Design and Development of Compact, Portable, Modular, Rapid Deployment Surveillance UAV System

Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs) offer significant advantages in operations requiring both vertical lift and efficient forward flight. However, VTOL aircraft design is challenge in terms of stability, control, and aerodynamic efficiency across flight regimes. Aerodynamic analysis is conducted to determine the variations of pressure distributions, lift and drag forces and center-of-pressure (CP) movement all of which are important towards design optimization and control modeling. This study focuses on aerodynamic analysis of a small VTOL fixed-wing UAV without using any additional actuators or complex tilting mechanisms. The designed UAV only uses the regular control surfaces such as Aileron, Rudder and Elevator of the fixed wing aircraft for maneuverability. Computational fluid dynamics (CFD) has become a essential tool in aerodynamic design and analysis. Studies of flyingwing VTOL UAVs revealed that CFD is effective in the prediction of stability and flow separation which is critical in transition controllability [1]. The structural and CFD studies were also coupled which showed that aeroelastic effects at high lift and inertia can be critical to performance and safety [2]. CFD has also been useful in wing and fuselage optimization to minimize drag and preserve lift as well as in the prediction of aerodynamic coefficients by use of turbulence models to provide reliable control inputs [3]. In addition to CFD, low-order methods like XFLR5 have been used to facilitate initial design through evaluation of centerof-gravity balance and optimization of wing geometry under structural constraints [4] [5]. On this basis, th present work implements CFD and XFLR5 to examine the aerodynamic forces, pressure field, and CP-CG interaction in a fixed-wing UAV-VTOL.

With past experiences in design & development of prototype unmanned aircraft for department of defence and years of individual research in flight systems and payloads, the lectures and researcher of the Royal Thai Air Force Academy teamed up for design and development of small prototype unmanned aerial vehicle. Groups of lectures and researcher in specific specialties will be assigned in teams in order to set-up the systematic and effective R7D teams. Work-breakdown structure is set in order to define job descriptions and data flow between teams. The design is driven by the mission requirements in close-range tactical surveillance based on the experiences and knowledge of the successfully platform design. All lessons learned form the past are carefully reviewed and listed as required design features. Every resources and equipments in the Royal Thai Airforce Academy will be used for the design, analysis and testing of the prototype aircraft including Subsonic Research Wind Tunnel (SRWT), aircraft structural test rig and Engineering Flight Simulator (EFS) to obtain valuable data collaborating with the flight test data for further development phase in the future.

Autonomous formation flight has been a fast growing research area during the last decade. Unmanned aerial vehicles (UAVs) can achieve a wide range of benefits from formation flight, such as fuel saving and aerial refueling. In this paper, the development of a small UAV system, called Swallow UAV system, as testbed of formation flight, is presented. Swallow UAV system includes Swallow UAV itself and a Hardware-In-the-Loop Simulation Environment (HILSE). Swallow UAV is a fixed wing, pusher-type, electric motor driven aircraft with 1.4 meter wing span. Its avionics system includes an onboard computer and a sensor system with GPS, IMU, air data sensor, and motor monitoring unit to provide position, velocity, inertial data, and system health. Communications between UAVs and the ground control station (GCS) are conducted by wireless modem. A fuzzy navigation and control system (FNCS) is developed for the waypoint navigation and attitude control of the aircraft. GPS velocity based pseudo attitude and fuzzy logic control are applied to FNCS for attitude estimation and fast implementation of controllers. HILSE is built to verify FNCS with onboard computer on the ground. X-Plane flight simulator is applied to simulate aircraft dynamics and output sensor data. GCS software, built with data distributor, transmits these data to the onboard computer and receive control signal from it so the onboard computer can control the aircraft in X-Plane. HILSE can perform pre-flight test for software debug, which improves safety and efficiency of flight test. The design of Swallow UAV is verified by flight test and the result shows that it has sufficient flight performance with waypoint navigation and attitude control capability to be used as a formation flight testbed.

Unmanned aerial vehicles (UAVs), when paired with an onboard camera, have proven to be useful tools in many applications, including aerial photography, precision agriculture, and search and rescue operations. Likewise, UAVs capable of physically interacting with the environment have shown great potential to help people perform dangerous, or time-consuming tasks more safely and efficiently than they could on their own. However, due to onboard computation and battery life limitations and complex flight dynamics, using UAVs to physically interact with the environment is still a developing area of research. Considering these limitations, the primary goals of this work are to (1) develop a new UAV platform for aerial manipulation, (2) develop modular hardware and software for the platform to enable specific tasks to be performed autonomously, and (3) develop a visual target tracking method to enable robust performance of autonomous aerial manipulation tasks in unstructured, real-world environments. To that end, the design of the Interacting-BoomCopter UAV (I-BC) is presented here as a new platform for aerial manipulation. With a simple tricopter frame, a single additional actuator for generating horizontal forces, and lightweight, modular end-effectors, the I-BC aims to balance efficiency and functionality in performing aerial manipulation tasks, and is able to perform various tasks such as mounting sensors in hard-to-reach places, and opening small doors or panels. An onboard camera, force and distance sensors, and a powerful single board computer (SBC) enable the I-BC to operate autonomously in unstructured environments, with potential applications in areas such as large-scale infrastructure inspection, industrial inspection and maintenance, and nuclear decontamination efforts.

Heterogeneous unmanned ground vehicle-unmanned aerial vehicle (UGV-UAV) collaborative systems offer clear advantages for field exploration. However, when tethered unmanned aerial vehicles (TUAVs) are introduced to extend mission capability, a major compatibility gap emerges for small and highly maneuverable UGVs: existing industrial tethered ground stations are generally too heavy and bulky to be carried by such platforms. In addition, on unstructured ground, residual station tilt can significantly complicate UAV launch and recovery. To address these issues, this paper develops an ultralight vehicle-mounted tethered ground station for micro unmanned aerial vehicles (micro-UAVs) that can be integrated directly with small UGVs. Through co-design of a 2-degree-of-freedom (2-DOF) self-leveling launch platform and a passive tether-assisted recovery scheme without visual fiducials, in which a customized UAV flight-control loop is coordinated with the state transitions of the ground tether-management system, the proposed system achieves practical tether-assisted recovery. Experiments show that the complete platform weighs only 4.1 kg and that the self-leveling mechanism compensates for ground inclinations over a total range of 24 degrees. Repeated passive-landing tests further demonstrate the feasibility of the proposed recovery scheme and its tolerance to moderate bay tilt and terminal off-axis activation. System-level flight validation confirms practical tether-assisted recovery without visual fiducials. In addition, we conduct a simplified exploratory simulation of tether-based ground-anchor localization under the proposed system architecture. Overall, these results establish a lightweight and low-cost hardware design and a practically viable recovery strategy for multimodal micro air-ground robotic systems.

Autonomous landing system is an important part of unmanned aerial vehicle (UAV) autonomous flight. Large fixed‐wing UAVs often consume more onboard space and computing resources. With the improvement of system integration and the reduction of high‐performance global navigation satellite system (GNSS) costs, real‐time kinematic (RTK) GNSS has been widely used in small‐scale and low‐cost fixed‐wing UAVs. This article uses less onboard hardware and ground facility requirements to design an autonomous taking off and landing system suitable for general fixed‐wing UAVs. A modified gradient descent attitude estimator, based on microelectromechanical system (MEMS) inertial measurement unit (IMU) and RTK GNSS, and a guidance method based on a tracking differentiator for using in a high dynamic environment are proposed, and circular path following and vertical transient simulations are performed. The simulation results show that this method can improve attitude estimation accuracy, motion control accuracy, and altitudinal transient quality. Finally, the actual flight test verifies its feasibility in the actual environment. The flight test results prove that it is feasible to implement the autonomous landing process of fixed‐wing UAV with the proposed system and method.

Self-location is a major function of unmanned aerial vehicle (UAV). In the absence of satellite navigation signals, a UAV depending merely on a low-accuracy inertial measurement unit (IMU) certainly fails to meet the needs of self-location. This paper introduces a monocular vision-based self-location method of UAV just fitted with a single downward-looking camera. A self-location mathematic model is built in accordance with the collinear relationship among the ground target point, the image point and the optical center of the camera. By taking conformal geometric algebra (CGA) as a mathematic tool, direct operation for geometric elements and geometric relationship is performed along with efficient extension, unary elimination and simplification. Combined with the least square estimation, the spatial location of UAVs can be calculated. Finally, the performance of this approach is verified via a flight test, experimental results show that the UAV location can be obtained with this method, which also embraces significant advantages in the convergence rate and computing time. Furthermore, it can be deployed to embedded devices with limited computing resources, thus it meets the positive real-time requirements of self-location of UAVs.

Tailless Unmanned Aerial Vehicles (UAVs) offer several advantages over their conventional counterparts, including enhanced maneuverability, higher durability, and better stealth. However, they are challenging in their stability and control due to the absence of stabilizing and control surfaces that typically exist in conventional empennage. A crucial process for analyzing the tailless UAVs’ stability/performance characteristics and determining/validating their flight control parameters is done via the modeling and simulation of flight dynamics. This paper presents a comprehensive and systematic procedure for investigating the flight dynamics of a tailless UAV, including modeling, simulation, analytical verification, and flight testing, while also explaining the interconnections among these elements. It also addresses the common challenge of limited accessibility of UAV essential data through using diverse analytical, empirical, and experimental methods. First, a rapid and effective first-principles modeling approach is introduced to simulate the nonlinear six-degree-of-freedom flight dynamics of a small tailless UAV case study. The modeling process follows a modular framework where well-defined experiments and commercial of-the-shelf software, tools, and sensors are employed to build the necessary sub-models, including geometric, mass–inertia, aerodynamic, propulsion, and actuator models. Then, all sub-models are integrated into a simulation environment to allow the prediction of the UAV dynamic response obtained from the given control inputs. The developed flight dynamic model is subjected to a thorough verification process to ensure its integrity and proper functionality by comparing the simulated trim and natural flight modes with the calculated analytical results. Finally, a set of specific flight tests are performed to validate the developed simulation model and verify relevant performance characteristics for the case-study UAV. The results show that the proposed approach provides a systematic and straightforward method for examining the flight dynamics of small tailless UAVs with reasonable accuracy.

Aerial manipulation devices have been increasingly tailored to use at the limit of unmanned aerial vehicle (UAV) technology. The utility value of affordable off-the shelf UAVs for aerial manipulation is relatively unexplored as they often do not meet the performance requirements of coupled manipulator design systems. This paper presents the design and validation of a balanced pantograph manipulator prototype for decoupled use, evaluated with bench tests and and flight tests on a quadrotor UAV. The design exhibits two degrees of freedom (DOF) with a larger range of motion than most preceding decoupled manipulators. The paper also discusses an analytical model which maps the centre of gravity (CG) of all the links of the device in its operational range, allowing fine-tuning of a compact counter mass assembly which operates mechanically to achieve a net-zero stability impact on the UAV. This primary function is ideal for close quarters inspection and contact sensing tasks which engage passively with the environment. Results show that the decoupled pantograph manipulator has no measurable stability impact on the UAV, is appropriate for the use cases described and shows promise for development into a coupled design platform.

- An Unmanned Aerial Vehicle (UAV), commonly known as a drone, is an aircraft that operates without a human pilot onboard and is controlled either remotely or autonomously. UAVs serve various applications, from defence to civilian purposes, and are categorized into fixed-wing, rotary-wing, hybrid, nano, tactical, target, and commercial drones. For this project, we selected a quadcopter due to its versatility, stability, and efficiency, making it ideal for applications like surveillance, aerial photography, emergency response, and environmental monitoring. The prototype is modeled in Fusion 360 for precise design and analyzed using ANSYS to assess structural integrity and durability under varying load conditions. The UAV frame is fabricated using lightweight materials such as carbon fiber and integrates key components like brushless DC motors, LiPo batteries, GPS modules, and a Pixhawk flight controller. Advanced features such as real-time data acquisition, autonomous flight capabilities, and efficient payload handling enhance its functionality. Additionally, 3D printing is used for custom parts, ensuring an optimized weight-to-strength ratio. To validate performance, the UAV undergoes simulation of flight dynamics and control systems using SolidWorks, followed by extensive ground and flight testing. The results demonstrate reliable performance in real-world scenarios such as medical supply delivery, environmental condition monitoring, and disaster relief efforts. By leveraging artificial intelligence, real-time data processing, and robust communication networks, this project contributes to the advancement of UAV technology, providing a cost-effective, efficient, and sustainable solution for public services and community needs. Key Words: Unmanned Aerial Vehicle (UAV), Quadcopter, Prototype Development, Structural Integrity, Environmental Monitoring.

Tiltrotor Unmanned Aerial Vehicle (UAV) is type of UAV that combine fixed wing (FW) and multirotor (VTOL) configuration in order to be able to perform instant transition from one configuration to another. Tiltrotor UAV has advantage to perform takeoff and landing from limited space such as plantation farm, forest, and residential area. Tiltrotor also can carry various mission since it has 2 configuration such as cargo drone, safer payload dropping, and mapping. In this research tiltrotor UAV designed with ruddervator (V-Tail) configuration with 3 motors in total, 2 motors placed on main wing with tilting capability and 1 motor placed at the end of fuselage as pitch controller in VTOL mode. Test flight will be conducted and evaluated to test UAV capability in hovering and transition from one mode to another

Предметом вивчення в статті є розгляд особливостей використання безпілотних літальних апаратів (БПЛА) при проведенні екологічного моніторингу для оптимізації проведення спостережень техногенних об’єктів та виконання екологічних завдань в системі екологічного моніторингу. Це можливо здійснити за допомогою висвітлення позитивних та врахування негативних властивостей при застосуванні БПЛА в системі екологічного моніторингу. Метою є розкриття особливостей використання БПЛА в екологічному моніторингу та визначення напрямків їх застосування для проведення контролю за параметрами стану навколишнього природного середовища заданих територій. Завдання: провести аналіз можливості використання БПЛА в системі екологічного моніторингу; висвітлити особливі властивості застосування БПЛА в системі спостереження; визначити можливості БПЛА для формування процедури проведення екологічного моніторингу та визначити коло екологічних завдань для їх вирішення за допомогою БПЛА; розглянути можливості застосування БПЛА в системі спостереження та знімання параметрів навколишнього середовища, що є підґрунтям для проведення робіт, що пов’язані з проведенням екологічного моніторингу. Використовуваними методами є: системний підхід до розробки складних систем, проведення порівняльного аналізу параметрів та властивостей БПЛА, математичні моделі оптимізації для побудови складних систем. Отримані такі результати. Проведено порівняльний аналіз властивостей БПЛА, висвітлення процесу обробки інформації в системі екологічного моніторингу при здійсненні вибору оптимальної структури системи екологічного моніторингу за допомогою використання БПЛА. На основі системного аналізу різних технічних показників та властивостей БПЛА можливо здійснити вивчення структурно-параметричних характеристик та дослідити режими роботи літальних апаратів в різних умовах при побудові системи екологічного моніторингу. Висновки. Наукова новизна отриманих результатів полягає в наступному: проведено аналіз властивостей БПЛА, визначено характеристики та параметри, що впливають на спостереження в системі екологічного моніторингу, також висвітлено коло питань, які необхідно враховувати при побудові системи екологічного моніторингу з використанням дистанційно керованих літальних апаратів.

In this project, we intend to design a Canard wing-based Unmanned Aerial Vehicle (UAV), which can carry a wide range of missions, providing capabilities to handle our challenges with sophisticated care. Canard-based UAV is the latest trend in aviation technology designed for the use case of providing better maneuverability, which in result gives the UAV new capabilities, such as increased time for data gathering, transferring, and autonomous behavior. The basic disciplines like Aerodynamics, Engineering design, Flight dynamics, Propulsion, and Performance are carried out during the UAV designing process. The proposed methodology applied in this project is weight estimation, initial sizing, aerofoil and wing geometry, fuselage sizing, tail sizing, T/W ratio, aerodynamics, and performance analysis. The design of Canard Based UAV leads to a deeper understanding of the trade-off studies of the UAV and is demonstrated by optimizing for designed missions like surveillance. A drafted sketch is presented at the end of the design phase featuring the selected configurations of major components.

A mathematical model of the landing approach system for an unmanned aerial vehicle (UAV) on the example of a course-glide path system (СGS) is presented. The proposed mathematical model includes an information model of the ground and airborne segments operation for the approach system. The mathematical model of the ground segment implements the calculation of the CGS radio signals power level at a given point in space — the position of the UAV. The mathematical model of the onboard segment implements the determination of the UAV getting into the radio beacon coverage area and the calculation of the UAV deviation angles from the glide path line. The UAV dynamics model is considered as a set of pre-obtained trajectory points. The carried out computational experiments showed the fundamental adequacy of the mathematical model and its application possibility for checkout automatic control systems for aircraft-type UAVs during landing approach. Keywords UAV, landing approach system, course-glide path system, localizer, glide path radio beacon, marker beacon, mathematical model, UAV landing

The purpose of research. Modern unmanned aerial vehicles of various types provide the ability to perform various tasks of operational information collection, monitoring the state of the environment, technological facilities and territories, updating data on these facilities, as well as for reconnaissance and monitoring their condition. The purpose of the study is to establish the maximum flight range and distance necessary for the organization of a communication channel through which the video stream and flight control commands using the KAM-16 Turbo ¾ method will be transmitted between the ground control complex and the unmanned aerial vehicle in a difficult meteorological situation.Methods are based on the basics of radio electronics, diagnostics and forecasting of the technical condition of aircraft. The methods of multicriteria analysis, parametric and structural synthesis were used. The principles of transmitting video images from drones used to monitor emergency situations were studied. A critical assessment of the maximum flight range of an unmanned aerial vehicle in a difficult meteorological situation was carried out.Results. Analytical formulas for determining the energy potential of a data transmission channel in line of sight are presented. Graphs of the dependence of the energy reserve in the data transmission channel between the unmanned aerial vehicle and the ground control system are presented, which make it possible to determine the maximum distance for transmitting video images in Full HD quality in the 2.4 GHz band. Calculations were carried out on the basis of complex analytical expressions and graphical dependences of the flight range of a micro UAV on the speed of tailwind and headwind were constructed. The maximum headwind speed is calculated, which does not allow the use of micro UAVs in blizzard conditions.Conclusion. A promising area of study of the use of UAV in emergency monitoring are micro-class copters capable of detecting victims by transmitting video information from a thermal imager during search and rescue operations in difficult weather conditions, such as snowstorms.