A First Course in Aerial Robots and Drones

Cover
Half Title
Title Page
Copyright Page
Dedication
Contents
List of Figures
CHAPTER 1: Introduction
	1.1. INTRODUCTION
	1.2. UAV CATEGORIES
	1.3. REGULATIONS
	1.4. LABORATORIES
	1.5. CONCLUSIONS
CHAPTER 2: Components of UAVs
	2.1. INTRODUCTION
	2.2. TYPES
		2.2.1. Airplane
		2.2.2. Control surfaces
		2.2.3. Rotary-wings Types
	2.3. MOTORS AND PROPELLERS
		2.3.1. Motors
		2.3.2. Propellers
			2.3.2.1. Blades and Diameter
			2.3.2.2. Efficiency/Thrust
		2.3.3. Material
		2.3.4. Electronic Speed Controller
	2.4. BATTERY
	2.5. ADDITIONAL EQUIPMENT
	2.6. UAV MATERIALS
	2.7. LAUNCHING SYSTEMS
	2.8. LAB: UAS AIRFRAME ASSEMBLY
	2.9. CONCLUSIONS
CHAPTER 3: Flight Mechanics
	3.1. INTRODUCTION
	3.2. MODELING PRESENTATION
	3.3. FRAMES
		3.3.1. Geodetic coordinate system
		3.3.2. Earth-centered, Earth fixed
		3.3.3. North-East-Down frame
		3.3.4. Vehicle carried NED coordinate system
		3.3.5. Body based frame
		3.3.6. Air relative frame
	3.4. KINEMATIC MODELING
	3.5. FIXED-WING AIRCRAFT DYNAMIC MODELING
		3.5.1. Dynamic modes in longitudinal mode
		3.5.2. Dynamic modes in lateral model
	3.6. QUAD-ROTOR DYNAMIC MODEL
CHAPTER 4: Aircraft Performance
	4.1. INTRODUCTION
	4.2. PRELIMINARIES
		4.2.1. Atmospheric pressure
		4.2.2. Pressure altitude
		4.2.3. Density altitude
		4.2.4. Configuration design
	4.3. ANALYSIS OF WEATHER FACTORS
		4.3.1. Winds
		4.3.2. Wind Modeling
		4.3.3. Venturi effect
		4.3.4. Effects of weather on performance
	4.4. AVIATION WEATHER INFORMATION SOURCES
		4.4.1. Hazards and in-flight weather conditions
CHAPTER 5: Flight Control
	5.1. INTRODUCTION
	5.2. ARCHITECTURE
	5.3. AUTO PILOT
		5.3.1. Control station
	5.4. SENSORS DEDICATED TO THE FLIGHT CONTROLLER
		5.4.1. Inertial navigation system
			5.4.1.1. Fundamentals
			5.4.1.2. INS drift
		5.4.2. Compass / Magnetometer
		5.4.3. Pressure / Barometer
		5.4.4. GPS
		5.4.5. Distance
	5.5. SENSE AND AVOID TECHNOLOGIES
	5.6. CAMERA AND VIDEO
		5.6.1. Camera types
		5.6.2. Video
			5.6.2.1. First Person View
			5.6.2.2. Video Camera
			5.6.2.3. Video Antennas
			5.6.2.4. FPV Glasses
			5.6.2.5. Head tracking
			5.6.2.6. Video Transmitter
	5.7. RADIO COMMUNICATIONS
		5.7.1. Equipment
		5.7.2. Radio communications procedures
	5.8. GROUND CONTROL SYSTEM
	5.9. FIRST PERSON VIEW (FPV)
	5.10. DATA FUSION
		5.10.1. Kalman Filter
		5.10.2. Data capture and processing
			5.10.2.1. Data Processing challenges
			5.10.2.2. Data Processing Management
			5.10.2.3. Data Processing Software
		5.10.3. Geospatial information systems
		5.10.4. Image processing
			5.10.4.1. Air monitoring
			5.10.4.2. Water monitoring
			5.10.4.3. Agriculture monitoring
			5.10.4.4. Best practices for UAS use by the electric utility industry
	5.11. LABS
		5.11.1. Inertial navigation systems
		5.11.2. Wiring the flight controller
	5.12. CONCLUSION
CHAPTER 6: Theory
	6.1. INTRODUCTION
	6.2. LINEAR CONTROL METHODS
		6.2.1. PID controller
		6.2.2. Properties of Linear Systems
		6.2.3. Linear Approaches for LTI Models
		6.2.4. Classical methods: Direct approach
		6.2.5. Classical Methods: Pole placement
		6.2.6. Gain Scheduling
	6.3. TRIM TRAJECTORY GENERATION
	6.4. CONCLUSION
CHAPTER 7: Flight Operations
	7.1. INTRODUCTION
	7.2. SITUATIONAL AWARENESS
	7.3. FLIGHT OPERATIONS
		7.3.1. UAV Piloting techniques
			7.3.1.1. Supervision
		7.3.2. Checklists
			7.3.2.1. PreFlight checklist
			7.3.2.2. Pre-launch checklist
			7.3.2.3. Post-flight checklist
		7.3.3. Loading and performance
	7.4. AERONAUTICAL DECISION-MAKING
	7.5. AIRPORT OPERATIONS
		7.5.1. Airspace classification
		7.5.2. UAS traffic management
		7.5.3. Emergency operations
	7.6. CONCLUSIONS
CHAPTER 8: Safety Systems
	8.1. INTRODUCTION
	8.2. HAZARDOUS OPERATIONS
		8.2.1. Some examples
		8.2.2. What Can Go Wrong?
		8.2.3. Common aircraft accident causal factors
	8.3. SAFETY PROMOTION
	8.4. MAINTENANCE
		8.4.1. Inspection procedures
		8.4.2. Management in degraded mode
	8.5. HUMAN FACTORS
	8.6. RISK ANALYSIS AND PREVENTION
		8.6.1. Technical requirement for risk
		8.6.2. Holistic risk model
		8.6.3. Approaches to risk analysis
		8.6.4. United Nations call for international drone registration
	8.7. LABS
		8.7.1. How to fly a drone
	8.8. CONCLUSIONS
CHAPTER 9: Conclusions
Bibliography
Terminology
	BASIC DEFINITIONS
Glossary
Index