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  • Una experiencia de unificación de asignaturas para desplegar PBL (y las quejas que originó)

     Barrado Muxí, Cristina; Cuadrado Santolaria, Raúl; Delgado Muñoz, Luis; Mellibovsky Elstein, Fernando; Pastor Llorens, Enrique; Perez Batlle, Marcos; Prats Menéndez, Xavier; Rojas Gregorio, Jose Ignacio; Royo Chic, Pablo; Valero Garcia, Miguel
    ReVisión
    Date of publication: 2013-09
    Journal article

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    En este artículo se describen los aspectos esenciales de una experiencia de unificación de parejas de asignaturas con el objetivo de crear un escenario más adecuado para el despliegue de Aprendizaje Basado en Proyectos. Como guía para el repaso de esos aspectos esenciales se utiliza una carta que elaboraron los estudiantes de la primera edición para protestar por el funcionamiento de las asignaturas. El análisis de las quejas de los estudiantes puede ser de mucha utilidad para otros que se planeen retos similares.

  • Real-Time data processing for the airborne detection of hot spots

     Salamí San Juan, Esther; Barrado Muxí, Cristina; Pastor Llorens, Enrique; Royo Chic, Pablo; Santamaria Barnadas, Eduard
    Journal of aerospace computing, information, and communication
    Date of publication: 2013-10
    Journal article

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    Satellites and aircraft have traditionally been the primary source of remote sensing data. The increasing number of satellite constellations and the improvement of the quality of airborne sensors have produced a great deal of imagery and high-precision geographic data. At present, the miniaturization of electronics, computers, and sensors creates new opportunities for remote sensing applications. Small and/or unmanned aircraft are promising technologies, especially for tactical reaction in emergency situations, such as forest fires, where a quick and efficient response is critical to minimize damage.

  • Towards the automation of the UAS mission management

     Royo Chic, Pablo; Cuadrado Santolaria, Raúl; Barrado Muxí, Cristina; Salamí San Juan, Esther; Perez Batlle, Marcos; Pastor Llorens, Enrique
    Digital Avionics Systems Conference
    Presentation's date: 2013-10-10
    Presentation of work at congresses

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    Most unmanned aircraft systems (UAS) are, at present, designed for military purposes and very few civil applications have been developed mainly because the lack of a regulation basis concerning their certification, airworthiness and operations. UAS operations have always been solutions highly dependent on the mission to be accomplished and on the scenario of flight. The generalized development of UAS applications is still limited by the absence of systems that support the development of the actual operations. Most current UAS solutions, if not remotely piloted, rely on waypoint based flight control system for their navigation and are unable to coordinate the aircraft flight with payload and mission operation. In this paper, an architecture for providing automation in UAS application is presented. This architecture is part of a UAS-specific distributed service-oriented architecture designed to enable easy reconfiguration and deployment of UAS in a wide range of scenarios without (or very little) additional system development. Flight, payload and mission service coordination, service interfaces and message interactions between services are discussed in this paper. Finally, a preliminary prototype of these services has been implemented to validate the purpose architecture specification. Additionally, a helicopter-based UAS is being developed to test in real scenarios the automation capabilities provided by the USAL architecture.

  • Una experiencia de unificación de asignaturas para desplegar PBL (y las quejas que originó)

     Barrado Muxí, Cristina; Cuadrado Santolaria, Raúl; Delgado Muñoz, Luis; Mellibovsky Elstein, Fernando; Pastor Llorens, Enrique; Perez Batlle, Marcos; Prats Menéndez, Xavier; Rojas Gregorio, Jose Ignacio; Royo Chic, Pablo; Valero Garcia, Miguel
    Jornadas sobre la enseñanza universitaria de la informática
    Presentation's date: 2013-06
    Presentation of work at congresses

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  • Maintaining separation between airliners and RPAS in non-segregated airspace

     Perez Batlle, Marcos; Pastor Llorens, Enrique; Prats Menéndez, Xavier; Royo Chic, Pablo; Cuadrado Santolaria, Raúl
    Air Traffic Management Research and Development Seminar
    Presentation's date: 2013-06
    Presentation of work at congresses

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  • Architecture issues and challanges for the integration of RPAS in non-segregated airspace

     Cuadrado Santolaria, Raúl; Royo Chic, Pablo; Barrado Muxí, Cristina; Perez Batlle, Marcos; Pastor Llorens, Enrique
    Digital Avionics Systems Conference
    Presentation's date: 2013-10-10
    Presentation of work at congresses

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    Despite the evolution of unmanned aircraft systems (UASs), the technological development on airframes, autopilots, communications and payload, is still limited by the absence of software standardization. Engineers face the development of UAS systems with the implementation of ad - hoc solutions to satisfy the mission requirements. This is a major limitation with regard to the software maintenance and re-usability that may result in an increment of both project cost and risk. Well structured UAS avionics supporting increased levels of automation (and eventually autonomy), together with reconfiguration capabilities and costeffectiveness, are key requirements for UAS to be successful in a global scenario. Additionally the major civil applications require UAS with access to non-segregated airspace. Following Eurocontrol, FAA and ICAO philosophy, the introduction of unmanned traffic should not affect ATM operations, thus UAS should comply with the performance levels required by SESAR and NextGen. Hence, operations with unmanned aircraft should guarantee safe and efficient interaction with the ATM system. In that aspect gaps and issues into unmanned aircraft software architectures are discussed in this paper. Required mechanism for ATM communication, collision avoidance, maneuver automation and SESAR/NextGen integration are discussed to identify possible short-term and long-term software requirements. Moreover, existing standardized software frameworks and proposed software proposed are reviewed to identify the gaps it should deal with to achieve an efficient UAS integration.

  • ISIS+: A software-in-the-loop UAS simulator for non-segregated airspace

     Royo Chic, Pablo; Barrado Muxí, Cristina; Pastor Llorens, Enrique
    Journal of aerospace computing, information, and communication
    Date of publication: 2013-09-24
    Journal article

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    Unmanned Aircraft Systems (UAS) are currently being used primarily for military applications, but with the evolution of avionics technology, a huge market in civil applications is emerging. However, most civil applications require UAS to access non-segregated airspace. Current use limitations of non-segregated airspace make it extremely difficult to extensively evaluate operational concepts and mission profiles. Using real flights to test the complete UAS mission infrastructure involves costs and risks. Therefore, simulators must be used prior to real flight campaigns to test and validate UAS components and must take into account all the actors involved in the non-segregated airspace. This paper describes the development of a Software-in-the-Loop simulator called ISIS+ to evaluate the automated operations of UAS in non-segregated airspace and to test new software components of the UAS with other avionics components. The ISIS+ simulator provides a realistic simulation environment in which the UAS software components can be developed under real air traffic scenarios while taking into account all the UAS's peculiarities. The UAS is integrated with eDEP, an air traffic simulation environment, in order to explore the UAS behavior, conflicting traffic and air traffic controllers' requests with the airspace actors. The integration is carried out using ADS-B messages and considers the UAS as an active actor in the networked environment to simulate future SESAR and NextGen scenarios.

  • Best paper in track award - ATM Seminar 2013

     Pastor Llorens, Enrique; Perez Batlle, Marcos; Prats Menéndez, Xavier; Royo Chic, Pablo; Cuadrado Santolaria, Raúl
    Award or recognition

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  • Evaluation of the RPAS-ATM interaction in non-segregated airspace

     Barrado Muxí, Cristina; Perez Batlle, Marcos; Royo Chic, Pablo; Cuadrado Santolaria, Raúl; Prats Menéndez, Xavier; Pastor Llorens, Enrique
    Participation in a competitive project

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  • Regulations and Requirements

     Prats Menéndez, Xavier; Ramírez Alcantara, Jorge; Delgado Muñoz, Luis; Royo Chic, Pablo
    Date of publication: 2012-04
    Book chapter

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  • Integration of SAA Capabilities into a UAS Distributed Architecture for Civil Applications

     Royo Chic, Pablo; Santamaria Barnadas, Eduard; Lema Rosas, Juan Manuel; Pastor Llorens, Enrique; Barrado Muxí, Cristina
    Date of publication: 2012-04
    Book chapter

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    A taxonomy of UAS separation maneuvers and their automated execution  Open access

     Perez Batlle, Marcos; Pastor Llorens, Enrique; Royo Chic, Pablo; Prats Menéndez, Xavier; Barrado Muxí, Cristina
    International Conference on Application and Theory of Automation in Command and Control Systems
    Presentation's date: 2012-05-30
    Presentation of work at congresses

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    This paper proposes to create a taxonomy of separation conflicts between Unmanned Aerial Systems (UAS) and intruding aircrafts to facilitate its insertion in non-segregated airspace. The classification is created according to the relative speeds, angular geometry, initial intent, etc. A catalog of separation maneuvers that best fit each scenario is introduced and evaluated through a real-time simulation environment. This advisory mechanism will benefit both the UAS pilot and the ATCo in order to negotiate the best suited separation maneuver. Eventually, the same strategy can be employed as an autonomous separation system on-board a UAS that suffers a lost-link contingency, alleviating its negative impact in the airspace.

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    On the design of UAS horizontal separation maneuvers  Open access

     Pastor Llorens, Enrique; Perez Batlle, Marcos; Royo Chic, Pablo; Cuadrado Santolaria, Raúl; Barrado Muxí, Cristina; Prats Menéndez, Xavier
    SESAR Innovation Days
    Presentation's date: 2012-11-29
    Presentation of work at congresses

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    This paper studies the separation maneuvers that an Unmanned Air System (UAS) may execute to avoid breaching the separation safety margins imposed in each type of airspace, namely 3 NM, 5 NM, and 10 NM. The UAS was assumed under the control of its Pilot in Command, with available information about its surrounding traffic through ADS-B or ADS-C, and most likely under the supervision of an ATCo. A number of UAS separation maneuvers have been identified that may guarantee the desired levels of separation if executed with the right parameters and enough anticipation. This paper focuses on identification of the most suitable maneuver for any separation conflict geometry and performance envelop. The conflict geometry is modeled to take into account the speed of both vehicles (the UAS and the intruder), the conflict angle, the turning limitations of the UAS, the reaction time of the pilot, and the communication latency.

  • In-flight contingency management for Unmanned Aerial Vehicles

     Pastor Llorens, Enrique; Royo Chic, Pablo; Santamaria Barnadas, Eduard; Prats Menéndez, Xavier; Barrado Muxí, Cristina
    Journal of aerospace computing, information, and communication
    Date of publication: 2012-01-31
    Journal article

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  • Flight plan specification and management for unmanned aircraft systems

     Santamaria Barnadas, Eduard; Pastor Llorens, Enrique; Barrado Muxí, Cristina; Prats Menéndez, Xavier; Royo Chic, Pablo; Perez Batlle, Marcos
    Journal of intelligent and robotic systems
    Date of publication: 2012-07
    Journal article

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    This paper presents a new concept for specifying Unmanned Aircraft Systems (UAS) flight operations that aims at improving the waypoint based approach, found in most autopilot systems, by providing higher level fligh plan specification primitives. The proposed method borrows the leg and path terminator concepts used in Area Navigation1 (RNAV). Several RNAV leg types are adopted and extended with new ones for a better adaptation to UAS requirements. Extensions include the addition of control constructs that enable repetitive and conditional behavior, and also parametric legs that can be used to generate complex paths from a reduced number of parameters. The paper also covers the design and implementation of a software component that manages execution of the flight plan. To take advantage of current off-the-shelf flight control systems the constructs included in the flight plan are translated to waypoint navigation commands. In this way, the advanced capabilities provided by the flight plan specification language are implemented as a new layer on top of existing technologies. The benefits and the feasibility of the proposed approach for UAS flight plan management are demonstrated by means of a simulated mission that performs the flight inspection of Radio Navigation Aids.

  • ESTANDARIZACION DE SISTEMAS AVIONICOS PARA AVIONES NO TRIPULADOS

     Royo Chic, Pablo; Pastor Llorens, Enrique
    Participation in a competitive project

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  • Reconfigurable automated behavior for UAS applications

     Santamaria Barnadas, Eduard; Barrado Muxí, Cristina; Pastor Llorens, Enrique; Royo Chic, Pablo; Salamí San Juan, Esther
    Aerospace science and technology
    Date of publication: 2012-12
    Journal article

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  • Requirements, issues, and challenges for sense and avoid in Unmanned Aircraft Systems

     Prats Menéndez, Xavier; Delgado Muñoz, Luis; Ramírez Alcantara, Jorge; Royo Chic, Pablo; Pastor Llorens, Enrique
    Journal of aircraft
    Date of publication: 2012-05
    Journal article

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    The sense and avoid capability is one of the greatest challenges that has to be addressed to safely integrate unmanned aircraft systems into civil and nonsegregated airspace. This paper gives a review of existing regulations, recommended practices, and standards in sense and avoid for unmanned aircraft systems. Gaps and issues are identified, as are the different factors that are likely to affect actual sense and avoid requirements. It is found that the operational environment (flight altitude, meteorological conditions, and class of airspace) plays an important role when determining the type of flying hazards that the unmanned aircraft system might encounter. In addition, the automation level and the data-link architecture of the unmanned aircraft system are key factors that will definitely determine the sense and avoid system requirements. Tactical unmanned aircraft, performing similar missions to general aviation, are found to be the most challenging systems from an sense and avoid point of view, and further research and development efforts are still needed before their seamless integration into nonsegregated airspace.

  • Fast geolocation for hot spot detection

     Salamí San Juan, Esther; Barrado Muxí, Cristina; Perez Batlle, Marcos; Royo Chic, Pablo; Santamaria Barnadas, Eduard; Pastor Llorens, Enrique
    International Symposium on Remote Sensing of Environment
    Presentation's date: 2011-04-14
    Presentation of work at congresses

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  • Depart and approach procedures for UAS in a VFR environment

     Pastor Llorens, Enrique; Royo Chic, Pablo; Delgado Muñoz, Luis; Perez Batlle, Marcos; Barrado Muxí, Cristina; Prats Menéndez, Xavier
    International Conference on Application and Theory of Automation in Command and Control Systems
    Presentation's date: 2011-05-26
    Presentation of work at congresses

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  • Evaluating technologies and mechanisms for the automated/autonomous operation of UAS in non-segregated airspace

     Pastor Llorens, Enrique; Royo Chic, Pablo; Perez Batlle, Marcos; Prats Menéndez, Xavier; Barrado Muxí, Cristina
    SESAR Innovation Days
    Presentation's date: 2011-12-01
    Presentation of work at congresses

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  • Sky eye: an helicopter-based UAS for hotspot monitoring

     Pastor Llorens, Enrique; Royo Chic, Pablo; Barrado Muxí, Cristina; Santamaria Barnadas, Eduard; Salamí San Juan, Esther; López Rubio, Juan
    AUVSI Unmanned Systems North America Conference
    Presentation's date: 2011-08-18
    Presentation of work at congresses

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    UAS architecture for forest fire remote sensing  Open access

     Royo Chic, Pablo; Pastor Llorens, Enrique; Solé, M.; Lema Rosas, Juan Manuel; López Rubio, Juan; Barrado Muxí, Cristina
    International Symposium on Remote Sensing of Environment
    Presentation's date: 2011-04-10
    Presentation of work at congresses

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    This paper presents the hardware/software architecture of the Sky-Eye UAS prototype. In particular it details the hardware of the prototype, its operational concept and the software avionics architecture. The software architecture is named UAS Service Abstraction Layer (USAL) and consists on the set of standard services required for most UAS missions. The USAL is a distributed architecture which follows the publish / subscribe communication paradigm, allowing fast development of new functionalities. We describe the USAL services required to properly manage the remote sensing mission of hot spot detection. This includes the sensor management, data storage, communications, image processing, flight plan management and mission management.

  • An architecture to automate UAS operations in non-segregated airspace

     Pastor Llorens, Enrique; Royo Chic, Pablo; Santamaria Barnadas, Eduard; Perez Batlle, Marcos; Barrado Muxí, Cristina; Prats Menéndez, Xavier
    International Conference on Application and Theory of Automation in Command and Control Systems
    Presentation's date: 2011-05-26
    Presentation of work at congresses

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  • Departure and approach procedures for unmanned aircraft systems in a visual-flight-rule environment

     Prats Menéndez, Xavier; Delgado Muñoz, Luis; Royo Chic, Pablo; Perez Batlle, Marcos; Pastor Llorens, Enrique
    Journal of aircraft
    Date of publication: 2011-08
    Journal article

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  • Best paper award 1st International Conference on application and theory of automation in command and control system

     Pastor Llorens, Enrique; Royo Chic, Pablo; Santamaria Barnadas, Eduard; Perez Batlle, Marcos; Barrado Muxí, Cristina; Prats Menéndez, Xavier
    Award or recognition

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  • INTELLIGENT COMMUNICATIONS, OPERATIONS AND AVIONICS FOR ROBUST (UN)MANNED AERIAL SYSTEMS

     Barrado Muxí, Cristina; Prats Menéndez, Xavier; Royo Chic, Pablo; Santamaria Barnadas, Eduard; López Rubio, Juan; Ramírez Alcantara, Jorge; Delgado Muñoz, Luis; Salamí San Juan, Esther; Valero Garcia, Miguel; Pastor Llorens, Enrique
    Participation in a competitive project

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  • Autopilot abstraction and standardization for seamless integration of Unmanned Aircraft System applications

     Royo Chic, Pablo; Pastor Llorens, Enrique; Barrado Muxí, Cristina; Santamaria Barnadas, Eduard; López Rubio, Juan; Prats Menéndez, Xavier; Lema, Juan
    Journal of aerospace computing, information, and communication
    Date of publication: 2011-08
    Journal article

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  • Architecture for a helicopter-based unmanned aerial systems wildfire surveillance system

     Pastor Llorens, Enrique; Barrado Muxí, Cristina; Royo Chic, Pablo; Santamaria Barnadas, Eduard; López Rubio, Juan; Salamí San Juan, Esther
    Geocarto international
    Date of publication: 2011-04
    Journal article

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    Helicopter-based wildfire monitoring system software architecture  Open access

     Pastor Llorens, Enrique; Solé Simó, Marc; López Rubio, Juan; Royo Chic, Pablo; Barrado Muxí, Cristina
    IEEE Aerospace Conference
    Presentation's date: 2010-03-06
    Presentation of work at congresses

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    This work introduces a flexible and reusable architecture designed to facilitate the development of remote sensing applications. Based on it, we are developing a helicopter system, called Red-Eye, devoted to the detection, control and analysis of wild land forest fires in the Mediterranean area. The design of the proposed system is composed of five main components. Each component will work collaboratively to constitute a platform of high added value. The general architecture designed for wildfire monitoring is being tailored for two relevant objectives within the particular Mediterranean scenario: tactical day/night fire front evolution, and post-fire hot-spot detection. The generalized integration of monitoring vehicles with the operation of other aerial resources (attack helicopter and airplanes) is an unsolved problem, both technically and methodologically. However, the operation of a monitoring helicopter during certain very well identified phases of the extinction process in highly plausible. High-level strategic monitoring is possible because no-conflicts will appear due to different flight levels; however, low-level tactical monitoring is a source of potentially dangerous in-flight traffic conflicts. In addition to monitoring the fire front evolution, detection of remaining post-fire hot-spots located at the perimeter of fire is the main application that has been foreseen. Just after a fire front is contained or even during the days following the fire extinction, the monitoring tasks have to be maintained because of the danger of fire reactivation. The cost of monitoring with ground teams or aerial means it is very expensive and consumes resources needed in other fronts or possibly concurrent fires. However, a helicopter equipped with thermal cameras, can flight over the area and generate a map of hot spots with higher precision at a smaller cost. It is crucial in this application that the hot spots are reported immediately to avoid having ground brigades wai- - ting for data for too long. Also, it is important to feedback the information in such a way it can be effectively consumed, not forcing ground brigades to walk around the forest without a clear operational scheme. Based on a Service Oriented Architecture (SOA) a heliborne hot-spot detection system is being developed. This paper describes the global architecture of the system, including the air segment, the ground control segment, and the interface with the squads operating on the fire area, etc. We also demonstrate how the available pre-defined modules in the SOA architecture have been reused to design this particular application, the additional subsystems required to implement specific hot-spot mission requirements, and the overall system / end-user interface.

  • UAS pilot support for departure, approach and airfield operations

     Pastor Llorens, Enrique; Prats Menéndez, Xavier; Royo Chic, Pablo; Delgado Muñoz, Luis; Santamaria Barnadas, Eduard
    IEEE Aerospace Conference
    Presentation's date: 2010-03
    Presentation of work at congresses

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    Unmanned Aerial Systems (UAS) have great potential to be used in a wide variety of civil applications such as environmental applications, emergency situations, surveillance tasks and more. The development of Flight Control Systems (FCS) coupled with the availability of other Commercial Off-The Shelf (COTS) components is enabling the introduction of UAS into the civil market. The sophistication of existing FCS is also making these systems accessible to end users with little aeronautics expertise. However, much work remains to be done to deliver systems that can be properly integrated in standard aeronautical procedures used by manned aviation. In previous research advances have been proposed in the flight plan capabilities by offering semantically much richer constructs than those present in most current UAS autopilots. The introduced flight plan is organized as a set of stages, each one corresponding to a different flight phase. Each stage contains a structured collection of legs inspired by current practices in Area Navigation (RNAV). However, the most critical parts of any flight, the depart and approach operations in a integrated airspace remain mostly unexplored. This paper introduces an assessment of both operations for UAS operating in VFR and IFR modes. Problems and potential solutions are proposed, as well as an automating strategy that should greatly reduce pilot workload. Although the final objective is a full autonomous operation, the pilot is always kept in the control loop and therefore HMI aspects are also considered.

  • On the design of a UAS flight plan monitoring and edition system

     Pastor Llorens, Enrique; Santamaria Barnadas, Eduard; Royo Chic, Pablo; López Rubio, Juan; Barrado Muxí, Cristina
    IEEE Aerospace Conference
    Presentation's date: 2010-03-06
    Presentation of work at congresses

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    This paper addresses various aspects of the design and development of the pilot interface for the exploitation of highly advanced flight plan capabilities specifically designed for Unmanned Aerial Systems (UAS). This flight plan capabilities are built on top a flexible and reusable hardware/software architecture designed to facilitate the development of UAS-based applications. This flexibility is organized into an user-parameterizable UAS Service Abstraction Layer (USAL). The USAL defines a collection of standard services are their interrelations as a basic starting point for further development by UAS users. Previous research presented the advanced flying capabilities of a UAS as an extension of the Flight Control System (FCS) functionalities. Assuming a UAS with a FCS that ensures safe and stable maneuvers, we complement it with a highly capable flight plan management system. USAL flight plan is characterized by offering semantically much richer constructs than those present in most current UAS autopilots, which rely on simple lists of waypoints. This list of waypoints approach has several important limitations: it is difficult to specify complex trajectories and it does not support constructs such as conditional forks or iterations, small changes may imply having to deal with a considerable amount of waypoints and it provides no mechanism for adapting to mission time circumstances. To address these issues a new flight plan specification mechanism is proposed, that incorporates a leg concept extended to accommodate higher level constructs for specifying iterations and forks. Additional leg types, referred to as parametric leg, are also introduced. The trajectory defined by a parametric leg is automatically generated as a function of mission variables, enabling dynamic behavior and providing a very valuable means for adapting the flight to the mission evolution. Another level of adaption is provided by the conditions governing the decision-making in intersection le- - gs and the finalization of iterative legs. In this work we will focus on the development of the pilot interface for the exploitation of the introduced flight plan capabilities. The interface design requirements address an increase level of automated operation and support to react to unexpected requirements due to mission changes. Therefore, this interaction includes the available mechanisms to update the flight-plan according to UAS mission requirements, skip parts of it, react to operational contingencies, etc.

  • Helicopter-based wildfire monitoring system software architecture

     Pastor Llorens, Enrique; Solé Simó, Marc; López, Juan; Royo Chic, Pablo; Barrado Muxí, Cristina
    IEEE Aerospace Conference
    Presentation's date: 2010-03
    Presentation of work at congresses

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    This work introduces a flexible and reusable architecture designed to facilitate the development of remote sensing applications. Based on it, we are developing a helicopter system, called Red-Eye, devoted to the detection, control and analysis of wild land forest fires in the Mediterranean area. The design of the proposed system is composed of five main components. Each component will work collaboratively to constitute a platform of high added value. The general architecture designed for wildfire monitoring is being tailored for two relevant objectives within the particular Mediterranean scenario: tactical day/night fire front evolution, and post-fire hot-spot detection. The generalized integration of monitoring vehicles with the operation of other aerial resources (attack helicopter and airplanes) is an unsolved problem, both technically and methodologically. However, the operation of a monitoring helicopter during certain very well identified phases of the extinction process in highly plausible. High-level strategic monitoring is possible because no-conflicts will appear due to different flight levels; however, low-level tactical monitoring is a source of potentially dangerous in-flight traffic conflicts. In addition to monitoring the fire front evolution, detection of remaining post-fire hot-spots located at the perimeter of fire is the main application that has been foreseen. Just after a fire front is contained or even during the days following the fire extinction, the monitoring tasks have to be maintained because of the danger of fire reactivation. The cost of monitoring with ground teams or aerial means it is very expensive and consumes resources needed in other fronts or possibly concurrent fires. However, a helicopter equipped with thermal cameras, can flight over the area and generate a map of hot spots with higher precision at a smaller cost. It is crucial in this application that the hot spots are reported immediately to avoid having ground brigades wai- - ting for data for too long. Also, it is important to feedback the information in such a way it can be effectively consumed, not forcing ground brigades to walk around the forest without a clear operational scheme. Based on a Service Oriented Architecture (SOA) a heliborne hot-spot detection system is being developed. This paper describes the global architecture of the system, including the air segment, the ground control segment, and the interface with the squads operating on the fire area, etc. We also demonstrate how the available pre-defined modules in the SOA architecture have been reused to design this particular application, the additional subsystems required to implement specific hot-spot mission requirements, and the overall system / end-user interface.

  • Wildfire Monitoring Using a Mixed Air-Ground Mobile Network

     Barrado Muxí, Cristina; Meseguer Pallares, Roque; López Rubio, Juan; Pastor Llorens, Enrique; Santamaria Barnadas, Eduard; Royo Chic, Pablo
    IEEE pervasive computing
    Date of publication: 2010
    Journal article

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  • An Open Architecture for the Integration of UAS Civil Appli

     Royo Chic, Pablo
    Defense's date: 2010-05-25
    Department of Computer Architecture, Universitat Politècnica de Catalunya
    Theses

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  • An integrated mission management system for UAS civil applications

     Santamaria Barnadas, Eduard; Royo Chic, Pablo; Barrado Muxí, Cristina; Pastor Llorens, Enrique
    AIAA Guidance, Navigation, and Control Conference and Exhibit
    Presentation's date: 2009-08-13
    Presentation of work at congresses

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    This paper presents an Integrated Mission Management System for Unmanned Aircraft Systems (UAS). The system consists in a number of mission and flight software modules that control the UAS path and the operation of its on-board payload in a coordinated manner. The overall system is called UAS Service Architecture Layer (USAL). An important requirement of the system is that it should be highly adaptable to perform a broad range of civil missions. To achieve this goal the flight plan and mission specifications are separated from the modules that perform its execution. The flight plan is described using a formalism speci fically designed for UAS civil applications. State Chart XML is used to provide a state based model for the UAS behavior during the mission. USAL o ers additional capabilities oriented to the automated reaction to contingencies. This paper describes the alternative aifi eld specifi cation mechanism and the contingency management architecture employed in the USAL.

  • Service oriented fast prototyping environment for UAS missions

     Royo Chic, Pablo; López Rubio, Juan; Tristancho Martinez, Joshua; Lema, Juan; López, Borja; Pastor Llorens, Enrique
    AIAA Aerospace Sciences Meeting
    Presentation's date: 2009-01-06
    Presentation of work at congresses

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    This paper introduces a simulation architecture to evaluate the implementation of a va- riety of civil UAS missions with little recon guration time and overhead. This architecture, called Icarus Simulation Integrated Scenario (ISIS), is capable of simulating the behavior of the UAS from the mission point of view, but also is able to include additional aerial/ground vehicles. Additionally, the mutual interaction between vehicles and the interaction with their surrounding environment is modeled. The objective of ISIS is to minimize both the development e ort and risk, as well as to provide a feasible migration of the software from the testbed platform to the real ight platform. The UAS simulator is designed as a distributed simulation architecture in which vehicles and environment are modeled through specialized pieces of software. A service-oriented communication middleware provides the underlying infrastructure to easily implement the inter-vehicle coordination and even the coordination with third party applications providing additional simulated vehicles or simulated environment. A UAS-based forest re monitor- ing application is selected to describe the ISIS capabilities to coordinate the simulation of a multi-vehicle cooperative environment developing a complex mission.

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    An architecture for the development of complex UAS missions  Open access

     Pastor Llorens, Enrique; Barrado Muxí, Cristina; Royo Chic, Pablo; López Rubio, Juan; Santamaria Barnadas, Eduard
    AUVSI's Unmanned Systems Europe
    Presentation of work at congresses

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    The generalized development of UAS complex applications are still limited by the absence of systems that support the implementation of the actual mission. UAS design faces the development of specific systems to control their desired flight-profile, sensor activation/configuration along the flight, data storage and eventually its transmission to the ground control. All this elements may delay and increase the risk and cost of the project. This paper introduces a flexible and reusable hardware/software architecture designed to facilitate the development of UAS-based complex applications. This flexibility is organized into a user-parameterizable UAS service abstraction layer (USAL). The USAL defines a collection of standard services are their interrelations as a basic starting point for further development by users. Functionalities like enhanced flight-plans, a mission control engine, data storage, communications management, etc. are offered. Additional services can be included according to requirements but all existing services and inter-service communication infrastructure can be exploited and tailored to specific needs. This approach reduces development times and risks, but at the same time gives the user higher levels of flexibility and permits the development of more ambitious applications.

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    Applying marea middleware to UAS communications  Open access

     López Rubio, Juan; Royo Chic, Pablo; Barrado Muxí, Cristina; Pastor Llorens, Enrique
    AIAA Infotech@Aerospace Conference
    Presentation's date: 2009-04-06
    Presentation of work at congresses

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    Unmanned Aircraft Systems (UAS) are increasing their communication subsystems complexity as they are using several data links both for redundancy and for tacking with different communication requirements: different ranges, bandwidth, power consumption or cost. Inside the airframe a similar tendency with respect to communications is appearing. Modern digital avionics are mainly implemented as distributed computing architectures. This work describes Marea, a middleware specifically designed to fulfill UAS communications and their application to the design of complex distributed UAS avionics.

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    Red-Eye: A Helicopter-Based Architecture for Tactical Wildfire Monitoring Strategies  Open access

     Pastor Llorens, Enrique; Barrado Muxí, Cristina; Royo Chic, Pablo; López Rubio, Juan; Santamaria Barnadas, Eduard; Prats Menéndez, Xavier; Batlle, Josep Mª
    IEEE Aerospace Conference
    Presentation's date: 2009-03-09
    Presentation of work at congresses

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    This work introduces a flexible and reusable architecture designed to facilitate the development of remote sensing applications. Based on it, we are developing a helicopter system, called Red-Eye, devoted to the detection, control and analysis of wild land forest fires in the Mediterranean area. The design of the proposed system is composed of five main components. Each component will work collaboratively to constitute a platform of high added value. The general architecture designed for wildfire monitoring is being tailored for two relevant objectives within the particular Mediterranean scenario: tactical day/night fire front evolution, and post-fire hot-spot detection.

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    An architecture for the seamless integration of UAS remote sensing missions  Open access

     Pastor Llorens, Enrique; Barrado Muxí, Cristina; Royo Chic, Pablo; López Rubio, Juan; Santamaria Barnadas, Eduard; Prats Menéndez, Xavier
    AIAA Unmanned Unlimited Conference
    Presentation of work at congresses

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    Unmanned Aerial Systems (UAS) are slowing becoming e cient platforms that can be applied in scienti c/commercial remote sensing applications. UAS may o er interesting bene ts in terms of cost, exibility, endurance, etc. On the other side, the complexity of developing a full UAS-system is currently limiting its practical application. Currently, only large organizations like NASA or NOAA have enough budget and infrastructure to develop such applications. Nowadays, UAS technology o ers feasible technical solutions for airframes, ight control, communications, and a wide set of multi-spectrum sensors. However, the generalized development of remote sensing applications are still limited by the absence of systems that support the development of the actual UAS sensing mission. This paper introduces a exible and reusable hardware/software architecture designed to facilitate the development of UAS-based remote sensing applications. This exibility is organized into an user-parameterizable UAS Service Abstraction Layer (USAL). The USAL de nes a collection of standard services are their interrelations as a basic starting point for further development by users. Functionalities like enhanced ight-plans, a mission control engine, data storage, communications management, etc. are o ered. Additional services can be included according to requirements but all existing services and inter-service communication infrastructure can be exploited and tailored to speci c needs. The overall USAL architecture is demonstrated by means of a wild land re remote sensing application currently being developed to support re ghters in the Mediterranean area.

  • An open architecture for the integration of UAV civil applications

     Pastor Llorens, Enrique; Barrado Muxí, Cristina; Royo Chic, Pablo; López Rubio, Juan; Santamaria Barnadas, Eduard
    Date of publication: 2009-01-01
    Book chapter

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  • Increasing eu security through the development of unmanned aerial

     Barrado Muxí, Cristina; Prats Menéndez, Xavier; Royo Chic, Pablo; Santamaria Barnadas, Eduard; López Rubio, Juan; Ramírez Alcantara, Jorge; Delgado Muñoz, Luis; Salamí San Juan, Esther; Pastor Llorens, Enrique
    Participation in a competitive project

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  • Proposta AEROSEC Call Security (Novembre 2009)

     López Rubio, Juan; Barrado Muxí, Cristina; Santamaria Barnadas, Eduard; Royo Chic, Pablo; Ramírez Alcantara, Jorge; Delgado Muñoz, Luis; Salamí San Juan, Esther; Prats Menéndez, Xavier; Pastor Llorens, Enrique
    Participation in a competitive project

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  • Programa Platino

     Barrado Muxí, Cristina; Prats Menéndez, Xavier; Royo Chic, Pablo; Santamaria Barnadas, Eduard; López Rubio, Juan; Ramírez Alcantara, Jorge; Delgado Muñoz, Luis; Salamí San Juan, Esther; Pastor Llorens, Enrique
    Participation in a competitive project

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  • Projecte mima: valorización tecnológica sistema de mission management per uas

     Barrado Muxí, Cristina; Prats Menéndez, Xavier; Royo Chic, Pablo; Santamaria Barnadas, Eduard; López Rubio, Juan; Ramírez Alcantara, Jorge; Delgado Muñoz, Luis; Salamí San Juan, Esther; Pastor Llorens, Enrique
    Participation in a competitive project

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  • An Assessment for UAS depart and approach operations

     Delgado Muñoz, Luis; Prats Menéndez, Xavier; Ferraz, Carlos; Royo Chic, Pablo; Pastor Llorens, Enrique
    The 9th AIAA Aircraft Technology, Integration and Operations Conference
    Presentation's date: 2009-09
    Presentation of work at congresses

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  • In-Flight contingency management for unmanned aerial vehicles

     Pastor Llorens, Enrique; Royo Chic, Pablo; Santamaria Barnadas, Eduard; Prats Menéndez, Xavier; Barrado Muxí, Cristina
    AIAA Infotech@Aerospace Conference and AIAA Unmanned Unlimited Conference
    Presentation's date: 2009
    Presentation of work at congresses

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    Flight dispatching for unmanned aerial vehicles  Open access

     Prats Menéndez, Xavier; Pastor Llorens, Enrique; Royo Chic, Pablo; López Rubio, Juan
    AIAA Guidance, Navigation and Control Conference and Exhibit
    Presentation of work at congresses

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  • Modular Avionics for Seamless Reconfigurable UAS Missions

     López Rubio, Juan; Royo Chic, Pablo; Barrado Muxí, Cristina; Pastor Llorens, Enrique
    27th Digital Avionics Systems Conference
    Presentation of work at congresses

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