Mart Tamre

Aerial imagery terrain classification for long-range autonomous navigation

This article focuses on the problem of terrain classification from aerial imagery with the intention to increase Unmanned Ground Vehicle (UGV) road and off-road performance by providing means to analyze data from Unmanned Aerial Vehicle (UAV).

Modular Multi-Rotor Helicopter Platforms

The results presented in this paper describe a practicable solution to multi-rotor platforms constructed and put together with standardized components to allow flexibility and customizability. The extensive utilization of universal parts supports an easy introduction of changes in case of necessary design alterations and speeds up the whole process when constructional changes are required. The research has been applied to a variety of special use multi-copters and has proven to be very useful. Further development will follow to secure subcomponents with necessary Ingress Protection ratings and even further optimize universal components. The constructional layout of multi-copters is relatively simple and usually consists of the main middle frame that houses control electronics, batteries and payload fastenings. Protruding boom arms have motors mounted in the tips and power cables running inside. The frame, payload and boom arms are generally fastened with hexagonal socket head cap screws, which means that assembling and disassembling takes a notable amount of valuable time when setting the UAV up on the field. For this reason, modularity and rapid assembling are needed.Fig. 1. Multi-rotors performing ice-bank and high-rise inspection

Optimal Design and Analysis of UAV Swan Fuselage

Eli Ltd. and Tallinn University of Technology (TUT) Department of Mechatronics are currently performing studies in order to develop a mini-class universal purpose unmanned aircraft [1,2]. The paper focuses on strength calculations and weight vs. strength optimization of the fuselage of this developed UAV system. To develop a strong but lightweight UAV fuselage, advanced computer modeling and finite element structure analysis are used as virtual prototyping tools for the optimization of the fuselage at early design stage and through the production period to improve the design [3]. Design optimization is applied to minimize the maximum stresses within the fuselage, subject to strain constraint in conjunction with both geometry and choice of appropriate fibre orientations and stacking sequence as design variables and also material parameters. The fuselage for the UAV plane was designed and manufactured using E-Glass/Epoxy and High modulus (HM) carbon/Epoxy composites. In this paper ANSYS software has been successfully applied to minimize the weight of the fuselage and increase the UAV fuselage strength. The results show how the fuselage design could be improved with the help of finite element method analysis and provide guidelines for the structure and material design for the composite based UAV SWAN fuselage.

Orthophoto Classification for UGV Path Planning using Heterogeneous Computing

We have developed a system that uses aerial imagery for improving unmanned ground vehicle navigation capabilities. The current article focuses on the viability of using heterogeneous computing architecture for improving system performance in terms of energy consumption and area analysed per second.

Design templates for mobile robot conceptual design

The paper discusses mechatronics and robotics systems conceptual level design approach. Set of design templates are developed and organized into libraries preassigned for use on early stages of system design on example of robotics applications. The advantages of retaining the usability of component libraries offering in parallel the design alternatives verification and fine tuning capabilities on the conceptual level is aimed. The proposed concept is briefly discussed on the base of a robot design example.

Modeling and robust control algorithms for a linear belt driven system

Abstract This paper proposes the mathematical modeling and robust control algorithms for linear belt system with the help of sliding mode control approach. Due to the elasticity of the belt, the presence of frictions, and the un-modeled dynamics, conventional controllers cannot provide precise position control of carriage. Dealing with this kind of system, a robust controller is needed and the chattering-free sliding mode control (SMC) approach is used to design the robust controller. A belt stretching estimator is also incorporated into the control law. Simulations show that the system is free from chattering and robust to disturbances. The reference tracking position is performed with the minimal errors to an extent that can be considered negligible. The time for reaching the reference tracking position is very fast. The system is safe for all mechanical and electrical devices.

High-Efficiency Internal Combustion Engine Used in the Unmanned Aircraft

Unmanned aerial vehicles (UAVs) are used predominately for military applications, despite a growing number of emerging civilian tasks. One of the key tasks for increasing the advantages over a manned aircraft are to extend the flight duration of the UAV. Long endurance flights demand an engine that adapts to variable weather and atmospheric conditions as well as to changes in altitude. Varying demand of the UAV for power is compared to determine the needs for our mid-class test platform. The paper presents a solution to a high-efficiency engine and suggests a test layout for assessing reliability and optimal performance.

Modeling and Control Strategy for Hybrid Electrical Vehicle

This chapter reviews the developments and configurations of hybrid electrical vehicles. A classic model for a parallel hybrid electrical vehicle is chosen and modeled. Model pre‐ dictive controllers and simulations for this vehicle model are applied to control the vehi‐ cle speed and power to check the ability of the system to handle the transitional period for the automatic clutch engagement from the electrical driving to the internal combus‐ tion engine (ICE) driving. The chapter produces potential model predictive control con‐ siderations to achieve the optimal real-time control actions subject to the vehicle physical constraints. The new system can be applied for electronic control units in real hybrid ve‐ hicle powertrains.