Aerialtronics Collision Avoidance System

Jason Bach

          UNSY 605 – Unmanned Systems Sensing, Perception, and Processing

         Embry-Riddle Aeronautical University-Worldwide

10/25/2016

             

            The world of small unmanned systems (sUAS) has improved immensely over the past few years. The sUAS have become autonomous and have been introduced to collision avoidance systems that allow them to perform tasks where precision flying is a must (Meyerson, 2015). This technology of sense and avoid allows sUAS to change direction, height, speed, and even fly as a swarm while avoiding obstacles and others in the swarm (Meyerson, 2015). This technology for sense and avoid will allow drones to operate in all conditions in what is a three dimensional environment. If drones are to fly themselves the sense and avoid technology must be researched and proven safe for applicable tasks.

            The AerialTronics Collision Avoidance System is currently mounted on Altura multirotor systems and allows the technology to automatically adjust the sUAS position to avoid other objects in a predetermined surrounding area. It has obstacle detection sensors working in unison with data fusion algorithm software and also integrated into the guidance system (sUAS News, 2014). The system detects both static and moving objects with sensor and algorithm data and processing making automatic adjustments. Aerialtronics Altura multirotor sUAS will be able to communicate through sensors and software to avoid other sUAS in their 3D surrpounding environment (sUAS News, 2014). The Altura multirotor sUAS are less than five pounds with sensors and payload when operating. Constant algorithm usage combined with data input from the Aerialtronics collision avoidance technology aids the aircraft when flying in or around tight spots or with other drones. When objects come within approximately 23 feet it senses and comes up with an avoidance solution and will have a bounce back feature when within 2 feet of the object (Aerialtronics, 2016). No additional power requirements are needed for the avoidance system since it is built into existing hardware and payloads. The system will allow the sUAS to see and avoid making safer flying in and around the sUAS using the system. Altura drones with the Aerialtronics collision avoidance system included can be purchased for approximately $2,000 dollars.

            Collision avoidance systems will become commonplace on sUAS drones of all types as technology reduces prices and sizes of sensors along with other technology needed for the sense and avoid systems. Aerialtronics technology leads the way in unmanned systems and provided this collision avoidance systems as one of the first of its kind (Aerialtronics, 2016).  

             

References

Aerialtronics. (2016, January 2). Aerialtronics adds sense and avoid technology to Zenith UAS.

Retrieved from http://www.aerialtronics.com/2016/02/aerialtronics-adds-sense-and-avoid-technology-to-zenith-uas/

Meyerson, B. (2015, March 4). Emerging tech 2015: sense and avoid drones. Retrieved from

            https://www.weforum.org/agenda/2015/03/emerging-tech-2015-sense-and-avoid-drones/

SUAS News. (2014). Aerialtronics improves safety by incorporating sense and avoid. Retrieved

from http://www.suasnews.com/2014/09/aerialtronics-revolutionarily-improves-safety-by-incorporating-sense-and-avoid/

 

Control Station Analysis of the Bluefin 21 AUV

Jason Bach

          ASCI 605 – Unmanned Systems Sensing, Perception, and Processing

         Embry-Riddle Aeronautical University-Worldwide

10/16/2016

             

            The General Dynamics Bluefin 21 Autonomous Underwater Vehicle (AUV) is very capable and highly efficient and able to carry multiple payload and sensor variations. It is a deep water AUV able to operate for extended times below the surface of the ocean. It can be used for surveys, search and salvage, oceanography, exploration, mine countermeasures, and discovery of unexploded ordinance when needed (General Dynamics, 2016). It has become well known through its efforts in the search for Malaysia Airlines flight 370 (Makinen, 2014). The vehicle itself is over 16 feet long, 21 inches in diameter, weighs 1,650 pounds, and go to depths of nearly 15,000 feet (General Dynamics, 2016). It is powered by a 13.5 kWh lithium-polymer battery pack with an endurance of 25 hours with a regular payload. Figure 1 displays the Bluefin 21 below.

Figure 1. The Bluefin 21 AUV. Adapted from http://www.bluefinrobotics.com/vehicles-batteries-and-services/bluefin-21

            The control station of the Bluefin 21consists of the operator’s laptop or a ruggedized version of the laptop provided in the package purchased. The software used is Bluefin’s Operator Tool Suite that interfaces between the AUV and operator for all parts of the mission (General Dynamics, 2016). It is operated on any Windows based system and includes everything necessary to manage the AUV. Detailed mission planning can be handled before or during the mission with vehicle status display, ship position display, and any other displays set by the operator. Figure 2 shows the display below. Specific commands from the customer can also be sent to the payload interface. Communication and data transfer is done with acoustic modem, RF modem, Wi-Fi, and Iridium with much data stored onboard and downloaded after the mission.

Figure 2. Mission Planner software display. Adapted from http://www.bluefinrobotics.

com/technology/operator-software/

A dashboard tool allows the operator shipboard to track the vehicles progress and monitor its sensors to perform any maintenance or corrective procedures while in operation (General Dynamics, 2016). The dashboard uses the highest bandwidth channel available allowing flow of constant information between the operator and AUV.  Figure 3 below displays a dashboard screen shot sample. The Lantern is Bluefin 21’s software that supports its post mission data display and analysis for the operator and customer (General Dynamics, 2016).

 

Figure 3. Dasboard display. Adapted from http://www.bluefinrobotics.com/technology/operator-software/

It combines and displays all data collected such as survey tracks, user annotations, and vehicle data. Detected targets can be measured for height and width while also obtaining exact positional accuracy of the target (General Dynamics, 2016). Figure 4 below shows the Lantern display.

Figure 3. Lantern display. Adapted from http://www.bluefinrobotics.com/technology/operator-software/

Negative Issues

            Better acoustic communications and improved navigation technology would be the only current weaknesses of the Bluefin 21. Compass navigation and inertial navigation systems are the main navigation sources with research being done with acoustic transponders mounted to the vehicle for greater autonomy in certain isolated areas (General Dynamics, 2016).

Conclusion/Recommended Changes

            The Bluefin 21 is a very versatile AUV that currently employs a standard laptop display for its user interface. All pertinent information is available throughout its mission timeframe with much of its mission data recorded and downloaded after completion. Virtual reality goggle technology would be a recommended option for the operator with the possibility of a responsive joystick for certain operations. The acoustic communications link would have to be analyzed and possibly improved upon to ensure constant real time displays for the operator. Sensor payloads would have to support this also with responsive wider ranges to view the current surroundings while using the VR goggle system. This operation may have to have some depth or other restrictions to enable a constant clear signal in the ocean environment. The Bluefin 21 is a capable platform that will advance with technological improvements when they are possible.

References

 General Dynamics. (2016). Bluefin Robotics. Retrieved from http://www.bluefinrobotics.com 

           /vehicles-batteries-and-services/bluefin-21

Makinen, J. (2014, April 14). Malaysia airlines plane search goes underwater. Los Angeles

Times. Retrieved from http://articles.latimes.com/2014/apr/14/world/la-fg-malaysia-bluefin-20140415

 REMUS 6000 AUV- Data Protocol and Format

Jason Bach

          ASCI 605 – Unmanned Systems Sensing, Perception, and Processing

         Embry-Riddle Aeronautical University-Worldwide

10/03/2016

             

            The Remus 6000 built by Kongsberg is a reliable proven Autonomous Underwater Vehicle (AUV) that gathers and analyzes data through different payload mission sensor options. The Remus 6000 can be used for multiple underwater missions from 25 meters up to 6000 meters in depth and can remain underwater for up to 22 hours. The AUV weighs 1900 pounds is 12.5 feet long and 28 inches in diameter (Kongsberg, 2016). The Remus 6000 can be used for many missions to collect data for analysis. Some of the underwater uses for the Remus 6000 are marine archeology, habitat mapping, area search, surveillance/reconnaissance, asset location, and hydrographic surveys (Kongsberg, 2016). The following Figure 1 depicts the Remus 6000 and some of its sensors.

Figure 1. Remus 6000 platform. Adapted from https://www.km.kongsberg.com/ks/web /nokbg0240.nsf/AllWeb/481519DA1B0207CDC12574B0002A8451?OpenDocument#tab-3

Sensors and Payload

            The Remus 6000 can be operated with many sensors onboard in several different configurations depending on what underwater data is being collected. Customers can have the Remus 6000 reconfigured to their specified sensor suite for mission requirements. The standard sensors are an Acoustic Doppler Current Profiler, an Inertial Navigation Unit, Side Scan Sonar, pressure sensor, and conductivity and temperature sensors (Kongsberg, 2016). The optional sensors able to be installed by the operator are a dual frequency side scan, an acoustic modem, GPS receiver, flourometers, acoustic imaging, video camera, electronic still camera, and a sub-bottom profiler (Kongsberg, 2016). Communications are received underwater by the acoustic modem and on the surface via Wi-Fi and Iridium radio. The ship used for launch and recovery has a launch and recovery system installed, a towed acoustic transducer to gather data real-time, a GPS antenna, an Iridium base station, and a Wi-Fi base station. The Remus 6000 operates on an 11kWh rechargeable Li-ion battery pack stored in two pressure containers (Kongsberg, 2016). It has a second set of batteries that can be changed out in a two hour period for relaunch and recharged in 8 hours. Mission times are not longer than 22 hours depending on speed and the sensor configurations (Kongsberg, 2016).

Software Operation System and Data Management

            The Remus 6000 is operated on a Windows based Graphical User Interface (GUI). It makes data analysis, vehicle monitoring, maintenance, and mission planning much easier and can be done in real-time on a laptop from the launch and recover ship or from shore if needed. Standard Ethernet connections are used for communication through the power/data interface box (Kongsberg, 6000). The software can monitor the mission with a constant map view with automatic error checking throughout the mission displaying warning messages when an error is found. The laptop screen has a display for green, red, or yellow indicators for critical AUV systems statuses with detailed text windows on internal system operations. While on the mission with no host connected all data is logged to an internal disk drive aboard the Remus 6000 and viewed through acoustic modem transmission from the side scan and bathymetry sensors via real-time for the user. After a mission the internal disk drive can be reviewed as a training and troubleshooting aid prior to export. The data can also be exported as an ASCII text or Matlab format to be imported to spreadsheet programs or Matlab programs for processing. The files will include position, altitude, depth, or any feature desired by the analyst for data processing and analysis (Kongsberg, 2016).  GUI software can be installed on any laptop or the user can purchase a ruggedized laptop with the AUV for operational use.

Recommended Data Treatment Improvement

            Currently much of the data can be viewed by the operator shipboard. I recommend the acoustic modem be used to send data shipboard then use cloud-based technology for storage and immediate access by multiple users off ship. This would eliminate waiting for the AUV to be brought onboard for data recovery, formatting, and then sent out to users. This would also depend on the cloud storage system having a dependable signal strength or satellite available to transmit the data to its new locations for immediate analysis. I also recommend more common data formats be made available other than just ASCII text or Matlab for conversion and analysis of the data gathered.

Conclusion

The Remus 6000 was made famous worldwide for discovering the wreckage and black box of Air France 447 in 2011 by the Woods Hole Institute Team at a depth of 13,000 feet (Koerth-Baker, 2011). Since then it has had several technological improvements over the years and continues as a very successful dependable AUV with several other products available through Kongsberg. The underwater environment is a very challenging domain for unmanned vehicles and Kongsberg with the Remus 6000 brings an efficient sensor platform to the consumer with state of the art data collection for many applications.

References

Kongsberg. (2016). Remus 6000. Retrieved from https://www.km.kongsberg.com

/ks/web/nokbg0240.nsf/AllWeb/481519DA1B0207CDC12574B0002A8451?OpenDocument

Koerth-Baker, M. (2011, May 6). Air France 447: How scientists found a needle in a haystack.

            Retrieved from http://boingboing.net/2011/05/06/air-france-447-how-s.html

Sensor placement for aerial photography and FPV racing

DJI T600 Inspire and Storm SRD-280 Sensor Placement

Jason Bach

          ASCI 605 – Unmanned Systems Sensing, Perception, and Processing

         Embry-Riddle Aeronautical University-Worldwide

9/27/2016

DJI T600 Inspire Quadcopter

            The DJI T600 Inspire was chosen to perform aerial photography services below 400 feet. It is a quadcopter that can be purchased for approximately $2,000 dollars ready to fly and has a full motion view 4K camera mounted on a 3-axis gimbal underneath the platforms main body and four rotors (HobbyKing, 2016).  The following Figure 1 is a picture of the DJI T600 Inspire.

 

Figure 1. DJI T600 Inspire. Adapted from http://www.hobbyking.com/hobbyking/store /__75615__DJI_T600_Inspire_1_Quadcopter_with_4K_Camera_and_3_Axis_Gimbal.html?gclid=CNLgkdfKrs8CFU06gQodKjoLCg

            The DJI T600 Inspire was designed for aerial photography and has a 360 degree field of view. The modular camera design is easily transported and upgraded if required. The 4K video and 12 megapixel photos use 720p HD and live video output. The flight is managed by advanced battery algorithms for battery life and flight management. There are specific buttons for FPV needs if required for video and photo capture. There is a gimbal control dial, HDMI and USB port allowing mobile devices to be connected, and it is also smart phone controllable. It has a one-click takeoff and landing feature with a return-to-home function also. The max flight time is approximately 18 minutes with a maximum flight altitude of 1,500 feet and weighs less than seven pounds. The following Figure 2 is a depiction of the DJI camera. The Zenmuse FC350 camera has optical flow technology, a UV filter, an anti-distortion filter, and burst shooting capabilities. The DJI T600 Inspire platform was designed for and will perform well in aerial photography at an affordable repair and operational cost.

 

Figure 2. DJI camera. Adapted from http://www.hobbyking.com/hobbyking/store /__75615__DJI_T600_Inspire_1_Quadcopter_with_4K_Camera_and_3_Axis_Gimbal.html?gclid=CNLgkdfKrs8CFU06gQodKjoLCg

Storm Racing Drone SRD-280

            The SRD-280 is a very stable fast FPV racer. It comes with six pre-loaded flight modes for FPV racing or practice. There is also a beginner, freestyle, and sport modes for flying in stabilized modes or acro mode for faster speeds and greater pilot control (Helipal, 2016). These six flight modes are unique to the SRD-280 making it a competitive FPV racer. It has a FPV Foxeer CMOS camera which has great image quality in all lighting with adjustments for each flying style chosen. Camera sensor placement is optimal for FPV racing on the front of the racer with tilt adjustment, smooth video quality in flight, and 75 degree FOV with real time video feeds on the FPV monitor bought separately (Helipal, 2016). It weighs approximately 500 grams, flies for approximately 20 minutes on its battery, and costs just under $400 dollars without the FPV monitor. The SRD-280 racing drone is one of the top three racing drones in popularity today and is built specifically to compete in FPV racing and drone racing events around the world (Best Drone for the Job, 2016). The following Figure 3 depicts the drone and its camera sensor placement.

Figure 3. FPV Storm Racing Drone SRD280 and camera. Adapted from http://www.helipal

.com/storm-racing-drone-bnf-srd280.html?gclid=CO3IoPrYrs8CFdgegQodtV4JWQ

References

Best Drone for the Job. (2016, July 1). Best drone for the job buyers guide. Retrieved from

            http://bestdroneforthejob.com/drones-for-fun/racing-drone-buyers-guide-2/

Helipal. (2016). Storm racing drone SRD-280. Retrieved from http://www.helipal.com/storm-

            racing-drone-bnf-srd280.html?gclid=CO3IoPrYrs8CFdgegQodtV4JWQ

HobbyKing.com. (2016). DJI T600 Inspire 1 Quadcopter with 4K Camera and 3-Axis Gimbal.

Retrieved from http://www.hobbyking.com/hobbyking/store/__75615__DJI_T600 _Inspire_1_Quadcopter_with_4K_Camera_and_3_Axis_Gimbal.html?gclid=CNLgkdfKrs8CFU06gQodKjoLCg

Bluefin 21 AUV - Search for MH370

Jason Bach

          ASCI 605 – Unmanned Systems Sensing, Perception, and Processing

         Embry-Riddle Aeronautical University-Worldwide

9/16/2016

            Maritime autonomous unmanned vehicles have been used more recently for different situations due to the advanced technology being used which has greatly improved their efficiency, consumer confidence, and uses. The Bluefin 21 was put in the limelight for aiding in the oceanic search for Malaysian Flight MH370 which crashed into the Indian Ocean with 239 passengers on March 8^th of 2014 (Pearlman, 2014). The Bluefin 21 dove to depths of 14,800 feet covering 42 square miles on its first four dives in search of MH370 wreckage (Pearlman, 2014). The following Figure1 depicts the Bluefin 21 search diagram.  

 

Figure 1. Bluefin 21 search for MH370. Retrieved from http://www.livescience.com/44952-how-the-bluefin-21-searches-for-flight-370-wreckage-on-the-ocean-floor-infographic.html

Sensor Systems for the Bluefin 21

The sensor package used on the Bluefin 21 consisted of  side scan sonar, an acoustic modem for communication at depths, a sub-bottom profiler, a Synthetic aperture sonar, an imaging sonar, a multi-beam echosounder, a video camera, and a still camera (General Dynamics, 2016). A towed hypersensitive hydrophone from the support vessel can detect signals up to 6,000 meters deep relayed from the AUV. The Bluefin 21 uses an Inertial Navigation Sensor for navigation accuracy underwater along with a USBL system, a LBL system, a Doppler Velocity Logger, an altimeter, a pressure sensor, a compass, an Inertial Measurement Unit, an Acoustic tracking transponder, and a GPS (General Dynamics, 2016). The operator tool suite provides a laptop interface for planning, monitoring and execution, data management, and post-mission analysis of the Bluefin 21 with real time data provided to the operator during the mission. The following Figure 2 depicts the Bluefin 21 while being deployed.

Figure 2. Bluefin 21. Adapted from http://www.telegraph.co.uk/news/worldnews/asia/

malaysia/10774740/Malaysia-Airlines-MH370-Bluefin-21-submarine-reprogrammed-to-reach-record-depth.html

Possible Improvements to the Bluefin 21

            The Bluefin 21 is a very versatile and successful AUV. Two possible additions to make it even better would be extending the operational time underwater with an alternate power system to compliment the lithium battery life which is currently at 25 hours of operation. Another option to add would be a deployable arm to grasp and retrieve small objects or move debris on the ocean bottom. These additions would improve options available for different missions required.

Combining Maritime Unmanned Systems with UAV’s to Enhance Operations

            Maritime systems could be used in conjunction with unmanned aerial systems to enhance their effectiveness. Data could be collected or relayed from AUV to UAV over longer distances possibly at a faster speed depending on environmental conditions operated in. Working together would be more feasible as the UAV could use the AUV to identify objects up close once the UAV has located it from the air. Once objects are found by the UAV the AUV could then retrieve the object if capable and return to the support vessel. Twice the sensors and capabilities with combined usage of AUV’s and UAV’s can only be better especially in search and rescue situations on the ocean or other large body of water.

Advantages of Unmanned Maritime Systems vs Manned Systems

            Unmanned maritime systems have advantages over manned maritime systems in some areas of operation. One obvious advantage is no human life is danger while the unmanned system is operating in or under water. A second advantage is the versatility, small size, and less funding needed to procure and operate the maritime unmanned systems. Again if military operations are involved no human lives are in danger of being injured or lost during weapon deployment or if the enemy attacks the boat, ship, or submarine involved. Unmanned maritime systems never get tired, rarely break down, can be programmed to multitask, and can be used in several applications with different sensor payloads. The maritime unmanned systems are comprised of multiple sensor packages of which many sensors perform better than manned maritime vessels with the unmanned system operating at a fraction of the cost in comparison to its manned equivalent.   

References

General Dynamics. (2016). Bluefin Robotics. Retrieved from http://www.bluefinrobotics.com

/vehicles-batteries-and-services/bluefin-21

Pearlman, J. (2014, April 18).  Malaysia Airlines MH370: Bluefin-21 submarine reprogrammed

to reach record depth. The Telegraph. Retrieved from http://www.telegraph.co.uk /news/worldnews/asia/malaysia/10774740/Malaysia-Airlines-MH370-Bluefin-21-submarine-reprogrammed-to-reach-record-depth.html

Tate, Karl. (2014, April 18). How the Bluefin-21 searches for Flight 370 wreckage on the

ocean floor. Retrieved from http://www.livescience.com/44952-how-the-bluefin-21-searches-for-flight-370-wreckage-on-the-ocean-floor-infographic.html

New LeddarTech LiDAR info

     LeddarTech introduced its new platform for LiDAR in its ranging and detection sensor. It is initially being used in autonomous driving vehicles due to its compact size, robust performance, and relative cost efficiency in today’s market. It will have a range of 250 meters, 140 degree FOV, and its LiDAR will produce 480,000 points per second. Optical components can be changed on the sensor to perform better for specific uses or vehicles. It weighs only 75 grams and provides multi-obstacle detection without interference from other sensors or with bad lighting conditions with snow and rain. Low cost, less weight, more compact, higher efficiency, and multi-platform use makes this sensor a very marketable technology. It will be used for collision avoidance and navigation in autonomous as well as semi-autonomous vehicles in heavy equipment, public transport, buses, trucks, and many drones of varying sizes. Advancing technology for improved safety and efficiency in today’s market.  Take a look at LedderTech’s sensors and other unmanned vehicle technology and see what they have to offer.

  

References

Unmanned Systems Technology. (2016, September 8). LeddarTech launches new high-resolution LiDAR platform. Retrieved from http://www.unmannedsystemstechnology.com/2016/09/leddartech-launches-new-high-resolution-lidar-platform/