Value Proposition - University of Cincinnati

UAV Multi-Agent SysTEm
Research (MASTER) LAB
Dr. Manish Kumar
Associate Professor
University of Cincinnati
Dr. Kelly Cohen
Professor,
Univ. of Cincinnati
UAVs for Emergency Responders
University of Cincinnati-Aug. 10, 2016
UAV Research @UC
• UC has a very strong research
program in the areas of UAVs
that focuses on the following
research areas
– Navigation and path planning
– Multi-sensor fusion for situational
awareness and tracking
– Novel UAV design, system ID, and
control
– Large scale optimization for
tasking and resource allocation
Novel quad-rotor design and control
Tracking of ground objects
System identification and control of
multi-copters
UAV path planning in National AirSpace
UAV Operations @ UC
UAVs for wildfire monitoring
UAVs for package delivery with Workhorse
Winner of Indoor Navigation
Challenge, AAVC 2014-15
Dr. Wei in West Virginia
Prof. Franck Cazaurang flying a
quad-copter in the UAV Master
Introduction to SIERRA
Intro to SIERRA
Value Proposition
Main Features of the
Technology
• A small-UAV gathers real-time
data that includes vision/infrared videos, and flight data from
GPS and Inertial Measurement
Unit
• Data processed to obtain
current locations of wildfires
and geo-referenced to mapping
services such as google maps
• Real-time data combined with
environmental and topographic
information fed to fire prediction
model to provide predicted
growth of fire fronts to aid
resource allocation/decisionmaking
Timeline
People
Impacted
Publications
and Media
Introduction to SIERRA
Intro to SIERRA
Value Proposition
Timeline
Publications and Media
Technological Innovations
Control and autonomous navigation
Autonomous search of ground Autonomous hot-spot visit for
events
persistent monitoring
Auto-pilot Design
Tracking of Maneuvering
Ground Targets
Data processing and information portrayal
Video processing for smoke removal, hot-spot and human
identification
User interface development
Value Proposition
Intro to SIERRA
Value Proposition
Timeline
Save lives and property by enhanced real-time
information and decision making: The proposed
UAV based platform provides an unprecedented
opportunity to gather real-time information and deliver
emergency supplies. Such capability, currently
unavailable, will allow the firefighters to make
decisions to save lives and suppress fire in most
efficient manner.
Ease of use by first responders: As opposed to
other UAV platforms available in the market, this
platform will provide push-button facility to operate the
UAV and visualize the information. Such a capability
is invaluable for non-pilots working in heavy stress
situations.
Publications and Media
SIERRA - Timeline
Intro to SIERRA
Value Proposition
• Demo #3 with
West Virginia
Forestry
• NSF I-Corps
Project (IIP1343498)
• UAV flight training
in Georgia
• NSF BECS
Project (EFRI1024608)
• Demo #1 & #2 with
West Virginia
Forestry
Fall 2010
• NASA/OSGC
funding of $25K
• Fire-fighting training
for UC graduate
student
Spring
2011- Fall
2011
Timeline
20102012
July 2013Feb 2014
• Extensive media
coverage of SIERRA on
Discovery Channel, BBC
radio, local TV
Publications and Media
• UAV Package
delivery system
gets extensive
media coverage
• UC receives
COAs for flight
operations
June 2014
– Nov
2015
• NSF PFI Project:
(IIP-1414346)
• Demo #4 with West
Virginia Forestry
• Seeking support from
UC business
accelerator program
• Prep of 3 invention
disclosures
• NSF CHSI Project:
(1526677)
Winter
2016
• Team wins 2
consecutive
Autonomous Aerial
Vehicle
Competitions: 201415
People Impacted
Intro to SIERRA
Value Proposition
MohammadSarim,
CurrentPh.D.Student
SushilGarg,
M.S.2013,NowatGoogle
AlirezaNemati,
CurrentPh.D.Student
BalajiSharma,
Ph.D.2013,Nowat
Mathworks
RuoyuTan,
M.S.2013,NowatPSU
People
Impacted
Undergraduate Students
Graduate Students
BryanBrown,
CurrentM.S.Student
Timeline
AnoopSathyan,
CurrentPh.D.Student
NathanielRichards,
CurrentUndergraduate
Student
LibertyShockley,
CurrentUndergraduate
Publications
and Media
Collaborators
Ch.ThomasLakamp
Mr.RodgerOsborne
District
FireChief,CincinnatiFire
WestVirginia,Dept.of
Department
Forestry
JeffBennett,
NickStockton,
M.Radmanesh, CurrentUndergradStudent
CurrentUndergradStudent
CurrentM.S.Student
SarthakKukreti
CurrentPh.D.Student
Prof. LarryBennett
Head,FireScience,Universityof
Cincinnati
SteveBurns
WorkhorseGroup
ConnorKressand KyleLentz
Founders,HephaestusLLC
Publications and Media
Intro to SIERRA
Value Proposition
Timeline
People
Impacted
Publications
and Media
Publications: 11 Journal papers, 2 book chapters, 1 invention disclosure, 20+ conference papers
• HomChaudhuri, B., Kumar, M., and Cohen, K., “Resource Allocation and Optimal Fireline Building using a Genetic Algorithm for Fighting Forest Fires”,
International Journal of Computational Methods, Vol. 10, No. 6, 28 pages, 2013, DOI No.: 10.1142/S0219876213500357.
• Tan, R. and Kumar, M., “Tracking of Ground Mobile Targets by Quadrotor UAVs”, Journal of Unmanned Systems, Vol. 2, No. 2, pp. 157-173, 2014.
• Radmanesh, M., Kumar, M., Nemati, A., and Sarim, M., “Dynamic Optimal UAV Trajectory Planning in the National Airspace System via Mixed Integer
Linear Programming”, accepted in the Journal of Aerospace Engineering, 2015.
• Wei W., Tischler, M., Schwartz, N., and Cohen, K., “System Identification and Flight Control of a Unmanned Quadrotor,” Novel Concepts in Unmanned
Aircraft Aerodynamics and Flight Stability, Editor Pascual Marques, Wiley, 2015 (Chapter written, reviewed and accepted by Editors in final version
Estimated Print – Fall 2015.
• Kivelevitch E., Cohen, K., and Kumar, M., “Near-Optimal Assignment of UAVs to Targets Using a Market-Based Approach,” Operations Research for
Unmanned Systems, Jeffrey R. Cares and John Q. Dickmann, PhD, editors. Wiley, 2015, Chapter written, reviewed and accepted by Editors in final
version, Estimated Print – Winter 2015.
• Sharma, B., Kumar, M., and Cohen, K., “Spatio-Temporal Estimation of Fire Growth”, ASME Dynamic Systems and Control Conference, Palo Alto, CA,
2013.
• Brown, B., Wei, W., Ozburn, R., Kumar, M., and Cohen, K., “Surveillance for Intelligent Emergency Response Robotic Aircraft (SIERRA)- VTOL Aircraft
for Emergency Response”, AIAA Infotech @ Aerospace, AIAA Science and Technology Forum, Jan. 2015.
Invention disclosure/provisional patent
Earth-Fixed Inertial Frame Based Radio Controller (RC) for Multi-copter UAVs, Disclosure filed on 02/09/15, Approved for provisional patent application on
9/10/15
Media coverage: 4 Local and national TV, 1 Radio (BBC), and 20+ print media
•TV
WCPO “Ahead of the storm”, http://www.wcpo.com/weather/tonight-9-first-warning-weather-teamsahead-of-the-storm-special, March 26, 2015
• SIERRA, Daily Planet, Discovery Channel Canada, Feb. 9, 2012
• Horsefly: delivery drone, Bloomberg TV, http://www.bloomberg.com/news/videos/2014-12-22/makingdeliveries-greener-ups-set-to-buy-electric-trucks, Dec. 22, 2014
Print
• Using Unmanned Systems to Fight Wildfires, http://www.insidegnss.com/node/4287, Nov. 2014
• The Dream of Delivery Drones Is Alive (And On A Truck), http://www.popsci.com/dream-delivery-dronesalive-and-truck, Deb. 18, 2015
• Onlinemd: Top ten UAV programs in US, http://www.onlineamd.com/article/amd1014-UAS-schoolprograms#.VD6S-yldVm1
Octo-Copter Package Delivery
• UC is partnering with AMP Electric
Vehicles on package delivery using
Octo-rotor UAVs.
• Rather than a UAV traveling straight
from warehouse to delivery site, this
duo will be able to more efficiently
deliver a large amount of packages.
• The UAV can recharge wirelessly
using the truck’s battery, and safety
redundancies are in place such as the
octorotor design.
• Other ease-of-use features are
planned, such as the ability for the
HorseFly to scan a package’s barcode
and then autonomously navigate to the
destination.
http://www.wired.com/2014/06/the-next-big-thing-you-misseddelivery-drones-launched-from-trucks-are-the-future-of-shipping/
http://www.bizjournals.com/cincinnati/news/2014/11/03/droneselectric-trucks-and-how-a-cincinnati.html
Package Delivery – with Workhorse
Group
Fault Tolerant Flight Control
• Fault tolerance means
– The UAV should be able to
complete its mission in case of
individual component failure
– The UAV should gracefully abort its
mission in a safe manner
• Failures could be
– Motor/rotor failures
– Sensor/communication failure
• Working with Prof. Franck Cazaurang
of UB
– Using flatness property to design fault
tolerance
– Using novel UAV design
Novel quad-rotor design and control
Unmanned Aerial Vehicles: Tracking of
Ground Maneuvering Targets
Ghose et. al. , 2006
Tilted-Rotor Quad copter
Integration of UAVs in the National Airspace
•
•
•
Developing algorithms for management
of UAV traffic
ADS-B provides flight data to
neighboring aircrafts
Objectives: maintain separation to avoid
collisions while fulfilling UAV’s mission
Parimal Kopardekar, Manager, NextGen Concepts and
Technology Development Project, NASA AMES
Smart Unmanned Aerial Vehicle for Exploration (SUAVE)
Autonomous Aerial Vehicle Competition – 2014 - 2015
Winner of National Autonomous Aerial
Vehicle Competitions – 2014 - 2015
Aug. 26, 2014
April 28, 2015
Acknowledgement of Support
• National Science
Foundation
• Army Research Office
• Missile Defense Agency
• Ohio Space Grants
Consortium
• Dayton Area Graduate
Students Institute
• Air Force Research Lab
• NASA