The ACTUAS team participated in HESTEMP’s 2nd Annual May Conference.
Below are the links and abstracts of our students’ projects.
- UAS Parameter Calculations and 3D Mapping
Keonaona Case and Harvey TagalicudKealakehe and Pahoa High SchoolLast year we were tasked with collecting images from two flights that we did and create 3D model using structure from motion. We weighed the frame and all the components of the drone with an electric scale. We calculated the max motor speed in rpm than converted it to rad/s. We ran simulations in which after 3 runs we would increase the weight of the drone by 500 grams. We tested two batteries with different voltages to find at what point the batteries are unable to correct its angular displacement due to the weight of the craft.
- STEM Capstone Symposium – The Effect of Physical Parameters on Control of Quadrotor UAVs
Aya AndersonMoanalua High SchoolA quadcopter is simulated with constant PID coefficients while changing the mass to determine a range of masses for these PID coefficients. A MATLAB simulation determines gamma and compares it to the max gamma for a predetermined mass. It is impossible if the experimental gamma is greater than the maximum gamma for the PID coefficients. The simulation shows a linear relationship between mass and gamma. Quaternions eliminate the singularities that result from using roll, pitch, and yaw. In possible future studies PID control could be used on quaternions based on the direction cosine matrix for the (313) sequence.
- Understanding the Fundamentals of Unmanned Aerial Vehicles (UAV) Using PID Control
Sean Tadekawa, Brendan Cha, David Chuang, Cas Ghotane, Kevin WilliamsKapiolani Community CollegeDrones are advantageous when faced with tasks deemed difficult or risky for humans. Although drones make exceptional tools, there are often areas with limited connectivity making remote control impossible, in which case autonomous drones are used. However, autonomy has many variables — stability, altitude control, and speed — that need fine-tuning for flight via a feedback mechanism: in our case, a PID controller. Our research focuses on how the drone will maintain a leveled orientation using the PID controller, by observing the functionality of the controller and discovering the most optimal set of PID coefficients to restabilize the orientation.
- ACTUAS – FWD & MC
Sean Agpaoa, Russell Tolentino, Mark Miyazaki, Christian Gale Rieta, Christopher Flaris, Robert Scimeca, Skye Nakamura, Nicole Teixeira, and Lauryn PangUniversity of Hawaii at ManoaUnmanned Aerial Vehicles (UAVs) will be deployed for agricultural applications to Kauai Coffee Company (KCC), which contains four million coffee trees spanning 3100 acres. ACTUAS followed a systems engineering approach where its mission is to design a fixed-wing drone (FWD) and a quadcopter to survey KCC’s fields. Both drones will have multispectral cameras. Mission Planner will be used to analyze flight data and conduct waypoint navigation. MATLAB will simulate the drones’ quadratic relationship of thrust and velocity and “response time” for varying Proportional, Integral, and Derivative (PID) coefficients. If successful, ACTUAS can be expanded to other islands for similar applications.
- On-board Control Framework with Real-Time Targeting for Unmanned Aerial Systems
Evan KawamuraUniversity of Hawaii at ManoaUnmanned Aerial Vehicles (UAVs) typically use PID control and have a wide range of applications such as surveying for environmental and agricultural purposes. The main goal is to improve the UAV flight control capabilities of INAV’s code by developing and implementing new nonlinear control laws or schemes. INAV’s control and navigation code is analyzed to determine interdependent relationships among the respective functions. Future work aims to demonstrate that these relationships allow for computing target states in real time. Other work includes representing the UAV’s state vector as a fourth-order polynomial in terms of time for real-time targeting and guidance computations.
