Prof. Kenzo NonamiDepartment of Mechanical EngineeringDivision of Artificial Systems ScienceGraduate School, Chiba University1-33 Yayoi-cho, Inage-kuChiba 263-8522, JAPANnonami@faculty.chiba-u.jp

Dr. Kenzo Nonami has a Doctorate degree (1979) in Mechanical Engineering from Tokyo MetropolitanUniversity. He worked as an Associate Professor at Chiba University from 1988 to 1994 and as fullprofessor in the Department of Mechanical Engineering and Electronics from 2004. He won the NRCresearch fellowship at NASA (USA) in 1985 and did research on various fields like robots, unmannedsmall scale helicopter, Micro Air Vehicle to name a few. He is a member of Japan Society of MechanicalEngineers, Robotics Society of Japan, IEEE, ASME, etc. He has published more than 300 journalpapers and seven textbooks. He has guided 36 Ph.D students. He will be taking over as Vice-President of Chiba University in April 2008. He has many awards to his credit from Japan and AmericanSociety of Mechanical Engineers.

Autonomy in Robots

There is a widespread & rapid development of unmanned aircraft (UAV & MAV) equipped withautonomous control systems, called “robotic aircraft” in recent years. Although they can be used forboth civil and military applications, remarkable development has taken place for applications in militaryuse. However, by exploiting the outstanding characteristics of these devices, there are infinitepossibilities of making use of them for civilian use even though applications are not obvious. In thelight of the present scenario, we present here the recent research & development of these autonomousuninhabited aircraft for civilian use.

Chiba University UAV group started research on autonomous control from 1998, continued advancedjoint research with Hirobo, Ltd. from 2001 and realized in a small-scale hobby helicopter fullyautonomous control. We describe here the power line monitoring application of UAV calledSKYSURVEYOR. The helicopter with a gross weight of 48kgs, payload of 20kgs and with variouscameras mounted on them, with cruising time of one hour, catches power line, regardless of theshake of the helicopter. We have also developed another autonomous controlled hobby helicopterSST-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 sprayingchemicals to fields, gardens, to orchards etc. It can also be used for aerial photographing, forsurveillance and for disaster prevention rescues. This system automated the hobby commercialradio control helicopter.

Chiba University and GH Craft are continuing research and development of autonomous control ofthe four rotor-tilt-wing aircraft. This QTW (Quad Tilt Wing) UAV is about 30kg in gross load, take-offand landing is made in helicopter mode and the high-speed cruising flight is carried out in airplanemode. Although Bell company in the US were the first to make this system and the first flight of theQTR(Quad Tilt Rotor)-UAV was carried out in January, 2006, QTW-UAV is not existing in the worldnow. Scientific observation flights in South pole –the Antartica Exploration using the above system isbeing 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 ofthe 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 Universitywith 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 hasbeen successfully demonstrated in this presentation. Generally, the autonomous UAV used forcivilian 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 controlsuch as GPS receiver, an attitude sensor and a compass (ii) on- board computer and (iii) a powerlinemonitoring device. These will be dealt in detail in the presentation. The flight of the compound inertialnavigation of GPS/INS or 3D stereo vision base is also possible if needed. From the ground stationoperator assisted flight is also possible. In addition, although a power line surveillance image isrecorded on the video camera of UAV loading in automatic capture mode and it is simultaneouslytransmitted to a ground station, an operator can also perform posture control of a power line monitoringcamera and zooming by interruption at any time. Also, the autonomy ground robot like a hexapodrobot, a dual manipulator robots, and the autonomy marine robot like a robotic boat are brieflyintroduced in this presentation.

MAV08 1st US-Asian Demonstration and Assessment of Micro Aerial Vehicle(MAV)and Unmanned Ground Vehicle(UGV)Aerial Vehicle(MAV)and Unmanned Ground Vehicle(UGV)

Technology, 10-15 March 2008, Agra, India

Autonomy in RobotsAutonomy in Robots

Kenzo Nonami, Chiba Universityhttp://mec2.tm.chiba-u.jp/~nonami/ttp // ec t c ba u jp/ o a /

nonami@faculty.chiba-u.jp

Outline1. Introduction

2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground3 Ａｕｔｏｎｏｍｏｕｓ Robots in3. Ａｕｔｏｎｏｍｏｕｓ Robots inthe Sky４ A t R b t th４. Autonomous Robots on the Water5．Conclusions

Recent Research topicsMine Detection Robot ＭＨＶ；Mine Hunter VehicleMaster Slave Manipulator and Hand SystemMaster-Slave Manipulator and Hand SystemMaster-Slave Dual Arm SystemFully Autonomous Hexapod Walking Robot

UGV

Fully Autonomous Hexapod Walking RobotFully Autonomous Unmanned Helicopter（ＵＡＶ）F ll A Fl i R b （ＭＡＶ）

UAVFully AutonomousμFlying Robot（ＭＡＶ）Fully Autonomous QTW-UAV（ＵＡＶ）Fully Autonomous Boats

MAV

Fully Autonomous BoatsFlywheel Energy Storage System by AMBSemi-Active Susupension for Automotive

UMV

Semi Active Susupension for Automotive CarControl Theory and Its Applications

Others

Outline1. Introduction

2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground3 Ａｕｔｏｎｏｍｏｕｓ Robots in3. Ａｕｔｏｎｏｍｏｕｓ Robots inthe Sky４ A t R b t th４. Autonomous Robots on the Water5．Conclusions

Adaptive suspension vehicle

TITAN-XIp

OSU

The walking forest machine

Plustech TUM

Fully Autonomous Hexapod Walking Robot２００２～２２００２ ２００５

Fully Autonomous Hexapod Walking RobotCOMETCOMET

COMET-I COMET-II１９９８～２０００

２００１～２００２

COMET-III２００２～２

Fuji TVMine detection

Spec. of COMET-IV（1） Average Velocity with tripod :1 km/h （5）Teleoperation

walking（2）Rough terrain :1 m （６）Fully autonomous

walking（3）Slope : 20 deg（4）Omni-directional locomotion（4）Omni directional locomotion

Hydraulically driven hexapod robot前進歩行 横進歩行 段差歩行 正面歩行実験

Hydraulically driven hexapod robotMine detection and Disaster restoration

Valve controller

Proportional solenoid

control valve

AD Board

危険作業支援マニピュレータ(Hazard Operation

Manipulator)ガソリンタンク:40 L(Fuel Tank)

ラダ 型フレ ム

TargetComputer

Thigh

HostComputer

WirelessLAN

比例電磁バルブ(Solenoid Valve)

制御ボックス発電機

GPS

ラダー型フレーム(Rudder Frame)

Hydraulicmotor

ShankShoulder

DA Board

制御ボックス(Control box)

ガソリンエンジン(Engine)

(Generator)

センサユニット(Sensor Unit)

Foot

Leg × 6

COMET IV

：Potentiometer：Pressure sensor：Potentiometer：Pressure sensor

油圧ポンプ/タンク:80L

(Hydraulic Pump / Tank)

バッテリボックス(Battery Box)

COMET-IV

GPS

全方位カメラ(Omni-Directional Camera)

レーザ距離計レ ザ距離計(Laser Range Finder)

ステレオビジョンカメラ(Stereo Vision Camera)ジョイスティック

(Joystick)

Master-slave

Mine Hunter Vehicle Project

ＪＳＴproject

Vision based

Autonomous cooperative control of dual manipulatorBartender BOX transfer

Outline1. Introduction

2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground3 Ａｕｔｏｎｏｍｏｕｓ Robots in3. Ａｕｔｏｎｏｍｏｕｓ Robots inthe Sky４ A t R b t th４. Autonomous Robots on the Water5．Conclusions

Fully autonomous UAV family at Chiba University

SF125 (48kg) SF86 (42kg)86 ( g)

SST-EAGLE2 (5.5kg)SF40 (17.5kg)

Fully autonomous UAV・MAV family at Chiba University(2)

Micro flying robot (12.3ｇ) XRB (170ｇ)

QTW-UAV 23ｋｇ

X-UFO (400ｇ)

Dusting for rice paddy field by YAMAHA RMAX

Civil Use

Power Transmission Line Monitoring Helicopterby Chiba Univ Hirobo Ltd and Chugoku Power Coby Chiba Univ.,Hirobo Ltd. and Chugoku Power Co.

Civil Use

Advantages of more small-sized UAV(Unmanned

Our Motivation and GoalOur Motivation and Goal

Advantages of more small sized UAV(Unmanned Aerial Vehicle) comparing with YAMAHA RMAX

• Low cost and convenience to use (Always and• Low cost and convenience to use (Always and Anywhere)

• One or two person operation and the size put on a p p ppassenger car

Future applications

• Power transmission line minitoring (it starts soon)

• Disaster prevention information gathering• Disaster prevention information gathering

• Inspection of large structures, river, plants, etc

H manitarian demining assistance• Humanitarian demining assistance

• Environmental measurement

Important applicationImportant application

Power transmission line minitoring (This mission will start at this fall)

Disaster prevention information gathering

Trajectory following control using optimal preview controlTrajectory following control using optimal preview control

S character trajectory following flight （reproduction speed 3times）

model following sliding mode controlTrajectory following control usingTrajectory following control using

g g

Operator assistance flight control

R t h t iRecent research topics

3D stereo vision based flight controlFormation controlFormation control Development of autopilot unitM li bl t fli ht t lMore reliable autonomous flight controlAggressive flight controlMany application research for civil use

Control System Design withStereo VisionStereo Vision

Block diagram of control system

Low Cost Attitude SensorAHRS400CCAHRS400CCGU302XGU302X AHRS400CCAHRS400CC

QuaternionQuaternion based attitude determinationbased attitude determination(avoid the singularity problem(avoid the singularity problem))

3DM3DM‐‐GG CH3XCH3XComparison of attitude sensorsComparison of attitude sensors

Model GU302X AHRS400CC 3DM‐G CH3X

Size

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

Our recent autopilot unit

Flight test by autopilot unit for SSTFlight test by autopilot unit for SST--Eagle2Eagle2--EXEX

Main Rotor Diameter 1 520[mm]Main Rotor Diameter 1,520[mm]

Tail Rotor Diameter 265[mm]Length 1,430[mm]

Onboard cameraLength 1,430[mm]Width 245[mm]Full Payload Capacity 5[kgf]

Engine 2 cycle glow engine

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

125[cc]

SKY SURVEYOR

Power transmission line monitoring system by means of fully autonomous helicopter

自律制御装置Image

processingPC

Camera

Vision PCEmbedding system・GPS・INS/GPS

Embedding system・GPS・INS/GPS

Mesurement subsystem

stereo vision camera

PC

CCD2.4G

wireless LAN

・Attitude sensor・Attitude sensor

Safety operation

Mission commander

Advanced control systemautonomous flightmodel based control(unmanned helicopter)

・health monitoring of helicopter・image data transmitter

2.4GWireless LAN

S f iS f ti t

Safety operation・planning・surveillance・navigation&return

Navigation subsystem

Trajectory planning and Operation

・operator assist command・camera control command

Automated tracking antena

・pan/tilt

・Zooming Focus

Image data

moviedata

Suveillance monitor systemSuveillance monitor system

Path planning

navigation

Safe operation systemSafe operation systemCamera

controllerCamera

controllerjoystick

Zooming,Focus

・auto tracking(ON/OFF)Intelligent operation（Operator assist）

Intelligent operation（Operator assist）

Power transmission line monitoring system by means of fully autonomous helicopter

The World Smallest and Lightest Flying RobotThe World Smallest and Lightest Flying Robot

A Palm SizeμFRStabilizer

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 CameraCCD CameraGyro sensor厚さ1.3mm 重さ0.3g

Micro flying robot（μFR）

Specification of μFR（１）Power supply

4.2V

（２）Power 3.5W（ ）consumption

（３）Dimension 136mm in diameter85 i hi ht85mm in hight

（４）Maximum lift

17g MAX.

force8.6ｇ（without battery） 12.3ｇ(including battery)

（５）Mass each part

y)3.7ｇ（battery）2.9ｇ（rotary actuators）0.6ｇ（linear actuators）ｇ（ ）3.1ｇ（electro circuit）2.0ｇ（frame）

（６）Flying time 3 minutes

Hi h P f M tHigh Performance Motor

Efficiency Power weight ratio

C t l 25% 0 1W/gCreature muscle 25% 0.1W/g

DC motor 8-12%0 014-0 06W/gDC motor 0.014-0.06W/g

including gear loss

Super-sonic motor 25-30% 1W/gp 25 30% 1W/g

Flight principle of micro flying robot

３D Vision System

Z

M kX

Marker

Y

2.4cm×2.4cm

Modeling and Control Systemg y

4 inputs，4 output system and coupled MIMO systemXYZ

UXUYUZ

p ， p y p y

YawUYaw

Single input and Single output system

UX XPx

Single input and Single output system

UY YPy

UZ ZPz

UYaw YawPθ

NHKXRB μFR

Fully autonomous QTW-UAV

Low speedHigh Speed

Helicopter modeAirplane mode Transition mode

Eageleye

Tilt-down control for QTW-UAV

V3flight V5flight V10flight NewV10flight

Way point flight and Cordination flight control

43/26Way point UGV & UAV/MAV

Autonomous Quadrotor-Based MAVs for Reconnaissance and Surveillance MissionsMAV08 1st US-Asian Demonstration and Assessment of Micro Aerial Vehicle(MAV) andUnmanned Ground Vehicle(UGV) Technology, 10-15 March 2008, Agra, India

Outline1. Introduction

2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground3 Ａｕｔｏｎｏｍｏｕｓ Robots in3. Ａｕｔｏｎｏｍｏｕｓ Robots inthe Sky４ A t R b t th４. Autonomous Robots on the Water5．Conclusions

Research and Development of Fully Autonomous U d B t f 3D M i f S b d B ttUnmanned Boat for 3D Mapping for Seabed, Bottom of the Lake, and River Bottom

Lake test Sea test

Spec of robotic boatSpec. of robotic boat

L th 1060Length: 1060mmHeight: 250mmWeight: 12 kgWeight: 12 kgMax.Speed: 1.2m/s

Actuator: DC MotorSensors: GPS, sonar, temperature

Rudder Screw

Sea test: Trajectroy following controlj y g

Sea test: Trajectroy following controlj y g

Outline1. Introduction

2．Ａｕｔｏｎｏｍｏｕｓ Robots on the Ground3 Ａｕｔｏｎｏｍｏｕｓ Robots in3. Ａｕｔｏｎｏｍｏｕｓ Robots inthe Sky４ A t R b t th４. Autonomous Robots on the Water5．Conclusions

Conclusions and Future’s workConclusions and Future s work

Formation and cordination control of UAV,MAV,UGV and UMVIntegrated hierarchical control of UAV to gUMV : Various classes control simultaneouslyHigh precision trajectory following control All weather type autonomous vehiclesypAn intelligent system and operation management gVision based fully autonomous vehicles