非常時通信及び災害対策システム
1
Missing People Detection (on the sea)
Missing People Detection System
UAV
UAV’s flight path
Beacon signal
Data Center
The 1st path
Activated
sensor (ON)
The 2nd path
The 3rd path
OFF
2R
Wireless sensors network
The 4th path
Sensor
Prioritized Frame Selection (PFS )
UAV’s direction
Rx power
Transmission
priority
3
Increasing
Decreasing
2
1
_
p.g.1
Distance
(sensor to UAV)
Power level 1
Power level 2
_I
p.g.3
Footprint of
beacon signal
p.g.2
_
p.g.1
_
p.g.3
D
D
_D
p.g.2
_I
I
0level 3
Powero
Flight path
p.f.1_I
p.f.2_I
p.f.3_I
p.f.3_D
Interval frame
Active sensor
Increasing group
Decreasing group
p.f.2_D
p.f.1_D
Time
実験UAV機
2.1m
0.48m
0.5m
2.13m
0.5m
航空機タイプ
機体諸元
================
全長 2.13m
全幅 4.21m
右翼，左翼 2.1m
プロペラ直径 0.66m
制御 6ch ラジコン
================
0.66m
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電波暗室
6
Specification information of the UAV
• UAV in my lab
2.1
m
0.4
8m
2.1
3m
0.5
m
0.5
m
0.6
6m
various factors
Full length
2.13m
Wingspan
4.21m
One wing
2.1m
Propeller
diameter
0.66m
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UAV搭載機器(送信アンテナ1.2GHz，2.4GHz)
①1.2GHzアンテナ
(EA-163(2.14dBi))
②2.4GHzアンテナ
(PAT209S-24(9dBi))
③2.4GHzアンテナ
(NS-2400 (2.14dBi))
送信アンテナ
1.2GHzアンテナ(EA-163(2.14dBi))
<線状アンテナ>
2.4GHzアンテナ(PAT209S-24(9dBi))
<平面パッチアンテナ>
(NS-2400 (2.14dBi))
<線状アンテナ>
電波暗室にて，
上記3つのアンテナ指向特性を調査した
無人機に搭載したアンテナ特性測定実験
指向性
利得の大きなアンテナほど指向性は鋭く，特定の方向へ強く電
波を放射する
指向性テスト＊人体装着
NO.2
NO.1
環境
腕時計型トランスポンダアンテナ
製作評価
0°
90°
180°
270°
腕時計型トランスポンダアンテナ測定環境
腕時計型ループアンテナ指向特性(2.4GHz帯)
周波数に対するリターンロス(dB)特性
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動物搭載無線通信システムによる行方不明者探索
11
Proposed system
• In a stable condition
–Attitude control using a Gyroscope
Able to keep the horizontal and hits the transmission
beam in an object target stably
–Control beam using a Phased array antenna
Radiate strong beam evenly without turning UAV
Previous
Proposedsystem
system
12
Angle Detection Apparatus
• We made a “Angle Detection Apparatus” using
some sensors.
Data logger
Gyroscope
Aruduino Uno R3
(microcontroller board)
Accelerometer
13
Antenna
• Phased Array Antenna (Linear Array Antenna)
–Using 8 elements
(Patch Antennas)
+
Patch Antenna
Power divider
14
Results (1)
• A log of the GPS
– The results are
much the same as
the video.
15
Results (2)
• A log of
change of an
altitude
– Logged by
GPS
– Difficult to
keep same
altitude
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Three axes of rotation
• THREE AXIS
– An airplane in flight changes direction by movement
around one or more of its three axes of rotation as
follows:
+
-
+
-
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Results (2)
• A log of change of an altitude and a Pitching
angle
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Results (3)
• A log of change of a Rolling angle
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Experiment (Directivity measurement)
Compare the Directivity between Previous
system and Proposal system
•Previous system
–Patch Antenna (one element)
Patch Antenna
•Proposal system
–Linear Array Antenna
(= Phased Array Antenna without incorporating
phase shifters)
• Using 4 and 8 elements (Patch Antennas)
Linear Array Antenna (8 elements)
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Results（1）
• Directivity of the Patch
Antenna (one element)
– Wide-angle directivity as
characteristics of the Patch
Antenna
– Half-power angle is 120
degree.
21
Results（2）
• Directivity of the Array
antenna (4 elements)
– The directivity is
narrower than that of the
Patch Antenna.
– Half-power angle is
about 25 degree.
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Results（3）
• Directivity of the Array
antenna (8 elements)
– The directivity is the
narrowest of the three
Antennas.
– Half-power angle is
about 15 degree.
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Results
• Directivity comparison
– The directivity is being
narrow as the number of
elements are increase.
– The front gain is
increasing as the number
of elements are increase.
1 element
4 elements
8 elements
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Experiment (Directivity control)
nd cosq
• Phased Array Antenna (4
elements)
–Add phase shifters to the Linear Array
Antenna
d
q
#1
• Phase Shift
–Apply the voltage required and
shift phase required
–Required phase differences
can lead from the following
formula.
P
S
Phase Shifter
P
S
P
S
P
S
#4
N=n+1
Divid
er
DC
pow
er
Oscillat
ors
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Results
• Directional control
–obtained the
characteristics
as estimated by a logic
value.
–Able to control wider
angle by shifting phase
Voltage(V)
more. Color
Green
Red
Blue
Pink
Gray
Brown
Purple
N=1
2
3
4
13.5
7.5
2.1
0
0
0
0
9.0
5
1.4
0
0.7
2.5
4.5
4.5
2.5
0.7
0
1.4
5
9.0
0
0
0
0
2.1
7.5
13.5
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Future Applications employing UAV
for Earthquake and Tsunami
• Wide Area Tsunami Monitoring
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Wide Area Tsunami Monitoring
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Catapult-Assisted Launch
• Easy to Take off
• Automatic Launch
Type B-2
Tsunami Sensor
http://www.zenilite.co.jp/prod/new-gps.html
GPS :Position
Wave Height
Wave Cycle
Direction of Wave
Atmosphere Pressure
Temperature
Radio Activity
Small Satellite Project
UAV and LEO Satellite Collaboration System for Wide area WSN
LEO Satellite
UAV
UAV Mission Control
Center
Sensor Nodes
Disaster Area
QuadCopter(1)
Walkera QR X800
weight：3900g
battery：22.2V,10000~15000mAh
flight duration：30~60min
distance：1.5~2km
（Lx,Wx,H）：620mm,620mm,460mm
rotar diameter：1200mm
QuadCopter(2)
DJI PhantomⅡ vision+
weight：1242g
battery：22.2V,5200mAh
flight duration：16分
distance：700m
Size：350mmX350mm
Formation Flight
Future Applications by UAV
Air Pollution Observation
Fire Detection in Mountain Area
Fish Detection
Delivery
Etc..
成層圏飛翔体通信
Applications of HAPS
Earth observation
and ground
monitoring
Broadband communication
with a fixed station (or
with a portable station)
Digital High speed internet
Broadcasting
•
•
•
•
•
•
High speed WAN
Broadband
communication with
portable terminal
Next generation mobile
communication
Broadband fixed and mobile communications.
Digital broadcasting.
Ground monitoring and environment observation.
Traffic monitoring.
Navigation and positioning, etc.
Disaster and emergency communication supports.
Disaster
communication
supporting
Providing communication
supports during and after
disaster
38
HAPS Channel Model 1
•
•
HAPS communication is affected by structures
such as buildings, which cause LOS and
shadowing frequently occurring depending on
elevation angles.
Defining LOS and NLOS or Shadowing situation
between HAPS and mobile terminal is
important in the design of HAPS wireless
communication in urban areas.
HAPS
Channel
Model I
Building height can cause
LOS or shadowing
Building width can cause
the distance of LOS and
shadowing
LOS
Shadowing
Experiment Studies
Analytical studies
comparison
Shadowing or LOS change
depending on elevation
and azimuth angles when
viewed from different
direction
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Geometrical Model
Da
hb

Geometry model (Side View)
Dc
D
Dsc D
s
H MS
•
Shadowing situation determination:

 ( hb  H MS ) sin 
arctan 


D

T    

arctan  ( hb  H MS ) sin 


Da  D 



wb
hb
D  Ds  Dsc 
Da

,


,


for 0    
for      0
2i  1
Dc (i  1...k )
2k


D
H MS
Geometry model (Top View)
wSCD (   T )  w0 exp(1   ( hb (   T )))
wLCD (   T )  w0 exp(1   ( hb (   T )))
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Probability
Probability
Analytical Results
Distance[m]
Elevation
Angle [deg]
Distance[m]
Distribution of SCD, Shinjuku, D=15 m, θ=600
Elevation
Angle [deg]
Probability
Probability
Distribution of LCD, Shinjuku, D=15 m, θ=300
Distance[m]
Distribution of SCD, Kiryu, D=15 m, θ=600
Elevation
Angle [deg]
Distance[m]
Distribution of LCD, Kiryu, D=15 m, θ=300
Elevation
Angle [deg]
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Experiment: Statistical Model
HAPS
Balloon control
100
700
800
900
Remote carrier
control machine
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HAPs Channel Characteristic and Geometry

range
follows:
HAPs Channel Characteristic at 2.4 GHz
From experimental measurement of the signal coming from HAPs in a wide
of elevation angle (100 to 900), we can draw a CDF of HAPs channel as
GLOBECOM 2008, 30 Nov – 4 Dec 2008, New Orleans, USA
Data Transmission Success Rate
Shinjyuku
Shibuya
Asakusa
Kryuu
ABSOLUTE project (FP7 program : EC)
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