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Dissertations / Theses on the topic 'Automatic landing'
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Bole, Michael. "Design of an automatic landing system for twin rotor vertical take-off and landing unmanned air vehicle." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape3/PQDD_0015/MQ47834.pdf.
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Gising, Andreas. "MALLS - Mobile Automatic Launch and Landing Station for VTOL UAVs." Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-15980.
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<p>The market for vertical takeoff and landing unmanned aerial vehicles, VTOL UAVs, is growing rapidly. To reciprocate the demand of VTOL UAVs in offshore applications, CybAero has developed a novel concept for landing on moving objects called MALLS, Mobile Automatic Launch and Landing Station. MALLS can tilt its helipad and is supposed to align to either the horizontal plane with an operator adjusted offset or to the helicopter skids. Doing so, eliminates the gyroscopic forces otherwise induced in the rotordisc as the helicopter is forced to change attitude when the skids align to the ground during landing or when standing on a jolting boat with the rotor spun up. This master’s thesis project is an attempt to get the concept of MALLS closer to a quarter scale implementation. The main focus lies on the development of the measurement methods for achieving the references needed by MALLS, the hori- zontal plane and the plane of the helicopter skids. The control of MALLS is also discussed. The measurement methods developed have been proved by tested implementations or simulations. The theories behind them contain among other things signal filtering, Kalman filtering, sensor fusion and search algorithms. The project have led to that the MALLS prototype can align its helipad to the horizontal plane and that a method for measuring the relative attitude between the helipad and the helicopter skids have been developed. Also suggestions for future improvements are presented.</p>
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Caldeira, Fabrício Reis. "Design of an automatic landing system using linear quadratic tracker." Instituto Tecnológico de Aeronáutica, 2008. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=725.
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This work presents the application of the Linear Quadratic Tracker (LQT) for the automatic landing system of passenger transport airplanes. The design method to achieve an autoland flare law with improved performance and disturbance rejection is described. With this method the design is direct and more formal thus avoiding the somewhat time consuming and more ad-hoc design iterations currently practice in industry. Although the design technique has been used for a autoland system, the approach is general enough to be used in other control applications. The structure of a traditional flare controller used for transport airplane and the LQT flare controller are presented. The performance of the flare control law designed based on LQT is compared against the performance of a traditional flare control law. Simulation time histories and Monte Carlo simulation results are presented. The time histories simulations cover the nominal and the most adverse conditions anticipated during the operation of the autoland system. The results show that the LQT law provides a more accurate path control and better disturbance rejection. The Monte Carlo simulation was made according to the certification requirements of an autoland system. The results show that the LQT controller provides reduced touchdown dispersion for the sink rate and distance at touchdown. The automatic landing system using LQT complies easily with the certification requirements, whereas the traditional system based on the classical design of autopilot inner loop/outer loop meets the certification requirements with smaller margins.
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Lai, Khai Ping. "A deep learning model for automatic image texture classification: Application to vision-based automatic aircraft landing." Thesis, Queensland University of Technology, 2016. https://eprints.qut.edu.au/97992/4/Khai_Ping_Lai_Thesis.pdf.
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This project aims to investigate a robust Deep Learning architecture to classify different type of textural imagery. The findings will eventually be part of a central processing algorithm used for Automatic Image Classification for Automatic Aircraft Landing.
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Hill, Steven James. "DGPS/ILS integration for an automatic landing system using Kalman Filtering." Ohio University / OhioLINK, 1996. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1178311128.
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Aribal, Seckin. "Development Of An Autopilot For Automatic Landing Of An Unmanned Aerial Vehicle." Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613391/index.pdf.
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This thesis presents the design of an autopilot and guidance system for an unmanned aerial vehicle. Classical (PID) and modern control (LQT, Sliding Mode) methods for autonomous navigation and landing in adverse weather conditions are implemented. Two different guidance systems are designed in order to navigate through waypoints during normal and/or emergency flight. The nonlinear Pioneer UAV model is used in controller development and simulations.
Aircraft is linearized at different trim points and total airspeed, altitude, roll and yaw autopilots are designed using Matlab/Simulink environment for lateral and longitudinal control of the aircraft. Gain scheduling is used to combine controllers designed for different trim points. An optimal landing trajectory is determined using &ldquo<br>Steepest Descent&rdquo<br>Algorithm according to the dynamic characteristics of the aircraft. Optimal altitude trajectory is used together with a lateral guidance against cross-wind disturbance.
Finally, simulations including landing under crosswind, tailwind, etc., are run and the results are analyzed in order to demonstrate the performance and effectiveness of the controllers.
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Magnus, Vestergren. "Automatic Takeoff and Landing of Unmanned Fixed Wing Aircrafts : A Systems Engineering Approach." Thesis, Linköpings universitet, Datorteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133078.
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The purpose of this thesis is to extend an existing autopilot with automatic takeoff and landing algorithms for small fixed wing unmanned aircrafts. The work has been done from a systems engineering perspective and as for solution candidates this thesis has a bias towards solutions utilizing fuzzy logic. The coveted promises of fuzzy logic was primarily the idea to have a design that was easily tunable with very little knowledge beyond flight experience for a particular aircraft. The systems engineering perspective provided a way to structure and reason about the project where the problem has been decoupled from different solutions and the work has been divided in a way that would allow multiple aspects of the project to be pursued simultaneously. Though the fuzzy logic controllers delivered functional solutions the promises related to ease of tuning was not fulfilled in a landing context. This might have been a consequence of the designs attempted but in the end a simpler solution outperformed the implemented fuzzy logic controllers. Takeoff did not present the same issues in tuning but did require some special care to handle the initial low airspeeds in an hand launch.
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Trittler, Martin [Verfasser]. "Automatic Landing for Fixed-Wing Unmanned Aerial Vehicles with Optical Sensors / Martin Trittler." Aachen : Shaker, 2018. http://d-nb.info/1162794321/34.
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Hermansson, Joel. "Vision and GPS based autonomous landing of an unmanned aerial vehicle." Thesis, Linköping University, Automatic Control, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-57735.
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<p>A control system for autonomous landing of an unmanned aerial vehicle (UAV)with high precision has been developed. The UAV is a medium sized model he-licopter. Measurements from a GPS, a camera and a compass are fused with anextended Kalman filter for state estimation of the helicopter. Four PID-controllers,one for each control signal of the helicopter, are used for the helicopter control.During the final test flights fifteen landings were performed with an average land-ing accuracy of 35 cm. A bias in the GPS measurements makes it impossible to land the helicopter withhigh precision using only the GPS. Therefore, a vision system using a camera anda pattern provided landing platform has been developed. The vision system givesaccurate measurement of the 6-DOF pose of the helicopter relative the platform.These measurements are used to guide the helicopter to the landing target. Inorder to use the vision system in real time, fast image processing algorithms havebeen developed. The vision system can easily match up the with the camera framerate of 30 Hz.</p><br><p>Ett kontrolsystem för att autonomt landa en modellhelikopter har utvecklats.Mätdata från en GPS, en kamera samt en kompass fusioneras med ett Extend-ed Kalman Filter för tillståndsestimering av helikoptern. Fyra PID-regulatorer,en för varje kontrolsignal på helikoptern, har används för regleringen. Under densista provflygningen gjordes tre landingar av vilken den minst lyckade slutade35 cm från målet. På grund av en drift i GPS-mätningarna är det omöjligt att landa helikopternmed hög precision med bara en GPS. Därför har ett bildbehandlingssystem som an-vänder en kamera samt ett mönster på platformen utvecklats. Bidbehandlingssys-temet mäter positionen och orienteringen av helikoptern relativt platformen. Dessamätningar används kompensera för GPS-mätningarnas drift. Snabba bildbehan-dlingsalgoritmer har utvecklats för att kunna använda bildbehandlingssystemet irealtid. Systemet är mycket snabbare än 30 bilder per sekund vilket är kameranshastighet.</p>
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Lugo, Cárdenas Israel. "Autonomous take-off and landing for a fixed wing UAV." Thesis, Compiègne, 2017. http://www.theses.fr/2017COMP2364/document.
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Ce travail étudie certains des problèmes les plus pertinents dans le sens de la navigation et contrôle présentés dans une classe particulière de mini-véhicules aériens. L'un des principaux objectifs c'est à réaliser un véhicule léger et facile à déployer dans un court laps de temps, un véhicule sans pilote drone capable de suivre une mission complète, du décollage aux points de cheminement suivants et de terminer la mission avec un atterrissage autonome à l'intérieur d'une zone délimitée en utilisant une interface graphique dans un ordinateur ou une tablette. La génération de trajectoire II est la partie qui dit le drone où il doit voyager et sont générés par un algorithme intégré sur le drone. Le résultat classique de Dubins est utilisé comme base pour la génération de trajectoire en 2D et nous avons étendu à la génération de trajectoire 3D. Une stratégie de suivi de trajectoire développée en utilisant l'approche de Lyapunov, est présentée pour piloter un drone à voilure fixe à travers tout le chemin désiré. Le concept clé derrière le contrôleur de suivi de trajectoire s'appuie sur la réduction de la distance entre le centre de masse de l'avion p et le point sur la trajectoire q à zéro, ainsi que l'angle entre le vecteur vitesse et la tangente à la trajectoire. Afin de tester les techniques mises au point au cours de la thèse une application C# -Net personnalisée a été développé nommé MAV3DSim (Multi-Aerial Vehicle 3D Simulator). Le MAV3DSim permet une opération de lecture/écriture de/vers le moteur de simulation à partir de laquelle nous pourrions recevoir toutes les informations de capteurs émulés et envoyés par le simulateur. Le système complet est capable d'effectuer un décollage et d'atterrissage autonome, à travers des points de suivi. Ceci est accompli en utilisant chacune des stratégies développées au cours de la thèse. Nous avons une stratégie pour le décollage et l'atterrissage, ce qui est généré par la partie de navigation qui est le générateur de trajectoire. Une fois que nous avons généré le chemin, il est utilisé par la stratégie de suivi de trajectoire et avec ce que nous avons l'atterrissage et le décollage autonome<br>This work studies some of the most relevant problems in the direction of navigation and control presented in a particular class of mini‐aircraft. One of the main objectives is to build a lightweight and easy to deploy vehicle in a short period of time, an unmanned aerial vehicle capable of following a complete mission from take‐o⁄ to the following waypoints and complete the mission with an autonomous landing within a delimitated area using a graphical interface in a computer. The Trajectory Generation It is the part that tells the drone where it must travel and are generated by an algorithm built into the drone. The classic result of Dubins is used as a basis for the trajectory generation in 2D and we have extended it to the 3D trajectory generation. A path following strategy developed using the Lyapunov approach is presented to pilot a fixed wing drone across the desired path. The key concept behind the tracking controller is the reduction of the distance between the center of mass of the aircraft p and the point q on the path to zero, as well as the angle between the velocity vector and the vector tangent to the path. In order to test the techniques developed during the thesis a customized C # .Net application was developed called MAV3DSim (Multi‐Aerial Vehicle 3D Simulator). The MAV3DSim allows a read / write operation from / to the simulation engine from which we could receive all emulated sensor information and sent to the simulator. The MAV3DSim consists of three main elements, the simulation engine, the computation of the control law and the visualization interface. The simulation engine is in charge of the numeric integration of the dynamic equations of the vehicle, we can choose between a quadrotor and a xed wing drone for use in simulation. The visualization interface resembles a ground station type of application, where all variables of the vehicle s state vector can be represented on the same screen. The experimental platform functions as a test bed for the control law prototyping. The platform consists of a xed wing aircraft with a PX4 which has the autopilot function as well as a Raspberry PI mini‐computer which to the implementation of the generation and trajectory tracking. The complete system is capable of performing an autonomous take‐o⁄and landing, through waypoints. This is accomplished by using each of the strategies developed during the thesis. We have a strategy for take‐o⁄ and landing, which is generated by the navigationon part that is the trajectory generator. Once we have generated the path, it is used by the trajectory tracking strategy and withthat we have landing and take‐o⁄ autonomously
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Saläng, Björn, and Henrik Salomonsson. "Vision based pose estimation for autonomous helicopter landing." Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-15988.
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<p>The market for unmanned aerial vehicles (UAVs) is growing rapidly. In order to meet the demand for marine applications CybAero AB has recently started a project named Mobile Automatic Launch and Landing Station (MALLS). MALLS enables the uav to land on moving targets such as ships. This thesis studies a system that estimates the pose of a helicopter in order to land on a moving target.</p><p>The main focus has been on developing a pose estimation system using computer vision. Two different methods for estimating the pose have been studied, one using homography and one using an Extended Kalman Filter (ekf). Both methods have been tested on real flight data from a camera mounted on a RC-helicopter. The accuracy of the pose estimation system has been verified with data from a test with the camera mounted on an industrial robot. The test results show that the ekf-based system is less sensitive to noise than the homography-based system. The ekf-based system however requires initial values which the homography-based system does not. The accuracy of both systems is found to be good enough for the purpose.</p><p>A novel control system with control rules for performing an autonomous landing on a moving target has been developed. The control system has not been tested during flight.</p><br><p>Marknaden for obemannade autonoma luftburna farkoster (UAV:er) växer snabbt. För att möta behovet av marina tillämpningar har CybAero AB nyligen startat ett projekt som kallas Mobil Automatisk Start- och Landningsstation (MALLS). Syftet med malls är att möjliggöra autonom start och landning på objekt i rörelse, som till exempel ett fartyg. I det här examensarbetet studeras ett system för att bestämma position och attityd för en helikopter relativt en helikopterplatta, för att möjliggöra landning på ett ojekt i rörelse.</p><p>Fokus har främst legat på att utveckla ett positionerings- och attitydbestämningssystem. Ett datorseende positionerings- och attitydbestämningssystem har utvecklats. Två olika metoder har undersökts, ett system som bygger på homografi och ett annat som bygger på Extended Kalman Filter (EKF). Båda metoderna har testats med verklig data från en kamera monterad på en RC helikopter. Noggrannheten i positionsbestämmelsen har undersökts med hjälp av data från en industrirobot. Testresultaten visar att det EKF-baserade systemet är mindre bruskänsligt än det homografibaserade systemet. En nackdel med det ekf-baserade systemet är däremot att det kräver initialvillkor vilket det homografibaserade systemet inte gör. Noggrannheten på båda systemen finner vi tillfredsställande för syftet.</p><p>Ett enkelt styrsystem med styrlagar för att genomföra landningar på ett rörligtobjekt har utvecklats. Styrsystemet har dock inte testats under verklig flygning.</p>
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Alatorre, Sevilla Armando. "Landing of a fixed-wing unmanned aerial vehicle in a limited area." Electronic Thesis or Diss., Compiègne, 2024. http://www.theses.fr/2024COMP2801.
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Le projet de thèse consiste à développer une solution pour l'atterrissage d'un drone à voilure fixe de configuration classique dans une zone limitée. Le principal défi consiste à réduire la vitesse de l'avion à une phase minimale pendant le vol, à l'aide d'algorithmes de contrôle automatique. La réduction de la vitesse d'un drone à voilure fixe s'effectue en augmentant son angle d'attaque, ce qui implique un freinage par la force de traînée. Cependant, cette manœuvre est critique pour un avion conventionnel, parce que si son angle d'attaque augmente au-delà de l'angle de décrochage, le véhicule peut perdre sa contrôlabilité, c'est-à-dire qu'il est possible que le véhicule aérien s'effondre et que sa structure soit endommagée. Le modèle mathématique est une représentation d'équations qui décrit le comportement de la dynamique du système. En considérant plusieurs variables pour obtenir une meilleure approximation de la dynamique du système, dans notre cas le véhicule à voilure fixe, la conception des stratégies de contrôle sera plus difficile et plus complexe. Dans ce travail de recherche, nous utiliserons un modèle mathématique non linéaire car les effets de décrochage peuvent être inclus par des approximations mathématiques du moment de tangage, des forces de portance et de traînée. Cela nous permet d'obtenir une meilleure performance des lois de contrôle pour la navigation autonome du drone à voilure fixe. L'une des limites des véhicules à voilure fixe est qu'ils atterrissent dans des espaces de dimensions réduites et que le pourcentage de dommages subis par leur structure est élevé. En outre, les perturbations extérieures et l'inexpérience des pilotes augmentent le risque de dommages. Il est bien connu qu'il est très difficile de satisfaire aux conditions d'une piste d'atterrissage. Par conséquent, la communauté scientifique s'est efforcée de mettre au point des solutions pour l'atterrissage dans des zones limitées. Dans la littérature, on trouve quelques solutions basées sur des véhicules hybrides et des systèmes de récupération. Les véhicules hybrides consistent à modifier la structure d'un véhicule à voilure fixe. Les moteurs sont répartis stratégiquement pour obtenir une configuration de véhicule multirotor, offrant certaines caractéristiques telles que le décollage et l'atterrissage verticaux. Cependant, ces actionneurs augmentent la masse du véhicule, la consommation d'énergie (ce qui réduit la durabilité du vol), la probabilité de défaillance, le coût d'acquisition, de réparation et d'entretien. Notre objectif dans ce travail de recherche est de concevoir et de valider des stratégies de contrôle pour l'atterrissage d'un drone à voilure fixe dans un espace limité. Les stratégies de contrôle ont été conçues selon deux approches : la première est basée sur le développement de manœuvres pour un drone à voilure fixe afin de réduire la vitesse à une phase minimale pendant le vol. Dans la deuxième approche, nous avons travaillé sur les stratégies de contrôle pour l'atterrissage d'un drone à voilure fixe sur un véhicule terrestre en mouvement. Une stratégie de contrôle a été proposée pour réduire la vitesse du drone à voilure fixe au minimum afin d'être capturé par un système de récupération. La stratégie de contrôle a été divisée en trois étapes de vol : dans la première étape, l'avion s'aligne dans le plan x-y tandis qu'il est conduit à une altitude souhaitée pour effectuer un vol de croisière. L'étape suivante consiste en un vol ascendant, axé sur le suivi d'une référence angulaire basée sur une trajectoire phugoïde. Cette trajectoire implique une augmentation de l'angle d'attaque jusqu'à l'angle de décrochage de l'avion. Ainsi, la vitesse aérienne obtient une réduction maximale dans des conditions sûres, permettant au drone d'être capturé par le système de récupération. Toutefois, si le drone n'est pas capturé par le système de récupération, une stratégie de contrôle est appliquée pour rétablir le vol de l'aéronef<br>The development of this thesis consists of designing some control strategies that allow a fixedwing drone with classical configuration to perform a safe landing in a limited area. The main challenge is to reduce the aircraft’s airspeed avoiding stall conditions. The developed control strategies are focused on two approaches: the first approach consists of the designing airspeed reduction maneuvers for a fixed-wing vehicle to be captured by a recovery system and for a safe landing at a desired coordinate. The next approach is focused on landing a fixed-wing drone on a moving ground vehicle. A dynamic landing trajectory was designed to lead a fixedwing vehicle to the position of a ground vehicle, reaching its position in a defined distance. Moreover, this trajectory was used in a cooperative control design. The control strategy consists of the synchronization of both vehicles to reach the same position at a desired distance. The aerial vehicle tracks the dynamic landing trajectory, and the ground vehicle controls its speed. In addition, we will propose a control architecture with a different focus, where the ground vehicle performs the tracking task of the aerial vehicle’s position in order to be captured. And, the drone’s task is to track a descending flight until the top of the ground vehicle. However, considering the speed difference between both vehicles. Therefore, we propose a new control architecture defining that the aircraft performs an airspeed reduction strategy before beginning its landing stage. The aircraft will navigate to a minimum airspeed, thus, allowing the ground vehicle to reach the fixed-wing drone’s position by increasing its speed. The control laws of each strategy were determined by developing the Lyapunov stability analysis, thus, the stability is guaranteed in each flight stage. Finally, the control strategies were implemented on prototypes allowing us to validate their performance and obtain satisfactory results for safe landing of a fixed-wing drone with classical configuration
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PEREZ, MONTENEGRO CARLOS NORBERTO. "NAVIGATION, GUIDANCE AND CONTROL FOR PLANETARY LANDING." Doctoral thesis, Politecnico di Torino, 2014. http://hdl.handle.net/11583/2557338.
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This dissertation aims to develop algorithms of guidance and control for propulsive terminal phase planetary landing, including a piloting strategy. The algorithms developed here are based on the Embedded Model Control (EMC) principles. Currently, the planetary entry descent and landing are important issues, landing on Mars and Moon has been scientifically rewarding; successful landed robotic systems on the surface of Mars have been achieved. Projects as Mars Science Laboratory MSL inter alia have achieved a successful landing. These new approaches are focused in delivering large amounts of mass with a low uncertainty and in performing the entry, descent and landing sequence for human exploration.
The dissertation is divided in two parts, the first part is focused on Pinpoint landing algorithms, piloting definition and its integration with guidance; some simulations runs are provided. The second part of this research describes the Borea project. It shows the modelling of quadrotor dynamics and kinematics. Its propulsive system is studied and an alternative methodology for the propeller modelling is presented. The embedded model control for quadrotor vehicles is developed. Test of GNC algorithms for planetary landing were studied and simulated.
The dissertation is divided in two parts, the first part is focused on Pinpoint landing algorithms, piloting definition and its integration with guidance, some simulations runs are provided. The second part of this research describes the Borea project. shows modelling of quadrotor dynamics and kinematics. Its propulsive system is studied and an alternative methodology for the propeller modelling is presented. The embedded model control for quadrotor vehicles is developed. Test of GNC algorithms for planetary landing were studied and simulated.
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Florin, Charles Henri. "Automated Traffic Control for Smart Landing Facilities." Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/36095.
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The Small Aircraft Transportation System (SATS) is a partnership between the FAA, the NASA, US aviation companies, universities and state and local aviation officials. The purpose of SATS is to develop a system to handle future increase in Air Traffic, reduce time-travel, develop automation in
Air Traffic Control (ATC) and make better use of small aircraft and underused airports. The Smart Landing Facility (SLF) is an important part of
the program. The SLF is a small airport upgraded with equipment to support SATS aircraft. Among the SLF equipment, SATS needs new detection equipment, and eventually automation.
This thesis investigates different techniques to avoid data collision in aircraft radar responses, and to reduce delays between landings and take offs. First, the paper shows how and when the radar receiver can separate two overlapped radar responses. Second, to avoid transponders responses overlapping, requirements in terms of aircraft safety distance are computed, different conflicts in air traffic around the SLF are examined and a
solution is proposed for each case. And finally, the thesis investigates how far SATS can go in developing an automatic ATC system and what the role of future human operator will be in ATC.<br>Master of Science
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Needham, Jennifer M. "Human-automation interaction for lunar landing aimpoint redesignation." Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/46556.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2008.<br>Includes bibliographical references (leaves 86-89).<br>Human-automation interactions are a critical area of research in systems with modem automation. The decision-making portion of tasks presents a special challenge for human-automation interactions because of the many factors that play a role in the decision-making process. This is prominent in human spaceflight, where the astronaut must continually interact with the vehicle systems. In future lunar landings, astronauts working in conjunction with automated systems will need to select a safe and achievable landing aimpoint. Ultimately, this decision could risk the safety of the astronauts and the success of their mission. Careful study is needed to ascertain the roles of both the human and the automation and how design can best support the decision making process. The task of landing on the moon was first achieved by the Apollo program in 1969, but technological advances will provide future landings with a greater variety and extensibility of mission goals. The modem task of selecting a landing aimpoint is known as landing point redesignation (LPR), and this work capitalizes on an existing LPR algorithm in order to explore the effects on landing point selection by altering the levels of automation. An experiment was designed to study the decision-making process with three different levels of automation. In addition, the effect of including a human-generated goal that was not captured by the automation was studied. The experimental results showed that the subjects generally used the same decision strategies across the different levels of automation, and that higher levels of automation were able to eliminate earlier parts of the decision strategy and allow the subjects to select a landing aimpoint more quickly. In scenarios with the additional human goal, subjects tended to sacrifice significant safety margins in order to achieve proximity to the point of interest. Higher levels of automation allowed them to maintain high levels of safety margins in addition to achieving their external goal. Thus, it is concluded that with a display design supporting human goals in a decision-making task, automated decision aids that make recommendations and assist communication of the automation's processes are highly beneficial.<br>by Jennifer M. Heedham.<br>S.M.
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Lönnberg, Erika. "Autonom landning med UAV." Thesis, Linköping University, Department of Electrical Engineering, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1660.
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<p>På SAAB AB pågår projekt vilka har till syfte att utveckla en obemannad flygfarkost (UAV) som komplement till vanliga flygplan, exempelvis Gripen. För att kunna göra detta behöver SAAB samla kunskaper om UAV:er i allmänhet och detta examensarbete är en del i denna process. </p><p>Detta examensarbete har utförts hos SAAB AB, avdelningen Future Products i Linköping. Syftet var att ta fram styrlagar som möjliggör autonom landning för en UAV. Även en kortare utredning om vilka sensorer som kan komma att behövas ingick i examensarbetet. </p><p>Slutsatserna visar att ytterligare förbättringar behövs innan en autonom landning kan genomföras med den algoritm som tagits fram inom ramen för detta examensarbete. Bland annat behöver man ta hänsyn till turbulens. Vad gäller val av sensorer kan man i början använda sig av standard produkter som är kommersiellt tillgängliga för att reducera kostnaderna i projektet.</p><br><p>At SAAB AB there are projects running whose purpose is to develop an Unmanned Aerial Vehicle (UAV) to be used as a complement to ordinary aircrafts like Gripen. In order to do this SAAB has to collect generic knowledge about UAV:s and this final thesis is a part of this process.</p><p>This final thesis has been performed at SAAB AB in the department for Future Products in Linköping. The purpose was to develop control algorithms which makes autonomous landing possible for UAV:s. A brief investigation about which sensors that may have to be used was also performed as a part of the final thesis.</p><p>The conclusions show that further improvements are needed before an autonomous landing can be carried out with the algorithm that was developed within the scope of this thesis. Among other things, turbulence must be taken into consideration. Regarding the sensors, it is possible to start out with commercial of the shelf (COTS) products in order to decrease costs in the project.</p>
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Mackay, Justin Keith. "Automated Landing Site Determination for Unmanned Rotocraft Surveillance Applications." BYU ScholarsArchive, 2014. https://scholarsarchive.byu.edu/etd/5531.
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Unmanned air vehicles have been increasing in their autonomous capabilities. This research furthers these capabilities by focusing on the automation of landing site determination for rotorcraft in urban environments. Automated landing saves energy and allows the aircraft to choose areas that are safe for people and the aircraft. Two methods are used to gather information about the terrain of potential landing sites. One method is 3D reconstruction from multiple camera images. The other method uses a range sensor to reconstruct the terrain. Both of these methods create an inertial terrain map of the environment in the form of a point cloud that can be investigated for possible landing sites. Two strategies were developed to search the terrain map for possible landing sites: grid-based RANSAC and Recursive-RANSAC (R-RANSAC). Both strategies search for flat stable areas for landing. Grid-based RANSAC separates the terrain map into discrete portions for plane fitting analysis. These fitted planes are used to determine whether portions of the terrain map are suitable for landing. Two additional variations of grid-based RANSAC were explored that resulted in improvements to the approach. This strategy can quickly find landing sites from large terrain maps. The other strategy, R-RANSAC, is a recursive approach that analyzes each point in the terrain map for plane fitting. New planes are created as needed to fit points in the terrain map. Planes that fit a large number of points are analyzed for possible landing locations. This strategy is more complex to implement, but results in a simpler model of the environment: a small set of 3D planes. The results are displayed with the possible landing locations. Both landing-site strategies were implemented onboard a hexrotor aircraft and successfully demonstrated in flight.
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Eng, Pillar C. S. "Path planning, guidance and control for a UAV forced landing." Thesis, Queensland University of Technology, 2011. https://eprints.qut.edu.au/43898/1/Pillar_Eng_Thesis.pdf.
Full textAbstract:
A forced landing is an unscheduled event in flight requiring an emergency landing, and is most commonly attributed to engine failure, failure of avionics or adverse weather. Since the ability to conduct a successful forced landing is the primary indicator for safety in the aviation industry, automating this capability for unmanned aerial vehicles (UAVs) will help facilitate their integration into, and subsequent routine operations over civilian airspace. Currently, there is no commercial system available to perform this task; however, a team at the Australian Research Centre for Aerospace Automation (ARCAA) is working towards developing such an automated forced landing system. This system, codenamed Flight Guardian, will operate onboard the aircraft and use machine vision for site identification, artificial intelligence for data assessment and evaluation, and path planning, guidance and control techniques to actualize the landing. This thesis focuses on research specific to the third category, and presents the design, testing and evaluation of a Trajectory Generation and Guidance System (TGGS) that navigates the aircraft to land at a chosen site, following an engine failure. Firstly, two algorithms are developed that adapts manned aircraft forced landing techniques to suit the UAV planning problem. Algorithm 1 allows the UAV to select a route (from a library) based on a fixed glide range and the ambient wind conditions, while Algorithm 2 uses a series of adjustable waypoints to cater for changing winds. A comparison of both algorithms in over 200 simulated forced landings found that using Algorithm 2, twice as many landings were within the designated area, with an average lateral miss distance of 200 m at the aimpoint. These results present a baseline for further refinements to the planning algorithms. A significant contribution is seen in the design of the 3-D Dubins Curves planning algorithm, which extends the elementary concepts underlying 2-D Dubins paths to account for powerless flight in three dimensions. This has also resulted in the development of new methods in testing for path traversability, in losing excess altitude, and in the actual path formation to ensure aircraft stability. Simulations using this algorithm have demonstrated lateral and vertical miss distances of under 20 m at the approach point, in wind speeds of up to 9 m/s. This is greater than a tenfold improvement on Algorithm 2 and emulates the performance of manned, powered aircraft. The lateral guidance algorithm originally developed by Park, Deyst, and How (2007) is enhanced to include wind information in the guidance logic. A simple assumption is also made that reduces the complexity of the algorithm in following a circular path, yet without sacrificing performance. Finally, a specific method of supplying the correct turning direction is also used. Simulations have shown that this new algorithm, named the Enhanced Nonlinear Guidance (ENG) algorithm, performs much better in changing winds, with cross-track errors at the approach point within 2 m, compared to over 10 m using Park's algorithm. A fourth contribution is made in designing the Flight Path Following Guidance (FPFG) algorithm, which uses path angle calculations and the MacCready theory to determine the optimal speed to fly in winds. This algorithm also uses proportional integral- derivative (PID) gain schedules to finely tune the tracking accuracies, and has demonstrated in simulation vertical miss distances of under 2 m in changing winds. A fifth contribution is made in designing the Modified Proportional Navigation (MPN) algorithm, which uses principles from proportional navigation and the ENG algorithm, as well as methods specifically its own, to calculate the required pitch to fly. This algorithm is robust to wind changes, and is easily adaptable to any aircraft type. Tracking accuracies obtained with this algorithm are also comparable to those obtained using the FPFG algorithm. For all three preceding guidance algorithms, a novel method utilising the geometric and time relationship between aircraft and path is also employed to ensure that the aircraft is still able to track the desired path to completion in strong winds, while remaining stabilised. Finally, a derived contribution is made in modifying the 3-D Dubins Curves algorithm to suit helicopter flight dynamics. This modification allows a helicopter to autonomously track both stationary and moving targets in flight, and is highly advantageous for applications such as traffic surveillance, police pursuit, security or payload delivery. Each of these achievements serves to enhance the on-board autonomy and safety of a UAV, which in turn will help facilitate the integration of UAVs into civilian airspace for a wider appreciation of the good that they can provide. The automated UAV forced landing planning and guidance strategies presented in this thesis will allow the progression of this technology from the design and developmental stages, through to a prototype system that can demonstrate its effectiveness to the UAV research and operations community.
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Hainley, Christopher James Jr. "Lunar landing : dynamic operator interaction with multi-modal automation systems." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/65170.
Full textAbstract:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2011.<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>Cataloged from student-submitted PDF version of thesis.<br>Includes bibliographical references (p. 103-114).<br>The ability of operators to "gracefully transition" (maintaining control and awareness of the system without excessive workload or decrements in flight performance) between levels of automation (LOA) in several case studies and in a simulated lunar landing was investigated in anticipation of future lunar missions. Endsley's situation awareness model (extended to apply to supervisory control systems) and the Sheridan/Verplank and Proud/Hart LOA scales were used to analyze six maritime, aviation, and aerospace case studies and formulate design guidelines for enhancing mode transitions. These motivated an experiment in which thirteen subjects with flight simulator experience flew 24 approach trajectories (half including a landing point redesignation) that transitioned from a fully automatic flight control mode to either: pitch rate-control/attitude hold (RC/AH) with automatic rate-of-descent (ROD), roll-pitch-yaw (RPY) RC/AH with automatic ROD, or RPY RC/AH with incremental ROD. Subjective and objective workloads were measured using a Modified Bedford Scale and secondary task response time, respectively. A tertiary task - verbal callouts of altitude, fuel, and location, provided a measure of pilot situation awareness. Flight performance was evaluated using the pitch axis tracking error. Friedman pairwise tests demonstrated that secondary task response time significantly increased following the mode transition. Subjects' workload ratings, when ranked, showed unanimous agreement that workload was lowest prior to the transition, and highest during. The accuracy of the situation awareness verbal callouts decreased significantly after the transition. The immediate effect of redesignation was statistically concordant across subjects. Pitch axis tracking mean square error following a mode transition was greater in trials with redesignations (p = 0.0005), and increased consistently with control mode difficulty (p = 0.025) in runs with no redesignation, but not in runs with redesignations. Using callouts to assess the dynamics of situation awareness is a novel technique. Dramatic changes in subjective and objective workload and situation awareness occur after mode transitions, depending on control mode difficulty, that have an apparently reciprocal relationship. The case studies and experimental results suggested a dozen guidelines for design of supervisory control systems intended to promote transition gracefulness.<br>by Christopher James Hainley, Jr.<br>S.M.
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Wen, Hui Ying. "Human-automation task allocation in lunar landing: simulation and experiments." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/85813.
Full textAbstract:
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2011.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 59-62).<br>Task allocation, or how tasks are assigned to the human operator(s) versus to automation, is an important aspect of designing a complex vehicle or system for use in human space exploration. The performance implications of alternative task allocations between human and automation can be simulated, allowing high-level analysis of a large task allocation design space. Human subject experiments can then be conducted to uncover human behaviors not modeled in simulation but need to be considered in making the task allocation decision. These methods were applied here to the case scenario of lunar landing with a single human pilot. A task analysis was performed on a hypothetical generic lunar landing mission, focusing on decisions and actions that could be assigned to the pilot or to automation during the braking, approach, and touchdown phases. Models of human and automation task completion behavior were implemented within a closed-loop pilot-vehicle simulation for three subtasks within the landing point designation (LPD) and final approach tasks, creating a simulation framework tailored for the analysis of a task allocation design space. Results from 160 simulation runs showed that system performance, measured by fuel usage and landing accuracy, was predicted to be optimized if the human performs decision making tasks, and manual tasks such as flying the vehicle are automated. Variability in fuel use can be attributed to human performance of the flying task. Variability in landing accuracy appears to result from human performance of the LPD and flying tasks. Next, a human subject experiment (11 subjects, 68 trials per subject) was conducted to study subjects' risk-taking strategy in designating the landing point. Results showed that subjects designated landing points that compensated for estimated touchdown dispersions and system-level knowledge of the probabilities of manual versus automated flight. Also, subjects made more complete LPD compensations when estimating touchdown dispersion from graphical plots rather than from memories of previous simulated landings. The way in which dispersion information is presented affected the consistency with which subjects adhered to a risk level in making landing point selections. These effects could then be incorporated in future human performance models and task allocation simulations.<br>by Hui Ying Wen.<br>S.M.
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Klomparens, Dylan. "Automated Landing Site Evaluation for Semi-Autonomous Unmanned Aerial Vehicles." Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/34641.
Full textAbstract:
A system is described for identifying obstacle-free landing sites for a vertical-takeoff-and-landing (VTOL) semi-autonomous unmanned aerial vehicle (UAV) from point cloud data obtained from a stereo vision system. The relatively inexpensive, commercially available Bumblebee stereo vision camera was selected for this study. A â point cloud viewerâ computer program was written to analyze point cloud data obtained from 2D images transmitted from the UAV to a remote ground station. The program divides the point cloud data into segments, identifies the best-fit plane through the data for each segment, and performs an independent analysis on each segment to assess the feasibility of landing in that area. The program also rapidly presents the stereo vision information and analysis to the remote mission supervisor who can make quick, reliable decisions about where to safely land the UAV. The features of the program and the methods used to identify suitable landing sites are presented in this thesis. Also presented are the results of a user study that compares the abilities of humans and computer-supported point cloud analysis in certain aspects of landing site assessment. The study demonstrates that the computer-supported evaluation of potential landing sites provides an immense benefit to the UAV supervisor.<br>Master of Science
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Chua, Zarrin K. "System design considerations for human-automation function allocation during lunar landing." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/52179.
Full textAbstract:
A desire to advance humanity's presence in space prompts the need for improved technology to send crew to places such as the Moon, Mars, and nearby asteroids. Safely placing a crewed vehicle on and in any landing condition requires a design decision regarding the distribution of responsibilities between the crew and automation. In this thesis, a cognitive process model is used to determine the necessary automated functionality to support astronaut decision making. Current literature lacks sufficient detailed knowledge regarding astronaut decision making during this task and observations of astronauts landing on the Moon are not readily available. Therefore, a series of human-in-the-loop experiments, one of which was conducted with the NASA Astronaut Office at Johnson Space Center, have been conducted to examine the changes in performance due to differing function allocations, trajectory profiles, and scenario operations. The data collected in the human-in-the-loop study has provided empirical data that has informed the cognitive process model, the requirements analysis, and provided insight regarding cockpit display usage and information needs. The proposed system requirements include design guidance for assisting astronauts during both nominal and off-nominal landing scenarios.
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Vomočil, Jan. "Systém pro automatické přistávání quadrocopteru." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2012. http://www.nusl.cz/ntk/nusl-219707.
Full textAbstract:
This thesis describes the design and implementation of systems for automatic landing and stabilization of air vehicle known as Quadrocopter. It focuses on image processing from a camera placed on board of the robot. The aim of image processing is detect landing target and calculate the distance from the desired position. Further is solved vertical stabilization for higher altitudes. For this function is measured atmospheric pressure. Conversely, for low altitude flight is used a ultrasonic range finder. In the conclusion is solved the implementation of the system.
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Guo, Xufeng. "Automated scene understanding from aerial imagery." Thesis, Queensland University of Technology, 2018. https://eprints.qut.edu.au/117973/8/Xufeng_Guo_Thesis.pdf.
Full textAbstract:
This thesis examines the development of vision-based aerial image understanding systems. The proposed systems investigate different abstraction levels of visual features in aerial image processing tasks and adopts UAV forced landing site detection as the main application to examine the feasibility and robustness of the proposed systems. This thesis also proposes an efficient and novel visual feature to improve single image depth prediction performance especially for the depth estimation of small objects in a scene.
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Kügler, Martin Enno [Verfasser]. "Robust Automation of Take-off and Landing - Demonstrated on a Medium-Sized Unmanned Aircraft / Martin Enno Kügler." München : Verlag Dr. Hut, 2019. http://d-nb.info/1198542586/34.
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Irwin, Shaun George. "Optimal estimation and sensor selection for autonomous landing of a helicopter on a ship deck." Thesis, Stellenbosch : Stellenbosch University, 2014. http://hdl.handle.net/10019.1/95894.
Full textAbstract:
Thesis (MEng)--Stellenbosch University, 2014.<br>ENGLISH ABSTRACT: This thesis presents a complete state estimation framework for landing an unmanned
helicopter on a ship deck. In order to design and simulate an optimal state estimator,
realistic sensor models are required. Selected inertial, absolute and relative sensors
are modeled based on extensive data analysis. The short-listed relative sensors include
monocular vision, stereo vision and laser-based sensors.
A state estimation framework is developed to fuse available helicopter estimates, ship
estimates and relative measurements. The estimation structure is shown to be both
optimal, as it minimises variance on the estimates, and flexible, as it allows for varying
degrees of ship deck instrumentation. Deck instrumentation permitted ranges
from a fully instrumented deck, equipped with an inertial measurement unit and differential
GPS, to a completely uninstrumented ship deck. Optimal estimates of all
helicopter, relative and ship states necessary for the autonomous landing on the ship
deck are provided by the estimator. Active gyro bias estimation is incorporated into
the helicopter’s attitude estimator. In addition, the process and measurement noise
covariance matrices are derived from sensor noise analysis, rather than conventional
tuning methods.
A full performance analysis of the estimator is then conducted. The optimal relative
sensor combination is determined through Monte Carlo simulation. Results show
that the choice of sensors is primarily dependent on the desired hover height during
the ship motion prediction stage. For a low hover height, monocular vision is
sufficient. For greater altitudes, a combination of monocular vision and a scanning
laser beam greatly improves relative and ship state estimation. A communication
link between helicopter and ship is not required for landing, but is advised for added
accuracy. The estimator is implemented on a microprocessor running real-time Linux. The
successful performance of the system is demonstrated through hardware-in-the-loop
and actual flight testing.<br>AFRIKAANSE OPSOMMING: Hierdie tesis bied ’n volledige sensorfusie- en posisieskattingstruktuur om ’n onbemande
helikopter op ’n skeepsdek te laat land. Die ontwerp van ’n optimale posisieskatter
vereis die ontwikkeling van realistiese sensormodelle ten einde die skatter
akkuraat te simuleer. Die gekose inersie-, absolute en relatiewe sensors in hierdie
tesis is op grond van uitvoerige dataontleding getipeer, wat eenoogvisie-, stereovisieen
lasergegronde sensors ingesluit het.
’n Innoverende raamwerk vir die skatting van relatiewe en skeepsposisie is ontwikkel
om die beskikbare helikopterskattings, skeepskattings en relatiewe metings te kombineer.
Die skattingstruktuur blyk optimaal te wees in die beperking van skattingsvariansie,
en is terselfdertyd buigsaam aangesien dit vir wisselende mates van skeepsdekinstrumentasie
voorsiening maak. Die toegelate vlakke van dekinstrumentasie
wissel van ’n volledig geïnstrumenteerde dek wat met ’n inersiemetingseenheid en ’n
differensiële globale posisioneringstelsel (GPS) toegerus is, tot ’n algeheel ongeïnstrumenteerde
dek. Die skatter voorsien optimale skattings van alle vereiste helikopter-,
relatiewe en skeepsposisies vir die doeleinde van outonome landing op die skeepsdek.
Aktiewe giro-sydige skatting is by die posisieskatter van die helikopter ingesluit. Die
proses- en metingsmatrikse vir geruiskovariansie in die helikopterskatter is met behulp
van ’n ontleding van sensorgeruis, eerder as gebruiklike instemmingsmetodes,
afgelei. ’n Volledige werkingsontleding is daarna op die skatter uitgevoer. Die optimale relatiewe
sensorkombinasie vir landing op ’n skeepsdek is met Monte Carlo-simulasie
bepaal. Die resultate toon dat die keuse van sensors hoofsaaklik van die gewenste
sweefhanghoogte gedurende die voorspellingstadium van skeepsbeweging afhang.
Vir ’n lae sweefhanghoogte is eenoogvisie-sensors voldoende. Vir hoër hoogtes het
’n kombinasie van eenoogvisie-sensors en ’n aftaslaserbundel ’n groot verbetering in
relatiewe en skeepsposisieskatting teweeggebring. ’n Kommunikasieskakel tussen helikopter
en skip is nie ’n vereiste vir landing nie, maar word wel aanbeveel vir ekstra
akkuraatheid.
Die skatter is op ’n mikroverwerker met intydse Linux in werking gestel. Die suksesvolle werking van die stelsel is deur middel van hardeware-geïntegreerde simulasie
en werklike vlugtoetse aangetoon.
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Felux, Michael [Verfasser], Florian [Akademischer Betreuer] Holzapfel, Jiyun [Gutachter] Lee, and Florian [Gutachter] Holzapfel. "Total System Performance of GBAS-based Automatic Landings / Michael Felux ; Gutachter: Jiyun Lee, Florian Holzapfel ; Betreuer: Florian Holzapfel." München : Universitätsbibliothek der TU München, 2018. http://d-nb.info/1166850943/34.
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Felux, Michael Verfasser], Florian [Akademischer Betreuer] [Holzapfel, Jiyun [Gutachter] Lee, and Florian [Gutachter] Holzapfel. "Total System Performance of GBAS-based Automatic Landings / Michael Felux ; Gutachter: Jiyun Lee, Florian Holzapfel ; Betreuer: Florian Holzapfel." München : Universitätsbibliothek der TU München, 2018. http://nbn-resolving.de/urn:nbn:de:bvb:91-diss-20180816-1396325-1-1.
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Tagebrand, Emil, and Ek Emil Gustafsson. "Dataset Generation in a Simulated Environment Using Real Flight Data for Reliable Runway Detection Capabilities." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-54974.
Full textAbstract:
Implementing object detection methods for runway detection during landing approaches is limited in the safety-critical aircraft domain. This limitation is due to the difficulty that comes with verification of the design and the ability to understand how the object detection behaves during operation. During operation, object detection needs to consider the aircraft's position, environmental factors, different runways and aircraft attitudes. Training such an object detection model requires a comprehensive dataset that defines the features mentioned above. The feature's impact on the detection capabilities needs to be analysed to ensure the correct distribution of images in the dataset. Gathering images for these scenarios would be costly and needed due to the aviation industry's safety standards. Synthetic data can be used to limit the cost and time required to create a dataset where all features occur. By using synthesised data in the form of generating datasets in a simulated environment, these features could be applied to the dataset directly. The features could also be implemented separately in different datasets and compared to each other to analyse their impact on the object detections capabilities. By utilising this method for the features mentioned above, the following results could be determined. For object detection to consider most landing cases and different runways, the dataset needs to replicate real flight data and generate additional extreme landing cases. The dataset also needs to consider landings at different altitudes, which can differ at a different airport. Environmental conditions such as clouds and time of day reduce detection capabilities far from the runway, while attitude and runway appearance reduce it at close range. Runway appearance did also affect the runway at long ranges but only for darker runways.
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Watts, Robert Michael. "Development and evaluation of an automated path planning aid." Thesis, Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33839.
Full textAbstract:
In the event of an onboard emergency, air transport pilots are remarkably adept at safely landing their aircraft. However, the tasks of selecting an alternate landing site and developing a safe path to land are very difficult in the high workload, high stress environment of a cockpit during an emergency. The purpose of this research was to develop an automated path planning aid which would assist the pilot in the completion of these tasks. A prototype was developed to test this concept experimentally. The experiment was also intended to gather further information about how pilots think about and accomplish this task as well as the best ways to assist them.
In order to better understand the priorities and processes pilots use when dealing with emergency planning, a survey of airline pilots was conducted. The results of this survey highlighted the fact that each emergency is unique and has its own set of factors which are critically important. One factor which is important in many emergencies is the need to land quickly. The survey responses indicated that one of the most important characteristics of a useful tool is that it should provide pertinent information in an easy to use manner, and should not divert too much attention from their other tasks.
A number of design goals drove the development of the prototype aid. First, the aid was to work within current aircraft, without requiring substantial redesign on the cockpit. Second, the aid was to help improve pilots' performance without increasing their workload. Finally, the aid was designed to assist pilots in obtaining and processing critical information which influences the site selection and path development tasks. One variation of the aid included a filter dial which allowed pilots to quickly reduce the number of options considered, another variation of the aid did not include such a dial. These two variations of the aid were tested in order to assess the impact of the addition of the filter dial to the system.
Though many of the results did not prove to be statistically significant, they suggest that the addition of a filter dial improved the quality of the selected landing site; however, it also increased the time required for the selection. The results were obtained in both familiar and unfamiliar emergencies. The dial was shown to improve the time to complete the task in the case of unfamiliar emergencies. The experiment also compared an optimal ranking system to a non-optimal system, for which results showed no significant difference between the two. This may imply that while pilots did not tend to over rely on the ranking system, under-reliance may need to be addressed by training and a better understanding of the factors which impact the rankings.
The participants found that the aid facilitates quick and easy access to critical information. The aid was also useful for processing this information by filtering out options which were inappropriate for a given scenario through the use of the filter dial. The participants also made recommendations about possible improvements which could be made to the system such as better filter settings which are more similar to the way that pilots think about their options.
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Nam, Amadou Sylla. "Increasing capacity by the use of optimal runway exits, automated landing, roll out and turnoff in an airport environment." Thesis, Virginia Polytechnic Institute and State University, 1986. http://hdl.handle.net/10919/90951.
Full textAbstract:
This study outlines the development and use of several techniques providing an automated landing, roll out and turnoff of an aircraft, in an airport environment. A maximum runway occupancy time and a certain level of reliability are achieved by the use of a computer software called the Probabilistic Computer Model of Optimal Runway Turnoffs.
A bunching of eight optimal high speed exits, representing four TERPS categories, is performed on a single runway. Feasibility of the system is determined by the use of Inertial Navigation and other aids such as the Microwave Landing System, Filtering Devices, Electronic Cockpit Airfield Display Formats, Real Time Flight Simulation and Field Testing, and a Braking Guidance Policy. It is suggested that future testing and a review of the Model be done.<br>M.S.
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Olender, Bogdan, and Богдан Андрійович Олендер. "Computer traction management system in the mode of landing on a short runway." Thesis, National Aviation University, 2021. https://er.nau.edu.ua/handle/NAU/50741.
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1. Rogozhin V.A., Sineglazov V.M., Filyashkin N.. Automated aircraft control systems: K .: NAU, 2003. - 502 p.
2. Inozemtsev A. A., Konyaev E. A., Medvedev V. V. and et al. Aircraft engine PS-90A M .: FIZMATLIT, 2007 .- 320 p.<br>Analysis of European airfields in small towns shows that today airfields with "short runways" are the largest group, and in the future their number will only increase due to: the desire to bring airfields to densely populated areas, as well as due to low , compared with the "elite" airfields, construction costs. This trend is accompanied by the emergence of short take-off and landing aircraft SR, as well as the implementation of automated control systems (ACS) and such aircraft modern methods of landing control on "short runways". Based on the analysis of the experience of developing such ACS, the following requirements for onboard short-landing systems can be determined: information support of the approach to landing on a steep glide path with a landing point located at the beginning of the runway, while implementing high-precision guidance to the point of contact; direct control of the thrust of the power plant, with the optimal combination of the action of the chassis brakes and reverse thrust at the stage of the run of the aircraft on the runway.<br>Аналіз європейських аеродромів у малих містах показує, що сьогодні аеродроми з «короткими злітно-посадковими смугами» є найбільшою групою, і в майбутньому їх кількість буде лише збільшуватися через: бажання довести аеродроми до густонаселених районів, а також через низькі, порівняно з "елітними" аеродромами, витрати на будівництво. Ця тенденція супроводжується появою літаків короткого зльоту і посадки SR, а також впровадженням автоматизованих систем управління (САУ) і таких літаків сучасними методами керування посадкою на "коротких злітно-посадкових смугах". На основі аналізу досвіду розробки такої САУ можна визначити наступні вимоги до бортових систем короткої посадки: інформаційне забезпечення підходу до посадки на крутому ковзаючому шляху з точкою посадки, розташованою на початку злітно-посадкової смуги, тоді як здійснення високоточного наведення до точки контакту; безпосереднє керування тягою силової установки, з оптимальним поєднанням дії гальм шасі і зворотної тяги на етапі запуску літака на злітно-посадкову смугу.
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Sklar, Alexander Gabriel. "Channel Modeling Applied to Robust Automatic Speech Recognition." Scholarly Repository, 2007. http://scholarlyrepository.miami.edu/oa_theses/87.
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In automatic speech recognition systems (ASRs), training is a critical phase to the system?s success. Communication media, either analog (such as analog landline phones) or digital (VoIP) distort the speaker?s speech signal often in very complex ways: linear distortion occurs in all channels, either in the magnitude or phase spectrum. Non-linear but time-invariant distortion will always appear in all real systems. In digital systems we also have network effects which will produce packet losses and delays and repeated packets. Finally, one cannot really assert what path a signal will take, and so having error or distortion in between is almost a certainty. The channel introduces an acoustical mismatch between the speaker's signal and the trained data in the ASR, which results in poor recognition performance. The approach so far, has been to try to undo the havoc produced by the channels, i.e. compensate for the channel's behavior. In this thesis, we try to characterize the effects of different transmission media and use that as an inexpensive and repeatable way to train ASR systems.
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Javůrek, František. "Regálový zakladač pro ukládání palet v automatickém skladu." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229163.
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Target of the submitted work was a proposal of a new type of shelf stackers in the range from 8 to 36 m that are working in fully automated warehouses. By using a fully automated storage system all human supervision in ordering pallets in a warehouse are canceled and everything is taken over by the control system. These stores are very efficient and save both time and money. With regard to safety requirements, regular inspections should be provided to the system. At the beginning of this work, there was done a short introduction to the particular study including the description of basic parts of the shelf stackers. Consequently, there were done relevant computations for the drag device and its drive, drives for the travel and the finite method was used to the stress analysis of the mast shelf stacker. In the last part of this thesis is done a safety concept.
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AUSONIO, ELENA. "Drone Swarm System in Firefighting Activities." Doctoral thesis, Università degli studi di Genova, 2022. http://hdl.handle.net/11567/1082825.
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Defence against forest fires generally takes place through a variety of air/ground interventions, and is based on the coordination of various actors, such as civil protection, fire brigades, police forces, and volunteers.
The recent technological development of Unmanned Aerial Vehicles (UAV), also called drones, and their ability to handle situations that are too dangerous for humans can provide a breakthrough in fighting wildland fires. Compared to a single UAV, a cooperative UAV system can perform complex tasks with more safety and efficiency.
In this thesis, an innovative forest firefighting system, based on the use of a platform managing a swarm of UAVs, is proposed and investigated. Owing to the various modular subsystems of the platform, such as landing pads as well as cartridge and hive, drones are served, supplied, and housed. Moreover, automatic battery and payload replacement along with extinguishing liquid refilling ensure the continuity of the action.
The validity of the approach in Mediterranean scrub fires is illustrated, first computing the critical water flow rate, then simulating the fire spread in a Cellular Automata model both in the absence of firefighting efforts and in the event of an intervention of drones able to generate a continuous flow of extinguishing liquid on the fire front. The fire spread is also simulated by means of a Level Set model, and Model Predictive Control is applied to control the fire front modified by water drop patterns.
Moreover, such a drone-platform system could be used for 24-hour monitoring of an area using video and thermal cameras. Again, in this scenario, drones can spray liquids, water and/or retardants, to mitigate any critical situations of drought and low humidity of vegetation, or even extinguish identified outbreaks. However, managing a large number of drones on one or more platforms requires determining the optimal sequence of drone landings so that the gap between target and actual landing times is minimized, and so that drones have their batteries changed and receive the required payloads. Therefore, the drone scheduling issue is studied by formulating linear optimization problems related to drone landings and take-offs on single and multiple platforms.
Finally, practical experiments in cooperation with the spin-off Inspire of the University of Genoa have been carried out and, in particular, the issue of precision landing with Real Time Kinematic positioning technology has been tested.
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Chien, Li-Hsiang, and 簡立翔. "Stability Analysis of Intelligent Automatic Landing Control System." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/59942368780157330421.
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碩士<br>國立臺灣海洋大學<br>通訊與導航工程系<br>95<br>Abstract
According to flight records, most aircraft accidents occurred during final approach. Among these accidents, some causes are attributed to weather and human factors. Nowadays, most aircraft have installed the Automatic Landing System (ALS) which helps aircraft landing safely and reduces pilot’s work loading greatly. But control schemes of the conventional ALS usually use gain-scheduling and adaptive control techniques. If the flight conditions are beyond the preset envelope, the ALS is disabled and the pilot takes over. In order to improve the performance of the ALS, this paper presents three intelligent controllers (Resource Allocation Network Controller, Recurrent Neural Network Controller, and Fuzzy Neural Controller) to replace conventional controller and guide the aircraft to a safe landing. Moreover, stability of the proposed automatic landing control system is guaranteed by Lyapunov theorem. Optimal learning rates are derived by convergence theorem. Furthermore, we propose back-propagation through time algorithm with linearization inverse aircraft model to train the automatic landing control system. Finally, from theory analysis and simulation results, the proposed intelligent controllers can enable the aircraft to adapt to wide range of wind disturbances and guide the aircraft to a safe landing.
Keywords: neural network, Lyapunov theorem, stability analysis
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Osório, José Joaquim Vergueiro de Sousa Pereira. "Automatic Landing Control Design for Unmanned Aerial Vehicles." Master's thesis, 2016. https://repositorio-aberto.up.pt/handle/10216/85551.
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Huang, Yu-Tang, and 黃毓棠. "Implementation of UAV Automatic Landing Using Machine Vision." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/22095008425616605244.
Full textAbstract:
碩士<br>國立高雄應用科技大學<br>電機工程系博碩士班<br>104<br>Unmanned Aerial Vehicle (UAV) has been widely used in various fields during the past decades. Using machine vision to achieve the automatic photographing and automatic landing becomes an active research area. In this thesis, we use Speeded-Up Robust Features (SURF) to find the feature points of the heliport, and then use Random Sample Consensus (RANSAC) to find the affine transform model between template image and real-time image to find the heliport. In order to locate the heliport more accurately, we use contours finding and image thinning algorithms to reduce noises and use Hough transform to locate the heliport. Our method uses ROI to reduce the processing area, so the processing speed and detection rate can be improved. The results show that the proposed system has high processing speed and detection rate for real-time automatic landing system.
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Osório, José Joaquim Vergueiro de Sousa Pereira. "Automatic Landing Control Design for Unmanned Aerial Vehicles." Dissertação, 2016. https://repositorio-aberto.up.pt/handle/10216/85551.
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Cho, Jung-Er, and 卓榮二. "Automatic Take-off/Landing Control Design For Unmanned Helicopter." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/12536767894243922245.
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碩士<br>高苑科技大學<br>電子工程研究所<br>99<br>In this research, the PIC16F877A MCU is used as control center. The altitude data is pickup by the super sonic sensor to control the RPM of BLDC motor, and to achieve the automatic landing/take-off control goals. The altitude data is transferred from super sonic sensor to PIC16F877A by IIC (Inter-Integrated Circuit) port. Based on the altitude of the vehicle, the MCU will create a square wave PWM signal and adjust the duty cycle of this PWM signal. The ESC (Electronic Speed Controller) decodes this PWM signal from MCU to control the RPM of the motor to achieve the desire altitude. In this system, a desktop computer is used to monitor the working status of this system. The visual control interface of the desktop computer is developed by using the Visual Basic software. The MCU uses the RS-232 USART (Universal Synchronous Asynchronous Receiver Transmitter) to communicate the desktop computer.
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Bole, Michael. "Design of an automatic landing system for twin rotor vertical take-off and landing unmanned air vehicle." Thesis, 1999. http://spectrum.library.concordia.ca/939/1/MQ47834.pdf.
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With the release of Bombardier's new vertical take-off and landing unmanned air vehicle (VTOL UAV), the company's design team were interested in exploring new ideas for automatically landing the craft. Bombardier established guidelines and limitations on performance in order to ensure the safety of the craft and those individuals in its operating region. The cornerstone of the design revolved around navigation via DGPS data. Three issues were identified as being paramount to the success of the system. First was the need for an algorithm to locate an appropriate intercept point on the intended flight profile after a position error is found after navigation system switchover from waypoint mode, using GPS, to the more precise autoland mode, which uses DGPS. With the establishment of concrete target points, a corroborative effort between two systems was required to command vehicle motion between two arbitrary points in space. The first system, a trajectory generator, provides an ideal locus of points based on a time law, paying careful attention to the craft's acceleration. The second system involved a controller using the ideal points generated by the trajectory generator to drive the craft. An easily obtainable solution for the controller was required given project scope. The evaluation tool for theory development was a simplified version of Bombardier's overall craft dynamics model for the CL-327
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Chiu, Jen-Chun, and 邱仁君. "Applications of Fuzzy Neural Networks to Aircraft Automatic Landing Control." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/71958502154828437937.
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碩士<br>國立海洋大學<br>航運技術研究所<br>90<br>Fuzzy neural networks have been applied to flight control for their better adaptability and robustness for unmodeled systems and hardware implementation capability. Fuzzy neural networks can increase the flight controller’s adaptation to different environments. Currently, most of the improvements in the Automatic Landing System (ALS) have involved the guidance instruments. Using improved calculation methods and highly accurate instruments, these systems provide more accurate flight data to the ALS to make the landing smoother. However, these researches do not include weather factors such as wind shear. There have not been many researches on the problem of intelligent landing control. The purpose of this thesis is to apply a fuzzy neural network controller to an aircraft automatic landing system. In this research, we investigate a fuzzy neural network system that combines the advantages of the fuzzy logic and neural network systems. The Backpropagation Through Time algorithm is implemented into the network learning process. A complete landing phase is divided into several stages (intervals). Each stage uses the same fuzzy neural network controller. The Linearized Inverse Aircraft Model calculates the error signals that will be used to back propagate through the controller to obtain the weight changes in each stage. The error continues to be back propagated through all of the stages and weight changes for the controller are computed at each stage. The weight changes from all obtained stages from the delta learning rule are added together for the overall update. Simulation results show that the trained controller can guide the aircraft to land safely through wind disturbances and successfully expand the controllable environment in severe wind disturbances.
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Shiu, Jiun-Shiang, and 許竣翔. "Computer Vision Automatic Landing Assistant System for Fixed-Wing UAV." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/m78x3n.
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碩士<br>元智大學<br>機械工程學系<br>105<br>The most critical phase of a UAV flight mission is landing. It’s not only hard to recognize the runway from camera in dusk or overcast environments, even at night, but also the pilot is difficult to do visual approach and landing manually. This paper present a computer vision-based automatic landing assistant system for fixed-wing UAV. By recognizing four red runway lights on the edges of the runway to estimate the lateral offset, vertical height, horizontal distance relative to runway head, and three attitude angles. The advantages are to gain flexible usage and not to need to survey runway completely. At a distance of 400m from runway head, the estimation error of lateral offset less than 2m with frame rate greater than 24fps. Also discussed the effect between the angle of setting camera error and pose estimation, and the recognition ability in the different luminance of environment.
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Chang, Wu-pen, and 張務本. "A Study of Neural Network Applications to Automatic Landing System." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/83207787399097646951.
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碩士<br>國立海洋大學<br>航運技術研究所<br>88<br>The purpose of this thesis is to apply neural network controller to aircraft automatic landing system. Most of the studies regarding flight control are based on conventional modern control theories with optimal or adaptive control methods. Typically these techniques involve linearizing the aircraft dynamics about several operating conditions through out the flight envelope, designing linear controllers for each condition, and gain-scheduling approach. The disadvantages are that it require extensive computations, memory utilization, and memory space. Furthermore, conventional controllers are not capable of handling environmental disturbances (such as wind shear and wind turbulence). It is noted that existing automatic landing system work reliably only within a carefully specified operational safety envelope. A conventional autopilot has difficulties in severe wind disturbances during the landing phase. Thus, to increase the safety of landing it would be desirable if new method could expand the operational envelope to include safe responses under different environmental conditions. Artificial neural networks, which have the ability to approximate continuous nonlinear functions, offer the potential to overcome these problems. In this study, a multi layer feedforward neural network is applied to the aircraft landing control. The neural network controller can learn different flight conditions off-line. Simulation results show that the trained controller can guide the aircraft landing safely through wind disturbances. The analysis of using different numbers of hidden unit are included. Through the simulations, the combination of the training data and scaling skill are found. Also, strength ranges of wind turbulence and wind shear for a safety landing are suggested.
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Lee, Chia-Ling, and 李佳霖. "Applications of Hybrid CMAC and DSP Controllers to Automatic Landing System." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/98034157829946488167.
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碩士<br>國立臺灣海洋大學<br>通訊與導航工程系<br>96<br>Severe weather condition is a threat in flights especially when airplanes are entering the taking off or landing phase. According to a survey of the National Transportation Safety Board, 11 % of aircraft accidents in the years of 2000 to 2006 were weather related. When aircraft approaches landing phase the altitude is low and the speed is slow. If the aircraft encountered wind shear or turbulence while landing it could cause altitude loss, heading variation and even crash. Nowadays, most aircraft have installed the Automatic Landing System (ALS) which helps aircraft landing stably and reduces pilot’s working load greatly. But control schemes of the conventional ALS usually use gain-scheduling and adaptive control techniques. If the flight conditions are beyond the preset envelope, the ALS is disabled and the pilot takes over. This thesis presents an aircraft automatic landing control scheme that uses hybrid fuzzy CMAC as controller. Furthermore, a real-valued type genetic algorithm is used to adjust control gains of the pitch autopilot. The proposed intelligent controller can enhance the ALS adaptability to adapt to wider range of disturbances. Comparisons of aircraft landing performance on the basis of different control schemes are provided. In addition, via TMS320C6713 DSP set, we accomplish real-time simulation process. We utilize CCS to compile program and transfer to DSP’s flash memory through JATG. Real time automatic landing control is realized successfully by the embedded floating-point DSP controller.
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Yang, Teng-Chieh, and 楊登傑. "Adaptive CMAC Control and Stability Analysis of Intelligent Automatic Landing System." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/16891242439216753225.
Full textAbstract:
碩士<br>國立臺灣海洋大學<br>通訊與導航工程系<br>97<br>According to flight records, most aircraft accidents occurred during final approach. According to a survey of the National Transportation Safety Board, 12 % of aircraft accidents in the years of 1950 to 2008 were weather related. Among these accidents, some causes are attributed to weather and human factors. When aircraft approaches landing phase the altitude is low and the speed is slow. If the aircraft encountered wind shear or turbulence while landing it could cause altitude loss, heading variation and even crash. Nowadays, most aircraft have installed the Automatic Landing System (ALS) which relies on the Instrument Landing System (ILS) to help aircraft landing safely and reduces pilot’s work loading greatly. But control schemes of the conventional ALS usually use gain-scheduling and conventional adaptive control techniques. If the flight conditions are beyond the preset envelope, the ALS is disabled and the pilot takes over. In order to improve the performance of the ALS, this paper presents several hybrid CMACs to replace conventional controller and guide the aircraft to a safe landing. Moreover, stability of the proposed automatic landing control system is guaranteed by Lyapunov theorem. Optimal learning rates are derived by convergence theorem. Finally, from theory analysis and simulation results, the proposed intelligent controllers can enable the aircraft to adapt to wide range of wind disturbances and guide the aircraft to a safe landing.
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Abu, Jbara Khaled F. "A Robust Vision-based Runway Detection and Tracking Algorithm for Automatic UAV Landing." Thesis, 2015. http://hdl.handle.net/10754/552539.
Full textAbstract:
This work presents a novel real-time algorithm for runway detection and tracking applied to the automatic takeoff and landing of Unmanned Aerial Vehicles (UAVs). The algorithm is based on a combination of segmentation based region competition and the minimization of a specific energy function to detect and identify the runway edges from streaming video data. The resulting video-based runway position estimates are updated using a Kalman Filter, which can integrate other sensory information such as position and attitude angle estimates to allow a more robust tracking of the runway under turbulence. We illustrate the performance of the proposed lane detection and tracking scheme on various experimental UAV flights conducted by the Saudi Aerospace Research Center. Results show an accurate tracking of the runway edges during the landing phase under various lighting conditions. Also, it suggests that such positional estimates would greatly improve the positional accuracy of the UAV during takeoff and landing phases. The robustness of the proposed algorithm is further validated using Hardware in the Loop simulations with diverse takeoff and landing videos generated using a commercial flight simulator.
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Liao, Wan-Ting, and 廖婉婷. "Development of an Image Based Augmented Automatic Landing System for Unmanned Aerial Helicopter." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/wj9z99.
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碩士<br>國立臺北科技大學<br>機電整合研究所<br>101<br>Recently unmanned aerial vehicle (UAV) are more widely applied so that those demanding of function upgrade is required, such as increasing the payload, reducing its weight, the stability of control system, and battery life. In this study, there two key areas, landing target and embedded system, are focused to improve the UAV system.
This study uses specific landing mark to provide better guidance information to UAV control system. The landing mark, which combines color and geometry, is designed for image processing algorithms so that the control system can estimate position and direction of the landing target for modifying landing position.
On the other hand, embedded system is ideally suited for the development of UAV flight system, because there are several features, for example, small size, light weight, low power consumption, processing speed and stability.
The purpose of this research is to develop a machine vision system which can help unmanned aerial helicopter (UAH) can takeoff and landing automatically by identifying the landing mark by using the embedded system hardware architecture, and developing the required program through image recognition algorithms.
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Chen, Ying-Jhen, and 陳映蓁. "Development of an Embedded Vision System for Unmanned Aerial Helicopter Automatic Landing Guidance." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/qeeb6q.
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碩士<br>國立臺北科技大學<br>機電整合研究所<br>102<br>Recently, the demand of unmanned aerial vehicle(UAV) becomes more popular in many fields, and automatic landing is an important and challenging issue for UAV.
Because of the advantages of the unmanned aerial helicopter(UAH), such as high mobility, vertical takeoff and landing, and hovering mode, this study proposed to develop the automatic landing guidance system for unmanned aerial helicopter. Moreover, the machine vision has been used in many systems to retrieve the image information of environment with noncontact and nondestructive methods. This is helpful to get the information of the attitudes and location of the unmanned aerial helicopter. On the other hand, embedded system is ideal for the development of UAV flight system. Because there are several features, for instance, small size, light weight, low power consumption, highly processing speed and stability.
The purpose of this study is to develop a machine vision system which can provide the estimated attitudes and relative distance to the designated landing position of unmanned aerial helicopter for automatic landing. In this study, a digital camera is used to identify the landing mark with an embedded system hardware architecture. Through the techniques of image processing, this study develops the required program to calculate the relationship of the image and landing mark.
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Lin, Feng-Chu, and 林峰助. "A Simulation Model of Intelligent Automatic Landing Control System and its Realization with DSP." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/42048053932296458323.
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碩士<br>國立臺灣海洋大學<br>導航與通訊系<br>92<br>In a flight, take-off and landing are the most difficult operations in regard to safety issues. Airplane pilots must not only be acquainted with the operation of instrument boards, but also need flight sensitivity to the ever-changing environment, especially in landing phase when turbulence is encountered. The Automatic Landing system (ALS) can help to alleviate the pilot’s work during landing process but with limited conditions. Conventional flight controllers usually utilize gain-scheduling techniques, if the landing environment is beyond predefined conditions the ALS must disable and the pilot has to operate the aircraft manually. To improve the controller of the ALS this research uses a neural network called RAN, which can grow the hidden units automatically, and uses a real-valued genetic algorithm to search the control gains of the pitch autopilot. The proposed intelligent controller can enable the airplane to adapt to more extensive turbulences and guide the airplane to a safe landing. In addition, the Simulink and VisSim softwares, which have the property of dynamical simulation, are used to construct the flight control system. Since these softwares have graphical user interface the control system can easily be expanded by adding new modules. Environmental influences to the airplane can be observed through the visual flight simulation model. This paper also utilizes the VisSim/ TI C2000 Rapid Prototyper to develop an embedded control system that uses a fixed-point DSP controller. Thus realization of on-line real-time control can be achieved.