Company Presentation

Summary Company profile Unmanned Systems – STRIX – SIXTON – Precision Airdrop System – Ground Software Electronics – Autopilots Guidance, Navigation and Control Space Advanced Research

A3R Profile Objectives – Develop and sell Unmanned Systems. – Design Guidance, Navigation and Control Systems in aeronautics. – Research and Develop new technologies in mecatronics – Advanced research in aerospace and robotics engineering Partnership with Alpi Aviation – Development, marketing and sales of Unmanned Aerial Systems

Young and dynamic SME focused in research and new technolohies. Engineering background in the following fields: – Aeronaunatics and Space – Microelectronics – Unmanned Systems – Mecatronics – Computer Vision – Real time computations Offices – Rome and Pordenone A3R Activities

New technologies in house – Research – Design – Development Know-how and IPR Partnership with other companies in manifacturing A3R Product Flow

Unmanned Aerial Systems

UAS Systems Know - how Ground Segment (CUCS + CDT) – System Design – Ground Software & Hardware – System Integration – Data & Video Communications – HRI & Simulators Flight Segment (UAV) – On board systems design – On board software – Autopilots – Power Supply & Monitoring Unit – Communication boards – Payload – Propulsion design

Unmanned Aerial Systems Joint venture with Alpi Aviation A3R – System design – Autopilot – onboard Avionics – Airborne Software – Ground Segment Software – Systems integration Alpi Aviation – Airframe design and manufacturing – Systems integration – Marketing and sales

UAS Products Currently main focus in the Mini-UAV market Fixed Wing UAV – STRIX – Currently in use with Italian Airforce – Military Type Certificate (AERP-2) Rotor Wing UAV – SIXTON – March 2010 entry into service with Italian Army – Military Type Certificate (AERP-2)

STRIX-C Unmanned Aerial System Strix UAV – Electric Propulsion – Maximum Takeoff weight = 8.6kg – Range = 12.5km – Endurance = 135min – Cruise Speed = 60 km/h Features – Auto-takeoff (Catapult) – Auto landing – Way point navigation – Payload Target Tracking

STRIX-C Unmanned Aerial System Payload Pan/Tilt – Pan ± 80° – Tilt ± 70° Day-time Cartridge – Zoom 10x Night-time Cartridge – IR Camera – Zoom 2x

STRIX-C Unmanned Aerial System Strix Core UAV Control Station – Moving Map – Control of 3 UAV in flight – Real Time Video Display & Recording – Warning system Strix Control Data Terminal – Video data terminal – Telemetrydata terminal – Wi-Fi access point

SIXTON Unmanned Aerial System SIXTON UAV – Max takeoff weight = 2 kg – Max Range = 7 Km (video link) – Max Endurance = 30 min Features – Auto Vertical Takeoff and Landing – Hovering – Perch and Stare Strix Commonalities – Common Core UAV Control Station – Common Control Data Terminal – Common Payloads

Core Uav Control Station (CUCS) Sixton Core UAV Control Station – Ruggerized Pc with touch screen – Dynamic control keys – Moving Map – Terrain Elevation Data – Control of 3 UAV in flight – Mission variations during flight – Real Time Video Display & Recording – Loiter & Fly-By Waypoints – Route informations (time to go) – Geographic data importation – Warning system – Mission Debriefing and Analysis

Remote Video Display External Unit – Light and portable – Touch screen – Plug & Play – Low battery consumption Video autonomous operator – Complete camera control – Autonomous target tracking – Recording management – MUAV video control

Precision Airdrop System Partnership with Aerosekur The ability to deliver accurately a payload by means of a steerable parachute Motivations – Reduce dispersion due to wind – Increase standoff (protection for Air Vehicles. – Resupply of Special Operations Forces – Soft Landing Capabilities – Resupply behind enemy lines

Precision Airdrop System Composed of three main elements –Ram Air Canopy –Airborne Guidance Unit (AGU) –Payload Ram Air Canopy –Has a glide ratio between 2 – 4 –This means that for every 1 Km of vertical descent the system can travel up to 4 Km horizontally –Deploying the system from 5km altitude one has at least 20km standoff (can be increased with wind) Ram-Air Canopy Payload Airborne Guidance Unit

Precision Airdrop System Airborne Guidance Unit (AGU) –Autopilot –2 DC motors –Batteries Autopilot –Inertial Measurement Unit –3 Axis Magnetometer –GPS –Barometric Sensor Airborne Software –Sensor fusion Kalman Filter –Trajectory generation and following –Wind Estimation DC Motors Batteries

Precision Airdrop System Mission Planner (MP) –Laptop PC with MP software –Target is given –Dispatch Point is determined by wind conditions and canopy performance. –All above aspects are automatically taken care of by the mission planner Feasible Area –Area from which it is possible to reach the target given the wind and canopy characteristics. Dispatch Point Target Point Feasible Area

3D Simulation Environment Back-end simulator –6DOF vehicle dynamics –Sensors emulation –Vehicle Data terminal emulation –Real embedded GNC C code –Network communication protecol over UDP Front-end visualiser –3D terrain model –Real terrain elevation data –Real time data fetching over local /remote server –HUD visualization

Guidance, Navigation and Control

Guidance Mainly applied to UAV systems Trajectory Generation: dynamic optimization Path Planning Obstacle Avoidance Online recursive Auto landing – terminal area energy management – Minimum time optimal trajectories Waypoint & Loiter guidance

Navigation Mainly applied to UAV systems Sensor Fusion – Inertial sensors – Magnetic sensors – GNSS – Air data sensors Techniques – Extended Kalman Filtering (UD Filtering) – Adaptive Kalman Filtering A3R AHRS software implemented on Eclipse by Flybox (Microel)

Control System Design Linear Control – Optimal Control: LQR, LQG, LMI – Robust Control: H, -syn, LMI Non Linear Control – Back stepping – Dynamic inversion Adaptive Control – Model Reference Adaptive – Neural networks LPV Model Predictive Control

Electronics

YAAP AutoPilot Characteristics – 3 axis accelerometer – 3 axis gyro – 3 axis magnetometer – Barometric Pressure sensor – Differential Pressure sensor – All sensors are temperature compensated from -20 °C to +70 °C – Dimensions: 9.2[cm] x 6[cm] x 3.6[cm] – Weight: 60 [gr] Sensor Fusion Kalman Filter – Real time attitude (50 Hz) – Real time position (10 Hz)

YAAP+ AutoPilot Characteristics – 3 axis accelerometer, gyro and magnetometer – Barometric and Differential Pressure sensors – EEPROM – Dual Processor – SD Flight Data Recorder – All sensors are temperature compensated from -20 °C to +70 °C – Dimensions: 7.4[cm] x 5.9[cm] x 2.7[cm] – Weight: 48 [gr] Sensor Fusion Kalman Filter – Real time attitude (100Hz) – Real time position ( 50Hz)

PSMU Power Supply and Monitoring Unit (PMSU) – Input : 18V – 30V – Output: 12V 6V 3.3V & 5V – Interfaces: Serial, I2C, SPI ADC, DAC – Dimensions: 8.0[cm] x 4.5[cm] x 1.7[cm] – Weight: 55 [gr]

Space

European Space Agency ESA ITT – Robust Model Predictive Control for Space Constrained Systems – Applications: rover locomotion, Formation Flying and lunar landing – A3R responsible for Formation Flying Yardstick application

European Space Agency - 2 ESA ITT – Robust Flight Control System Design Verification & Validation Framework (RFCS) – Applications: Space Launchers, Re-usable Launch Vehicle, Re-entry Vehicles. – A3R responsible for developments of advanced V&V techniques and tools for analysis and design of Robust Control Systems for Space Launchers.

Launch Vehicles Consulting for ELV SpA Lyra Launch Vehicle – A3R responsible for GNC Vega Launch Vehicle – Thrust vector control algorithms – Attitude control algorithms – Simulations

Advanced Research

Computer Vision Research Mainly applied to UAS –Real time video processing –Stabilization –Target detection and tracking –Sensor fusion –Collision avoidance –Pattern recognition –Vision based Navigation and Control Non UAS applications –Automatic Observation Systems –Traffic monitoring –Motion detection –Obstacle localization

Computer Vision Workflow Software development –Propriety base libraries –High level interface –Mobile devices implementations Hardware implementation –Better performance –On board computation –Embedded systems

Real Time Visualization Main specifications –MPG4, H.264, MJPEG –High frame rate: 25fps –High resolution: D1 –Low latency: <80 ms High level operability –On Screen Display (video post processing) –Head up Display (manned vision based navigation) –Augmented Reality (vision based mission planning)

Stabilization Main specifications –Real time processing –Translational –Rotational –Background projection Implementation –Ground software: CUCS –Ground hardware: GDT –On board hardware STABILIZATION BOARD

Target Tracking Main specifications –Real time processing –Low latency –Different algorithms High level operability –On video pointing and selection DEVELOPMENT BOARD

Pattern recognition Main specifications –Real time processing –People tracking –Face recognition –Object counting Main application –Traffic monitoring –Border surveillance

Conclusions