ECTS credits ECTS credits: 6
ECTS Hours Rules/Memories Student's work ECTS: 102 Hours of tutorials: 3 Expository Class: 27 Interactive Classroom: 18 Total: 150
Use languages Spanish, Galician
Type: Ordinary subject Master’s Degree RD 1393/2007 - 822/2021
Center Higher Polytechnic Engineering School
Call: First Semester
Teaching: Sin Docencia (En Extinción)
Enrolment: No Matriculable (Sólo Planes en Extinción)
The present course is a core course of the Master. Its goals have been selected in such a way that they fit in the two branches of study the student can choose. To achieve this, an essentially practical study program has been designed. However, the conceptual or mathematical complexity of fully specialised courses has been avoided.
The course is aimed to enable the students for the selection, configuration and adjustment of professional unmanned aerial vehicles, especially focusing on the radioelectric links, propulsion systems and the selection of On-board instrumentation and pieces of equipment.
The qualification of students for the management of legal aspects that directly affect their professional activity has also been taken into account as an additional goal. Likewise, an introduction to the most common applications of UAVs, mainly the aerial image capture for 3D terrain modelling and, in a complementary way, video recording and visual industrial inspection are included in this set of additional objectives.
The above goals are subsequently developed in the branch of study of Civil Engineering and Architecture. Therefore, this course can be used as an introduction in this field. Thereof they allow the students of the branch of Aerial Vehicles design to know and find features that must be taken into account for the design of new prototypes.
At master completion the student will have developed skills both, theoretical and practical, in the following subjects:
1. Radio links: frequency bands UHF and ISM, in detail 400 MHz, 2.4 GHz and 5.8 GHz, as well as all the configuration and operation variables of a Remote Control Station and its associated receiver. Modulation techniques: SFK, GSFK, CDMA codification, Frequency Hooping Spread Spectrum (FHSS). Operation principle, radiation pattern, and selection of the most common type of antennas. The student will also be trained in the selection of commercial products.
2. Autopilots for fixed and rotating wing UAVs: structure and operating principles. Inertial Measurement Unit (IMU). Micro Electromechanical Systems. Magnetometers, GPS, Telemetry Links, On Screen Display Systems (OSDs). Power modules (PMs). Auxiliary systems for vehicle positioning in lack of GPS signal: ultrasound beams, optical flux cameras and LASER. Obstacle avoidance systems: infrared and ultrasound beams, and stereoscopic cameras. Configuration and tuning of professional autopilots.
3. Propulsion and Energy Storage Systems: types of motors and Electronic Speed Controllers (ESCs). Architecture and professional product selection. Li-Ion batteries in all their variants: charging, discharging processes and main battery dimensioning. Selection of professional products. Estimation of a UAV range of flight from manufacturer specifications under different environmental conditions.
4. Tailored cameras for UAVs: visible spectrum camera (RGB), thermal and multispectral cameras. Selection criteria for professional products.
5. Design of 3D terrain 3D models: photogrammetry Workflow. Flight planning, images alignment, sparse point cloud, densification of the sparse cloud, texture adding. DSMs, DTMs and Orthomosaics.
6. Regulations and security plans. Legal procedures with the Spanish National Agency of Aerial Security
The report of the title includes the following contents for this subject: Legislation. Geodetic and topographic foundations of measurement and support. Photographic fundamentals of flight planning, navigation, aerotriangulation, interpretation and digital treatment of images, 2D and 3D vision. Cartographic foundations for the generation and interpretation of maps, GIS and digital models. And the following Learning Outcomes: General understanding of operational fundamentals. Core competencies to address the subjects of both specialties. These will be developed according to the following:
Theoretical Study Program ((16 hours in-person classes, 8 not in-person)
SECTION I: Analysis and assurance of radioelectric links (3 hours)
1. Frequency bands for remote control, video streaming and telemetry
a. ISM band - 2,4 GHz
b. 5 GHz band
c. 400 MHz band
d. Long range bands
2. Remote control stations
a. Transmitter and receiver architectures
b. Analogue and digital modulation techniques (AM, FM, FSK, GSFK)
c. CDMA codification
d. FHSS (Frequency Hooping Spread Spectrum)
3. Type, selection and receiver configuration
a. PWM receivers
b. PPM receivers
c. SMART-BUS (S-BUS) receivers
4. Professional transmitters and receivers: specifications and selection criteria.
5. Type, features installation and selection of RPAs antennas
a. Radiation diagram
b. Impedance adaptation
c. Equivalent Isommetric Radiated Power (EIRP)
d. Monopole and Dipoles
e. Cloverleaf Antennas
f. Patch Antennas
g. Tracking Antennas
h. Installation of Antennas in UAV: EMI and noise reduction
6. Video and Telemetry Radio Links
a. Video transmitters and receivers
b. Telemetry modules
c. On Screen Display Systems (OSDs)
SECTION II: Autopilot and auxiliary systems configuration (5 hours)
1. Architecture and types of autopilots
a. Inertial Measurement Unit (IMU)
b. Acceleration and angle variation measurements: (MEMS)
c. Autopilot power supply devices (PM)
d. Installation and flight conditions
e. GPS and Magnetometers.
f. Auxiliary systems for positioning on lack of GPS signal and obstacle avoidance: ultrasound, LASER and infrared beams, Optical Flux Cameras, stereoscopic cameras.
2. Autopilot and subsystems configuration
a. PID controllers tuning
b. Flight parameters tuning
c. Professional autopilots description and configuration
SECTION III: Flight Range, management and dimensioning of the On-Board propulsion and Energy Storage Systems (7 hours).
1. Propulsion System
a. BLDC Motors
i. Types
ii. Operating principles
iii. Technical specifications
iv. Torque and speed functions
v. Selection criteria for commercial motors for professional vehicles
b. Electronic Speed Controllers (ESCs)
i. Structure and key components
ii. Operating principles
iii. Types
iv. Professional products and selection criteria
2. Energy storage systems
a. Li-Ion Batteries
b. Li-Ion-Poly Batteries
c. Charging process
d. Discharge curves at different ratios
e. Actual efficiency and energy density
f. Digital chargers for Lithium batteries
g. Precautionary Measurements for the use, transport and storage of Lithium batteries
3. Estimation of the flight range of a RPA carrying different payloads
4. Flight correction because of environmental conditions: temperature, altitude and wind.
SECTION IV: Tailored cameras for UAVs (1 hours)
1. RGB cameras with fixed focal distance for UAVs
2. RGB cameras with optical zoom, adjustable from the remote control for UAVs
3. Thermal and Thermal-Radiometric cameras
4. Dual cameras
5. Camera-Gimbal Systems
6. Protection Indexes for the vehicle and the On-Board devices
7. Selection criteria for professional products
SECTION V: Flight Operations for DTMs y DSMs design (6 Hours
1. Flight planning for Photogrammetry
2. Image filtering, classification and alignment
3. Sparse point cloud
4. Dense cloud
5. Texture adding
6. Post-processing
7. DSMs, DTMs and Orthomosaics
SECTION VI: Regulations (2 hours)
1. Current Legislation
2. Design of a Security Plan for RPA operation.
Practical Study Program (20 hours in-person classes)
- Practice 1: design by simulation of a 4-rotor vehicle. The simulated aircraft will completely assembled and flown in practice 5
- Practice 2 (field test): autonomous flight planning oriented to image capture for the design of 3D models of the terrain. Flight training with 2 professional aircrafts. Induction flight in GPS, ATTI y Sport modes (MTOW of the vehicle lower than 5kg). Maximum flight speed during the training 76 km/h. Second training flight with a vehicle of 11.5 kg MTOW (legal classification 2: between 5 and 15 kg): This flight is aimed to industrial inspection training. It will be carried out in GPS and FPV mode with no external visual references. Professional Googles will be available. The inspection will take place on a mobile simulated platform. Helium balloons with printed codes o similar beacons will be used.
- Practice 3: On-Line Analysis of different Radio Links.
- Practice 4: professional autopilots configuration: Naza V2, A2, N3/A3, PX.
- Practice 5: assembly of the simulated vehicle: 750 mm diagonal, MTOW 2.5 kg. Flight test during no school time
- No adapted textbooks exist for the sections defined in the study program. The available literature in Telecommunication Engineering, Energy Storage Systems, Electrical Motors and Speed Controllers or Photogrammetry is too extensive and dense and has been designed for under or graduate students.
It goes without saying that no official documentation or textbooks exist regarding both, autopilot structure and configuration or radio link protocols of commercial unmanned vehicle remote controllers.
- The teacher accounts the use of any of these sources is not suitable, at least, prior to the Master completion.
- Recommended material will be uploaded in the virtual campus of the University of Santiago. It has been developed for Professors and Associate Professors of different sections of the Electrical Engineering and Telecommunications Department of the University of Oviedo.
- For Section VI, legal documents are available in the website of the Spanish National Agency of Aerial Security.
Complementary bibliography
Practical Spread Spectrum ¡V Charles O Philips
Permanent Magnet Brushless DC Motores Drives and Controls ¡V Chang, liang Xia
DIY Lithium Batteries: How to Build Your Own Battery ¡V Mica Toll
Introduction to modern Photogrammetry ¡V Edward M. Mihail
From the set of skills defined in the assurance report of this master the ones developed in this course are as follows:
Basic Skills:
CB10 ¡V Development of the students learning abilities to allow them to independently continue their studies
General Skills:
CG2 - Allow the students to gain general knowledge about the operation of unmanned aerial vehicles.
CG3 ¡V Allow the students to acquire the ability to analyse a company needs in the field of unmanned aerial vehicles, as well as to find the best technological solution.
Specific Skills:
CE2 ¡V To equip the students with the knowledge of the principles of geomatics, photogrammetry and cartography, air navigation and image digital analysis and interpretation. Good practises in the operation of unmanned aerial vehicles and legal requirements will be acquired by the students as well.
Transversal Skills:
CT8 ¡V Synthesis and Analysis Ability
CT9 ¡V Critical Thought and Creativity
- Theoretical clases that can be followed through adobe connect or similar .
- Practical lessons, that are performed using TIC. Practices 2 and 5 will be done in person and the rest can be followed through adobe connect or similar. Practice 2 shall be conducted by a practice trip to an aerodrome.
- Assignments: the students will carry out a study in the field of photogrametry, using the images captured during field test 2. The DTM of the terrain covered during the flight will be completely calculated. This assignment may be individual or developed in small groups, accordingly with the number of students enrolled.
- Individual coaching: the teacher will be fully available for the resolution of doubts or queries concerning theory lessons, practices and assignments during the days of the week when the classes are given. Since he belongs to the University of Oviedo, a line of Skype and email address, together with the communication methods provided by the virtual campus will be available the rest of the week and once this course has been completed.
SCENARIO 1
Although teaching is transmitted through adobe connect . 4 hours of theory and group tutoring will be taught exclusively by videoconference with the Adobe connect platform or similar .
SCENARIO 2
All the theory, 50% of the practices and group tutorials will be taught through videoconference with the Adobe connect platform or similar . Students must present the group work carried out through this same platform.
SCENARIO 3
All teaching will take place virtually.
Knowledge and abilities acquired by the students will be assessed as follows:
- Taking of a set of short questions tests, in-person or On-Line by microsoft teams or the like, for sections 1, 2, 3, 4 y 6 (60% of total score). Section V assignment 10% each. (Evaluation of skills CB10, CG2, CG3).
- Correct completion of practical classes. A report must be delivered when requested. (40% of total score) divided as follows (Evaluation of skills CE2, CT8, CT9):
o Practice 1: 5% Report requested
o Practice: 10%
o Practice 3: 5% Report requested
o Practise 4: 5% Report requested
o Practice 5: 15% Vehicle entirely assembled and capable of flying with and without GPS signal.
No score of any evaluable activity will be kept for the next academic year. Minimum grade to pass the course must be 5 or higher.
This evaluation system will be identical in both, the ordinary call of June and the extraordinary call of July.
The students granted with a waiver for any of the teaching activities, according to the instruction 1/2017 of the legal services of the University, must take into account that for passing this course the attendance to all practical activities is mandatory.
Hereafter, an estimation of the time a student must spend on the different learning activities is presented. Time devoted to in-person classes is shown on the left. After, the individual time of study is estimated.
- Theory Lessons: 24 h ;60 h.
- Practical Lessons: 20 h; 40 h.
- Coaching: 4 h; From Monday to Friday, coaching is offered to all the students as described above- Total: 48 h; 102 h. =150 hours
The teacher suggest the students the watching of videos regarding the topics of every section prior to the classes. These videos are available in the Teacher´s YouTube Channel:
http://www.youtube.com/c/RPASUOUniversidaddeOviedo
Channel is publicity-free and no economic compensation exists for its author. As research results, tests on new aircrafts and other products and documentaries of visits to national and international exhibitions are periodically included, its revision might be useful for the students of both branches.
Contingency plan
In scenario 3, practices 2 and 5 of the agenda may not be carried out, which will be replaced by others that do not require attendance .
In all scenarios the teaching of the subject will be maintained, through streaming at its usual time.
The examination of the subject will be done in person in scenarios 1 and virtual using Microsoft Teams , Microsoft forms or similar in scenarios 2 and 3.
In any scenario: for cases of fraudulent performing exercises or tests shall apply as set out in the "Regulations s Evaluation do rendemento academic two estudantes and review cualificacións " .
María De La Luz Gil Docampo
- Department
- Agroforestry Engineering
- Area
- Cartographic Engineering, Geodesy and Photogrammetry
- ml.gil [at] usc.es
- Category
- Professor: University Lecturer