Dissertations / Theses on the topic 'Unmanned Aerial Vehicles (UAVs) testing'

Unmanned Aerial Vehicles (UAVs) are a technology that allows a ground operator to pilot a small aircraft remotely, with minimal training. UAVs are utilised for commercial, recreational, military, and academic uses. Many industries are adopting UAVs to assist with tasks that would place humans in danger or otherwise not be possible. The customisability of UAVs leaves room for flexibility in their operation and use, being able to be retrofitted with other technology to specialise their use; for instance, thermal imaging cameras, weight distribution apparatus to support heavier payloads, and chemical sensors. The increased use of UAVs has resulted in increased dangers of the technology, leading to incidents and investigations, often with less than satisfactory outcomes. The Civil Aviation Safety Authority (CASA) is the legislative authority that oversees UAV usage in Australia. At present, there is no legislation able to be utilised by CASA that addresses legal processes that need to be followed if a UAV is involved in a crime. Current legislation has fallen behind the technological advancements made within the civilian UAV market. This variance in legislation maturity affects active court cases that require a defensible and validated forensic methodology to assure forensic integrity during investigations and future court proceedings. The research has contributed a novel forensic framework for undertaking digital forensic investigations against UAVs and leading successful attribution of device behaviour to an operator. The framework can be used be law enforcement investigators to conduct forensic analysis of UAVs whereby illegal behaviour can be proven and demonstrated in a court of law. This was achieved by examining issues with existing UAV forensic frameworks and taking a vendor agnostic approach for the resulting framework. Specific manufacturer and model issues arose that have not been discovered in existing research when doing preliminary testing, highlighting the rate at which UAV technology has developed and the actions that manufacturers are taking to restrict device tampering.

Performance of inflatable wings was investigated through laboratory, wind tunnel and flight-testing. Three airfoils were investigated, an inflatable-rigidazable wing, an inflatable polyurethane wing and a fabric wing restraint with a polyurethane bladder. The inflatable wings developed and used within this research had a unique outer airfoil profile. The airfoil surface consisted of a series of chord-wise \bumps.andamp;quot; The effect of the bumps or \surface perturbationsandamp;quot; on the performance of the wings was of concern and was investigated through smoke-wire flow visualization. Aerodynamic measurements and predictions were made to determine the performance of the wings at varying chord based Reynolds Numbers and angles of attack. The inflatable baffes were found to introduce turbulence into the free-stream boundary layer, which delayed separation and improved performance. Another area of concern was aeroelasticity. The wings contain no solid structural members and thus rely exclusively on inflation pressure for stiffness. Inflation pressure was varied below the design pressure in order to examine the effect on wingtip twist and bending. This lead to investigations into wing deformation due to aerodynamic loading and an investigation of wing flutter. Photogrammetry and laser displacement sensors were used to determine the wing deflections. The inflatable wings exhibited wash-in deformation behavior. Alternately, as the wings do not contain structural members, the relationship between stiffness and inflation pressure was exploited to actively manipulate wing through wing warping. Several warping techniques were developed and employed within this re-search. The goal was to actively influence the shape of the inflatable wings to affect the flight dynamics of the vehicle employing them. Researchers have developed inflatable beam theory and models to analyze torsion and bending of inflatable beams and other inflatable structures. This research was used to model the inflatable wings to predict the performance of the inflatable wings during flight. Design elements of inflatable wings incorporated on the UAVs used within this research are also discussed. Finally, damage resistance of the inflatable wings is shown from results of flight tests.

In this work, unmanned aerial vehicle-based non-destructive testing methods for concrete structures are evaluated and developed. There exists a need for improved infrastructure inspection techniques with increased expediency. Unmanned aerial vehicles (UAVs) are highly mobile and have shown promise towards achieving this directive, but more work is required to adapt traditional NDT methods to be UAV-compatible. To this end, concrete sounding techniques were evaluated with a quantitative acoustic frequency analysis procedure on a series of concrete slabs. One such method was adapted for use with a UAV and was used to detect subsurface voids in one of the concrete samples and offer a means of depth estimation. This work was complemented with experiments concerning UAV-based visual and infrared imaging techniques already in practice for UAV-based concrete inspection. Together, findings indicate the strengths and weaknesses of the NDTs tested and suggest further improvements for UAV-based NDTs and inspection strategies moving forward. Development of a novel sensor platform for UAV-based measurement, as well as results of an actual bridge inspection using infrared and optical methods demonstrate the present capabilities of the UAV-based instrumentation.<br>Graduate<br>2019-07-03

The present PhD thesis addresses the problem of the control of small fixed-wing Unmanned Aerial Vehicles (UAVs). In the scientific community much research is dedicated to the study of suitable control laws for this category of aircraft. This interest is motivated by the several applications that these platforms can perform and by their peculiarities as dynamical systems. In fact, small UAVs are characterized by highly nonlinear behavior, strong coupling between longitudinal and latero-directional planes, and high sensitivity to external disturbances and to parametric uncertainties. Furthermore, the challenge is increased by the limited space and weight available for the onboard electronics. The aim of this PhD thesis is to provide a valid confrontation among three different control techniques and to introduce an innovative autopilot configuration suitable for the unmanned aircraft field. Three advanced controllers for fixed-wing unmanned aircraft vehicles are designed and implemented: PID with H1 robust approach, L1 adaptive controller and nonlinear backstepping controller. All of them are analyzed from the theoretical point of view and validated through numerical simulations with a mathematical UAV model. One is implemented on a microcontroller board, validated through hardware simulations and tested in flight. The PID with H1 robust approach is used for the definition of the gains of a commercial autopilot. The proposed technique combines traditional PID control with an H1 loop shaping method to assess the robustness characteristics achievable with simple PID gains. It is demonstrated that this hybrid approach provides a promising solution to the problem of tuning commercial autopilots for UAVs. Nevertheless, it is clear that a tradeoff between robustness and performance is necessary when dealing with this standard control technique. The robustness problem is effectively solved by the adoption of an L1 adaptive controller for complete aircraft control. In particular, the L1 logic here adopted is based on piecewise constant adaptive laws with an adaptation rate compatible with the sampling rate of an autopilot board CPU. The control scheme includes an L1 adaptive controller for the inner loop, while PID gains take care of the outer loop. The global controller is tuned on a linear decoupled aircraft model. It is demonstrated that the achieved configuration guarantees satisfying performance also when applied to a complete nonlinear model affected by uncertainties and parametric perturbations. The third controller implemented is based on an existing nonlinear backstepping technique. A scheme for longitudinal and latero-directional control based on the combination of PID for the outer loop and backstepping for the inner loop is proposed. Satisfying results are achieved also when the nonlinear aircraft model is perturbed by parametric uncertainties. A confrontation among the three controllers shows that L1 and backstepping are comparable in terms of nominal and robust performance, with an advantage for L1, while the PID is always inferior. The backstepping controller is chosen for being implemented and tested on a real fixed-wing RC aircraft. Hardware-in-the-loop simulations validate its real-time control capability on the complete nonlinear model of the aircraft adopted for the tests, inclusive of sensors noise. An innovative microcontroller technology is employed as core of the autopilot system, it interfaces with sensors and servos in order to handle input/output operations and it performs the control law computation. Preliminary ground tests validate the suitability of the autopilot configuration. A limited number of flight tests is performed. Promising results are obtained for the control of longitudinal states, while latero-directional control still needs major improvements.

Inflatable-wing Unmanned Aerial Vehicles (UAVs) have the ability to be packed in a fraction of their deployed volume. This makes them ideal for many deployable UAV designs, but inflatable wings can be flexible and don’t have conventional control surfaces. This thesis will investigate the use of wing warping as a means of autonomous control for inflatable wings. Due to complexities associated with manufacturing inflatable structures a new method of rapid prototyping deformable wings is used in place of inflatables to decrease cost and design-cycle time. A UAV testbed was developed and integrated with the warping wings and flown in a series of flight tests. The warping wing flew both under manual control and autopilot stabilization.

Thesis (M.S. in Applied Mathematics)--Naval Postgraduate School, June 2010.<br>Thesis Advisor(s): Kang, Wei ; Second Reader: Zhou, Hong. "June 2010." Description based on title screen as viewed on July 14, 2010. Author(s) subject terms: Nonlinear model, trajectory optimization, state and control variables, cost function Includes bibliographical references (p. 59-60). Also available in print.

General aircraft dynamic stability theory was used to predict the natural frequencies, damping ratios and time constants of the dynamic modes for three specific small UAVs with wingspans on the scale from 0.6 meters to 1.2 meters. Using USAF DatCom methods, a spreadsheet program for predicting the dynamic stability and handling qualities of small UAVs was created for use in the design stage of new small UAV concept development. This program was verified by inputting data for a Cessna-182, and by then comparing the program output with that of a similar program developed by DAR Corporation. Predictions with acceptable errors were made for all of the dynamic modes except for the spiral mode. The design tool was also used to verify and develop dynamic stability and handling qualities design guidelines for small UAV designers. Using this design tool, it was observed that small UAVs tend to exhibit higher natural frequencies of oscillation for all of the dynamic modes. Comparing the program outputs with military handling qualities specifications, the small UAVs at standard configurations fell outside the range of acceptable handling qualities for short-period mode natural frequency, even though multiple test pilots rated the flying qualities as acceptable. Using dynamic scaling methods to adjust the current military standards for the short period mode, a new scale was proposed specifically for small UAVs. This scale was verified by conducting flight tests of three small UAVs at various configurations until poor handling qualities were observed. These transitions were observed to occur at approximately the boundary predicted by the new, adjusted scale.

Reissued 2 Mar 2015 to correct degree earned<br>Approved for public release; distribution is unlimited<br>Reissued 2 Mar 2015 to correct degree earned<br>Technological advances and research are pushing the application of unmanned vehicles in exciting directions. This thesis emphasis is on cost estimation for a new unmanned aerial vehicle (UAV) with swarm applications. The new swarm UAV theoretical can be designed to emulate the current unmanned aerial system (UAS) mission, and expand upon the communication relay mission. Small UASs have a line-of-sight capability limitation that leaves room for improvement. The UAVs organic to the U.S. Marine Corps (USMC) are the primary focus for this analysis because organic USMC UAVs are habitually small UAVs. The analysis will determine a rough cost estimation range for a future AV with new technology. Based on the adaptation of networking topologies and research, the communication relay mission is a feasible capability to Peruse in future swarm UAVs. The analysis suggests that a swarm UAV is comparable in cost to legacy UAVs currently in service in the USMC.

En tant que sujet en expansion de la robotique aérienne, les véhicules aériens sans pilote (UAV) ont fait l'objet d'une attention particulière de la part de la communauté de recherche sur les réseaux sans fil. Dès que les législations nationales permettront aux drones de voler de manière autonome, nous verrons des essaims de drones envahir le ciel de nos villes intelligentes pour accomplir diverses missions : livraison de colis, surveillance des infrastructures, vidéographie événementielle, surveillance, suivi, etc. Les réseaux cellulaires de cinquième génération (5G) et au-delà peuvent améliorer les communications des drones de diverses manières et profiter ainsi à l'écosystème des drones. Il existe une grande variété d'applications sans fil et de cas d'utilisation qui peuvent bénéficier des capacités de ces dispositifs intelligents, y compris les caractéristiques inhérentes du drone de mobilité agile dans l'espace tridimensionnel, le fonctionnement autonome et le placement intelligent. L'objectif général de cette thèse est de fournir une analyse complète des synergies qui peuvent être réalisées en combinant les réseaux cellulaires 5G et au-delà avec la technologie des drones. Cette thèse présente quatre types de modèles d'intégration de l'écosystème des drones et des réseaux cellulaires. Le paradigme cellulaire assisté par drone fait référence à des scénarios de communication dans lesquels les drones sont utilisés comme stations de base volantes (ou aériennes) ou comme relais pour augmenter la connectivité cellulaire terrestre actuelle ou pour atténuer les situations de catastrophe. Le paradigme des drones à assistance cellulaire prévoit l'intégration des drones dans le réseau cellulaire actuel en tant que nouvel utilisateur aérien (UE volant) pour servir une grande variété d'applications et de cas d'utilisation. Le paradigme "drone à drone" met l'accent sur la force collective d'une flotte de drones en tant qu'essaim et sur la communication entre les drones à l'intérieur de l'essaim. Le paradigme hybride non terrestre englobe les réseaux satellitaires et aériens, examinant ainsi l'ensemble du spectre des liaisons de communication du sol à l'air et à l'espace sous la forme d'un réseau de communication intégré espace-air-sol. Dans un premier temps, cette thèse se concentre sur les stations de base aériennes, qui ont fait l'objet d'une grande attention de la part des chercheurs afin de fournir des services de communication flexibles et à la demande aux utilisateurs au sol. À cette occasion, nous construisons une plateforme prototype de démonstration de faisabilité qui délimite les composants de conception requis pour mettre en œuvre de telles plateformes dans le monde réel, et nous expliquons ensuite la nécessité d'un placement optimal des stations de base aériennes pour augmenter les services de communication. Pour prendre en charge une classe hétérogène de services 5G provenant de diverses industries verticales (appelées locataires des opérateurs de réseaux 5G), nous proposons un cadre de station de base aérienne sensible au découpage dans lequel les utilisateurs au sol ayant des exigences de trafic différenciées en termes de débit de données, de latence et de déploiement massif sont pris en charge par le biais d'un approvisionnement intelligent en ressources. Ensuite, nous décrivons les utilisateurs aériens qui sont pris en charge par l'infrastructure cellulaire actuelle et examinons les difficultés telles que la coexistence des utilisateurs aériens et des utilisateurs au sol, les transferts et l'optimisation des trajectoires en fonction des communications<br>As an expanding subject of aerial robotics, Unmanned Aerial Vehicles (UAVs) have received substantial research attention within the wireless networking research community. As soon as national legislations enable UAVs to fly autonomously, we will witness swarms of UAV filling the skies of our smart cities to complete diverse missions: package delivery, infrastructure monitoring, event videography, surveillance, tracking, etc. Fifth generation (5G) and beyond cellular networks can improve UAV communications in a variety of ways and thus benefit the UAV ecosystem. There is a wide variety of wireless applications and use cases that can benefit from the capabilities of these smart devices, including the UAV's inherent characteristics of agile mobility in three-dimensional space, autonomous operation, and intelligent placement. The broad goal of this thesis is to provide a comprehensive analysis of the synergies that may be realized when combining 5G and beyond cellular networks with UAV technology. This thesis presents four types of UAV and cellular ecosystem integration models. "UAV-assisted cellular paradigm" refers to communication scenarios in which UAVs are used as flying (or aerial) base stations or as relays to augment current terrestrial cellular connectivity or to mitigate disaster situations. The "cellular-assisted UAV paradigm" foresees the integration of UAVs into the current cellular network as a new aerial user (flying UE) to serve a wide variety of applications and use cases. The "UAV-to-UAV paradigm" stresses the collective strength of a fleet of UAVs as a swarm and communication amongst UAVs inside the swarm. The "hybrid non-terrestrial paradigm" encompasses satellite and aerial networks, therefore examining the whole spectrum of communication links from the ground to the air to the space in the form of an integrated space-air-ground communication network. Initially, this thesis focuses on aerial base stations, which have gained great academic attention in order to provide flexible, on-demand communication services to ground users. On this occasion, we build and construct a proof-of-concept prototype platform that delineates the design components required to implement such platforms in the real world, and we then explain the necessity for optimal placement of aerial base stations for increasing communication services. To support a heterogeneous class of 5G services from various vertical industries (referred to as tenants of 5G network operators), we propose a slicing-aware aerial base station framework in which ground users with differentiated traffic requirements in terms of data rate, latency, and massive deployment are supported through intelligent resource provisioning. Second, we describe aerial users who are supported by current cellular infrastructure and examine difficulties such as coexistence of aerial users and ground users, handovers, and communication-aware trajectory optimization. The use of a swarm of UAVs is considerably more cost-effective as compared to a single UAV conducting a mission when considering realistic mission goals. A swarm of UAVs opens up new opportunities for new services and applications since the UAVs may independently coordinate their operations and work together to complete a given task. Due to the spatio-temporal dynamics of swarm topology, dependable network development with seamless communication amongst UAVs is essential for any operation to be successful. As part of this thesis, we offer centralized and decentralized network models for UAV-to-UAV (U2U) communication inside swarm and conduct a full investigation of sidelink-assisted U2U communication with performance assessment

Philosophiae Doctor - PhD<br>Unmanned Aerial Vehicles (UAVs) have recently o ered signi cant technological achievements. The advancement in related applications predicts an extended need for automated data muling by UAVs, to explore high risk places, ensure e ciency and reduce the cost of various products and services. Due to advances in technology, the actual UAVs are not as expensive as they once were. On the other hand, they are limited in their ight time especially if they have to use fuel. As a result, it has recently been proposed that they could be assisted by the ground static sensors which provide information of their surroundings. Then, the UAVs need only to provide actions depending on information received from the ground sensors. In addition, UAVs need to cooperate among themselves and work together with organised ground sensors to achieve an optimal coverage. The system to handle the cooperation of UAVs, together with the ground sensors, is still an interesting research topic which would bene t both rural and urban areas. In this thesis, an e cient ground sensor network for optimal UAVs coverage is rst proposed. This is done using a clustering scheme wherein, each cluster member transmits its sensor readings to its cluster head. A more e cient routing scheme for delivering readings to cluster head(s) for collection by UAVs is also proposed. Furthermore, airborne sensor deployment models are provided for e cient data collection from a unique sensor/target. The model proposed for this consists of a scheduling technique which manages the visitation of UAVs to target. Lastly, issues relating to the interplay between both types of sensor (airborne and ground/underground) networks are addressed by proposing the optimal UAVs task allocation models; which take caters for both the ground networking and aerial deployment. Existing network and tra c engineering techniques were adopted in order to handle the internetworking of the ground sensors. UAVs deployment is addressed by adopting Operational Research techniques including dynamic assignment and scheduling models. The proposed models were validated by simulations, experiments and in some cases, formal methods used to formalise and prove the correctness of key properties.

This research applies techniques from the field of optimization to spatial positioning and energy management in Unmanned Aerial Vehicles (UAVs). Two specific areas are treated: optimization of UAV view plans for 3D modeling of infrastructure, and trajectory optimization of solar powered high-altitude long-endurance (HALE) UAVs. Structure-from-Motion (SfM) is a computer vision technique for creating 3D models from 2D images. View planning is the process of planning image sets that will effectively model a given scene. First, a genetic algorithm based view planning approach is demonstrated. A novel terrain simulation environment is developed, and the algorithm is tested at multiple sites of interest. The genetic algorithm is compared quantitatively to traditional flights, and is found to yield terrain models with up to 43% greater accuracy than a standard grid flight pattern. Next a greedy heuristic planner is developed, and used to combine anomaly detection with automatic on-board 3D view planning for long linear infrastructure objects such as canals and pipelines. The proposed method is shown in simulation to decrease total flight time by up to 55%, while reducing the amount of image data to be processed by 89% and maintaining 3D model accuracy at areas of interest. The planning algorithm is then extended to select images of ground targets from an existing data set. The algorithm is tested on five different targets, and is shown to reduce processing time for target models by up to a factor of 50 with little decrease in accuracy. The second portion of the research demonstrates the use of nonlinear dynamic optimization to calculate energy optimal trajectories for a high-altitude, solar-powered Unmanned Aerial Vehicle (UAV). The objective is to maximize the total energy in the system while staying within a 3 km mission radius and meeting other system constraints. Solar energy capture is modeled using the vehicle orientation and solar position, and energy is stored both in batteries and in potential energy through elevation gain. Energy capture is maximized by optimally adjusting the angle of the aircraft surface relative to the sun. The UAV flight and energy system dynamics are optimized over a 24-hour period at an eight-second time resolution using Nonlinear Model Predictive Control (NMPC). Results of the simulated flights are presented for all four seasons, showing 8.2% increase in end-of-day battery energy for the most limiting flight condition of the wintersolstice.

Dissertation (MTech (Mechanical Engineering))--Cape Peninsula University of Technology, 2011<br>This paper presents the development of a data collection system for a small unmanned Aerial Vehicle (UAV) flight. The following three facets comprise of a UAV system: (1) a UAV aircraft; (2) onboard avionics; and (3) a ground control station subsystem (Taha et al., 2010:1). In this project, the UAV aircraft is based on the low-cost autonomous quad-rotator system named “Arducopter Quad”, where the onboard avionic system utilizes both an ArduPilot Mega (APM) on-board controller and IMU sensor shield, while the “Mission Planner” software operates as GCS software to gather essential flight data (Xiang & Tian, 2011:176). The approach provides the UAV system structure and both hardware and software with a small UAV data collection system, which is examined throughout the study. And introduce the concept of Arducopter dynamics for better understanding with its flight control. The study also considers the communication process between the UAV and the ground control station. The radio wave is an important aspect in the UAV data collection system (Austin, 2010:143). The literature review introduced the basis of the radio wave in respect of its travelling speed, and its characteristics of propagation, including how different frequencies will affect radio wave propagation. The aim of this project was to develop a platform for a small UAV real-time data collection system. The pendulum system was involved to simulate the “Roll” movement of the small UAV, while real-time IMU sensor data was successfully collected at ground control station (GCS), both serial communication and wireless communication, which was applied in the data collection process. The microwave generator interference test proves that the 2.4 GHz XBee module is capable of establishing reliable indoor communication between the APM controller and the GCS. The work of this project is towards development of additional health monitoring technology to prevent the safety issue of the small UAV. The data collection system can be used as basis for the future research of real-time health monitoring for various small UAVs.

The success or effectiveness for any aircraft design is a function of many trade-offs. Over the last 100 years of aircraft design these trade-offs have been optimized and dominant aircraft design philosophies have emerged. Pilotless aircraft (or uninhabited airborne systems, UAS) present new challenges in the optimization of their configuration. Recent developments in battery and motor technology have seen an upsurge in the utility and performance of electric powered aircraft. Thus, the opportunity to explore hybrid-electric aircraft powerplant configurations is compelling. This thesis considers the design of such a configuration from an overall propulsive, and energy efficiency perspective. A prototype system was constructed using a representative small UAS internal combustion engine (10cc methanol two-stroke) and a 600W brushless Direct current (BLDC) motor. These components were chosen to be representative of those that would be found on typical small UAS. The system was tested on a dynamometer in a wind-tunnel and the results show an improvement in overall propulsive efficiency of 17% when compared to a non-hybrid powerplant. In this case, the improvement results from the utilization of a larger propeller that the hybrid solution allows, which shows that general efficiency improvements are possible using hybrid configurations for aircraft propulsion. Additionally this approach provides new improvements in operational and mission flexibility (such as the provision of self-starting) which are outlined in the thesis. Specifically, the opportunity to use the windmilling propeller for energy regeneration was explored. It was found (in the prototype configuration) that significant power (60W) is recoverable in a steep dive, and although the efficiency of regeneration is low, the capability can allow several options for improved mission viability. The thesis concludes with the general statement that a hybrid powerplant improves the overall mission effectiveness and propulsive efficiency of small UAS.

In recent years, development of Unmanned Aerial Vehicles (UAV) has become a significant growing segment of the global aviation industry. These vehicles are developed with the intention of operating in regions where the presence of onboard human pilots is either too risky or unnecessary. Their popularity with both the military and civilian sectors have seen the use of UAVs in a diverse range of applications, from reconnaissance and surveillance tasks for the military, to civilian uses such as aid relief and monitoring tasks. Efficient energy utilisation on an UAV is essential to its functioning, often to achieve the operational goals of range, endurance and other specific mission requirements. Due to the limitations of the space available and the mass budget on the UAV, it is often a delicate balance between the onboard energy available (i.e. fuel) and achieving the operational goals. This thesis presents an investigation of methods for increasing the energy efficiency on UAVs. One method is via the development of a Mission Waypoint Optimisation (MWO) procedure for a small fixed-wing UAV, focusing on improving the onboard fuel economy. MWO deals with a pre-specified set of waypoints by modifying the given waypoints within certain limits to achieve its optimisation objectives of minimising/maximising specific parameters. A simulation model of a UAV was developed in the MATLAB Simulink environment, utilising the AeroSim Blockset and the in-built Aerosonde UAV block and its parameters. This simulation model was separately integrated with a multi-objective Evolutionary Algorithm (MOEA) optimiser and a Sequential Quadratic Programming (SQP) solver to perform single-objective and multi-objective optimisation procedures of a set of real-world waypoints in order to minimise the onboard fuel consumption. The results of both procedures show potential in reducing fuel consumption on a UAV in a ight mission. Additionally, a parallel Hybrid-Electric Propulsion System (HEPS) on a small fixedwing UAV incorporating an Ideal Operating Line (IOL) control strategy was developed. An IOL analysis of an Aerosonde engine was performed, and the most efficient (i.e. provides greatest torque output at the least fuel consumption) points of operation for this engine was determined. Simulation models of the components in a HEPS were designed and constructed in the MATLAB Simulink environment. It was demonstrated through simulation that an UAV with the current HEPS configuration was capable of achieving a fuel saving of 6.5%, compared to the ICE-only configuration. These components form the basis for the development of a complete simulation model of a Hybrid-Electric UAV (HEUAV).

The ability for an operator to control multiple Unmanned Aerial Vehicles (UAVs) is an emerging area of need for research. It is also one that is highly challenging. This thesis devised a novel way to represent UAV capabilities to the human operator to improve their cognitive abilities in controlling multiple UAVs in missions such as search and rescue. This PhD Cotutelle research program was a collaboration between QUT and Telecom Bretagne in France. Through numerous experimental trials held in both countries, the results showed that the mission operator’s cognitive abilities improved through greater awareness of the UAVs’ autonomy and capabilities.

Unmanned Aerial Vehicles (UAVs) are increasingly becoming economical platforms for carrying a variety of sensors. Building flight plans that place sensors properly, temporally and spatially, is difficult. The goal of sensor-driven planning is to automatically generate flight plans based on desired sensor placement and temporal constraints. We propose a simple taxonomy of UAV-enabled sensors, identify a set of generic sensor tasks, and argue that many real-world tasks can be represented by the taxonomy. We present a hierarchical sensor-driven flight planning system capable of generating 2D flights that satisfy desired sensor placement and complex timing and dependency constraints. The system makes use of several well-known planning algorithms and includes a user interface. We conducted a user study to show that sensor-driven planning can be used by non-experts, that it is easier for non-experts than traditional waypoint-based planning, and that it produces better flights than waypoint-based planning. The results of our user study experiment support the claims that sensor-driven planning is usable and that it produces better flights.

The highly optimized performance of nature’s creations and biological assemblies has inspired the development of their engineered counter parts that can potentially outperform conventional systems. In particular, bat wings are populated with air flow hair receptors which feedback the information about airflow over their surfaces for enhanced stability and maneuverability during their flight. The hairs in the bat wing membrane play a role in the maneuverability tasks, especially during low-speed flight. The developments of artificial hair sensors (AHS) are inspired by biological hair cells in aerodynamic feedback control designs. Current mathematical models for hair receptors are limited by strict simplifying assumptions of creeping flow hair Reynolds number on AHS fluid-structure interaction (FSI), which may be violated for hair structures integrated on small-scaled Unmanned Aerial Vehicles (UAVs). This study motivates by an outstanding need to understand the dynamic response of hair receptors in flow regimes relevant to bat-scaled UAVs. The dynamic response of the hair receptor within the creeping flow environment is investigated at distinct freestream velocities to extend the applicability of AHS to a wider range of low Reynolds number platforms. Therefore, a threedimensional FSI model coupled with a finite element model using the computational fluid dynamics (CFD) is developed for a hair-structure and multiple hair-structures in the airflow. The Navier-Stokes equations including continuity equation are solved numerically for the CFD model. The grid independence of the FSI solution is studied from the simulations of the hairstructure mesh and flow mesh around the hair sensor. To describe the dynamic response of the hair receptors, the natural frequencies and mode shapes of the hair receptors, computed from the finite element model, are compared with the excitation frequencies in vacuum. This model is described with both the boundary layer effects and effects of inertial forces due to fluid-structure xiv interaction of the hair receptors. For supporting the FSI model, the dynamic response of the hair receptor is also validated considering the Euler-Bernoulli beam theory including the steady and unsteady airflow.

Fixed-wing UAVs are today used in many different areas, from agriculture to search and rescue operations. Through various research efforts, they are becoming more and more autonomous. However, the procedure of landing a fixed-wing UAV remains a challenging task, which requires manual input from an experienced pilot. This work proposes a novel method which autonomously performs such landings. The main focus is on small and light-weight UAVs, for which the wind acts as a major disturbance and has to be taken into account. Robustness to other disturbances, such as variations in environmental factors or measurement errors, has also been prioritized during the development of this method.The main contribution of this work consists of a framework in which der\-iva\-tive-free optimization is used to calculate a set of waypoints, which are feasible to use in different wind speeds and directions, for a selected UAV model. These waypoints are then combined online using motion planning techniques, to create a trajectory which safely brings the UAV to a position where the landing descent can be initiated. To ensure a safe descent in a predefined area, another nonlinear optimization problem is formulated and solved. Finally, the proposed method is implemented on a real UAV platform. A number of simulations in different wind conditions are performed, and data from a real flight experiment is presented. The results indicate that the method successfully calculates feasible landing sequences in different scenarios, and that it is applicable in a real-world landing.

Les feux de forêt sont des incendies de végétation incontrôlés qui causent des dégâts importants à l’environnement, aux biens et aux personnes. Les actions de lutte contre de tels feux sont risqués et peuvent par conséquent bénéficier de techniques d'automatisation pour réduire l’exposition humaine. La télédétection aérienne est une technique qui permet d’obtenir des informations précises sur l’état d'un feu de forêt, afin que les équipes d’intervention puissent préparer des contre-mesures. Avec des véhicules aériens habités, elle expose les opérateurs à des risques élevés, qui peuvent être évités par l’utilisation de véhicules autonomes. Cette thèse présente un système de surveillance de feux de forêt basé sur des flottes de véhicules aériens sans pilote (UAV) afin de fournir aux pompiers des renseignements précis et à jour sur un feu de forêt. Nous présentons une approche pour planifier les trajectoires d’une flotte de drones à voilure fixe afin d’observer un feu de forêt évoluant au fil du temps. Des modèles réalistes du terrain, du processus de propagation du feu et des drones sont exploités, ainsi qu’un modèle du vent, pour prédire la propagation des feux de forêt et planifier le mouvement des drones. L’approche présentée adapte une méthode générique de recherche à voisinage variable (VNS) à ces modèles et les contraintes associées. L’exécution de la mission d’observation planifiée fournit des cartes des feux de forêt qui sont transmises à l’équipe d’intervention et exploitées par l’algorithme de planification pour déterminer de nouvelles trajectoires d’observation. Les algorithmes et les modèles sont intégrés dans une architecture logicielle permettant l’exécution dans des scénarios avec différents niveaux de réalisme, avec des drones réels et simulés survolant un feu de forêt réel ou synthétique. Les résultats de simulation mixte montrent la capacité de planifier les trajectoires d’observation d’une petite flotte de drones et de mettre à jour les plans lorsque de nouvelles informations sur l’incendie sont incorporées dans le modèle de propagation de feu<br>Wildfires, also known as forest or wildland fires, are uncontrolled vegetation fires occurring in rural areas that cause tremendous damage to the society, harming environment, property and people. The firefighting endeavor is a dull, dirty and dangerous job and as such, can greatly benefit from automation to reduce human exposure to hazards. Aerial remote sensing is a common technique to obtain precise information about a wildfire state so fire response teams can prepare countermeasures. This task, when performed with manned aerial vehicles, expose operators to high risks that can be eliminated by the use of autonomous vehicles. This thesis introduces a wildfire monitoring system based on fleets of unmanned aerial vehicles (UAVs) to provide firefighters with timely updated information about a wildland fire. We present an approach to plan trajectories for a fleet of fixed-wing UAVs to observe a wildfire evolving over time. Realistic models of the terrain, of the fire propagation process, and of the UAVs are exploited, together with a model of the wind, to predict wildfire spread and plan UAV motion. The approach tailors a generic Variable Neighborhood Search method to these models and the associated constraints. The execution of the planned monitoring mission provides wildfire maps that are transmitted to the fire response team and exploited by the planning algorithm to plan new observation trajectories. Algorithms and models are integrated within a software architecture allowing for execution under scenarios with different levels of realism, with real and simulated UAVs flying over a real or synthetic wildfire. Mixed-reality simulation results show the ability to plan observation trajectories for a small fleet of UAVs, and to update the plans when new information on the fire are incorporated in the fire model

Thesis (M.S. in Aeronautical Engineering) Naval Postgraduate School, September 1996.<br>"September 1996." Thesis advisor(s): I. Kaminer. Includes bibliographical references (p. 81). Also Available online.

Negli ultimi anni l’uso di Aeromobili a Pilotaggio Remoto (APR), o semplicemente droni, ha interessato molti campi. La loro estrema versatilità li ha resi efficaci strumenti anche nel campo del telerilevamento, grazie alla crescente disponibilità di sensoristica installabile a bordo, da sistemi LiDAR (Light Detection And Ranging) a camere digitali di vario tipo. Tra queste ultime, è aumentato il numero di camere multispettrali a basso costo capaci di acquisire informazioni spettrali nel campo del vicino infrarosso. Grazie all’elevata risoluzione geometrica (centimetrica) che è possibile raggiungere mediante l’uso di APR, le applicazioni di queste camere multispettrali possono oggi spaziare dall’agricoltura di precisione alla determinazione delle varie coperture al suolo attraverso procedure di classificazione. L’effettiva attendibilità dei dati acquisiti dipende tuttavia sia dalla conoscenza della sensibilità spettrale dei sensori impiegati, sia dalle reali condizioni di illuminazione ambientale al momento dell’acquisizione di ogni singola immagine. In questa tesi di dottorato vengono pertanto analizzati i risultati ottenibili attraverso l’impiego di alcune camere multispettrali a basso costo con particolare riguardo all’agricoltura di precisione e al monitoraggio costiero delle alghe nella Sacca di Goro, sia in termini di accuratezza finale conseguita che di necessità ed efficacia nell’impiego di procedure di calibrazione radiometrica. Dai risultati ottenuti si evince come sia possibile utilizzare con successo camere multispettrali a basso costo sia nell’ambito della caratterizzazione dello stato di salute di una coltivazione che nel monitoraggio algale. Tuttavia è solamente grazie a procedure rigorose di calibrazione radiometrica che diventa possibile effettuare un monitoraggio nel tempo, grazie alla possibilità di calcolare valori di riflettanza accurati ed attendibili. In mancanza di dispositivi quali sensori di irradianza ambientale o pannelli a riflettanza nota risulta solamente possibile effettuare computi di indici spettrali con una validità temporale limitata al singolo rilievo.<br>In the last few years the use of Unmanned Aerial Vehicles (UAVs), or simply drones, has involved many fields. Their extreme versatility has made them effective devices also in the field of remote sensing, thanks to the increasing availability of instrumentation that can be installed onboard, from LiDAR (Light Detection And Ranging) systems to digital cameras of different types. Among these, the number of low-cost multispectral cameras able to detect spectral information in the near infrared region has increased significantly. Thanks to the high geometric resolution (at a centimetre level) made possible by the use of UAVs, the applications of these cameras may now space from the precision farming (or precision agriculture) to the detection and characterization of the different ground cover types. However, the effective reliability of the data sensed depend on both the knowledge of the spectral sensitivity of the used sensors and the actual environmental light conditions at the time of each image acquisition. Therefore, this PhD thesis analyses the results retrievable by the use of some low-cost multispectral cameras with particular regard to the precision farming and the coastal monitoring of the submerged seaweed in the lagoon of Goro, both in terms of final accuracy and effectiveness in using radiometric calibration procedures. The results highlight how multispectral low-cost cameras can be successfully used to assess the health status of crops as well as detecting the seaweed. However, it is only applying rigorous radiometric calibration procedures that becomes possible to perform a monitoring over time, computing accurate and reliable reflectance values. In lack of devices such as downwelling light sensors or known reflectance panels it is only possible to compute spectral indices with a temporal validity limited to the single survey.

This thesis presents the development of small, inexpensive unmanned aerial vehicles (UAVs) to achieve autonomous fight. Fixed wing hobby model planes are modified and instrumented to form experimental platforms. Different sensors employed to collect the flight data are discussed along with their calibrations. The time constant and delay for the servo-actuators for the platform are estimated. Two different data collection and processing units based on micro-controller and PC104 architectures are developed and discussed. These units are also used to program the identification and control algorithms. Flight control of fixed wing UAVs is a challenging task due to the coupled, time-varying, nonlinear dynamic behaviour. One of the possible alternatives for the flight control system is to use the intelligent adaptive control techniques that provide online learning capability to cope with varying dynamics and disturbances. Neural network based indirect adaptive control strategy is applied for the current work. The two main components of the adaptive control technique are the identification block and the control block. Identification provides a mathematical model for the controller to adapt to varying dynamics. Neural network based identification provides a black-box identification technique wherein a suitable network provides prediction capability based upon the past inputs and outputs. Auto-regressive neural networks are employed for this to ensure good retention capabilities for the model that uses the past outputs and inputs along with the present inputs. Online and offline identification of UAV platforms are discussed based upon the flight data. Suitable modifications to the Levenberg-Marquardt training algorithm for online training are proposed. The effect of varying the different network parameters on the performance of the network are numerically tested out. A new performance index is proposed that is shown to improve the accuracy of prediction and also reduces the training time for these networks. The identification algorithms are validated both numerically and flight tested. A hardware-in-loop simulation system has been developed to test the identification and control algorithms before flight testing to identify the problems in real time implementation on the UAVs. This is developed to keep the validation process simple and a graphical user interface is provided to visualise the UAV flight during simulations. A dual neural network controller is proposed as the adaptive controller based upon the identification models. This has two neural networks collated together. One of the neural networks is trained online to adapt to changes in the dynamics. Two feedback loops are provided as part of the overall structure that is seen to improve the accuracy. Proofs for stability analysis in the form of convergence of the identifier and controller networks based on Lyapunov's technique are presented. In this analysis suitable bounds on the rate of learning for the networks are imposed. Numerical results are presented to validate the adaptive controller for single-input single-output as well as multi-input multi-output subsystems of the UAV. Real time validation results and various flight test results confirm the feasibility of the proposed adaptive technique as a reliable tool to achieve autonomous flight. The comparison of the proposed technique with a baseline gain scheduled controller both in numerical simulations as well as test flights bring out the salient adaptive feature of the proposed technique to the time-varying, nonlinear dynamics of the UAV platforms under different flying conditions.

This thesis describes the development of a nonlinear flight dynamics model for a small, fixed-wing unmanned aerial vehicle (UAV). Models developed for UAVs can be used for many applications including risk analysis, controls system design and flight simulators. Several challenges exist for system identification of small, low-cost aircraft including an increased sensitivity to atmospheric disturbances and decreased data quality from a cost-appropriate instrumentation system. These challenges result in difficulties in development of the model structure and parameter estimation. The small size may also limit the scope of flight test experiments and the consequent information content of the data from which the model is developed. Methods are presented to improve the accuracy of system identification which include data selection, data conditioning, incorporation of information from computational aerodynamics and synthesis of information from different flight test maneuvers. The final parameter estimation and uncertainty analysis was developed from the time domain formulation of the output-error method using the fully nonlinear aircraft equations of motion and a nonlinear aerodynamic model structure. The methods discussed increased the accuracy of parameter estimates and lowered the uncertainty in estimates compared to standard procedures for parameter estimation from flight test data. The significant contributions of this thesis are a detailed explanation of the entire system identification process tailored to the needs of a small UAV and incorporation of unique procedures to enhance identification results. This work may be used as a guide and list of recommendations for future system identification efforts of small, low-cost, minimally instrumented, fixed-wing UAVs.<br>MS

O presente Trabalho de Investigação Aplicada versa sobre o emprego táctico dos Unmanned Aerial Vehicles (UAVs), nas operações militares e a sua actuação em proveito da Aquisição de Objectivos (AqObj), na Artilharia de Campanha (AC). Os objectivos principais da investigação são: explicar a forma mais vantajosa do emprego táctico dos UAVs, para esse fim, e demonstrar que a AC pode ser a Entidade Primariamente Responsável pela futura Unidade de UAVs no Exército. Na metodologia adoptou-se uma abordagem qualitativa, através da construção de um Modelo de Análise que contém a pesquisa documental à doutrina de referência, e as entrevistas efectuadas por um guião, a uma amostra de Srs. Oficiais da Arma de Artilharia. Os resultados mais significativos mostram que o emprego táctico dos UAVs é dividido em três fases: intervenção, estabilização e normalização. Os UAVs servem para todas as missões do conceito Intelligence, Surveillance, Target Acquisition and Reconnaissance (ISTAR), nomeadamente para a AqObj e para a Regulação do Tiro de AC. Por questões de segurança, os operadores dos UAVs têm de fornecer informações mínimas à Gestão e Controlo do Espaço Aéreo. Os EUA, o Reino Unido e a Espanha têm UAVs em Unidades de Artilharia. A frequência das respostas das entrevistas recaiu sobre os UAVs numa Unidade ISTAR, e num Módulo de AC numa Unidade ISTAR. A comunicação entre os UAVs e os Sistemas de Comando e Controlo, sem o rádio P/GRC-525, não é possível. Da análise aos resultados, sobressaem as seguintes vantagens de emprego táctico dos UAVs: o aumento de valências e uma maior profundidade no Campo de Batalha, a informação em tempo real à disposição do Comandante, e a observação aérea para correcções ao Tiro de AC. Nas principais conclusões destacam-se a normalização e a interoperabilidade, como factores essenciais ao bom funcionamento dos UAVs. Para o contributo dos UAVs à componente de AqObj, é imperativa a presença de militares de Artilharia, no seu emprego. A Artilharia é a Arma que poderá estar em melhores condições, para conduzir o emprego táctico de uma Unidade de UAVs, no Exército Português. Como propostas mais importantes refere-se a participação de Oficiais de Artilharia em Grupos de Trabalho sobre UAVs, o estabelecimento de protocolos de cooperação com Exércitos que já disponham de UAVs, bem como a participação em eventos internacionais, especializados na demonstração de UAVs.<br>Abstract This present applied research work focuses on the Tactical deployment of Unmanned Aerial Vehicles in military operations and their role in benefit of Target Acquisition in the context of Field Artillery. The main objectives of this research are: to explain the more advantageous way to deploy UAVs for that purpose, and to demonstrate that FA can be the main entity responsible for the future UAV unit in the Army. The adopted method was a quality approach, by building an analysis model that contains documental research in the doctrinal reference, and interviews conducted with a script to a number of Artillery officers. The more significant results show that the tactical deployment of UAVs is divided in three phases: intervention, stabilization and normalization. UAVs can manage all kinds of Intelligence, Surveillance, Target Acquisition and Reconnaissance (ISTAR) missions, namely TA and FA firing guidance. For safety reasons, UAVs must comply with and give minimum information to Airspace Control. The USA, UK and Spain have their UAV units under the Artillery branch. Most of those interviewed answered that UAV´s should be included in an ISTAR unit, and in a FA module in an ISTAR unit. Communication between UAVs and other command and control systems is not possible without the P/GRC-525 radio After analysing the results, there are several advantages in the tactical deployment of UAVs, the main ones being: the increase in tactical options and a greater depth in the battlefield; real time information being transmitted to the commander and aerial observation for target location corrections during FA firing. Among the main conclusions, standardization and interoperability are key elements in using UAVs. In order for them to be useful in TA, it is important that Artillery officers be present. Field artillery is the branch best suited to tactically deploy a UAV unit in the Portuguese army. The main proposals are the presence of Artillery Officers in work groups on UAVs, the signing of protocols with other armies that already have UAVs and the participation in international events, specialized in UAV demonstrations.

Thesis (M.S. in Information Technology Management)--Naval Postgraduate School, March 2008.<br>Thesis Advisor(s): Simon, Cary ; Smith, Terry. "March 2008." Description based on title screen as viewed on May 1, 2008. Includes bibliographical references (p. 127-133). Also available in print.

Approved for public release; distribution is unlimited<br>Unmanned, aerial vehicles (UAVs) are an increasingly important element of many modern militaries. Their success on battlefields in Afghanistan, Iraq, and around the globe has driven demand for a variety of types of unmanned vehicles. Their proven value consists in low risk and low cost, and their capabilities include persistent surveillance, tactical and combat reconnaissance, resilience, and dynamic re-tasking. This research evaluates past, current, and possible future operating environments for several UAV platforms to survey the changing dynamics of combat-aviation tactics and make recommendations regarding UAV employment scenarios to the Turkish military. While UAVs have already established their importance in military operations, ongoing evaluations of UAV operating environments, capabilities, technologies, concepts, and organizational issues inform the development of future systems. To what extent will UAV capabilities increasingly define tomorrow's missions, requirements, and results in surveillance and combat tactics? Integrating UAVs and concepts of operations (CONOPS) on future battlefields is an emergent science. Managing a transition from manned- to unmanned and remotely piloted aviation platforms involves new technological complexity and new aviation personnel roles, especially for combat pilots. Managing a UAV military transformation involves cultural change, which can be measured in decades.

Fixed-wing unmanned aerial vehicles (UAVs) with the ability to hover combine the speed and endurance of traditional fixed-wing fight with the stable hovering and vertical takeoff and landing (VTOL) capabilities of helicopters and quadrotors. This combination of abilities can provide strategic advantages for UAV operators, especially when operating in urban environments where the airspace may be crowded with obstacles. Traditionally, fixed-wing UAVs with hovering capabilities had to be custom designed for specific payloads and missions, often requiring custom autopilots and unconventional airframe configurations. With recent government spending cuts, UAV operators like the military and law enforcement agencies have been urging UAV developers to make their aircraft cheaper, more versatile, and easier to repair. This thesis discusses the use of the commercially available ArduPilot open source autopilot, to autonomously transition a fixed-wing UAV to and from hover flight. Software modifications were made to the ArduPilot firmware to add hover flight modes using both Proportional, Integral, Derivative (PID) Control and Model Reference Adaptive Control (MRAC) with the goal of making the controllers robust enough so that anyone in the ArduPilot community could use their own ArduPilot board and their own fixed-wing airframe (as long as it has enough power to maintain stable hover) to achieve autonomous hover after some simple gain tuning. Three new hover flight modes were developed and tested first in simulation and then in flight using an E-Flight Carbon Z Yak 54 RC aircraft model, which was equipped with an ArduPilot 2.5 autopilot board. Results from both the simulations and flight test experiments where the airplane transitions both to and from autonomous hover flight are presented.

Indoor flight of unmanned aerial vehicles (UAVs) has many applications in environments in which it is undesirable or dangerous for humans to be, such as military reconnaissance or searching for trapped victims in a collapsed building. However, limited visual feedback makes it difficult to pilot UAVs in cluttered and enclosed spaces. Haptic feedback combined with visual feedback has shown to reduce the number of collisions of UAVs in indoor environments; however, it has increased the mental workload of the operator. This thesis investigates the potential of combining novel haptic and 3D audio feedback to provide additional information to operators of UAVs in order to improve performance and reduce workload. Many haptic feedback algorithms, such as Time to Impact (TTI)~cite{Brandt2009}, have been developed to help pilot UAVs. This thesis compares TTI with two new haptic feedback algorithms: Omni-Directional Dynamics Springs (ODDS) and Velocity Scaled Omni-Directional Dynamic Springs (VSODDS). These novel algorithms are based on the idea that dynamic springs are attached to the haptic controller in all directions. This thesis is unique by augmenting visual and haptic feedback with real-time 3D audio feedback. Continuous Directional Graded Threshold (CDGT) and Discrete Directional Graded Threshold (DDGT) are two novel algorithms that were developed to provide 3D audio warning cues to operators. To reduce sensory overload, these algorithms play a graded audio alert cue in the direction of velocity and when within a threshold distance of an obstacle. In order to measure operator workload, many researchers have used subjective measures, which suffer from subject bias, preconceptions, and ordering. Instead of using a subjective measure, experimental data is used to objectively measure operator workload using behavioral entropy, which works on the idea that humans work to reduce entropy by skilled behavior. QuadSim, a robust and versatile indoor quadrotor simulator, was developed as a test bed for visual, haptic, and 3D audio feedback. Using QuadSim, a human subject experiment was performed to determine the effectiveness of haptic and 3D audio feedback on operator performance and workload. The results of the study indicate that haptic feedback significantly reduced the number of collisions and collision length. Operator workload was decreased in the side-to-side direction by VSODDS but was adversely increased by TTI. Overall, VSODDS outperformed the other haptic algorithms. Unlike haptic feedback, audio feedback proved to be neither helpful nor harmful in improving performance or reducing workload.

Developing regions are often characterized by large areas that are poorly reachable or explored. The mapping and census of roaming populations in these areas are often difficult and sporadic. A recent spark in the development of small aerial vehicles has made them the perfect tool to efficiently and accurately monitor these areas. This paper presents an approach to aid area surveying through the use of Unmanned Aerial Vehicles. The two main components of this approach are an efficient on-device deep learning object identification component to capture and infer images with acceptable performance (latency andaccuracy), and a dynamic path planning approach, informed by the object identification component. In particular, this thesis illustrates the development of the path planning component, which exploits potential field methods to dynamically adapt the path based on inputs from the vision system. It also describes the integration work that was performed to implement the approach on a prototype platform, with the aim to achieve autonomous flight with onboard computation. The path planning component was developed with the purpose of gaining information about the populations detected by the object identification component, while considering the limited resources of energy and computational power onboard a UAV. The developed algorithm was compared to navigation using a predefined path, where the UAV does not react to the environment. Results from the comparison show that the algorithm provide more information about the objects of interest, with a very small change in flight time. The integration of the object identification and the path planning components on the prototype platform was evaluated in terms of end-to-end latency, power consumption and resource utilization. Results show that the proposed approach is feasible for area surveying in developing regions. Parts of this work has been published in the workshop of DroNet, collocated with MobiSys, with the title Surveying Areas in Developing Regions Through Context Aware Drone Mobility. Thework was carried out in collaboration with Alessandro Montanari, Alice Valentini, Cecilia Mascoloand Amanda Prorok.<br>Utvecklingsländer är ofta karaktäriserade av vidsträcka områden som är svåråtkomliga och outforskade. Kartläggning och folkräkning av populationen i dessa områden är svåra uppgifter som sker sporadiskt. Nya framsteg i utvecklingen av små, luftburna fordon har gjort dem till perfekta verktyg för att effektivt och noggrant bevaka dessa områden. Den här rapporten presenterar en strategi för att underlätta utforskning av dessa områden med hjälp av drönare. De två huvudkomponenterna i denna strategi är en effektiv maskininlärningskomponent för objektidentifiering med acceptabel prestanda i avseende av latens och noggrannhet, samt en dynamisk navigeringskomponent som informeras av objektidentifieringskomponenten. I synnerhet illustrerar denna avhandling utvecklingen av navigeringskomponenten, som utnyttjar potentialfält för att dynamiskt anpassa vägen baserat på information från objektidentifieringssystemet. Dessutom beskrivs det integrationsarbete som utförts för att implementera strategin på en prototypplattform, med målet att uppnå autonom flygning med all beräkning utförd ombord. Navigeringskomponenten utvecklades i syfte att maximera informationen om de populationer som upptäckts av objektidentifieringskomponenten, med hänsyn till de begränsade resurserna av energi och beräkningskraft ombord på en drönare. Den utvecklade algoritmen jämfördes med navigering med en fördefinierad väg, där drönaren inte reagerar på omgivningen. Resultat från jämförelsen visar att algoritmen ger mer information om objekten av intresse, med en mycket liten förändring i flygtiden. Integreringen av objektidentifieringskomponenten och navigeringskomponenten på prototypplattformen utvärderades med avseende på latens, strömförbrukning och resursutnyttjande. Resultaten visar att den föreslagna strategin är genomförbar för kartläggning och utforskning av utvecklingsregioner. Delar av detta arbete har publicerats i DroNets workshop, samlokaliserad med MobiSys, med titeln Surveying Areas in Developing Regions Through Context Aware Drone Mobility. Arbetet utfördes i samarbete med Alessandro Montanari, Alice Valentini, Cecilia Mascolo och Amanda Prorok.

Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2011.<br>ENGLISH ABSTRACT: The development of a control allocation system for use as part of a fault-tolerant control (FTC) system in unmanned aerial vehicles (UAVs) is presented. This system plays a vital role in minimising the possibility that a fault will necessitate the reconfiguration of the control, guidance or navigation systems of the aircraft by minimising the difference between the desired and achievable aircraft performance parameters. This is achieved by optimising the allocation of control effort commanded by the virtual actuators to the physical actuators present on the aircraft. A simple general six degree of freedom aircraft model is presented that contains all of the relevant terms needed to find the trim biases of the aircraft actuators and evaluate the performance of the virtual actuators. This model was used to develop a control allocation formulation that optimises the performance of the virtual actuators of the aircraft while minimising adverse effects and avoiding actuator saturation. The resulting problem formulation was formulated as a multi-objective optimisation problem which was solved using the sequential quadratic programming method. The control allocation system was practically implemented and tested. A number of failure categories of varying severity were defined and two aircraft with different levels of actuator redundancy were used to test the system. The control allocation algorithm was evaluated for each failure category, aircraft test case and for a number of differing control allocation system configurations. A number of enhancements were then made to the control allocation system which included adding frequency-based allocation and adapting the algorithm for an unconventional ducted-fan UAV. The control allocation system is shown to be applicable to a number of different conventional aircraft configurations with no alterations as well as being applicable to unconventional aircraft with minor alterations. The control allocation system is shown to be capable of handling both single and multiple actuator failures and the importance of actuator redundancy is highlighted as a factor that influences the effectiveness of control allocation. The control allocation system can be effectively used as part of a FTC system or as a tool that can be used to investigate control allocation and aircraft redundancy.<br>AFRIKAANSE OPSOMMING: Die ontwikkeling van ’n beheertoekenning sisteem vir gebruik as deel van ’n fout verdraagsame beheersisteem in onbemande lugvaartuie word voorgelê. Hierdie sisteem speel ’n essensiële rol in die vermindering van die moontlikheid dat ’n fout die herkonfigurasie van die beheer, bestuur of navigasiesisteme van die vaartuig tot gevolg sal hê, deur die verskil te verminder tussen die verlangde en bereikbare werkverrigtingsraamwerk van die vaartuig. Dit word bereik deur die optimisering van die toekenning van beheerpoging aangevoer deur die virtuele aktueerders na die fisiese aktueerders teenwoordig op die vaartuig. ’n Eenvoudige algemene ses grade van vryheid lugvaartuig model word voorgestel wat al die relevante terme bevat wat benodig word om die onewewigtigheid verstelling van die vaartuig se aktueerders te vind en die werksverrigting van die virtuele aktueerders te evalueer. Hierdie model is gebruik om ’n beheer toekenning formulering te ontwikkel wat die werkverrigting van die virtuele aktueerders van die vaartuig optimiseer terwyl nadelige gevolge verminder word asook aktueerder versadiging vermy word. Die gevolglike probleem formulering is omskryf as ’n multi-doel optimiserings probleem wat opgelos is deur gebruik van die sekwensiële kwadratiese programmerings metode. Die beheertoekenning sisteem is prakties geïmplementeer en getoets. ’n Aantal fout kategorieë van verskillende grade van erns is gedefinieer en twee vaartuie met verskillende vlakke van aktueerder oortolligheid is gebruik om die sisteem te toets. Die beheer toekenning algoritme is geëvalueer vir elke fout kategorie, vaartuig toetsgeval, asook vir ’n aantal verskillende beheertoekenning sisteem konfigurasies. ’n Aantal verbeterings is aangebring aan die beheertoekenning sisteem, naamlik die toevoeging van frekwensie gebaseerde toekenning en wysiging van die algoritme vir ’n onkonvensionele onbemande geleide waaier lugvaartuig. Die beheertoekenning sisteem is van toepassing op ’n aantal verskillende konvensionele vaartuig konfigurasies met geen verstellings asook van toepassing op onkonvensionele vaartuie met geringe verstellings. Die beheertoekenning sisteem kan beide enkel- en veelvoudige aktueerder tekortkominge hanteer en die belangrikheid van aktueerder oortolligheid is beklemtoon as ’n faktor wat die effektiwiteit van beheertoekenning beïnvloed. Die beheertoekenning sisteem kan effektief geïmplementeer word as deel van ’n fout verdraagsame beheersisteem of as ’n werktuig om beheertoekenning en vaartuig oortolligheid te ondersoek.

Le sujet des véhicules aériens sans pilote (VAP) est devenu un domaine d'étude prometteurtant dans la recherche que dans l'industrie. En raison de leur autonomie et de leur efficacitéen vol, les drones sont considérablement utilisés dans diverses applications pour différentestâches. Actuellement, l'autonomie du drone est un problème difficile qui peut avoir un impactà la fois sur ses performances et sur sa sécurité pendant la mission. Pendant le vol, les dronesautonomes sont tenus d'investiguer la zone et de déterminer efficacement leur trajectoire enpréservant leurs ressources (énergie liée à la fois à l'altitude et à la longueur de la trajectoire) et en satisfaisant certaines contraintes (obstacles et rotations d'axe). Ce problème estdéfini comme le problème de planification de trajectoire UAV qui nécessite des algorithmesefficaces pour être résolus, souvent des algorithmes d'intelligence artificielle. Dans cettethèse, nous présentons deux nouvelles approches pour résoudre le problème de planificationde trajectoire UAV. La première approche est un algorithme amélioré basé sur l'algorithmed'optimisation des vautours africains, appelé algorithmes CCO-AVOA, qui intègre la cartechaotique, la mutation de Cauchy et les stratégies d'apprentissage basées sur l'oppositiond'élite. Ces trois stratégies améliorent les performances de l'algorithme AVOA original entermes de diversité des solutions et d'équilibre de recherche exploration/exploitation. Unedeuxième approche est une approche hybride, appelée CAOSA, basée sur l'hybridation deChaotic Aquila Optimization avec des algorithmes de recuit simulé. L'introduction de lacarte chaotique améliore la diversité de l'optimisation Aquila (AO), tandis que l'algorithmede recuit simulé (SA) est appliqué comme algorithme de recherche locale pour améliorer larecherche d'exploitation de l'algorithme AO traditionnel. Enfin, l'autonomie et l'efficacitédu drone sont abordées dans une autre application importante, qui est le problème de placement du drone. La question du placement de l'UAV repose sur la recherche de l'emplacementoptimal du drone qui satisfait à la fois la couverture du réseau et la connectivité tout entenant compte de la limitation de l'UAV en termes d'énergie et de charge. Dans ce contexte, nous avons proposé un hybride efficace appelé IMRFO-TS, basé sur la combinaisonde l'amélioration de l'optimisation de la recherche de nourriture des raies manta, qui intègreune stratégie de contrôle tangentiel et d'algorithme de recherche taboue<br>The subject of Unmanned Aerial Vehicles (UAVs) has become a promising study field in bothresearch and industry. Due to their autonomy and efficiency in flight, UAVs are considerablyused in various applications for different tasks. Actually, the autonomy of the UAVis a challenging issue that can impact both its performance and safety during the mission.During the flight, the autonomous UAVs are required to investigate the area and determineefficiently their trajectory by preserving their resources (energy related to both altitude andpath length) and satisfying some constraints (obstacles and axe rotations). This problem isdefined as the UAV path planning problem that requires efficient algorithms to be solved,often Artificial Intelligence algorithms. In this thesis, we present two novel approachesfor solving the UAV path planning problem. The first approach is an improved algorithmbased on African Vultures Optimization Algorithm (AVOA), called CCO-AVOA algorithms,which integrates the Chaotic map, Cauchy mutation, and Elite Opposition-based learningstrategies. These three strategies improve the performance of the original AVOA algorithmin terms of the diversity of solutions and the exploration/exploitation search balance. Asecond approach is a hybrid-based approach, called CAOSA, based on the hybridization ofChaotic Aquila Optimization with Simulated Annealing algorithms. The introduction of thechaotic map enhances the diversity of the Aquila Optimization (AO), while the SimulatedAnnealing (SA) algorithm is applied as a local search algorithm to improve the exploitationsearch of the traditional AO algorithm. Finally, the autonomy and efficiency of the UAVare tackled in another important application, which is the UAV placement problem. Theissue of the UAV placement relays on finding the optimal UAV placement that satisfies boththe network coverage and connectivity while considering the UAV's limitation from energyand load. In this context, we proposed an efficient hybrid called IMRFO-TS, based on thecombination of Improved Manta Ray Foraging Optimization, which integrates a tangentialcontrol strategy and Tabu Search algorithms

This thesis proposes the design of the UAV-LMDS communication system for military and commercial use. The UAV-LMDS system is a digital, wireless communication system that provides service using unmanned aerial vehicles (UAVs) flying at 60,000 ft. acting as communication hubs. This thesis provides background information on UAV-LMDS system elements, a financial analysis, theory, link budgets, system component design and implementation issues. To begin the design, we develop link budgets that are used to characterize system parameters. We present detailed antenna designs for the antennas aboard the UAV. We also present communication equipment block diagrams. Included are technical details on military and commercial geostationary satellites used to link transmissions in the system. Implementation issues in the military system are discussed. Mobility and the effects of vegetation in the propagation path are investigated and a co-channel interference study is done. This thesis shows that by using UAVs and LMDS, a viable, broadband, wireless communications system can be created for military and commercial use.<br>Master of Science

Sistemas de Transportes Inteligentes (STIs) englobam um conjuntos de tecnologias (Sensoriamento Remoto, Tecnologia da Informação, Eletrônica, Sistemas de Comunicação de Dados entre outros) que visam oferecer serviços e gerenciamento de tráfego avançado para meios de transporte rodoviário, aéreo e outros. A obtenção de informações a respeito das características e das condições do pavimento das estradas constitui uma parte importante dentro do sensoriamento nesses STIs. Investigar novas técnicas, metodologias e meios de automatizar a obtenção dessas informações é parte deste trabalho. Uma vez que existem diferentes tipos de defeitos em vias pavimentadas, esta tese apresenta a proposta de uma metodologia que permite a obtenção, de forma automática, das condições dos pavimentos asfálticos. A obtenção dos dados foi realizada por meio do Sensoriamento Remoto com uso de Veículos Aéreos Não Tripulados. A utilização de técnicas de Aprendizado de Máquina na detecção automática possibilitou alcançar uma acurácia de 99% na detecção de pavimentos asfálticos flexíveis e 92% na identificação de defeitos em alguns experimentos. Como resultado obteve-se o diagnóstico automático, não só das condições da via, mas de diferentes tipos de defeitos presentes em pavimentos.<br>Intelligent Transport Systems (ITS) is a set of integrated technologies (Remote Sensing, Information Technology, Electronics, Data Communication Systems among others) that aims to provide services and advanced traffic management for road, air, rail and others transportation systems. Obtaining information about characteristics and road pavement conditions is an important part within the sensing these ITS. Investigating new techniques, methods and means to optimize and automate obtaining these information are part of this work, since there are different types of defects on paved roads. Thus, this thesis proposes a methodology that allows automatically obtain information about the condition of the pavement. Data collection was performed with remote sensing technology using Unmanned Aerial Vehicles. Automatic detection was possible through the use of Machine Learning techniques with 99% of accuracy in pavements and 92% in distress identification. As a result we obtained the self-diagnosis, not just the pavement, but different types of distress present in the pavement.

Cette thèse, effectuée en partenariat entre la société Survey Copter, le laboratoire Hubert Curien et la Direction Générale de l’Armement (DGA), répond à des besoins tant militaires que civils dans le cadre de l’utilisation de drones à basse altitude. Dans un premier temps nous avons focalisé nos recherches sur la détection d’objets mobiles pour les mini-drones de surveillance destinés aux applications militaires, tels que ceux opérés par Survey Copter. Nous présentons d’abord la méthode que nous avons développé qui consiste en une comparaison entre un flot optique et le flot estimé, l’objectif étant de détecter les objets ayant un mouvement différent de celui correspondant à la scène dans sa globalité, et de maximiser la robustesse de cette détection vis-à-vis des problèmes induits par la parallaxe. Puis, nous décrivons le projet général dans lequel s’inscrit cette détection, en détaillant les choix technologiques et compromis qui ont été effectués, l’objectif étant de développer une carte électronique qui puisse être embarquée sur un drone et permettant d’apporter des fonctionnalités d’assistance aux opérateurs. Une seconde partie, réalisée en collaboration avec le Dr. Mubarak Shah, directeur du laboratoire CRCV en Floride, vise à apporter une solution au problème de sécurité qu’engendre le nombre grandissant de micro-drones de loisir évoluant dans l’espace aérien civil. La solution que nous proposons comporte deux étapes, premièrement elle utilise les informations cadastrales pour pré-calculer avant le décollage un plan de vol qui permet d’éviter les zones dangereuses comme les routes. La seconde étape intervient pendant le vol et permet d’adapter localement le plan de vol de façon à éviter le survol des objets mobiles tels que les voitures et piétons. Les résultats encourageants que nous avons obtenus grâce à notre méthode de détection d’objets mobiles ont conduit à une publication dans la conférence ISPA 2015, et notre contribution pour l’utilisation sécurisée de drones dans l’espace aérien civil va faire l’objet d’une soumission à la conférence ICRA 2017<br>This thesis, in partnership between Survey Copter (a French company), theHubert Curien laboratory, and the DGA (a compnent of the FrenchMinistry of Defense), aims at providing solutions for low-altitude UAVs for both military and civil applications. We first focus on moving objects detection for military surveillance using mini-UAVs, such as Survey Copter’s products. Our method consists in comparing a dense optical flow with an estimated flow in order to isolate objects that are independently moving compared to the global scene. This method was developed to be robust to parallax which is an inherent problem of such platforms, parallax. In this thesis we also detail an on-going project that consists in the development of an embedded processing board able to provide all necessary functionalities to assist UAV operators in their mission. Given the recent popularity of consumer drones, we worked, with Dr. Mubarak Shah, Director of the CRCV laboratory in Florida, towards providing a solution to the security threat those vehicles represent for public safety. Our method consists in two steps. The first one is performed prior to takeoff by computing the safest path for the mission in order to avoid dangerous areas such as roads. The second is based on an in-flight adaptation process of the initial flight plan to avoid flying above some particular objects such as cars or pedestrians. The promising results obtained thaks to our moving objects detection method have led to a publication in ISPA 2015, and our contribution towards safe navigation of UAVs will be submitted in September to ICRA 2017

Cette thèse propose de nouvelles commandes basées sur un retour visuel pour le guidage de drones. Elle considère à la fois des scénarios impliquant un seul ou plusieurs véhicules. Pour le cas du guidage d'un seul véhicule, de nouvelles approches d'asservissement visuel basées image (IBVS) sont proposées pour les drones de type avion (fixed-wing) et les drones de type VTOL (Vertical Take-Off and Landing) opérant en environnements urbains ou encombrés. Des tâches de navigation dans un environnement complexe avec des capacités d'évitement d'obstacle sont considérées. Il s'agit en particulier de l'atterrissage de drones de type fixed-wing sur une piste d'atterrissage et l'atterrissage de drones de type VTOL-UAV en incluant une stratégie d'évitement d'obstacle. L'originalité de l'étude réside dans l'exploitation directe de la centroïde de l'image du motif observé et du flux optique permettant ainsi d'éliminer la nécessité l'estimation de la position et la vitesse du drone. Pour le cas du contrôle de plusieurs véhicules en formation, de nouveaux contrôleurs à base de la mesure de direction entre véhicules sont également proposés pour des formations ayant une interaction topologique orientées ou non orientées. Le flux optique est également exploité dans certains cas afin d'éviter les collisions entre différents agents pendant l'évolution de la formation. Afin d'assouplir les conditions classiques requises par la théorie de la rigidité d'une formation à partir de l'information de direction et lever par la même occasion l'ambiguïté du facteur d'échelle causée par les mesures de directions, la notion de la persistance de l'excitation associée à la formation de référence est explorée. La méthodologie proposée est soutenue par des outils mathématiques rigoureux (impliquant des systèmes dynamiques non linéaires et analysés à l'aide de la théorie de Lyapunov afin de prouver formellement la stabilité asymptotique (ou exponentielle) du système, de garantir la robustesse et enfin d'assurer le bon fonctionnement du système en boucle fermée) et par des expériences réelles et/ou des résultats de simulation<br>This thesis proposes novel vision-based controllers for the guidance of Unmanned Aerial Vehicles (UAVs). It considers scenarios involving both single and multiple vehicles. For the case of a single-vehicle, novel Image-based visual servo control (IBVS) approaches are proposed for both fixed-wing and vertical take-off and landing (VTOL) UAVs operating in urban or congested environments. Navigation tasks in a complex environment with obstacle avoidance capabilities are considered. In particular, the landing of fixed-wing UAVs on an airstrip and the landing of VTOL-UAVs that includes an obstacle avoidance strategy are considered. The originality of the study lies in the direct exploitation of the centroid of the image of the observed pattern together with the optical flow, thereby eliminating the need to estimate the position and the velocity of the UAV.For multiple vehicles, novel bearing formation controllers are designed for formations under both directed and undirected interaction topologies. Optical flow is explored in the bearing formation control laws in order to achieve collision avoidance between different agents during the formation progression.In order to relax the classical conditions required by bearing rigidity theory and to lift the scale ambiguity caused by bearings, persistence of excitation of the desired bearing reference is explored. The proposed methodology is supported by rigorous mathematical tools (This involves nonlinear dynamical systems and analysis using Lyapunov theory to formally prove the asymptotic (or exponential) stability of the system, guarantee robustness, and finally ensure good performance of the closed-loop system). Further support is provided by real experiments and/or simulation results

Unmanned Aerial Vehicles, often called drones or abbreviated as UAVs, have been popularised and used by civilians for recreational use since the early 2000s. A majority of the entry- level commercial drones on the market are based on a WiFi connection with a controller, usually a smart phone. This makes them vulnerable to various WiFi attacks, which are evaluated and tested in this thesis, specifically on the Ryze Tello drone. Several threats were identified through threat modelling, in which a set of them was selected for penetration testing. This is done in order to answer the research question: How vulnerable is the Ryze Tello drone against WiFi based attacks? The answer to the research question is that the Ryze Tello drone is relatively safe, with the exception of it not having a default password for the network. A password was set for the network, however it was still exploited through a dictionary attack. This enabled attacks such as injecting flight instructions as well as the ability to gain access to the video feed of the drone while simultaneously controlling it through commands in terminal.<br>Drönare, eller UAV från engelskans Unmanned Aerial Vehicle, har ökat i popularitet bland privatpersoner sedan tidigt 2000tal. En majoritet av drönare för nybörjare är baserade på WiFi och styrs med en kontroll som vanligtvis är en smart phone. Detta innebär att dessa drönare kan vara sårbara för olika typer av attacker på nätverket, vilket utvärderas och testas i denna rapport på drönaren Ryze Tello. Flera hot identifierades med hotmodellering och ett flertal valdes ut för penetrationtest. Detta genomförs med syftet att svara på forskningsfrågan: Hur sårbar är Ryze Tello mot WiFi baserade attacker? Svaret på forskningsfrågan är att drönaren Ryze Tello är relativt säker, med undantaget att den inte har ett standardlösenord. Ett lösenord sattes på nätverket, men lösenordet knäcktes ändå med en ordboksattack. Detta möjliggjorde attacker så som instruktionsinjicering och förmågan att se videoströmmen från drönaren samtidigt som den kan kontrolleras via kommandon i terminalen.

This paper addresses the issue of security and integration of UAVs in air traffic operations and analyses possible risks. This work defines methodology to demonstrate airworthiness of the parachute recovery system under extreme climatic conditions. The first part of the methodology deals with the compliance performance requirements in external environment and the second part verifies performance parachute canopy. Methodology developed herein is subsequently verified by practical tests on parachute recovery system Galaxy GBS 10.

[ES] Esta tesis investiga las oportunidades, desafíos y limitaciones para la investigación en el campo de la ecología vegetal, en el contexto de los acantilados mediterráneos. En concreto, las especies casmofiticas, cuyos hábitats naturales se caracterizan por su acusada pendiente. Las laderas de las montañas de piedra caliza en la proximidad del mar, en la parte central y occidental del área mediterránea se consideran objetos de estudio. Los estudios se llevaron a cabo en los cinturones costeros de montaña de las costas del noroeste de Sicilia y la costa diánica en la Comunidad Valenciana. El primer capítulo, titulado "The complexity of environmental factors: cliff microclimate", investiga la variabilidad del microclima del acantilado en tres áreas diferentes en Sicilia y España, analizando las condiciones ambientales creadas por el acantilado en una escala muy estrecha. Se recopilaron seis conjuntos de datos independientes y comparables que recogen las principales variables meteorológicas a lo largo de un período total de 18 meses. La gama resultante de condiciones ambientales se compara por pares a lo largo de dos gradientes ambientales principales: la orientación del acantilado Norte/Sur y la proximidad al mar. Además, los rasgos foliares intraespecíficos se utilizan para estudiar la variación en la respuesta funcional de las plantas que viven en las orientaciónes opuestas en una misma área de investigación. La variación resultante se correlaciona con la influencia de las condiciones microclimáticas creadas por la pendiente y el aspecto en los rasgos de la planta antes mencionados. El segundo capítulo, titulado "Compositional data and analyses of areas and plant communities in the coastal cliffs of the Valencian Community (Spain)", presenta una ordenación de los sitios de estudio y de las especies vegetales que habitan en las zonas de acantilados del cinturón montañoso a lo largo de las costas de la región diánica en el este de España. El estudio reveló correlaciones significativas entre las unidades de vegetación y los sitios con referencia a la amplia orientación geográfica Norte/Sur. Sin embargo, fue poco informativo con respecto a revelar las principales diferencias observadas en la estructura del conjunto de plantas relacionadas con laa variaciones microtopográficas registradas en el conjunto de datos. En el tercer capítulo, titulado "UAV (drone) surveys for the study of plant- microtopography relationships and for the conservation of rare species", se describe la metodología propuesta para investigar entornos verticales poco accesibles. También se analizaron los desafíos y las oportunidades de la investigación ecológica vegetal en estas áreas tipicamente inaccesibles. Un primer conjunto de datos comprende un censo visual parcial y total de dos especies endémicas de acantilados estrechos en las áreas de estudio españolas e italianas. Mediante el uso de la fotogrametría aérea de corto alcance y el modelado 3D, fue posible estudiar los efectos de la micro topografía en la segregación de nichos, tanto a nivel de comunidad como de especie. Se utilizaron métodos de ordenación para correlacionar las especies endémicas seleccionadas y conjuntos de plantas con factores ambientales como el aspecto local y global, la pendiente y la distancia desde los bordes de los acantilados. En el cuarto capítulo, titulado "Distribution, ecology, conservation status and phylogeography of Pseudoscabiosa limonifolia, a paleo-endemic chasmophytic species from Sicily (Italy)", se analiza en detalle la estructura filogeográfica de una especie endémica de acantilados, Pseudoscabiosa limonifolia (Caprifoliaceae, subfamilia Dipsacaceae), también considerando las relaciones filogeográficas con sus taxones más próximos. Además, su distribución total se determinó mediante observaciones de campo, caracterizando su hábitat y evaluando su estado de conservación como Vulnerable de acuerdo con las<br>[CA] Aquesta tesi va investigar les oportunitats, reptes i limitacions per a la investigació en el camp de l'ecologia vegetal, en el context dels penya-segats mediterranis. En concret, les espècies casmofitiques, amb hàbitats naturals que es caracteritzen pel seu acusat pendent. Les vessants de les muntanyes de pedra calcària en la proximitat del mar, a la part central i occidental de l'àrea mediterrània són considerats objectes d'estudi. Els estudis es portaren a terme als cinturons costers de muntanya de les costes del nord de Sicília i la costa diànica a la Comunitat Valenciana. El primer capítol, titulat "The complexity of environmental factors: cliff microclimate", investiga la variabilitat del microclima del penya-segat en tres àrees diferents de Sicília i Espanya, analitzant les condicions ambientals creades pel penya-segat a una escala molt estreta. Es recopilen sis conjunts de dades independents i comparables que reconeixen les principals variables meteorològiques a llarg termini durant un període total de 18 mesos. Les dades resultants de les condicions ambientals es comparen per parells al llarg de dos gradients ambientals principals: l'orientació del penya-segat Nord/Sud i la proximitat a la mar. A més, els trests foliars intraespecífics s'utilitzen per estudiar la variació en la resposta funcional de les plantes que habiten orientacions oposades dins d'un àrea d' investigació. La variació resultant es correlaciona amb la influència de les condicions microclimàtiques creades pel vessant i els aspectos funcionals dels trets vegetals esmentats. El segon capítol, titulat "Compositional data and analyses of areas and plant communities in the coastal cliffs of the Valencian Community (Spain)", presenta una ordenació dels llocs d'estudi i de les espècies de plantes que habiten a les zones de penya- segats del cinturó de muntanya al llarg de les costes de la regió diànica de España. L'estudi va a revelar correlacions significatives entre les unitats de vegetació i els llocs amb referència a l'amplias orientació geogràfica Nord/Sud. No obstant aixó, va ser poc informatiu per poder revelar les diferències observades en l'estructura del conjunt de plantes relacionades amb les variacions microtopogràfiques registrades al conjunt de dades Al tercer capítol, titulat "UAV (drone) surveys for the study of plant-microtopography relationships and for the conservation of rare species", es descriu la metodologia proposada per a investigar entorns verticals poc accessibles. També es van analitzar els reptes i les oportunitats de la investigació ecològica vegetal en aquestes àrees normalment inaccesibles. Un primer conjunt de dades inclou el cens visual parcial i el total de dues espècies endèmiques de penya-segats a les àrees d'estudi espanyoles i italianes. Mitjançant la fotogrametria aèrea a curt abast i el modelat 3D, va ser possible estudiar els efectes de la microtopografia en la segregació de nínxols, tant a nivell comunitari com d'espècies. Es van utilitzar mètodes d'ordenació per a correlacionar les espècies endèmiques seleccionades i conjunts vegetals sencers amb factors ambientals com ara l'aspecte local i global, el pendent i la distància de les vores dels penya-segats. En el quart capítol, titulat "Distribution, ecology, conservation status and phylogeography of Pseudoscabiosa limonifolia, a paleo-endemic chasmophytic species from Sicily (Italy)", que s'analitza en detall l'estructura filogeográfica d'una espècie endèmica de penya-segats, Pseudoscabiosa limonifolia (Caprifoliaceae, subfamilia Dipsacaceae), considerant tambè les relacions filogeogràfiques amb els seus taxons més propers. A més, la seva distribució total es va determinar mitjançant observacions de camp, caracteritzant el seu hàbitat i avaluant el seu estat de conservació com a Vulnerable, d'acord amb les directrius de la llista roja de la UICN.<br>[EN] This thesis investigated opportunities, challenges and limitations for plant ecological research in the context of Mediterranean cliffs. In particular, chasmophytic species, whose natural habitats are very steep, limestone mountain slopes in the proximity of the sea, in the Central and Western part of the Mediterranean area are considered as study objects. Studies were carried out in the coastal mountain belts of both North-western Sicily and Dianic coasts in the Valencian Community (Spain). The first chapter, entitled "The complexity of environmental factors: cliff microclimate", investigates the variability of cliff microclimate in three different areas in Sicily and Spain, analysing the environmental conditions created by the cliff at very fine scale. Six independent and comparable datasets including the main meteorological variables were compiled in a total period of 18 months. The resulting spectra of environmental conditions are compared pairwise along two key environmental gradients: North/South cliff orientation and proximity to the sea. Intraspecific leaf traits are used in order to investigate variations in the functional response of plants living on opposite orientations. The resulting variation is then correlated with the influence of microclimatic conditions created by slope and functional aspects of the aforementioned plant traits. The second chapter, entitled "Compositional data and analyses of areas and plant communities in the coastal cliffs of the Valencian Community (Spain)", presents an ordination of the study sites and of the plant species inhabiting the cliff zones of the mountain belt along the coasts of the Dianic region in Eastern Spain. The study revealed significant correlations between the vegetation units and the sites with reference to the broad North/South geographical orientation. However, it was poorly informative in respect to reveal the major differences observed in the structure of the plant assemblage related to the micro- topographic variations recorded in the dataset. In the third chapter, entitled "UAV (drone) surveys for the study of plant- microtopography relationships and for the conservation of rare species", a proposed survey methodology for investigating inaccessible vertical environments is described. Challenges and opportunities of plant ecological research in these typically inaccessible areas were also analysed. A first set of data is comprised of partial and total visual census of two narrow endemic cliff species in the Spanish and Italian study areas. Through the use of aerial close- range photogrammetry and 3D modelling, it was possible to study the effects of micro-topography on niche segregation, both at community and species level. Ordination methods were used to correlate selected endemic species and entire plant assemblages to environmental factors such as local and global aspect, slope and distance from cliff edges. The fourth chapter, entitled "Distribution, ecology, conservation status and phylogeography of Pseudoscabiosa limonifolia, a paleo-endemic chasmophytic species from Sicily (Italy)", is addressed to analyse in details the phylogeographic structure of a cliff narrow endemic species, Pseudoscabiosa limonifolia (VAHL) DEVESA (Caprifoliaceae, subfamily Dipsacaceae), also taking in consideration its closest sister taxa. Furthermore, its total distribution was determined by field surveys, characterizing its habitat, and assessing its conservation status as Vulnerable according to IUCN red list guidelines.<br>De Simone, L. (2020). Ecological aspects of plants inhabiting Mediterranean cliffs. Challenges and prospects of life in vertical environments [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/159877<br>TESIS

碩士<br>逢甲大學<br>航太與系統工程所<br>99<br>The design of Unmanned Aerial Vehicles (UAV） has been greatly matured, however, aerial vehicles’ flight performance is rarely tested and certified, not to mention corresponding studies. The cost of flight test always depends on researchers’ intention and testing items. To develop single-functioning aerial vehicles is the mainstream mode for cost efficiency, time saving and mobility. The application scope of UAV mainly caters to design needs, complies with civil aviation enactments, so as to keep on expanding. Based on “Ultra-light Amateur-built Flight Testing Guidance” Civil Aeronautics Administration （CAA）,An UAV test procedure is formulated. This study drew on parametric design method to create a well-matched aerial vehicle equipped with Flight Data Record（FDR）. The researcher proceeded to compare estimated to actual performance data, and endeavored to improve the experience and accuracy of UAV creation; meanwhile, established aerial vehicles’ flight envelope. Eventually, the flight performance derived from this study can be regarded as a benchmark, contributing to follow-up researches.

In this thesis the problem of autonomous landing of an unmanned aerial vehicle named AE-2 is addressed. The guidance and control technique is developed and demonstrated through numerical simulation results. The complete work includes Mathematical modeling, Control design, Guidance and State estimation for AE-2, which is a fixed wing vehicle with 2m wing span and 6kg weight. The aerodynamic data for AE-2 is available from static wind tunnel tests. Functional fit is done on the wind tunnel data with least squares method to find static aerodynamic coefficients. The aerodynamic forces and moment coefficients are highly nonlinear some of them are partitioned in two zones based on the angle of attack. The dynamic derivatives are found with Athena Vortex Lattice software. For the validation of vortex lattice method the static derivatives obtained by the wind tunnel tests and vortex lattice method, are compared before finding dynamic derivatives. The dynamics of the servo actuators for the aerodynamic control surfaces is incorporated in the simulation. The nonlinear dynamic inversion technique has been used for the guidance and control design. The control is structured in two loops, outer and inner loop. The goal of outer loop is to track the guidance commands of altitude, roll angle and yaw angle by converting them into body rate commands through dynamic inversion. The inner loop than tracks these commanded roll rate, pitch rate and yaw rate by finding the required deflection of control surfaces. The forward velocity of the vehicle is controlled by varying the throttle. A controller for actuator is also designed to reduce the lag. The guidance for landing consists of three phases approach, glideslope and flare. During approach the vehicle is aligned with the runway and guided to a specified height from where the glideslope can begin. The glideslope is straight line path specified by a flight path angle which is restricted between 3 to 4 degree. At the end of glideslope which is marked by flare altitude the flare maneuver begins which is an exponential curve. The problem of transition between the glideslope and flare has addressed by ensuring continuity and smoothness at transition. The exponential curve of flare is designed to end below the ground so that it intersects the ground at a prespecified point. The sink rate at touchdown is also controlled along with the location of touchdown point. The state estimation has been done with Extended Kalman Filter in continuous discrete formulation. The external disturbances like wind shear and wind gust are accounted by appending them in state variables. Further the control design with guidance is tested from various initial conditions, in presence of wind disturbances. The designed filter has also been tested for parameter uncertainty.

In this thesis the problem of autonomous landing of an unmanned aerial vehicle named AE-2 is addressed. The guidance and control technique is developed and demonstrated through numerical simulation results. The complete work includes Mathematical modeling, Control design, Guidance and State estimation for AE-2, which is a fixed wing vehicle with 2m wing span and 6kg weight. The aerodynamic data for AE-2 is available from static wind tunnel tests. Functional fit is done on the wind tunnel data with least squares method to find static aerodynamic coefficients. The aerodynamic forces and moment coefficients are highly nonlinear some of them are partitioned in two zones based on the angle of attack. The dynamic derivatives are found with Athena Vortex Lattice software. For the validation of vortex lattice method the static derivatives obtained by the wind tunnel tests and vortex lattice method, are compared before finding dynamic derivatives. The dynamics of the servo actuators for the aerodynamic control surfaces is incorporated in the simulation. The nonlinear dynamic inversion technique has been used for the guidance and control design. The control is structured in two loops, outer and inner loop. The goal of outer loop is to track the guidance commands of altitude, roll angle and yaw angle by converting them into body rate commands through dynamic inversion. The inner loop than tracks these commanded roll rate, pitch rate and yaw rate by finding the required deflection of control surfaces. The forward velocity of the vehicle is controlled by varying the throttle. A controller for actuator is also designed to reduce the lag. The guidance for landing consists of three phases approach, glideslope and flare. During approach the vehicle is aligned with the runway and guided to a specified height from where the glideslope can begin. The glideslope is straight line path specified by a flight path angle which is restricted between 3 to 4 degree. At the end of glideslope which is marked by flare altitude the flare maneuver begins which is an exponential curve. The problem of transition between the glideslope and flare has addressed by ensuring continuity and smoothness at transition. The exponential curve of flare is designed to end below the ground so that it intersects the ground at a prespecified point. The sink rate at touchdown is also controlled along with the location of touchdown point. The state estimation has been done with Extended Kalman Filter in continuous discrete formulation. The external disturbances like wind shear and wind gust are accounted by appending them in state variables. Further the control design with guidance is tested from various initial conditions, in presence of wind disturbances. The designed filter has also been tested for parameter uncertainty.

碩士<br>逢甲大學<br>航太與系統工程所<br>94<br>Nowadays in domestic, the development of Unmanned Aerial Vehicle (UAV) has been mature in many individual enterprise, military authority or institutes and colleges. However, the research for UAV with the autonomous flight is quite few. The vehicle should be able to navigate and implement missions via the onboard control system if we want the UAV to accomplish navigation independently. The goal of current work is to construct a system with Digital Signal Processor (DSP) served as the core of controller and in cooperated with Global Positioning System (GPS) to achieve the task of autonomous navigation. The position of the UAV can be obtained through the longitude and latitude information from GPS signals retrieved and processed by using the DSP. After executing the programs onboard, the commands will be sent to the Mini SSC II servo controller in order to transmit the final instructions to the servos which control the throttle and rudder of the UAV with the correction data till headed the destination.

碩士<br>逢甲大學<br>航太與系統工程所<br>98<br>The gist of this thesis is using LabVIEW to design a navigation system for the UAV (Unmanned Aerial Vehicle) with the embedded system ARK-3381. The flight maneuver, cruise or turn, is determined by the navigation system which is integrated with instruments that including GPS (Global Positioning System), altimeter and digital compass. After processing above flight information, ARK-3381 will command the servo controller to control servos to achieve certain position in order to operate the control surfaces, such as aileron and elevator to change the status of UAV. The target position is sent by ground control station. If UAV is within the targeting scope, it keeps cruising until the new command is received. Ground control station with the aircraft visual instruments is convenient for users to observe the attitude of UAV and to confirm if it is following the instruction or not.