1

非常時通信及び災害対策システム

Missing People Detection (on the sea)

Missing People Detection System

UAV’s flight path

Activated

sensor (ON)

Beacon signal

Data Center

UAV

The 1st path

The 4th pathWireless sensors network

OFF

Sensor

2R

The 2nd

path

The 3rd

path

Prioritized Frame Selection (PFS )

o0

1

2

3

p.g.1_D

Distance

(sensor to UAV)

Time

Rx power

Transmission

priority

p.f.3_Ip.f.2_Ip.f.1_I

Interval frame

Increasing Decreasing

p.f.1_Dp.f.2_Dp.f.3_D

p.g.2_D

p.g.3_D

p.g.3_I

p.g.2_I

p.g.1_I

Active sensor

Footprint of

beacon signal

Flight path

Increasing group Decreasing group

Power level 1

Power level 3

Power level 2

UAV’s direction

16

2.1m

0.48m

2.13m

0.5m

0.5m

0.66m

実験UAV機

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================

6

電波暗室

0.5

m

0.6

6m

2.1

m 0.4

8m

2.1

3m

0.5

m

Specification information of the UAV• UAV in my lab

Full length 2.13m

Wingspan 4.21m

One wing 2.1m

Propeller diameter

0.66m

various factors

8

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))

無人機に搭載したアンテナ特性測定実験

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

環境

NO.1 NO.2

10

腕時計型トランスポンダアンテナ製作評価

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

0° 90°

270°180°

腕時計型トランスポンダアンテナ測定環境

11

動物搭載無線通信システムによる行方不明者探索

12

Proposed system• In a stable condition

–Attitude control using a GyroscopeAble to keep the horizontal and hits the transmission beam in an object target stably –Control beam using a Phased array antennaRadiate strong beam evenly without turning UAV

Previous systemProposed system

13

Angle Detection Apparatus

• We made a “Angle Detection Apparatus” using some sensors.

Data logger

Accelerometer

Gyroscope

Aruduino Uno R3(microcontroller board)

14

Antenna

• Phased Array Antenna (Linear Array Antenna)

–Using 8 elements

(Patch Antennas)

+Patch Antenna Power divider

15

Results (1)

• A log of the GPS

– The results are much the same as the video.

16

Results (2)

• A log of change of an altitude

– Logged by GPS

– Difficult to keep same altitude

17

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:

++

- -

18

Results (2)

• A log of change of an altitude and a Pitching angle

19

Results (3)

• A log of change of a Rolling angle

20

Experiment (Directivity measurement)

Compare the Directivity between Previous system and Proposal system

•Previous system

–Patch Antenna (one element)

•Proposal system

–Linear Array Antenna

(= Phased Array Antenna without incorporating

phase shifters)

• Using 4 and 8 elements (Patch Antennas)

Patch Antenna

Linear Array Antenna (8 elements)

21

Results（1）

• Directivity of the Patch Antenna (one element)

– Wide-angle directivity as characteristics of the Patch Antenna

– Half-power angle is 120 degree.

22

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.

23

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.

24

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

25

Experiment (Directivity control)

• Phased Array Antenna (4 elements)–Add phase shifters to the Linear Array Antenna

• Phase Shift–Apply the voltage required and shift phase required

–Required phase differences

can lead from the following formula.

PS

PS

PS

PS

Divider

Oscillators

DC pow

erPhase Shifter

#1 #4N=n+1

nd cosq

q

d

26

Results• Directional control

–obtained the characteristics

as estimated by a logic value.

–Able to control wider angle by shifting phase more.

Color

Voltage(V)

N=1 2 3 4

Green 13.5 9.0 4.5 0

Red 7.5 5 2.5 0

Blue 2.1 1.4 0.7 0

Pink 0 0 0 0

Gray 0 0.7 1.4 2.1

Brown 0 2.5 5 7.5

Purple 0 4.5 9.0 13.5

27

Future Applications employing UAVfor Earthquake and Tsunami

• Wide Area Tsunami Monitoring

28

Wide Area Tsunami Monitoring

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 HeightWave CycleDirection of Wave

Atmosphere PressureTemperatureRadio Activity

Small Satellite Project

Sensor Nodes

Disaster Area

UAV and LEO Satellite Collaboration System for Wide area WSN

UAV Mission Control

Center

LEO Satellite

UAV

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

DJI PhantomⅡ vision+

weight：1242g

battery：22.2V,5200mAh

flight duration：16分

distance：700m

Size：350mmX350mm

QuadCopter(2)

Formation Flight

Future Applications by UAV

Air Pollution ObservationFire Detection in Mountain AreaFish DetectionDeliveryEtc..

成層圏飛翔体通信

38

Applications of HAPS

• Broadband fixed and mobile communications.

• Digital broadcasting.

• Ground monitoring and environment observation.

• Traffic monitoring.

• Navigation and positioning, etc.

• Disaster and emergency communication supports.

Earth observation and ground monitoring

Broadband communication with a fixed station (or with a portable station)

High speed internetHigh speed WAN

Next generation mobile communication

DigitalBroadcasting

Disaster communication

supporting

Broadband communication with

portable terminal

Providing communication supports during and after

disaster

39

HAPS Channel Model 1• HAPS communication is affected by structures

such as buildings, which cause LOS andshadowing frequently occurring depending onelevation angles.

• Defining LOS and NLOS or Shadowing situationbetween HAPS and mobile terminal isimportant in the design of HAPS wirelesscommunication in urban areas.

Experiment Studies Analytical studies

HAPS Channel Model I

comparison

Shadowing

LOS

Shadowing or LOS change depending on elevation

and azimuth angles when viewed from different

direction

Building height can cause LOS or shadowing

Building width can cause the distance of LOS and

shadowing

40

Geometrical Model

• Shadowing situation determination:

aD

bh

bw

D MSH

Geometry model (Top View)

aD

bh

cD scDsD

D

MSH

cscsD

k

iDDD

2

12 )...1( ki

,sin)(

arctan

,sin)(

arctan

DD

Hh

D

Hh

a

MSb

MSb

T

0for

0for

)))((1exp()( 0 TbTSCD hww

)))((1exp()( 0 TbTLCD hww

Geometry model (Side View)

41

Analytical Results

Distance[m]

Elevation Angle [deg]

Prob

abili

ty

Distance[m]

Elevation Angle [deg]

Prob

abili

ty

Distance[m]

Elevation Angle [deg]

Prob

abili

ty

Distance[m]

Elevation Angle [deg]

Prob

abili

ty

Distribution of SCD, Shinjuku, D=15 m, θ=600

Distribution of LCD, Shinjuku, D=15 m, θ=300

Distribution of SCD, Kiryu, D=15 m, θ=600 Distribution of LCD, Kiryu, D=15 m, θ=300

42

Experiment: Statistical Model

Balloon control

HAPS

Remote carrier

control machine

900800700100

HAPs Channel Characteristic and Geometry

HAPs Channel Characteristic at 2.4 GHz

From experimental measurement of the signal coming from HAPs in a widerange of elevation angle (100 to 900), we can draw a CDF of HAPs channel asfollows:

GLOBECOM 2008, 30 Nov – 4 Dec 2008, New Orleans, USA

Data Transmission Success Rate

Shinjyuku

Shibuya

Asakusa

Kryuu

45

ABSOLUTE project (FP7 program : EC)