Autonomous VTOL For Avalanche Buried Searching

Outline
Introduction to Mountain Rescue
Drone Avionics
Design of a Digital ARTVA
Simulations and Conclusions
Autonomous VTOL for Avalanche Buried Searching
Avionics
Matteo Ragni
Ingegneria Meccatronica Robotica
Q&A
Outline
Drone Avionics

Drone Avionics
Q&A
Outline
Drone Avionics

Drone Avionics
Q&A
Outline
Drone Avionics
Mountain Rescue Intervention

1. Helicopter drops the rescue team
2. Starting Point
Call from witnesses or hikers in

danger
Helicopter mission
Evaluation of critical risk
Searching on avalanche surface
Searching for ARTVA signal presence
Fine ARTVA searching
Buried extraction
3. Searching for a signal
4. Signal found
5. Pinpointing a victim: ~2min
Buried
Chances of survival (%)
100
80
60
40
20
0
50
100
Time (min)
150
Q&A
Drone Avionics
Q&A
ARTVA Beacons Overview
I A1A Signal:
I
TX MODE
I
amplitude modulated
digital signal
one carrier
frequency: 457kHz
frequency error
80Hz
Intelligence
Outline
1000 300ms
70ms 400ms
I Hfield peak at 10m

I
I
RX MODE
0.5 A m1
2.23 A m1
x
Time
Triple
Frequency shift
Antennas
Antialias filter
Analog
AD
Digital
Conversion
Hfield
Signal
Estimation
Detection
Digital Filter
Outline
Drone Avionics
HField in Transmission
Field Complexity
;
Simplified Equations for Hfield
2
2
2
3xy
3xz
2x y z
0
B(r, m) =
3xy
2y2 x2 z2
3yz
4r5
3xz
3yz
2z2 x2 y2
Q&A
Outline
Drone Avionics

Drone Avionics
Q&A
Outline
Drone Avionics
PerceptionAction Map
Litterature overview...
... applied to our agent
Agent
Grounding
Perception
ar
d
Ra
Action
Emulator
Emulation
Model
Hypothesis
Environment
Source
searching
tec
de
Exploration
routines
Altitude Keeping
Obstacle Avoidance
Subsumption and grounding
Emulation
Tracking Problem
Dynamics and control
Q&A
Outline
Drone Avionics
Dynamics, control and tracking

LQR Control
Li =
mg
6
1
s
x = f (x, u)
xf
NewtonEuler Equations
zb
Li
Mi
x = [x, y, z, , , , u, v, w, p, q, r]T
/3
yb
zg
xb
x = f (x, u)
yg
xg
u = [Li : i = 1..6]
Q&A
Outline
Drone Avionics
Q&A
Obstacle Avoidance
obstacle
v = R(, , ) v(di )
i=1
di
ui
v(di)

cos (i 1)
3

sin (i 1)
3

I Advantages
I
I
I
low computation needed

minor constraint on upper layers
fit QFD constraints
I Drawbacks
I
I
nonoptimal paths
limited reliability
Speed function example:

!
1

v ( di ) = p3
1
p
p
4 21 di p2
3
1+e
Outline
Drone Avionics
Altitude Keeping
Identification of the surface normal m S.L.A.M. Problem
mt
h
mt-1
C
B
A
mt =
(A B) (B C)
|(A B) (B C)|
Keep the VTOL at costant distance h along exstimated plane normal mt
Q&A
Drone Avionics
Exploring and Searching Signal Presence
Explore the surface, starting from point p0 , to the point pn
Receiver range
an
e
di
re
ct
io
p0
Pl
Outline
pn
We need a strategy to understand if there is a signal
Q&A
Outline
Drone Avionics
Radar Detection Problem for Signal Presence

s
Signal Source
p(s)
p ( s | H0 )
p(s|H1 )
p(s|H0 )
PD
PM
Z0
p(s)
Z1
p(s|H1 )
p(s|H0 )
Z0
p(s|H1 )
PF
PC
Z0
Z1
Z1
Minimize the risk incurred due to erroneous decisions

min R = R(ci,j , PX )
Z0 = {s Z : (s) < }
Z1 = {s Z : (s) > }
Q&A
Outline
Drone Avionics
Q&A
Pinpointing Signal Source

Emulation of an Hfield
Searching the Maximum Hfield
|H| sin
And for multiple burials?

The stimated position is given by the
solution of the optimization problem:
H(pt , m, x) 2
min = H
(p x)2 r
max
T
H
cos
|H| cos
sin
and treated as a stochastic variable
|v|
|H|
Previous
knowledge
p (p) =
1 N (p pk , h)
N k =1
V (h)
from p (p) we extract mean and

covariance!
Outline
Drone Avionics

Drone Avionics
Q&A
Outline
Drone Avionics
Q&A

General Overview
Triple antennas
Power supply
z
Ferrite rod
Loop solenoid
Power supply
Analog
stage
Filter stage
Analog
stage
Analog
stage
ADC
Id
en
fie
tif
ica
tio
pli
an
Am
dT
Identification
ne
Filter stage
Pr
ea
Tu
Tuned tank
mp
lif
ier
Digital
stage
Drone Avionics
Q&A
Schematics Antenna and PreAmplifier
PreAmplifier Characteristic
Magnitude (dB)
Outline
50
50
100
150
103
104
105
106
Frequency (Hz)
107
108
Drone Avionics
Q&A
Schematics Identification and Amplifier
Amplifier Characteristic
Magnitude (dB)
Outline
50
100
150
100
101
102
103
Frequency (Hz)
104
Outline
Drone Avionics

Drone Avionics
Q&A
Outline
Drone Avionics
Q&A
Simulation Results (1)

3
20
Attitude (rad)
Position (m)
10
10
20
30
20
60
40
10
80
100
Time (s)
y
120
140
20
60
40
80
100
120
140
120
140
Time (s)
z
Angular rate (rad/s)
Velocity (m/s)
z (m)
4
1
20
60
40
80
100
Time (s)
v
120
140
20
60
40
80
Time (s)
q
100
Learned orientation
0.5
0.5
1
0
10
20
60
15
20
20
25
30
Position found in 110s
y (m)
Learned intensity (A/m)
10
cos( ) real
100
sin( )
120
140
sin( ) real
103
15
80
Time (s)
cos( )
x (m)
40
104
105
106
20
40
60
80
Time (s)
|H|
|H| real
100
120
140
Outline
Drone Avionics
Q&A
Distance d0 (m)
Simulation Results (2)
p(ptx,x |H)
0.15
0.10
0.05
6
4
2
0
50
100
ce
tan
150
s
Di
Time (s)
0.00
30
20
10
20
10
30
40
50
/3
(m
0
0
150
60
30
d 5
x
30
sta
Obstacle
10
10
20
20
30
30
40
40
50
nc
e
100
/3
(m 0
)
150
Di
150
y (m)
10
(s)
Di
Latest optimization results

10
Tim
20
Optimization results
e(
s)
e
Tim
20
50
100
Drone position
Transmitter position
sta
nc
ed
2
Tim
e
(s)
s)
e(
Tim
100
50
100
60
30
20
10
20
10
x (m)
30
40
50
60
60
0.00
e
nc
sta
Di
0.05
0.10
p(ptx,y |H)
d 2
/3
(m
Time (s)
150
100
50
0
2
0.15
4
6
Further improvements: weight the solutions

with respect to time!
Distance d (m)
2
4
50
50
150
50
4
4
/3
(m
Outline
Drone Avionics
Conclusions
ARTVA
A review of the ARTVA protocol is strongly advised
The ferrite antennas must be carefully modeled
Move from analog devices to softwaredefinedradio for better performance
Avionics
PerceptionAction map fits our problem requirement
A wiser emulator should be defined, with time related weights
Performance can be improved by augmenting perception
Q&A
Outline
Drone Avionics
Questions?
Q&A
Outline
Drone Avionics
State of the Art
Projects
SHERPA: Universita di Bologna
Universita di Torino
Project Alcedo Eidgenossische

Technische Hochschule Zurich
Digital searching algorithms
HField Lobe Following and pinpointing
Fast identification with SLAM and sum of Gaussian
Q&A
Outline
Drone Avionics
Q&A
Maxwell Formulation
Application of potential vectors and recalibration map to Maxwells eq.
B = 0
E = B
t
E =
0
B = 0 J + 0 E
t
B = A
E =
A
t
A0 7 A +
1 2
2
c2 t2
2
2 A 1 A
c2 t2
t
1 2 0
2 2
c t
0 7
A0
Application to our problem: integral formulation

Z
1
1
| r r0 |
0
(r, t) =
r ,t
dr
4 0
| r r0 |
c

Z
0
1
| r r0 |
0
A(r, t) =
J r ,t
dr
4
| r r0 |
c
= 0 J
Outline
Drone Avionics
Magnetic dipole problem

For a magnetic dipole problem: = 0!
Solution for boundary condition problem
r
= | r r0 |
r0
x

0 m0
1
A=
sin( )
sin (0 (t r/c))
4r
r

0
+
cos (0 (t r/c))
r
dr
Under the hypothesis: r0 r and r0

BField solution
r
c

0 m0
1
0
cos
(
)
cos
(
sin
(
)
0
0
2r2
r
c

0 m0
2 2 r2 ) cos( ) rc sin( )
sin
(
)
(
c
0
0
0
0
4r3 c
= t
Br =
Br =
Q&A
Outline
Drone Avionics
Simulating a Range Finder
(xi xd )
Characteristic lobe
q
di
|x i
d2i
u2
|
xd
u i
u
h
(maximum radius)
u = (xi xd ) u i
h (maximum range)
Q&A
Outline
Drone Avionics
Simulink Implementations (1)

Parameters
Fi =
mg
6
Hexacopter Model
LQR Controller
1
s
Searching
Algorithm
z attitude
Obstacle
Avoiding
[h, ]
= [xi : i = 1..M]
Range Finder Model di
[p1 , p2 , p3 ]
6
vb = v(di )u i
i=1
RT (, , )
Q&A
Outline
Drone Avionics
Simulink Implementations (2)

TX position pT
Magnetic Dipole m
Parameters
|H|
H sensor
Exploration
direction
1 s + 1
2
1 s + 2 s + 1
cos( )
sin( )
Optimized pT
Emulation
)2 = 0
(H H
Optimized m
TX position pT
Magnetic Dipole m
)
H (x, pT , m
|H|
N (0, )
SNR
Q&A

Autonomous VTOL For Avalanche Buried Searching - AVIONICS (Slides)

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Outline

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

Ingegneria Meccatronica Robotica

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

Introduction to Mountain Rescue

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

Introduction to Mountain Rescue

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

Mountain Rescue Intervention

Call from witnesses or hikers in

Evaluation of critical risk

Searching on avalanche surface

Searching for ARTVA signal presence

Fine ARTVA searching

3. Searching for a signal

Chances of survival (%)

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

ARTVA Beacons Overview

I Hfield peak at 10m

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

Introduction to Mountain Rescue

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

... applied to our agent

Subsumption and grounding

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

Dynamics, control and tracking

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

low computation needed

Speed function example:

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

Identification of the surface normal m S.L.A.M. Problem

Keep the VTOL at costant distance h along exstimated plane normal mt

Introduction to Mountain Rescue

Design of a Digital ARTVA

Simulations and Conclusions

Exploring and Searching Signal Presence

Explore the surface, starting from point p0 , to the point pn

We need a strategy to understand if there is a signal

Introduction to Mountain Rescue