Adaptive Real-Time Flight Management System Image courtesy: - PowerPoint PPT Presentation

07/2020 1 smARTflight : An Environmentally-Aware Adaptive Real-Time Flight Management System Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html Anam Farrukh Richard West

07/2020 2 Drones: Cyber-Physical Systems  The technology that is fundamentally changing the way we live. Disinfection Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 3 Drones: Cyber-Physical Systems  The technology that is fundamentally changing the way we live. Disinfection Remote Package Delivery Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 4 Drones: Cyber-Physical Systems  The technology that is fundamentally changing the way we live. Monitoring & Patrolling Disinfection Remote Package Delivery Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 5 Drones: Cyber-Physical Systems Sensing IMU Camera GPS + Mag Sonar Barometer Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 6 Drones: Cyber-Physical Systems Processing + Sensing Control IMU Camera GPS + Mag Sonar Barometer Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 7 Drones: Cyber-Physical Systems Processing + Sensing Actuatjon Control IMU Camera GPS + Mag Sonar Barometer Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 8 Drones: Cyber-Physical Systems Processing + Sensing Actuatjon Control Flight Management System Flight Management System (Autopilot) (Autopilot) Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 9 Windy Conditions Adversely Afgect the Drone’s Flight Stability Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 10 Attitude : 3D Orientation Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 11 State-of-Art Flight Management Systems: Problems  Have low reactivity & slow response times Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 12 State-of-Art Flight Management Systems: Problems  Have low reactivity & slow response times  Are highly sensitive to external environmental dynamics leading to fjght inaccuracy and instability Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 13 State-of-Art Flight Management Systems: Problems  Have low reactivity & slow response times  Are highly sensitive to external environmental dynamics leading to fjght inaccuracy and instability  Are unable to continue fmight & require emergency landing  Manual override Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 14 State-of-Art Flight Management Systems: Problems  Have low reactivity & slow response times  Are highly sensitive to external environmental dynamics leading to fjght inaccuracy and instability  Are unable to continue fmight & require emergency landing  Manual override  Execute fmight control tasks at the maximum possible frequencies all the time in adverse conditions!  Loosely “periodic” executions => soft time period bounds  Statically defjned Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 15 Challenges  Lack of system adaptability to changes in environment  Lack of timing predictable behavior  Ineffjcient use of limited battery power Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 16 smARTfmight Contributions to Challenges  Lack of system adaptability to changes in environment  Lack of timing predictable behavior  Ineffjcient use of limited battery power Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 17 smARTfmight Contributions to Challenges  Lack of system adaptability to changes in environment  Introduce criticality-awareness within the system  Dynamic adaptation of execution rates of critical fmight controller tasks  Lack of timing predictable behavior  Ineffjcient use of limited battery power Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 18 smARTfmight Contributions to Challenges  Lack of system adaptability to changes in environment  Introduce criticality-awareness within the system  Dynamic adaptation of execution rates of critical fmight controller tasks Critjcality ≜ Measure of severity of the consequences to the system in  Lack of timing predictable behavior case of unpredictable behavior  Ineffjcient use of limited battery power Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 19 smARTfmight Contributions to Challenges  Lack of system adaptability to changes in environment  Introduce criticality-awareness within the system  Dynamic adaptation of execution rates of critical fmight controller tasks Critjcality ≜ Measure of severity of the consequences to the system in  Lack of timing predictable behavior case of unpredictable behavior ≜ directly refmects System Critjcality  Ineffjcient use of limited battery power infmuence of environment on the system Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 20 smARTfmight Contributions to Challenges  Lack of system adaptability to changes in environment  Introduce criticality-awareness within the system  Dynamic adaptation of execution rates of critical fmight controller tasks Critjcality ≜ Measure of severity of the consequences to the system in  Lack of timing predictable behavior case of unpredictable behavior ≜ directly refmects ≜ functjon of task’s System Critjcality Task Critjcality  Ineffjcient use of limited battery power infmuence of environment on the system importance to maintenance of fmight. Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 21 smARTfmight Contributions to Challenges  Lack of system adaptability to changes in environment  Introduce criticality-awareness within the system  Dynamic adaptation of execution rates of critical fmight controller tasks  Lack of timing predictable behavior  Ineffjcient use of limited battery power Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 22 smARTfmight Contributions to Challenges  Lack of system adaptability to changes in environment  Introduce criticality-awareness within the system  Dynamic adaptation of execution rates of critical fmight controller tasks  Lack of timing predictable behavior  Introduce real-time (RT) task execution constraints enforced by a real-time scheduler – deterministic fmight  Ineffjcient use of limited battery power Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 23 Challenges  smARTfmight Contributions  Lack of system adaptability to changes in environment  Introduce criticality-awareness within the system  Dynamic adaptation of execution rates of critical fmight controller tasks  Lack of timing predictable behavior  Introduce real-time (RT) task execution constraints enforced by a real-time scheduler – deterministic fmight  Ineffjcient use of limited battery power  Low execution rates of tasks in stable fmying conditions Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 24 Autopilots Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 25 Autopilots Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 26 Autopilot Flight Control Thrust for Motors Target Current Low-level attitude stabilization: classical linear feedback control loop Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 27 Autopilot Flight Control Thrust for Motors Target 1 Current Low-level attitude stabilization: classical linear feedback control loop Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 28 Autopilot Flight Control Thrust for Motors Target 1 2 Current Low-level attitude stabilization: classical linear feedback control loop Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 29 Autopilot Flight Control Thrust for Motors Target 3 2 1 Current Low-level attitude stabilization: classical linear feedback control loop Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html

07/2020 30 Autopilot Flight Control Thrust for Motors Target 3 4 2 1 Current Low-level attitude stabilization: classical linear feedback control loop Image courtesy: https://www.slideteam.net/fmying-drone-robot-with-two-propellers.html