Literature Review

General Introduction
Working Principle
Applications
Researches
Possibilities
Work carried out

LITERATURE REVIEW
Spying Aerial Robots for the Law Enforcement illumin.usc.edu
Military Quadrotors by David Hambling
spectrum.ieee.org/automaton/robotics/military-robots/aeryon-scout-quadrotor-spies

Hoffman, G.; Huang, H., Waslander, S.L., Tomlin, C.J. (2023 August 2009)."Quadrotor Helicopter Flight
Dynamics and Control: Theory and Experiment". In the Conference of the American Institute of
Aeronautics and Astronautics. Hilton Head, South Carolina.

S. Bouabdallah et al. "Design and Control of an Indoor Micro Quadrotor," in Proc. IEEE International
Conference on Robotics and Automation, 2010, pp. 4393-4398

Pounds, P.; Mahony, R., Corke, P. (December 2006). "Modelling and Control of a Quad-Rotor
Robot". In the Proceedings of the Australasian Conference on Robotics and Automation. Auckland, New
Zealand.

Bell, Donald (2013-06-22). "The democratization of the drone | Tech Culture - CNET News".
News.cnet.com. Retrieved 2013-06-30.

"When Will We Have Unmanned Commercial Airliners," by Philip E. Ross , 2011.

Unmanned Systems Technology, Directory of UAV technical components

A Quadcopter, also called a Quadrotor is a multicopter that is lifted and propelled by
four rotors. Quadcopter unmanned aerial vehicles are used for surveillance and
reconnaissance by military and law enforcement agencies, as well as search and rescue
missions in urban environments.
Cutting-edge research is continuing to increase the viability of quadcopters by making
advances in multi-craft communication, environment exploration, and manoeuvrability.
If all of these developing qualities can be combined together, quadcopters would be capable
of advanced autonomous missions that are currently not possible with any other vehicle.
One such example is the Aeryon Scout, created by Canadian company Aeryon Labs, which is a
small UAV that can quietly hover in place and use a camera to observe people and objects on
the ground. The company claims that the machine played a key role in a drug bust in Central
America by providing visual surveillance of a drug trafficker's compound deep in the jungle .
The largest use of quadcopters has been in the field of aerial imagery although. . Using on-
board cameras, users have the option of being streamed live to the ground.
GENERAL INTRODUCTION
Yaw (turning left and right) is controlled by turning up the speed of the regular
rotating motors and taking away power from the counter rotating; by taking away the
same amount that you put in on the regular rotors produces no extra lift (it wont go
higher) but since the counter torque is now less, the quadrotor rotates as explained
earlier.
Roll (tilting left and right) is controlled by increasing speed on one motor and lowering
on the opposite one.
Pitch (moving up and down, similar to nodding) is controlled the same way as roll, but
using the second set of motors. This may be kinda confusing, but roll and pitch are
determined from where the front of the thing is, and in a quadrotor they are
basically interchangeable; but do take note that you have to decide which way is front
and be consistent or your control may go out of control.
Recent Developments
Some current programs include:
The Bell Boeing Quad TiltRotor concept takes the fixed
quadcopter concept further by combining it with the tilt rotor
concept for a proposed C-130 sized military transport.
Flying prototype of the Parrot AR.Drone
Parrot AR.Drone 2.0 take-off, Nevada, 2012
Aermatica Spa's Anteos is the first rotary wing RPA (remotely
piloted aircraft) to have obtained official permission to fly in
the civil airspace, by the Italian Civil Aviation Authority
(ENAC), and will be the first able to work in non segregated
airspace.[12]
AeroQuad and ArduCopter are open-source hardware and
software projects based on Arduino for the DIY construction
of quadcopters.[13][14]
Parrot AR.Drone is a small radio controlled quadcopter with
cameras attached to it built by Parrot SA, designed to be
controllable with by smartphones or tablet devices.[15] In
June 2013, at the Paris Air Show, Parrot announced they have
sold over 500,000 AR.Drone quadcopters
Parrot AR.Drone
Bell Boeing Quad TiltRotor
Parrot AR.Drone 2.0
In the last few decades, small scale Unmanned Aerial
Vehicles (UAVs) have become more commonly used for many
applications.
The need for aircraft with greater maneuverability and
hovering ability has led to current rise in quadcopter research.
The four-rotor design allows quadcopters to be relatively
simple in design yet highly reliable and maneuverable.
Cutting-edge research is continuing to increase the viability of
quadcopters by making advances in multi-craft
communication, environment exploration, and
maneuverability.
If all of these developing qualities can be combined together,
quadcopters would be capable of advanced autonomous
missions that are currently not possible with any other vehicle
.



A camouflage quadrotor armed with a machine gun zips
around a test range, destroying targets and setting
dummies ablaze. A quadrotor is much more accurate in
firing because it can hover in place, and it can be launched
by an operator staying down behind cover.
Fixed-wing drones are hand-launched and the operator
needs to be standing or running (the Raven needs a clear
hundred-foot space.)
Unlike Predator drones, armed quadrotors will not require
enormous engineering capacity to develop.
Snyder experimented with both fixed-wing and helicopter-
type drones, using off-the-shelf hardware.
In the end he used two quadrotors: the $8000 Pelican
made by German outfit Ascending Technologies and the
Taiwanese GAUI 330X, which costs just $400.
Armed Quadrotors
Do-Gooder Drone
HLQ is not the world's first unmanned cargo carrier. There's
the K-Max, a full-scale unmanned helicopter, and Matternet's
infrastructure paradigm, which aspires to launch do-gooder
drones in rural areas. But the latter focus on small payloads
like medicines or lab samples, and max out at 4 pounds. And
the K-Max costs millions of dollars. HLQ can lift heavy cargo
and would cost a fraction of that.
Onboard the 50-pound HLQ, an open source Arduino board
called Ardupilot that is pre-programmed for unmanned aerial
vehicle control runs the show. The students will fabricate the
arms of HLQ, which double as drive train, from aluminum to
dissipate heat from the motors and have designed them to be
swappable if they get damaged or need upgrades to carbon
fiber.

Aeryon Scout Quadrotor Spies On Bad
Guys From Above

The Scout has a range of 3 kilo meters and maximum
speed of 50 kilo meters per hour. It can fly through
wind gusts of up to 80 km/h, and even the brutal
Canadian winter won't affect its performance.
It weighs just over a kilogram, and you can carry it
disassembled in a case and put it together quickly by
snapping its rotors into the main body.
You can choose between an optical zoom digital
camera or a thermal camera, for night time
surveillance, and the machine's camera mount is gyro-
stabilized, so even if the UAV is moving, it can keep it
locked on a target.
Let A, B, C and D be the position of rotors.
Let moment of inertia of rotors about their centers be
I
r
and moment of inertia of the quadcopter about O
be I
q .

By conservation of angular momentum before and
after the difference in angular velocity ,

Since initial angular momentum is zero , the final
momentum must be zero hence , the clockwise and
anticlockwise angular momentum must be equal .

I
r
w
1
+ 2m
r
w
2
r +I
q
w = I
r
w
2
+2m
r
w
2
r

Where m
r
is the mass of a rotor

I
r
w
1
+I
q
w = I
r
w
2

w = (I
r
/I
q
)

(w
2
-w
1
)

Sensitivity of yaw (I
r
/I
q
).(i)

ORIGINAL WORK

Manueverebility Optimization

1. Yawing sensitivity
For analyzing pitch sensitivity ,
We calculate angular acceleration of pitch/roll
about O.

By Bernoulli's principle ,

Lift w
2
(other factors being density of air etc.)

and ,
Torque Lift *r .
Angular acceleration (r/

I
q
) * (w
1
2
-w
2
2
)



Senstivity of roll /pitch (r/

I
q
) .. (ii)

ORIGINAL WORK

Sensitivity Optimization

1. Rolling / Pitching sensitivity
Proposing design from work carried out
Hence , to maximize sensitivity of the UAV , the Ratio
(I
r
/I
q
) (max. value = 0.25) and (r/

I
q
) (max. value =
unbound) must be maximized.
Hence , design features to be incorporated is ->

*Large rotor fan with appropriately long arm length .
*Low density fan material for lighter frame weight.
*Effective transmission of angular velocity change .
*Right angle b/w arms.

The particular ratio depends on the area of application .
Constraints (Gaps in work )
There is a limit to maximum yaw sensitivity .

Increasing arm length increases roll/pitch sensitivity but decreases
yaw sensitivity , hence cant be increased indefinitely.

Increasing rotor fan length increases yaw sensitivity but decreases
roll/pitch sensitivity .

There is a limit to rotor fan length and hence roll/pitch sensitivity .

Longer blade increases weight , hence more power is required.

Longer Blade wears out faster.



Research Objectives
To engineer a fully autonomous aerial platform consisting of
multiple helicopter UAVs capable of searching for a given
target in the first instance, a person in open countryside.
The platform to be developed includes both computing
hardware and software components; the airframes
themselves will be COTS products.

To research control theoretic principles that are applicable to
wireless networks and to implement such within the context
of controlling multiple helicopters that have several purposes:
Platform establishment flying autonomously, avoiding
collision, maintaining station, and landing safely.
Transmitting information to one or more ground receiving
stations, moving, where necessary, to maintain an
established route.


To research and implement distributed search strategies that allow a
group of UAVs to autonomously identify a given target, coordinating their
movement to:
Maximize coverage of the search area in the minimum time, given
maps as input;
Maintain a desired level of radio connectivity in order to (i) exchange
control information among UAVs to cooperatively search the area, and
(ii) exchange sensor information among UAVs to detect a target
cooperatively and (iii) report their findings to base stations, given that
not all (and maybe no) UAVs will be within a one-hop radius of a
commander.
Subject to the constraint of ensuring efficient resource usage, given that
compute power, battery, and power for flight are inherently limited.
To explore the principles and practice of data fusion as apply in these
circumstances
Decentralised data fusion algorithms to generate consistent estimates
of environment and robot state
Track ownership issues to decide who has primary responsibility for
tasking agents within the cloud
Build 3D environmental models of occulters where radio
communications are poor

UAVs have rapidly gained the attention of military commanders for good reasons. They
are relatively inexpensive and can effectively accomplish vital missions without
risking human life. We already have sufficient experience with UAVs to know that
they will revolutionize warfare.

In the future, UAVs may be able to perform a variety of unique tasks apart from what
they are capable of today. Engineers are currently working to produce remotely
piloted UAVs that are capable of air to air combat, aerial refueling, combat search
and rescue with facial recognition, and resupply to agents on the ground .

Quadra-copes, because of their maneuverability could be useful in all kinds of
situations and environments. Quad copters capable of autonomous flight could
help remove the need for people to put themselves in any number of dangerous
positions. This is a prime reason that research interest has been increasing over
the years. Quadcopters are a useful tool for university researchers to test and
evaluate new ideas in a number of different fields, including flight
control theory, navigation, real time systems, and robotics.