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DESIGN & DEVELOPMENT OF A SECURE SELF-LEVELING WIRELESS RECHARGING PLATFORM FOR AN AERIAL DRONE ON AN UNMANNED SURFACE VESSEL
Title
DESIGN & DEVELOPMENT OF A SECURE SELF-LEVELING WIRELESS RECHARGING PLATFORM FOR AN AERIAL DRONE ON AN UNMANNED SURFACE VESSEL.
Creator
McKinney, Adriana, Dhanak, Manhar, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description
The Design and Development of an automated recharging station for an aerial drone, onboard a small, unmanned surface vessel, is described. Drones require a landing surface that is level within five degrees of the surrounding terrain for repeated reliable landing and takeoff. System constraints and at-sea application necessitate a compact, lightweight, and secure solution. A passive self-leveling platform and an accompanying automated parallel-pusher drone restraint mechanism have been...
Show moreThe Design and Development of an automated recharging station for an aerial drone, onboard a small, unmanned surface vessel, is described. Drones require a landing surface that is level within five degrees of the surrounding terrain for repeated reliable landing and takeoff. System constraints and at-sea application necessitate a compact, lightweight, and secure solution. A passive self-leveling platform and an accompanying automated parallel-pusher drone restraint mechanism have been designed and fabricated to aid in achieving a level landing surface and holding the drone in place while it charges. The self-leveling mechanism has been analyzed and subjected to initial laboratory tests. The testing of the drone restraint mechanism to verify its weight capacity and closing time, and the integration of the platform with a custom conductive contact wireless charging pad are identified as future work. The resulting cohesive unit will be tested for performance optimization and implementation onboard the unmanned surface vehicle.
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Date Issued
2021
PURL
http://purl.flvc.org/fau/fd/FA00013869
Subject Headings
Drone aircraft, Drone aircraft--Control systems--Design and construction, Drone aircraft--Automatic control
Format
Document (PDF)
PATH PLANNING ALGORITHMS FOR UNMANNED AIRCRAFT SYSTEMS WITH A SPACE-TIME GRAPH
Title
PATH PLANNING ALGORITHMS FOR UNMANNED AIRCRAFT SYSTEMS WITH A SPACE-TIME GRAPH.
Creator
Steinberg, Andrew, Cardei, Mihaela, Cardei, Ionut, Florida Atlantic University, Department of Computer and Electrical Engineering and Computer Science, College of Engineering and Computer Science
Abstract/Description
Unmanned Aircraft Systems (UAS) have grown in popularity due to their widespread potential applications, including efficient package delivery, monitoring, surveillance, search and rescue operations, agricultural uses, along with many others. As UAS become more integrated into our society and airspace, it is anticipated that the development and maintenance of a path planning collision-free system will become imperative, as the safety and efficiency of the airspace represents a priority. The...
Show moreUnmanned Aircraft Systems (UAS) have grown in popularity due to their widespread potential applications, including efficient package delivery, monitoring, surveillance, search and rescue operations, agricultural uses, along with many others. As UAS become more integrated into our society and airspace, it is anticipated that the development and maintenance of a path planning collision-free system will become imperative, as the safety and efficiency of the airspace represents a priority. The dissertation defines this problem as the UAS Collision-free Path Planning Problem. The overall objective of the dissertation is to design an on-demand, efficient and scalable aerial highway path planning system for UAS. The dissertation explores two solutions to this problem. The first solution proposes a space-time algorithm that searches for shortest paths in a space-time graph. The solution maps the aerial traffic map to a space-time graph that is discretized on the inter-vehicle safety distance. This helps compute safe trajectories by design. The mechanism uses space-time edge pruning to maintain the dynamic availability of edges as vehicles move on a trajectory. Pruning edges is critical to protect active UAS from collisions and safety hazards. The dissertation compares the solution with another related work to evaluate improvements in delay, run time scalability, and admission success while observing up to 9000 flight requests in the network. The second solution to the path planning problem uses a batch planning algorithm. This is a new mechanism that processes a batch of flight requests with prioritization on the current slack time. This approach aims to improve the planning success ratio. The batch planning algorithm is compared with the space-time algorithm to ascertain improvements in admission ratio, delay ratio, and running time, in scenarios with up to 10000 flight requests.
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Date Issued
2021
PURL
http://purl.flvc.org/fau/fd/FA00013696
Subject Headings
Unmanned aerial vehicles, Drone aircraft, Drone aircraft--Automatic control, Space and time, Algorithms
Format
Document (PDF)