Aprèn - Enric Pastor Llorens

Thanks to the wide variety of applications offered by drones, their density has been increasing. This growth in their number could cause consequences, such as possible collisions between these devices. The way to avoid collisions in a densely populated environment is to know the trajectory of moving objects. Although it is true that there are already models that can predict the trajectory of a drone, these represent a very large computational cost, which is why this document has as its main objective to predict the trajectory of drones in a U-space environment in a simple way. The document presents a study of the advances in the field of trajectory prediction (both for airplanes and drones), the concept of U-space, the kinematics of objects and the mathematical modeling of the object in question. The literature review raises the possible tools used to know the trajectories such as state estimation, kinematic or machine learning models. It is also necessary to know the concept of the U-space environment, where the definition of the concept, regulations within the environment and the flight phases that a drone must perform (pre-flight, in-flight and post-flight) are shown. Because the model is composed of particle kinematics equations, a chapter was added where the concepts of each of the equations are explained in both accelerated and non-accelerated models. The document also contains the main idea, which is the mathematical model. This mathematical model is developed in several sections of the path. The length of the path will depend on the characteristics of altitudes, lengths, inclinations and turns. In these small paths, the mixture of kinematics concepts is used together with the graphical behavior of turns and inclinations. To develop this model, a mixed sampling approach was used, where the behavior was numerically analyzed to ensure compatibility with the kinematics and the numerical history of the simulation in Mission Planner.Finally, each of the small trajectories is tested, which yields relative errors of less than five percentage points.

General aviation conflict management in the context of U-space

Projecte Final de Màster Oficial

Bernauer, Simeon Thomas

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2024

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Contingency management strategies for drone operations

Trabajo final de grado

Zagorodniuc, Alexandru

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2024

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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This study focuses on the development of contingency management strategies for drone operations. The main objectives are to propose new contingency plans that can be coordinated and integrated with each other and to develop a decision support tool for the pilot in emergency situations. To achieve this, an applied research methodology has been employed, conducting an analysis of previous studies related to the investigated topic and identifying the fundamental concepts necessary for the development of the study. Additionally, this study proposes new notions such as route structuring, centered on waypoint flexibility, and the characterization of a new concept, the area of uncertainty. These allow the pilot to plan, combine, and execute the proposed contingency plans, thereby improving resilience, capacity, and response flexibility to different contingencies. A decision support tool for the pilot has also been designed, with the objective of reducing workload, improving situational awareness, and decreasing decision-making time. This tool analyzes the viability of the different available contingency plans, disabling those that do not meet the imposed conditions, and ranking the remining ones by preference. Additionally, this tool incorporates a solution in case of loss of link with the UAS. Finally, to validate the effectiveness of the proposals, a simulation of two contingency scenarios of a UAS mission operating in a possible U-Space scenario with multiple drone operations has been incorporated. This simulation demonstrates the implementation and usefulness, in a possible real case, of the different contingency plans proposed in this research. Additionally, both scenarios implement the pilot support method which discards the non-viable contingency plans and ranks the remaining ones by preference of the pilot.

Este estudio se centra en el desarrollo de estrategias de gestión de contingencias para operaciones de drones. Teniendo como objetivos principales la proposición de nuevos planes de contingencia que puedan coordinarse e integrarse entre sí, y el desarrollo de una herramienta de apoyo para la toma de decisiones del piloto en casos de emergencia. Para ello, se ha empleado una metodología de investigación aplicada, realizando un análisis de los estudios previos relacionados con la temática investigada e identificando los conceptos fundamentales necesarios para el desarrollo del estudio. Además, este estudio propone nuevas nociones como una estructuración de ruta estandarizada, centrada en la flexibilidad de los waypoints, la caracterización de un nuevo concepto, el área de incertidumbre. Permitiendo al piloto planear, combinar y ejecutar los planes de contingencia propuestos, mejorando así la resiliencia, capacidad y flexibilidad de respuesta ante diferentes contingencias. También se ha diseñado una herramienta de apoyo para la toma de decisiones para el piloto, cuyo objetivo es reducir la carga de trabajo, mejorar la percepción situacional y disminuir el tiempo de decisión de este. Esta herramienta analiza la viabilidad de los diferentes planes de contingencia disponibles, deshabilitando los que no cumplen las condiciones impuestas, y clasificando los demás por preferencia. Además, esta herramienta incorpora una solución en el caso de pérdida de enlace con el UAS. Por último, para validar la efectividad de las nociones propuestas, se ha incorpora una simulación de dos casos de contingencias de una misión de UAS en un escenario U-space con múltiples aeronaves, donde se demuestra la implementación y utilidad de los diferentes planes de contingencias propuestos en este estudio, además, en ambos escenarios se ponen en práctica el método de ayuda para la toma de decisiones y sirve para descartar los planes de contingencia que no son viables y clasifica los demás por preferencias del piloto.

Remain Well Clear system evaluation for small drones

Trabajo final de grado

Benitez Lozano, Adrian

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2023

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Avaluació de la implementació dels serveis de UAM a Catalunya

Trabajo final de grado

Pujals Bocero, Andrea

Tutor/a - Director/a: Pons Prats, Jordi; Pastor Llorens, Enric

Fecha de publicación: 2023

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Monitorización de desastres químicos basado en una plataforma dron

Trabajo final de grado

Lopez Garcia, Pablo

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2023

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Foreign object debris detection on runways by computer vision from drone

Trabajo final de grado

Barberà I Gutiérrez, Genís

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2023

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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The Foreign Object Debris (FOD) is an important topic to discuss in aeronautics as it not only involves safety but also can produce huge economic losses in airports. It is considered FOD any object that should not be in the place it is and as a consequence of this can be a risk to aircrafts or workers. The total cost of FOD to the aerospace industry is calculated to be approximately 4 billion dollars per year. Although new technologies are being implemented, it is a field that still has enhancements to be made. This project is intended to improve the detection of FOD in airports with AI technology applied through a drone with object recognition algorithms that allow to meet the frequencies of inspection and search of operational areas at a low cost of implementation and operation compared to other current detection technologies. The project develops the necessary system architecture to carry out FOD inspections at airports. It comprises studying the requirements, characteristics of the devices involved in the process, and adapting the configuration and parameters of the equipment (drone and camera) to ensure feasibility across all categories of runways. A method for data acquisition, management, and transmission is proposed to determine the position and obtain real-time images of the detected objects. Topics such as the Ground Base Station (GBS), drone tracking, charging station, flight plans, and routes are also addressed. To complete the designed system architecture, an AI model is trained using a FOD database, which will be responsible for obtaining detections during inspections. A new FOD database has also been developed to expand the currently available database. The project's obtained structure is tested through drone flights that simulate real-world applications. The results obtained reveal a functional model with potential for real-world application, but with two current limitations: inspection time and the open nature of FOD. Proposals and new approaches are presented to address these restrictions in future studies

Scoring mechanism for automated ATC systems

Trabajo final de grado

Movila, George-Daniel

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2023

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Given the exponential expansion of air transport that pressures the existing infrastructure and makes the current systems over-capacitated, it is no surprise that automated Air Traffic Control (ATC) Systems are on the rise. These systems will improve the situational awareness of Air Traffic Controllers (ATCOs) while reducing their workload and potentially allowing for capacity increases. An example of such a system is the prototype ATC Real Ground-Breaking Operational System (ARGOS), entirely designed by EUROCONTROL Maastricht Upper Area Control Centre (MUAC). The system is evolving daily, and it will become MUAC¿s most intelligent agent to support ATCOs in their decision-making process. It is built to take complete care of basic Controller-Pilot Data-Link Communications (CPDLC), i.e., flights logged onto CPDLC not involved in any complex scenario, and to provide support for complex traffic scenarios. The current version provides conflict detection tools and suggests conflict-free trajectories. The prototype lacks a metrics-based system to evaluate its performance to be able to tune its parameters; thus, the focus of this project is to design a scoring mechanism to assess its performance based on the instructions given to the pilot. The first part is represented by the development of a concept that incorporates the current safety criteria in ATC and introduces new performance criteria relevant to ARGOS (and ATC). In contrast, the second part is a posteriori analysis of the output log files of the prototype that store the coordinates of all current simulated flights along with the commands given by ARGOS. Two types of scores were considered. The D-Score or the decreasing score measures the efficiency of ARGOS concerning operational safety. In this case, a score of 100% is perfect. It is conceptualized according to safety ATC requirements. The I-Score or the increasing score measures the inefficiency of ARGOS, so higher is less effective. It provides information related to the performance of the trajectory proposed by ARGOS.

INFORMÀTICA 1 (Examen parcial, 1r quadrimestre) Restricted access to the UPC academic community

Examen

Pastor Llorens, Enric

Fecha de publicación: 2022

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

INFORMÁTICA I - 300207

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Movilidad urbana aérea. Aplicación de bus aéreo Barcelona-Madrid

Trabajo final de grado

Muñoz Gil, Alba

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2022

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Diseño de un UAV orientado a la logística de transporte

Trabajo final de grado

Arranz Debant, Marc

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2022

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Drone trajectory prediction toolset

Trabajo final de grado

Gutierrez Herranz, Daniel

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2022

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Chemical sensing of dangerous gases based on a 4G drone platform

Trabajo final de grado

Penalva Milagro, Diego

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2022

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Evaluation of remain well clear and collision avoidance for drones

Trabajo final de grado

Del Hierro Mosteiro, Santiago

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2021

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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One of the cornerstones that should enable inserting unmanned aircraft into the airspace is the development of Detect and Avoid (DAA) systems. DAA systems will improve the Remote Pilot (RP) situational awareness by means of electronic conspicuity devices, providing them with the necessary means to Remain Well Clear (RWC) from other traffic and, if necessary, avoid Mid-Air collisions (MAC). DAA systems will compensate for the loss of a pilot on board, which drastically reduces the capacity to keep a safe separation from traffic, making current Rules of the Air very challenging to achieve. Given the growing popularity of drone operations for commercial and recreational purposes, new standards should include them in the not-too-distant future. Since current DAA standards and algorithms (DO-365 and ED-258) are being developed targeting large, mostly military Remotely Piloted Aircraft Systems (RPAS), this project proposes a new set of detection volumes and alert thresholds for U-Space users according to an aircraft type classification. This will allow adapting the existing DAA algorithms to small drones, complying with the new European framework of services and applications for drones (U-Space). Because testing new safety nets (such as new DAA algorithms) on real aircraft would be dangerous and inadequate, radar reports and computer-based simulations allow for a risk-free and faster evaluation of safety net performances. Due to the current lack of real drone radar tracks, this project has developed a multi-rotor drone encounter generator tool (called DEG). This software is able to generate a large number of synthetic pairwise quadcopter drone conflict tracks, simulating the instant prior to a MAC. The way trajectories are generated by DEG strongly depends on the type of operation being flown (inspection/surveillance flights and logistic flights) and the aircraft type (including a DJI F450 and a faster version called DJI F450 FAST). The results of this project include a drone conflict trajectory example generated with DEG and an investigation of the performance and effectiveness of the DEG tool using a tailored existing DAA algorithm (DAIDALUS).

Automatic remain well clear detection and maneuvering for drones

Trabajo final de grado

Martínez Domingo, David

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2021

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Detecció de gasos perillosos basada en una plataforma dron

Trabajo final de grado

Milán Pérez, Gerard

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2021

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Rules of the air for remain well clear and collision avoidance for drones

Trabajo final de grado

Padullés Menal, Arnau

Tutor/a - Director/a: Pastor Llorens, Enric

Fecha de publicación: 2021

Escuela de Ingeniería de Telecomunicación y Aeroespacial de Castelldefels (EETAC)

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Currently, with the proliferation of the usage of drones, conflict situations between two drones or with a drone and a general aviation aircraft are becoming more probable and frequent. This project will study these encounters and propose a solution to these arisen conflicts. The main objective of this solution will be to find an optimal situation where both aircraft follow their intent as closely as possible by remaining in accordance to the regulations dictated by European Aviation Safety Agency (EASA). The first of the objectives that this project wants to achieve is to understand in detail the existing problem of conflict detection which has appeared due to the huge increase in drone air operations. When this problem has been introduced, the next objective will be to perform an in-depth reasearch of which regulations and mechanisms of collision detection are currently in place. This will be of great importance to this project as the final development of collision detection algorithms must fully comply with all the rules and regulations that AESA, EASA and ICAO publish. Once a proposal for collision detection algorithms is generated, it will be tested using a drone encounter generator program developed by the ICARUS research group.es testejarà utilitzant un programa de generació d¿encontres entre drones desenvolupat per l¿equip d¿investigació ICARUS. These tests will determine the level of success of these algorithms and functions and will help to understand what changes should be made before reaching a fully successful algorithm for all generated encounters. Having generated the required algorithms, the final objectives this project aims to achieve are to detail the implications and requirements needed in order to apply these algorithms in real-life collision detection scenatios. It¿s in this section where one will find an in-depth explaniation on the contents, use and implications of the proposed Intent messages, which will be based on current aviation surveillence systems. The end goal of these messages will be to know the futur intentions of the aircraft who sends them and, in this way, foresee possible future conflicts with other know aircrafts by the system. By doing so, a ¿cloud¿ of information which will contain the intentions and trajectories of the drones and general aviation aircrafts in the area will be created in order to detect and resolve any possible conflicts between them in real time.