Assignment 7.5 - Blog Activity: Sense and Avoid Sensor Selection

Don Moore

UNSY 601 Unmanned Systems Sensing, Perception, and Processing

Embry Riddle Aeronautical University 

The Yuneec Typhoon H hexacopter

The FAA sponsored Sense and Avoid (SAA) Workshop Sense and avoid (SAA) is defined by the Federal aviation administration (FAA) sponsored SAA Workshop as:

                                    The capability of a UAS to remain well clear from and avoid collisions with other airborne traffic. SAA provides the intended functions of self-separation and collision avoidance compatible with expected behavior of aircraft operating in the National Airspace (NAS) (Lee & Park, 2013).  It is imperative that UAS are able to autonomously maintain separation from aircraft in order to avoid a collision.  It is also important that the UAS has the ability to avoid a near mid-air collision (NMAC).  NMAC’s are incidents associated with the operation of an aircraft in which a possibility of a collision occurs as a result of proximity of less than 500 feet to another aircraft, or a report is received from a pilot or flight crew member stating that a collision hazard existed between two or more aircraft (FAA). The way ahead would be to develop or use a reliable sense and avoid solution.

A sensor that is commercially available in which I think is the best option for a sense and avoid solution on small UAS (less than 55 pounds) is sonar collision prevention assisted by The Intel Real Sense R200 camera.

The Yuneec Typhoon H hexacopter uses these exact types of sensing to complete numerous tasks.

  The front sonar sensors allow the Typhoon H to stop and hover of obstacles automatically; this actual operation has been tested on buildings trees power lines and even humans. At the vehicle is moving forward the sonar is continuously sending out pulses was returned back to the device letting him know that an object is in range.  The importance using sonar is because it gives the device the ability to sense and avoid in the dark, which makes it more flexible.  

The Intel Real Sense R200 camera enables the aircraft to learn and fly around the obstacle.  If returning along the same flight path the aircraft will remember that actual location of the obstacle and automatically avoid it in the future.

The following technical specifications were provided by:

Obstacle Sensory Range	Forward Facing Obstacle Detection: 32.8' (10 m) Collision Avoidance: 9.8 to 23' (3 to 7 m) depending on environment Ground to Indoor Positioning System (IPS): 14.8'（4.5 m）
Field of View	Vertical: 40° Horizontal: 60°
Maximum Speed	Under Module Collision Avoidance: 11.2 mph (5 m/s)
Dimensions	6.0 x 4.2" (153 x 107 mm）
Weight	70 g (2.5 oz)

The cost of the sensor is from $299-$599 however the purchase price for the fully loaded Yuneec Typhoon H hexacopter is about  $1400.

References:

B&H Foto & Eletronics Corp. (n.d.). Intel RealSense Module for Typhoon H Hexacopter.

Retrieved from https://www.bhphotovideo.com/bnh/controller/home?A=details&O=&Q=&ap=y&c3api=1876%2C%7Bcreative%7D%2C%7Bkeyword%7D&gclid=Cj0KCQiAkNfSBRCSARIsAL-u3X9xMhxUYZGs1pQh5HPAPzLx8yDF_gAzH Z_T_s1jLwiTAhDBPks3dgaAspZEALw_wcB&is=REG&sku=1295941

Federal Aviation Administration (FAA). (n.d.). FAA Near Midair Collision System

(NMACS)Retrieved from:

http://www.asias.faa.gov/pls/apex/f?p=100%3A35%3A0%3A%3ANO%3A%3AP35_REGION_VAR%3A1

Lee, S. M., & Park, C. (2013, February 28). NASA TechPort. Retrieved from

https://techport.nasa.gov/file/

Control Station Analysis

Assignment 6.5 - Blog Activity: Control Station Analysis

Don Moore

UNSY 601 Unmanned Systems Sensing, Perception, and Processing

Embry Riddle Aeronautical University 

Control station for an unmanned ground or maritime (surface or undersea) system

The C2 Pro is a portable platform, which enables users the ability to control unmanned surface vehicles (USV) if they are equipped with MAP Pro Autopilot (MAP Tech). 

Although the system is not primarily designed to do so; it can also the C2 Pro can also control air and ground unmanned vehicles. This Ground Control Station (GCS) comes in many different sizes dependent upon available equipment and the operational environment 

Rugged portable hard case

              

Vehicle Integration

                                     Cargo Container

The station can control one vessel or an entire fleet of vessels.

Through the use of a secure router, the GSC communicates wirelessly giving the user the access/ability to control the steering throttle as well as any onboard third-party sensors.

Data depiction and presentation strategy

Hardware (Standard Case)

Display monitors:       Two 27 inch full HD

MAP Joystick:             allows the operator to manually control the vessel

Customizable plate:    can be fabricated to fit any electronic device such as a FLIR JCU

Customizable plate:    can be fabricated to fit any electronic device such as a Ray50 VHF

I/O Hub:                      Secure ruggedized router, 3.0 Hub

Mouse and keyboard: wireless Logitech K400 keyboard/track pad/ trackman mouse

Intel NUC mini PC:    Intel Core i5-6260U 6^th GEN/8GB RAM/240GB SSD

Software

Processor: 1.2 GHz quad-core ARM Cortex-A5

Wireless Standards: IEEE 802.11n [draft], IEEE 802.11g, IEE 802.11b

User interface aspects

The GCS uses a device called Marine Autopilot device or MAP which can be installed on any vessel and controlled by a smart phone, tablet as well as the actual control station (MAP Tech). 

The GCS can be linked into any existing operator station by simply adding the existing console and screens to the GCS.  

The originating company says that this product is the best on the market because it is simple to use, extremely mobile, and adaptable (MAP Tech). Operators can plan missions by pointing and clicking.  When using autonomous control; missions are executed with the convenience of obstacle detection and collision avoidance alert utilizing EO/IR, automatic identification system (AIS) and radar integration.  The GCS has a redundant Short-Range-RF MAP RC, which gives users control of vessels when the operator is outside of the GCS and (within 2km of USV) (MAP Tech).

Negative issues and Challenges that are currently faced by users

As with most unmanned vehicles; the user needs to keep in mind the laws that have already been established. A Challenge that is currently faced by users is the United Nations Convention Law of the Sea.  Articles such as article 94 duties of the flag state has rules that may prevent or delay actual operations.  

Law of the Sea

For example article 94 says that every state exercise its jurisdiction and control in administrative, technical and social matters over ships flying its flag (UNCLOS). 

4. Such measures shall include those necessary to ensure:

(a) That each ship, before registration and thereafter at appropriate intervals, is surveyed by a qualified surveyor of ships, and has on board such charts, nautical publications and navigational equipment and instruments as are appropriate for the safe navigation of the ship;

(b) That each ship is in the charge of a master and officers who possess appropriate qualifications, in particular in seamanship, navigation, communications and marine engineering, and that the crew is appropriate in qualification and numbers for the type, size,                                                                        machinery and equipment of the ship

                                   

(c) That the master, officers and, to the extent appropriate, the crew are fully conversant with and required to observe the applicable international regulations concerning the safety of life at sea, the prevention of collisions, the prevention, reduction and control of marine pollution, and the maintenance of communications by radio.

 

Recommend changes or additions to the existing system that would improve its ability to function in its designated environment

I would recommend that some sort of haptic feedback be added to the system. For example vibrations for low fuel, course recommendations; proximity, dangerous weather, intruder alert, and the vessel taking on water.

References:

Convention on the Law of the Sea, Dec. 10, 1982, 1833 U.N.T.S. 397. Enacted as: entered into force as the “United Nations Convention on the Law of the Sea” on Nov. 1, 1994.

MAP Tech. (n.d.). Ground Control Stations. Retrieved from http://www.almarakeb.net/gcs.html