Beyond swarm intelligence: The Ultraswarm

This paper explores the idea that it may be possible to combine two ideas – UAV flocking, and wireless cluster computing – in a single system, the UltraSwarm. The possible advantages of such a system are considered, and solutions to some of the technical problems are identified. Initial work on constructing such a system based around miniature electric helicopters is described

SwarMAV: A Swarm of Miniature Aerial Vehicles

As the MAV (Micro or Miniature Aerial Vehicles) field matures, we expect to see that the platform's degree of autonomy, the information exchange, and the coordination with other manned and unmanned actors, will become at least as crucial as its aerodynamic design. The project described in this paper explores some aspects of a particularly exciting possible avenue of development: an autonomous swarm of MAVs which exploits its inherent reliability (through redundancy), and its ability to exchange information among the members, in order to cope with a dynamically changing environment and achieve its mission. We describe the successful realization of a prototype experimental platform weighing only 75g, and outline a strategy for the automatic design of a suitable controller

Mars Science Helicopter Conceptual Design

Robotic planetary aerial vehicles increase the range of terrain that can be examined, compared to traditional landers and rovers, and have more near-surface capability than orbiters. Aerial mobility is a promising possibility for planetary exploration as it reduces the challenges that difficult obstacles pose to ground vehicles. The first use of a rotorcraft for a planetary mission will be in 2021, when the Mars Helicopter technology demonstrator will be deployed from the Mars 2020 rover. The Jet Propulsion Laboratory and NASA Ames Research Center are exploring possibilities for a Mars Science Helicopter, a second-generation Mars rotorcraft with the capability of conducting science investigations independently of a lander or rover (although this type of vehicle could also be used assist rovers or landers in future missions). This report describes the conceptual design of Mars Science Helicopters. The design process began with coaxial-helicopter and hexacopter configurations, with a payload in the range of two to three kilograms and an overall vehicle mass of approximately twenty kilograms. Initial estimates of weight and performance were based on the capabilities of the Mars Helicopter. Rotorcraft designs for Mars are constrained by the dimensions of the aeroshell for the trip to the planet, requiring attention to the aircraft packaging in order to maximize the rotor dimensions and hence overall performance potential. Aerodynamic performance optimization was conducted, particularly through airfoils designed specifically for the low Reynolds number and high Mach number inherent in operation on Mars. The final designs show a substantial capability for science operations on Mars: a 31 kg hexacopter that fits within a 2.5 m diameter aeroshell could carry a 5 kg payload for 10 min of hover time or over a range of 5 km

Feasibility of surveying pesticide coverage with airborne fluorometer

Response of a Fraunhofer line discriminator (FLD) to varying distributions of granulated corncobs stained with varying concentrations of Rhodamine WT dye was tested on the ground and from an H-19 helicopter. The granules are used as a vehicle for airborne emplacement of poison to control fire ants in the eastern and southeastern United States. Test results showed that the granules are detectable by FLD but that the concentration must be too great to be practical with the present apparatus. Possible methods for enhancement of response may include: (1) increasing dye concentration; (2) incorporating with the poisoned granules a second material to carry the dye alone; (3) use of a more strongly fluorescent substance (at 5890 A); (4) modifying the time interval after dyeing, or modifying the method of dyeing; (5) modifying the FLD for greater efficiency, increased field of view or larger optics; or (6) experimenting with laser-stimulated fluorescence

Design and simulation of a multi-function MEMS sensor for health and usage monitoring.

Health and usage monitoring as a technique for online test, diagnosis or prognosis of structures and systems has evolved as a key technology for future critical systems. The technology, often referred to as HUMS is usually based around sensors that must be more reliable than the system or structure they are monitoring. This paper proposes a fault tolerant sensor architecture and demonstrates the feasibility of realising this architecture through the design of a dual mode humidity/pressure MEMS sensor with an integrated temperature function. The sensor has a simple structure, good linearity and sensitivity, and the potential for implementation of built-in-self-test features. We also propose a re-configurable sensor network based on the multi-functional sensor concept that supports both normal operational and fail safe modes. The architecture has the potential to significantly increase system reliability and supports a reduction in the number of sensors required in future HUMS devices. The technique has potential in a wide range of applications, especially within wireless sensor networks

Visual servoing of an autonomous helicopter in urban areas using feature tracking

We present the design and implementation of a vision-based feature tracking system for an autonomous helicopter. Visual sensing is used for estimating the position and velocity of features in the image plane (urban features like windows) in order to generate velocity references for the flight control. These visual-based references are then combined with GPS-positioning references to navigate towards these features and then track them. We present results from experimental flight trials, performed in two UAV systems and under different conditions that show the feasibility and robustness of our approach

UltraSwarm: A Further Step Towards a Flock of Miniature Helicopters

We describe further progress towards the development of a MAV (micro aerial vehicle) designed as an enabling tool to investigate aerial flocking. Our research focuses on the use of low cost off the shelf vehicles and sensors to enable fast prototyping and to reduce development costs. Details on the design of the embedded electronics and the modification of the chosen toy helicopter are presented, and the technique used for state estimation is described. The fusion of inertial data through an unscented Kalman filter is used to estimate the helicopter’s state, and this forms the main input to the control system. Since no detailed dynamic model of the helicopter in use is available, a method is proposed for automated system identification, and for subsequent controller design based on artificial evolution. Preliminary results obtained with a dynamic simulator of a helicopter are reported, along with some encouraging results for tackling the problem of flocking

Open and Closed Loop Stability of Hingeless Rotor Helicopter Air and Ground Resonance

The air and ground resonance instabilities of hingeless rotor helicopters are examined on a relatively broad parametric basis including the effects of blade tuning, virtual hinge locations, and blade hysteresis damping, as well as size and scale effects in the gross weight range from 5,000 to 48,000 pounds. A special case of a 72,000 pound helicopter air resonance instability is also included. The study shows that nominal to moderate and readily achieved levels of blade inertial hysteresis damping in conjunction with a variety of tuning and/or feedback conditions are highly effective in dealing with these instabilities. Tip weights and reductions in pre-coning angles are also shown to be effective means for improving the air resonance instability

Autonomous flight and remote site landing guidance research for helicopters

Automated low-altitude flight and landing in remote areas within a civilian environment are investigated, where initial cost, ongoing maintenance costs, and system productivity are important considerations. An approach has been taken which has: (1) utilized those technologies developed for military applications which are directly transferable to a civilian mission; (2) exploited and developed technology areas where new methods or concepts are required; and (3) undertaken research with the potential to lead to innovative methods or concepts required to achieve a manual and fully automatic remote area low-altitude and landing capability. The project has resulted in a definition of system operational concept that includes a sensor subsystem, a sensor fusion/feature extraction capability, and a guidance and control law concept. These subsystem concepts have been developed to sufficient depth to enable further exploration within the NASA simulation environment, and to support programs leading to the flight test