SOS

End term report

Robotics Aug. 3, 2023

Sameer chaudhari(22b0335)
Mentor :- arya rout
Telerobotics:-

1)flight dynamics and control

Flight dynamics deals principally with the response of aerospace vehicles to
perturbations in their flight environments and to control inputs. In order to
understand this response, it is necessary to characterize the aerodynamic and
propulsive forces and moments acting on the vehicle, and the dependence of
these forces and moments on the flight variables, including airspeed and
vehicle orientation .Flight dynamics characterizes the motion of a flight vehicle
in the atmosphere.
Drone dynamics…
The propellers typically have two blades, though propellers with three or more
blades are also possible. A higher number of blades typically allows for greater
thrust at the same rotational speed, but the relationship to power
consumption, noise levels, vibration, and so on can be complex. As the rotating
propeller displaces air, it produces both a force and a torque. The force is
dominated by the lift, the component parallel to the axis of rotation. The force
and torque components in the plane of rotation tend to be much smaller than
those parallel to the axis of rotation; due to the rotational symmetry of the
propeller, these are typically present only when the propeller is translating
through the air.
Autonomy and navigation :-
Drones can navigate autonomously using a variety of sensors and techniques.
 GPS/GNSS receivers
 Inertial navigation systems (INS)
 LiDAR scanners
 Ultrasonic sensors
 Visual cameras
 SLAM (Simultaneous Location and Mapping) to create a map of their
surroundings and understand their position within it.

GPS receivers drone

On a larger scale, GPS has allowed for safer air traffic control, providing a faster
and more accurate alternative to radar-based tracking systems. On the innovative
front, GPS technology has given way to the possibility of self-driven cars. GPS
technology is the cornerstone of automated flight, one of the more advanced
functions of modern drones. Not only is it incredibly fun to watch a drone fly
around with minimal pilot input, but the accuracy and repeatability of GPS-aided
drone flight have also opened the doors to so many commercially useful
applications of drones. From agricultural management to search and rescue
operations, the integration of drones with GPS has been a revolutionary step for
the wider adoption of drone technology across several industries.

Features made possible by GPS navigation..

1)GPS stabilization :- One of the most important features made possible by GPS is GPS
stabilization. This allows the drone pilot to command the drone to simply hover in place
without any manual input. While hovering, the drone will make slight adjustments to its
position whenever it drifts away due to wind.

2) Return to home :- When a drone loses its link with the remote controller or if its battery
power goes below a threshold level, it will typically activate its return to home(RTH) feature.
This will make the drone fly back either to its original take-off position or the current
position of the remote control. This safety feature has probably saved a lot of drone pilots
from having their drones fly away or crash because of dead batteries.

3) Subject tracking :- Some of the more advanced camera drones can identify a subject
and follow it automatically, all the while keeping it within focus of the camera. This has given
way to amazing cinematic opportunities for people riding bikes, hiking along a trail, or skiing
down the snowy slopes.
4) GPS waypoints :- With GPS waypoints, a drone pilot can simply prescribe a flight path
for the drone to automatically follow. The drone will then fly from one waypoint to another,
stopping only when instructed by the pilot, when the batteries go below critical levels, or
when the path has been completed.
5) GeFencing :- GeoFencing is a relatively new thing in the drone market – the ability for a
drone to recognize when it is in controlled or restricted airspace and refuse to fly without
the proper authorization. This is quite a controversial matter with drone pilots complaining
about how restrictive it is and drone manufacturers standing by the safety-enhancing value
of the feature. Basically, GeoFencing works by comparing the GPS position of a drone with a
database of areas of controlled or restricted airspace. If the drone is within any of these no-
fly zones, then it must be unlocked before any flight is possible. There are several ways to
unlock a drone depending on the level of flight restrictions of a no-fly zone.

Computer Vision and Perception..

Computer vision plays a crucial role in drones, enabling them to perceive and
understand their environment. By using cameras or other sensors, drones can
capture visual data and apply various computer vision techniques to extract
meaningful information.
some key applications of computer vision in drones:-
1. Object Detection and Tracking: Drones equipped with computer vision
algorithms can detect and track objects of interest in real time. This capability
is useful for tasks like aerial surveillance, search and rescue operations, or
tracking moving targets.
2. Navigation and Obstacle Avoidance: Computer vision helps drones navigate
safely by identifying and avoiding obstacles in their flight path. By analyzing the
visual input, drones can detect and recognize objects such as buildings, trees,
or other aircraft, allowing them to adjust their flight trajectory accordingly.

3. Image and Video Analysis: Drones often capture images or record videos
during their missions. Computer vision techniques can be applied to analyze
these visual data, extract relevant information, and provide insights. For
example, drones can assess crop health in precision agriculture, monitor
infrastructure for damage or maintenance needs, or assist in disaster response
by analyzing disaster-affected areas.

4. 3D Mapping and Reconstruction: Computer vision enables drones to

generate 3D maps or reconstruct the environment by processing the captured
imagery. This capability is valuable in applications such as aerial mapping,
surveying, or creating virtual models of buildings or landscapes.

5. Automated Inspections: Drones equipped with computer vision algorithms

can perform automated inspections of infrastructure, such as power lines,
pipelines, or bridges. By analyzing the captured visual data, drones can identify
structural defects, anomalies, or signs of damage more efficiently and cost-
effectively compared to manual inspections.
6. Augmented Reality (AR): Computer vision in drones can be utilized to overlay
virtual information or graphics onto the real-world view captured by the
drone's camera. This opens up possibilities for enhanced visualization, data
overlays, or interactive experiences in various domains, including
entertainment, construction, or urban planning.

These are just a few examples of how computer vision is used in drones. The
field is rapidly advancing, and new applications and technologies continue to
emerge, expanding the capabilities of drones in various industries.

Machine learning:-
Machine learning has had a remarkable impact on the domain of drones
(unmanned aerial vehicles, UAVs), enabling them to accomplish a wide range of
tasks with improved efficiency and independence. Beneath are various ways in
which machine learning is employed in drones:
1. Subject Identification and Tracing: Drones decked out with cameras and
sensors can employ artificial intelligence techniques, like Convolutional
Neural Networks (CNNs), to identify and trace subjects of relevance. This
comes in handy in scenarios such as observation, fauna surveillance, and
exploration and retrieval expeditions.
2. Independent Navigation: Artificial intelligence algorithms can assist
unmanned aerial vehicles maneuver independently by analyzing sensor
information and taking immediate actions regarding flight routes and
avoiding obstacles. Reinforcement learning methods can be employed to
educate unmanned aerial vehicles on how to navigate intricate
surroundings.
3. Precision Farming: UAVs with specialized sensors can gather information
about crops, soil, and other farming variables. Artificial intelligence can
analyze this information to offer suggestions for enhancing watering,
fertilization, and pest management approaches.

4. Aerial Photography and Cartography: Drones can seize high-resolution

aerial pictures that can be utilized for creating intricate maps and 3D
designs. Automaton education algorithms can handle these pictures to
produce precise maps, identify land characteristics, and supervise
modifications over time.
5. Shipping and Transport: Artificial intelligence can optimize shipping
routes, anticipate shipping schedules, and handle robotic fleets in
logistics and transportation sectors. Robots can acquire knowledge from
past information to streamline their routes for rapidity and effectiveness.
Artificial intelligence:-
Artificial intellect (AI) performs a vital function in amplifying the
capabilities of drones (unmanned aerial vehicles, UAVs) and empowering
them to execute intricate assignments independently. Here are a few
manners AI is employed in drones:

1. Independent Navigation: AI algorithms empower drones to navigate and

fly independently, taking instant actions based on sensor inputs. This
involves identifying and evading obstacles, designing routes, and
adjusting to dynamic settings.
2. Computer Imagery: AI-driven computer imagery methods enable drones
to interpret visual information from cameras and sensors. This aids in
object perception, identification, monitoring, and comprehension of
surroundings. Drones can recognize particular objects or landmarks,
which proves valuable for endeavors such as exploration and emergency
response or monitoring.
3. Nonverbal and Oral Control: AI-powered nonverbal and oral recognition
systems empower drones to be managed using human nonverbal signals
or oral instructions. This streamlines drone operation and renders it
 more instinctive, enabling users to engage with drones without requiring
intricate remote controls.

4. Live Decision Making: AI-equipped drones can handle information live to

make choices on the go. For instance, a drone observing a forest fire can
examine the fire's behavior and modify its activities accordingly, such as
altering its flight route to evade risk.

Sensor integration:-
Sensor merger is a crucial facet of drone technology, as it permits drones to
amass data from the surroundings and form educated choices. Drones can be
fitted with a broad array of sensors to gather intelligence about their
environment, which is vital for duties such as direction, hurdle evasion, data
compilation, and additional. Here are a few general categories of sensors fused
into drones:
1. Worldwide Positioning Scheme (GPS): GPS detectors supply precise
orienting and steering data to drones. They are indispensable for self-
governing flight, waypoint direction, geofencing, and establishing
accurate airborne charts.
 2. Barometric Gauge: Gauges measure air pressure to determine height.
This sensor is used to regulate the drone's height and can be crucial for
activities like terrain following and mapping.
3. Cameras: Cams are maybe the most widespread sensors on drones. They
seize pictures and videos, empowering undertakings like airborne
photography, monitoring, mapping, and visual identification.

Communication and networking:-

Connection and linking are crucial facets of drone technology that empower
drones to function efficiently, securely, and in synchronization with other
systems. Drones require dependable and effective connection systems to
receive instructions, transmit information, and engage with operators and
other drones. Below are a few pivotal facets of connection and linking in
drones:
1. Wireless Communication: Drones can be operated wirelessly by human
operators using radio frequency (RF) communication. Wireless control
systems typically involve a transmitter operated by the human pilot and
a receiver onboard the drone. These systems allow operators to send
commands to manipulate the drone's flight, orientation, and other
functions.
2. Communication and Command Telemetry: Drones need a two-way
communication connection to transmit telemetry information (like
height, velocity, battery status) from the drone to the user and to
transmit instructions from the user to the drone. This communication
connection can utilize wireless frequencies, Wi-Fi, or mobile networks,
depending on the range and needs.
3. Wireless Communication Measures: Drones utilize diverse wireless
communication measures, embracing Wi-Fi, Bluetooth, Zigbee, and
additional ones, contingent on the specific function and prerequisites.
These measures facilitate connectivity with land command bases,
alternative drones, and Internet of Things (IoT) gadgets.

Hardware and software integration:-

The merging of machinery and programs is a basic facet of drone technology,
empowering drones to execute different tasks, soar independently, and
engage with their surroundings. Here's a summary of how machinery and
programs are unified in drones:

Hardware Elements in Drones:

1. Frame and Structure: The bodily framework of the drone offers the
construction to hold all the parts together. It is constructed to be
lightweight, long-lasting, and aerodynamic.
2. Propulsion System: Drones employ engines and blades for propulsion
and regulation of motion. The engine velocity is regulated to adapt the
drone's height, orientation, and steadiness.
3. Power System: Drones demand batteries or fuel cells to energize the
electronics, motors, and other systems. The power system must be fine-
tuned for flight time and payload capacity.
4. Detectors: Different detectors give crucial information for journey
management, navigating, and ecological consciousness. These might
encompass GPS for positioning, accelerometers and gyroscopes for
attitude calculation, barometers for altitude assessment, cameras for
visual information, lidar and radar for obstacle perception, and
additional.
5. Communication Modules: Wireless talk modules, like radios, Wi-Fi, and
perchance cellular or orbital communication systems, permit the drone
to converse with distant operators, land stations, alternative drones, and
external connections.
6. Payloads: Drones can transport different payloads, such as lenses,
detectors, shipping parcels, scientific tools, or even particular machinery
for particular uses.

Software integration in drone:

1. Flight Control Software: Flight management software processes

information from onboard sensors and computes engine directives to
manage the drone's orientation, elevation, and motion. PID
(Proportional-Integral-Derivative) regulators and more sophisticated
formulas are employed for stabilization and regulation.
2. Navigation and Positioning: Software algorithms employ GPS data,
sensor inputs, and potentially supplementary technologies like visual
odometry or SLAM (Simultaneous Positioning and Mapping) to precisely
ascertain the drone's location and direction in live-time.
3. Independant Flight: Drones are capable of carrying out pre-set flight
paths or responding to advanced mission commands through
independant flight software. This software maps out routes, deflects
barriers, and completes tasks according to user-defined goals.
4. Computer Visions and Picture Handling: For purposes like aerial
photographing or monitoring, drones utilize computer vision methods to
evaluate visuals and videos recorded by onboard cameras. This may
incorporate item identification, tracing, and picture merging.
5. Crash Prevention: Programs analyze sensor data to identify barriers and
execute crash prevention tactics, adapting the drone's trajectory if
needed.
6. User Interfaces: Base management software offers a user interface for
drone operators to oversee telemetry data, observe live video feeds,
establish waypoints, and dispatch orders.
7. Mission Planning: Program permits users to establish task parameters,
waypoints, and aims, enabling self-governing execution of intricate
assignments.
8. Information Analytics and Storage: Program enables the storage and
examination of information gathered during flights, assisting in post-
operation evaluation and decision-making.
9. Safety and Coding: Program guarantees the safety of communication,
data saving, and entrance regulation to stop unauthorized use and
defend delicate details.