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Zeta series Business Helicopter FC4B Software:
[001]~ Mission
[002]~ Theater
[003]~ Network
[004]~ Manned vehicles
[005]~ Hatching
[006]~ Target
[007]~ Navigation
[008]~ Schedule
[009]~ Dropping sensors
[010]~ FC Helicopter Sensoring
[011]~ Freedom Base FB
[012]~ Freedom Sensors FS
[013]~ Sensored data
[014]~ Commands
[015]~ Resources
[016]~ Messages
[017]~ Logic
[018]~ Operating system
[019]~ Forces
[020]~ Environment
[021]~ Context
[022]~ Simulation
[023]~ Modelling Software
[024]~ Resource management
[025]~ Fuzzy Logic
[026]~ Autonomous Navigation & Object Detection
[027]~ WITAS Software
[028]~ Open Source: Flight Controller Software
[029]~ Open Source: DIY































































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[001]~ Business Helicopter FC Software: Mission
Base class:
~ business unmanned air vehicle's mission
Sub classes:
~ business unmanned rotary wing air vehicle's mission
FC Helicopter class:
~ FC_Helicopter_Mission_Manager
~ methods: start, survey, sensor, drop sensors, collect sensor data, report, communicate, rest, stop
~ tailored: rapid deployment to oil rig and unmanned operating there
Description:
~ manages FC helicopter's flying near oil rig
~ handles mission goals, orders, reports, messages

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[002]~ Business Helicopter FC Software: Theater
Base class:
~ business standard theater
Sub classes:
~ oil business theater such as oil field, oil refinery, gas field, oil pipeline
FC Helicopter class:
~ FC_Helicopter_Theater_Manager
~ methods: give map, show target, give obstacles, show persons
~ tailored: tailored to FC helicopter, oil & gas industry
Description:
~ handles location information
~ checks maps around oil rig, wheather in that area, obstacles, FB bases to be dropped there

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[003]~ Business Helicopter FC Software: Network
Base class:
~ business standard network
Sub classes:
~ oil companies network, which might be satallite bases and/or wired and also undersea
FC Helicopter class:
~ FC_Helicopter_Network_Manager
~ methods: make connection, give status, show resources...
~ tailored: wireless FS sensor networks, network between FB base,FC helicopter, BUSINESS NET
Description:
~ takes care of all networking operations during mission

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[004]~ Business Helicopter FC Software: Manned vehicles
Base class:
~ business manned air vehicle
Sub classes:
~ business rotary wing air vehicle, specially used by oil, gas, energy industry
FC Helicopter class:
~ FC_Helicopter_Manned_Vehicle_Manager
~ methods: download software, download mission instructions, tell about dropping, confirm hatching...
~ tailored: fighter deploying FC helicopter to target area such as oil field due to fire, for example
Description:
~ manages communication, messages, refuelling, collaboration with FB base
~ a military fighter could be tailored to deploy FC helicopters

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[005]~ Business Helicopter FC Software: Hatching
Base class:
~ sensor dropping
Sub classes:
~ environment sensor dropping
FC Helicopter class:
~ FC_Helicopter_Hatching_Manager
~ tailored: FC helicopter is capable to hatch in the air after being dropped by a fighter
~ methods: release, confirm...
Description:
~ manages all phases of hatching,
~ communicates with a fighter dropping FC helicopter
~ reports to a nearest FB base, if there is one in area
~ starts mission

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[006]~ Business Helicopter FC Software: Target
Base class:
~ business unmanned air vehicle's target
Sub classes:
~ target for business unmanned rotary wing air vehicle's
FC Helicopter class:
~ FC_Helicopter_Target_Manager
~ tailored: target might be an oil rig
~ methods: show location, give resources around, tell dimensions...
Description:
~ manages targets by taking care of having the latest information
~ finds out target location and architecture in FC helicopter
~ target might be an oil rig in Persian Gulf area

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[007]~ Business Helicopter FC Software: Navigation
Base class:
~ business unmanned air vehicle's navigation
Sub classes:
~ business unmanned rotary wing air vehicle's navigation
FC Helicopter class:
~ FC_Helicopter_Navigation_Manager
~ tailored: FC helicopter registers where it drops FS sensors and uses them also to navigate
~ methods: show sensors along route, give location information...
Description:
~ manages routes by knowing route nodes, landscape, obstacles, length, sensors dropped
~ avoids collisions, registers remarkable points,
~ handles digital map, receives instructions for navigation from FB base

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[008]~ Business Helicopter FC Software: Schedule
Base class:
~ business unmanned air vehicle's schedule for a mission
Sub classes:
~ business unmanned air vehicle's schedule for a mission
FC Helicopter class:
~ FC_Helicopter_Schedule_Manager
~ tailored: unmanned & autonomous FC helicopter operating in a remote theater
~ methods: download, give, update, upload ...
Description:
~ schedules sensor dropping, collection of sensor data, flying, sheltering, refuelling

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[009]~ Business Helicopter FC Software: Dropping sensors
Base class:
~ business dropping sensors from fixed wing UAV
Sub classes:
~ business dropping sensors from rotary wing UAV
FC Helicopter class:
~ FC_Helicopter_Dropping_Manager
~ tailored: FC helicopter registers FS sensor location and reports it to FB base
~ methods: start, drop, register, stop, pause, schedule ...
Description:
~ handles dropping of sensors to required positions,
~ dropping new sensors to target area, if necessary
~ dropping sensors around FB base

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[010]~ Business Helicopter FC Software: FC Helicopter Sensoring
Base class:
~ business unmanned air vehicle's sensoring
Sub classes:
~ business unmanned rotary wing air vehicle's sensoring
FC Helicopter class:
~ FC_Helicopter_Sensoring_Manager
~ tailored: FC helicopter has it's own sensors
~ methods: start, stop ...
Description:
~ manages FC helicopter's sensoring tasks and sensor database

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[011]~ Business Helicopter FC Software: Freedom base FB
Base class:
~ business standard base
Sub classes:
~ business unmanned base
FC Helicopter class:
~ FC_Helicopter_FB_Manager
~ tailored: FC helicopter knows only the FB bases it is allowed to know in target area
~ methods: order more fuel, refuel, receive sensored data, download software & instructions...
Description:
~ manages collaboration with FB base

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[012]~ Business Helicopter FC Software: Freedom Sensors FS
Base class:
~ business standard sensor
Sub classes:
~ wireless business sensor
FC Helicopter class:
~ FC_Helicopter_FS_Manager
~ tailored: security i.e. only FC helicopter which has dropped FS sensor is typically allowed to communicate with it
~ methods: give sensor data, receive software and instructions, stop, erase yorself...
Description:
~ manages sensors FC helicopter drops by establishing communication with them,
~ by uploading sensor data and downloading software updates and instructions to sensors

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[013]~ Business Helicopter FC Software: Sensored data
Base class:
~ business standard sensor data
Sub classes:
~ wireless sensor data from smart sensors
FC Helicopter class:
~ FC_Helicopter_Sensor_Data__Manager
~ tailored: sensor data FC helicopter collects from FS sensors and from it's own sensors
~ methods: save, download...
Description:
~ handles sensored data by tagging it and by making it ready for downloading to FB base

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[014]~ Business Helicopter FC Software: Commands
Base class:
~ business unmanned air vehicle's commands
Sub classes:
~ business unmanned rotary wing air vehicle's commands
FC Helicopter class:
~ FC_Helicopter_Command_Manager
~ tailored: commands from FB base and from BUSINESS NET to FC helicopter
~ methods: receive, perform...
Description:
~ manages command queues, command handling, priorities

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[015]~ Business Helicopter FC Software: Resources
Base class:
~ business unmanned air vehicle's resources
Sub classes:
~ business unmanned rotary wing air vehicle's resources
FC Helicopter class:
~ FS_Helicopter_Resource_Manager
~ tailored: FC helicopter's own resources, FB base, FS sensors, resources in theater, BUSINESS NET
~ methods: give fuel amount for mission, to return to FB base...
Description:
~ manages resources minimizing resource, such as fuel usage
~ maximizing sensor usage by optimizing sensor locations

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[016]~ Business Helicopter FC Software: Messages
Base class:
~ business unmanned air vehicle's messages
Sub classes:
~ business unmanned rotary wing air vehicle's messages
FC Helicopter class:
~ FC_Helicopter_Message_Manager
~ tailored: messages between FC helicopter and FB base, FS sensors and BUSINESS NET
~ methods: receive, send, store, queue...
Description:
~ manages messages, receiving, sending, storing, handling, queueing

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[017]~ Business Helicopter FC Software: Logic
Base class:
~ business unmanned air vehicle's logic
Sub classes:
~ business unmanned rotary wing air vehicle's logic
FC Helicopter class:
~ FC_Helicopter_Logic_Manager
~ tailored: fuzzy logic is being used for missions
~ methods: n/a
Description:
~ uses fuzzy logics

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[018]~ Business Helicopter FC Software: Operating system
Base class:
~ Common Operating System (COS)
Sub classes:
~ Embedded COS
FC Helicopter class:
~ FC_Helicopter_OS
~ tailored: UAV, FC helicopter requirements
~ methods: operating system methods
Description:
~ embedded OS handles FC helicopter application software, hardware and communication

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[019]~ Business Helicopter FC Software: Forces
Base class:
~ forces with business unmanned air vehicle
Sub classes:
~ forces with business unmanned rotary wing air vehicle
FC Helicopter class:
~ FC_Helicopter_Forces_Manager
~ tailored: oil company's security, business, service personnel, oil rig specialists, for example
~ methods: get, update, communicate...
Description:
~ manages information about forces in theater, it may send help
~ message to FB base, which may alarm a person connected to FB base with FD1/FD2 device

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[020]~ Business Helicopter FC Software: Environment
Base class:
~ business unmanned air vehicle's environment
Sub classes:
~ business unmanned rotary wing air vehicle's environment
FC Helicopter class:
~ FC_Helicopter_Environment_Manager
~ tailored: oil rig in Persian Gulf, oil field in Iraq, oil pipeline in Persian Gulf area, pump station
~ methods:
Description: give wheather, tell obstacles...
~ manages environment data about that specific area taking into account
~ desert heat, storms, day times, landscapes, obstacles

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[021]~ Business Helicopter FC Software: Context
Base class:
~ business standard context with unmanned air vehicles
Sub classes:
~ business standard context with unmanned rotary wing air vehicles
FC Helicopter class:
~ FC_Helicopter_Context_Manager
~ tailored: oil rigs, ports, oil fields, gas fields in Persian Gulf area, Arabic countries
~ methods: give, update, get, upload ...
Description:
~ manages context by taking into account specific features
~ of oil industry, oil pipelines, oil refineries specially in Persian Gulf area

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[022] FC4B Software ~ Business Helicopter: ~ Simulation
Simulation:
~ simulation software for FC helicopter is a mandatory part of the whole system platform
~ mobile Freedom Devices can be used as simulation platform as well as more powerful systems
~ FB base equipment can also be used for FC helicopter simulation; for example to simulate next mission route

Links:
~ Carnegie Mellon:
~ flight tests of a new linear robust controller for the Carnegie Mellon University Yamaha R-50 Robotic Helicopter.
~ designed the controller using a high-order linear model of the R-50 extracted at hover from MOSCA
~ Modelling for Flight Simulation and Control Analysis small-scale helicopter non-linear simulation model.
~ Before flying, the controller went through extensive non-linear flight simulation tests.
~ The highly accurate simulation provided by MOSCA allowed to achieve the results presented here,
~ after only 2 preliminary flight tests of 20 minutes each
~ flighttests.roboticflight.org

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[023] FC4B Software ~ Business Helicopter: ~ Modelling Software
Modelling Software:
~ modern modelling software is being used for FC helicopter and the whole platform modelling
~ few of curent modelling softare tackles mission kind of requirements

Links:
~ The European Commission has signed a research agreement for a two-year, € 20 m, MODELling solution for softWARE systems (MODELWARE) project
~ modelware-ist.org

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[024] FC4B Software ~ Business Helicopter: ~ Resource management
Resource management
~ FC helicopter is capable to send videoa and still images which will help to send service personnel to fix problems
~ Data provided by FC also helps to take right tools with
~ Time and money is saved with right information FC provides

Links:
~ advantica.biz

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[025] FC4B Software ~ Business Helicopter: ~ Fuzzy Logic
Fuzzy Logic
~ Fuzzy logics is being used to be able to send high level commands to FC
~ FB also embed fuzzy logic software

Links:
~ Flight control based on a fuzzy logic developed by M. Sugeno at the Tokyo Institute of Technology
~ The controller is based on fuzzy logic and is installed in a 16bit microprocessor with fuzzy inference engine built by Omron
~ The helicopter used in Sugeno's experiments is a Yamaha R-50, about 3.5meters long with a 90kg payload and a 98cc engine
~ The most interesting aspect of the system is its hierarchical structure.
~ At the top level is a navigator system which receives operator's
~ instructions (hover, land, etc.) along with the present flight states of
~ the helicopter from the sensors. The navigator provides as output both
~ trim information (an equilibrium position of the helicopter's attitude)
~ and the desired values of the control inputs. Both sets of information
~ are input to the lower level, the stabilizer level, which is a
~ servo system with the trim as its reference signal. The stabilizer
~ consists of blocks corresponding to its flight modes, e.g., a sideways
~ flight block, forward flight block, hover flight block, etc. Each block
~ consists of four modules corresponding to the four control inputs
~ (elevator, aileron, rudder, and throttle).
~ This kind of hierarchical and modular structure simplifies the acquisition of control rules as well as the controller design
~ atip.org]

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[026] FC4B Software ~ Business Helicopter: ~ Autonomous Navigation & Object Detection Autonomous Navigation & Object Detection
~ software providing Autonomous Navigation & Object Detection i being used

Links:
~ CSIRO; partnership possibility being explored!
~ A new robot 'brain', based in part on the workings of the human inner ear
~ the CSIRO helicopter is the first to fly completely independent of expensive global positioning systems (GPS) guidance
~ GPS has many drawbacks in practice, particularly in built environments near large structures which can obscure or reflect signals from the GPS satellites
~ Novatel The above base and rover configuration is available at a package price of USD $2,700 !!!
~ This is the first UAV to use computerised vision with all its equipment on board
~ The 1.5 metre long and 0.5 metre high Mantis uses a combination of sensors that operate as its eyes and brain.
~ The major task in developing Mantis was to produce an inertial sensing system and a computer vision system to control and provide flight stability and to guide the aircraft
~ The robot's eyes work using two cameras and software that detects where objects are and how fast the Mantis is moving relative to objects around it.
~ The inertial sensing system used low-cost Micro-Electro-Mechanical-Systems (MEMS) sensors made from a light-weight magnesium alloy
~ The Mantis will also cost less than UAV currently being developed for business uses
~ The 'brain' weighs only 75 grams (CSIRO)
~ abc.net.au
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[027] FC4B Software ~ Business Helicopter: ~ WITAS Software WITAS Software
~ collaboration is being explored
~ software to plan paths
~ FB could plan the route for FC

Links:
~ Linköping's Universitet

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[028] FC4B Software ~ Business Helicopter: ~ Open Source: Flight Controller Software Open Source: Flight Controller Software
~ open source software is being explored

Links:
~ the autopilot project
~ rotomotion.com

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[029] FC4B Software ~ Business Helicopter: ~ Open Source: DIY Open Source: DIY
~ do-it-yourself is being explored for testing

Links:
~ autopilot

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[029] FC4B Software ~ Business Helicopter: ~ FREE




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[030] FC4B Software ~ Business Helicopter: ~ FREE




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[031] FC4B Software ~ Business Helicopter: ~ FREE




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[032] FC4B Software ~ Business Helicopter: ~ FREE




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[033] FC4B Software ~ Business Helicopter: ~ FREE




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