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AERMATICA Progetto di uno Small UAS

MILANO, Dipartimento di Ingegneria Aerospaziale,01 Dicembre 2011 SEMINARIO TECNICO al corso di Progetto Generale di Velivoli

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SUMMARY
UAS: definitions Market and Applications Rules framework Small UAS Design Design Context and Preliminary Requirement Definition Project Plan and R&D Model System Design Process until Permit To Fly System and Subsystems (S/S) Design Prototyping to Formal Development Integration, Validation and Verification Configuration Management
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UAS: Definitions
Aircraft Any machine that can derive support in the atmosphere from the reaction of the air other than the reaction of the air against the earths surface (Ref. ICAO Annexes and National Aviation Regulation). Pilotless aircraft (Ref Art. 8 Chicago Convention) No aircraft capable of being flown without a pilot shall be flown over the territory of a contracting State without special authorization by that State and in accordance with the terms of such authorization. Each contracting State undertakes to insure that the flight of such aircraft without a pilot in regions open to civil aircraft shall be so controlled as to obviate danger to civil aircraft. UAV Unmanned Aerial Vehicle

UAS Unmanned Aircraft System, An aircraft and its associated elements which is operated with no pilot on-board RPA Remotely-piloted aircraft (Ref. ICAO Circular 328, Italian Law n. 178/2004)

Flying pilot A person who operates the flying controls of an aircraft and is responsible for the flight trajectory of the aircraft. Model Aircraft used for fun not for commercial/professional application

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UAS: Classification
TACTICAL: 18.000 ft (5.500 m) altitude, about 160 km range SELEX TACTICAL UAV Falco MALE: (medium altitude, long endurance) up to 30.000 ft (9.000 m) and range over 200 km HERON MALE UAV HALE: (high altitude, long endurance) over 30.000 ft (9.100 m) and indefinite range NASA IKHANA HALE UAV VTOL: (Vertical Take Off and Landing) SHIEBEL CAMCOPTER LIGHT MTOW < 150 Kg ROTOMOTION SR200 SMALL MTOW < 20 Kg DRAGANFLY X8 MICRO MTOW < 2 Kg PROXYDYNAMICS
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Markets

From UAVNET Workshop, Overview of current activities in the field of civil and commercial UAS in Europe, Eurocontrol Brussels, 12 October 2009, FROST & SULLIVAN

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Markets Requirements
Military Market (Mission first) Got already public acceptance of use in war zones overseas Need for Reliability

Civil Market (Safety first) Still concerns about safety and privacy Need for User friendly interface

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Markets Segmentation and Applications

Verso un sistema operativo di Remote Sensing per i servizi in agricoltura

Collaborazione LTDA - AE

Small UAS in remote sensing application for Agriculture

LTDA

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Rules Framework
EUROCONTROL: the European Organization for the Safety of Air Navigation

EUROCAE: the European Organization for Civil Aviation Equipment

In EUROPE: EASA: Light UAS (<150Kg MTOW) In Italy: ENAC: UAS Circular (still in draft) based on equivalence and transparency principles NAV32 Circular is applicable RulesMaking fragmented process:
8 International harmonization effort about Rules and Guidance Materials

under National Civil Aviation Authorities (ENAC in Italy)

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Operational General Principles

Rules of Air (ENAC, Regole dellAria)

Airspace: Controlled/Not Controlled Segregated (NOTAM)/Not Segregated

Visual line-of-sight operation (VLOS)

An operation in which the remote crew

maintains direct visual contact with the aircraft to manage its flight and meet separation and collision avoidance responsibilities.

See and Avoid (Manned Aviation)

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Sense and Avoid (Unmanned Aviation)

(mandatory for beyond line of sight operations)

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Design Context and Preliminary Requirement Definition

Which requirements? quadrocopter Ball Juggling
Quadrocopter Fleet Quadrocopter failures

The ANTEOS choice:

Safety:certification, aerial work User Friendliness:market replicability Performance: stability means quality of payload data Platform: modularity and scalability Maintenance: design and procedures
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Project Development Planning

Approach Definition: Prototyping to Formal Component Design prototyping Engineering task in a Formal Structure Requirement Validation Test Definition and Requirement Verification technological potential solutions and

Other Management Plans: Risk Management Plan Safety Management Plan

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Company R&D model

Base Research Cooperation with University
Flight Mechanics Simulator developed with POLIMI-DIA Control Law Modelling with POLIMI-DEI Advanced Video Sensor developed with POLIMI-DEI (SLAM Example, Simultaneous localization and mapping)

Technological Research Prototyping Commonalities of different applicative worlds

Model Aircraft Mobile Robotics Performance and miniaturization Performance and miniaturization Reliability

Formal Development

Automation Robotics Commercial Avionics

Interfaces, user friendliness, connectivity

Concepts, processes, approach

INNOVATIVE HIGH TECH CRITICAL PRODUCT

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UAS System Design: Architecture

Architecture Desing (Aerial+Ground+Communication): ANTEOS
Aerial Segment

AIRCRAFT

Ground Segment Secure Data Link

PAYLOAD

I/R camera

Video camera

Video camera

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Design Flow

Requirement Engineering

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UAS System Hierarchical Design Process

Aerospace derived Systemistic Approach

System Layer Segment Layer Subystem Layer

Propulsion Structures Control

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The Overall Process

Safety Management

Prototyping
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Formal Development

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and finally

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Aerial Segment Design

Aerial Segment Configuration Design ANTEOS :Quad-Rotor architecture

Dimostratore ANTEOS A2-MINI/A''

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Flight Dynamics: climb and descent

Automatic Thrust Management

Move Down/Land Frontal View Move Up /Take off

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Flight Dynamics: Forward Flight

Translate command determines a controlled attitude angle variation

Move Left Frontal View Move Right

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Propulsion Subsystem Design

From Requirements to Design:

Motors Blades Power Supply

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Landing Frame S/S Design

AERMATICA in collaboration with ASP (Alta Scuola Politecnica)

From Requirement to Structural Dimensioning :

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Control S/S Design

Control S/S Design: Integrated (Meccanical+HW+SW) on the Aerial Segment COTS (Commercial Off-the-Shelf) to Optimized Custom Layered (Hierarchical approach) Distributed (Aerial and Ground) Platform Concept

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Control S/S Design Phylosophy

AERMATICA @ EURON (European robotics forum), in vsters, sweden

Autonomous Robotics Perspective: situation awareness through world perception reaction to unforeseen events through reactive behaviors on-board mission planning and management Aeronautics Perspective: fully deterministic and certifiable actions autonomy is not admitted (use automatic instead) command-in-pilot must be able to exercise the last authority
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Control S/S Architecture Robotics

Mission 1

Payload 1 Management

Mission n

Payload n Management APPLICATION MODULES

Aeronautics

Flight Planning Command&Control

Task Scheduling Flight Management Safety Management CORE PLATFORM

Ground Control Station

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Data Link

Aircraft

Environment

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Ground Control Station Design

Possible Approaches: R/C style
commands

telemetry

Ground Station Based

commands telemetry

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Secure Data Link

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Network Oriented Design

C&C (C2) Ground Control Station

commands telemetry
Payload Ground Control Station

C&C (C2) Ground Control Station N.2

Fleet Communication

commands telemetry
Payload Ground Control Station N.2

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System Integration, Validation and Verification

Subsystems Integration Subsystems Requirement Validation Subsystem Tests and Verification
Are you building the right thing? Validation Are you building it right? Verification

System Integration Laboratory Tests (on-test-bed or at ground)

Single DOF Flight Simulation: "Flight" OnTest Bed Formal statement of ready for flight Flight Test Flight Test Procedure and plans Flight Test Analysis, Tracking and Recording
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Configuration Management
Configuration management (CM) is a field of management that focuses on establishing and maintaining consistency of a system or product's performance and its functional and physical attributes with its requirements, design, and operational information throughout its life
(Ref. http://en.wikipedia.org/wiki/Configuration_management)

Configuration Management process assures the coherent evolution of a complex project

SYS1.1 Ver. SYS1.0 Ver. GND1.0

System

Ver. AER1.0 AER1.1

Ground Segment C&C S/S

Ver. C&C1.0
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Aerial Segment Propulsion S/S

Ver. PP1.0

Mission S/S
Ver. MS1.0

Structure S/S
Ver. ST1.1 ST1.0

Payload S/S
Ver. PL1.0

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The AERMATICA path:ANTEOS & Certification

Typical Aeronautic process in strict collaboration with ENAC (Italian CAA )
First Prototype

First Automatic Flight

PTF in Segregated Airspace PTF in NON Segregated Airspace

AERIAL WORK and production 300 ANTEOS missions

2009
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2010

2011
Int. Patent ongoing

2012

First Italian Patent

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Working for AERMATICA

Stage primo step inserimento in AERMATICA

Possibili temi:
Progetto strutturale di un micro UAV multirotore Progetto di ridondanza del sistema motopropulsivo di un quadrirotore UAV Analisi di fattibilit di autorotazione per un UAV quadrirotore Identificazione (inerziale/aerodinamica e da prove di volo) di un quadrirotore UAV Architetture ottime per multirotori Attuazione del passo innovativa Metodi di dimensionamento e stima delle performance di un multirotore UAV

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Questions and Answers ?

GRAZIE dell ATTENZIONE!!!

Paolo Marras mobile: +39-340-71.57.277 office: lab: fax: +39-0331-82.75.56 +39-0331-82.24.07 +39-0331-18.13.631

skype: nibapa e-mail: paolo.marras@aermatica.com

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