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UAV Research at CU (Colorado Center for Unmanned Vehicle Systems). Cory Dixon University of Colorado Aerobotics Lab. Overview. Aerobotics UAVs UAV Avionics AUGNet. AES Aerobotics. Goal: Develop mission-adaptable UAV systems. Multidisciplinary, Vertically Integrated Teams

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uav research at cu colorado center for unmanned vehicle systems

UAV Research at CU(Colorado Center for Unmanned Vehicle Systems)

Cory Dixon

University of Colorado

Aerobotics Lab

overview
Overview
  • Aerobotics
  • UAVs
  • UAV Avionics
  • AUGNet

Cory Dixon

AES Aerobotics

aes aerobotics
AES Aerobotics
  • Goal:

Develop mission-adaptable UAV systems.

  • Multidisciplinary, Vertically Integrated Teams
    • AE, EE, ME, CS, PAOS,
    • Undergrads  Ph.D.
  • Graduate Curriculum
    • Under development to complement the AES Curriculum 2000
    • First graduates in May 2003
  • Highlighted Projects
    • Aerosonde
    • TornadoChaser
    • AUGNet

Cory Dixon

AES Aerobotics

uav systems
Aircraft

Miniature

Size: < 15 ft span

Weight: < 55 lbs

Power: ~60 W

Micro

Size: < 6 inches

Weight: ~2 oz

Power: < 1 W

Missions

In-situ Atmospheric Measurement

Reconnaissance

Operations

Remotely Piloted – Stability Augmented Control

Autonomous

UAV Systems

Cory Dixon

AES Aerobotics

uavs at cu
UAVs at CU

Cory Dixon

AES Aerobotics

dbf competition results
DBF Competition Results

Cory Dixon

AES Aerobotics

dbf winning trends
DBF Winning Trends

Cory Dixon

AES Aerobotics

hybrid avionics
Hybrid Avionics

Hybrid – A control system that combines continuous physical behavior with discrete control algorithms.

  • Central Flight Computer
    • Single Internal Bus
    • Multiple IO
      • RS232/422/485
      • Analog/Digital
      • Motor Control (PWM)
  • Subsystems
    • Power
    • IMU/Attitude
    • GPS/Navigation
    • Communication
    • Video/Telepresence
    • Recovery
    • Science

Common University Avionic System

Cory Dixon

AES Aerobotics

tornadochaser avionics system
TornadoChaser Avionics System
  • Off-the-shelf
    • Rapid development
    • Inexpensive
  • Modular
    • PC104 standard
    • Changeable components
  • Systems
    • PC104 Flight Stack
    • Failsafe/Backup
    • R/C
    • Locator beacon

Cory Dixon

AES Aerobotics

tornadochaser
TornadoChaser

Cory Dixon

AES Aerobotics

tornadochaser improvements
TornadoChaser Improvements
  • Weight / Size / Cost / Power
  • Not truly modular
    • Forced to use PC104 form factor
    • A PC104 board change affects ALL other systems
    • Stack and components is a fixed system
  • Future Student Involvement
    • Operating System (VxWorks)
    • Electronics
    • Stack becomes fixed system => No ownership

Cory Dixon

AES Aerobotics

fuav avionics fire monitoring uav
FUAV Avionics(Fire monitoring UAV)
  • Modular
    • No central F.C.
    • External Control Bus
    • Interface Board for each module
  • In-house System Design
    • Microcontroller Interface Boards
    • Using commercial components
    • Subsystems
      • IMU
      • Communication
  • Systems
    • Plug-n-Play modules as needed

Cory Dixon

AES Aerobotics

fuav avionics fire monitoring uav13
Cost / Size / Weight

Increased Modularity

Removed inter-dependency on subsystems

Not restricted to any form factor

Only constraint on subsystem is a CAN interface

Future Student Involvement

Modularity => Ownership

Interface Board 0.1

Fault tolerant CAN Network

6 PWM

2 RS232

6 10-bit A/D

8 DIO

FUAV Avionics(Fire Monitoring UAV)

Cory Dixon

AES Aerobotics

augnet ad hoc uav ground network
AUGNet(Ad-Hoc UAV Ground Network)
  • Goal

Demonstrate last-mile networking using airborne wireless nodes to extend network range over terrain.

  • Wireless Network
    • 802.11 Network
    • Compaq’s IPAQ running Linux
  • Airplanes
    • 3 UAVS
      • Modified COTS Aircraft
      • Composite Construction
    • Remotely Controlled
      • VirtualCockpit
      • GPS Waypoint nav

Cory Dixon

AES Aerobotics

status future work
Status & Future Work
  • TornadoChaser
    • Has flown in large R/C aircraft
    • New airframe under development
    • Project is dead at Senior Design level
  • FUAV
    • Has been used to provide pilot control in miniature aircraft
    • System modules now under development
    • Becoming primary Avionics system
  • AUGNet
    • Project is in prototyping phase
    • First flight demo in February

Cory Dixon

AES Aerobotics

that s all
That’s All

Questions

Cory.Dixon@Colorado.edu

303-492-4469

Cory Dixon

AES Aerobotics