Shin-Ichiro Higashino

An A*-EC Hybrid Path Planning Method for Waypoint Traveling Problem Considering Terrain

This paper proposes an A* algorithm - EC hybrid path planning method which can find out a suboptimal path quickly for a waypoint traveling problem with terrain and obstacles. In this method, A* algorithm searches optimal legs between all two waypoints while avoiding terrain and obstacles, and Evolutionary Computation (EC) tries to combine these legs into an optimal path. The authors apply this method to 30 waypoint traveling problem with terrain and 3 obstacles, and the simulation results show that calculation time is less than 6 seconds on average. Furthermore, we have confirmed that we can use this method in real time by using the real time simulator with the on-board computer for path planning which is planned to be used for flight testing.

Automatic generation of UAV configuration by using Evolutionary Algorithm

This paper presents an automatic design method of UAV configurations using EA (Evolutionary Algorithm). Aerodynamic configuration as well as the design variables which include the parameters necessary for sizing are optimized. In automatic generation of configuration, the four principal components are defined and the combination of them are randomly selected. The design variables are optimized evaluating an objective function which reflects design requirements and the limits. Some examples show that the possibility to design a unique UAV which cannot be designed easily by human designers.

Hierarchical flight management and control of autonomous UAVs based on evolutionary coumputation and total energy concept

This paper presents a hierarchical flight management and control system for UAVs. The system composed of three layers, i.e. command interpreter layer, path planner layer, and auto-pilot layer. Path planner layer which plans a UAV’s path before flight and during flight is focussed in this paper, and it is done in two steps. Macroscopic path planning is done using evolutionary computation, and microscopic planning is done applying total energy concetp especially in terminal phase and emergency landing. In the former, waypoints are directly determined by evolutionary computaion featuring unified way of handling static and dynamic obstacles, and insertion and deletion of the waypoins. In the latter, microscopic path is determined based on total energy concept which is the sum of the potential and kinetic energy, and remaining fuel as energy. Some example off-line calclation results applying these concepts are also presented.

Telescience testbed for biomedical experiments in space morphological and physiological experiments of rat musculoskeletal system

As the second telescience testbed experiment we were examined sophisticated processes of biomedical experiment, such as an implantation of a transmitter into the hamsters abdominal cavity, non-stressful blood sampling, large amount of blood collection, muscle extirpation and biopsy from the hamsters on February 6-8, 1990. To make clear the differences between successful results obtained by an experienced hand and by a non-experienced one, three operators were selected for three successive experimental days; an engineer who had never experienced any biological experiment, a non-biology student, who experienced on biological experiments, and a veterinary surgeon. Surgical procedures need much experiences on maneuvering and understanding of theory to shorten the elapse time. Especially for a non-experienced hand, graphic instructions were much helpful to understand and to maneuver the procedures. Continuous recordings of ECG from a operator and PIs were of an advantage to grasp an extent of the mental strain, which was compared with their reports requested after end of each experimental day. The mental strain was not related to degrees of scientific achievement, but showed faithfully difficulty of each experimental procedure. Training effects on PIs in successive experimental days were found in their instructions for the operator to let understand the procedures.

Development of an UAV for water surface survey using video images

Water is an important resource especially for agricultural country like Thailand. Hydro and Agro Informatics Institute of Thailand launched a project which introduces UAVs equipped with video cameras for improvement of the efficiency in water resource survey. This paper presents the UAV system that has been developed in this project. The flight data shows the capability of accurate automatic way-point flight. Histogram-based image segmentation was applied to the aerial image for the purpose of estimation of water surface area in order to show the usefulness of the UAV system. The estimation results are evaluated and discussed.

Development and Operational Experiences of UAVs for Scientific Research in Antarctica

Several models of UAVs have been developed for scientific missions such as aerial geomagnetic survey, meteorological observation, and ground observation instead of manned airplanes especially in Antarctica. The UAV fleet is divided into three groups, i.e., a small UAV for low altitude, relatively large UAVs for mid-altitude, and a small glider UAV for high altitude. Several results, operational experiences of the UAVs, lessons learned including the operations in Antarctica, and several problems to be solved are reported in this chapter.