Design of autonomous sustainable unmanned aerial vehicle - A novel approach to its dynamic wireless power transfer

A thesis submitted in partial fulfilment of the requirements of the University of Wolverhampton for the degree of Doctor of Philosophy.Electric UAVs are presently being used widely in civilian duties such as security, surveillance, and disaster relief. The use of Unmanned Aerial Vehicle (UAV) has increased dramatically over the past years in different areas/fields such as marines, mountains, wild environments. Nowadays, there are many electric UAVs development with fast computational speed and autonomous flying has been a reality by fusing many sensors such as camera tracking sensor, obstacle avoiding sensor, radar sensor, etc. But there is one main problem still not able to overcome which is power requirement for continuous autonomous operation. When the operation needs more power, but batteries can only give for 20 to 30 mins of flight time. These types of system are not reliable for long term civilian operation because we need to recharge or replace batteries by landing the craft every time when we want to continue the operation. The large batteries also take more loads on the UAV which is also not a reliable system. To eliminate these obstacles, there should a recharging wireless power station in ground which can transmit power to these small UAVs wirelessly for long term operation. There will be camera attached in the drone to detect and hover above the Wireless Power Transfer device which got receiving and transmitting station can be use with deep learning and sensor fusion techniques for more reliable flight operations. This thesis explores the use of dynamic wireless power to transfer energy using novel rotating WPT charging technique to the UAV with improved range, endurance, and average speed by giving extra hours in the air. The hypothesis that was created has a broad application beyond UAVs. The drone autonomous charging was mostly done by detecting a rotating WPT receiver connected to main power outlet that served as a recharging platform using deep neural vision capabilities. It was the purpose of the thesis to provide an alternative to traditional self-charging systems that relies purely on static WPT method and requires little distance between the vehicle and receiver. When the UAV camera detect the WPT receiving station, it will try to align and hover using onboard sensors for best power transfer efficiency. Since this strategy relied on traditional automatic drone landing technique, but the target is rotating all the time which needs smart approaches like deep learning and sensor fusion. The simulation environment was created and tested using robot operating system on a Linux operating system using a model of the custom-made drone. Experiments on the charging of the drone confirmed that the intelligent dynamic wireless power transfer (DWPT) method worked successfully while flying on air

Transport mechanism for wireless micro sensor network

Wireless sensor network (WSN) is a wireless ad hoc network that consists of very large number of tiny sensor nodes communicating with each other with limited power and memory constrain. WSN demands real-time routing which requires messages to be delivered within their end-to-end deadlines (packet lifetime). This report proposes a novel real-time with load distribution (RTLD) routing protocol that provides real time data transfer and efficient distributed energy usage in WSN. The RTLD routing protocol ensures high packet throughput with minimized packet overhead and prolongs the lifetime of WSN. The routing depends on optimal forwarding (OF) decision that takes into account of the link quality, packet delay time and the remaining power of next hop sensor nodes. RTLD routing protocol possesses built-in security measure. The random selection of next hop node using location aided routing and multi-path forwarding contributes to built-in security measure. RTLD routing protocol in WSN has been successfully studied and verified through simulation and real test bed implementation. The performance of RTLD routing in WSN has been compared with the baseline real-time routing protocol. The simulation results show that RTLD experiences less than 150 ms packet delay to forward a packet through 10 hops. It increases the delivery ratio up to 7 % and decreases power consumption down to 15% in unicast forwarding when compared to the baseline routing protocol. However, multi-path forwarding in RTLD increases the delivery ratio up to 20%. In addition, RTLD routing spreads out and balances the forwarding load among sensor nodes towards the destination and thus prolongs the lifetime of WSN by 16% compared to the baseline protocol. The real test bed experiences only slight differences of about 7.5% lower delivery ratio compared to the simulation. The test bed confirms that RTLD routing protocol can be used in many WSN applications including disasters fighting, forest fire detection and volcanic eruption detection

A prioritized MAC protocol for multihop, event-driven wireless sensor network

Master'sMASTER OF ENGINEERIN

Unified Role Assignment Framework For Wireless Sensor Networks

Wireless sensor networks are made possible by the continuing improvements in embedded sensor, VLSI, and wireless radio technologies. Currently, one of the important challenges in sensor networks is the design of a systematic network management framework that allows localized and collaborative resource control uniformly across all application services such as sensing, monitoring, tracking, data aggregation, and routing. The research in wireless sensor networks is currently oriented toward a cross-layer network abstraction that supports appropriate fine or course grained resource controls for energy efficiency. In that regard, we have designed a unified role-based service paradigm for wireless sensor networks. We pursue this by first developing a Role-based Hierarchical Self-Organization (RBSHO) protocol that organizes a connected dominating set (CDS) of nodes called dominators. This is done by hierarchically selecting nodes that possess cumulatively high energy, connectivity, and sensing capabilities in their local neighborhood. The RBHSO protocol then assigns specific tasks such as sensing, coordination, and routing to appropriate dominators that end up playing a certain role in the network. Roles, though abstract and implicit, expose role-specific resource controls by way of role assignment and scheduling. Based on this concept, we have designed a Unified Role-Assignment Framework (URAF) to model application services as roles played by local in-network sensor nodes with sensor capabilities used as rules for role identification. The URAF abstracts domain specific role attributes by three models: the role energy model, the role execution time model, and the role service utility model. The framework then generalizes resource management for services by providing abstractions for controlling the composition of a service in terms of roles, its assignment, reassignment, and scheduling. To the best of our knowledge, a generic role-based framework that provides a simple and unified network management solution for wireless sensor networks has not been proposed previously