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Remote sensing and actuation using networked unmanned vehicles / / Haiyang Chao, Yangquan Chen
Remote sensing and actuation using networked unmanned vehicles / / Haiyang Chao, Yangquan Chen
Autore Chao Haiyang
Pubbl/distr/stampa Hoboken, New Jersey : , : Wiley-IEEE Press, , 2012
Descrizione fisica 1 online resource (236 p.)
Disciplina 621.3678
Altri autori (Persone) ChenYangquan <1966->
Collana IEEE press series on systems science and engineering
IEEE Press series on systems science and engineering
Soggetto topico Geomorphology - Remote sensing
Environmental monitoring - Remote sensing
Vehicles, Remotely piloted
ISBN 1-283-94127-9
1-118-37718-4
1-118-37716-8
1-118-37717-6
Classificazione TEC036000
Formato Materiale a stampa
Livello bibliografico Monografia
Lingua di pubblicazione eng
Nota di contenuto List of Figures xv -- List of Tables xix -- Foreword xxi -- Preface xxiii -- Acknowledgments xxv -- Acronyms xxvii -- 1 Introduction 1 -- 1.1 Monograph Roadmap 1 -- 1.1.1 Sensing and Control in the Information-Rich World 1 -- 1.1.2 Typical Civilian Application Scenarios 3 -- 1.1.3 Challenges in Sensing and Control Using Unmanned Vehicles 5 -- 1.2 Research Motivations 7 -- 1.2.1 Small Unmanned Aircraft System Design for Remote Sensing 7 -- 1.2.2 State Estimation for Small UAVs 8 -- 1.2.3 Advanced Flight Control for Small UAVs 9 -- 1.2.4 Cooperative Remote Sensing Using Multiple UAVs 10 -- 1.2.5 Diffusion Control Using Mobile Actuator and Sensor Networks 11 -- 1.3 Monograph Contributions 11 -- 1.4 Monograph Organization 12 -- References 12 -- 2 AggieAir: A Low-Cost Unmanned Aircraft System for Remote Sensing 15 -- 2.1 Introduction 15 -- 2.2 Small UAS Overview 17 -- 2.2.1 Autopilot Hardware 19 -- 2.2.2 Autopilot Software 21 -- 2.2.3 Typical Autopilots for Small UAVs 22 -- 2.3 AggieAir UAS Platform 26 -- 2.3.1 Remote Sensing Requirements 26 -- 2.3.2 AggieAir System Structure 27 -- 2.3.3 Flying-Wing Airframe 30 -- 2.3.4 OSAM-Paparazzi Autopilot 31 -- 2.3.5 OSAM Image Payload Subsystem 32 -- 2.3.6 gRAID Image Georeference Subsystem 36 -- 2.4 OSAM-Paparazzi Interface Design for IMU Integration 39 -- 2.4.1 Hardware Interface Connections 40 -- 2.4.2 Software Interface Design 41 -- 2.5 AggieAir UAS Test Protocol and Tuning 45 -- 2.5.1 AggieAir UAS Test Protocol 45 -- 2.5.2 AggieAir Controller Tuning Procedure 46 -- 2.6 Typical Platforms and Flight Test Results 47 -- 2.6.1 Typical Platforms 47 -- 2.6.2 Flight Test Results 48 -- 2.7 Chapter Summary 50 -- References 50 -- 3 Attitude Estimation Using Low-Cost IMUs for Small Unmanned Aerial Vehicles 53 -- 3.1 State Estimation Problem Definition 54 -- 3.2 Rigid Body Rotations Basics 55 -- 3.2.1 Frame Definition 55 -- 3.2.2 Rotation Representations 56 -- 3.2.3 Conversion Between Rotation Representations 57 -- 3.2.4 UAV Kinematics 58.
3.3 Low-Cost Inertial Measurement Units: Hardware and Sensor Suites 60 -- 3.3.1 IMU Basics and Notations 60 -- 3.3.2 Sensor Packs 61 -- 3.3.3 IMU Categories 63 -- 3.3.4 Example Low-Cost IMUs 63 -- 3.4 Attitude Estimation Using Complementary Filters on SO(3) 65 -- 3.4.1 Passive Complementary Filter 66 -- 3.4.2 Explicit Complementary Filter 66 -- 3.4.3 Flight Test Results 67 -- 3.5 Attitude Estimation Using Extended Kalman Filters 68 -- 3.5.1 General Extended Kalman Filter 68 -- 3.5.2 Quaternion-Based Extended Kalman Filter 69 -- 3.5.3 Euler Angles-Based Extended Kalman Filter 69 -- 3.6 AggieEKF: GPS-Aided Extended Kalman Filter 70 -- 3.7 Chapter Summary 74 -- References 74 -- 4 Lateral Channel Fractional Order Flight Controller Design for a Small UAV 77 -- 4.1 Introduction 77 -- 4.2 Preliminaries of UAV Flight Control 78 -- 4.3 Roll-Channel System Identification and Control 79 -- 4.3.1 System Model 80 -- 4.3.2 Excitation Signal for System Identification 80 -- 4.3.3 Parameter Optimization 81 -- 4.4 Fractional Order Controller Design 81 -- 4.4.1 Fractional Order Operators 81 -- 4.4.2 PIλ Controller Design 82 -- 4.4.3 Fractional Order Controller Implementation 85 -- 4.5 Simulation Results 86 -- 4.5.1 Introduction to Aerosim Simulation Platform 87 -- 4.5.2 Roll-Channel System Identification 87 -- 4.5.3 Fractional-Order PI Controller Design Procedure 89 -- 4.5.4 Integer-Order PID Controller Design 90 -- 4.5.5 Comparison 90 -- 4.6 UAV Flight Testing Results 92 -- 4.6.1 The ChangE UAV Platform 92 -- 4.6.2 System Identification 94 -- 4.6.3 Proportional Controller and Integer Order PI Controller Design 96 -- 4.6.4 Fractional Order PI Controller Design 97 -- 4.6.5 Flight Test Results 98 -- 4.7 Chapter Summary 99 -- References 99 -- 5 Remote Sensing Using Single Unmanned Aerial Vehicle 101 -- 5.1 Motivations for Remote Sensing 102 -- 5.1.1 Water Management and Irrigation Control Requirements 102 -- 5.1.2 Introduction of Remote Sensing 102 -- 5.2 Remote Sensing Using Small UAVs 103.
5.2.1 Coverage Control 103 -- 5.2.2 Georeference Problem 105 -- 5.3 Sample Applications for AggieAir UAS 109 -- 5.3.1 Real-Time Surveillance 109 -- 5.3.2 Farmland Coverage 109 -- 5.3.3 Road Surveying 111 -- 5.3.4 Water Area Coverage 112 -- 5.3.5 Riparian Surveillance 112 -- 5.3.6 Remote Data Collection 115 -- 5.3.7 Other Applications 116 -- 5.4 Chapter Summary 119 -- References 119 -- 6 Cooperative Remote Sensing Using Multiple Unmanned Vehicles 121 -- 6.1 Consensus-Based Formation Control 122 -- 6.1.1 Consensus Algorithms 122 -- 6.1.2 Implementation of Consensus Algorithms 123 -- 6.1.3 MASnet Hardware Platform 123 -- 6.1.4 Experimental Results 125 -- 6.2 Surface Wind Profile Measurement Using Multiple UAVs 129 -- 6.2.1 Problem Definition: Wind Profile Measurement 131 -- 6.2.2 Wind Profile Measurement Using UAVs 133 -- 6.2.3 Wind Profile Measurement Using Multiple UAVs 135 -- 6.2.4 Preliminary Simulation and Experimental Results 136 -- 6.3 Chapter Summary 140 -- References 140 -- 7 Diffusion Control Using Mobile Sensor and Actuator Networks 143 -- 7.1 Motivation and Background 143 -- 7.2 Mathematical Modeling and Problem Formulation 144 -- 7.3 CVT-Based Dynamical Actuator Motion Scheduling Algorithm 146 -- 7.3.1 Motion Planning for Actuators with the First-Order Dynamics 146 -- 7.3.2 Motion Planning for Actuators with the Second-Order Dynamics 147 -- 7.3.3 Neutralizing Control 147 -- 7.4 Grouping Effect in CVT-Based Diffusion Control 147 -- 7.4.1 Grouping for CVT-Based Diffusion Control 148 -- 7.4.2 Diffusion Control Simulation with Different Group Sizes 148 -- 7.4.3 Grouping Effect Summary 150 -- 7.5 Information Consensus in CVT-Based Diffusion Control 154 -- 7.5.1 Basic Consensus Algorithm 154 -- 7.5.2 Requirements of Diffusion Control 154 -- 7.5.3 Consensus-Based CVT Algorithm 155 -- 7.6 Simulation Results 158 -- 7.7 Chapter Summary 164 -- References 164 -- 8 Conclusions and Future Research Suggestions 167 -- 8.1 Conclusions 167 -- 8.2 Future Research Suggestions 168.
8.2.1 VTOL UAS Design for Civilian Applications 168 -- 8.2.2 Monitoring and Control of Fast-Evolving Processes 169 -- 8.2.3 Other Future Research Suggestions 169 -- References 170 -- Appendix 171 -- A.1 List of Documents for CSOIS Flight Test Protocol 171 -- A.1.1 Sample CSOIS-OSAM Flight Test Request Form 171 -- A.1.2 Sample CSOIS-OSAM 48 in. UAV (IR) In-lab Inspection Form 172 -- A.1.3 Sample Preflight Checklist 172 -- A.2 IMU/GPS Serial Communication Protocols 173 -- A.2.1 u-blox GPS Serial Protocol 173 -- A.2.2 Crossbow MNAV IMU Serial Protocol 173 -- A.2.3 Microstrain GX2 IMU Serial Protocol 174 -- A.2.4 Xsens Mti-g IMU Serial Protocol 178 -- A.3 Paparazzi Autopilot Software Architecture: A Modification Guide 182 -- A.3.1 Autopilot Software Structure 182 -- A.3.2 Airborne C Files 183 -- A.3.3 OSAM-Paparazzi Interface Implementation 184 -- A.3.4 Configuration XML Files 185 -- A.3.5 Roll-Channel Fractional Order Controller Implementation 189 -- A.4 DiffMas2D Code Modification Guide 192 -- A.4.1 Files Description 192 -- A.4.2 Diffusion Animation Generation 193 -- A.4.3 Implementation of CVT-Consensus Algorithm 193 -- References 195 -- Topic Index 197.
Record Nr. UNINA-9910130592203321
Chao Haiyang  
Hoboken, New Jersey : , : Wiley-IEEE Press, , 2012
Materiale a stampa
Lo trovi qui: Univ. Federico II
Opac: Controlla la disponibilità qui
Remote sensing and actuation using networked unmanned vehicles / / Haiyang Chao, Yangquan Chen
Remote sensing and actuation using networked unmanned vehicles / / Haiyang Chao, Yangquan Chen
Autore Chao Haiyang
Pubbl/distr/stampa Hoboken, New Jersey : , : Wiley-IEEE Press, , 2012
Descrizione fisica 1 online resource (236 p.)
Disciplina 621.3678
Altri autori (Persone) ChenYangquan <1966->
Collana IEEE press series on systems science and engineering
IEEE Press series on systems science and engineering
Soggetto topico Geomorphology - Remote sensing
Environmental monitoring - Remote sensing
Vehicles, Remotely piloted
ISBN 1-283-94127-9
1-118-37718-4
1-118-37716-8
1-118-37717-6
Classificazione TEC036000
Formato Materiale a stampa
Livello bibliografico Monografia
Lingua di pubblicazione eng
Nota di contenuto List of Figures xv -- List of Tables xix -- Foreword xxi -- Preface xxiii -- Acknowledgments xxv -- Acronyms xxvii -- 1 Introduction 1 -- 1.1 Monograph Roadmap 1 -- 1.1.1 Sensing and Control in the Information-Rich World 1 -- 1.1.2 Typical Civilian Application Scenarios 3 -- 1.1.3 Challenges in Sensing and Control Using Unmanned Vehicles 5 -- 1.2 Research Motivations 7 -- 1.2.1 Small Unmanned Aircraft System Design for Remote Sensing 7 -- 1.2.2 State Estimation for Small UAVs 8 -- 1.2.3 Advanced Flight Control for Small UAVs 9 -- 1.2.4 Cooperative Remote Sensing Using Multiple UAVs 10 -- 1.2.5 Diffusion Control Using Mobile Actuator and Sensor Networks 11 -- 1.3 Monograph Contributions 11 -- 1.4 Monograph Organization 12 -- References 12 -- 2 AggieAir: A Low-Cost Unmanned Aircraft System for Remote Sensing 15 -- 2.1 Introduction 15 -- 2.2 Small UAS Overview 17 -- 2.2.1 Autopilot Hardware 19 -- 2.2.2 Autopilot Software 21 -- 2.2.3 Typical Autopilots for Small UAVs 22 -- 2.3 AggieAir UAS Platform 26 -- 2.3.1 Remote Sensing Requirements 26 -- 2.3.2 AggieAir System Structure 27 -- 2.3.3 Flying-Wing Airframe 30 -- 2.3.4 OSAM-Paparazzi Autopilot 31 -- 2.3.5 OSAM Image Payload Subsystem 32 -- 2.3.6 gRAID Image Georeference Subsystem 36 -- 2.4 OSAM-Paparazzi Interface Design for IMU Integration 39 -- 2.4.1 Hardware Interface Connections 40 -- 2.4.2 Software Interface Design 41 -- 2.5 AggieAir UAS Test Protocol and Tuning 45 -- 2.5.1 AggieAir UAS Test Protocol 45 -- 2.5.2 AggieAir Controller Tuning Procedure 46 -- 2.6 Typical Platforms and Flight Test Results 47 -- 2.6.1 Typical Platforms 47 -- 2.6.2 Flight Test Results 48 -- 2.7 Chapter Summary 50 -- References 50 -- 3 Attitude Estimation Using Low-Cost IMUs for Small Unmanned Aerial Vehicles 53 -- 3.1 State Estimation Problem Definition 54 -- 3.2 Rigid Body Rotations Basics 55 -- 3.2.1 Frame Definition 55 -- 3.2.2 Rotation Representations 56 -- 3.2.3 Conversion Between Rotation Representations 57 -- 3.2.4 UAV Kinematics 58.
3.3 Low-Cost Inertial Measurement Units: Hardware and Sensor Suites 60 -- 3.3.1 IMU Basics and Notations 60 -- 3.3.2 Sensor Packs 61 -- 3.3.3 IMU Categories 63 -- 3.3.4 Example Low-Cost IMUs 63 -- 3.4 Attitude Estimation Using Complementary Filters on SO(3) 65 -- 3.4.1 Passive Complementary Filter 66 -- 3.4.2 Explicit Complementary Filter 66 -- 3.4.3 Flight Test Results 67 -- 3.5 Attitude Estimation Using Extended Kalman Filters 68 -- 3.5.1 General Extended Kalman Filter 68 -- 3.5.2 Quaternion-Based Extended Kalman Filter 69 -- 3.5.3 Euler Angles-Based Extended Kalman Filter 69 -- 3.6 AggieEKF: GPS-Aided Extended Kalman Filter 70 -- 3.7 Chapter Summary 74 -- References 74 -- 4 Lateral Channel Fractional Order Flight Controller Design for a Small UAV 77 -- 4.1 Introduction 77 -- 4.2 Preliminaries of UAV Flight Control 78 -- 4.3 Roll-Channel System Identification and Control 79 -- 4.3.1 System Model 80 -- 4.3.2 Excitation Signal for System Identification 80 -- 4.3.3 Parameter Optimization 81 -- 4.4 Fractional Order Controller Design 81 -- 4.4.1 Fractional Order Operators 81 -- 4.4.2 PIλ Controller Design 82 -- 4.4.3 Fractional Order Controller Implementation 85 -- 4.5 Simulation Results 86 -- 4.5.1 Introduction to Aerosim Simulation Platform 87 -- 4.5.2 Roll-Channel System Identification 87 -- 4.5.3 Fractional-Order PI Controller Design Procedure 89 -- 4.5.4 Integer-Order PID Controller Design 90 -- 4.5.5 Comparison 90 -- 4.6 UAV Flight Testing Results 92 -- 4.6.1 The ChangE UAV Platform 92 -- 4.6.2 System Identification 94 -- 4.6.3 Proportional Controller and Integer Order PI Controller Design 96 -- 4.6.4 Fractional Order PI Controller Design 97 -- 4.6.5 Flight Test Results 98 -- 4.7 Chapter Summary 99 -- References 99 -- 5 Remote Sensing Using Single Unmanned Aerial Vehicle 101 -- 5.1 Motivations for Remote Sensing 102 -- 5.1.1 Water Management and Irrigation Control Requirements 102 -- 5.1.2 Introduction of Remote Sensing 102 -- 5.2 Remote Sensing Using Small UAVs 103.
5.2.1 Coverage Control 103 -- 5.2.2 Georeference Problem 105 -- 5.3 Sample Applications for AggieAir UAS 109 -- 5.3.1 Real-Time Surveillance 109 -- 5.3.2 Farmland Coverage 109 -- 5.3.3 Road Surveying 111 -- 5.3.4 Water Area Coverage 112 -- 5.3.5 Riparian Surveillance 112 -- 5.3.6 Remote Data Collection 115 -- 5.3.7 Other Applications 116 -- 5.4 Chapter Summary 119 -- References 119 -- 6 Cooperative Remote Sensing Using Multiple Unmanned Vehicles 121 -- 6.1 Consensus-Based Formation Control 122 -- 6.1.1 Consensus Algorithms 122 -- 6.1.2 Implementation of Consensus Algorithms 123 -- 6.1.3 MASnet Hardware Platform 123 -- 6.1.4 Experimental Results 125 -- 6.2 Surface Wind Profile Measurement Using Multiple UAVs 129 -- 6.2.1 Problem Definition: Wind Profile Measurement 131 -- 6.2.2 Wind Profile Measurement Using UAVs 133 -- 6.2.3 Wind Profile Measurement Using Multiple UAVs 135 -- 6.2.4 Preliminary Simulation and Experimental Results 136 -- 6.3 Chapter Summary 140 -- References 140 -- 7 Diffusion Control Using Mobile Sensor and Actuator Networks 143 -- 7.1 Motivation and Background 143 -- 7.2 Mathematical Modeling and Problem Formulation 144 -- 7.3 CVT-Based Dynamical Actuator Motion Scheduling Algorithm 146 -- 7.3.1 Motion Planning for Actuators with the First-Order Dynamics 146 -- 7.3.2 Motion Planning for Actuators with the Second-Order Dynamics 147 -- 7.3.3 Neutralizing Control 147 -- 7.4 Grouping Effect in CVT-Based Diffusion Control 147 -- 7.4.1 Grouping for CVT-Based Diffusion Control 148 -- 7.4.2 Diffusion Control Simulation with Different Group Sizes 148 -- 7.4.3 Grouping Effect Summary 150 -- 7.5 Information Consensus in CVT-Based Diffusion Control 154 -- 7.5.1 Basic Consensus Algorithm 154 -- 7.5.2 Requirements of Diffusion Control 154 -- 7.5.3 Consensus-Based CVT Algorithm 155 -- 7.6 Simulation Results 158 -- 7.7 Chapter Summary 164 -- References 164 -- 8 Conclusions and Future Research Suggestions 167 -- 8.1 Conclusions 167 -- 8.2 Future Research Suggestions 168.
8.2.1 VTOL UAS Design for Civilian Applications 168 -- 8.2.2 Monitoring and Control of Fast-Evolving Processes 169 -- 8.2.3 Other Future Research Suggestions 169 -- References 170 -- Appendix 171 -- A.1 List of Documents for CSOIS Flight Test Protocol 171 -- A.1.1 Sample CSOIS-OSAM Flight Test Request Form 171 -- A.1.2 Sample CSOIS-OSAM 48 in. UAV (IR) In-lab Inspection Form 172 -- A.1.3 Sample Preflight Checklist 172 -- A.2 IMU/GPS Serial Communication Protocols 173 -- A.2.1 u-blox GPS Serial Protocol 173 -- A.2.2 Crossbow MNAV IMU Serial Protocol 173 -- A.2.3 Microstrain GX2 IMU Serial Protocol 174 -- A.2.4 Xsens Mti-g IMU Serial Protocol 178 -- A.3 Paparazzi Autopilot Software Architecture: A Modification Guide 182 -- A.3.1 Autopilot Software Structure 182 -- A.3.2 Airborne C Files 183 -- A.3.3 OSAM-Paparazzi Interface Implementation 184 -- A.3.4 Configuration XML Files 185 -- A.3.5 Roll-Channel Fractional Order Controller Implementation 189 -- A.4 DiffMas2D Code Modification Guide 192 -- A.4.1 Files Description 192 -- A.4.2 Diffusion Animation Generation 193 -- A.4.3 Implementation of CVT-Consensus Algorithm 193 -- References 195 -- Topic Index 197.
Record Nr. UNINA-9910830993103321
Chao Haiyang  
Hoboken, New Jersey : , : Wiley-IEEE Press, , 2012
Materiale a stampa
Lo trovi qui: Univ. Federico II
Opac: Controlla la disponibilità qui