I hereby declare that all information in this document has been obtained and presented in accorda... more I hereby declare that all information in this document has been obtained and presented in accordance with academic rules and ethical conduct. I also declare that, as required by these rules and conduct, I have fully cited and referenced all material and results that are not original to this work. Name, Last Name: ZEYNEP Ç AKIR Signature : iii ABSTRACT DEVELOPMENT OF A UAV TESTBED Ç akır, Zeynep M.S., Department of Aerospace Engineering Supervisor : Asst. Prof. Dr.İlkay Yavrucuk Co-Supervisor : Prof. Dr. Ozan Tekinalp May 2011, 76 pages The development and testing for a UAV testbed to be used in academic research and undergraduate education is proposed in this thesis. Analysis on commercial off-the-shelf UAV systems and autopilots lead to the development of a custom, open-architecture and modular UAV testbed. The main focus is to support research in UAV control field and education of the undergraduate students. The integration and use of commercial-off-the-shelf avionics and air vehicle are described in detail. System performance is examined both in flight and on the ground. Results of the system tests show that the developed system is a functional UAV testbed to be used in research of different flight control algorithms.
In this paper two new conceptual robotic system designs, called 'aerial-retrieval' and 'aerial-re... more In this paper two new conceptual robotic system designs, called 'aerial-retrieval' and 'aerial-rescue' are presented and demonstrated by simulation results. The Unmanned air vehicles (UAV) used in this design are thrust vector controlled robotic systems. The 'aerial-retrieval' concept aims at entrapping and retrieving a (lost) floating object in the air. The second concept, 'aerial-rescue' aims at rescuing a free falling object (e.g. a person) in the air using a stretched net attached to the UAV's. Position and angular control are applied in both systems.
A small UAV test bed is being developed for testing of flight control algorithms that are being d... more A small UAV test bed is being developed for testing of flight control algorithms that are being developed for over actuated fixed wing flight vehicles, in the framework of a TUBITAK supported research project on the control of over actuated flight vehicles is described. The test bed is based on a Rascal 110 ARF remotely piloted model aircraft. The test bed has conventional control surfaces, a PC-104 based autopilot computer and a sensor suit including an IMU, a GPS receiver and pressure sensor. The flight data is recorded on the on board computer as well as downloaded in real time to ground control station, mainly a notebook running MATLAB Real time Workshop, through a wireless modem.
I hereby declare that all information in this document has been obtained and presented in accorda... more I hereby declare that all information in this document has been obtained and presented in accordance with academic rules and ethical conduct. I also declare that, as required by these rules and conduct, I have fully cited and referenced all material and results that are not original to this work. Name, Last Name: ZEYNEP Ç AKIR Signature : iii ABSTRACT DEVELOPMENT OF A UAV TESTBED Ç akır, Zeynep M.S., Department of Aerospace Engineering Supervisor : Asst. Prof. Dr.İlkay Yavrucuk Co-Supervisor : Prof. Dr. Ozan Tekinalp May 2011, 76 pages The development and testing for a UAV testbed to be used in academic research and undergraduate education is proposed in this thesis. Analysis on commercial off-the-shelf UAV systems and autopilots lead to the development of a custom, open-architecture and modular UAV testbed. The main focus is to support research in UAV control field and education of the undergraduate students. The integration and use of commercial-off-the-shelf avionics and air vehicle are described in detail. System performance is examined both in flight and on the ground. Results of the system tests show that the developed system is a functional UAV testbed to be used in research of different flight control algorithms.
In this paper two new conceptual robotic system designs, called 'aerial-retrieval' and 'aerial-re... more In this paper two new conceptual robotic system designs, called 'aerial-retrieval' and 'aerial-rescue' are presented and demonstrated by simulation results. The Unmanned air vehicles (UAV) used in this design are thrust vector controlled robotic systems. The 'aerial-retrieval' concept aims at entrapping and retrieving a (lost) floating object in the air. The second concept, 'aerial-rescue' aims at rescuing a free falling object (e.g. a person) in the air using a stretched net attached to the UAV's. Position and angular control are applied in both systems.
A small UAV test bed is being developed for testing of flight control algorithms that are being d... more A small UAV test bed is being developed for testing of flight control algorithms that are being developed for over actuated fixed wing flight vehicles, in the framework of a TUBITAK supported research project on the control of over actuated flight vehicles is described. The test bed is based on a Rascal 110 ARF remotely piloted model aircraft. The test bed has conventional control surfaces, a PC-104 based autopilot computer and a sensor suit including an IMU, a GPS receiver and pressure sensor. The flight data is recorded on the on board computer as well as downloaded in real time to ground control station, mainly a notebook running MATLAB Real time Workshop, through a wireless modem.
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