Uncrewed Systems Technology 046

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3 October/November 2022 | Contents Uncrewed Systems Technology | October/November 2022 04 Intro Reducing the risks to crews in outer space safety is providing uncrewed systems with a key new application 06Platform one: Mission-critical info ABD Solutions unveils a modular system for converting heavy vehicles to driverless operation, researchers announce a method of building 3D structures while in flight, and much more 20 In conversation: Alan Wilson Professor of Locomotor Biomechanics at the Royal Veterinary College, London, talks about animal biomechanics and robotics 24Dossier: IAC AV-21 How the Indy Autonomous Challenge and its partners developed and refined this ground-breaking racecar 38Focus: Video systems Video systems developers are responding to rising demands for low latency and AI with the advances detailed here 48Digest: Seaber YUCO Why risk thousands on a large and heavy AUV when a smaller and less costly vehicle will do the job? Try this one for size 56 Insight: Space vehicles Colonising the Solar System can’t begin until we have more data from uncrewed missions, some key ones of which we detail here 64Show report: CUAV Expo Americas 2022 We’re back after three years owing to the Covid pandemic, and the expo did not disappoint us. Here are some of the highlights 74Show report: DroneX 2022 This major UAV-centred show was full of interest, so here are some details of the key announcements 78Dossier: Honeywell 600U, 600U-HV and 1200U fuel cells A design and operation update on these PEM fuel cells since Honeywell acquired their developer, Protonex Technology 88 In operation: Vantis BVLOS network We look at the hurdles that had to be overcome to build this C2 network for managing uncrewed systems in mixed airspace 98Focus: GNSS GNSS technology faces growing sources of interference, so product developers are making fresh efforts to deal with them 108Digest: Monodrone IM3000 Mk2 Customer requests for a USV designed for missions in shallow water prompted the development of this ‘gap-filler’ vessel 114PS: Nanorobots There is a wide range of potential uses for these tiny machines 24 06 38 88 78

Read all back issues online www.ust-media.com UST 46 :OCT/NOV 2022 UK £15,USA$30,EUROPEe22 Field of vision The latest advances in video system power and quality Going places Developments inGNSS technology continue apace Winning formula Autonomous racing hits the trackswith the IAC’sAV-21 4 The latest developments in uncrewed systems are showing how autonomous technology is being used to reduce the risks of crewed space travel, as well as how existing test systems for driverbased vehicles can be used for the conversion to driverless operation. The Artemis I space mission is relying on uncrewed systems to test out the technology that will see humanity return to the Moon. The project is set to deliver an uncrewed capsule to the Moon’s orbit, testing out the technologies that will carry a new generation of astronauts. The project is detailed in our Space insight (page 56), alongside another mission. That project, DART, delivered a probe to an asteroid, impacting successfully within 17 m of its target after travelling millions of kilometres. The aim is to see how such probes can deflect the orbit of asteroids that are at risk of hitting the Earth, demonstrating a dramatic new use case for the technology for the benefit of humanity. At the same time, test technology is enabling vehicles to operate autonomously. As we discuss in Platform One (page 6), ABD Solutions has taken simulation and test technology used for driver assistance systems to convert almost any kind of vehicle. That will drive autonomous operation into many more applications. Nick Flaherty | Technology Editor New frontiers Editorial Director Ian Bamsey Deputy Editor Rory Jackson Technology Editor Nick Flaherty Production Editor Guy Richards Contributor Peter Donaldson Technical Consultants Paul Weighell Ian Williams-Wynn Dr Donough Wilson Prof James Scanlan Design Andrew Metcalfe andrew@meticulousdesign.com UST Ad Sales Please direct all enquiries to Freya Williams freya@ust-media.com Subscriptions Frankie Robins frankie@ust-media.com Publishing Director Simon Moss simon@ust-media.com General Manager Chris Perry Intro | October/November 2022 October/November 2022 | Uncrewed Systems Technology Volume Eight | Issue Six October/November 2022 High Power Media Limited Whitfield House, Cheddar Road, Wedmore, Somerset, BS28 4EJ, England Tel: +44 (0)1934 713957 www.highpowermedia.com ISSN 2753-6513 Printed in Great Britain ©High Power Media All rights reserved. Reproduction (in whole or in part) of any article or illustration without the written permission of the publisher is strictly prohibited. While care is taken to ensure the accuracy of information herein, the publisher can accept no liability for errors or omissions. Nor can responsibility be accepted for the content of any advertisement. SUBSCRIPTIONS Subscriptions are available from High Power Media at the address above or directly from our website. Overseas copies are sent via air mail. 1 year subscription – 15% discount: UK – £75; Europe – £90 USA – £93.75; ROW – £97.50 2 year subscription – 25% discount: UK – £135; Europe – £162 USA – £168.75; ROW – £175.50 Make cheques payable to High Power Media. Visa, Mastercard, Amex and UK Maestro accepted. Quote card number and expiry date (also issue/start date for Maestro) ALSO FROM HPM The USE network Having now provided several enterprises around the world with the support and connections they need to implement efficient and sustainable technological solutions, we’re keen to continue expanding this free service. If the uncrewed vehicle and/or system you’re working on could benefit from some independent advice, from engineers specialising in the appropriate field, then please do get in touch. Email your question/challenge/dilemma/predicament to thenetwork@uncrewedsystemsengineering.comor visit www.uncrewedsystemsengineering.com and raise a case with us. All questions will be treated in the strictest confidence, and there’s no obligation whatsoever to follow any recommendations made.

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6 Mission-critical info for UST professionals Platformone ABD Solutions has developed a modular platform that can turn existing mining, agricultural and military vehicles into driverless ones (writes Nick Flaherty). Indigo Drive is a complete autonomy solution that converts a vehicle to driverless operation using a central controller. The functional safety design is based around certified ECUs to handle the autonomous operation of the vehicle Ground vehicles Modular solution to conversion October/November 2022 | Uncrewed Systems Technology on a set path with a mission plan. The conversion uses either mechanical actuators on the steering wheel, brake and accelerator pedals as well as arms to move the gears, or control via the vehicle’s CAN bus using the SAE J1939 protocol as well as an OBD2 diagnostics bus to monitor the activity of the vehicle. The underlying mechanical actuation IP comes from another company in the ABD Dynamics Group. Matthew Price, managing director of ABD Solutions, said, “We take their technology and modify the robot systems for these markets. This includes a new user interface, detect and stop sensor technology integration and modified robot actuation systems. We have also increased the ingress protection ratings to meet the operation conditions and the need for a semi-permanent installation in the vehicle.” The system is designed so that

7 Platform one control of a vehicle to keep it moving if there is an obstacle, but the main purpose is the pre-programmed operation,” Price said. The fleet management function provides constant monitoring, selecting any vehicle at any time. An operator can access the video feeds from the vehicle alongside other data such as performance, location, diagnostics and fuel levels. Cybersecurity has been designed into the system from the start. “What drives some of the technology is having the right level of separation and remote access,” Price said. “Part of that is showing that the solution meets the necessary levels of cybersecurity for the end-user.” That leads to technology choices for the server used by the operator. The server can be cloud-based but it is expected that on-site servers will be preferred for more secure applications. “The core software can manage numerous vehicles of varying types, the key constraint being the complexity of the operational environment and not the technology,” Price said. The next stage of development is to use the data for detecting anomalies. Machine learning (ML) analysis of the data feeds can potentially identify problems with the vehicles before a problem becomes critical, to allow them to return to base for maintenance before a failure occurs. However, Price points out that existing maintenance schedules would still be followed, even with autonomous operation. ABD Solutions is looking to work with partners and customers on the ML tools to achieve the anomaly detection. “At this stage the data is provided to the customer’s server, and they will use it to find anomalies themselves,” Price said. “We are not looking to do everything ourselves, and there are data analytics partners we can get in touch with to provide that technology. “We are doing the same with the electrification of the vehicles, indoor positioning and diagnostics.” Uncrewed Systems Technology | October/November 2022 ABD’s system converts vehicles such as mining trucks to autonomous operation by using a combination of mechanical actuators The pedal robot is attached to the seat frame, the steering robot is mounted on the steering shaft, and there are arms and a frame for gear changes vehicles can also be driven. “The pedal robot is attached to the seat frame and offset, while the steering robot is mounted on the steering shaft underneath, and there are reaction arms and a frame to support the gear changes,” Price said. A key requirement for the mining sector is that the whole cab is part of the safety cage, which means the system has to be designed around existing mounting points. The cabs of mining trucks also have to be sealed for air-conditioning, so heat management is a crucial consideration for the ECUs. A typical conversion uses cameras, Lidar and radar at the front and back of the vehicles and around the sides, controlled by a separate ECU. Another ECU handles secure communication of video and sensor data as well as diagnostic data back to a base station and positional data from GNSS constellations or other sensors. However, the conversion is configurable depending on the specific use case. The comms can use an encrypted redundant mesh radio technology developed by ABD Solutions, for example in a mine, or other secure military comms systems. For more costsensitive applications such as agriculture or industrial material handling systems, the link can be 4G cellular. An operator can monitor any of the live feeds from the vehicle and take control as required. One operator can monitor multiple vehicles in a fleet. “Teleoperation is part of the core technology, for example to take manual

8 Platform one October/November 2022 | Uncrewed Systems Technology Bradshaw Electric Vehicles is to use technology from Fusion Processing to develop fully autonomous uncrewed tow tractors (writes Nick Flaherty). The tractors are used extensively in factories, warehouse and airport logistics to haul baggage trailers and goods trucks. Making these autonomous can improve safety and make logistics more efficient. Fusion Processing’s CAVstar control and sensing system will be used in Bradshaw’s third-generation T700 and T800 tractors, which are based around a 48 V powertrain. CAVstar uses machine learning on a range of sensors including Lidar, optical cameras and ultrasonics to build up a picture of the environment around the vehicle, and plots the most efficient safe route through it. That means the autonomous tow tractors can be operated safely inside factories where a GPS signal is unavailable and without the need for extensive infrastructure to be installed. CAVstar can also be retrofitted to any vehicle, to control the throttle, braking and steering systems to provide full autonomous operation. CAVstar is now being used on a fullsized autonomous bus in trials in Scotland. Autonomous tow tractors Ground vehicles Researchers at Imperial College London and Empa in Switzerland have developed 3D printers that can build structures while in flight (writes Nick Flaherty). The technology could be used to build structures in difficult-to-access or dangerous locations such as tall buildings, or help with post-disaster relief construction, the researchers say. The Aerial-AM multi-robot system uses a 3D-printing UAV, the BuilDrone, with a separate UAV called the ScanDrone to monitor the quality of the build and control the main UAV in real time. These are combined with a path-planning software framework. A real-time predictive control is integrated with a dynamically selfaligning delta manipulator in the BuilDrone. The three-arm manipulator was developed for a project in 2019 and is capable of three degrees of freedom. It holds the print head and is used to compensate for the movement of the UAV; it provides a manufacturing accuracy of 5 mm. The researchers built proof-of-concept prints using a DJI M100 UAV as the BuilDrone to produce a cylinder 2.05m high consisting of 72 layers of a rapidcuring insulation foam material, and a cylinder 0.18m high consisting of 28 layers of structural pseudoplastic cementitious material. “We’ve proved that drones can work autonomously and in tandem to construct and repair buildings, at least in the lab,” said Professor Mirko Kovac at Imperial’s Department of Aeronautics and head of Empa’s Materials and Technology Centre of Robotics. “Our solution is scalable and could help us to construct and repair buildings in difficultto-reach areas in the future.” The project included researchers from the University of Bath, University College London, the University of Pennsylvania, Queen Mary University of London, and Technical University of Munich (TUM). The researchers are now working with construction companies to validate the solutions and provide repair and manufacturing capabilities. “We believe our fleet could help reduce the costs and risks of construction in the future, compared to traditional manual methods,” Prof Kovac said. In-flight 3D printing team Manufacturing The system uses one UAV to do the 3D printing, and a second one to monitor build quality

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10 Researchers at the ETH in Zurich have developed a combination of ultra-wideband (UWB) and wake-up radio (WUR) technologies for UAVs (writes Nick Flaherty). An open source hardware and software design supports high-precision landing of an off-the-shelf UAV and energy-efficient operation by improving the ranging and bandwidth of wireless links. The techniques improve the energy efficiency of the localisation and data acquisition cycle by up to 62% compared with previous approaches, and reduce power consumption from 190 µW to 2 µW. By modifying the flight control software, UWB radios on the ground can be used to improve localisation accuracy on both the UAV and the sensors to allow the UAV to land more accurately on a wireless charging pad and so boost the power efficiency. The researchers developed a new, multi-stage localisation technique by fusing data from GNSS satellites, UWB and asynchronous hardware to produce a WUR receiver that is enabled by a trigger from the UAV. The UAV, in this case a DJI M100, is the ‘master’ in the network, enabling and disabling the comms with the sensor node, which has the UWB wireless interface, a sensing application and wireless charging power modules. The UAV’s power module delivers power via appropriate power electronic circuitry such as a Class E/F rectifier and transmitting coil, directly connected to the UAV’s main battery. A specific module manages the UAV’s attitude during flight manoeuvres such as take-off, hovering, cruise and landing. The application layer was designed from scratch and includes an onboard computer, sensor data storage and flight sensors. The layer provides functionalities for the UAV to improve the localisation accuracy by fusing the GPS and UWB information, as well as an ultrasonic sensor. Standalone GNSS navigation has an accuracy of around 25 cm, which is not enough for landing on an inductive wireless power unit. Instead, the UWB distance sensor provides an accuracy to within 10 cm and works from a range of 20 cm out to 100 m. The first stage of the navigation needs only the GNSS system, which guides the UAV to within 10 m of the landing pad. During that stage, the altitude could be a fixed safe level, but at the end of the first stage a maximum altitude of a couple of metres is needed. The second stage starts at about 10 m away from the sensor node’s UWB antenna, receiving only the pointto-point scalar distance. To calculate a planar distance, a precise altitude value is required, which is taken from the ultrasonic sensor. The UWB distance estimation is used to compensate the GNSS error. A single UWB distance scalar measurement, however, cannot navigate the UAV to the actual sensor node’s location. A 2D gradient descendent algorithm is then used, with consecutive UWB measurements adjusting the flying direction. The ultrasonic sensor is then used for the height control. This is all implemented on a PCB that measures 70 × 70 mm, combined with the external UWB antenna of 30 x 40 mm. It is UWB-compliant to IEEE 802.15.4-2011 for two-way ranging and data transfer at rates of up to 6.8 Mbit/s in addition to Bluetooth 5.0. An onboard STM32WB55RGV from STMicroelectronics manages all the stacks and sensors. Combo boosts radio range Airborne vehicles Orolia has developed an atomic clock that is small enough to fit into a UAV (writes Nick Flaherty). The mRO-50 Ruggedized is a microwave optical double-resonance miniaturised rubidium oscillator. It provides a one-day holdover of less than 1 µs and a retrace of less than 1-10 in a 50.8 x 50.8 x 20 mm form factor that takes up only 51 cm3 of volume – about one-third the volume of standard rubidium oscillators – and consumes only 0.36 W of power, one-tenth of other timing systems. With an operating temperature of -40 ºC to +80 ºC, it can provide accurate frequency and precise time synchronisation for mobile applications such as military radio pack systems in GNSS-degraded or denied environments including underwater and in uncrewed systems. Atomic clock fits in UAVs Navigation October/November 2022 | Uncrewed Systems Technology

T-Motor The Safer Propulsion System Power makes your exploration www.tmotor.com UAV maker Manna is using a collaborative robot (cobot) for an automated battery swapping system (writes Nick Flaherty). Vikaso used a UR10e cobot from Universal Robotics, and programmed it to replace the battery pack in a Manna UAV. The UR10e has an arm with a reach of 1300 mm and can handle a payload of up to 12.5 kg. For the project, the arm is mounted on a linear track to move between the UAV and the battery module storage. A machine learning framework is used to identify the battery, storage rack and battery socket. The arm then removes the battery pack from the UAV and places it in the rack. The vision system then identifies a charged battery in its storage socket where it is charging, lifts it out and moves to the UAV to insert it. The UR10e is equipped with force and torque sensors to detect collisions with any part of the robotic arm, which also protects the UAV. One cobot can support two landing areas from one track and storage rack. Manna is already using UAVs to deliver payloads of up to 2 kg to customers in Ireland over a 2 km range, and the automated battery replacement is intended to speed up that process. Cobot battery swap system Airborne vehicles The cobot can support two landing areas from one track and storage rack Platform one POWER MAKES YOUR EXPLORATION www.tmotor.com

12 A European project is set to demonstrate secure data comms across multiple national borders for driverless cars (writes Nick Flaherty). The moveID project, led by Bosch, is developing standards and technologies to allow driverless cars to communicate independently without having to rely on particular cellular networks. This is particularly difficult when moving between different countries, and the demonstration will take place across France, Germany and Luxembourg. Current satellite networks used for cross-border trials have a latency of 600-700 ms, which is too long for autonomous vehicles. Instead the project will use a technique called a distributed ledger that is used in blockchain for distributed data without the need for an intermediary. Rather than a cellular network, the ‘infrastructure partners’ for vehicles would be charging points, barriers, traffic lights and parking lots. That would allow driverless cars to provide information about levels of traffic, available charging points or parking spaces, for example. The data exchange required would also enable traffic control based on the volume of traffic at any given moment. That would allow cities to regulate incoming traffic to particular areas in real time, thus preventing congestion. However, this method, known as zoning, requires that vehicles can immediately recognise changing conditions and change route accordingly. This zoning is being demonstrated with test vehicles for the first time across the three countries in the Merzig/ Saarbrucken area. The cars receive dynamic information about their approach to defined zones. The project will use internationally recognised hardware and software to develop management and administrative services. “An integrated and transparent system architecture for the exchange of data on the road that incorporates different products and technology providers simply isn’t available at the moment,” said Peter Busch, project manager at Bosch. “While it’s true that some companies already offer services, they are tailored for specific applications, vehicles, or customer groups. That means open standards are needed so that users for example can find all the available charging stations or pay for charging processes.” The project aims to make use of the European GAIA-X system, which defines the technological, economic and legal framework for a secure and trustworthy data infrastructure. GAIA-X relies on decentralisation and the interaction of different cloud providers under common guidelines. The project also includes equipment makers Denso Automotive, Continental and Airbus, as well as blockchain technology developers Peaq Technology, ecsec, 51nodes, Bigchain, WOBCOM, Chainstep and Datarella as well as data centre operator Atos Information Technology. Cross-border data comms Driverless cars October/November 2022 | Uncrewed Systems Technology Drivers using the system will be able to communicate independently of different cellular networks Platform one

Flying-Cam has used 3D printing to develop a tail rotor actuator for its latest UAV (writes Nick Flaherty). The actuator is built using a powder bed fusion (PBF) process with the Windform XT 2.0 carbon fibre-reinforced composite from CRP Technology. This has been used for the Discovery singlerotor uncrewed helicopter, which has a 75 kg MTOW to carry payloads ranging from high-resolution cameras to remote sensing equipment for BVLOS missions. Windform XT 2.0 has an 8% greater tensile strength and 2% greater tensile modulus than the previous-generation material, as well as a 46% increase in elongation at break. Flying-Cam has also worked with CRP Technology on the former’s SARAH 4.0 eVTOL uncrewed system, 3D-printing the airframe structure, air-guide cooling system, tail unit and main battery connection. “The tail rotor actuator is clamped on the tail boom and supports the carbon plate used as a tail rotor ground protection,” said Emmanuel Previnaire, CEO of Flying-Cam. “For this reason, a good stress resistance was needed. “The clamping strength depends on the construction material’s capabilities. We chose Windform XT 2.0 as it allows us to achieve that with a good weightresistance ratio.” “Using 3D printing and composite materials gave us the ability to create complex wiring channels with strong attachment points, in one piece.” 3D-printed rotor actuator Airborne vehicles The tail rotor actuator is made from a carbon fibre-reinforced composite ENABLING TECHNOLOGY EVERYWHERE Harwin’s connector products are proven to perform in extreme conditions, with shock, vibration and temperature range rigorously tested. Micro connectors start at 1.25mm pitch delivering 2A per contact, up to 8.5mm and 60A - we cover a wide range of applications for when SWaP matters most. With our quality, service, support, and highly reliable products, you can depend on Harwin. harwin.com Scan here for more Connect with confidence Connectors shown actual size Harwin UAV Uncrewed Systems June 22.indd 1 18/05/2022 13:55

14 Platform one A team from Chalmers University of Technology, in Sweden, is developing a fully autonomous UAV system for rescue operations at sea (writes Nick Flaherty). The system uses a mixture of fixed-wing and rotary UAVs with a USV to provide comms links to search an area independently, alert authorities to people in distress and provide basic assistance before crewed rescue vehicles have arrived. The USV is a marine catamaran called the SeaCat, which serves as a base for a fleet of fixed-wing UAVs that monitor the surrounding area. A rotary quadcopter can then approach people in distress and deliver items such as supplies, healthcare aids or flotation devices. The quadcopter can carry loads of up to 2 kg, while the fixedwing UAVs have a longer range to search a larger area. “The project is based on the simple principle that different drones have different advantages, and by allowing several types of autonomous drones to work together, search efficiency and rescue response speed can be significantly improved, with the potential to save more lives,” said Xin Zhao at the Fluid Mechanics Division of Chalmers. The SeaCat provides an internet uplink as well as a local comms link that is used to coordinate the UAVs in flight, and includes a launch pad for the fixed-wing versions. All the UAVs have cameras and a positioning system for autonomous operation, The catamaran follows a predefined route with a closed loop, and the fixed-wing UAVs are automatically assigned to search areas according to an algorithm that partitions an area depending on the number of them that are available and their battery power. When a fixed-wing UAV detects objects in the water, the quadcopter is sent to the scene to take pictures. The photographs can then be sent to a rescue centre on land via the USV. The rescue centre can also send out the quadcopter with supplies. When one of the fixed-wing UAVs runs out of power it lands in the water near the SeaCat, where it can be picked up and recharged automatically, then sent out again. Rescue team Airborne vehicles Dr Donough Wilson Dr Wilson is innovation lead at aviation, defence, and homeland security innovation consultants, VIVID/futureVision. His defence innovations include the cockpit vision system that protects military aircrew from asymmetric high-energy laser attack. He was first to propose the automatic tracking and satellite download of airliner black box and cockpit voice recorder data in the event of an airliner’s unplanned excursion from its assigned flight level or track. For his ‘outstanding and practical contribution to the safer operation of aircraft’ he was awarded The Sir James Martin Award 2018/19, by the Honourable Company of Air Pilots. Paul Weighell Paul has been involved with electronics, computer design and programming since 1966. He has worked in the real-time and failsafe data acquisition and automation industry using mainframes, minis, micros and cloud-based hardware on applications as diverse as defence, Siberian gas pipeline control, UK nuclear power, robotics, the Thames Barrier, Formula One and automated financial trading systems. Ian Williams-Wynn Ian has been involved with uncrewed and autonomous systems for more than 20 years. He started his career in the military, working with early prototype uncrewed systems and exploiting imagery from a range of uncrewed systems from global suppliers. He has also been involved in groundbreaking research including novel power and propulsion systems, sensor technologies, communications, avionics and physical platforms. His experience covers a broad spectrum of domains from space, air, maritime and ground, and in both defence and civil applications including, more recently, connected autonomous cars. Professor James Scanlan Professor Scanlan is the director of the Strategic Research Centre in Autonomous Systems at the University of Southampton, in the UK. He also co-directs the Rolls-Royce University Technical Centre in design at Southampton. He has an interest in design research, and in particular how complex systems (especially aerospace systems) can be optimised. More recently, he established a group at Southampton that undertakes research into uncrewed aircraft systems. He produced the world’s first ‘printed aircraft’, the SULSA, which was flown by the Royal Navy in the Antarctic in 2016. He also led the team that developed the ULTRA platform, the largest UK commercial UAV, which has flown BVLOS extensively in the UK. He is a qualified full-size aircraft pilot and also has UAV flight qualifications. Uncrewed Systems Technology’s consultants October/November 2022 | Uncrewed Systems Technology Chalmers University’s fixed-wing UAV, part of the sea rescue system

CubePilot Introducing the All-New IF1200A from Inspired Flight, integrated with the CubePilot Ecosystem Ready-to-fly integrations with high-powered Optical and EO/IR imaging solutions allow for accurate and reliable inspections. The IF1200A enables energy utility & civil engineering firms to inspect industrial assets in a safer and more repeatable manner. Designed to be a robust and reliable tool, the IF1200A not only provides a streamlined user-experience, but also inspires confidence in its operators. The IF1200A offers a flexible, open-system architecture for enterprises to integrate their capabilities into an unmanned aircraft. Whether Lidar for Geospatial firms, radiation detectors for University nuclear engineering labs, or aerial ignition payloads for wildfire containment, the IF1200A’s universal payload interface makes it possible, all while providing industry-leading flight time. CubePilot Inspired Flight Copyright 2022 CubePilot Australia. All Rights Reserved. Introducing the Al l -New IF1200A from Inspi red Fl ight , integrated wi th the CubePi lot Ecosystem Ready-to-fly integrations with high-powered Optical and EO/IR imaging solutions allow for a c c u r a t e and r e l i ab l e i n s pe c t i on s . The I F 1 2 0 0A enab l e s ene r g y u t i l i t y & c i v i l eng i nee r i ng firms to inspect industrial assets in a safer and more repeatable manner. Designed to be a robust and reliable tool, the IF1200A not only provides a streamlined user-experience, but also inspires confidence in its operators. The I F1200A offe r s a flex i b l e , open - s y s t em a r ch i t ec t u r e f o r en t e rpr i ses t o i n t eg r a t e t he i r capabilities into an unmanned aircraft. Whether Lidar for Geospatial firms, radiation detectors for University nuclear engineering labs, or aerial ignition payloads for wildfire containment, the IF1200A’s universal payload interface makes it possible, all while providing industry-leading flight time.

16 Netherlands-based Fusion Engineering has developed a flight controller designed to allow better fine path-holding and station-keeping for next-generation multi-rotor applications, by using a proprietary control methodology (writes Rory Jackson). “The Fusion Reflex flight controller contains our own hardware platform, which is the carrier for our operating system and control algorithms,” explained Robert Crone, CEO of Fusion Engineering. “The algorithms are what sets our performance apart from other flight controllers. They are based on INDI, or Incremental Nonlinear Dynamic Inversion, and are optimised for aircraft.” The core goal of using INDI was to achieve the fastest control response that a multi-rotor can handle, correcting very quickly for disturbances such as wind gusts without resulting in instabilities. To get the same performance from a conventional PID-based controller would mean increasing its gain to levels that can result in unstable behaviours. INDI algorithms are oriented around precisely calculating and implementing the dynamics required of the vehicle. INDI itself is a relatively simplified and flexible approach that uses a UAV’s accelerometers’ feedback to compute the dynamic behaviour of the system and output suitable responses to external disturbances. By measuring the difference in a UAV’s actual acceleration relative to the desired acceleration, and doing so in extremely small increments over very short periods of time, the onboard motor’s speeds will continuously and rapidly change to ensure that the next increment in acceleration is always one step closer to the acceleration the operator wants. “We have a video showing one of our test UAVs in a wind tunnel test where it undergoes 72 kph gusts while sustaining minimal deflections and very quick, short recovery times without overshooting,” Crone adds. The Fusion Reflex itself weighs 100 g and operates using two 5 V power inputs, for redundancy. It also includes two independent I2C ports, two UART interfaces, a CAN bus with two connectors, two USB ports, an SPI port and 16 dedicated ESC I/Os. A 2.4 GHz wi-fi modem is also installed. It comes with integrated tripleredundant inertial systems as well as its own internal real-time clock. A 1.2 GHz 64-bit ARM Cortex A53 processor with four cores is used as the central computer, with 1 Gbyte of RAM, and featuring 32 Gbytes of flash storage and a separate 100 MHz ARM Cortex-M4 processor for computing I/O signals and ESC rpm control. Airborne vehicles Rapid UAV controller October/November 2022 | Uncrewed Systems Technology The Fusion Reflex flight controller uses Incremental Nonlinear Dynamic Inversion to achieve the fastest control response a multi-rotor can handle

17 Platform one Uncrewed Systems Technology | October/November 2022 As uncrewed systems become larger and more powerful, a growing number of endusers want to be able to carry multiple payloads simultaneously, but factors such as the payloads’ different weight distributions and interfaces can require extensive customisations and potentially different airframes (writes Rory Jackson). RN Technologies has therefore developed its MX-1 modular payload expansion platform, with the aim of allowing new payload modules and hence functionalities to be added more smoothly to UAVs, independently of how their airframes have been designed. “The MX-1 is implemented conformally to the shape of a UAV or other vehicle that it’s applied to,” explained Richard Neill, CTO of RN Technologies. “Each solution is designed this way to make for space-efficient integrations, following the outline of the airframe’s structure. “The electrical and electronic interfaces of the MX-1 don’t interfere with anything central to the vehicle’s operations or autonomy, and we can shape, stack or insert them in a wide variety of ways to enable a lot of plug-and-play functionality in an uncrewed system.” An example of that is a dual-gas sensor module with two separate breakouts – one for a lower explosive limit gas sensor and the other for a photo-ionisation detector system – and multi-gas sensor modules for mounting more than two instruments have also been developed. At the core of the MX-1 is a Linuxbased processor module that maintains a bidirectional comms interface with the vehicle, in order to communicate telemetry and controls between the payloads and the UAV, as well as to any GCS or cloud system. The module has dual ARM cores and 16 Gbytes of RAM. It also has wi-fi 6 installed for wireless or backup interfacing, and can support other radio link technologies for full multicommunication or mesh scenarios. RN Technologies is now working on a future version of the MX-1 in which the structural materials and electronics required would all be 3D-printed as a single, monolithic assembly. At the moment, it is experimenting with depositing silver conductive paste to form circuit traces during the printing process, for fabricating the system’s backplane electronics. Airborne vehicles One platform fits all The platform can be custom-designed to ease the integration of different payloads into uncrewed systems

18 2022 UVID Dronetech Conference & Exhibition Wednesday 9 November Tel Aviv, Israel www.uvidtech.com Bahrain Airshow Wednesday 9 November – Friday 11 November Sakhir Airbase, Kingdom of Bahrain www.bahraininternationalairshow.com Air and Missile Defence Technology Wednesday 16 November – Thursday 17 November London, UK www.smgconferences.com/defence/uk/conference/ Air-Missile-Defence IoT Tech Expo Wednesday 1 December – Thursday 2 December London, UK www.iottechexpo.com/global Counter UAS Technology USA Monday 5 December – Tuesday 6 December Arlington, VA, USA www.smgconferences.com/defence/northamerica/ conference/counter-uas-tech 2023 CES Tech Thursday 5 January – Sunday 8 January Las Vegas, USA www.ces.tech UVS-Oman Conference Monday 6 February – Wednesday 8 February Muscat, Oman www.uvsc.om Geo Week Monday 13 February – Wednesday 15 February Denver, CO, USA www.geo-week.com Oceanology International Americas Tuesday 14 February – Thursday 16 February San Diego, USA www.oceanologyinternationalamericas.com IDEX Monday 20 February – Friday 24 February Abu Dhabi, UAE www.idexuae.ae GEO CONNECT/Drones Asia Wednesday 15 March – Thursday 16 March Singapore www.dronesasia.com DSEI Japan Wednesday 15 March – Friday 17 March Tokyo, Japan www.dsei-japan.com Amsterdam Drone Week Tuesday 21 March – Thursday 23 March Amsterdam, The Netherlands www.amsterdamdroneweek.com Ocean Business Tuesday 18 April – Thursday 20 April Southampton, UK www.oceanbusiness.com Rotorcraft/Unmanned Systems Asia Wednesday 3 May – Friday 5 May Singapore www.rca-umsa.com Xponential 2023 Monday 8 May – Thursday 11 May Denver, USA www.xponential.org Uncrewed Maritime Systems Technology Wednesday 10 May – Thursday 11 May London, UK www.smgconferences.com/defence/uk/conference/ Unmanned-Maritime-Systems The 2023 International Conference on Unmanned Aircraft Systems Tuesday June 6 – Friday June 9 Warsaw, Poland http://www.uasconferences.com/2023_icuas Uncrewed Systems Technology diary Platform one October/November 2022 | Uncrewed Systems Technology

Magcad Propeller development Customer project to optimise a VTOL Recalculation and design of a new propeller for low and high altitude Design for performance / flight time optimisation Summary: - static trust improvement more than 7% - noise emission down up to 5 dB(a) - weight down approx. 20% - folding carbon propeller MAGCAD 24,5x9 inch highest performance lowest weight comparative measurements of powertrains more than 40 years experience +49 40 500 167 83 Magcad.de info@magcad.de On Land. At Sea. In Flight. 2023UK£ media kit Fact not fiction. UST 44 : JUNE/JULY 2022 UK £15,USA$30,EUROPE e22 Sensor sensibility Focus on new Lidar sensor designs Linked in Tailoring connectors to specific vehicles Range rove How Xer Technologies’ X12 and X8 ble battery power with gasoline range exte Read all back issues online www.ust-media.com UST 43 :APRIL/MAY 2022 UK £15,USA$30,EUROPE e22 Which way to go? 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It’s the first ever publication to focus entirely on providing independent coverage of the engineering of uncrewed systems. Published bi-monthly, this technical resource probes the cuttingedge projects of today to provide indepth research insights, using rigorous investigation backed by professional peer review and critical analysis. In order to seizemore than your fair share of the fresh opportunities being created in this exciting sphere, ensure that UncrewedSystems Technology is part of yourmarketing plan. PlatformOne In each issue the news section is focused on technological development.Business and politics are only covered in so far as they impact directly on engineering solutions. From the outset the publication has dealt in hard science. UncrewedSystems Insights Insights reveal the latest technological advances across all uncrewed vehicle platforms, aswell as a number of specific industry applications.UAVs,UGVs, UUVs,USVs andUncrewedSpace Vehicleswill all take their place in the spotlight, aswell as sectors utilising this burgeoning technology includingMining,Agriculture, Surveillance, Inspection, Transportation&Security applications.Our technical resource provides invaluable knowledge for engineers. UncrewedVehicleDossiers&Digests Each issue contains at least onemain dossier and one digest offering offering an incredibly detailed look at a high profile uncrewed vehicle project, revealingmany secrets of the technology that are simply not reported anywhere else. PowerplantDossiers Theworld of uncrewed systems has created new requirements for small internal combustion engines and electricmotors, to the extent that currently there is far from agreement as to themost appropriate technical solution. A host of different approaches are being exploited, fromWankel rotary to reciprocating, from battery electric to fuel cell and allmanner of hybrids. Each issue’s powerplant dossiers explores in depth one of the diverse innovative power units at the forefront of today’s uncrewed revolution. Focuson… Revisited just once every 3 years the focus acts as an excellent source of reference on specific products and types of engineering service – topics covered include: • 5GRadio •Additive LayerManufacturing •AdvancedMaterials •Ancillary EngineSystems •Antenna •Artificial Intelligence (AI) •Autopilots •Batteries •CableHarnesses •Composites •Connectors •DataStorage •DesignSoftware • ElectricMotors • EmbeddedComputing • EngineControlUnits • FuelCells •Gimbals •GroundControlSystems • Image sensing • IMUs,Gyros&Accelerometers • LaunchSystems • LiDaR •Machine Learning •Maintenance •MotionControl •MotorControllers •NavigationSystem • Parachutes • PerformanceMonitoring • Personal InformationSystems • PowerManagementSystems • Propellers •Radio Links& Telemetry •Real TimeOperatingSystems •Sense&Avoid /Radar •ServoActuators •Simulation& Testing •Solar Power •Sonar&AcousticSystems • Thermal sensors • Video Encoding UncrewedSystems Technology magazine is readboth inprint and online by engineers around theworld actively By country working ondevelopingWedistribute to technological solutions for uncrewed vehicles and the systems that support them. Where in theworld •Argentina •Australia •Austria •Azerbaijan •Bahrain •Belgium •Brazil •Bulgaria •Canada •Chile •China •Colombia •Croatia •Cyprus •CzechRepublic •Denmark • Ecuador • Egypt • Estonia • Finland • France •Germany •Greece •HongKong •Hungary • Iceland • India • Indonesia • Ireland • Israel • Italy • Japan • Jordan •Kuwait • Latvia • Lebanon • Lithuania • Luxembourg •Malaysia •Mexico •Monaco •Nepal •New Zealand •Nigeria •Norway • Pakistan • Peru • Philippines • Poland • Portugal •Romania •SaudiArabia •Singapore •Slovakia •Slovenia •SouthAfrica •SouthKorea •Spain •Sweden •Switzerland • Taiwan • Tanzania • Thailand • TheNetherlands • Tunisia • Turkey •UAE •UK •Ukraine •USA • Vietnam USA UK RestofEurope RestofWorld 48% 17% 19% 16% Print readership 6,000 individuallymailed copies, shared by 3 readers on average Online readership Unique, returning users over the last 12months Circulation 18,000 25,000 • Chief /Head / Lead / Principal Engineer (UAV,UGV,USV,UUV) • Aerospace Engineer •Airworthiness Engineer • Autonomous Systems Engineer •Chief Scientist • Development Engineer •Director ofDesign • ElectronicDesign Engineer • Embedded Software Engineer • Hardware Engineer •Head of Innovation • LeadRobotics Engineer • MaterialsManager •Mechatronics Engineer •Mechanical Engineer • ProgramManager •Project Engineer •R&D Engineer •Robotics •Researcher •Research Scientist •SeniorUAV Technician • SoftwareDeveloper •System Integration Engineer • TechnologyResearcher •UAS LogisticsAnalyst •UAV /UASOperator •UAV /UAS Pilot •UV Specialist Forward features Scheduleoverview Issue47 | December/January 2023 Issue51 | August/September 2023 Issue48 | February/March 2023 Issue52 | October/November 2023 TECHNOLOGYFOCUS: Video systems Video is a key capability for uncrewed systems, andwewillbe looking at thewide range of technologies available for video capture,processing and transmission, and the optimisations across the signal change that allow formore efficient operation. PRODUCTFOCUS: GNSS GNSS receivers todaymust be designed for compatibility with awider array of global satellite constellations, intelligent functionalities, and reliability benchmarks than ever before.We will look into the various proficiencies and techniques thatGNSS companies are honing to ensure persistently pinpoint-accurate navigation for uncrewed systems engineers. INSIGHT: UncrewedSpaceVehicles TECHNOLOGYFOCUS: AdditiveManufacturing The ability toproduce unique shapesgivesdevelopers of uncrewed systemsmanymoredesign options. This article will look at the latest 3Dprinting technologies and additive manufacturingprocesses andmaterials, frommetals to carbon fibre, for use inUAVs and space systems. PRODUCTFOCUS: Ancillary engine systems Enginemanufacturers are developing greener,more environmentally-friendly power, and leveraging new advancements in fuel injection, alternators, exhaust systems and muchmore.Wewill look into the choices for fuel efficiency that pave theway for cleaner hybrid powertrains on air, land and sea. INSIGHT: UncrewedSurfaceVehicles TECHNOLOGYFOCUS: Image sensors Wewill look at the latestdevelopments in image sensor technology, from sensor optimisation fordriverless cars to the new generation of hyperspectral sensors. The articlewill also look at the increasing use of stackedprocessing to reduce the size and weight of sensors as theyget largerwith higher resolution. PRODUCTFOCUS: Sonar As environmental, industrial andmilitary assetsproliferate throughout oceans and rivers alike, sonar technologies forUUVs andUSVs arebeing innovated faster than ever.Wewill investigate some of the latest such systems for 3Dmapping, structural inspections, sense-and-avoid, andmorebeneath thewaves. INSIGHT: UncrewedGroundVehicles TECHNOLOGYFOCUS: Artificial intelligence Development of uncrewed systems today needs highly optimised hardware to run neural networks and rule-basedpoliciesmore efficiently, aswell as tools fordeveloping and verifying the safety ofAI systems.Wewill look at these aswell as othermachine learning techniques formonitoring andpredictivemaintenance. PRODUCTFOCUS: Propellers UAVs carry heavierweights than everbefore, and increasingly fly at higher altitudes and over longerdistances. The latestmaterial choices, coatings,blade shapes, andpitch variationmethods from lab toproduction linemust accordinglybe explored indetail. INSIGHT: Geospatial survey TECHNOLOGYFOCUS: Powermanagement Squeezing themaximumperformance out of abatterypack safely is a key requirement formany uncrewed systems. This articlewill look at the latest technologies forpowermanagement toprovide themost effectivemonitoring andpowerdelivery systems. PRODUCTFOCUS: Servos As autonomous vehiclespull heavier loads and forces, servo actuatorsmustbemade evermorepowerful and reliable to shift rudders, ailerons, robotic arms, and engine throttles as necessary for all sorts ofmissions. This featurewill investigate the latest designs and advancements in suchproducts. INSIGHT: UncrewedAerialVehicles TECHNOLOGYFOCUS: 5G This articlewill look at the latest 5G technology,particularly for private networks and standalone (NewRadio) chipsets, and its use in thedesign anddevelopment of communications systems ofUAVs,driverless cars and uncrewed shipping. PRODUCTFOCUS: Solarpower Solar cells are a lightweight, aerodynamicmeans for recharging batteries in autonomous vehicles. This featurewill examine the latest commercially-available solar technologies suitable for uncrewed systems engineers looking for a zero-emissions power boost. INSIGHT: UncrewedUnderwaterVehicles TECHNOLOGYFOCUS: Video encoding As sensorsprovide higher resolution images sowireless links requiremore robust, efficient encoding of video. This article looks at the latest video encoding technologies and standards and how these interactwith thewireless networks, fromdirect links to cellular and satellite systems. PRODUCTFOCUS: CableHarnesses With uncrewed anddriverless vehicles running on higher voltages than everbefore, and carryingdenser andmore sophisticated data and control networks, improvements in cableproductsgo a longway towardsweight saving, reliability, energy efficiency and more. This articlewill look into the latest such improvements. 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For the online version please also supply a PDF and JPEG file. Alternativelywe do offer a design service by arrangement, so if youwould like us to helpmake an advertisement for you, or amend an existing ad, then please get in touch to discuss. Launched inSpring 2022 ourmonthly e-newsletter provides a snapshot of the top news stories and product releaseswe’ve covered over the lastmonth, alongside featured articles fromUncrewedSystems Technology magazine. The newsletter is sent to our entire database and promoted across socialmedia platforms. UncrewedSystems Technology advertisers benefit from supporting unbiased technical content through our tried and testedmulti-platform approach.With no sponsored content and a strict ratio of independent editorial versus advertising, our clients stand out in a highly competitivemarket on all devices. Space Permonth Top banner £1000 Middle banner £750 Bottom banner £500 Size: 970 x 250 px Resolution: 72DPI Colour: RGB File Limit: 2MB File Type: PNG/JPEG/GIF On Land. At Sea. In Flight. 2023UK£ media kit Fact not fiction. Science not speculation. Read all back issues online www.ust-media.com UST 44 : JUNE/JULY 2022 UK £15,USA$30,EUROPE e22 Sensor sensibility Focus on new Lidar sensor designs Linked in Tailoring connectors to specific vehicles Range rovers HowXer Technologies’X12 andX8 blend battery powerwith gasoline range extenders Read all back issues online www.ust-media.com UST 43 :APRIL/MAY 2022 UK £15,USA$30,EUROPE e22 Whichway togo? The choice betweenwired andwireless charging Softwareupdates How ECUs are keeping upwith new powertrain trends Public interest Auve Tech’s development of its Iseauto Level 4 taxi Read all back issues online www.ust-media.com UST 45 :AUG/SEP 2022 UK £15,USA$30,EUROPE e22 Workingwatchdogs Focus on performancemonitoring Allabout the image The growing size and sophistication of gimbals Double duty How the TideWise Tupan teams aUSV with aUAV orROV to inspect offshore equipment

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