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    A Simplex Architecture for Intelligent and Safe Unmanned Aerial Vehicles

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    Vivekanandan_ku_0099M_15275_DATA_1.pdf (10.50Mb)
    Flight test with our custom built avionics in real aircraft (2.326Mb)
    Simulation test video with avionics using COTS autopilot based on our UAV simplex design (66.66Mb)
    Issue Date
    2017-05-31
    Author
    Vivekanandan, Prasanth Vivekanandan
    Publisher
    University of Kansas
    Format
    79 pages
    Type
    Thesis
    Degree Level
    M.S.
    Discipline
    Electrical Engineering & Computer Science
    Rights
    Copyright held by the author.
    Metadata
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    Abstract
    Unmanned Aerial Vehicles (UAVs) are increasingly demanded in civil, military and research purposes. However, they also possess serious threats to the society because faults in UAVs can lead to physical damage or even loss of life. While increasing their intelligence, for example, adding vision-based sense-and-avoid capability, has a potential to reduce the safety threats, increased software complexity and the need for higher computing performance create additional challenges software bugs and transient hardware faults that must be addressed to realize intelligent and safe UAV systems. In this thesis, we present a fault tolerant system design for UAVs. Our proposal is to use two heterogeneous hardware and software platforms with distinct reliability and performance characteristics: High-Assurance (HA) and High-Performance (HP) platforms. The HA platform focuses on simplicity and verifiability in software and uses a simple and transient fault tolerant processor, while the HP platform focuses on intelligence and functionality in software and uses a complex and high performance processor. During the normal operation, the HP platform is responsible for controlling the UAV. However, if it fails due to transient hardware faults or software bugs, the HA platform will take over until the HP platform recovers. We have implemented the proposed design on an actual UAV using a low-cost Arduino and a high-performance Tegra TK1 multi core platform. Our case-studies show that our design can improve safety without compromising performance and intelligence of the UAV.
    URI
    http://hdl.handle.net/1808/25866
    Collections
    • Engineering Dissertations and Theses [1055]
    • Theses [3797]

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    Contact KU ScholarWorks
    785-864-8983
    KU Libraries
    1425 Jayhawk Blvd
    Lawrence, KS 66045
    785-864-8983

    KU Libraries
    1425 Jayhawk Blvd
    Lawrence, KS 66045
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    Contact KU ScholarWorks
    785-864-8983
    KU Libraries
    1425 Jayhawk Blvd
    Lawrence, KS 66045
    785-864-8983

    KU Libraries
    1425 Jayhawk Blvd
    Lawrence, KS 66045
    Image Credits
     

     

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