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3D Robotics

Finally, FAA rules on small UAVs in the works?

If you missed it in the news feed at the lower left, the FAA is making some progress on a common-sense regulatory framework for small UAVs like ours (at the moment, we're all flying under some outmoded 1980s guidelines that are, to be generous, a legal gray area). I like the sound of a category for small UAVs that recognizes their limited risk, but my concern in the below is the phrase "vehicles would have to be kept within sight of the operators" part (it's not clear if that would apply both to the under 4 lbs and under 35 lbs category, or just the second one).

That seems to invalidate the whole point of UAVs, so I'm hoping that it doesn't apply to the smallest category, which is limited to 400ft altitudes and thus doesn't really present a danger to other aviation.

From the article:

Bruce Tarbert, the National Airspace System team lead for the FAA, says the agency is working to speed approval of certificates of authorization for unmanned vehicles to fly, but "we understand we need to pursue a small UAS regulatory basis ... we want to do this in the fastest timeframe we have."

Tarbert says it's possible that some regulation recommendations could be produced by July 2008, although he calls that "a big, big if." Even then, a Notice of Proposed Rulemaking wouldn't "hit the street" until a year later, and a public comment period of 90 days would follow after that, so any regulations likely wouldn't come into play until the middle of 2010.

.....

One problem is that there's no definition yet for what a small unmanned aerial system is. MITRE Corp. has taken a stab at defining it for the FAA, and Charlotte Laqui, the UAS project team leader for the company, also spoke at the Wednesday meeting.

Stressing that the definition is just a "starting point," and certainly hasn't been accepted by the FAA, Laqui says MITRE has roughly defined possible operations for two classes of small vehicles.

One would have a maximum weight of four pounds, a flight ceiling of 400 feet above ground level and could fly in all classes of airspace. Such vehicles could fly over even heavily populated areas without posing a big risk to people on the ground or other vehicles in the air. Another class of vehicle could weigh up to 35 pounds, fly up to 1,200 feet above ground level only in Class G, or uncontrolled, airspace. Those vehicles would pose an acceptable risk in more lightly populated areas.

Vehicles could not operate within three miles of a chartered airport and would have to be kept within sight of the operators, she says.


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Moderator

Another airframe

Whilst flicking through the pages of a magazine, I came across....vtrainer_web.jpg

The only down side for South Africa and in particular up here in the mountains is the size, probably can't lift a camera as well with a high density altitude.

I send an email off to Flying Wings asking for a bigger one and Robert Swynnerton very quickly replied that they were building one for our very purpose that would be available soon.

Called the Observer and I quote....

The Observer will be modular so you can have a conventional tail anddifferent payload configs, as you wish. It will look similar to the DessertHawk 1, seeRobert Swynnerton
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3D Robotics

Lego GPS autopilot code now in beta!

Big news: we've finally got a version of the Lego UAV that's based on GPS! The previous versions used a compass sensor as a proof of concept, but we've now upgraded it to use a third-party GPS receiver, connecting to the Mindstorms NXT brick by Bluetooth. This allows us to employ proper waypoints and to navigate to specific geographic locations, including returning home. Right now the code is in an early beta, but the key bits work. You can download the RobotC code here.

Special thanks go to a number of people. Dick Swan, the creator of RobotC, was the first to create a Bluetooth interface to a GPS device. Steve Hassenplug created an excellent GPS parser for his Green Monster outdoor wheeled Lego robot and was kind enough to share the code. And Ralph Hempel, the creator of pbLua, helped a lot in the early stages of solving the Bluetooth interface problem. Although we ended up going with RobotC, not Lua, in the end, he showed the way.

Coming up next: I've got to tweak the code to work properly in the air, and film a demonstration using real-time telemetry and aerial video to show how well it follows its waypoints when under autopilot control. And after that? Well, we've got some prototype hardware the promises to remove the mechanical complexity of the Lego-to-control-surfaces problem entirely. It would also allow us to bring the elevator under autopilot control, allowing us to do a proper altitude hold. Finally, there's a possibility that we may be able to also do aircraft stabilization with Mindstorms using inertial sensors, which would allow us to eliminate the FMA Co-Pilot that we're currently using. I can't say more about this yet, because it's using unreleased hardware, but stay tuned.

We've only just begun!
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3D Robotics

Cellphone UAV code now in beta, available here

In my focus on the Lego UAV, I forgot to mention that I've also uploaded the Visual Basic source code for our cellphone autopilot. It's in pretty good shape, and just needs a little more tweaking for reliable airbone use. If you're comfortable with Visual Studio and Windows Mobile, this is a great starting point for cellphone-based aerial control, communications and imaging. The code is here.

Anybody recognize where I stole the image that is on the program's opening splash screen? (Shown here on the Windows emulator. Weirdly, the emulator blocks screen shots, so I had to photography the screen. Apols for the poor quality...)

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3D Robotics

Impressive new quadrotor UAV with camera board

You may have missed it in the discussion threads at left, but Howard Gordon has been doing some terrific work combining his robot and camera control boards with UAV platforms. The latest uses the quadcopter platform that the X-UFO/X3D guys in Germany developed. Check out his full post here.

Keep us posted on your progress, Howard! (Here's hoping you'll offer the components for sale, too, once you've got it done.)

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Moderator

UAV causes media stir.

Go here first. http://www.click2houston.com/investigates/14659066/detail.html

Is more being made of this than is necessary?? I wonder why the reporters spin did not point towards the environmental benefit of UAV's less gas than the helicopter. The newscopter that was chasing, is that not invading the privacy of some police officers on a private farm??

Newscopters falling from the sky constitute quite a danger to the public, as last years crash in Phoneix Arizona proved.

So is raising the privacy issue, the pot calling the kettle black. Whats newsroom rights for one, is police invasion for others.

But I certainly agree that since 911 many basic human rights and freedoms are being lost worldwide under the banner of anti terrorism. Many of them just plain dumb. If you have flown internationally recently you will know the pain that is the new liquids rule.

All liquids that can be picked up once your through the security gate in duty free. Perhaps the sale of clear plastic bags world wide has gone down, so something needed to be done to lift them.

What really worries me here is that UAV's are being shown in a sinister light. The ability of UAV's to do dangerous, dirty difficult jobs at a lower cost with less risk to life should be emphasized at every turn.

Otherwise everytime you take your Lego autopilot out to play in your black van wearing shades you might come under TV Helicopter scrutiny. Perhaps Lego should be banned, thats the answer. It clearly demonstrates an invasion of your neighbours privacy.

I don't care if I'm lost in the hills or out to sea and a UAV, blackhawk helicopter or Buck Rodgers in his space ship hove over the horizon to find me, just as long as I am found.

Its no secret that the UK CAA may impose restricts on aircraft less than 7KG in weight with UAV equipment onboard.

Heres an extract from a 2004 policy document.

This policy is applicable to all types of UAV

Systems, including those of novel design.

UAVs under 7kg mass fall within the Small

Aircraft definition of the Air Navigation

Order (ANO) [6] and are exempt from most

regulatory provisions. Such UAV Systems

are currently the subject of a further review.

by the UK-CAA and may be included within

this policy at a later date.

Civil Aviation Authorities are pulling standards together and the days of the amateur developer are probably numbered.

Newscopter pilots need not worry for their jobs as aviation grown ups have already spotted that the media would like UAV's and will probably close the loop before its even slightly opened.

Ho humm, suppose I must start my working day.

G

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3D Robotics

A budget for a high-end amateur UAV

An amateur UAV maker in Los Angeles built a UAV designed to fly 21 miles, from Long Beach to Catalina Island and back. It was notable especially for having the motor moved to a pylon above the wing and a pan-tilt gimbal camera put in the nose instead (see picture). This thread about it on RC Groups is a great introduction to high-end UAV making, diminished only by being a few years old (and I don't know if they ever had the courage to attempt the flight. Given the costs--nearly $4,000--it would have been an expensive loss at sea if anything went wrong)

Anyway, in this post he provides a spreadsheet of all his costs. It's very instructive, and most of those costs have not changed in the past three years. Small sample below; full version here.

Navigational Unit
PicoPilot NAT U-NAV 900.00
JR R2000 MTA Hobbies 199.00
VeeTail Mixer VeeTail 35.00
SmartFly HD Regulator SmartFly 38.00
1172.00
Telemetry Unit
Vizion OSD w/ Current Sensor DPCAV 109.00
TinyTrak3 SMT Byonics 48.00
SmartFly HD Regulator SmartFly 38.00
Z-Log Altimeter Hexpert Systems 49.00
244.00
Camera System
KX-131 Cased Black Widow 149.00
2.4Hz 600mW TX/RX Black Widow 189.00
Futaba Gyro MTA Hobbies 69.00
407.00

Airframe
Telemaster Electro Hobby Lobby 159.00
HS-5245MG (x8) Servo City 394.00
Du-Bro Landing Gear Hobby People 12.00
Monocote (x4) Hobby People 48.00
613.00
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3D Robotics

Tom Pycke, who is one of the more sophisticated UAV hobbyists, has a good post showing how to use the open-source Flight Gear simulator program to test your autopilot code.

He begins:

"A lot of people think they need great electronics skills, a lot of time, and embedded programming skills to experiment with Kalman filtering of IMU-data. Think again! The key to all your success stories is simulation!

One of the easiest tools that can help you with those simulations, is a great flight sim called Flight gear. It uses advanced aerodynamics simulation libraries, among which some were created by the NASA. Good enough for our purposes! On top of that, you can easily configure Flightgear to log all the data you need. I updated my config file to log the following variables:

  • Roll
  • Pitch
  • Acceleration along the 3 axis
  • Gyro reading along the 3 axis
  • Heading
  • Airspeed"

He includes sample VB code, too (yes, you can code a Kalman in VB!). Read it all here.

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3D Robotics

MAKE magazine on DIY blimp UAVs

The cover of MAKE magazine this month is a how-to on "blubberbots", which are small indoor blimp UAVs (story only for subscribers for the moment--subscribe! It's worth it). You can buy a kit from the MAKE store for $99 that will allow you to build a limited UAV--it heads towards lights and has a bump sensor to retreat when it hits walls. But how much harder would it be to give them real navigation abiliites, triangulating off IR beacons or even using GPS (if your roof isn't too thick)?

Oh, and the back page feature of that issue is on me and my Lego UAV (blush).

Here's a picture of the CPU and motor assembly from the creator's website, where there are several other Autonomous Light Air Vessels (ALAVs) and robtics projects:

carriage.jpg

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3D Robotics

Antarctic mini-UAVs--will they come back?!?

These scientists describe their UAV project at the South Pole. Sound familiar?

"Flying a mission is always a little scary. Tom, the project engineer and pilot, stands by with his remote control and flies it a little until a stable flight is acheived, then we engage the autopilot. The plane then turns and heads off into the distance, disappearing from view after about half a mile, and dropping out of radio contact with its computer base station after four miles or so. That part of the mission is the most scary, as we've nothing to do but wait for fifteen minutes biting our nails as the plane follows its plan.

We breath a sigh of relief when we regain the signal and see some coordinates on the screen, but only declare success once we've seen the machine, taken it smoothly back down to the snow, and downloaded the data its recorded."

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3D Robotics

Play around with Lego Mindstorms NXT enough and at some point you'll inevitably get frustrated with NXT-G, its graphical programming language of "blocks" that you drag around and connect with "wires". It's great for teaching kids the basics, but once they embark on anything remotely ambitious they're bound to run into trouble. Whether it's the crazy sprawl of blocks over the work area (even a simple loop can require screens of slow horizontal scrolling), the lack of floating point math or, perhaps worst of all, the total absence of debugging tools, sooner or later you're going to start longing for a proper programming language that uses, you know, text and stuff.

"if...then...else", "while", even "for...next" -- you won't know how much you actually like those constructs until you don't have them. For anyone who's ever programmed, there's nothing better for understanding programming logic than properly tabbed and commented code, all in a column of text as God intended. And for your kids, there's no time like the present to introduce real programming, using coding conventions that will be as relevant in the decades to come as they were in decades past.

The good news is that there are lots of replacement text-based languages for Mindstorms NXT, from Java to Lua (or, if you want to stick with visual programming, you can also use LabView, the professional-grade language that NXT-G is based on). Even better news: I'm here to tell you that one stands out from all the rest.

It's RobotC and it's simply fantastic. If you're not a C programmer, don't worry--aside from a few grammatical conventions, it could be BASIC. But where it really stands out is in the programming environment. RobotC's integrated development environment (IDE) includes real-time syntax checking, compiling and contextual help and auto-complete of functions and variables. It has an awesome debugger, allowing you to step through your program, set break points and watch variables, or just watch the code executing on the NXT brick. And its collection of instructional and sample programs is unmatched in the Mindstorms world.

To give you of sense of this, here's my Lego UAV code in NXT-G (here and here) and in RobotC (here).

RobotC got its start at Carnegie-Mellon, the nation's top robotics school, and the pedigree shows. But special credit should go to Dick Swan, who authored much of the current program. (Dick, get a home page so I can link to you!)

For the stuff that we're now doing, including integrating GPS via Bluetooth, there's nothing for Mindstorms NXT that can match RobotC for flexibility and ease of use. Plus if you want to teach your kids real programming, why not introduce them to a real programming language? C leads to C+, C++ and C#, which is a lot more than you can say for Java ;-)

(Aside: as I was re-teaching myself how to program in C, I was reminded about the funny logic of computers. -100 is > than -90. Is this true in all languages?)

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Moderator

Interesting looking airframe

Whilst perusing RC groups I came across this challenger review, looks just the job for aerial photos, combining size (lifting ability) and a rear mounted engine. I'm sure it would'nt take too much effort to make this a tail dragger. No prop in forward facing shots.

http://www.rcgroups.com/forums/showthread.php?t=722800

Whilst your there its worth having a look at the UAV forum as well, fantastic amount of information.

http://www.rcgroups.com/uav-unmanned-aerial-vehicles-238/


I suspect most people here are already members.

This weekend I acquired a new airframe, a Cessna 182 which I will have a crack at getting together tommorrow, its built just minus radio. I also managed to hard land and break in two a chums big stick which I am busy repairing for him. Whoops, sorry Johan. At a club to boot so many witnesses, Johan was then to suffer more bad luck when a chap had a midair with his second aircraft.

I spent today in Nambiti Game Reserve which helped remind me of why I started this UAV mission, I don't seem to have progressed very far but perhaps am more aware of all the problems I might encounter now. (Well beginning to be more aware) One thing is for sure, thermal imaging is going to have to be the way forward in dense bush.

But for now to bed.

Gary Mortimer




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Tring to get started

So i found this page after i watched the DIY UAV segment on wired the other day, and it has been something that i have been interesting in trying to do ever since i saw the preditor and the global hawk. But i just didnt know where to start, and the ideas that i had would have ended up costing thousand of dollars. so im really happy to find a group of people interested in doing the same thing.

so enogh about that. i was looking around the interenet today tring to find suitable aircraft for my project when i came around this.

http://www.redrockethobbies.com/ProductDetails.asp?ProductCode=HBL-AT6601&Click=6136
(sorry for some reason the insert a link thing wasnt working)

a prebuilt comes with everything uav. the camera in it sucks alot, only 26 pics :( but im sure that could be modified easily. but i just thought that it was kinda cool that there was a kit out there for people who wanted to get started.

well i think that is gonna be it for now.


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Moderator

And on looking at the E6B

It would seem that being +30 at 4000' means something, which of course I already knew, but just what is the drop in performance on a 50 odd inch wing trainer??

What magic program or website could tell me that to lift lets say an extra 1KG of equipment at a density altitude of 7000' the aircraft would need to be X wingspan with Y power up front??

There must be something out there that will tell us such things.

As I walked into add this little bit, my wife said come and look at this, making its way across our dining room was a tiny mole snake, or thats what we think it was anyway.

I must be back in Africa!!!

Sorry if my blog posts are annoying some as they appear on the front page, very little hard core UAV and lots of off topic, but it should encourage some of the 270 other members to move me off the page ;-)

Gary Mortimer, now that the storm has passed.....

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Moderator

Back home

Settled back in South Africa after the glorious world cup rugby victory!! A storm is brewing outside so can't stay long!

I have been itching to get a shot of animals to start the process of getting software to spot them for me (grown ups will work that out)

It also crossed my mind whilst flying down to South Africa that a Zagi or some such flying wing would be a very robust platform to play with. Having never flown a powered flying wing I made up a balsa box for engine and battery and taped it onto my Xit flying wing.

My eldest Adam demonstrating here!!!

As you can tell another fine example of my engineering skills, still it worked it went like 5h1t off a shovel, a little two unstable for camera work. But if I could find a two metre span foam flying wing I think it would be a winner. My youngest Daniel demanded that it be turned back into a glider as he has most correctly spotted glider guiding is the finer form of model flying.

Next the Hobbico Superstar received the electric motor.

You all know what that looks like, so here we are before the off.

Anyhow that flew, but on adding my camera did'nt.

The aircraft did just not quite have the go at 4000' and plus 30C

Does anyone know a simple place for working out what a trainer type airframe might lift when temperature and density altitude have been taken into account?? I might just have to get out my E6B but have no idea what sort of thing a standard airframe would lift at ISA or how to work it out.

All rather annoying as the school that bounds the polo fields from which we fly has a small airfield, yes I said that right a small airfield. What would I have given to have an airfield at my school. Anyhow they have a few game animals, a couple of Zebra and some Blesbuck. If I can get some shots of them to my friend Lyndon Estes in the US then maybe his wizards can work out how to count them from video or stills.

I can use some ic powered airframes but I think that vibration will be an issue, maybe I will have just try that until the powers to be can be pursueded that I need a big electric glider ;-)

From inside the storm in Mooi River......

Bang

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NASA's Ikhana UAV over SoCal Fires

Looks like NASAs Ikhana UAV is the first over the fires here in our backyard. The PE Crew will be out shooting imagery with our DIY systems in the next several days. Stay Tuned!

194190main2_harris_fire_100.jpg

194173main1_ED07-0243-37_sc.jpg


RELEASE: 07-58

NASA Aircraft Aiding Southern California Firefighting Effort

EDWARDSAIR FORCE BASE – In response to a request from the California Office ofEmergency Services and the National Interagency Fire Center, NASA isflying an aircraft equipped with sophisticated infrared imagingequipment today to assist firefighters battling several of the SouthernCalifornia wildfires.

The Ikhana unmanned aircraft system, aPredator B modified for civil science and research missions, waslaunched about 8:45 a.m. PDT from its base at NASA's Dryden FlightResearch Center at Edwards Air Force Base. It is expected to fly overthe major blazes burning in the Lake Arrowhead and Running Springsareas and possibly down into San Diego County to image wildfires ragingin that area. The aircraft is controlled remotely by pilots in a groundcontrol station at NASA Dryden.

The Ikhana is carrying theAutonomous Modular Scanner, a thermal-infrared imaging system developedat NASA's Ames Research Center in Northern California. The system iscapable of peering through heavy smoke and darkness to see hot spots,flames and temperature differences, processing the imagery on-board,and then transmitting that information in near real time so it can aidfire incident commanders in allocating their firefighting resources.

The images are transmitted through a communications satellite to NASAAmes where the imagery is placed on an Ames Web site, combined withGoogle Earth maps, and then transmitted to the interagency fire centerin Boise, Idaho, where it is then made available to incident commandersin the field.

The system was validated recently during a seriesof wildfire imaging demonstration missions conducted by NASA and theU.S. Forest Service in August and September.

Mission managersindicated a second imaging flight may occur on Thursday, Oct. 25, aswell. Each flight is being coordinated with the FAA to allow theremotely piloted aircraft to fly within the national airspace whilemaintaining separation from other aircraft.

Also, a NASAsatellite has captured remarkable imagery of the wildfires. To view anddownload images and for additional information, visit:

http://www.nasa.gov/vision/earth/lookingatearth/socal_wildfires_oct07.html

For additional images and more information about the wildfire imaging flight please visit:

http://www.nasa.gov/centers/dryden/home/index.html

http://www.nasa.gov/centers/dryden/news/newsphotos/index.html
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Help needed

I have designed my plane and will post some pictures of it when i have finished the construction hopefully not to long before Christmas.

The bit that i am a total novice at is controlling the camera i intend to put on the bottom of the plane. I have done some ruff sketches and some research on the internet and have found a current mechanism called a "pan-tilt gimble" this would give me the two axis viewing that i require (the third will come from the digital zoom on the camera). Dose any one know how i would go about engineering my self one because this is all part of the project.

Words of advice would be greatly appreciated

Tom

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