developing world-leading nano uav technology

DEVELOPING
WORLD-LEADING
NANO UAV TECHNOLOGY
NTNU ITK 60 YEAR
Trondheim 2014-11-07
Jørgen Syvertsen
My Background
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MSc Engineering Cybernetics (2004-2009)
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Guidance and control of vehicles
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Modeling and control of robots
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Project with Sintef (ITC Applied Cybernetics)
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Master with ABB (Oil&Gass)
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Obstacle-aided locomotion with snake robots
Improve model confidence by utilizing robot mounted sensors
Prox Dynamics (2009-)
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R&D Engineer - Control Systems, Software Department
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5 employees at that time
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Introducing Prox Dynamics
http://www.bloomberg.com/video/tiniest-drone-sees-everything-in-slow-motion-Sq8jahyvQIyGwt8QMJKD9w.html
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Contents
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A breif look at Prox Dynamics’ history
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From prototypes to world-leading products
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Applied cybernetics in focus
The PD100 Black Hornet PRS (Personal Reconnaissance System)
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Passively Stable Hover
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Petter Muren, founder of Prox Dynamics AS
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He imagined a small, stable, silent helicopter
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Is it possible to hover completely stable with
respect to the surrounding air?
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Challenging «known» facts; helicopters are
inherently unstable
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Coaxial rotors
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Passively stable hover for first time in 2002
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Proxflyer AS founded in 2003 and a patent
application for the Proxflyer rotor was filed
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Hobby – Toys – Millitary Systems
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Proxflyer Micron was the first in a series of World
records for smallest radio controlled helicopters and
ornithopters.
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ITC Bladerunner was the first successful stable indoor
toy helicopter and became the starting point for a
series of flying toys from the Canadian company
Interactive Toy Concepts.
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AV-1 Nano Air Vehicle was part of the DARPA Nano
Air Vehicle program and as such inspired the startup
of Prox Dynamics.
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Prox Dynamics
Operational in April 2008
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50+ Employees today
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Owned by Employees and three External Investors
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Turn Over 2013 ~ 90 MNOK
System Development (2008 – 2011)
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Internally Funded with Grants from Norwegian MoD, Innovation Norway
and Norwegian Research Council
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Cooperation with Norwegian Defense Research Establishment
System Production (2012)
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All Design Work Performed Internally
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Produced in Norway
2014 US Incorporation
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Prox Dynamics INC established in Kentucky
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Mission Statement
Mission
Develop, produce and sell airborne nano reconnaissance
and surveillance systems and ancillary equipment for
professional use.
Vision
Prox Dynamics' vision is to be the world leading supplier
of airborne Nano reconnaissance and surveillance
systems.
Customers
Governmental lower echelon dismounted and mounted
units.
Simplicity – Innovation - Dedication
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NUAS vs SUAS
nano = 1e-9?
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Hornet – stepwise development
• Hornet-1
• Off-the-shelf parts
• Yaw gyro
• Hornet-2
• I quite similar to Hornet-1
• New Rotor system, 3-axis gyro
• Hornet-3
• Sensors for inertial navigation
• CPU, accelerometer, gyro,
pressure, compass
• Digital radio link for video and control
• Brushless main motor (no gears)
• Brushless servo (PDS-3)
• Hornet-4
• Full body (fuselage)
• GPS navigation
• Fully functional autopilot
• All systems as in PD-100
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Flight Testing Prototypes
http://www.youtube.com/watch?v=feVoX26W6MU
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In-house developed parts
Main motor
Coils and low weight, low friction Bearing
Rotor with Magnets
Carbon fiber and Steel tube Shaft
Total Weight 1.6 gram
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Main Processor Board
High Performance Processor and Memory
Camera, Accelerometer (x3), Gyro (x3),
Magnetometer (x3), Pressure Sensor
Digital Radio Link
Total Weight 2 grams
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Helicopter system-processes
Swash Plate
Servos
Main Motor
Autopilot
Tail Motor
x
Data Link
0100101
1001110
1100101
y
Cam
n
z
x
y
z
p
w
e
GPS
s
Video Processing
Datalink Management
Steering Commands
Sensor Functions
Navigation Data
Compressed Video
System and Meta Data
Data Link
0100101
1001110
1100101
Video Processing
Aircraft Positioning
Datalink Management
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Test and Simulation System
Real World
Simulated World
Flight Simulation
Environment
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Flight
Sensors
Aircraft State
Flight Control
Aerodynamics
Flight Dynamics
Actuators
Sensors
Environment
Pos/Speed/Alt
Flight Control
Autopilot Software
System Info
Commands
Communications Data Link
Commands
Commands
System Info
System Info
Interface
Commands
Commands
System Info
Commands
System Info
Sensor Video
Sensor Video
Ground Control
User Input
User Input
GCS Software
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System Identification of GPS Sensor Model
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Video Stabilization
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Rolling Shutter Camera
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Feed-forward of attitude from state estimator
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The Team in Action
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PD-100 Black Hornet PRS
The world’s first operational Nano
UAV system.
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Snapshot
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Snapshot
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Snapshot
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Snapshot
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Snapshot
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Demo Checkpoint
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PD-100 Black Hornet PRS
COMBAT PROVEN
Offers amazing capabilities to the guys on the
ground.
Sergeant Petherbridge, UK Army
GAME CHANGING
Black Hornet is a game changing piece of kit.
Major Foden, UK Army
UNIQUE
Black Hornet gives our troops the benefit of
surveillance in the palm of their hands.
Phillip Dunne
Minister of Defence Equipment
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