’s barcode
and then autonomously navigate to the
destination.
http://www.wired.com/2014/06/the-next-big-thing-you-missed-
delivery-drones-launched-from-trucks-are-the-future-of-shipping/
http://www.bizjournals.com/cincinnati/news/2014/11/03/drones-
electric-trucks-and-how-a-cincinnati.html
Fault Tolerant Flight Control • Fault tolerance means
– The UAV should be able to complete its mission in case of individual component failure
– The UAV should gracefully abort its mission in a safe manner
• Failures could be
– Motor/rotor failures
– Sensor/communication failure
• Working with Prof. Franck Cazaurang of UB – Using flatness property to design fault
tolerance
– Using novel UAV design
Novel quad-rotor design and control
Parimal Kopardekar, Manager, NextGen Concepts and
Technology Development Project, NASA AMES
Integration of UAVs in the National Airspace • Developing algorithms for management
of UAV traffic
• ADS-B provides flight data to
neighboring aircrafts
• Objectives: maintain separation to avoid
collisions while fulfilling UAV’s mission
Smart Unmanned Aerial Vehicle for Exploration (SUAVE)
Autonomous Aerial Vehicle Competition – 2014 - 2015
Winner of National Autonomous Aerial
Vehicle Competitions – 2014 - 2015
Aug. 26, 2014
April 28, 2015
Acknowledgement of Support • National Science
Foundation
• Army Research Office
• Missile Defense Agency
• Ohio Space Grants Consortium
• Dayton Area Graduate Students Institute
• Air Force Research Lab
• NASA