Date of Award

1-1-2013

Document Type

Thesis

Degree Name

M.S.

Department

Computer Science and Engineering

First Advisor

Kimon P. Valavanis

Second Advisor

Matthew J. Rutherford

Keywords

Fixed-Wing, Mechatronic, UAV, Unmanned Aerial Vehicle, XMOS

Abstract

Unmanned Aerial Vehicles have been research in the past decade for a broad range of tasks and application domains such as search and rescue, reconnaissance, traffic control, pipe line inspections, surveillance, border patrol, and communication bridging.

This work describes the design and implementation of a lightweight Commercial-Off-The-Shelf (COTS) semi-autonomous Fixed-Wing Unmanned Aerial Vehicle (UAV). Presented here is a methodology for System Identification utilizing the Box-Jenkins model estimator on recorded flight data to characterize the system and develop a mathematical model of the aircraft. Additionally, a novel microprocessor, the XMOS, is utilized to navigate and maneuver the aircraft utilizing a PD control system.

In this thesis is a description of the aircraft and the sensor suite utilized, as well as the flight data and supporting videos for the benefit of the UAV research community.

Provenance

Recieved from ProQuest

Rights holder

Jonathan Alejandro Girwar-Nath

File size

111 p.

File format

application/pdf

Language

en

Discipline

Electrical engineering, Mechanical engineering, Computer engineering

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