Prof. Kenzo Nonami Department of Mechanical Engineering Division of Artificial Systems Science Graduate School, Chiba University 1-33 Yayoi-cho, Inage-ku Chiba 263-8522, JAPAN
[email protected] Dr. Kenzo Nonami has a Doctorate degree (1979) in Mechanical Engineering from Tokyo Metropolitan University. He worked as an Associate Professor at Chiba University from 1988 to 1994 and as full professor in the Department of Mechanical Engineering and Electronics from 2004. He won the NRC research fellowship at NASA (USA) in 1985 and did research on various fields like robots, unmanned small scale helicopter, Micro Air Vehicle to name a few. He is a member of Japan Society of Mechanical Engineers, Robotics Society of Japan, IEEE, ASME, etc. He has published more than 300 journal papers and seven textbooks. He has guided 36 Ph.D students. He will be taking over as VicePresident of Chiba University in April 2008. He has many awards to his credit from Japan and American Society of Mechanical Engineers. Autonomy in Robots There is a widespread & rapid development of unmanned aircraft (UAV & MAV) equipped with autonomous control systems, called “robotic aircraft” in recent years. Although they can be used for both civil and military applications, remarkable development has taken place for applications in military use. However, by exploiting the outstanding characteristics of these devices, there are infinite possibilities of making use of them for civilian use even though applications are not obvious. In the light of the present scenario, we present here the recent research & development of these autonomous uninhabited aircraft for civilian use. Chiba University UAV group started research on autonomous control from 1998, continued advanced joint research with Hirobo, Ltd. from 2001 and realized in a small-scale hobby helicopter fully autonomous control. We describe here the power line monitoring application of UAV called SKYSURVEYOR. The helicopter with a gross weight of 48kgs, payload of 20kgs and with various cameras mounted on them, with cruising time of one hour, catches power line, regardless of the shake of the helicopter. We have also developed another autonomous controlled hobby helicopter SST-eagle2-EX with a gross weight of 5kg - 7kg, payload of 1kg and cruising time of 20 minutes. This is a cheap, simple system, which can be flown by a single person and can be used for spraying chemicals to fields, gardens, to orchards etc. It can also be used for aerial photographing, for surveillance and for disaster prevention rescues. This system automated the hobby commercial radio control helicopter. Chiba University and GH Craft are continuing research and development of autonomous control of the four rotor-tilt-wing aircraft. This QTW (Quad Tilt Wing) UAV is about 30kg in gross load, take-off and landing is made in helicopter mode and the high-speed cruising flight is carried out in airplane mode. Although Bell company in the US were the first to make this system and the first flight of the QTR(Quad Tilt Rotor)-UAV was carried out in January, 2006, QTW-UAV is not existing in the world now. Scientific observation flights in South pole –the Antartica Exploration using the above system is being done at a fast pace and there has been considerable development. Chiba University and Seiko Epson have jointly tackled the autonomous control of micro flying robot of the smallest size in the world, weighing 12.3g. This offers an opportunity as a light weight MAV with
autonomous control in the interior of a room for image processing using a camera. Chiba University with Hirobo, Ltd.has also succeeded in the development of a similar robot, though heavier by 170g. The configuration of the autonomous control system in the power line monitoring helicopter has been successfully demonstrated in this presentation. Generally, the autonomous UAV used for civilian purpose consists of a power line monitoring helicopter SKYSURVEYOR as indicated earlier. The various systems which are carried on a Civil used UAV are (i) sensors for autonomous control such as GPS receiver, an attitude sensor and a compass (ii) on- board computer and (iii) a powerline monitoring device. These will be dealt in detail in the presentation. The flight of the compound inertial navigation of GPS/INS or 3D stereo vision base is also possible if needed. From the ground station operator assisted flight is also possible. In addition, although a power line surveillance image is recorded on the video camera of UAV loading in automatic capture mode and it is simultaneously transmitted to a ground station, an operator can also perform posture control of a power line monitoring camera and zooming by interruption at any time. Also, the autonomy ground robot like a hexapod robot, a dual manipulator robots, and the autonomy marine robot like a robotic boat are briefly introduced in this presentation.
MAV08 1st US-Asian Demonstration and Assessment of Micro Aerial Vehicle(MAV)and Unmanned Ground Vehicle(UGV) Technology, 10-15 March 2008, Agra, India
Autonomy in Robots
Kenzo Nonami, Chiba University ttp // ec t c ba u jp/ o a / http://mec2.tm.chiba-u.jp/~nonami/
[email protected]
Outline 1. Introduction 2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground
3 Ａｕｔｏｎｏｍｏｕｓ Robots in 3.
the Sky ４ Autonomous ４. A t R Robots b t on the th Water
5．Conclusions
Recent Research topics
Mine Detection Robot ＭＨＶ；Mine Hunter Vehicle Master Slave Manipulator and Hand System UGV Master-Slave Master-Slave Dual Arm System Fully Autonomous Hexapod Walking Robot Fully Autonomous Unmanned Helicopter （ＵＡＶ） UAV F ll AutonomousμFlying Fully A Fl i Robot（ＭＡＶ） R b （ＭＡＶ） MAV Fully Autonomous QTW-UAV（ＵＡＶ） Fully Autonomous Boats UMV Flywheel Energy Storage System by AMB Semi-Active Semi Active Susupension for Automotive Others Car Control Theory and Its Applications
Outline 1. Introduction 2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground
3 Ａｕｔｏｎｏｍｏｕｓ Robots in 3.
the Sky ４ Autonomous ４. A t R Robots b t on the th Water
5．Conclusions
Adaptive suspension p vehicle
TITAN-XI
OSU
The walking forest machine
Plustech
TUM
Fully Autonomous Hexapod Walking Robot ２００２～２ ２００２ ２ ００５
Fully Autonomous Hexapod Walking Robot COMET COMET-I
１９９８～２ ０００
COMET-III ２００２～２
COMET-II
２００１～２０ ０２
Mine detection
Fuji TV
Spec. of COMET-IV
walking walking
（1） Average Velocity with tripod :1 km/h （2）Rough terrain :1 m
（5）Teleoperation （６）Fully autonomous
（3）Slope : 20 deg （4）Omni-directional （4）Omni directional locomotion
Hydraulically driven hexapod robot 前進歩行 段差歩行 正面歩行実験 Mine横進歩行 detection and Disaster restoration
危険作業支援 マニピュレータ
AD Board
(Hazard Operation Manipulator)
ガソリンタンク:40 L (Fuel Tank)
ラダ 型フレ ム ラダー型フレーム
比例電磁バルブ
(Rudder Frame)
Host Computer
(Solenoid Valve)
Wireless LAN
Proportional solenoid control valve
Valve controller
Target Computer Thigh
GPS 発電機
制御ボックス
(Generator)
(Control box)
DA Board
センサユニット
ガソリンエンジン
Hydraulic motor
(Sensor Unit)
(Engine)
Shank Shoulder
：Pressure sensor ：Potentiometer 油圧ポンプ/タン ク:80L
バッテリボックス (Battery Box)
Leg × 6
(Hydraulic Pump / Tank)
COMET IV COMET-IV 全方位カメラ (Omni-Directional Camera)
GPS
レ ザ距離計 レーザ距離計 (Laser Range Finder)
ジョイスティック (Joystick)
ステレオビジョンカメラ (Stereo Vision Camera)
Foot
Master-slave
Mine Hunter Vehicle Project
ＪＳＴproject
Vision based
Bartender
Autonomous cooperative control of dual manipulator
BOX transfer
Outline 1. Introduction 2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground
3 Ａｕｔｏｎｏｍｏｕｓ Robots in 3.
the Sky ４ Autonomous ４. A t R Robots b t on the th Water
5．Conclusions
Fully autonomous UAV family at Chiba University
SF125 (48kg)
SF40 (17.5kg)
SF86 86 (42kg) ( g)
SST-EAGLE2 (5.5kg)
Fully autonomous UAV・MAV family at Chiba University(2)
Micro flying robot (12.3ｇ)
QTW-UAV 23ｋ ｇ
XRB (170ｇ)
X-UFO (400ｇ)
Dusting for rice paddy field by YAMAHA RMAX
Civil Use
Power Transmission Line Monitoring Helicopter by Chiba Univ.,Hirobo Univ Hirobo Ltd. Ltd and Chugoku Power Co. Co
Civil Use
Our Motivation and Goal
Advantages of more small small-sized sized UAV(Unmanned Aerial Vehicle) comparing with YAMAHA RMAX • Low cost and convenience to use (Always and Anywhere) person operation p and the size p put on a • One or two p passenger car
Future applications • Power transmission line minitoring (it starts soon) • Disaster prevention information gathering • Inspection of large structures, river, plants, etc • Humanitarian H manitarian demining assistance • Environmental measurement
Important application
Power transmission line minitoring (This mission will start at this fall)
Disaster prevention information gathering
Trajectory following control using optimal preview control
S character trajectory following flight
（reproduction speed 3times）
Trajectory following control using model following g sliding g mode control
Operator assistance flight control
R Recent t research h topics t i 3D stereo vision based flight control Formation control Development of autopilot unit More M reliable li bl autonomous t flight fli ht control t l Aggressive flight control Many application research for civil use
Control System Design with Stereo Vision
Block diagram of control system
Low Cost Attitude Sensor Quaternion based attitude determination
GU302X
AHRS400CC
(avoid the singularity problem) problem)
Comparison of attitude sensors
3DM‐‐G 3DM
CH3X
GU302X
AHRS400CC
3DM‐G
CH3X
Axis
２
３
３
３
Weight
800ｇ
770ｇ
30ｇ
50ｇ
Customizable
×
×
×
○
Precision
High
Very High
High
Middle
Price (yen)
500,000
1,500,000
320,000
50,000
Model Size
Our recent autopilot unit
Flight test by autopilot unit for SST SST--Eagle2Eagle2-EX
Main Rotor Diameter
1 520[mm] 1,520[mm]
Tail Rotor Diameter
265[mm]
Length
1,430[mm]
Width
245[mm]
Full Payload Capacity
5[kgf]
Engine
2 cycle glow engine
Onboard camera
Main Rotor Dia.
2,500[mm]
Tail Rotor Dia. 273[mm] Length
2,410[mm]
Width
600[mm]
Full Payload Capacity
48,000[gf]
Engine
Gasoline 125[cc]
Power transmission line monitoring system by means of fully autonomous helicopter
Power transmission line monitoring system by means of fully autonomous helicopter SKY SURVEYOR
Camera Image processing PC
Vision PC
CCD
Embedding Embedding system system ・GPS 自律制御装置 ・GPS ・INS/GPS ・INS/GPS ・Attitude ・Attitude sensor sensor 2.4G wireless LAN
stereo vision camera
Mesurement subsystem Advanced control system autonomous flight model based control (unmanned helicopter)
Mission commander Safety operation ・planning ・surveillance ・navigation&return
・health monitoring of helicopter ・image data transmitter ・operator assist command ・camera control command
Navigation subsystem 2.4G Wireless LAN
Trajectory planning and Operation Safe S tii system t S ff operation Safe operation system Path planning navigation
Suveillance Suveillance monitor monitor system system joystick
Image data
movie data
Automated tracking antena Camera Camera controller controller ・pan/tilt
・ Zooming,Focus Zooming Focus ・auto tracking(ON/OFF)
Intelligent Intelligent operation operation （Operator （Operator assist） assist）
Power transmission line monitoring system by means of fully autonomous helicopter
The World Smallest and Lightest Flying Robot
A Palm SizeμFR Stabilizer
ジャイロ効果で機械的に飛行を安定させる
Supersonic motors
パワーウェイトレシオ（本体の重さに 対するパワ の比率）世界最高 対するパワーの比率）世界最高
CCD Camera Gyro sensor 厚さ1.3mm 重さ0.3g
Micro flying robot（μFR）
Specification of μFR （１）Power supply
4.2V
（２）Power （ ） consumption
3.5W
（３）Dimension
136mm in diameter 85 85mm i hight in hi ht
（４）Maximum lift force
17g MAX.
（５）Mass each part
8.6ｇ（without battery） 12.3ｇ(including battery) y) 3.7ｇ（battery） 2.9ｇ（rotary actuators） ｇ（ actuators） ） 0.6ｇ（linear 3.1ｇ（electro circuit） 2.0ｇ（frame）
（６）Flying time
3 minutes
Hi h P High Performance f M Motor t Efficiency
Power weight ratio
C Creature t muscle l
25%
0 1W/g 0.1W/g
DC motor
8-12% including gear loss
0 014-0 06W/g 0.014-0.06W/g
Super-sonic p motor
25-30% 25 30%
1W/g
Flight principle of micro flying robot
３D Vision System
Z
M k Marker X 2.4cm×2.4cm Y
Modeling g and Control System y 4 inputs，4 p ， output p system y and coupled p MIMO system y UX UY UZ UYaw
X Y Z Yaw
Single input and Single output system
XRB
UX
Px
X
UY
Py
Y
UZ
Pz
Z
UYaw
Pθ
Yaw μFR
NHK
Fully autonomous QTW-UAV
High Speed
Airplane mode
Low speed
Transition mode
Helicopter mode
Eageleye
Tilt-down control for QTW-UAV
V3flight
V5flight
V10flight
NewV10flight
Way point flight and Cordination flight control
Autonomous Quadrotor-Based MAVs for Reconnaissance and Surveillance Missions MAV08 1st US-Asian Demonstration and Assessment of Micro Aerial Vehicle(MAV) andUnmanned Ground Vehicle(UGV) Technology, 10-15 March 2008, Agra, India
Way point
UGV & UAV/MAV 43/26
Outline 1. Introduction 2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground
3 Ａｕｔｏｎｏｍｏｕｓ Robots in 3.
the Sky ４ Autonomous ４. A t R Robots b t on the th Water
5．Conclusions
Research and Development of Fully Autonomous U Unmanned d Boat B t ffor 3D M Mapping i ffor S Seabed, b d Bottom B tt of the Lake, and River Bottom
Lake test
Sea test
Spec of robotic boat Spec.
Rudder
Screw
Length: L th 1060 1060mm Height: 250mm Weight: 12 kg Max.Speed: 1.2m/s Actuator: DC Motor Sensors: GPS, sonar, temperature
Sea test: Trajectroy j y following g control
Sea test: Trajectroy j y following g control
Outline 1. Introduction 2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground
3 Ａｕｔｏｎｏｍｏｕｓ Robots in 3.
the Sky ４ Autonomous ４. A t R Robots b t on the th Water
5．Conclusions
Conclusions and Future Future’s s work Formation and cordination control of UAV,MAV,UGV and UMV Integrated g hierarchical control of UAV to UMV : Various classes control simultaneously High precision trajectory following control All weather type yp autonomous vehicles An intelligent system and operation g management Vision based fully autonomous vehicles
