1. MESA LAB Unmanned Aerial Vehicles When We Can File-n-Fly ?! YangQuan Chen, Ph.D., Director, MESA LAB MESA (Mechatronics, Embedded Systems and Automation) LAB MEAM/EECS, School of Engineering, University of California, Merced E: yqchen@ieee.org ; or, yangquan.chen@ucmerced.edu T: (209)228-4672; O: SE1-254; Lab: Castle #22 (T: 228-4398) Oct. 03, 2012. Wednesday 12:30-13:20 SoE Professional Seminar, COB 265

2. MESA LAB SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-2/1024 Outline About the new MESA Lab Unmanned Aerial Vehicles When we can file-n-fly? When we can file-n-fly!

3. MESA LAB MESA LAB MESA LAB http://mechatronics.ucmerced.edu Mechatronics, Embedded Systems and Automation –Backup name: Mechatronics, Energy Systems and Autonomy –ASME DED, MESA TC. http://iel.ucdavis.edu/mesa/ 2013 MESA conference: Portland, OR http://www.asmeconferences.org/IDETC2013/ Slide-3/1024 SoE Professional Seminar "UAV: When we can file-n-fly?!"

4. MESA LAB MESA Lab Philosophy and Ambition "We make real systems that work and others want them." MESA Lab: Staying on top and for sustainability. Nationally and internationally visible and prominent! Slide-4/1024 SoE Professional Seminar "UAV: When we can file-n-fly?!"

5. MESA LAB MESA Lab Founding Members Dr. YangQuan Chen, Faculty –Dr. Huifang Dou, Lecturer –Brandon Stark, 3 rd year Ph.D. student, Lab Manager –3 visiting research scholars –4 undergraduate researchers –2013 (5 more confirmed) 1 Ph.D. to join 1/1/2013, 1 Ph.D. to join 5/1/2013 1 Postdoc to join Fall 2013 2 more visiting scholars to join in 2013 Slide-5/1024 SoE Professional Seminar "UAV: When we can file-n-fly?!"

6. MESA LAB MESA Research Areas/Strengths Unmanned Aerial Systems and UAV-based Personal Remote Sensing (PRS) Cyber-Physical Systems (CPS) Modeling and Control of Renewable Energy Systems Mechatronics Applied Fractional Calculus (AFC) Slide-6/1024 SoE Professional Seminar "UAV: When we can file-n-fly?!"

7. MESA LAB Kevin Craig, Marquette Univ. Mechatronics has good prospects for the future because knowledge economy demands to speed up development, improve quality, reduce cost and increase energy efficiency. Slide-7/1024 SoE Professional Seminar "UAV: When we can file-n-fly?!"

8. MESA LAB SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-8/1024 Outline About the new MESA Lab Unmanned Aerial Vehicles When we can file-n-fly? When we can file-n-fly!

9. MESA LAB UAV: Unmanned Aerial Vehicle Also called Unmanned Aircraft System (UAS), an aircraft that is controlled by Navigation electronics without human pilot on board. Figure: Global Hawk UAV http://www.wpclipart.com/armed_services/airplanes/airplanes_3/Global_Hawk_UAV.png

10. MESA LAB [1]. UAV History The first “claimed” heavier-than-air, powered flight was of a UAV, over the Potomac River, by Dr. Sam Langley (1896) The first radio-controlled UAV flights were converted Navy trainers, flown over Long Island (1917) The first mass production UAV was the Kettering Bug, costing $400 and capable of carrying a 300 lb bomb (1918) The British Queen Bee UAV was landed by dragging a weighted antenna line on the ground, which then pulled back the stick and the throttle (1935) 4 UAVs with 2000 lb bombs attacked the Japanese merchantman, Yamazuki Maru, scoring two direct hits (1944) Marilyn Monroe was “discovered” while working in the Radioplane OQ-3 UAV factory (1945)

11. MESA LAB UAV History Kettering Bug (1918) Aerial Torpedo Radioplane 0Q-2A (1935) Culver PQ-14B (1940) Target drones UAV Pre World War II [1].

12. MESA LAB UAV History Kettering Bug (1918) Aerial Torpedo D21 Tagboard on M12 Mother Ship Lightning Bug AQM-34 1960s Reconnaissance UAVs UAV [1].

13. MESA LAB UAV History Kettering Bug (1918) Aerial Torpedo 1970s Combat UAVs - Have Lemon AQM-34 EO Maverick EO Hobo UAV [1].

14. MESA LAB UAV History Kettering Bug (1918) Aerial Torpedo 1970s Boeing YQM-94A B-Gull Teledyne Ryan YQM-96A R-Tern Endurance 28 hrs 11 min Un-refueled Reconnaissance (Recce) UAVs Compass Cope - High Altitude Long Endurance (HALE) UAV [1].

15. MESA LAB UAV History Kettering Bug (1918) Aerial Torpedo 1970s HiMAT YF-16 RPRV Self-Repairing Flight Control Sys. XBQM-106 Flight Research UAVs [1].

16. MESA LAB UAV History Kettering Bug (1918) Aerial Torpedo 1980s Tactical and Medium Endurance UAVs Pioneer - USN/USMC US Army Hunter GNAT-750 MR - UAV [1].

17. MESA LAB UAV History Kettering Bug (1918) Aerial Torpedo 1990s DARO UAVs Outrider (TUAV) Predator (Tier II) Global Hawk (Tier II+)Dark Star (Tier III-) [1].

18. MESA LAB UAV History Kettering Bug (1918) Aerial Torpedo Global Hawk & Predator Outrider (TUAV Global Hawk (Tier II+)Dark Star (Tier III-) [1].

19. MESA LAB Military applications Civilian applications UAV Applications

20. MESA LAB UAV Military Applications Reconnaissance Surveillance and Target Acquisition (RSTA) Surveillance for peacetime and combat Synthetic Aperture Radar (SAR) Deception operations Maritime operations (Naval fire support, over the horizon targeting, anti-ship missile defense, ship classification) [3].

21. MESA LAB UAV Military Applications Electronic Warfare (EW) and signals intelligence (SIGINT) Special and psychological Operations (PSYOPS) Meteorology missions Route and landing reconnaissance support Adjustment of indirect fire and Close Air Support (CAS) Battle Damage Assessment (BDA) Radio and data relay [3].

22. MESA LAB UAV Military Applications http://baronshobbies.com/blog/wp-content/uploads/2009/09/uav4tf3.jpg http://media.defenseindustrydaily.com/images/AIR_UAV_RQ- 4_Global_Hawk_High_Flight_lg.jpg

23. MESA LAB UAV Civilian Applications Security Security and Control Aerial Reconnaissance Aerial Policeman and Crowd Monitoring Aerial Traffic and Security Watch Search and Rescue Maritime and Mountain Search and Rescue Life raft Deployment Rescue point marking [7].

24. MESA LAB UAV Civilian Applications http://commons.wikimedia.org/wiki/File:US_Air_Force_U-2_reconnaissance_aircraft.jpg http://img2.scoop.co.nz/stories/images/0906/choppers.in.mountain.jpeg http://uscgalaska.blogspot.com/2010/07/air-station-kodiak-hh-65-dolphin.html

25. MESA LAB UAV Civilian Applications Monitoring Civil engineering sites Waterways and shipping Oil and gas pipeline Forestry Fishery Protection The countryside Pollution Control and Air Sampling Crop Performance Litter on beaches and in parks [7].

26. MESA LAB UAV Civilian Applications http://www.ouc.com/Libraries/OUC_Images/stanton3.sflb.ashx http://www.britannica.com/blogs/wp-content/uploads/2010/10/pipeline.jpg http://www.agronomy.k-state.edu/extension/DesktopModules/IM.aspx?I=3298&M=0

27. MESA LAB UAV Civilian Applications Disaster Management Disaster effects management Rescue and clear up effort supervision Disaster damage estimation Crop Management Countryside and Agriculture Agricultural Activities Crop Dusting [7].

28. MESA LAB UAV Civilian Applications http://1.bp.blogspot.com/_-j3KQ2okBmw/S-SMT_Xv9nI/AAAAAAAADd8/fhoPv- khcy8/s1600/nashville+flood.jpg http://consci.s3.amazonaws.com//wp-content/uploads/crop-duster1.jpg

29. MESA LAB UAV Civilian Applications Communications Telecommunications Telecom relay and signal coverage survey Survey Oil and Gas Exploration and Production Mineral exploration Geophysical surveys [7].

30. MESA LAB UAV Civilian Applications http://www.defensemedianetwork.com/wp-content/uploads/2010/10/161.jpg http://ceoworld.biz/ceo/wp-content/uploads/2009/07/Verenex-Energy-oil.jpg

31. MESA LAB UAV Civilian Applications http://med.ee.nd.edu/MED9/Papers/Aerial_vehicles/med01- 164.pdf http://www.spyplanes.com/pages_new/products.htm Research Scientific research of any nature (environmental, atmospheric, archaeological, pollution etc) can be carried out by UAVs equipped with the appropriate payloads.

32. MESA LAB Introduction to Paparazzi Project Paparazzi is an open-source autopilot system oriented toward inexpensive autonomous aircraft of all types. The project began in 2003 and has enjoyed constant growth and evolution ever since. The system has been used on dozens of airframes and implemented by several teams around the world. Hundreds of hours of autonomous flight have been successfully achieved with the Paparazzi system. [25].

33. MESA LAB Overview of the Paparazzi system [26].

34. MESA LAB Airborne components Autopilot Battery Datalink GPS Infrared (Original) Motor Payload Receiver Servo [26].

35. MESA LAB System Architecture Aircraft Sends telemetry messages Receives datalink messages Communications between the Paparazzi Agents Wireless link Link Connects a hardware Wireless device to the network Messages (Debug) Display network messages Server Logs raw messages Dispatches synthetic messages GCS Displays graphic data Controls the datalink Data is sent with messages Divided into 3 classes: - Telemetry - Ground - Datalink datalin k telemetry ground Ground network [25].

36. MESA LAB Slide-36 of 1024 OSAM UAV Team won 2 nd @ AUVSI UAS Competition, June 2008 Utah State – Wins $8,000 for 2nd Place Overall, 2nd Place in Mission, Honorable Mention in both Orals and Journal, and Prize Barrels for Autonomous Mission Flight, Autonomous Landing, JAUS and Perfect Identification of the Off- Path Target. http://www.engr.usu.edu/wiki/index.php/OSAM SoE Professional Seminar "UAV: When we can file-n-fly?!"

37. MESA LAB Slide-37 of 1024 We won #1 in AUVSI 2009 UAS Competition!! –June 17-21, 2009. Maryland AFB. –$14000 cash award. –Other registered participants: UCSD, MIT, Cornell, NCSU etc. –We made some headlines including ESPN2! –We are the second time to participate this event! –UCSD, Embry Riddle,Cornell, U Alberta, UT Austin. Watch us at http://www.youtube.com/user/USUOSAM SoE Professional Seminar "UAV: When we can file-n-fly?!"

38. MESA LAB Slide-38 of 1024 We won #1 again in AUVSI’11 UAS Competition!! –June 15-19, 2011. Maryland AFB. –$13400 cash award. Swept all three categories. –Other registered participants: UCSD, NCSU, UT Austin etc. –First time in the competition history to win 1 st place twice. –VTOL team made history too by flying waypoints autonomously Watch our UAV-based real world applications (not just for fun!) at http://aggieair.usu.edu SoE Professional Seminar "UAV: When we can file-n-fly?!"

39. MESA LAB SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-39/1024 Outline About the new MESA Lab Unmanned Aerial Vehicles When we can file-n-fly? When we can file-n-fly!

40. MESA LAB FAA: Federal Aviation Administration Illegal flight unless authorized! (COA) Too hard to get COA (certification of authorization) Private company (university) cannot get COA! Only possible for government departments (public universities)! A sample COA we got is at http://aggieair.usu.edu SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-40/1024

41. MESA LAB FAA Retasking In the United States, lawmakers just passed a long awaited bill setting requirements to integrate unmanned aerial systems (UAS) in the national airspace (NAS) on Feb. 6, 2012. Such requirements would set deadlines for full-scale integration in fall 2015. NASA UAS2NAS $12.5M (only two universities awarded: USU and NMSU SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-41/1024

42. MESA LAB SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-42/1024 Outline About the new MESA Lab Unmanned Aerial Vehicles When we can file-n-fly? When we can file-n-fly!

43. MESA LAB When we can file-n-fly! The new era of Personal Remote Sensing (PRS)! SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-43/1024

44. MESA LAB An Analogy 1970s: Personal Computer (PC): Bill Gates/Steve Jobs 2010s: Personal Remote Sensing (PRS) - ???? –Low cost, affordable. Robust, easy to use –Run way free; Autonomous/cognitive –Swarm/coven; –Enabling new apps and services Google 4D map (x,y,z,t) paid service –Ubiquitous remote sensing (Twitter as sensors …) –… Slide-44 of 1024 SoE Professional Seminar "UAV: When we can file-n-fly?!"

45. MESA LAB Slide-45 of 1024 WaterWatch? Geo-Domain Water resources, Gates, flumes Weather, climate demand Irrigation control human crops animals etc. Water rights UAVs Ground sensor pods irrigators calibration www.athertonsc.qld.gov.au/ photogallery.htm http://www.nasa.gov/centers/goddard/news/topstory/2004/0729soilshowdown.html Credit: Dr. YangQuan Chen, 2005 Right time Right place Right amount SoE Professional Seminar "UAV: When we can file-n-fly?!"

46. MESA LAB A water treatment lagoon as a UAS-enabled CPS to create biofuel from waste SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-46/1024

47. MESA LAB SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-47/1024 Algal Bloom Tracking & Modeling

48. MESA LAB Agriculture in 2100s when no more synthetic fertilizers available SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-48/1024

49. MESA LAB Key references Long Di and YangQuan Chen. “Multi UAV Systems.” Course slide set for ECE6930 Independent Study Course. pp. 1- 850. Dept. of Electrical and Computer Engineering, Utah State University, 2009-2011. [1]. THE UNIVERSITY OF TEXAS AT AUSTIN, AIRCRAFT DESIGN (ASE 261K) and DESIGN LABORATORY (ASE 161M), Dr. Armand J. Chaput. http://www.ae.utexas.edu/ASE261KChaput/ SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-49/1024

50. MESA LAB UAV PRS References Y.Q. Chen, D. L. Dee, A. Jenson, Multi-UAV Based Multi-Spectrum Collaborative Personal Remote Sensing: Concepts, Platform & Applications, Invited Full Day Tutorial at 2011 ICUAS, Denver, CO, (2011) Y.Q. Chen, A. Jenson, G. Strahan, C. Coopmans, Low- Cost UAV-based precision thermal infrared (TIR) mapping – A new Personal Remote Sensing capability: UAV Platform, TIR Payload, in-flight calibration and applications, Invited Full Day Tutorial at 2012 ICUAS, Philadelphia, PA, (2012) SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-50/1024

51. MESA LAB $949.00 1800 pages 2013 Two chapters from MESA Lab! SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-51/1024

52. MESA LAB IEEE RAS TC ARUAV http://www.flyingrobots.org SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-52/1024

53. MESA LAB Thank you for attending my talk! For more information, check http://mechatronics.ucmerced.edu/ coming soon SoE Professional Seminar "UAV: When we can file-n-fly?!" Slide-53/1024