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作者： Escamilla, Casey G. Naval Postgraduate School

学位级别：硕士

Forward Operating Base (FOB) defense is a manpower-intensive mission that takes valuable resources away from the operational mission. While increasingly capable unmanned aerial vehicles (UAVs) might perform many of the mission tasks, current doctrine does not adequately address their inclusion. In particular, the assumed one-to-one ratio of operators to vehicles does not account for increasing UAV autonomy. This thesis describes the development and testing of an autonomous FOB defense capability using the Advanced Robotic Systems Engineering Laboratory (ARSENL) swarm system. Development leveraged the Mission-based Architecture for Swarm Composability (MASC) for development of complex swarm behaviors in a mission-focused, top-down manner. This approach enabled the development of a doctrinally grounded base-defense tactic in which arbitrary mixes of fixed-wing and quadrotor UAVs autonomously assigned and performed all required FOB defense roles: perimeter surveillance, key area search, contact investigation, and threat response. The tactic was extensively tested in a software-in-the-loop simulation environment and demonstrated during live flight field exercises. Experimental results are discussed using measures of effectiveness and measures of performance that were developed over the course of this research.

关键词： unmanned air vehicle UAV swarm Mission-based Architecture for Swarm Composability MASC unmanned autonomous Advanced Robotic Systems Engineering Laboratory ARSENL software in the loop

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UAV sensor failures dataset: Biomisa arducopter sensory critique (BASiC)

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DATA IN BRIEF 2024年 52卷 110069页

作者： Ahmad, Muhammad Waqas Akram, Muhammad Usman Natl Univ Sci & Technol NUST Coll Elect & Mech Engn Dept Comp & Software Engn Islamabad 44000 Pakistan

Unmanned aerial vehicles (UAV) rely on a variety of sensors to perceive and navigate their airborne environment with precision. The autopilot software interprets this sensory data, acting as the control mechanism for autonomous flights. As UAVs are exposed to physical environment, they are vulnerable to potential impairments in their sensory mechanism. Their real-time interactions with the actual atmosphere make them susceptible to cyber exploitations as well, where sensory data alterations through counterfeit wireless signals pose a significant threat. In this context, sensor failures can result into unsafe flight conditions, as the fault handling logic may fail to anticipate the context of the issue, allowing autopilot to execute operations without necessary adjustments. Untimely control of sensor failures can result in mid-air collisions or crashes. To address these challenges, we created Biomisa Arducopter Sensory Critique (BASiC) dataset, a state-of-the-art resource for UAV sensor failure analysis. The BASiC dataset comprises 70 autonomous flight data, spanning over 7 hours. It encompasses 3 + hours of (each) pre-failure and post-failure data, along with 1 + hour of no-failure data. We selected the ArduPilot platform as our demonstration aerial vehicle to conduct the experiments. By engineering software in the loop (SITL) parameters, we effectively executed sensor failure test simulations. Our dataset incorporates six representative sensors failures which are critical to UAV operations: global positioning system (GPS) for precise aerial positioning, remote control for communication with the ground control station (GCS), accelerometer for measuring linear acceleration, gyroscope for rotational acceleration measurement, compass providing heading information, and barometer for maintaining flight height based on atmospheric pressure data. The availability of the BASiC dataset will benefit the research community, empowering researchers to explore and experiment with

关键词： Sensors failures dataset Autonomous flights ArduPilot Unmanned aerial vehicle Autopilot Mission planner software in the loop UAV

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software in the loop SIMULATION OF AUTONOMOUS HYBRID POWER SYSTEM OF AN AGRICULTURAL FACILITY

SOFTWARE IN THE LOOP SIMULATION OF AUTONOMOUS HYBRID POWER S...

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11th International Scientific Conference on Engineering for Rural Development

作者： Osadcuks, Vitalijs Galins, Ainars Latvia Univ Agr Riga Latvia

Considering the rapid development of renewable energy technologies, particularly solar cells, electrochemical and other types of energy storage as well as power electronics converters, autonomous power supply systems are becoming an alternative to the construction of a new electrical grid connection for microscale electric power consumers (by the classification of the European Parliament Directive 2004/8/EK - the maximum simultaneous power up to 50 kW), for example, small agricultural facilities, farms, greenhouses, estates, tourist attractions etc. The article demonstrates use of the software in the loop (SIL) approach in the simulation of renewable resources based autonomous hybrid power supply (HPS) segment and facility-level control systems. Simulation of such type allows to design, test and evaluate control software written in conventional programming languages, but dynamic models of plant, sensors and actuators used are simulated in specialized environment e.g. Matlab Simulink or Scilab Xcos. An example of autonomous HPS of a cattle farm was used as a case study.

关键词： software in the loop autonomous hybrid power supply control system

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Explore the Rapid Prototyping of Advanced Flight Control Algorithms: From Simulation to Actual Flight 5

Explore the Rapid Prototyping of Advanced Flight Control Alg...

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5th International Conference on Control, Automation and Robotics (ICCAR)

作者： Li, Zengyan Liu, Zhenxing Ding, Bocheng Liao, Xudong Hu, Hao Northwest Inst Nucl Technol Xian Peoples R China

ISBN: (纸本)9781728133263

A rapid prototyping solution for advanced flight control algorithms of our autopilot is presented. Furthermore, the flight test system from theory to actual flight is developed to narrow the gap between the theory and the practice. Firstly, how to build the system structure and development process is introduced. Secondly, the autopilot which is capable of controlling multiple vehicle types from open source is selected and improved. Then the ability to conduct tests in software and hardware in the loop has been developed, to enable safe testing of algorithms, which will speed up the development process. Consequently, in the simulation, the autopilot passing the validation can be directly moved on to the UAV with little code and parameter modification. Finally, the process from simulations to actual flight test is performed and the results illustrate that the method of rapid prototyping design reduces the workload significantly, and can be used to shorten the development cycle.

关键词： UAV autopilot algorithm development rapid prototyping code generation software in the loop hardware in the loop

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Design and verification of photovoltaic MPPT algorithm as an automotive-based embedded software

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SOLAR ENERGY 2018年 171卷 414-425页

作者： Cheddadi, Youssef Errahimi, Fatima Najia, Es-sbai Sidi Mohamed Ben Abdellah Univ Lab Renewables Energy & Intelligent Syst Rd ImouzzerBP 2202 Fes Morocco

This paper presents the design and verification process of the Maximum Power Point Tracking Controller in accordance with the automotive development process standards, which could be used in Photovoltaic charging stations or in on-board chargers of electric vehicles. Considered as an automotive embedded software, the designed MPPT controller follows a sequence of three tests of the Model-based design MBD Approach to be verified and validated. The ultimate aim is to present a road map to design, test and validate an embedded software of the MPPT algorithm in vehicle based software. We design a modified Perturb and Observe P&O algorithm, then we generate optimized C code for a 32 bit ARM cortex microcontroller. Next, the algorithm is simulated through Model-in-the loop MIL, software-in-the loop SIL, and finally co-simulated through Processor-in-the-loop PIL technique in the low cost STM32F429 discovery development board. During all the different tests, the designed embedded software shows a high accordance with MPPT requirement and high performances.

关键词： Embedded software Validation and verification MPPT Model-based design software in the loop Processor-in-the-loop

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Autonomous Unmanned Aerial Vehicles in Search and Rescue Missions Using Real-Time Cooperative Model Predictive Control

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SENSORS 2019年第19期19卷 4067-4067页

作者： de Alcantara Andrade, Fabio Augusto Hovenburg, Anthony Reinier de Lima, Luciano Netto Rodin, Christopher Dahlin Johansen, Tor Arne Storvold, Rune Moraes Correia, Carlos Alberto Haddad, Diego Barreto NORCE Norwegian Res Ctr Drones & Autonomous Syst N-9294 Tromso Norway Norwegian Univ Sci & Technol NTNU Dept Engn Cybernet N-7034 Trondheim Norway Fed Ctr Technol Educ Rio de Janeiro Cefet RJ Grad Program Elect Engn PPEEL BR-20271204 Rio De Janeiro Brazil

Unmanned Aerial Vehicles (UAVs) have recently been used in a wide variety of applications due to their versatility, reduced cost, rapid deployment, among other advantages. Search and Rescue (SAR) is one of the most prominent areas for the employment of UAVs in place of a manned mission, especially because of its limitations on the costs, human resources, and mental and perception of the human operators. In this work, a real-time path-planning solution using multiple cooperative UAVs for SAR missions is proposed. The technique of Particle Swarm Optimization is used to solve a Model Predictive Control (MPC) problem that aims to perform search in a given area of interest, following the directive of international standards of SAR. A coordinated turn kinematic model for level flight in the presence of wind is included in the MPC. The solution is fully implemented to be embedded in the UAV on-board computer with DUNE, an on-board navigation software. The performance is evaluated using Ardupilot's software-In-The-loop with JSBSim flight dynamics model simulations. Results show that, when employing three UAVs, the group reaches 50% Probability of Success 2.35 times faster than when a single UAV is employed.

关键词： UAV path planning unmanned aerial vehicles search and rescue model predictive control particle swarm optimization Ardupilot DUNE software in the loop JSBSim

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A scalable hardware-in-the-loop simulation for satellite constellations and other multi-agent networks

A scalable hardware-in-the-Loop simulation for satellite con...

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作者： Degraw, Christopher F. Georgia Institute of Technology

学位级别：硕士

Given the plans for satellite mega-constellations, there is a lack of rigorously tested operations and control methods for constellations larger than 30 to 50 spacecraft. The purpose of this thesis is to propose the principles behind a robust, modular, and scalable system able to provide software-in-the-loop (SWIL) and hardware-in-the-loop (HWIL) simulation capabilities for the advancement of formation and constellation system Technology Readiness Levels (TRL). Additionally, this thesis will develop a first generation system demonstrating these principles called Constellation Simulation on a Massive Scale, or COSMoS. The preliminary goals of COSMoS are to 1) simulate multiple or more satellites in a constellation to demonstrate scalable capability; and 2) connect to external hardware devices in real-time to demonstrate HWIL capability. The simulation framework behind COSMoS is the Multi-Agent Distributed Network Simulator, or MADNS. MADNS is a real-time hardware-in-the-loop (RT-HWIL) simulator capable of communicating with independent agents and external hardware and software elements. This framework will encapsulate the COSMoS simulation but will be designed to work with any multi-agent network simulation designed within the constraints of the MADNS API. This thesis will show the results of the preliminary development of both MADNS and COSMoS and will present a direction for the further development of both a satellite constellation simulator and general real-time hardware-in-the-loop simulators.

关键词： Simulation Hardware in the loop software in the loop Satellite constellations Massive scale simulation Real-time simulation

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Novel Algorithm for Tracking LEO Satellites Using Doppler Frequency Shift Technique

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WIRELESS PERSONAL COMMUNICATIONS 2017年第2期96卷 2161-2178页

作者： Rouzegar, Hossein Nasirian, Mehrzad Ghanbarisabagh, Mohammad Babol Univ Technol Dept Elect Engn Fac Engn Babol Sar Iran Malek Ashtar Univ Technol Fac Engn Tehran Iran Islamic Azad Univ Fac Elect Engn & Comp Sci Dept Elect Engn North Tehran Branch Tehran Iran

Communication between satellite and ground station requires the antenna to be directly towards satellite for telemetery and telecommand data exchange. Hence, role of satellite tracking is clear. There are various techniques for satellite tracking. In this paper, Doppler technique for tracking LEO satellites from a ground station is discussed. This technique is a precise, beneficial and easy method compared with others. First, Doppler shift is obtained using TLE and equations governing on satellites and their orbit. Then this Doppler shift is compared with an obtained Doppler shift called practical Doppler shift which is obtained via a radio receiver at the ground station. This comparison leads to a tracking error which is removed in control loop by auto tracking process. Hence tracking angles are created with no error leading to a precise satellite tracking. This method acts as software in the loop which performs the act of satellite tracking.

关键词： Auto tracking Doppler shift Ground station Satellite software in the loop

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Connecting microscopic traffic simulation and LISA+ external signal control

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Transportation Research Procedia 2017年 27卷 420-427页

作者： Mirko Barthauer Bernhard Friedrich Technische Universität Braunschweig Institute of Transportation and Urban Engineering Hermann-Blenk-Str. 42 38108 Braunschweig Germany

Many researchers and traffic engineers have been working on optimizing signal control with respect to its effects on traffic flow and externalities like emissions. As large field studies for traffic management are not sustainable and actuated control strategy becomes complex, its evaluation is done with microscopic traffic simulation. However, their integrated signal control model often impedes implementing the custom control strategy in contrast to signal planning software. Making both types of software cooperate offers valuable perspectives to develop and evaluate a custom control strategy more efficiently. In this work, an overview of signal control and how it can be modeled in microscopic traffic simulation is given. Then, the signal planning software LISA+ and a microscopic traffic simulation (Aimsun in this case) are connected to allow for external signal control. LISA+ offers a virtual signal controller to communicate with external applications via network. Aimsun sends information about the chosen signal program and the detected vehicles to the controller and receives back the signal states for the next simulation second. This concept is presented in detail taking into account the communication protocol and the implementation on the Aimsun side. A case study with time-dependent actuated signal control is included as well.

关键词： microscopic traffic simulation signal control software in the loop

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MIL and SIL and PIL tests for MPPT algorithm

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COGENT ENGINEERING 2017年第1期4卷 1-1页

作者： Motahhir, Saad El Ghzizal, Abdelaziz Sebti, Souad Derouich, Aziz SMBA Univ Higher Sch Technol Lab Prod Engn Energy & Sustainable Dev Smart Energy Syst & Informat Proc Res Team Fes Morocco

This paper presents guidelines to develop the Maximum Power Point Tracking controller, as developed in the automotive and aeronautical applications, this by following the V-cycle development process, which means that our controller will be validated by using Model In the loop/ software in the loop/Processor In the loop tests. In order to have the possibility of integrating the MPPT embedded software in automotive and aeronautical areas, and on the other hand to propose a low-cost option to test the hardware implementation of the MPPT algorithm. Therefore, a modified variable step Incremental Conductance algorithm is proposed in this study, which can reduce the steady-state oscillations and increase the tracking speed under sudden irradiance variation. Then, the Model-based design of the modified algorithm is developed and connected to the plant model (photovoltaic panel and Boost converter). Next, the system model is tested and validated by using Model In the loop process. After that, the software of this algorithm is automatically generated for the host computer using embedded coder tool, and this software is connected to the plant model and tested using software in the loop process in the host computer. Finally, the software is generated from the MPPT model for the STM32F4 discovery board in order to create the Processor In the loop block, which will be run in the STM32F4 discovery board, and the plant model will be simulated in the host computer, and the ST-LINK communication is used in order to connect the host computer and the embedded board.

关键词： automatically generated code boost model in the loop photovoltaic panel processor in the loop software in the loop variable step-size incremental conductance V-cycle

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