Category: UAV

Unmanned aerial vehicles, design, modeling, simulation, performance analysis, static stability and control analysis, dynamic stability analysis, control design, implementation and flight testing

Research

Fault Tolerant Air Data System

An integrated fault detection, identification, isolation, and accommodation scheme is proposed for an Air Data System with airspeed and angle of attack sensors. The system uses information from the inertial measurement unit, available air data sensors, and an aircraft digital twin model that provides virtual measurements of its aerodynamic and propulsion forces to feed a nonlinear estimator capable of detecting air sensor failure and suppressing sensor fault effects on the aircraft air data prediction.

UAV for research in Flight Mechanics and Control

A UAV was developed for research in Flight Mechanics and Flight Controls. The project involves integrating sensors with an embedded processor in a small fixed-wing aircraft and creating a flexible software infrastructure for implementing and testing flight control algorithms. The sensor suite consists of an IMU, a magnetometer, a GPS, a pitot tube with a differential pressure sensor, alpha and beta vanes, control surface position sensors, and a sensor for engine RPM. An actuator interface and RF communication link are also included for telecommand and telemetry.

Flight Data Recorder for acquisition of flight test data in a ultra light aircraft

A flight data recording system was developed for an ultralight aircraft. The aircraft was instrumented for recording data from certification flight tests and mathematical aircraft modeling.

Structure Manager, a software infrastructure for the implementation of Real Time Control Systems

Structure manager software in a Eclipse IDE

A software infrastructure for implementing real-time control systems has been developed in C language. The infrastructure, combined with a sound programming methodology (object-oriented), enables some powerful features in the real-time application, accelerating the production cycle of the software. The Structure Manager comprises a library that implements all the infrastructure functionality and a tool to automatically generate code at compilation time that connects the infrastructure with the application.

Andean Condor UAV

The Andean Condor unmanned aerial system is a tactical UAV for surveillance, exploration, reconnaissance, and intelligence. Possible applications in photogrammetry and precision agriculture are also considered. This development resulted from the project “Development of a fixed-wing unmanned aerial system for short-range missions – Aura Jr” (2007-2009).

Software for modeling, analysis and design of a fixed wing aircraft

The software has been developed to model, analyze, and design a fixed-wing aircraft. The software comprises a set of functions written in the Matlab® language and is fully compatible with Octave and a collection of simulation models developed in Simulink® that include the simulation of the nonlinear aircraft model with the flight control system. Several versions of the simulation model are more refined than others.

VISOR 3 ROV

VISOR 3 is an ROV developed by the Excuela Naval Almirante Padilla (ENAP) and Universidad Pontificia Bolivariana (UPB), through the research groups in Naval Engineering (GIIN), Automation and Design A+D and the Institute of Energy and Thermodynamics (IET), with the support of Colciencias. The ROV is an underwater robotic platform for inspecting port structures and hulls of transport vessels to comply with the ISPS code.

Aura Jr UAV

Aura Jr was a small UAV for short-range missions, the first UAV developed at the Universidad Pontificia Bolivariana. The prototype was a technology demonstrator for the project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005) sponsored by Interconectado Eléctrica SA (ISA), Colciencias and Universidad Pontificia Bolivariana. It led to another project, “Development of a fixed-wing unmanned aerial system for short-range missions – Aura Jr” (2007-2009).

Preliminary design of Aura UAV for monitoring of Power Transmission Lines

The Aura UAV’s preliminary design resulted from the project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005). Its primary objective was to investigate and design an autonomous inspection system prototype for high and extra-high-voltage transmission lines.

Adaptive Mode Transition Control Architecture With an Application to Unmanned Aerial Vehicles

A new approach to unmanned aerial vehicles’ adaptive mode transition control was proposed. The proposed architecture consists of three levels: mission planning routines are at the highest level, where the information about waypoints the vehicle must follow is processed; the mid-level controller uses a trajectory-planning component to coordinate the task execution and provides set points for low-level stabilizing controllers. The adaptive mode-transitioning control algorithm resides at the lowest level of the hierarchy consisting of a mode-transitioning controller and the accompanying adaptation mechanism. A flight demonstration was done as part of a Software Enabled Control research program (sponsored by DARPA) to validate the control algorithms using the GTmax, the Georgia Tech UAV testbed.

VISOR 2 ROV

VISOR 2 was an ROV developed as an underwater vehicle with dual control (1998-2000). Julio Cesar Correa Rodríguez, Luis Benigno Gutiérrez Zea, and Laszlo Jurko led the project.

Neural Network Control of a Flexible Link

A neural network (NN) tracking controller was implemented on a single flexible link, and the performance results of the neural network controller were compared to that of proportional derivative (PD) and proportional integral derivative (PID) standard controllers. The NN controller comprises an outer PD tracking loop, a singular perturbation inner loop to stabilize the fast flexible-mode dynamics, and an NN inner loop to feedback linearize the slow pointing dynamics. It is shown that the tracking performance of the NN controller is far better than that of the PD or PID standard controllers. No offline training or learning was needed for the NN. An extra friction term was added to the tests to demonstrate the ability of the NN to learn unmodeled nonlinear dynamics.

Aircraft Flight Control Control Theory Embedded Systems Intelligent Control Systems Real-time Control Systems Robotics UAV Unmanned Aerial Vehicles

Adaptive Mode Transition Control Architecture With an Application to Unmanned Aerial Vehicles

Summary

A new approach to the adaptive mode transition control of unmanned aerial vehicles was proposed. The proposed architecture consists of three levels: the highest level is occupied by mission planning routines where information about way points the vehicle must follow is processed, The mid-level controller uses a trajectory-planning component to coordinate the task execution and provides set points for low-level stabilizing controllers. The adaptive mode transitioning control algorithm resides at the lowest level of the hierarchy consisting of a mode transitioning controller and the accompanying adaptation mechanism. A flight demonstration was done as part of a DARPA sponsored research program to validate the control algorithms using the GTmax, the Georgia Tech UAV testbed.

Adaptive Mode Transition Control

Unmanned Aerial Vehicles (UAVs) are required to possess levels of autonomy in order to execute complex missions robustly and reliably. Intelligent/hierarchical control techniques have been suggested as a means to address critical autonomy issues. The objective of this research is to develop a hierarchical/intelligent control architecture for an UAV. The architecture consists of three levels: high level, middle level, and low level. Mission planning routines occupy the highest level. At this level, information about waypoints that the vehicle must follow is used to generate the sequence of actions that should be performed to go through those waypoints while maintaining some physical constraints. These actions are split into a sequence of tasks; each of them containing target position, target speed, target heading, heading mode, and target direction of the flight path. The tasks are then stored in a task queue and sent in an orderly manner to the middle level. The middle-level controller coordinates task execution while a trajectory generation component receives the task information from the high-level module and provides set points for low-level stabilizing controllers whose function is to maintain the vehicle in a stable state and follow accurately the commanded trajectory. An adaptive mode transitioning control algorithm resides at the lowest level of the hierarchy consisting of two components: a mode transitioning controller and the accompanying adaptation mechanism. The mode transition controller is composed of a mode transition manager, a set of local controllers, and a set of active control models. Local controllers operate in local modes and active control models operate in transitions between two local modes. The mode transition manager determines the actual mode of operation of the vehicle based on a set of mode membership functions and activates a local controller or an active control model accordingly. The adaptation mechanism uses an indirect adaptive control methodology to adapt the active control models. For this purpose, a set of plant models is trained based on input/output information from the vehicle and used to compute the linearized models required by the adaptation algorithms. The core of the adaptation mechanism is a finite horizon optimal control algorithm, which determines the optimal control signal that in turn is used to train the active control models. The adaptation routine may be turned on only when needed. The transitioning algorithm operates in real-time while adapting on-line to disturbances and other external inputs. This intelligent/hierarchical architecture has been implemented using a novel software infrastructure called Open Control Platform (OCP), which facilitates interoperability, plug-and-play and other functionalities. Simulation and flight test results validate the proposed scheme.

The main contributions of this research are:

Development of a hierarchical architecture for the implementation of the adaptive mode transition control, flexible enough to be able to accommodate future enhancements and more intelligent at the highest level of the hierarchy.
Development of a new approach to the adaptive mode transition control problem addressing main concerns from previous accomplishments in this area.
Exploitation of new software technologies including the OCP and hybrid controls API to show how they enable the implementation of advanced control algorithms for UAVs.

Presentation

Related Publications

[1] G. Vachtsevanos, L. Tang, G. Drozeski, and L. Gutiérrez, “From mission planning to flight control of unmanned aerial vehicles: Strategies and implementation tools,” Annual Reviews in Control, vol. 29, no. 1, pp. 101–115, 2005. Available: https://www.sciencedirect.com/science/article/pii/S136757880500009X, ISSN: 1367-5788, doi: https://doi.org/10.1016/j.arcontrol.2004.11.002. pdf

[2] G. Vachtsevanos, L. Tang, G. Drozeski, and L. Gutiérrez, “Intelligent control of unmanned aerial vehicles for improved autonomy and reliability,” in IFAC/EURON Symposium on Intelligent Autonomous Vehicles, (Lisbon, Portugal), pp. 852–861, International Federation of Automatic Control, IFAC, July 5-7, 2004. Available: https://www.sciencedirect.com/science/article/pii/S1474667017320876, ISSN: 1474-6670, doi: https://doi.org/10.1016/S1474-6670(17)32087-6. pdf

[3] L. B. Gutiérrez, G. Vachtsevanos, and B. Heck, “A hierarchical architecture for the adaptive mode transition control of unmanned aerial vehicles,” in Proc. AIAA Guidance, Navigation, and Control Conference and Exhibit, (Austin, Texas, USA), American Institute of Aeronautics and Astronautics, AIAA, August 11-14, 2003. Available: https://arc.aiaa.org/doi/10.2514/6.2003-5740, eISBN: 978-1-62410-090-1, doi: https://doi.org/10.2514/6.2003-5740. pdf

[4] L. B. Gutiérrez, “Vehículos aéreos autónomos,” in Memorias del V Congreso de la Asociación Colombiana de Automática, (Medellı́n, Colombia), Asociación Colombiana de Automática, ACA, Julio 17-19, 2003. ISBN: 9588173515. Presentation

[5] L. B. Gutiérrez, G. Vachtsevanos, and B. Heck, “A hierarchical/intelligent control architecture for unmanned aerial vehicles,” in Proc. of the 11th Mediterranean Conference on Control and Automation MED’03, (Rhodes, Greece), Mediterranean Control Association, June 18-20, 2003. Available: http://med-control.org/medproceedings/MED11-2003.zip. pdf

[6] L. B. Gutiérrez, G. Vachtsevanos, and B. Heck, “An approach to the adaptive mode transition control of unmanned aerial vehicles,” in Proc. 2003 American Control Conference, (Denver, Colorado), pp. 3911–3912, IEEE, June 4-6, 2003. Available: https://ieeexplore.ieee.org/document/1240446, ISBN: 0-7803-7896-2, ISSN: 0743-1619, doi: https://doi.org/10.1109/ACC.2003.1240446. pdf

[7] L. B. Gutiérrez, G. Vachtsevanos, and B. Heck, “A hierarchical/intelligent control architecture for unmanned aerial vehicles,” in Proc. of the 21st Digital Avionics Systems Conference, (Irvine, CA, USA), pp. 8.B.3–1/8.B.3–10, IEEE, October 27-31, 2002. ISBN: 0-7803-7896-0 Softbound Edition / 0-7803-7896-0 CD-ROM Edition, ISSN: 0743-1619. pdf

Aircraft Flight Control Aircraft Flight Dynamics Aircraft Flight Mechanics Control Theory Embedded Systems Real-time Control Systems UAV Unmanned Aerial Vehicles

Preliminary design of Aura UAV for monitoring of Power Transmission Lines

Summary

Nowadays, inspection of electric infrastructure is a key application of aerial robotics. The project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005) had as its main objective to investigate and design the prototype of an autonomous inspection system for high and extra high voltage transmission lines. For this purpose, it was necessary to evaluate the possible technological alternatives, based on the characterization of the environment and the optimization of resources and functions. The project was sponsored by Interconeccción Eléctrica SA (ISA), Colciencias and Universidad Pontificia Bolivariana. After some investigation, it was desided that the best alternative was a fixed wing unmanned aerial vehicle (UAV). The preliminary and basic design of the UAV, for medium range inspection missions was done. Speed, endurance, altitude ceiling, payload capacity and maximum take off weight are key features considered on aircraft design. The main vehicle subsystems like avionics, propulsion, structure, remote inspection elements, telecommunications, emergency and recovery were selected. Many of these subsystems were designed and selected according to specific mission requirements.

Gallery

Presentation

Related Publications

[1] P. A. Ortiz and L. B. Gutiérrez, “Modelo matemático para un vehículo aéreo no tripulado de ala fija, usando un estimador de parámetros ’filtro de Kalman’,” TecnoLógicas, vol. 22, pp. 75–98, 2009. Available: https://repositorio.itm.edu.co/handle/20.500.12622/827, ISSN: 1367-5788. pdf

[2] L. Cardona, M. Osorio, and L. B. Gutiérrez, “Sistema de navegación para vehículos no tripulados,” in Memorias XIII Congreso Latinoamericano de Control Automatico, (Mérida, Venezuela), IFAC, Noviembre 25-28, 2008. ISBN: 978-980-11-1224-2. pdf

[3] L. B. Gutiérrez, “Sistemas no tripulados,” in Memorias IV Colombian IEEE Workshop of Robotics and Automation, (Cali, Colombia), IEEE Colombia, Agosto 13-15, 2008. ISBN: 978958-8122-75-5. Presentation

[4] C. A. Zuluaga and L. B. Gutiérrez, “Infraestructura de simulacion para vehiculos no tripulados,” in Memorias VII Congreso de la Asociación Colombiana de Automática, (Cali, Colombia), Asociación Colombiana de Automática, Marzo 21-24, 2007. ISBN: 9789484408. pdf

[5] J. F. Franco and L. B. Gutiérrez, “Análisis de dominio de un marco de tiempo real para vehiculos autonomos no tripulados,” in Memorias VII Congreso de la Asociación Colombiana de Automática, (Cali, Colombia), Asociación Colombiana de Automática, Marzo 21-24, 2007. ISBN: 9789484408. pdfParagraphParagraph

[6] J. M. Vásquez, E. A. Taborda, and L. B. Gutiérrez, “Diseno básico de un vehículo aéreo no tripulado de ala fija para misiones de inspección remota de rango medio,” in CWRA 2006 IEEE Colombian Workshop on Robotics and Automation, (Universidad de San Buenaventura, Bogota, Colombia), IEEE Colombia, Agosto 18, 2006. ISBN: 978-958-97921-9-3. pdf

[7] L. B. Gutiérrez and J. M. Vásquez, “Diseno preliminar y básico de un sistema para inspección remota de infraestructura eléctrica,” in X Jornadas de Investigacion, Innovar para Transformar, (Universidad Pontificia Bolivariana, Medellı́n, Colombia), pp. 382–393, UPB, Octubre 13-14, 2005. ISSN: 1794-0664. pdf

[8] L. B. Gutiérrez Z., M. Osorio Cárdenas, and J. A. Álvarez J., “Sistema de guía, navegación y control para aeronaves autónomas,” in CWRA 2005 IEEE Colombian Workshop on Robotics and Automation, (Universidad Javeriana, Bogota, Colombia), IEEE Colombia, Agosto 11, 2005. ISBN: 958-695-182-0. pdf

Aircraft Flight Control Control Theory Robotics UAV Unmanned Aerial Vehicles

Aura Jr UAV

Summary

Aura Jr was a small UAV for short-range missions. This was the first UAV developed at the Universidad Pontificia Bolivariana. This was a prototype built as a technology demonstrator for the project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005) sponsored by Interconectado Eléctrica SA (ISA), Colciencias and Universidad Pontificia Bolivariana. It was the starting point of the project “Development of a fixed-wing unmanned aerial system for short-range missions – Aura Jr” (2007 – 2009).

Specs

Wingspan: 3.1 m
Length: 2.3 m
Maximum takeoff weight: 15 kg
Engine: 23.2cc 3.7 HP, glow

Gallery

Presentation

Construction

Related Publications

[1] J. A. Ramírez, R. E. Vásquez, and L. B. Gutiérrez, “An iterative feedback tunning scheme for the multiloop PID control of a UAV,” in Proceedings of the ASME 2010 International Mechanical Engineering Congress and Exposition. Volume 8: Dynamic Systems and Control, Parts A and B, (Vancouver, British Columbia, Canada), pp. 75–84, The American Society of Mechanical Engineers ASME, ASME, November 12–18, 2010. Available: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2010/44458/75/344287, ISBN: 978-0-7918-4445-8, doi: https://doi.org/10.1115/IMECE2010-38384. pdf

[2] J. A. Ramírez, R. E. Vásquez, and L. B. Gutiérrez, “Robust gain-scheduled control of a UAV based on a polytopic model approximation,” in Proceedings of the ASME 2010 International Mechanical Engineering Congress and Exposition. Volume 8: Dynamic Systems and Control, Parts A and B, (Vancouver, British Columbia, Canada), pp. 91–99, The American Society of Mechanical Engineers ASME, ASME, November 12–18, 2010. Available: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2010/44458/91/344343, ISBN: 978-0-7918-4445-8, doi: https://doi.org/10.1115/IMECE2010-38437. pdf

[3] P. A. Ortiz and L. B. Gutiérrez, “Modelo matemático para un vehículo aéreo no tripulado de ala fija, usando un estimador de parámetros ’filtro de Kalman’,” TecnoLógicas, vol. 22, pp. 75–98, 2009. Available: https://repositorio.itm.edu.co/handle/20.500.12622/827, ISSN: 1367-5788. pdf

[4] L. Cardona, M. Osorio, and L. B. Gutiérrez, “Sistema de navegación para vehículos no tripulados,” in Memorias XIII Congreso Latinoamericano de Control Automatico, (Mérida, Venezuela), IFAC, Noviembre 25-28, 2008. ISBN: 978-980-11-1224-2. pdf

[5] L. B. Gutiérrez, “Sistemas no tripulados,” in Memorias IV Colombian IEEE Workshop of Robotics and Automation, (Cali, Colombia), IEEE Colombia, Agosto 13-15, 2008. ISBN: 978958-8122-75-5. Presentation

[6] C. A. Zuluaga and L. B. Gutiérrez, “Infraestructura de simulacion para vehiculos no tripulados,” in Memorias VII Congreso de la Asociación Colombiana de Automática, (Cali, Colombia), Asociación Colombiana de Automática, Marzo 21-24, 2007. ISBN: 9789484408. pdf

[7] J. F. Franco and L. B. Gutiérrez, “Análisis de dominio de un marco de tiempo real para vehiculos autonomos no tripulados,” in Memorias VII Congreso de la Asociación Colombiana de Automática, (Cali, Colombia), Asociación Colombiana de Automática, Marzo 21-24, 2007. ISBN: 9789484408. pdf

Aircraft Flight Control Aircraft Flight Dynamics Aircraft Flight Mechanics Control Theory UAV Unmanned Aerial Vehicles

Software for modeling, analysis and design of a fixed wing aircraft

Summary

Software has been developed for the modeling, analysis and design of a fixed wing aircraft. The software is composed of a set of functions written in the Matlab® m language and is fully compatible with Octave. There is also a set of simulation models developed in Simulink® that include the simulation of the aircraft non-linear model with the flight control system. There are several versions of the simulation model, some more refined than others.

Aerodynamic modeling

A method was developed for the aerodynamic modeling of a fixed-wing aircraft. It is based on an extended lifting line theory method that accounts for viscous effects using local non-linear coefficients for each wing section. The method considers the effective angle of attack and the changes in dynamic pressure in each wing section, based on the relative velocity and the relative angular velocity of the aircraft with respect to the sorounding air. Each part of the aircraft is modeled separately and the results are consolidated for the entire aircraft including the downwash effect of on the tail.

Propulsion system modeling

Models have been developed for aircraft propulsion systems: models for reciprocating engines, electric motors and propellers. These models have been used to evaluate the performance of the propulsion system and the performance of complete aircraft with a specific propulsion system. They are also used in simulation models for specific aircraft, including small UAVs.

Static stability and control analysis

The aerodynamic forces and moments produced by the wing-fuselage and the tail have been modeled and then consolidated in the static analysis, calculating the equilibrium conditions for steady rectilinear flight, steady turn flight, steady pullup/pull over and steady roll. The effectiveness of the aerodynamic control surfaces has been evaluated in these maneuvers based on the CG of the aircraft. The static margin has been evaluated to determine the proper range of aircraft CG positions that allows stable flight with sufficient control authority.

Dynamic stability analysis

The non-linear model for the fixed-wing aircraft has been linearized and the dynamic modes have been calculated based on the values of the linearized model. This analysis makes it possible to establish the dynamic stability of the aircraft and evaluate the dynamic behavior parameters for the dynamic modes of the aircraft. Simulations have been developed to corroborate the dynamic modes with the behavior of the non-linear model.

Performance analysis

Software has been developed to estimate the performance of a fixed wing aircraft. The estimation of the performance parameters is based on the complete non-linear model of the aircraft instead of using approximate formulas. Performance can be assessed at specified altitudes and with a specified aircraft weight.

Simulation model for a fixed wing aircraft

A complete non-linear simulation model has been developed for a fixed-wing aircraft. The model has been used to evaluate the dynamic behavior of the aircraft.

Aircraft flight control design

Software has been developed to help design the flight control system of a fixed wing aircraft. The design of a multi-loop autopilot has been carried out, and the subsequent simulation with the non-linear aircraft model has corroborated the effectiveness of the closed-loop control system.

Aircraft flight control simulation

The closed-loop control system simulation model was implemented using the full non-linear aircraft model. The simulation results allow evaluating the performance and robustness of the designed control system.

Aircraft models in Simulink®

A set of simulation models has been developed in Simulink® that include the simulation of the aircraft non-linear model with the flight control system. There are several versions of the simulation model, some more refined than others.

Aircraft Flight Control Robotics UAV Unmanned Aerial Vehicles

Andean Condor UAV

Summary

The Andean Condor unmanned aerial system is a tactical UAS for surveillance, exploration, reconnaissance, intelligence. Possible applications in photogrammetry and precision agriculture are also considered. This development is the result of the project “Development of a fixed-wing unmanned aerial system for short-range missions – Aura Jr” (2007-2009). The project developed with UPB’s own funds consisted of the development of a fixed-wing unmanned aerial system in a comprehensive manner, including aerodynamics; propulsion; structural design; detailed design; hardware design; development of guidance, navigation and control algorithms; software development. In-house software tools with computational numerical methods were developed to make the calculations of the aerodynamics, propulsion system and the optimized performance-based design. The design is an evolution of a UAV previously developed in 2005 called the Aura jr, that weighted 18 kg, had 3.1 m wingspan and was 2.3 m long. The new optimized design called Andean Condor is a UAV of 23 Kg, 5.08 m wingspan, 2.5 m long, payload of 5 Kg, and 4h of autonomy.

Specs

Wingspan: 5.08 m
Length: 2.5 m
Maximum takeoff weight: 23 Kg
Autonomy: 4 hr
Minimum speed: 24 ktas
Maximum speed: 65 ktas
Operating ceiling: 5000 m asl
Engine: twin 86cc 7.5 HP, gasoline / oil
Communications system: Separate data and video links.
Power: It has a generator for feeding avionics and payload systems.

Design features.

The design has been optimized with proprietary software to allow high altitude short runway clearance and the development of surveillance, exploration, reconnaissance or intelligence missions at low speeds, minimizing the chances of being detected.

Development of guidance, navigation and control systems.

The guidance system is a hybrid system capable of autonomous and semi-autonomous operation. In autonomous mode you can develop a mission that can be reprogrammed in flight at any time from the ground station. The mission consists of a succession of tasks in which the waypoint mode, coordinates, speed and altitude are specified. In semi-autonomous operation the autopilot controls the aircraft based on commands generated from the earth station.
The navigation system is based on the fusion of the sensors using an extended Kalman filter. Sensors include GPS, IMU, magnetometer, barometric altimeter, pitot tube, and sonar altimeter.
The flight control system integrates with the guidance and navigation systems allowing autonomous or remotely commanded flight from the ground station. Includes autonomous take off and landing capabilities.

Gallery

Presentation

Construction

Related Publications

[1] L. B. Gutiérrez, O. Hazbón, and B. Appel, “UAS design requirements for operation in colombian mountain environments,” in 28th Congress of the International Council of the Aeronautical Sciences (ICAS 2012), (Brisbane, Australia), International Council of the Aeronautical Sciences, International Council of the Aeronautical Sciences, September 2328, 2012. Available: https://www.icas.org/ICAS_ARCHIVE/ICAS2012/ABSTRACTS/5 95.HTM, ISBN: 978-0-9565333-1-9. pdf

[2] J. A. Ramírez, R. E. Vásquez, and L. B. Gutiérrez, “An iterative feedback tunning scheme for the multiloop PID control of a UAV,” in Proceedings of the ASME 2010 International Mechanical Engineering Congress and Exposition. Volume 8: Dynamic Systems and Control, Parts A and B, (Vancouver, British Columbia, Canada), pp. 75–84, The American Society of Mechanical Engineers ASME, ASME, November 12–18, 2010. Available: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2010/44458/75/344287, ISBN: 978-0-7918-4445-8, doi: https://doi.org/10.1115/IMECE2010-38384. pdf

[3] J. A. Ramírez, R. E. Vásquez, and L. B. Gutiérrez, “Robust gain-scheduled control of a UAV based on a polytopic model approximation,” in Proceedings of the ASME 2010 International Mechanical Engineering Congress and Exposition. Volume 8: Dynamic Systems and Control, Parts A and B, (Vancouver, British Columbia, Canada), pp. 91–99, The American Society of Mechanical Engineers ASME, ASME, November 12–18, 2010. Available: https://asmedigitalcollection.asme.org/IMECE/proceedings-abstract/IMECE2010/44458/91/344343, ISBN: 978-0-7918-4445-8, doi: https://doi.org/10.1115/IMECE2010-38437. pdf

[4] P. A. Ortiz and L. B. Gutiérrez, “Modelo matemático para un vehículo aéreo no tripulado de ala fija, usando un estimador de parámetros ’filtro de Kalman’,” TecnoLógicas, vol. 22, pp. 75–98, 2009. Available: https://repositorio.itm.edu.co/handle/20.500.12622/827, ISSN: 1367-5788. pdf

[5] L. Cardona, M. Osorio, and L. B. Gutiérrez, “Sistema de navegación para vehículos no tripulados,” in Memorias XIII Congreso Latinoamericano de Control Automatico, (Mérida, Venezuela), IFAC, Noviembre 25-28, 2008. ISBN: 978-980-11-1224-2. pdf

[6] L. B. Gutiérrez, “Sistemas no tripulados,” in Memorias IV Colombian IEEE Workshop of Robotics and Automation, (Cali, Colombia), IEEE Colombia, Agosto 13-15, 2008. ISBN: 978958-8122-75-5. Presentation

[7] C. A. Zuluaga and L. B. Gutiérrez, “Infraestructura de simulacion para vehiculos no tripulados,” in Memorias VII Congreso de la Asociación Colombiana de Automática, (Cali, Colombia), Asociación Colombiana de Automática, Marzo 21-24, 2007. ISBN: 9789484408. pdf

[8] J. F. Franco and L. B. Gutiérrez, “Análisis de dominio de un marco de tiempo real para vehiculos autonomos no tripulados,” in Memorias VII Congreso de la Asociación Colombiana de Automática, (Cali, Colombia), Asociación Colombiana de Automática, Marzo 21-24, 2007. ISBN: 9789484408. pdf

[9] L. B. Gutiérrez Z., M. Osorio Cárdenas, and J. A. Álvarez J., “Sistema de guía, navegación y control para aeronaves autónomas,” in CWRA 2005 IEEE Colombian Workshop on Robotics and Automation, (Universidad Javeriana, Bogota, Colombia), IEEE Colombia, Agosto 11, 2005. ISBN: 958-695-182-0. pdf

Aircraft Flight Control Embedded Systems Real-time Control Systems Remotely Operated Vehicles ROV UAV Unmanned Aerial Vehicles

Structure Manager, a software infrastructure for the implementation of Real Time Control Systems

Summary

A software infrastructure for the implementation of real time control systems have been developed in C language. The Structure Manager is composed of a library that implements all the infrastructure functionality and a tool to generate code automatically at compilation time, that connects the infrastructure with the application at hand. The infrastructure, combined with a sound programming methodology (object oriented like) enables some powerful features in the real time application accelerating the production cycle of the software.
Some of the features enabled by the infrastructure are:

Command line interface with the application through a local or remote console. The programmer decides whether enabling these interfaces through a local console, or a remote console using serial or TCP/IP.
Multi user enabled environment, with a programmable structure of permissions. Each user can connect to the application using a password. There is a super user with all the permissions and a programmable hierarchical structure of permissions for other users. The developer can decide which tasks are included in the permissions structure, being enabled to generate groups of tasks for specific permissions.
Access to the data structures of the application defined by the software designer, to enable the change of the application behavior through the manipulation of some configuration data at specific times, data monitoring, data logging, or data communication.
Data logging enabled through the infrastructure. The user can program different data logs according to the necessity of the application. The data can be stored in a memory buffer while the application is running in real time, and saved to long term storage devices at the end of the real time operation to avoid the delays generated by the access to disk during real time operation. The user with necessary privileges can define which data are included in the data logs. All the logged data are time stamped for easy analysis in multi rate real time systems.
Programmable communication interfaces. The users with the right privileges can program messages to be sent through communication interfaces via serial, TCP/IP, or UDP/IP. This feature combined with the right hardware enables all the communications of the application at hand with other applications or software components, running in the same machine or other devices. The messages can be sent or received at specific times defined by the designer of the application, or can be programmed to occur periodically with a given sample time.
Programming and configuration of real time tasks through the Structure Manager interface in run time. Some tasks can be programmed and executed at real time, without the necessity to restart the application, or doing a recompilation of the application.

This software infrastructure has been used for the implementation of several real time applications: the real time control of an ROV (Remotely Operated Vehicle), the real time Flight Control System of an UAV (unmanned Aerial Vehicle), a flight data recorder for an ultralight aircraft, a flight data recorder for small UAVs, and a platform for measuring small UAVs weight/balance and propulsion system performance.

Aircraft Flight Control Aircraft Flight Dynamics Aircraft Flight Mechanics Embedded Systems Real-time Control Systems Robotics UAV Unmanned Aerial Vehicles

UAV for research in Flight Mechanics and Control

Summary

Research in flight mechanics and control requires good mathematical models for the aircraft under study. In particular, for fixed wing aircraft is well documented in the literature the mathematical model based on the equations of motion that are stated assuming that the aircraft is a rigid body, but the heart of these equations that determine the actual dynamic behavior of the aircraft is the knowledge of a good model for propulsive and aerodynamic forces and moments. There are approximate analytical methods to model propulsive and aerodynamic forces and moments but all those methods require validation and it is difficult to model all of the nonlinear behavior involved. It was recognized that to leverage the research if flight mechanics and control it is fundamental to get good mathematical models based on actual flight data. For that purpose many UAV test beds have been implemented. Some of them are reported in the literature, see for instance. In this work the hardware selection and integration, and the software development for a test bed based on a small fixed wing UAV is presented.

Presentation

Gallery

Related Publication

L. B. Gutiérrez, “Instrumentation of a small fixed wing UAV for research in flight mechanics and control.” Poster presentation in the 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC) (Medellı́n, Colombia), October 15-18, 2019. pdf

Projects

Fault Tolerant Air Data System

An integrated airspeed and angle of attack sensor failure detection identification, isolation and accommodation scheme is proposed. The system uses information from the inertial measurement unit, available air data sensors, and an aircraft digital twin that provides virtual measurements of the aircraft’s aerodynamic and propulsion forces to feed a nonlinear estimator capable of detecting air sensor failure and suppress its effect on the aircraft air data prediction.

UAV for research in Flight Mechanics and Control

A UAV was developed for research in Flight Mechanics and Flight Controls. The project consists of the integration of a set of sensors with an embedded processor in a small fixed-wing aircraft and the development of a flexible software infrastructure for the implementation and testing of flight control algorithms. The sensor suite consists of an IMU, a magnetometer, a GPS, a pitot tube with a differential pressure sensor, alpha and beta vanes, control surface position sensors, and a sensor for engine RPM. An actuator interface and RF communication link are also included to allow telecommand and telemetry.

Flight Data Recorder for acquisition of flight test data in a ultra light aircraft

A flight data recording system was developed for an ultralight aircraft. The aircraft was instrumented to record data from certification flight tests and for mathematical modeling of the aircraft.

Structure Manager, a software infrastructure for the implementation of Real Time Control Systems

Andean Condor UAV

The Andean Condor unmanned aerial system is a tactical UAV for surveillance, exploration, reconnaissance, intelligence. Possible applications in photogrammetry and precision agriculture are also considered. This development is the result of the project “Development of a fixed-wing unmanned aerial system for short-range missions – Aura Jr” (2007-2009).

Software for modeling, analysis and design of a fixed wing aircraft

VISOR 3 ROV

VISOR 3 is an ROV developed by the Almirante Padilla Naval Cadet School (ENAP) and Universidad Pontificia Bolivariana (UPB), through the research groups in Naval Engineering (GIIN), Automation and Design A+D and the Institute of Energy and Thermodynamics (IET), with the support of Colciencias. The ROV is an underwater robotic platform for inspecting port structures and hulls of transport vessels, in order to comply with the ISPS code.

Aura Jr UAV

Preliminary design of Aura UAV for monitoring of Power Transmission Lines

The preliminary design of the Aura UAV was the result of the project “Research and Design of an Automatic Remote Inspection System for Electric Power Transmission Lines” (2004-2005) had as its main objective to investigate and design the prototype of an autonomous inspection system for high and extra high voltage transmission lines.

Adaptive Mode Transition Control Architecture With an Application to Unmanned Aerial Vehicles

VISOR 2 ROV

VISOR 2 was an ROV developed as an underwater vehicle with dual control (1998-2000). The project was led by Julio Cesar Correa Rodríguez, Luis Benigno Gutiérrez Zea and Laszlo Jurko.

Neural Network Control of a Flexible Link

A neural network (NN) tracking controller was implemented on a single flexible link and the performance results of the neural network controller were compared to that of proportional derivative (PD) and proportional integral derivative (PID) standard controllers. The NN controller is composed of an outer PD tracking loop, a singular perturbation inner loop for stabilization of the fast flexible-mode dynamics, and an NN inner loop used to feedback linearize the slow pointing dynamics. No off-line training or learning is needed for the NN. It is shown that the tracking performance of the NN controller is far better than that of the PD or PID standard controllers. An extra friction term was added in the tests to demonstrate the ability of the NN to learn unmodeled nonlinear dynamics.