A 64mW DNN-based Visual Navigation Engine for Autonomous Nano-Drones

Fully-autonomous miniaturized robots (e.g., drones), with artificial intelligence (AI) based visual navigation capabilities are extremely challenging drivers of Internet-of-Things edge intelligence capabilities. Visual navigation based on AI approaches, such as deep neural networks (DNNs) are becoming pervasive for standard-size drones, but are considered out of reach for nanodrones with size of a few cm${}^\mathrm{2}$. In this work, we present the first (to the best of our knowledge) demonstration of a navigation engine for autonomous nano-drones capable of closed-loop end-to-end DNN-based visual navigation. To achieve this goal we developed a complete methodology for parallel execution of complex DNNs directly on-bard of resource-constrained milliwatt-scale nodes. Our system is based on GAP8, a novel parallel ultra-low-power computing platform, and a 27 g commercial, open-source CrazyFlie 2.0 nano-quadrotor. As part of our general methodology we discuss the software mapping techniques that enable the state-of-the-art deep convolutional neural network presented in [1] to be fully executed on-board within a strict 6 fps real-time constraint with no compromise in terms of flight results, while all processing is done with only 64 mW on average. Our navigation engine is flexible and can be used to span a wide performance range: at its peak performance corner it achieves 18 fps while still consuming on average just 3.5% of the power envelope of the deployed nano-aircraft.Comment: 15 pages, 13 figures, 5 tables, 2 listings, accepted for publication in the IEEE Internet of Things Journal (IEEE IOTJ

Electric Commuter Multicopter

This document describes the design, analysis, and overall goals of the Electric Commuter Multicopter (ECM) Senior Project. It was presented by Bob Addis and Bill Burner to the senior mechanical engineering class of 2015 at Cal Poly, San Luis Obispo. The progress and development of the project are described in detail and to an extent that an individual or group with similar aspirations can construct their own multicopter or expand upon this one. The goal of this project is to create an Ultralight, as defined by FAA Part 103, commuter multicopter vehicle capable of transporting an individual to and from home, work, or school with the potential of becoming a safe, reliable, and efficient alternative to automobiles. The text contains a background of the project and description of the specific design criteria used to define the function and applicability of the aircraft. Available options of flight, such as planes, autogyros, and helicopters are identified as well as particular components that would be beneficial in ECM’s design. Additionally, the main competitor and reference for the multicopter’s success is the Evolo VC1 because it is currently the sole ultralight manned multicopter. The document moves through the steps used to develop a final theoretical model of the craft. These steps range from preliminary research to detailed analysis and part drawings. This design of ECM is a 12-propeller aerial vehicle with a traditional quadcopter layout encompassing 4, 3-propeller clusters in a 12’ x 12’ square area. All 3 propellers in a cluster operate synchronously, acting as one. Each carbon fiber propeller is mounted to a JM1S in-runner motor manufactured by Joby Motors, which has a continuous power of 8.2 kW and a constant efficiency of 85%. These motors are powered by 14s LiPo battery packs, and the number of batteries per motor depends on the end-vehicle-weight, so the number of batteries and flight time is tentative. The aerial vehicle’s structural materials comprises of carbon fiber and 4130 Chromoly steel. There are three components made of carbon fiber: the main arms, motor spars, and propeller rings. The 52” main arms and 22” motor spars are made of unidirectional carbon fiber with a layup schedule of three 0° plies and two 45° plies, surrounding an additional 0° ply in the center. The 52” main arms extend outward from the center mount to the arm mounts. The motor spars extend outward from the arm mounts to the motor mounts, which hold the motor and propeller assembly. The propeller rings are made from a biaxially braided carbon fiber tape with fibers arranged in a +/- 25° configuration. For building the propeller rings, West System’s 105 Resin with their 206 hardener will be used. The center mount, arm mounts, motor mounts, rings mounts, all brackets and plates are made out of 4130 Chromoly steel. This is based off the premises that the vehicle will experience a significant number of cycles and that steel is a highly reliable material. In addition, lighter metals, such as aluminum, cannot handle the loads for the desired application. Each mount is of circular geometry and fits concentrically into the carbon fiber arms. These steel to carbon fits will be rigidly attached by epoxying the overlapping surface area with 3M Scotch-Weld 2216 2-part epoxy. The control system of ECM comprises of a Saitek control interface with a Scherrer transmitter, linked via a CompuFly cable. The selected microcontroller is an OpenPilot GCS because it allows for 12 inputs, one input for each motor, and enables an engineer to configure the propeller layout with the built-in software. Along with the craft’s development, the structure of the team is outlined, providing insight for how tasks are delegated. Task delegation involves assigning individual and team roles with respect to management and finances, as well as approaches for accomplishing more technical tasks within the three main project subgroups: structure, propulsion, and controls. Additional attention is given to the financial limitations placed on this project. To account for the possibility of not reaching the funding goal for a full-scale prototype, two other options are presented. Results of any of the 3 options will be used to validate the feasibility of this project. However, the disadvantages and advantages of each option are outlined for the reader to realize their value. To conclude, the theoretical results for a twelve rotor, battery powered, manned multicopter indicate a total expected flight time approaching ten minutes. As such, it will not be until the energy density and weight of small-scale power supplies improve significantly that a vehicle capable of replacing the automobile will be possible. However, this is the first iteration of ECM, and the team believes this project can move forward with great momentum if a full scale prototype is built

Adaptive Multi-Functional Space Systems for Micro-Climate Control

This report summarizes the work done during the Adaptive Multifunctional Systems for Microclimate Control Study held at the Caltech Keck Institute for Space Studies (KISS) in 2014-2015. Dr. Marco Quadrelli (JPL), Dr. James Lyke (AFRL), and Prof. Sergio Pellegrino (Caltech) led the Study, which included two workshops: the first in May of 2014, and another in February of 2015. The Final Report of the Study presented here describes the potential relevance of adaptive multifunctional systems for microclimate control to the missions outlined in the 2010 NRC Decadal Survey. The objective of the Study was to adapt the most recent advances in multifunctional reconfigurable and adaptive structures to enable a microenvironment control to support space exploration in extreme environments (EE). The technical goal was to identify the most efficient materials, architectures, structures and means of deployment/reconfiguration, system autonomy and energy management solutions needed to optimally project/generate a micro-environment around space assets. For example, compact packed thin-layer reflective structures unfolding to large areas can reflect solar energy, warming and illuminating assets such as exploration rovers on Mars or human habitats on the Moon. This novel solution is called an energy-projecting multifunctional system (EPMFS), which are composed of Multifunctional Systems (MFS) and Energy-Projecting Systems (EPS)

A novel approach to the control of quad-rotor helicopters using fuzzy-neural networks

Quad-rotor helicopters are agile aircraft which are lifted and propelled by four rotors. Unlike traditional helicopters, they do not require a tail-rotor to control yaw, but can use four smaller fixed-pitch rotors. However, without an intelligent control system it is very difficult for a human to successfully fly and manoeuvre such a vehicle. Thus, most of recent research has focused on small unmanned aerial vehicles, such that advanced embedded control systems could be developed to control these aircrafts. Vehicles of this nature are very useful when it comes to situations that require unmanned operations, for instance performing tasks in dangerous and/or inaccessible environments that could put human lives at risk. This research demonstrates a consistent way of developing a robust adaptive controller for quad-rotor helicopters, using fuzzy-neural networks; creating an intelligent system that is able to monitor and control the non-linear multi-variable flying states of the quad-rotor, enabling it to adapt to the changing environmental situations and learn from past missions. Firstly, an analytical dynamic model of the quad-rotor helicopter was developed and simulated using Matlab/Simulink software, where the behaviour of the quad-rotor helicopter was assessed due to voltage excitation. Secondly, a 3-D model with the same parameter values as that of the analytical dynamic model was developed using Solidworks software. Computational Fluid Dynamics (CFD) was then used to simulate and analyse the effects of the external disturbance on the control and performance of the quad-rotor helicopter. Verification and validation of the two models were carried out by comparing the simulation results with real flight experiment results. The need for more reliable and accurate simulation data led to the development of a neural network error compensation system, which was embedded in the simulation system to correct the minor discrepancies found between the simulation and experiment results. Data obtained from the simulations were then used to train a fuzzy-neural system, made up of a hierarchy of controllers to control the attitude and position of the quad-rotor helicopter. The success of the project was measured against the quad-rotor’s ability to adapt to wind speeds of different magnitudes and directions by re-arranging the speeds of the rotors to compensate for any disturbance. From the simulation results, the fuzzy-neural controller is sufficient to achieve attitude and position control of the quad-rotor helicopter in different weather conditions, paving way for future real time applications

A History of Materials and Technologies Development

The purpose of the book is to provide the students with the text that presents an introductory knowledge about the development of materials and technologies and includes the most commonly available information on human development. The idea of the publication has been generated referring to the materials taken from the organic and non-organic evolution of nature. The suggested texts might be found a purposeful tool for the University students proceeding with studying engineering due to the fact that all subjects in this particular field more or less have to cover the history and development of the studied object. It is expected that studying different materials and technologies will help the students with a better understanding of driving forces, positive and negative consequences of technological development, etc

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Beyond the Ebook: Digital Ecologies and the Future of the Author-Publisher Relationship, and Bibliotek: A Novel

This thesis examines changes in book publishing arising from digital distribution and textual ecology, and how these affect the traditional publisher-author relationship. It considers how the inclusion of fan writers into the industry may help publishing develop in positive ways. The critical exegesis develops a model for a transformative, sharing readership to work with the industry, helping to revitalise the form; while the creative component, science fiction novel, Bibliotek, extrapolates how this model could function

Emerging Technologies

This monograph investigates a multitude of emerging technologies including 3D printing, 5G, blockchain, and many more to assess their potential for use to further humanity’s shared goal of sustainable development. Through case studies detailing how these technologies are already being used at companies worldwide, author Sinan Küfeoğlu explores how emerging technologies can be used to enhance progress toward each of the seventeen United Nations Sustainable Development Goals and to guarantee economic growth even in the face of challenges such as climate change. To assemble this book, the author explored the business models of 650 companies in order to demonstrate how innovations can be converted into value to support sustainable development. To ensure practical application, only technologies currently on the market and in use actual companies were investigated. This volume will be of great use to academics, policymakers, innovators at the forefront of green business, and anyone else who is interested in novel and innovative business models and how they could help to achieve the Sustainable Development Goals. This is an open access book

LASER Tech Briefs, Winter 1994

Topics include: Electronic Components and Circuits. Electronic Systems, Physical Sciences, Materials, Computer Programs, Mechanics, Machinery, Fabrication Technology, Mathematics and Information Sciences, Life Sciences, and Books and report