An Environment for Indoor Testing and Diagnosis of Drones using Co-simulation
Resumo
The objective of this work is to present a testing tool, which analyzes and evaluates drones during the flight in indoor environments. For this purpose, the framework Ptolemy II was extended for communication with real drones using the High-Level Architecture (HLA) for data exchanging and synchronization. The presented testing environment is extendable for other testing routines and is ready for integration with other simulation and analysis tools. In this paper, two failure detection experiments were performed, with a total of 20 flights for each one, which 80% were used to train a decision tree algorithm, and the other 20% flights to test the algorithm in which one of the propellers had an anomaly. The failure rate or detection rate was 70% for the first experiment and 90% for the second one.
Referências
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V. S. Medeiros, R. E. Vale, Y. C. Gouveia, W. T. Souza, and A. V. Brito, “An independent control system for testing and analysis of uavs in indoor environments,” in Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), 2016 XIII Latin American. IEEE, 2016, pp. 55–60.
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A. Patelli and L. Mottola, “Model-based real-time testing of drone autopilots,” in Proceedings of the 2Nd Workshop on Micro Aerial Vehicle Networks, Systems, and Applications for Civilian Use, ser. DroNet ’16. New York, NY, USA: ACM, 2016, pp. 11–16. [Online]. Available: http://doi.acm.org/10.1145/2935620.2935630
S. American, “5 epic drone flying failures—and what the faa is doing to prevent future mishaps,” 2015, http://goo.gl/tIXfHH - Accessed June 2016.
IEEE, “Std. 1516.2-2000. IEEE Standard for Modeling and Simulation (M & S) High Level Architecture (HLA) – Framework and Rules,” 2000.
A. Brito and T. Oliveira, “Simulation and test of communication in multi-robot systems using co-simulation,” in New Advances in Information Systems and Technologies. Springer, 2016, pp. 911–917.
J. C. V. Junior, A. V. Brito, L. F. S. Costa, T. P. Nascimento, and E. U. K. Melcher, “Testing real-time embedded systems using high level architecture,” Design Automation for Embedded Systems, vol. 20, no. 4, pp. 289–309, 2016.
J. C. VS, A. V. Brito, and T. P. Nascimento, “Verification of embedded system designs through hardware-software cosimulation,” International Journal of Information and Electronics Engineering, vol. 5, no. 1, p. 68, 2015.
T. W. Silva, D. C. Morais, H. G. Andrade, A. M. Lima, E. U. Melcher, and A. V. Brito, “Environment for integration of distributed heterogeneous computing systems,” Journal of Internet Services and Applications, vol. 9, no. 1, p. 4, 2018.
A. V. Brito, H. Bucher, H. Oliveira, L. F. S. Costa, O. Sander, E. U. Melcher, and J. Becker, “A distributed simulation platform using hla for complex embedded systems design,” in Distributed Simulation and Real Time Applications (DS-RT), 2015 IEEE/ACM 19th International Symposium on. IEEE, 2015, pp. 195–202.
R. Loh, Y. Bian, and T. Roe, “Uavs in civil airspace: Safety requirements,” Aerospace and Electronic Systems Magazine, IEEE, vol. 24, no. 1, pp. 5–17, Jan 2009.
D. Stojcsics and A. Molnar, “Fixed-wing small-size uav navigation methods with hil simulation for aerobot autopilot,” in Intelligent Systems and Informatics (SISY), 2011 IEEE 9th International Symposium on, Sept 2011, pp. 241–245.
L. Yanjun, L. Yang, and Y. Shenglin, “Research on the algorithm of information fusion for height of uav,” in Intelligent Systems Design and Engineering Applications, 2013 Fourth International Conference on, Nov 2013, pp. 523–526.
L. Jaw, D. Homan, V. Crum, W. Chou, K. Keller, K. Swearingen, and T. Smith, “Model-based approach to validation and verification of flight critical software,” in Aerospace Conference, 2008 IEEE, March 2008, pp. 1–8.
Z. Wang, K. Akiyama, K. Nonaka, and K. Sekiguchi, “Experimental verification of the model predictive control with disturbance rejection for quadrotors,” in Society of Instrument and Control Engineers of Japan (SICE), 2015 54th Annual Conference of the, July 2015, pp. 778–783.
M. Ahsan, H. Rafique, and W. Ahmed, “Verification of equilibrium point stability for linearization of an aircraft model,” in Multi Topic Conference (INMIC), 2013 16th International, Dec 2013, pp. 1–6.
C. Yoo, Y. Kang, and B. Park, “Hardware-in-the-loop test for fault diagnosis system of tilt rotor uav,” in Control, Automation and Systems, 2008. ICCAS 2008. International Conference on, Oct 2008, pp. 320–323.
G. Ducard, K. C. Kulling, and H. P. Geering, “Evaluation of reduction in the performance of a small uav after an aileron failure for an adaptive guidance system,” in 2007 American Control Conference, July 2007, pp. 1793–1798.
H. B. Park, J. S. Lee, and K. H. Yu, “Flight evaluation of solar powered unmanned flying vehicle using ground testbed,” in Control, Automation and Systems (ICCAS), 2015 15th International Conference on, Oct 2015, pp. 871–874.
J.-S. Lee, H.-B. Park, G.-Y. Jung, and K.-H. Yu, “Design of virtual flight system for evaluation of solar powered uav,” in Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE, Nov 2013, pp. 3463–3467.
D. Deng and H. Yuan, “Uav flight safety ground test and evaluation,” in IEEE AUTOTESTCON, 2015, Nov 2015, pp. 422–427.
R. M. Vázquez, M. Romero, O. Portillo, J. C. Ávila, and A. H. Vilchis, “Experimental platform of a physical model for a quadrotor helicopter,” in Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2012 IEEE Ninth, Nov 2012, pp. 311–314.
“Using m&s hla in python,” www.nongnu.org/certi/PyHLA, 2016, access: 2018-03-27.
“Certi - summary,” http://savannah.nongnu.org/projects/certi, 2016, access: 2018-03-27.
“User manual for hla-ptii federates,” https://downloadmirror.savannah.gnu.org/releases/certi, 2015, access: 2018-03-27.
D. Come, “Improving the hla-certi framework,” EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2015-202, Sep 2015. [Online]. Available: http://www2.eecs.berkeley.edu/Pubs/TechRpts/2015/EECS-2015-202.html
V. S. Medeiros, R. E. Vale, Y. C. Gouveia, W. T. Souza, and A. V. Brito, “An independent control system for testing and analysis of uavs in indoor environments,” in Robotics Symposium and IV Brazilian Robotics Symposium (LARS/SBR), 2016 XIII Latin American. IEEE, 2016, pp. 55–60.
(2018) scikit-learn machine learning in python. [Online]. Available: http://scikit-learn.org/stable/.
Publicado
19/11/2019
Como Citar
ABREU, Renato R. de; OLIVEIRA, Thyago; SILVA, Leydson; NASCIMENTO, Tiago P.; BRITO, Alisson V..
An Environment for Indoor Testing and Diagnosis of Drones using Co-simulation. In: TRABALHOS EM ANDAMENTO - SIMPÓSIO BRASILEIRO DE ENGENHARIA DE SISTEMAS COMPUTACIONAIS (SBESC), 9. , 2019, Natal.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2019
.
p. 77-82.
ISSN 2763-9002.
DOI: https://doi.org/10.5753/sbesc_estendido.2019.8639.
