Multi-rotor with suspended load: System Dynamics and Control Toolbox

There is an increasing demand for Unmanned Aerial Systems (UAS) to carry suspended loads as this can provide significant benefits to several applications in agriculture, law enforcement and construction. The load impact on the underlying system dynamics should not be neglected as significant feedback forces may be induced on the vehicle during certain flight manoeuvres. The constant variation in operating point induced by the slung load also causes conventional controllers to demand increased control effort. Much research has focused on standard multi-rotor position and attitude control with and without a slung load. However, predictive control schemes, such as Nonlinear Model Predictive Control (NMPC), have not yet been fully explored. To this end, we present a novel controller for safe and precise operation of multi-rotors with heavy slung load in three dimensions. The paper describes a System Dynamics and Control Simulation Toolbox for use with MATLAB/SIMULINK which includes a detailed simulation of the multi-rotor and slung load as well as a predictive controller to manage the nonlinear dynamics whilst accounting for system constraints. It is demonstrated that the controller simultaneously tracks specified waypoints and actively damps large slung load oscillations. A linear-quadratic regulator (LQR) is derived and control performance is compared. Results show the improved performance of the predictive controller for a larger flight envelope, including aggressive manoeuvres and large slung load displacements. The computational cost remains relatively small, amenable to practical implementations

Measurement of Atmosphere Ground Layer Parameters for Air Quality Assessment by UAV Utilization

Import 05/08/2014Bakalářská práce pojednává o možnosti měření parametrů přízemní vrstvy atmosféry pomocí bezpilotního prostředku. Na bezpilotní prostředek byly umístěny snímače prachu, oxidu uhelnatého, teploty a vlhkosti. Podle určitého postupu byly naplánovány a provedeny dvě série letů, které jsou následně vyhodnoceny. Bakalářská práce mimo jiné obsahuje popis bezpilotního systému s názvem Stalker.Bachelor thesis deals about opportunity to measure atmosphere ground layer parameters by UAV Utilization. In front part of UAV was placed dust sensor, carbon dioxide sensor, temperature and density sensor. According the certain procedure was planned and performed two series of flights. Flights are subsequently evaluated. Part of bachelor thesis is description of UAS named Stalker.342 - Institut dopravyvýborn

Development of an autonomous unmanned aerial system to collect time-stamped samples from the atmosphere and localize potential pathogen sources

This paper presents the hardware development and testing of a new concept for air sampling via the integration of a prototype spore trap onboard an unmanned aerial system (UAS).We propose the integration of a prototype spore trap onboard a UAS to allow multiple capture of spores of pathogens in single remote locations at high or low altitude, otherwise not possible with stationary sampling devices.We also demonstrate the capability of this system for the capture of multiple time-stamped samples during a single mission.Wind tunnel testing was followed by simulation, and flight testing was conducted to measure and quantify the spread during simulated airborne air sampling operations. During autonomous operations, the onboard autopilot commands the servo to rotate the sampling device to a new indexed location once the UAS vehicle reaches the predefined waypoint or set of waypoints (which represents the region of interest). Time-stamped UAS data are continuously logged during the flight to assist with analysis of the particles collected. Testing and validation of the autopilot and spore trap integration, functionality, and performance is described. These tools may enhance the ability to detect new incursions of spore