Homework 1
Problem 1
For those UAVS with catapulted launching method, net capturing is not a good way to recover
them. Please explain the reason. (5 points)
Problem 2 Forward right
1
Forward
2
Right
4
3
For the above quadrotor configuration, it is hovering in the air with a yaw=0 at t<0. The mass of
the drone is 1kg. During hovering, the propellers have the same rotation speed 6000rpm.
1) For keeping hover state, what conditions the do the rotors’ angular velocity need to meet?
Please discus from both force and moment aspects. (20 points))
2) Assuming the maximum propeller speed is 10000rpm, what is maximum vertical
acceleration? (10 points))
3) To produce 0.5m/s^2 horizonal acceleration to the right, how much roll angle the drone
should have. Please provide how the drone should adjust the rotor’s speed to produce this
roll action. (20 points))
4) Please provide how the drone should adjust the rotor’s speed to produce a constant yaw
speed of the drone. (10 points))
5) The drone moves a certain distance from current location to right, please provides the
sequence of motions that the drone needs to perform. What are the changes of motor
rotation speeds needed during all these motions? (A detailed description is good enough)
(20 points)
6) The drone moves a certain distance s from current location along forward right direction,
please provides the sequence of motions that the drone needs to perform. What are the
changes of motors’ rotation speeds needed during all these motions? (A detailed
description is good enough) (20 points)
Problem 3
There is a collaborative project between an HKUST professor and Hong Kong observatory. The
project is to build a drone to monitor Hong Kong’s environment, including light pollution and
chemical pollution. The drone is a fixed wing mid-range UAV with maximum range of 200km.
The drone is equipped with IR cameras, visible light cameras, and a set of chemical gas sensors,
which can detect different gas pollutants, such as CO, NO and so on.
1) Please use above UAS architecture as the template to produce a control and
communication architecture of the collaborative project. (30 points)
2) Please describe the routes for Hong Kong observatory to control/communicate with the
cameras and sensors. (20 points)