1. PAX River Competition
UK Aerial Robotics Team
University of Kentucky

2. 2006 AUVSI Student UAV Competition
Pax River Competition
2006 AUVSI Student UAV Competition
4th Annual Association of Unmanned Vehicle Systems International Student UAV Competition.
Hosted by the U.S. Navy Program Executive Office for Strike Weapons and Unmanned Aviation
June 14th – July 18th at Webster Field (NAS Pax River).
UK Aerial Robotics Team
University of Kentucky

3. Competition Details
Teams are required to takeoff (manual or autonomous), fly specified waypoints, locate and identify targets on the ground, and return for landing within the allotted time.
Mission criteria includes dynamic air vehicle control during autonomous flight, GPS waypoint navigation, target reconnaissance, ability to adjust to changing mission requirements.
UK Aerial Robotics Team
University of Kentucky

4. Competition Details (continued)
Planes will have to fly within the altitudes of 50 and 1000 ft.
Targets to recognize
4x4 wooden targets of varying color.
Specific Target information to be reported includes total number of targets in search area, the coordinates and orientation of each target.
Teams will be given extra points for high resolution imagery.
Total mission time is 40 minutes.
UK Aerial Robotics Team
University of Kentucky

5. Develop a Control System and Aircraft
Requirements
Develop a Control System and Aircraft
Autonomous Flight Controller
Communication Link
Image Capture and Analysis
Hardware
Airframe and Propulsion System
UK Aerial Robotics Team
University of Kentucky

6. 2006 Pax River Design
UK Aerial Robotics Team
University of Kentucky

7. Sig Kadet Senior ARF Wingspan: 80.5 in. Length: 64.75 in.
Weight: 6.5 lbs unloaded
Engine: 1.6 bhp Tower Hobbies .61
UK Aerial Robotics Team
University of Kentucky

8. Piccolo Avionics and Ground Station
Key Features of Piccolo System
Avionics - Small size: 4.8” x 2.4” x 1.5”, 233g.
Highly integrated –Includes sensors, GPS, enclosure, and communications link.
Real-Time Data Logging.
Manual piloting over the integrated UHF ground station link.
End-user programmability, including RS-232 serial communications.
Flexible drag and drop flight plan generation and updates.
Piccolo Avionics
Piccolo System Block Diagram
UK Aerial Robotics Team
University of Kentucky

9. Tiny Interface Module JTAG custom harness UART0
Custom harness with level shifter
UART1
SPI
4-wire compatible
Servo header ( X4)
Standard Servo plug-in
GPIO (X4)
CAN (X2)
Four pin header
LED (X3)
Power
Status 0
Status 1
Push Button (X2)
Reset
Generic Push Button
UK Aerial Robotics Team
University of Kentucky

10. Camera System Aiptek IS-DV digital camcorder
Fixed lens camera
NTSC video out
3MPixels
Built-in SD Card Slot (Max. 1 GB)
TXA5-Rcb 1W-70 cm MHz
Dual-Axis Stabilizing System
UK Aerial Robotics Team
University of Kentucky

11. Photo Stitching Software
NASA World Wind
Open source software
GUI to display end images with all required image data
Embedded custom code to rotate and place images taken during flight
UK Aerial Robotics Team
University of Kentucky

12. UAV Plugin 1.1
Code exists as a plugin (no more compilation required by the developer)
Real-time modification of individual image parameters
Coexists with WW images
Support for pre-processing of images on pixel level (for histograms)
UK Aerial Robotics Team
University of Kentucky

13. UAV Plugin 1.1
Uses the first two coefficients of a lens distortion model to quickly correct lens distortion
Bilinear interpolation eliminates aliasing effects that cause image to look rough and blocky
UK Aerial Robotics Team
University of Kentucky

14. UAV Plugin 1.1
UK Aerial Robotics Team
University of Kentucky