Experiments in learning helicopter control from a pilot

This paper details the development of a machine learning system which uses the helicopter state and the actions of an instructing pilot to synthesise helicopter control modules online. Aggressive destabilisation/restabilisation sequences are used for training, such that a wide state space envelope is covered during training. The performance of heading, roll, pitch, height and lateral velocity control learning is presented using our Xcell 60 experimental platform. The helicopter is demonstrated to be stabilised on all axes using the “learning from a pilot” technique. To our knowledge, this is the first time a “learning from a pilot” technique has been successfully applied to all axes.

Queensland floods anniversary : Brian Willmett

"In today's story we hear from Postmans Ridge helicopter pilot, Brian Willmett, and how he and his neighbours worked together to rescue four people, including Kevin and Eileen Lees, from the inland tsunami which swept down the Lockyer Valley during last year's Queensland floods. It was a ten metre high wave that swept through Postmans Ridge that day, ripping houses from their foundations and sweeping two people to their deaths. Brian Willmett was at home when he suddenly ran to rescue neighbours who were in danger. To mark the anniversary of the floods in Queensland, ABC Open has compiled Aftermath, an extensive look at the Queensland floods as well as floods in NSW, Victoria and remote Western Australia, Cyclone Yasi and the 2009 Victorian 'Black Saturday' bushfires. Australia certainly has been hit by a few disasters in the past two or so years. The site has a timeline showing content from these six disasters, with links to about 40 people effected by these disasters. If you go to that site you will be able to choose a person to watch videos about them."

Estudo da vibração de corpo inteiro em pilotos de helicoptera esquilo AS-350 L1

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Thinking way out of the box

l objeto de este trabajo es investigar sobre la arquitectura futurista mediante la figura de Jan Kaplický, el cual realizó planteamientos y arquitecturas que todavía hoy son realmente innovadoras e impactantes, centrando el tema en sus propuestas de vanguardia sobre lo doméstico. La obra elegida para este análisis es la House for a Helicopter Pilot (1979), una arquitectura nómada y cinética en que se habitaría una cápsula modular que puede elevar o bajar sus brazos hidráulicos y luego, una vez cansado el usuario del entorno, podría abandonarlo y encontrar otro lugar salvaje en que situarse. Al ser una obra no construida y utópica, sobre la que no hay apenas documentación, se propone como objetivo indagar sobre esta arquitectura alternativa que hoy en día sigue resultando innovadora, y realizar hipótesis explorando los detalles y objetos que aparecen en la escasa documentación existente, profundizando en las ideas utópicas de Jan Kaplicky

Aviation intermediate maintenance manual : pilot night vision sensor (PNVS) assembly AN/AAQ-11, AH-64A attack helicopter.

"1 February 1986."

Aviation unit and intermediate maintenance manual for target acquisition designation sight/pilot night vision sensor assembly (TADS/PNVS) shipping and storage containers, 13083643, 13083644, 13083649, AH-64A attack helicopter.

"April 1985."

Aviation unit and intermediate maintenance manual for target acquisition designation sight/pilot night vision sensor assembly (TADS/PNVS) shipping and storage containers, 13083643, 13083644, 13083649, AH-64A attack helicopter.

"April 1985."

Aviation unit and intermediate maintenance repair parts and special tools list (including depot maintenance repair parts) for pilot night vision sensor (PNVS) assembly AN/AAQ-11, 5855-01-120-7831 : AH-64A attack helicopter.

"5 September 1990."

A Helicopter named Dolly : behavioural cloning for autonomous helicopter control

This paper considers the pros and cons of using Behavioural cloning for the development of low-level helicopter automation modules. Over the course of this project several Behavioural cloning approaches have been investigated. The results of the most effective Behavioural cloning approach are then compared to PID modules designed for the same aircraft. The comparison takes into consideration development time, reliability, and control performance. It has been found that Behavioural cloning techniques employing local approximators and a wide state-space coverage during training can produce stabilising control modules in less time than tuning PID controllers. However, performance and reliabity deficits have been found to exist with the Behavioural Cloning, attributable largely to the time variant nature of the dynamics due to the operating environment, and the pilot actions being poor for teaching. The final conclusion drawn here is that tuning PID modules remains superior to behavioural cloning for low-level helicopter automation.

Online learning of autonomous helicopter control

This paper details the development of an online adaptive control system, designed to learn from the actions of an instructing pilot. Three learning architectures, single layer neural networks (SLNN), multi-layer neural networks (MLNN), and fuzzy associative memories (FAM) are considerd. Each method has been tested in simulation. While the SLNN and MLNN provided adequate control under some simulation conditions, the addition of pilot noise and pilot variation during simulation training caused these methods to fail.

Estimating the Hausdorff-Besicovitch dimension of boundary of basin of attraction in helicopter trim

Helicopter trim involves solution of nonlinear force equilibrium equations. As in many nonlinear dynamic systems, helicopter trim problem can show chaotic behavior. This chaotic behavior is found in the basin of attraction of the nonlinear trim equations which have to be solved to determine the main rotor control inputs given by the pilot. This study focuses on the boundary of the basin of attraction obtained for a set of control inputs. We analyze the boundary by considering it at different magnification levels. The magnified views reveal intricate geometries. It is also found that the basin boundary exhibits the characteristic of statistical self-similarity, which is an essential property of fractal geometries. These results led the authors to investigate the fractal dimension of the basin boundary. It is found that this dimension is indeed greater than the topological dimension. From all the observations, it is evident that the boundary of the basin of attraction for helicopter trim problem is fractal in nature. (C) 2012 Elsevier Inc. All rights reserved.

A helicopter named Dolly: Behavioural cloning for autonomous helicopter control

This paper considers the pros and cons of using behavioural cloning for the development of low-level helicopter automation modules. Over the course of this project several Behavioural cloning approaches have been investigated. The results of the most effective Behavioural cloning approach are then compared to PID modules designed for the same aircraft. The comparison takes into consideration development time, reliability, and control performance. It has been found that Behavioural cloning techniques employing local approximators and a wide state-space coverage during training can produce stabilising control modules in less time than tuning PID controllers. However, performance and reliabity deficits have been found to exist with the Behavioural Cloning, attributable largely to the time variant nature of the dynamics due to the operating environment, and the pilot actions being poor for teaching. The final conclusion drawn here is that tuning PID modules remains superior to behavioural cloning for low-level helicopter automation.

Pilot Study on Improving the Efficiency of Transportation Projects Using Laser Scanning, 2003

Laser scanning is a terrestrial laser-imaging system that creates highly accurate three-dimensional images of objects for use in standard computer-aided design software packages. This report describes results of a pilot study to investigate the use of laser scanning for transportation applications in Iowa. After an initial training period on the use of the scanner and Cyclone software, pilot tests were performed on the following projects: intersection and railroad bridge for training purposes; section of highway to determine elevation accuracy and pair of bridges to determine level of detail that can be captured; new concrete pavement to determine smoothness; bridge beams to determine camber for deck-loading calculations; stockpile to determine volume; and borrow pit to determine volume. Results show that it is possible to obtain 2-6 mm precision with the laser scanner as claimed by the manufacturer compared to approximately one-inch precision with aerial photogrammetry using a helicopter. A cost comparison between helicopter photogrammetry and laser scanning showed that laser scanning was approximately 30 percent higher in cost depending on assumptions. Laser scanning can become more competitive to helicopter photogrammetry by elevating the scanner on a boom truck and capturing both sides of a divided roadway at the same time. Two- and three-dimensional drawings were created in MicroStation for one of the scanned highway bridges. It was demonstrated that it is possible to create such drawings within the accuracy of this technology. It was discovered that a significant amount of time is necessary to convert point cloud images into drawings. As this technology matures, this task should become less time consuming. It appears that laser scanning technology does indeed have a place in the Iowa Department of Transportation design and construction toolbox. Based on results from this study, laser scanning can be used cost effectively for preliminary surveys to develop TIN meshes of roadway surfaces. It also appears that this technique can be used quite effectively to measure bridge beam camber in a safer and quicker fashion compared to conventional approaches. Volume calculations are also possible using laser scanning. It seems that measuring quantities of rock could be an area where this technology would be quite beneficial since accuracy is more important with this material compared to soil. Other applications for laser scanning could include developing as-built drawings of historical structures such as the bridges of Madison County. This technology could also be useful where safety is a concern such as accurately measuring the surface of a highway active with traffic or scanning the underside of a bridge damaged by a truck. It is recommended that the Iowa Department of Transportation initially rent the scanner when it is needed and purchase the software. With time, it may be cost justifiable to purchase the scanner as well. Laser scanning consultants can be hired as well but at a higher cost.