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14 Nov Update: I just received word that I have been awarded internal funding from Embry-Riddle Aeronautical University to pursue this research project. Check back for details as the research is developed and I post the status.
Description
First person view (FPV) equipped
model aircraft are a form of small unmanned aerial systems (sUAS), developed
and flown by private operators for recreational hobby purposes (Federal
Aviation Administration, 2010; Kumar, Ramesh, & Srinivasa, 2011; Schneider,
2010).
FPV operation involves affixing a
wireless camera to a remote control (R/C) aircraft and flying the vehicle using
the live transmitted video feed as an egocentric view from the aircraft (Finch,
2012; Reyes, 2012; Schneider, 2010).
The
legislated rules and recommended regulations set for the operation of FPV
aircraft are also inclusive of sUAS developed and flown for research (e.g.,
academia, Government, and industry) and Government approved missions (e.g., law
enforcement, search and rescue, geological surveying, etc.) with a certificate
of waiver or authorization (COA; Academy of Model Aeronautics, 2012; Federal
Aviation Administration, 2010; Kumar, Ramesh, & Srinivasa, 2011).
Historically, the flight of FPV
aircraft required the use of a spotter (i.e., pilot in command) equipped with a
buddy box control to assume command of the aircraft, operated within visual
line of sight (LOS; Academy of Model Aeronautics, 2012; Finch, 2012; Lucidity,
2012). A buddy box setup requires the
use of a two linked R/C transmitters (TX) to provide dual control of a single
onboard receiver (RX) for supervisory control and manipulation of aircraft
servos (AvionicsRC.com, 2012; Cory & Tedrake, 2008; Han, Straw, Dickinson,
& Murray, 2009; Hazeldene, Sloan, Wilkin, & Price, 2004; Schneider,
2010). A noteworthy aspect of using a commercially-off-the-shelf
(COTS) buddy box configuration is the reliance on a single RX (AvionicsRC.com,
2012), which represents a single point of failure for control (2icrc.com, 2009).
With the release of the new Academy
of Model Aeronautics (AMA; 2012) document,
AMA
guidelines for radio controlled model aircraft operations utilizing first
person view, failsafe, stabilization and autopilot systems, the need for
use of a buddy box has been removed for experienced operators (Finch, 2012;
Lucidity, 2012).
While a buddy box is no
longer required for approved AMA FPV operations (Academy of Model Aeronautics,
2012; Lucidity, 2012), inclusion of a low-cost, easy to implement control
solution capable of seamless control hand off while providing a secondary control
interface (i.e., second RX) merits consideration based on the safety and
operational benefits. The benefits of including a secondary RX and buddy box operational
configuration include:
1)
capability to integrate a personal computer (PC)
control system with a conventional hobby R/C radio system (data logging, alternate
human-machine-interface [HMI] interaction methods, and extended communication
range)
2)
decreased timing for spotter (i.e., primary operator) control
acquisition/hand off
3)
secondary control in the case of signal loss for
primary TX/RX (control redundancy)
4)
capability for manual operator control when integrated
with an autopilot/autonomous control system
This research study is proposed to
examine the needs and limitations of sUAS operators and recommend a low cost
control solution (i.e., system and procedures) for two person supervisory operations
within established legal boundaries for increased safety and operational
benefits. For the purpose of this research, sUAS are defined as R/C model
aircraft weighing 15 pounds (lbs) or less with a maximum speed of 70 miles per
hour (mph; Academy of Model Aeronautics, 2012) and operators are defined as
researchers, Government agencies, and first person view (FPV) remote control
(RC) model aircraft hobbyist.
Estimated Equipment Costs (to prove functionality and perform
evaluation of design and procedures; see following)
Eight-channel hobby radio system (TX/RX)
Futaba8JH 8-Channel 2.4GHz S-FHSS Heli Radio System
$279.99
(1 unit): $279.9
http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXBWGS&P=0
sUAS Platform
Heli-MaxAxe 400 3D Rx-R w/4 Futaba S3114 Servos
$249.99
(1 unit): $249.99
http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXUTP0&P=0
$44.99
(2 units): $89.98
http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXVPF3&P=V
$53.95
(1 unit): $53.95
http://www.lynxmotion.com/p-707-micro-pan-and-tilt-kit-black.aspx
$179.98
(1 unit): $179.98
http://hobbywireless.com/index.php?main_page=product_info&cPath=88_89&products_id=22
$29.95
(1 unit): $29.95
http://www.pololu.com/catalog/product/1352
$149.00
(1 unit): $149.00
http://store.digi.com/index.cfm?fuseaction=product.display&Product_ID=2768
$19.95
(2 units): $39.90
http://www.pololu.com/catalog/product/721
$3.25
(1 unit): $3.25
http://www.pololu.com/catalog/product/788
$34.99
(1 unit): $34.99
http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXMGS7&P=V
$129.99
(1 unit): $129.99
http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXVRS6&P=V
USB Video Capture
DIAMONDVC500 One Touch Video Capture Edit Stream or Burn to DVD USB 2.0
$49.99
(1 unit): $49.99
http://www.diamondmm.com/VC500.php
Contingency
To
cover, shipping and handling, tax, and unforeseen costs
12.50%
subtotal: $161.37
Total Estimated Costs: $1,452.33
Proposed Design Overview
Estimated Timeline/Milestones
·
Performance of literature review and development
of documentation identifying design criteria (duration: one month starting in
January 2013)
·
Development of recommended design and associated
documentation (e.g., architectural overview diagrams, theory of operation, and
design decisions; duration: one month starting in February 2013)
·
Construction of proof of concept system
(duration: two months starting in March 2013)
·
Component and integrated testing of system
(duration: one month starting May 2013)
·
Development of conference ready whitepaper,
documenting results and recommendations (eight to 10 pages, in Institute of
Electrical and Electronics Engineers [IEEE] format; duration: two months
starting in May 2013 and concluded by 30 June 2013)
REFERENCES
2icrc.com. (2009).
Features of the wireless buddy box.
Retrieved from
http://www.2icrc.com/features.html
operationsutilizing first person view, failsafe, stabilization and autopilot systems [Adobe
Acrobat reader]. Retrieved from
http://www.modelaircraft.org/files/REPORT_ON_REVISED-550-560-OCT-8-2012.pdf
Reader]. Retrieved
from http://www.fpvsystems.com/userfiles/W-tracker%20Manual.pdf
Reader]. Paper presented at the AIAA Guidance,
Navigation and Control Conference and Exhibit, Honolulu, HI. Retrieved from http://groups.csail.mit.edu/robotics-center/public_papers/Cory08.pdf
Retrieved from
http://www.faa.gov/news/fact_sheets/news_story.cfm?newsid=6287
Fitch, G. (2012 October).
Changesin FPV restrictions.
Model Aviation, 38(10)
, 139-142.
Retrieved from https://library.modelaviation.com/ma/2012/10
Han, S., Straw, A.D., Dickinson,
M.H., & Murray, R.M. (2009). A real-time helicopter testbed
for insect-inspired visual flight control.
IEEE International Conference on Robotics
and Automation, 3055-3060. doi: 10.1109/ROBOT.2009.5152667
identification andlanding support for an unmanned air vehicle [Adobe Acrobat Reader]. Paper
presented at the 2nd International Conference on Autonomous Robots and Agents,
Palmerston North, New Zealand. Retrieved from
http://www-ist.massey.ac.nz/conferences/icara2004/files/Papers/Paper58_ICARA2004_333_338.pdf
for acoustic andimage data generation [Adobe Acrobat Reader]. Paper presented at the Symposium
on Applied Aerodynamics and Design of Aerospace Vehicle, Bangalore, India.
Retrieved from
http://nal-ir.nal.res.in/10157/1/133_G01.pdf
http://roswellflighttestcrew.typepad.com/
Reyes, C. (2012a).
Definition: FPV aircraft. Retrieved from
http://rcadvisor.com/definition-fpv-
aircraft
Schneider, D. (2010). DIY eye in
the sky: How to get a pilot’s-eye view while keeping both feet
on the ground.
IEEE Spectrum, 47(2), 20-22. doi: 10.1109/MSPEC.2010.5397773
If you are interested in potential collaboration on this topic/proposal or have any questions, please
feel free to
contact me.
The design and development of miniature or micro unmanned aerial systems (MUAS) are taking more cues from the insect world. A team of researchers at Harvard's School of Engineering and Applied Sciences have modelled their Robobee UAS on honeybees (Falconer, 2012). The Robobee system was recently made capable of remote controlled flight through the inclusion of two actuators for pitch and roll control (Falconer, 2012). The team is working to develop yaw and feedback capabilities to the system (Falconer, 2012). Law enforcement groups have begun to examine the use of such small scale UAS, while the US Army has been considering their tactical advantages for a couple years (Foxnews, 2012; Robinson, 2010). 