Robust Optimal Adaptive Trajectory Tracking Control of Quadrotor Helicopter

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M. Navabi

Full Text Available Abstract This paper focuses on robust optimal adaptive control strategy to deal with tracking problem of a quadrotor unmanned aerial vehicle (UAV in presence of parametric uncertainties, actuator amplitude constraints, and unknown time-varying external disturbances. First, Lyapunov-based indirect adaptive controller optimized by particle swarm optimization (PSO is developed for multi-input multi-output (MIMO nonlinear quadrotor to prevent input constraints violation, and then disturbance observer-based control (DOBC technique is aggregated with the control system to attenuate the effects of disturbance generated by an exogenous system. The performance of synthesis control method is evaluated by a new performance index function in time-domain, and the stability analysis is carried out using Lyapunov theory. Finally, illustrative numerical simulations are conducted to demonstrate the effectiveness of the presented approach in altitude and attitude tracking under several conditions, including large time-varying uncertainty, exogenous disturbance, and control input constraints.

An indirect adaptive neural control of a visual-based quadrotor robot for pursuing a moving target.

Science.gov (United States)

Shirzadeh, Masoud; Amirkhani, Abdollah; Jalali, Aliakbar; Mosavi, Mohammad R

2015-11-01

This paper aims to use a visual-based control mechanism to control a quadrotor type aerial robot which is in pursuit of a moving target. The nonlinear nature of a quadrotor, on the one hand, and the difficulty of obtaining an exact model for it, on the other hand, constitute two serious challenges in designing a controller for this UAV. A potential solution for such problems is the use of intelligent control methods such as those that rely on artificial neural networks and other similar approaches. In addition to the two mentioned problems, another problem that emerges due to the moving nature of a target is the uncertainty that exists in the target image. By employing an artificial neural network with a Radial Basis Function (RBF) an indirect adaptive neural controller has been designed for a quadrotor robot in search of a moving target. The results of the simulation for different paths show that the quadrotor has efficiently tracked the moving target. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Mini-UAV based sensory system for measuring environmental variables in greenhouses.

Science.gov (United States)

Roldán, Juan Jesús; Joossen, Guillaume; Sanz, David; del Cerro, Jaime; Barrientos, Antonio

2015-02-02

This paper describes the design, construction and validation of a mobile sensory platform for greenhouse monitoring. The complete system consists of a sensory system on board a small quadrotor (i.e., a four rotor mini-UAV). The goals of this system include taking measures of temperature, humidity, luminosity and CO2 concentration and plotting maps of these variables. These features could potentially allow for climate control, crop monitoring or failure detection (e.g., a break in a plastic cover). The sensors have been selected by considering the climate and plant growth models and the requirements for their integration onboard the quadrotor. The sensors layout and placement have been determined through a study of quadrotor aerodynamics and the influence of the airflows from its rotors. All components of the system have been developed, integrated and tested through a set of field experiments in a real greenhouse. The primary contributions of this paper are the validation of the quadrotor as a platform for measuring environmental variables and the determination of the optimal location of sensors on a quadrotor.

Mini-UAV Based Sensory System for Measuring Environmental Variables in Greenhouses

Directory of Open Access Journals (Sweden)

Juan Jesús Roldán

2015-02-01

Full Text Available This paper describes the design, construction and validation of a mobile sensory platform for greenhouse monitoring. The complete system consists of a sensory system on board a small quadrotor (i.e., a four rotor mini-UAV. The goals of this system include taking measures of temperature, humidity, luminosity and CO2 concentration and plotting maps of these variables. These features could potentially allow for climate control, crop monitoring or failure detection (e.g., a break in a plastic cover. The sensors have been selected by considering the climate and plant growth models and the requirements for their integration onboard the quadrotor. The sensors layout and placement have been determined through a study of quadrotor aerodynamics and the influence of the airflows from its rotors. All components of the system have been developed, integrated and tested through a set of field experiments in a real greenhouse. The primary contributions of this paper are the validation of the quadrotor as a platform for measuring environmental variables and the determination of the optimal location of sensors on a quadrotor.

RECONNAISSANCE MICRO UAV SYSTEM

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Petr Gabrlik

2015-12-01

Full Text Available This paper describes the design and implementation of the Uranus UAV. This quad-rotor flying robot was created to extend the abilities of the hitherto developed with airborne missions. The first part deals with the mathematical model of the robot. Next, the control system is designed, and the proposed hardware as well as the implemented software solution are presented. For integration into the robotic system, a new communication protocol was created and is described here too.

Feedback Linearization approach for Standard and Fault Tolerant control: Application to a Quadrotor UAV Testbed

International Nuclear Information System (INIS)

Ghandour, J; Aberkane, S; Ponsart, J-C

2014-01-01

In this paper the control problem of a quadrotor vehicle experiencing a rotor failure is investigated. We develop a Feedback linearization approach to design a controller whose task is to make the vehicle performs trajectory following. Then we use the same approach to design a controller whose task is to make the vehicle enter a stable spin around its vertical axis, while retaining zero angular velocities around the other axis when a rotor failure is present. These conditions can be exploited to design a second control loop, which is used to perform trajectory following. The proposed double control loop architecture allows the vehicle to perform both trajectory and roll/pitch control. At last, to test the robustness of the feedback linearization technique, we applied wind to the quadrotor in mid flight

Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

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Merheb Abdel-Razzak

2015-09-01

Full Text Available Abstract In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. In this configuration, faults are tolerated in the fast inner loop controlling the velocity system. Tuning the controllers to find the optimal values of the sliding mode controller gains is made using the ecological systems algorithm (ESA, a biologically inspired stochastic search algorithm based on the natural equilibrium of animal species. The controllers are tested using SIMULINK in the presence of two different types of actuator faults, partial loss of motor power affecting all the motors at once, and partial loss of motor speed. Results of the quadrotor following a continuous path demonstrated the effectiveness of the controllers, which are able to tolerate a significant number of actuator faults despite the lack of hardware redundancy in the quadrotor system. Tuning the controller using a faulty system improves further its ability to afford more severe faults. Simulation results show that passive schemes reserve their important role in fault tolerant control and are complementary to active techniques

Hooked on Hummingbirds.

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Bailey, Kim

2002-01-01

Describes several hummingbird adaptations and suggests ways of attracting hummingbirds to schoolyards and including them in the curriculum. Provides hummingbird feeder tips along with a list of ideas for designing inquiry-based activities related to hummingbird behavior. Also provides a hummingbird quiz, two instructional games, and a listing of…

Aerodynamics and Control of Quadrotors

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Bangura, Moses

Quadrotors are aerial vehicles with a four motor-rotor assembly for generating lift and controllability. Their light weight, ease of design and simple dynamics have increased their use in aerial robotics research. There are many quadrotors that are commercially available or under development. Commercial off-the-shelf quadrotors usually lack the ability to be reprogrammed and are unsuitable for use as research platforms. The open-source code developed in this thesis differs from other open-source systems by focusing on the key performance road blocks in implementing high performance experimental quadrotor platforms for research: motor-rotor control for thrust regulation, velocity and attitude estimation, and control for position regulation and trajectory tracking. In all three of these fundamental subsystems, code sub modules for implementation on commonly available hardware are provided. In addition, the thesis provides guidance on scoping and commissioning open-source hardware components to build a custom quadrotor. A key contribution of the thesis is then a design methodology for the development of experimental quadrotor platforms from open-source or commercial off-the-shelf software and hardware components that have active community support. Quadrotors built following the methodology allows the user access to the operation of the subsystems and, in particular, the user can tune the gains of the observers and controllers in order to push the overall system to its performance limits. This enables the quadrotor framework to be used for a variety of applications such as heavy lifting and high performance aggressive manoeuvres by both the hobby and academic communities. To address the question of thrust control, momentum and blade element theories are used to develop aerodynamic models for rotor blades specific to quadrotors. With the aerodynamic models, a novel thrust estimation and control scheme that improves on existing RPM (revolutions per minute) control of

Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV

National Research Council Canada - National Science Library

Lee, DongBin; Burg, Timothy; Xian, Bin; Dawson, Darren

2006-01-01

...) using output feedback (OFB). Specifically, an observer is designed to estimate the velocities and an output feedback controller is designed for a nonlinear UAV system in which only position and angles are measurable...

Quadrotor trajectory tracking using PID cascade control

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Idres, M.; Mustapha, O.; Okasha, M.

2017-12-01

Quadrotors have been applied to collect information for traffic, weather monitoring, surveillance and aerial photography. In order to accomplish their mission, quadrotors have to follow specific trajectories. This paper presents proportional-integral-derivative (PID) cascade control of a quadrotor for path tracking problem when velocity and acceleration are small. It is based on near hover controller for small attitude angles. The integral of time-weighted absolute error (ITAE) criterion is used to determine the PID gains as a function of quadrotor modeling parameters. The controller is evaluated in three-dimensional environment in Simulink. Overall, the tracking performance is found to be excellent for small velocity condition.

How hummingbirds hum: Acoustic holography of hummingbirds during maneuvering flight

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Hightower, Ben; Wijnings, Patrick; Ingersoll, Rivers; Chin, Diana; Scholte, Rick; Lentink, David

2017-11-01

Hummingbirds make a characteristic humming sound when they flap their wings. The physics and the biological significance of hummingbird aeroacoustics is still poorly understood. We used acoustic holography and high-speed cameras to determine the acoustic field of six hummingbirds while they either hovered stationary in front of a flower or maneuvered to track flower motion. We used a robotic flower that oscillated either laterally or longitudinally with a linear combination of 20 different frequencies between 0.2 and 20 Hz, a range that encompasses natural flower vibration frequencies in wind. We used high-speed marker tracking to dissect the transfer function between the moving flower, the head, and body of the bird. We also positioned four acoustic arrays equipped with 2176 microphones total above, below, and in front of the hummingbird. Acoustic data from the microphones were back-propagated to planes adjacent to the hummingbird to create the first real-time holograms of the pressure field a hummingbird generates in vivo. Integration of all this data offers insight into how hummingbirds modulate the acoustic field during hovering and maneuvering flight.

Towards a Low-Cost Quadrotor Research Platform

Science.gov (United States)

2010-03-01

FIGURES Figure 1. Quadrotor schematic showing rotor direction of rotation (From [2])................3 Figure 2. Toy quadrotor: Walkera UFO (from...Some examples are the Walkera UFO #5, Walkera UFO #8, Dragonfly, and Alien Air Jump Jet. Figure 2. Toy quadrotor: Walkera UFO (from Walkera...the X- UFO made by Silverlit Electronics used small mechanical gyros. These were relatively cheap due to low-cost labor, but suffered from mechanical

How hummingbirds hum: acoustic holography of hummingbirds during maneuvering flight

NARCIS (Netherlands)

Hightower, B.; Wijnings, P.W.A.; Ingersoll, R.; Chin, D.; Scholte, R.; Lentink, D.

2017-01-01

Hummingbirds make a characteristic humming sound when they flap their wings. The physics and the biological significance of hummingbird aeroacoustics is still poorly understood. We used acoustic holography and high-speed cameras to determine the acoustic field of six hummingbirds while they either

Comparison of gradient methods for gain tuning of a PD controller applied on a quadrotor system

Science.gov (United States)

Kim, Jinho; Wilkerson, Stephen A.; Gadsden, S. Andrew

2016-05-01

Many mechanical and electrical systems have utilized the proportional-integral-derivative (PID) control strategy. The concept of PID control is a classical approach but it is easy to implement and yields a very good tracking performance. Unmanned aerial vehicles (UAVs) are currently experiencing a significant growth in popularity. Due to the advantages of PID controllers, UAVs are implementing PID controllers for improved stability and performance. An important consideration for the system is the selection of PID gain values in order to achieve a safe flight and successful mission. There are a number of different algorithms that can be used for real-time tuning of gains. This paper presents two algorithms for gain tuning, and are based on the method of steepest descent and Newton's minimization of an objective function. This paper compares the results of applying these two gain tuning algorithms in conjunction with a PD controller on a quadrotor system.

Hummingbirds Visit the Playground.

Science.gov (United States)

Ard, Linda; Wilkerson, Kristen

1996-01-01

Tells how hummingbirds can serve as a source of information and fun for children, including a rationale for attracting and teaching about hummingbirds and the outdoors. Explains that children need first-hand knowledge of nature and gives details on attracting hummingbirds and selecting safe plants for a hummingbird garden. (BGC)

Design a Hummingbird Flower.

Science.gov (United States)

Bailey, Kim

2002-01-01

Presents an activity that engages students in designing and making an artificial flower adapted for pollination by hummingbirds. Students work in teams to design flowers that maximize the benefit from attracting hummingbirds. Examines characteristics of real flowers adapted to pollination by hummingbirds. (DLH)

A Survey of Modelling and Identification of Quadrotor Robot

Directory of Open Access Journals (Sweden)

Xiaodong Zhang

2014-01-01

Full Text Available A quadrotor is a rotorcraft capable of hover, forward flight, and VTOL and is emerging as a fundamental research and application platform at present with flexibility, adaptability, and ease of construction. Since a quadrotor is basically considered an unstable system with the characteristics of dynamics such as being intensively nonlinear, multivariable, strongly coupled, and underactuated, a precise and practical model is critical to control the vehicle which seems to be simple to operate. As a rotorcraft, the dynamics of a quadrotor is mainly dominated by the complicated aerodynamic effects of the rotors. This paper gives a tutorial of the platform configuration, methodology of modeling, comprehensive nonlinear model, the aerodynamic effects, and model identification for a quadrotor.

Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations

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Oualid Doukhi

2017-01-01

Full Text Available The paper presents the mathematical model of a quadrotor unmanned aerial vehicle (UAV and the design of robust Self-Tuning PID controller based on fuzzy logic, which offers several advantages over certain types of conventional control methods, specifically in dealing with highly nonlinear systems and parameter uncertainty. The proposed controller is applied to the inner and outer loop for heading and position trajectory tracking control to handle the external disturbances caused by the variation in the payload weight during the flight period. The results of the numerical simulation using gazebo physics engine simulator and real-time experiment using AR drone 2.0 test bed demonstrate the effectiveness of this intelligent control strategy which can improve the robustness of the whole system and achieve accurate trajectory tracking control, comparing it with the conventional proportional integral derivative (PID.

EVALUATING THE ACCURACY OF DEM GENERATION ALGORITHMS FROM UAV IMAGERY

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J. J. Ruiz

2013-08-01

Full Text Available In this work we evaluated how the use of different positioning systems affects the accuracy of Digital Elevation Models (DEMs generated from aerial imagery obtained with Unmanned Aerial Vehicles (UAVs. In this domain, state-of-the-art DEM generation algorithms suffer from typical errors obtained by GPS/INS devices in the position measurements associated with each picture obtained. The deviations from these measurements to real world positions are about meters. The experiments have been carried out using a small quadrotor in the indoor testbed at the Center for Advanced Aerospace Technologies (CATEC. This testbed houses a system that is able to track small markers mounted on the UAV and along the scenario with millimeter precision. This provides very precise position measurements, to which we can add random noise to simulate errors in different GPS receivers. The results showed that final DEM accuracy clearly depends on the positioning information.

Attitude Control of Quad-rotor by Improving the Reliability of Multi-Sensor System

Energy Technology Data Exchange (ETDEWEB)

Yu, Dong Hyeon; Chong, Kil To [Chon-bok National University, Jeonju (Korea, Republic of); Park, Jong Ho [Seonam University, Namwon (Korea, Republic of); Ryu, Ji Hyoung [ETRI, Daejeon (Korea, Republic of)

2015-05-15

This paper presents the results of study for improving the reliability of quadrotor attitude control by applying a multi-sensor along with a data fusion algorithm. First, a mathematical model of the quadrotor dynamics was developed. Then, using the quadrotor mathematical model, simulations were performed using the improved reliability multi-sensor data as the inputs. From the simulation results, we designed a Gimbal-equipped quadrotor system. With the quadrotor in a hover state, we performed experiments according to the angle change of the user's specifications . We then calculated the attitude control data from the actual experimental data. Furthermore, with additional simulations, we verified the performance of the designed quadrotor attitude control system with multiple sensors.

The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

Directory of Open Access Journals (Sweden)

Dewei Zhang

2014-01-01

Full Text Available A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed, the dynamic model is simplified at hovering operating point. Based on the simplified nonlinear dynamic model, the PID controllers with feedback linearization and feedforward control are proposed using the backstepping method. These controllers are used to control both the attitude and position of the quadrotor. A fully custom quadrotor is developed to verify the correctness of the dynamic model and control algorithms. The attitude of the quadrotor is measured by inertia measurement unit (IMU. The position of the quadrotor in a GPS-denied environment, especially indoor environment, is estimated from the downward camera and ultrasonic sensor measurements. The validity and effectiveness of the proposed dynamic model and control algorithms are demonstrated by experimental results. It is shown that the vehicle achieves robust vision-based hovering and moving target tracking control.

Quad-Rotor Helicopter Autonomous Navigation Based on Vanishing Point Algorithm

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Jialiang Wang

2014-01-01

Full Text Available Quad-rotor helicopter is becoming popular increasingly as they can well implement many flight missions in more challenging environments, with lower risk of damaging itself and its surroundings. They are employed in many applications, from military operations to civilian tasks. Quad-rotor helicopter autonomous navigation based on the vanishing point fast estimation (VPFE algorithm using clustering principle is implemented in this paper. For images collected by the camera of quad-rotor helicopter, the system executes the process of preprocessing of image, deleting noise interference, edge extracting using Canny operator, and extracting straight lines by randomized hough transformation (RHT method. Then system obtains the position of vanishing point and regards it as destination point and finally controls the autonomous navigation of the quad-rotor helicopter by continuous modification according to the calculated navigation error. The experimental results show that the quad-rotor helicopter can implement the destination navigation well in the indoor environment.

Adaptive compensation control for attitude adjustment of quad-rotor unmanned aerial vehicle.

Science.gov (United States)

Song, Zhankui; Sun, Kaibiao

2017-07-01

A compensation control strategy based on adaptive back-stepping technique is presented to address the problem of attitude adjustment for a quad-rotor unmanned aerial vehicle (QR- UAV) with inertia parameter uncertainties, the limited airflow disturbance and the partial loss of rotation speed effectiveness. In the design process of control system, adaptive estimation technique is introduced into the closed loop system in order to compensate the lumped disturbance term. More specifically, the designed controller utilizes "prescribed performance bounds" method, and therefore guarantees the transient performance of tracking errors, even in the presence of the lumped disturbance. Adaptive compensation algorithms under the proposed closed loop system structure are derived in the sense of Lyapunov stability analysis such that the attitude tracking error converge to a small neighborhood of equilibrium point. Finally, the simulation results demonstrate the effectiveness of the proposed controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Vision and Control for UAVs: A Survey of General Methods andof Inexpensive Platforms for Infrastructure Inspection

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Koppány Máthé

2015-06-01

Full Text Available Unmanned aerial vehicles (UAVs have gained significant attention in recent years. Low-cost platforms using inexpensive sensor payloads have been shown to provide satisfactory flight and navigation capabilities. In this report, we survey vision and control methods that can be applied to low-cost UAVs, and we list some popular inexpensive platforms and application fields where they are useful. We also highlight the sensor suites used where this information is available. We overview, among others, feature detection and tracking, optical flow and visual servoing, low-level stabilization and high-level planning methods. We then list popular low-cost UAVs, selecting mainly quadrotors. We discuss applications, restricting our focus to the field of infrastructure inspection. Finally, as an example, we formulate two use-cases for railway inspection, a less explored application field, and illustrate the usage of the vision and control techniques reviewed by selecting appropriate ones to tackle these use-cases. To select vision methods, we run a thorough set of experimental evaluations.

Hummingbird Citizen Science

Science.gov (United States)

Givot, Rima; O'Connell, Kari; Hadley, Adam S.; Betts, Matthew G.

2015-01-01

The decline in hummingbird populations and shifts in their movements may adversely affect their role as pollinators and, in turn, plant biodiversity (Allen-Wardell et al. 1998). For example, Hadley et al. (2014) discovered that larger fragments of forest correlated with larger hummingbird populations and more seeds of "H. tortuosa" being…

Data Driven, Force Based Interaction for Quadrotors

Science.gov (United States)

McKinnon, Christopher D.

Quadrotors are small and agile, and are becoming more capable for their compact size. They are expected perform a wide variety of tasks including inspection, physical interaction, and formation flight. In all of these tasks, the quadrotors can come into close proximity with infrastructure or other quadrotors, and may experience significant external forces and torques. Reacting properly in each case is essential to completing the task safely and effectively. In this thesis, we develop an algorithm, based on the Unscented Kalman Filter, to estimate such forces and torques without making assumptions about the source of the forces and torques. We then show in experiment how the proposed estimation algorithm can be used in conjunction with controls and machine learning to choose the appropriate actions in a wide variety of tasks including detecting downwash, tracking the wind induced by a fan, and detecting proximity to the wall.

Backstepping Based Formation Control of Quadrotors with the State Transformation Technique

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Keun Uk Lee

2017-11-01

Full Text Available In this paper, a backstepping-based formation control of quadrotors with the state transformation technique is proposed. First, the dynamics of a quadrotor is derived by using the Newton–Euler formulation. Next, a backstepping-based formation control for quadrotors using a state transformation technique is presented. In the position control, which is the basis of formation control, it is possible to derive the reference attitude angles employing a state transformation technique without the small angle assumption or the simplified dynamics usually used. Stability analysis based on the Lyapunov theorem shows that the proposed formation controller can provide a quadrotor formation error system that is asymptotically stabilized. Finally, we verify the performance of the proposed formation control method through comparison simulations.

Outperforming hummingbirds' load-lifting capability with a lightweight hummingbird-like flapping-wing mechanism.

Science.gov (United States)

Leys, Frederik; Reynaerts, Dominiek; Vandepitte, Dirk

2016-08-15

The stroke-cam flapping mechanism presented in this paper closely mimics the wing motion of a hovering Rufous hummingbird. It is the only lightweight hummingbird-sized flapping mechanism which generates a harmonic wing stroke with both a high flapping frequency and a large stroke amplitude. Experiments on a lightweight prototype of this stroke-cam mechanism on a 50 mm-long wing demonstrate that a harmonic stroke motion is generated with a peak-to-peak stroke amplitude of 175° at a flapping frequency of 40 Hz. It generated a mass lifting capability of 5.1 g, which is largely sufficient to lift the prototype's mass of 3.39 g and larger than the mass-lifting capability of a Rufous hummingbird. The motor mass of a hummingbird-like robot which drives the stroke-cam mechanism is considerably larger (about five times) than the muscle mass of a hummingbird with comparable load-lifting capability. This paper presents a flapping wing nano aerial vehicle which is designed to possess the same lift- and thrust-generating principles of the Rufous hummingbird. The application is indoor flight. We give an overview of the wing kinematics and some specifications which should be met to develop an artificial wing, and also describe the applications of these in the mechanism which has been developed in this work. © 2016. Published by The Company of Biologists Ltd.

Trajectory optimization of multiple quad-rotor UAVs in collaborative assembling task

Directory of Open Access Journals (Sweden)

Chen Yongbo

2016-02-01

Full Text Available A hierarchic optimization strategy based on the offline path planning process and online trajectory planning process is presented to solve the trajectory optimization problem of multiple quad-rotor unmanned aerial vehicles in the collaborative assembling task. Firstly, the path planning process is solved by a novel parallel intelligent optimization algorithm, the central force optimization-genetic algorithm (CFO-GA, which combines the central force optimization (CFO algorithm with the genetic algorithm (GA. Because of the immaturity of the CFO, the convergence analysis of the CFO is completed by the stability theory of the linear time-variant discrete-time systems. The results show that the parallel CFO-GA algorithm converges faster than the parallel CFO and the central force optimization-sequential quadratic programming (CFO-SQP algorithm. Then, the trajectory planning problem is established based on the path planning results. In order to limit the range of the attitude angle and guarantee the flight stability, the optimized object is changed from the ordinary six-degree-of-freedom rigid-body dynamic model to the dynamic model with an inner-loop attitude controller. The results show that the trajectory planning process can be solved by the mature SQP algorithm easily. Finally, the discussion and analysis of the real-time performance of the hierarchic optimization strategy are presented around the group number of the waypoints and the equal interval time.

Hummingbird tongues are elastic micropumps

Science.gov (United States)

Rico-Guevara, Alejandro; Fan, Tai-Hsi; Rubega, Margaret A.

2015-01-01

Pumping is a vital natural process, imitated by humans for thousands of years. We demonstrate that a hitherto undocumented mechanism of fluid transport pumps nectar onto the hummingbird tongue. Using high-speed cameras, we filmed the tongue–fluid interaction in 18 hummingbird species, from seven of the nine main hummingbird clades. During the offloading of the nectar inside the bill, hummingbirds compress their tongues upon extrusion; the compressed tongue remains flattened until it contacts the nectar. After contact with the nectar surface, the tongue reshapes filling entirely with nectar; we did not observe the formation of menisci required for the operation of capillarity during this process. We show that the tongue works as an elastic micropump; fluid at the tip is driven into the tongue's grooves by forces resulting from re-expansion of a collapsed section. This work falsifies the long-standing idea that capillarity is an important force filling hummingbird tongue grooves during nectar feeding. The expansive filling mechanism we report in this paper recruits elastic recovery properties of the groove walls to load nectar into the tongue an order of magnitude faster than capillarity could. Such fast filling allows hummingbirds to extract nectar at higher rates than predicted by capillarity-based foraging models, in agreement with their fast licking rates. PMID:26290074

Hummingbirds have a greatly enlarged hippocampal formation.

Science.gov (United States)

Ward, Brian J; Day, Lainy B; Wilkening, Steven R; Wylie, Douglas R; Saucier, Deborah M; Iwaniuk, Andrew N

2012-08-23

Both field and laboratory studies demonstrate that hummingbirds (Apodiformes, Trochilidae) have exceptional spatial memory. The complexity of spatial-temporal information that hummingbirds must retain and use daily is probably subserved by the hippocampal formation (HF), and therefore, hummingbirds should have a greatly expanded HF. Here, we compare the relative size of the HF in several hummingbird species with that of other birds. Our analyses reveal that the HF in hummingbirds is significantly larger, relative to telencephalic volume, than any bird examined to date. When expressed as a percentage of telencephalic volume, the hummingbird HF is two to five times larger than that of caching and non-caching songbirds, seabirds and woodpeckers. This HF expansion in hummingbirds probably underlies their ability to remember the location, distribution and nectar content of flowers, but more detailed analyses are required to determine the extent to which this arises from an expansion of HF or a decrease in size of other brain regions.

Molecular phylogenetics and the diversification of hummingbirds.

Science.gov (United States)

McGuire, Jimmy A; Witt, Christopher C; Remsen, J V; Corl, Ammon; Rabosky, Daniel L; Altshuler, Douglas L; Dudley, Robert

2014-04-14

The tempo of species diversification in large clades can reveal fundamental evolutionary mechanisms that operate on large temporal and spatial scales. Hummingbirds have radiated into a diverse assemblage of specialized nectarivores comprising 338 species, but their evolutionary history has not, until now, been comprehensively explored. We studied hummingbird diversification by estimating a time-calibrated phylogeny for 284 hummingbird species, demonstrating that hummingbirds invaded South America by ∼22 million years ago, and subsequently diversified into nine principal clades (see [5-7]). Using ancestral state reconstruction and diversification analyses, we (1) estimate the age of the crown-group hummingbird assemblage, (2) investigate the timing and patterns of lineage accumulation for hummingbirds overall and regionally, and (3) evaluate the role of Andean uplift in hummingbird speciation. Detailed analyses reveal disparate clade-specific processes that allowed for ongoing species diversification. One factor was significant variation among clades in diversification rates. For example, the nine principal clades of hummingbirds exhibit ∼15-fold variation in net diversification rates, with evidence for accelerated speciation of a clade that includes the Bee, Emerald, and Mountain Gem groups of hummingbirds. A second factor was colonization of key geographic regions, which opened up new ecological niches. For example, some clades diversified in the context of the uplift of the Andes Mountains, whereas others were affected by the formation of the Panamanian land bridge. Finally, although species accumulation is slowing in all groups of hummingbirds, several major clades maintain rapid rates of diversification on par with classical examples of rapid adaptive radiation. Copyright © 2014 Elsevier Ltd. All rights reserved.

Take-off mechanics in hummingbirds (Trochilidae).

Science.gov (United States)

Tobalske, Bret W; Altshuler, Douglas L; Powers, Donald R

2004-03-01

Initiating flight is challenging, and considerable effort has focused on understanding the energetics and aerodynamics of take-off for both machines and animals. For animal flight, the available evidence suggests that birds maximize their initial flight velocity using leg thrust rather than wing flapping. The smallest birds, hummingbirds (Order Apodiformes), are unique in their ability to perform sustained hovering but have proportionally small hindlimbs that could hinder generation of high leg thrust. Understanding the take-off flight of hummingbirds can provide novel insight into the take-off mechanics that will be required for micro-air vehicles. During take-off by hummingbirds, we measured hindlimb forces on a perch mounted with strain gauges and filmed wingbeat kinematics with high-speed video. Whereas other birds obtain 80-90% of their initial flight velocity using leg thrust, the leg contribution in hummingbirds was 59% during autonomous take-off. Unlike other species, hummingbirds beat their wings several times as they thrust using their hindlimbs. In a phylogenetic context, our results show that reduced body and hindlimb size in hummingbirds limits their peak acceleration during leg thrust and, ultimately, their take-off velocity. Previously, the influence of motivational state on take-off flight performance has not been investigated for any one organism. We studied the full range of motivational states by testing performance as the birds took off: (1) to initiate flight autonomously, (2) to escape a startling stimulus or (3) to aggressively chase a conspecific away from a feeder. Motivation affected performance. Escape and aggressive take-off featured decreased hindlimb contribution (46% and 47%, respectively) and increased flight velocity. When escaping, hummingbirds foreshortened their body movement prior to onset of leg thrust and began beating their wings earlier and at higher frequency. Thus, hummingbirds are capable of modulating their leg and

Hummingbird Comet Nucleus Analysis Mission

Science.gov (United States)

Kojiro, Daniel; Carle, Glenn C.; Lasher, Larry E.

2000-01-01

Hummingbird is a highly focused scientific mission, proposed to NASA s Discovery Program, designed to address the highest priority questions in cometary science-that of the chemical composition of the cometary nucleus. After rendezvous with the comet, Hummingbird would first methodically image and map the comet, then collect and analyze dust, ice and gases from the cometary atmosphere to enrich characterization of the comet and support landing site selection. Then, like its namesake, Hummingbird would carefully descend to a pre-selected surface site obtaining a high-resolution image, gather a surface material sample, acquire surface temperature and then immediately return to orbit for detailed chemical and elemental analyses followed by a high resolution post-sampling image of the site. Hummingbird s analytical laboratory contains instrumentation for a comprehensive molecular and elemental analysis of the cometary nucleus as well as an innovative surface sample acquisition device.

An RFID Based Smart Feeder for Hummingbirds.

Science.gov (United States)

Ibarra, Vicente; Araya-Salas, Marcelo; Tang, Yu-ping; Park, Charlie; Hyde, Anthony; Wright, Timothy F; Tang, Wei

2015-12-16

We present an interdisciplinary effort to record feeding behaviors and control the diet of a hummingbird species (Phaethornis longirostris, the long-billed hermit or LBH) by developing a Radio Frequency Identification (RFID) based smart feeder. The system contains an RFID reader, a microcontroller, and a servo-controlled hummingbird feeder opener; the system is presented as a tool for studying the cognitive ability of the LBH species. When equipped with glass capsule RFID tags (which are mounted on the hummingbird), the smart feeder can provide specific diets for predetermined sets of hummingbirds at the discretion of biologists. This is done by reading the unique RFID tag on the hummingbirds and comparing the ID number with the pre-programmed ID numbers stored in the smart feeder. The smart feeder records the time and ID of each hummingbird visit. The system data is stored in a readily available SD card and is powered by two 9 V batteries. The detection range of the system is approximately 9-11 cm. Using this system, biologists can assign the wild hummingbirds to different experimental groups and monitor their diets to determine if they develop a preference to any of the available nectars. During field testing, the smart feeder system has demonstrated consistent detection (when compared to detections observed by video-recordings) of RFID tags on hummingbirds and provides pre-designed nectars varying water and sugar concentrations to target individuals. The smart feeder can be applied to other biological and environmental studies in the future.

An RFID Based Smart Feeder for Hummingbirds

Directory of Open Access Journals (Sweden)

Vicente Ibarra

2015-12-01

Full Text Available We present an interdisciplinary effort to record feeding behaviors and control the diet of a hummingbird species (Phaethornis longirostris, the long-billed hermit or LBH by developing a Radio Frequency Identification (RFID based smart feeder. The system contains an RFID reader, a microcontroller, and a servo-controlled hummingbird feeder opener; the system is presented as a tool for studying the cognitive ability of the LBH species. When equipped with glass capsule RFID tags (which are mounted on the hummingbird, the smart feeder can provide specific diets for predetermined sets of hummingbirds at the discretion of biologists. This is done by reading the unique RFID tag on the hummingbirds and comparing the ID number with the pre-programmed ID numbers stored in the smart feeder. The smart feeder records the time and ID of each hummingbird visit. The system data is stored in a readily available SD card and is powered by two 9 V batteries. The detection range of the system is approximately 9–11 cm. Using this system, biologists can assign the wild hummingbirds to different experimental groups and monitor their diets to determine if they develop a preference to any of the available nectars. During field testing, the smart feeder system has demonstrated consistent detection (when compared to detections observed by video-recordings of RFID tags on hummingbirds and provides pre-designed nectars varying water and sugar concentrations to target individuals. The smart feeder can be applied to other biological and environmental studies in the future.

Leukocyte Reference Intervals for Free-Ranging Hummingbirds in Northern California.

Science.gov (United States)

Safra, Noa; Christopher, Mary M; Ernest, Holly B; Bandivadekar, Ruta; Tell, Lisa A

2018-04-04

  Hummingbirds are specialized nectarivores and important ecological pollinators that are the focus of conservation efforts as well as scientific investigations of metabolism and flight dynamics. Despite their importance, basic information is lacking about hummingbird blood cells. We aimed to establish reference intervals for total and differential leukocyte counts from healthy free-ranging hummingbirds in northern California. Hummingbirds were captured in five counties in spring and summer of 2012. A drop of blood was used to prepare smears for total white blood cell estimate and 200-cell differential leukocyte counts. Reference Value Advisor was used for descriptive statistics and calculation of reference intervals. Blood smears from 42 Anna's Hummingbirds ( Calypte anna) and 33 Black-chinned Hummingbirds ( Archilochus alexandri) were included. The only significant differences in leukocyte counts were due to age, and juvenile hummingbirds had significantly higher lymphocyte counts than adult hummingbirds ( Phummingbirds.

The smallest avian genomes are found in hummingbirds.

Science.gov (United States)

Gregory, T Ryan; Andrews, Chandler B; McGuire, Jimmy A; Witt, Christopher C

2009-11-07

It has often been suggested that the genome sizes of birds are constrained relative to other tetrapods owing to the high metabolic demands of powered flight and the link between nuclear DNA content and red blood cell size. This hypothesis predicts that hummingbirds, which engage in energy-intensive hovering flight, will display especially constrained genomes even relative to other birds. We report genome size measurements for 37 species of hummingbirds that confirm this prediction. Our results suggest that genome size was reduced before the divergence of extant hummingbird lineages, and that only minimal additional reduction occurred during hummingbird diversification. Unlike in some other avian taxa, the small amount of variation observed within hummingbirds is not explained by variation in respiratory and flight-related parameters. Unexpectedly, genome size appears to have increased in four unrelated hummingbird species whose distributions are centred on humid forests of the upper-tropical elevational zone on the eastern slope of the Andes. This suggests that the secondary expansion of the genome may have been mediated by biogeographical and demographic effects.

The flight of the Rufus hummingbird

Science.gov (United States)

Bocanegra-Evans, Humberto; Pena, Jeremy; Hightower, Scott; Tobalske, Bret; Allen, James

2007-11-01

This paper will present preliminary experimental data for the flow field around a robotic model hummingbird ``flying'' in the New Mexico State large water channel. The Rufus hummingbird, which fly's with a wing beat frequency of 45Hz, in the Reynolds number range of 8,000 and a Strouhal number of 0.3 is mimicked by a two degree of freedom mechanical model operating in a large water channel. Phase locked PIV data and flow visualization results for hovering and relatively slow forward flight will be presented. Non-intrusive techniques will be used to estimate the hummingbirds lift and drag.

Development of a Quadrotor Test Bed — Modelling, Parameter Identification, Controller Design and Trajectory Generation

Directory of Open Access Journals (Sweden)

Wei Dong

2015-02-01

Full Text Available In this paper, a quadrotor test bed is developed. The technical approach for this test bed is firstly proposed by utilizing a commercial quadrotor, a Vicon motion capture system and a ground station. Then, the mathematical model of the quadrotor is formulated considering aerodynamic effects, and the parameter identification approaches for this model are provided accordingly. Based on the developed model and identified parameters, a simulation environment that is consistent with the real system is developed. Subsequently, a flight control strategy and a trajectory generation method, both of which are conceptually and computationally lightweight, are developed and tested in the simulation environment. The developed algorithms are then directly transplanted to the real system, and the experimental results show that their responses in the real-time flights match well with those from the simulations. This indicates that the control algorithms developed for the quadrotor can be preliminarily verified and refined though simulations, and then directly implemented to the real system, which could significantly reduce the experimental risks and costs. Meanwhile, real-time experiments show that the developed flight controller can efficiently stabilize the quadrotor when external disturbances exist, and the trajectory generation approach can provide safe guidance for the quadrotor to fly smoothly through cluttered environments with obstacle rings. All of these features are valuable for real applications, thus demonstrating the feasibility of further development.

Development and Validation of a Controlled Virtual Environment for Guidance, Navigation and Control of Quadrotor UAV

Science.gov (United States)

2013-09-01

Width Modulation QuarC Quanser Real-time Control RC Remote Controlled RPV Remotely Piloted Vehicles SLAM Simultaneous Localization and Mapping UAV...development of the following systems: 1. Navigation (GPS, Lidar , etc.) 2. Communication (Datalink) 3. Ground Control Station (GUI, software programming

Flight mechanics and control of escape manoeuvres in hummingbirds. I. Flight kinematics.

Science.gov (United States)

Cheng, Bo; Tobalske, Bret W; Powers, Donald R; Hedrick, Tyson L; Wethington, Susan M; Chiu, George T C; Deng, Xinyan

2016-11-15

Hummingbirds are nature's masters of aerobatic manoeuvres. Previous research shows that hummingbirds and insects converged evolutionarily upon similar aerodynamic mechanisms and kinematics in hovering. Herein, we use three-dimensional kinematic data to begin to test for similar convergence of kinematics used for escape flight and to explore the effects of body size upon manoeuvring. We studied four hummingbird species in North America including two large species (magnificent hummingbird, Eugenes fulgens, 7.8 g, and blue-throated hummingbird, Lampornis clemenciae, 8.0 g) and two smaller species (broad-billed hummingbird, Cynanthus latirostris, 3.4 g, and black-chinned hummingbirds Archilochus alexandri, 3.1 g). Starting from a steady hover, hummingbirds consistently manoeuvred away from perceived threats using a drastic escape response that featured body pitch and roll rotations coupled with a large linear acceleration. Hummingbirds changed their flapping frequency and wing trajectory in all three degrees of freedom on a stroke-by-stroke basis, likely causing rapid and significant alteration of the magnitude and direction of aerodynamic forces. Thus it appears that the flight control of hummingbirds does not obey the 'helicopter model' that is valid for similar escape manoeuvres in fruit flies. Except for broad-billed hummingbirds, the hummingbirds had faster reaction times than those reported for visual feedback control in insects. The two larger hummingbird species performed pitch rotations and global-yaw turns with considerably larger magnitude than the smaller species, but roll rates and cumulative roll angles were similar among the four species. © 2016. Published by The Company of Biologists Ltd.

Plant-hummingbird interactions and temporal nectar availability in arestinga from Brazil

Directory of Open Access Journals (Sweden)

LORENA C.N. FONSECA

2015-12-01

Full Text Available ABSTRACT Hummingbirds are the most important and specialized group of pollinating birds in the Neotropics and their interactions with plants are key components to many communities. In the present study we identified the assemblage of plants visited by hummingbirds and investigated the temporal availability of floral resources in an area of restinga, sandy plain coastal vegetation associated with the Atlantic forest, in Southeastern Brazil. We recorded flower and nectar features, flowering phenology and interactions between plants and hummingbirds and estimated the amount of calories produced per hectare from June 2005 to August 2006. Ten plant species were visited by two hummingbirds,Amazilia fimbriata and Eupetomena macroura. Resource availability was highly variable among plant species and over time. Nectar volume and concentration per flower were similar to other Neotropical hummingbird-visited plant assemblages. The estimated nectar resource availability between months varied from 0.85 to 5.97 Kcal per hectare/day, demanding an area between one and 6.8 ha to support a single hummingbird. Our study reports an unusual tropical setting where almost all interactions between hummingbirds and plants were performed by a single hummingbird species,A. fimbriata. Hence, the variable nectar availability is probably influencing hummingbird movements, its foraging area, and consequently plant pollination.

Ecological and distributional notes on hummingbirds from Bolivian lowland forests

OpenAIRE

Abrahamczyk, S; Kessler, M

2010-01-01

Little is known about the distribution, ecology and behaviour of hummingbirds in the Andean foothills of Bolivia, where many lowland hummingbird species reach their south-western distributional limits. In November 2007 – October 2008, we surveyed hummingbirds at six sites along a 660-km transect, from tropical Amazonian humid forest to subtropical spiny forest of the Gran Chaco. In total, we found 21 hummingbird species. For ten of these, we provide new information on latitudinal and eleva...

Path planning of decentralized multi-quadrotor based on fuzzy-cell decomposition algorithm

Science.gov (United States)

Iswanto, Wahyunggoro, Oyas; Cahyadi, Adha Imam

2017-04-01

The paper aims to present a design algorithm for multi quadrotor lanes in order to move towards the goal quickly and avoid obstacles in an area with obstacles. There are several problems in path planning including how to get to the goal position quickly and avoid static and dynamic obstacles. To overcome the problem, therefore, the paper presents fuzzy logic algorithm and fuzzy cell decomposition algorithm. Fuzzy logic algorithm is one of the artificial intelligence algorithms which can be applied to robot path planning that is able to detect static and dynamic obstacles. Cell decomposition algorithm is an algorithm of graph theory used to make a robot path map. By using the two algorithms the robot is able to get to the goal position and avoid obstacles but it takes a considerable time because they are able to find the shortest path. Therefore, this paper describes a modification of the algorithms by adding a potential field algorithm used to provide weight values on the map applied for each quadrotor by using decentralized controlled, so that the quadrotor is able to move to the goal position quickly by finding the shortest path. The simulations conducted have shown that multi-quadrotor can avoid various obstacles and find the shortest path by using the proposed algorithms.

The Orientation of Visual Space from the Perspective of Hummingbirds

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Luke P. Tyrrell

2018-01-01

Full Text Available Vision is a key component of hummingbird behavior. Hummingbirds hover in front of flowers, guide their bills into them for foraging, and maneuver backwards to undock from them. Capturing insects is also an important foraging strategy for most hummingbirds. However, little is known about the visual sensory specializations hummingbirds use to guide these two foraging strategies. We characterized the hummingbird visual field configuration, degree of eye movement, and orientation of the centers of acute vision. Hummingbirds had a relatively narrow binocular field (~30° that extended above and behind their heads. Their blind area was also relatively narrow (~23°, which increased their visual coverage (about 98% of their celestial hemisphere. Additionally, eye movement amplitude was relatively low (~9°, so their ability to converge or diverge their eyes was limited. We confirmed that hummingbirds have two centers of acute vision: a fovea centralis, projecting laterally, and an area temporalis, projecting more frontally. This retinal configuration is similar to other predatory species, which may allow hummingbirds to enhance their success at preying on insects. However, there is no evidence that their temporal area could visualize the bill tip or that eye movements could compensate for this constraint. Therefore, guidance of precise bill position during the process of docking occurs via indirect cues or directly with low visual acuity despite having a temporal center of acute vision. The large visual coverage may favor the detection of predators and competitors even while docking into a flower. Overall, hummingbird visual configuration does not seem specialized for flower docking.

The Orientation of Visual Space from the Perspective of Hummingbirds.

Science.gov (United States)

Tyrrell, Luke P; Goller, Benjamin; Moore, Bret A; Altshuler, Douglas L; Fernández-Juricic, Esteban

2018-01-01

Vision is a key component of hummingbird behavior. Hummingbirds hover in front of flowers, guide their bills into them for foraging, and maneuver backwards to undock from them. Capturing insects is also an important foraging strategy for most hummingbirds. However, little is known about the visual sensory specializations hummingbirds use to guide these two foraging strategies. We characterized the hummingbird visual field configuration, degree of eye movement, and orientation of the centers of acute vision. Hummingbirds had a relatively narrow binocular field (~30°) that extended above and behind their heads. Their blind area was also relatively narrow (~23°), which increased their visual coverage (about 98% of their celestial hemisphere). Additionally, eye movement amplitude was relatively low (~9°), so their ability to converge or diverge their eyes was limited. We confirmed that hummingbirds have two centers of acute vision: a fovea centralis , projecting laterally, and an area temporalis , projecting more frontally. This retinal configuration is similar to other predatory species, which may allow hummingbirds to enhance their success at preying on insects. However, there is no evidence that their temporal area could visualize the bill tip or that eye movements could compensate for this constraint. Therefore, guidance of precise bill position during the process of docking occurs via indirect cues or directly with low visual acuity despite having a temporal center of acute vision. The large visual coverage may favor the detection of predators and competitors even while docking into a flower. Overall, hummingbird visual configuration does not seem specialized for flower docking.

Simple adaptive control system design for a quadrotor with an internal PFC

Energy Technology Data Exchange (ETDEWEB)

Mizumoto, Ikuro; Nakamura, Takuto; Kumon, Makoto; Takagi, Taro [Dept. of Mechanical Systems Engineering, Kumamoto University 2-39-1 Kurokami, Kumamoto, 860-8555 (Japan)

2014-12-10

The paper deals with an adaptive control system design problem for a four rotor helicopter or quadrotor. A simple adaptive control design scheme with a parallel feedforward compensator (PFC) in the internal loop of the considered quadrotor will be proposed based on the backstepping strategy. As is well known, the backstepping control strategy is one of the advanced control strategy for nonlinear systems. However, the control algorithm will become complex if the system has higher order relative degrees. We will show that one can skip some design steps of the backstepping method by introducing a PFC in the inner loop of the considered quadrotor, so that the structure of the obtained controller will be simplified and a high gain based adaptive feedback control system will be designed. The effectiveness of the proposed method will be confirmed through numerical simulations.

Pollination syndromes ignored: importance of non-ornithophilous flowers to Neotropical savanna hummingbirds

Science.gov (United States)

Maruyama, Pietro K.; Oliveira, Genilda M.; Ferreira, Carolina; Dalsgaard, Bo; Oliveira, Paulo E.

2013-11-01

Generalization prevails in flower-animal interactions, and although animal visitors are not equally effective pollinators, most interactions likely represent an important energy intake for the animal visitor. Hummingbirds are nectar-feeding specialists, and many tropical plants are specialized toward hummingbird-pollination. In spite of this, especially in dry and seasonal tropical habitats, hummingbirds may often rely on non-ornithophilous plants to meet their energy requirements. However, quantitative studies evaluating the relative importance of ornithophilous vs. non-ornithophilous plants for hummingbirds in these areas are scarce. We here studied the availability and use of floral resources by hummingbirds in two different areas of the Cerrado, the seasonal savannas in Central Brazil. Roughly half the hummingbird visited plant species were non-ornithophilous, and these contributed greatly to increase the overall nectar availability. We showed that mean nectar offer, at the transect scale, was the only parameter related to hummingbird visitation frequency, more so than nectar offer at single flowers and at the plant scale, or pollination syndrome. Centrality indices, calculated using hummingbird-plant networks, showed that ornithophilous and non-ornithophilous plants have similar importance for network cohesion. How this foraging behaviour affects reproduction of non-ornithophilous plants remains largely unexplored and is probably case specific, however, we suggest that the additional energy provided by non-ornithophilous plants may facilitate reproduction of truly ornithophilous flowers by attracting and maintaining hummingbirds in the area. This may promote asymmetric hummingbird-plant associations, i.e., pollination depends on floral traits adapted to hummingbird morphology, but hummingbird visitation is determined more by the energetic "reward" than by pollination syndromes.

Hummingbirds control hovering flight by stabilizing visual motion.

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Goller, Benjamin; Altshuler, Douglas L

2014-12-23

Relatively little is known about how sensory information is used for controlling flight in birds. A powerful method is to immerse an animal in a dynamic virtual reality environment to examine behavioral responses. Here, we investigated the role of vision during free-flight hovering in hummingbirds to determine how optic flow--image movement across the retina--is used to control body position. We filmed hummingbirds hovering in front of a projection screen with the prediction that projecting moving patterns would disrupt hovering stability but stationary patterns would allow the hummingbird to stabilize position. When hovering in the presence of moving gratings and spirals, hummingbirds lost positional stability and responded to the specific orientation of the moving visual stimulus. There was no loss of stability with stationary versions of the same stimulus patterns. When exposed to a single stimulus many times or to a weakened stimulus that combined a moving spiral with a stationary checkerboard, the response to looming motion declined. However, even minimal visual motion was sufficient to cause a loss of positional stability despite prominent stationary features. Collectively, these experiments demonstrate that hummingbirds control hovering position by stabilizing motions in their visual field. The high sensitivity and persistence of this disruptive response is surprising, given that the hummingbird brain is highly specialized for sensory processing and spatial mapping, providing other potential mechanisms for controlling position.

Teaching Tool for a Control Systems Laboratory Using a Quadrotor as a Plant in MATLAB

Science.gov (United States)

Khan, Subhan; Jaffery, Mujtaba Hussain; Hanif, Athar; Asif, Muhammad Rizwan

2017-01-01

This paper presents a MATLAB-based application to teach the guidance, navigation, and control concepts of a quadrotor to undergraduate students, using a graphical user interface (GUI) and 3-D animations. The Simulink quadrotor model is controlled by a proportional integral derivative controller and a linear quadratic regulator controller. The GUI…

Hovering and forward flight energetics in Anna's and Allen's hummingbirds.

Science.gov (United States)

Clark, Christopher James; Dudley, Robert

2010-01-01

Aerodynamic theory predicts that the mechanical costs of flight are lowest at intermediate flight speeds; metabolic costs of flight should trend similarly if muscle efficiency is constant. We measured metabolic rates for nine Anna's hummingbirds (Calypte anna) and two male Allen's hummingbirds (Selasphorus sasin) feeding during flight from a free-standing mask over a range of airspeeds. Ten of 11 birds exhibited higher metabolic costs during hovering than during flight at intermediate airspeeds, whereas one individual exhibited comparable costs at hovering and during forward flight up to speeds of approximately 7 m s(-1). Flight costs of all hummingbirds increased at higher airspeeds. Relative to Anna's hummingbirds, Allen's hummingbirds exhibited deeper minima in the power curve, possibly due to higher wing loadings and greater associated costs of induced drag. Although feeding at a mask in an airstream may reduce body drag and, thus, the contributions of parasite power to overall metabolic expenditure, these results suggest that hummingbird power curves are characterized by energetic minima at intermediate speeds relative to hovering costs.

FUZZY-GENETIC CONTROL OF QUADROTOR UNMANNED AERIAL VEHICLES

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Attila Nemes

2016-03-01

Full Text Available This article presents a novel fuzzy identification method for dynamic modelling of quadrotor unmanned aerial vehicles. The method is based on a special parameterization of the antecedent part of fuzzy systems that results in fuzzy-partitions for antecedents. This antecedent parameter representation method of fuzzy rules ensures upholding of predefined linguistic value ordering and ensures that fuzzy-partitions remain intact throughout an unconstrained hybrid evolutionary and gradient descent based optimization process. In the equations of motion the first order derivative component is calculated based on Christoffel symbols, the derivatives of fuzzy systems are used for modelling the Coriolis effects, gyroscopic and centrifugal terms. The non-linear parameters are subjected to an initial global evolutionary optimization scheme and fine tuning with gradient descent based local search. Simulation results of the proposed new quadrotor dynamic model identification method are promising.

Plant-hummingbird interactions and temporal nectar availability in a restinga from Brazil.

Science.gov (United States)

Fonseca, Lorena C N; Vizentin-Bugoni, Jeferson; Rech, André R; Alves, Maria Alice S

2015-01-01

Hummingbirds are the most important and specialized group of pollinating birds in the Neotropics and their interactions with plants are key components to many communities. In the present study we identified the assemblage of plants visited by hummingbirds and investigated the temporal availability of floral resources in an area of restinga, sandy plain coastal vegetation associated with the Atlantic forest, in Southeastern Brazil. We recorded flower and nectar features, flowering phenology and interactions between plants and hummingbirds and estimated the amount of calories produced per hectare from June 2005 to August 2006. Ten plant species were visited by two hummingbirds, Amazilia fimbriata and Eupetomena macroura. Resource availability was highly variable among plant species and over time. Nectar volume and concentration per flower were similar to other Neotropical hummingbird-visited plant assemblages. The estimated nectar resource availability between months varied from 0.85 to 5.97 Kcal per hectare/day, demanding an area between one and 6.8 ha to support a single hummingbird. Our study reports an unusual tropical setting where almost all interactions between hummingbirds and plants were performed by a single hummingbird species, A. fimbriata. Hence, the variable nectar availability is probably influencing hummingbird movements, its foraging area, and consequently plant pollination.

Avoidance of achromatic colours by bees provides a private niche for hummingbirds.

Science.gov (United States)

Lunau, Klaus; Papiorek, Sarah; Eltz, Thomas; Sazima, Marlies

2011-05-01

That hummingbird-pollinated plants predominantly have red flowers has been known for decades, but well-investigated research studies are still rare. Preference tests have shown that hummingbirds do not have an innate preference for red colours. In addition, hummingbirds do not depend solely upon red flowers, because white-flowered hummingbird-pollinated plants are also common and temporarily abundant. Here we show that both white and red hummingbird-pollinated flowers differ from bee-pollinated flowers in their reflection properties for ultraviolet (UV) light. Hummingbird-pollinated red flowers are on average less UV reflective, and white hummingbird-pollinated flowers are more UV reflective than the same coloured bee-pollinated ones. In preference tests with artificial flowers, neotropical orchid bees prefer red UV-reflecting artificial flowers and white UV-nonreflecting flowers over red and white flowers with the opposite UV properties. By contrast, hummingbirds showed no preference for any colour in the same tests. Plotting floral colours and test stimuli into the honeybees' perceptual colour space suggests that the less attractive colours are achromatic for bees and therefore more difficult to detect against the background. This underlying colour preference in bees might provide hummingbirds with a private niche that is not attractive to bees.

Partial study of quadrotor based on quaternions

Science.gov (United States)

Ji, Xiang

2018-05-01

In this paper, the attitude calculation of quadrotor is studied, and the attitude angle of quaternions and the method of using IIR low pass filter to filter the high frequency noise are proposed. First of all, this paper puts forward the characteristics of quadrotor more flexible than other aircraft. The flexible steering mode of quadrotor is classified into three categories. Starting from reality, this paper proposes an algorithm to transform the value of acceleration sensor to pose angle, which can greatly reduce the amount of computation and is the theoretical basis for real-time attitude calculation of aircraft. When introducing the number of quaternion, this article starts from the theoretical model and first introduces the conceptual meaning of the number of quaternion. In this model, the aircraft's own coordinate axis and the geographical axis are regarded as two rigid bodies, and they have three coordinate axes that are orthogonal to each other. When the steering operation is involved, the corresponding acceleration is generated. By using the quaternion multiplicative formula mentioned in this paper, the change of attitude angle can be obtained. n reality, in order to ensure the accuracy of the output attitude angle. More accurate input variables are often needed, and the IIR low pass filter is introduced in this way. In this paper, a nine order IIR filter is designed according to the actual situation, and its spectrum characteristics are obtained by simulation software. After mixing the original signal generated by propeller's high frequency noise, it outputs clean signals through filter, all of which are intuitively reflected by three spectrum images. After giving some practical solutions, this paper looks forward to the prospect of the aircraft.

Hummingbird conservation: discovering diversity patterns in southwest U.S.A.

Science.gov (United States)

Susan M. Wethington; George C. West; Barbara A. Carlson

2005-01-01

Using data obtained in 2002 and 2003 from sites in the Hummingbird Monitoring Network, we investigated the effect of geographic factors—latitude, longitude, and elevation—and year on hummingbird diversity patterns in Southwestern U.S.A. In California, none of these factors affected hummingbird richness but elevation significantly affected abundance. In southeastern...

Predominance of self-compatibility in hummingbird-pollinated plants in the Neotropics

Science.gov (United States)

Wolowski, Marina; Saad, Carolina Farias; Ashman, Tia-Lynn; Freitas, Leandro

2013-01-01

Both plant traits and plant-pollinator interactions are thought to influence plant mating systems. For hummingbird-pollinated plants, foraging strategy (territorial or traplining) is also expected to influence plant mating. We hypothesize that the traplining behavior of hermits promotes outcrossing, whereas the behavior of non-hermits favours self-incompatibility. Thus, selection is expected to maintain self-incompatibility in plants pollinated by non-hermits. We explore the incidence of self-incompatibility in Neotropical hummingbird-pollinated plants and its association with hummingbird behavior and plant traits. We conducted a literature review (56 species) and performed hand-pollination experiments in 27 hummingbird-pollinated plants in an Atlantic rainforest. We found that self-incompatibility (measured as hummingbird-pollinated plants. The interaction of hummingbird and habit type affected ISI, as did phylogenetic relationships. Specifically, herbs pollinated by non-hermits had higher ISI than woody plants pollinated by non-hermits, and herbs pollinated by both hermits and non-hermits. For the Atlantic rainforest plant guild, 30 % of the species were self-incompatible. ISI was higher in herbs than in woody species and increased with plant aggregation but was not dependent on foraging behavior, plant density, or floral display. Although hummingbirds differ in their foraging strategies, these behavioral differences seem to have only a minor influence on the incidence of self-incompatibility. Phylogenetic relatedness seems to be the strongest determinant of mating system in Neotropical hummingbird-pollinated plants.

Development of Hardware-in-the-Loop Simulation Based on Gazebo and Pixhawk for Unmanned Aerial Vehicles

Science.gov (United States)

Nguyen, Khoa Dang; Ha, Cheolkeun

2018-04-01

Hardware-in-the-loop simulation (HILS) is well known as an effective approach in the design of unmanned aerial vehicles (UAV) systems, enabling engineers to test the control algorithm on a hardware board with a UAV model on the software. Performance of HILS is determined by performances of the control algorithm, the developed model, and the signal transfer between the hardware and software. The result of HILS is degraded if any signal could not be transferred to the correct destination. Therefore, this paper aims to develop a middleware software to secure communications in HILS system for testing the operation of a quad-rotor UAV. In our HILS, the Gazebo software is used to generate a nonlinear six-degrees-of-freedom (6DOF) model, sensor model, and 3D visualization for the quad-rotor UAV. Meanwhile, the flight control algorithm is designed and implemented on the Pixhawk hardware. New middleware software, referred to as the control application software (CAS), is proposed to ensure the connection and data transfer between Gazebo and Pixhawk using the multithread structure in Qt Creator. The CAS provides a graphical user interface (GUI), allowing the user to monitor the status of packet transfer, and perform the flight control commands and the real-time tuning parameters for the quad-rotor UAV. Numerical implementations have been performed to prove the effectiveness of the middleware software CAS suggested in this paper.

Hummingbirds fuel hovering flight with newly ingested sugar.

Science.gov (United States)

Welch, Kenneth C; Bakken, Bradley Hartman; Martinez del Rio, Carlos; Suarez, Raul K

2006-01-01

We sought to characterize the ability of hummingbirds to fuel their energetically expensive hovering flight using dietary sugar by a combination of respirometry and stable carbon isotope techniques. Broadtailed hummingbirds (Selasphorus platycercus) were maintained on a diet containing beet sugar with an isotopic composition characteristic of C3 plants. Hummingbirds were fasted and then offered a solution containing cane sugar with an isotopic composition characteristic of C4 plants. By monitoring the rates of CO2 production and O2 consumption, as well as the stable carbon isotope composition of expired CO2, we were able to estimate the relative contributions of carbohydrate and fat, as well as the absolute rate at which dietary sucrose was oxidized during hovering. The combination of respirometry and carbon isotope analysis revealed that hummingbirds initially oxidized endogenous fat following a fast and then progressively oxidized proportionately more carbohydrates. The contribution from dietary sources increased with each feeding bout, and by 20 min after the first meal, dietary sugar supported approximately 74% of hovering metabolism. The ability of hummingbirds to satisfy the energetic requirements of hovering flight mainly with recently ingested sugar is unique among vertebrates. Our finding provides an example of evolutionary convergence in physiological and biochemical traits among unrelated nectar-feeding animals.

Direct Self-Repairing Control for Quadrotor Helicopter Attitude Systems

Directory of Open Access Journals (Sweden)

Huiliao Yang

2014-01-01

Full Text Available A quadrotor helicopter with uncertain actuator faults, such as loss of effectiveness and lock-in-place, is studied in this paper. An adaptive fuzzy sliding mode controller based on direct self-repairing control is designed for such nonlinear system to track the desired output signal, when any actuator of this quadrotor helicopter is loss of effectiveness or stuck at some place. Moreover, using the Lyapunov stability theory, the stability of the whole system and the convergence of the tracking error can be guaranteed. Finally, the availability of the proposed method is verified by simulation on 3-DOF hover to ensure that the system performance under faulty conditions can be quickly recovered to its normal level. And this proposed method is also proved to be better than that of LQR through simulation.

Unique Two-Way Field Probe Concept Utilizing a Geodesic Sphere and Quad-Rotor

Science.gov (United States)

2015-03-26

encompass the quad-rotor. This cage will behave like a faraday cage of sorts, shielding the quad-rotor’s RCS phenomenology from the radar’s antenna...test volume. Second, because the quad-rotor’s structural geometry is a cause for concern, a geodesic cage , in the shape of a sphere, will be built to...be the development of the geodesic cage that will encompass the quad-rotor along with an analysis of its scattering statistics as function of the

Development of a bio-inspired UAV perching system

Science.gov (United States)

Xie, Pu

autonomous perching system, the following objectives were included for this project. The statics model was derived through both quasi-static and analytical method. The grasping stable condition and grasping target of the mechanical gripper were studied through the static analysis. Furthermore, the contact behavior between each foot and the perched object was modeled and evaluated on SimMechanics based on the contact force model derived through virtual principle. The kinematics modeling of UAV perching system was governed with Euler angles and quaternions. Also the propulsion model of the brushless motors was introduced and calibrated. In addition, the flight dynamics model of the UAV system was developed for simulation-based analysis prior to developing a hardware prototype and flight experiment. A special inertial measurement unit (IMU) was designed which has the capability of indirectly calculating the angular acceleration from the angular velocity and the linear acceleration readings. Moreover, a commercial-of-the-shelf (COTS) autopilot-APM 2.6 was selected for the autonomous flight control of the quadrotor. The APM 2.6 is a complete open source autopilot system, which allows the user to turn any fixed, rotary wing or multi-rotor vehicle into a fully autonomous vehicle and capable of performing programmed GPS missions with pre-programed waypoints. In addition, algorithms for inverted pendulum control and autonomous perching control was introduced. The proportion-integrate-differential (PID) controller was used for the simplified UAV perching with inverted pendulum model for horizontal balance. The performance of the controller was verified through both simulation and experiment. In addition, for the purpose of achieving the autonomous perching, guidance and control algorithms were developed the UAV perching system. For guidance, the desired flight trajectory was developed based on a bio-behavioral tau theory which was established from studying the natural motion patterns

Do rufous hummingbirds (Selasphorus rufus) use visual beacons?

Science.gov (United States)

Hurly, T Andrew; Franz, Simone; Healy, Susan D

2010-03-01

Animals are often assumed to use highly conspicuous features of a goal to head directly to that goal ('beaconing'). In the field it is generally assumed that flowers serve as beacons to guide pollinators. Artificial hummingbird feeders are coloured red to serve a similar function. However, anecdotal reports suggest that hummingbirds return to feeder locations in the absence of the feeder (and thus the beacon). Here we test these reports for the first time in the field, using the natural territories of hummingbirds and manipulating flowers on a scale that is ecologically relevant to the birds. We compared the predictions from two distinct hypotheses as to how hummingbirds might use the visual features of rewards: the distant beacon hypothesis and the local cue hypothesis. In two field experiments, we found no evidence that rufous hummingbirds used a distant visual beacon to guide them to a rewarded location. In no case did birds abandon their approach to the goal location from a distance; rather they demonstrated remarkable accuracy of navigation by approaching to within about 70 cm of a rewarded flower's original location. Proximity varied depending on the size of the training flower: birds flew closer to a previously rewarded location if it had been previously signalled with a small beacon. Additionally, when provided with a beacon at a new location, birds did not fly directly to the new beacon. Taken together, we believe these data demonstrate that these hummingbirds depend little on visual characteristics to beacon to rewarded locations, but rather that they encode surrounding landmarks in order to reach the goal and then use the visual features of the goal as confirmation that they have arrived at the correct location.

Visual Sensory Signals Dominate Tactile Cues during Docked Feeding in Hummingbirds.

Science.gov (United States)

Goller, Benjamin; Segre, Paolo S; Middleton, Kevin M; Dickinson, Michael H; Altshuler, Douglas L

2017-01-01

Animals living in and interacting with natural environments must monitor and respond to changing conditions and unpredictable situations. Using information from multiple sensory systems allows them to modify their behavior in response to their dynamic environment but also creates the challenge of integrating different, and potentially contradictory, sources of information for behavior control. Understanding how multiple information streams are integrated to produce flexible and reliable behavior is key to understanding how behavior is controlled in natural settings. Natural settings are rarely still, which challenges animals that require precise body position control, like hummingbirds, which hover while feeding from flowers. Tactile feedback, available only once the hummingbird is docked at the flower, could provide additional information to help maintain its position at the flower. To investigate the role of tactile information for hovering control during feeding, we first asked whether hummingbirds physically interact with a feeder once docked. We quantified physical interactions between docked hummingbirds and a feeder placed in front of a stationary background pattern. Force sensors on the feeder measured a complex time course of loading that reflects the wingbeat frequency and bill movement of feeding hummingbirds, and suggests that they sometimes push against the feeder with their bill. Next, we asked whether the measured tactile interactions were used by feeding hummingbirds to maintain position relative to the feeder. We created two experimental scenarios-one in which the feeder was stationary and the visual background moved and the other where the feeder moved laterally in front of a white background. When the visual background pattern moved, docked hummingbirds pushed significantly harder in the direction of horizontal visual motion. When the feeder moved, and the background was stationary, hummingbirds generated aerodynamic force in the opposite

Floral resources and habitat affect the composition of hummingbirds at the local scale in tropical mountaintops

Directory of Open Access Journals (Sweden)

LC Rodrigues

Full Text Available Hummingbird communities tend to respond to variation in resources, having a positive relationship between abundance and diversity of food resources and the abundance and/or diversity of hummingbirds. Here we examined the influence of floral resource availability, as well as seasonality and type of habitat on the composition of hummingbird species. The study was carried out in two habitats of eastern Brazilian mountaintops. A gradient representative of the structure of hummingbird community, based on species composition, was obtained by the ordination of samples using the method of non-metric multidimensional scaling. The composition of hummingbird species was influenced by the type of habitat and floral resource availability, but not by seasonality. Hummingbird communities differ between habitats mainly due to the relative abundance of hummingbird species. The variation in composition of hummingbird species with the variation in floral resource availability may be related to differences in feeding habits of hummingbirds. Hummingbird species with the longest bills visited higher proportions of ornithophilous species, while hummingbirds with shorter bills visited higher proportions of non-ornithophilous species. The results demonstrate that at local-scale the composition of hummingbird species is affected by the type of habitat and floral resources availability, but not by seasonality.

Floral resources and habitat affect the composition of hummingbirds at the local scale in tropical mountaintops.

Science.gov (United States)

Rodrigues, L C; Rodrigues, M

2015-01-01

Hummingbird communities tend to respond to variation in resources, having a positive relationship between abundance and diversity of food resources and the abundance and/or diversity of hummingbirds. Here we examined the influence of floral resource availability, as well as seasonality and type of habitat on the composition of hummingbird species. The study was carried out in two habitats of eastern Brazilian mountaintops. A gradient representative of the structure of hummingbird community, based on species composition, was obtained by the ordination of samples using the method of non-metric multidimensional scaling. The composition of hummingbird species was influenced by the type of habitat and floral resource availability, but not by seasonality. Hummingbird communities differ between habitats mainly due to the relative abundance of hummingbird species. The variation in composition of hummingbird species with the variation in floral resource availability may be related to differences in feeding habits of hummingbirds. Hummingbird species with the longest bills visited higher proportions of ornithophilous species, while hummingbirds with shorter bills visited higher proportions of non-ornithophilous species. The results demonstrate that at local-scale the composition of hummingbird species is affected by the type of habitat and floral resources availability, but not by seasonality.

Sugar and protein digestion in flowerpiercers and hummingbirds: a comparative test of adaptive convergence.

Science.gov (United States)

Schondube, J E; Martinez del Rio, C

2004-04-01

Flowerpiercers are the most specialized nectar-feeding passerines in the Neotropics. They are nectar robbers that feed on the sucrose-rich diet of hummingbirds. To test the hypothesis that flowerpiercers have converged with hummingbirds in digestive traits, we compared the activity of intestinal enzymes and the gut nominal area of cinnamon-bellied flowerpiercers (Diglossa baritula) with those of eleven hummingbird species. We measured sucrase, maltase, and aminopeptidase-N activities. To provide a comparative context, we also compared flowerpiercers and hummingbirds with 29 species of passerines. We analyzed enzyme activity using both standard allometric analyses and phylogenetically independent contrasts. Both approaches revealed the same patterns. With the exception of sucrase activity, hummingbirds' digestive traits were indistinguishable from those of passerines. Sucrase activity was ten times higher in hummingbirds than in passerines. Hummingbirds and passerines also differed in the relationship between intestinal maltase and sucrase activities. Maltase activity was two times higher per unit of sucrase activity in passerines than in hummingbirds. The sucrase activity of D. baritula was much lower than that of hummingbirds, and not unlike that expected for a passerine of its body mass. With the exception of aminopeptidase-N activity, the digestive traits of D. baritula were not different from those of other passerines. Copyright 2004 Springer-Verlag

Modeling of Transient Nectar Flow in Hummingbird Tongues

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Rico-Guevara, Alejandro; Fan, Tai-Hsi; Rubega, Margaret

2015-11-01

We demonstrate that hummingbirds do not pick up floral nectar via capillary action. The long believed capillary rise models were mistaken and unable to predict the dynamic nectar intake process. Instead, hummingbird's tongue acts as an elastic micropump. Nectar is drawn into the tongue grooves during elastic expansion after the grooves are squeezed flat by the beak. The new model is compared with experimental data from high-speed videos of 18 species and tens of individuals of wild hummingbirds. Self-similarity and transitions of short-to-long time behaviours have been resolved for the nectar flow driven by expansive filling. The transient dynamics is characterized by the relative contributions of negative excess pressure and the apparent area modulus of the tongue grooves.

AIR POLLUTION AND HUMMINGBIRDS

Science.gov (United States)

A multidisciplinary team of EPA-RTP ORD pulmonary toxicologists, engineers, ecologists, and statisticians have designed a study of how ground-level ozone and other air pollutants may influence feeding activity of the ruby-throated hummingbird (Archilochus colubris). Be...

Adipose energy stores, physical work, and the metabolic syndrome: lessons from hummingbirds.

Science.gov (United States)

Hargrove, James L

2005-12-13

Hummingbirds and other nectar-feeding, migratory birds possess unusual adaptive traits that offer important lessons concerning obesity, diabetes and the metabolic syndrome. Hummingbirds consume a high sugar diet and have fasting glucose levels that would be severely hyperglycemic in humans, yet these nectar-fed birds recover most glucose that is filtered into the urine. Hummingbirds accumulate over 40% body fat shortly before migrations in the spring and autumn. Despite hyperglycemia and seasonally elevated body fat, the birds are not known to become diabetic in the sense of developing polyuria (glucosuria), polydipsia and polyphagia. The tiny (3-4 g) Ruby-throated hummingbird has among the highest mass-specific metabolic rates known, and loses most of its stored fat in 20 h by flying up to 600 miles across the Gulf of Mexico. During the breeding season, it becomes lean and maintains an extremely accurate energy balance. In addition, hummingbirds can quickly enter torpor and reduce resting metabolic rates by 10-fold. Thus, hummingbirds are wonderful examples of the adaptive nature of fat tissue, and may offer lessons concerning prevention of metabolic syndrome in humans.

Quadrotor Intercept Trajectory Planning and Simulation

Science.gov (United States)

2017-06-01

the airframe. Similarly, this research examines the limits of the micro interceptor with respect to power consumption and time performance, assuming a...rate, constrained to two dimensions in the x-y plane (a yawing turn along the z-axis). This control excludes the z-altitude axis, which is assumed to...be a relatively steady parameter in a quadrotor target. The amount of motion in this axis is likely to be significantly lower than in the x-y plane

The hummingbird community and their floral resources in an urban forest remnant in Brazil

Directory of Open Access Journals (Sweden)

LC. Rodrigues

Full Text Available The temporal and spatial resource use among hummingbirds was studied over 13 months in an urban forest remnant (Prosa State Park: PSP in Campo Grande, Mato Grosso do Sul, Brazil. Hummingbird visitation was recorded at three ornithophilous and eleven non-ornithophilous species. Flower density was roughly constant during the study period, with the density of non-ornithophilous flowers being higher than that of ornithophilous ones. Mean values of nectar volume and concentration were similar between ornithophilous and non-ornithophilous species. Eight hummingbird species were observed at PSP: Amazilia fimbriata, Anthracothorax nigricollis, Chlorostilbon lucidus, Eupetomena macroura, Hylocharis chrysura, Florisuga fusca, Thalurania furcata and an unidentified species. Hummingbird visit frequencies to ornithophilous and non-ornithophilous flowers were similar. However, some non-ornithophilous species received a higher number of visits, which seems to be related to their large number of open flowers per plant per day. The number of feedings bouts of hummingbirds increased with the total number of flowers observed per focal plant. All recorded species of hummingbirds visited non-ornithophilous flowers, predominantly melittophilous and generalised entomophilous flowers. Hummingbird species recorded at PSP may be viewed as generalists, visiting a large number of non-ornithophilous species. Despite being an urban forest, PSP is relatively rich in hummingbird species, suggesting that it provides important shelter and foraging sites for hummingbirds in such an environment.

The hummingbird community and their floral resources in an urban forest remnant in Brazil.

Science.gov (United States)

Rodrigues, L C; Araujo, A C

2011-08-01

The temporal and spatial resource use among hummingbirds was studied over 13 months in an urban forest remnant (Prosa State Park: PSP) in Campo Grande, Mato Grosso do Sul, Brazil. Hummingbird visitation was recorded at three ornithophilous and eleven non-ornithophilous species. Flower density was roughly constant during the study period, with the density of non-ornithophilous flowers being higher than that of ornithophilous ones. Mean values of nectar volume and concentration were similar between ornithophilous and non-ornithophilous species. Eight hummingbird species were observed at PSP: Amazilia fimbriata, Anthracothorax nigricollis, Chlorostilbon lucidus, Eupetomena macroura, Hylocharis chrysura, Florisuga fusca, Thalurania furcata and an unidentified species. Hummingbird visit frequencies to ornithophilous and non-ornithophilous flowers were similar. However, some non-ornithophilous species received a higher number of visits, which seems to be related to their large number of open flowers per plant per day. The number of feedings bouts of hummingbirds increased with the total number of flowers observed per focal plant. All recorded species of hummingbirds visited non-ornithophilous flowers, predominantly melittophilous and generalised entomophilous flowers. Hummingbird species recorded at PSP may be viewed as generalists, visiting a large number of non-ornithophilous species. Despite being an urban forest, PSP is relatively rich in hummingbird species, suggesting that it provides important shelter and foraging sites for hummingbirds in such an environment.

The hummingbird tongue is a fluid trap, not a capillary tube

OpenAIRE

Rico-Guevara, Alejandro; Rubega, Margaret A.

2011-01-01

Hummingbird tongues pick up a liquid, calorie-dense food that cannot be grasped, a physical challenge that has long inspired the study of nectar-transport mechanics. Existing biophysical models predict optimal hummingbird foraging on the basis of equations that assume that fluid rises through the tongue in the same way as through capillary tubes. We demonstrate that the hummingbird tongue does not function like a pair of tiny, static tubes drawing up floral nectar via capillary action. Instea...

Adipose energy stores, physical work, and the metabolic syndrome: lessons from hummingbirds

Directory of Open Access Journals (Sweden)

Hargrove James L

2005-12-01

Full Text Available Abstract Hummingbirds and other nectar-feeding, migratory birds possess unusual adaptive traits that offer important lessons concerning obesity, diabetes and the metabolic syndrome. Hummingbirds consume a high sugar diet and have fasting glucose levels that would be severely hyperglycemic in humans, yet these nectar-fed birds recover most glucose that is filtered into the urine. Hummingbirds accumulate over 40% body fat shortly before migrations in the spring and autumn. Despite hyperglycemia and seasonally elevated body fat, the birds are not known to become diabetic in the sense of developing polyuria (glucosuria, polydipsia and polyphagia. The tiny (3–4 g Ruby-throated hummingbird has among the highest mass-specific metabolic rates known, and loses most of its stored fat in 20 h by flying up to 600 miles across the Gulf of Mexico. During the breeding season, it becomes lean and maintains an extremely accurate energy balance. In addition, hummingbirds can quickly enter torpor and reduce resting metabolic rates by 10-fold. Thus, hummingbirds are wonderful examples of the adaptive nature of fat tissue, and may offer lessons concerning prevention of metabolic syndrome in humans.

Field Flight Dynamics of Hummingbirds during Territory Encroachment and Defense.

Directory of Open Access Journals (Sweden)

Katherine M Sholtis

Full Text Available Hummingbirds are known to defend food resources such as nectar sources from encroachment by competitors (including conspecifics. These competitive intraspecific interactions provide an opportunity to quantify the biomechanics of hummingbird flight performance during ecologically relevant natural behavior. We recorded the three-dimensional flight trajectories of Ruby-throated Hummingbirds defending, being chased from and freely departing from a feeder. These trajectories allowed us to compare natural flight performance to earlier laboratory measurements of maximum flight speed, aerodynamic force generation and power estimates. During field observation, hummingbirds rarely approached the maximal flight speeds previously reported from wind tunnel tests and never did so during level flight. However, the accelerations and rates of change in kinetic and potential energy we recorded indicate that these hummingbirds likely operated near the maximum of their flight force and metabolic power capabilities during these competitive interactions. Furthermore, although birds departing from the feeder while chased did so faster than freely-departing birds, these speed gains were accomplished by modulating kinetic and potential energy gains (or losses rather than increasing overall power output, essentially trading altitude for speed during their evasive maneuver. Finally, the trajectories of defending birds were directed toward the position of the encroaching bird rather than the feeder.

Field Flight Dynamics of Hummingbirds during Territory Encroachment and Defense.

Science.gov (United States)

Sholtis, Katherine M; Shelton, Ryan M; Hedrick, Tyson L

2015-01-01

Hummingbirds are known to defend food resources such as nectar sources from encroachment by competitors (including conspecifics). These competitive intraspecific interactions provide an opportunity to quantify the biomechanics of hummingbird flight performance during ecologically relevant natural behavior. We recorded the three-dimensional flight trajectories of Ruby-throated Hummingbirds defending, being chased from and freely departing from a feeder. These trajectories allowed us to compare natural flight performance to earlier laboratory measurements of maximum flight speed, aerodynamic force generation and power estimates. During field observation, hummingbirds rarely approached the maximal flight speeds previously reported from wind tunnel tests and never did so during level flight. However, the accelerations and rates of change in kinetic and potential energy we recorded indicate that these hummingbirds likely operated near the maximum of their flight force and metabolic power capabilities during these competitive interactions. Furthermore, although birds departing from the feeder while chased did so faster than freely-departing birds, these speed gains were accomplished by modulating kinetic and potential energy gains (or losses) rather than increasing overall power output, essentially trading altitude for speed during their evasive maneuver. Finally, the trajectories of defending birds were directed toward the position of the encroaching bird rather than the feeder.

Evolution of sweet taste perception in hummingbirds by transformation of the ancestral umami receptor

Science.gov (United States)

Baldwin, Maude W.; Toda, Yasuka; Nakagita, Tomoya; O'Connell, Mary J.; Klasing, Kirk C.; Misaka, Takumi; Edwards, Scott V.; Liberles, Stephen D.

2015-01-01

Sensory systems define an animal's capacity for perception and can evolve to promote survival in new environmental niches. We have uncovered a noncanonical mechanism for sweet taste perception that evolved in hummingbirds since their divergence from insectivorous swifts, their closest relatives. We observed the widespread absence in birds of an essential subunit (T1R2) of the only known vertebrate sweet receptor, raising questions about how specialized nectar feeders such as hummingbirds sense sugars. Receptor expression studies revealed that the ancestral umami receptor (the T1R1-T1R3 heterodimer) was repurposed in hummingbirds to function as a carbohydrate receptor. Furthermore, the molecular recognition properties of T1R1-T1R3 guided taste behavior in captive and wild hummingbirds. We propose that changing taste receptor function enabled hummingbirds to perceive and use nectar, facilitating the massive radiation of hummingbird species. PMID:25146290

Adipose energy stores, physical work, and the metabolic syndrome: lessons from hummingbirds

OpenAIRE

Hargrove, James L

2005-01-01

Abstract Hummingbirds and other nectar-feeding, migratory birds possess unusual adaptive traits that offer important lessons concerning obesity, diabetes and the metabolic syndrome. Hummingbirds consume a high sugar diet and have fasting glucose levels that would be severely hyperglycemic in humans, yet these nectar-fed birds recover most glucose that is filtered into the urine. Hummingbirds accumulate over 40% body fat shortly before migrations in the spring and autumn. Despite hyperglycemia...

Hummingbird pollination and the diversification of angiosperms: an old and successful association in Gesneriaceae.

Science.gov (United States)

Serrano-Serrano, Martha Liliana; Rolland, Jonathan; Clark, John L; Salamin, Nicolas; Perret, Mathieu

2017-04-12

The effects of specific functional groups of pollinators in the diversification of angiosperms are still to be elucidated. We investigated whether the pollination shifts or the specific association with hummingbirds affected the diversification of a highly diverse angiosperm lineage in the Neotropics. We reconstructed a phylogeny of 583 species from the Gesneriaceae family and detected diversification shifts through time, inferred the timing and amount of transitions among pollinator functional groups, and tested the association between hummingbird pollination and speciation and extinction rates. We identified a high frequency of pollinator transitions, including reversals to insect pollination. Diversification rates of the group increased through time since 25 Ma, coinciding with the evolution of hummingbird-adapted flowers and the arrival of hummingbirds in South America. We showed that plants pollinated by hummingbirds have a twofold higher speciation rate compared with plants pollinated by insects, and that transitions among functional groups of pollinators had little impact on the diversification process. We demonstrated that floral specialization on hummingbirds for pollination has triggered rapid diversification in the Gesneriaceae family since the Early Miocene, and that it represents one of the oldest identified plant-hummingbird associations. Biotic drivers of plant diversification in the Neotropics could be more related to this specific type of pollinator (hummingbirds) than to shifts among different functional groups of pollinators. © 2017 The Author(s).

Elastic instability model of rapid beak closure in hummingbirds.

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Smith, M L; Yanega, G M; Ruina, A

2011-08-07

The hummingbird beak, specialized for feeding on floral nectars, is also uniquely adapted to eating flying insects. During insect capture the beak often appears to close at a rate that cannot be explained by direct muscular action alone. Here we show that the lower jaw of hummingbirds has a shape and compliance that allows for a controlled elastic snap. Furthermore, hummingbirds have the musculature needed to independently bend and twist the sides of the lower jaw. According to both our simple physical model and our elastic instability calculation, the jaw can be smoothly opened and then snapped closed through an appropriate sequence of bending and twisting actions by the muscles of the lower jaw. Copyright © 2011 Elsevier Ltd. All rights reserved.

Respiratory evaporative water loss during hovering and forward flight in hummingbirds.

Science.gov (United States)

Powers, Donald R; Getsinger, Philip W; Tobalske, Bret W; Wethington, Susan M; Powers, Sean D; Warrick, Douglas R

2012-02-01

Hummingbirds represent an end point for small body size and water flux in vertebrates. We explored the role evaporative water loss (EWL) plays in management of their large water pool and its use in dissipating metabolic heat. We measured respiratory evaporative water loss (REWL) in hovering hummingbirds in the field (6 species) and over a range of speeds in a wind tunnel (1 species) using an open-circuit mask respirometry system. Hovering REWL during the active period was positively correlated with operative temperature (T(e)) likely due to some combination of an increase in the vapor-pressure deficit, increase in lung ventilation rate, and reduced importance of dry heat transfer at higher T(e). In rufous hummingbirds (Selasphorus rufus; 3.3g) REWL during forward flight at 6 and 10 m/s was less than half the value for hovering. The proportion of total dissipated heat (TDH) accounted for by REWL during hovering at T(e)> 40°C was hummingbirds is a relatively small component of the water budget compared with other bird species (hummingbirds. Copyright © 2011 Elsevier Inc. All rights reserved.

Structure of the vortex wake in hovering Anna's hummingbirds (Calypte anna).

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Wolf, M; Ortega-Jimenez, V M; Dudley, R

2013-12-22

Hummingbirds are specialized hoverers for which the vortex wake has been described as a series of single vortex rings shed primarily during the downstroke. Recent findings in bats and birds, as well as in a recent study on Anna's hummingbirds, suggest that each wing may shed a discrete vortex ring, yielding a bilaterally paired wake. Here, we describe the presence of two discrete rings in the wake of hovering Anna's hummingbirds, and also infer force production through a wingbeat with contributions to weight support. Using flow visualization, we found separate vortices at the tip and root of each wing, with 15% stronger circulation at the wingtip than at the root during the downstroke. The upstroke wake is more complex, with near-continuous shedding of vorticity, and circulation of approximately equal magnitude at tip and root. Force estimates suggest that the downstroke contributes 66% of required weight support, whereas the upstroke generates 35%. We also identified a secondary vortex structure yielding 8-26% of weight support. Lift production in Anna's hummingbirds is more evenly distributed between the stroke phases than previously estimated for Rufous hummingbirds, in accordance with the generally symmetric down- and upstrokes that characterize hovering in these birds.

Navigation réactive de drones en interaction dans une flottille

OpenAIRE

Saif , Osamah

2016-01-01

Nowadays, applications of autonomous quadrotors are increasing rapidly. Surveillance and security of industrial sites, geographical zones for agriculture for example are some popular applications of Unmanned Aerial Vehicles (UAVs). Nowadays, researchers and scientists focus on the deployment of multi-UAVs for the inspection and the surveillance of large areas. The objective of this thesis is to design algorithms and techniques to perform a real-time distributed/decentralized multi-UAVs flight...

Phylogenetic structure in tropical hummingbird communities

DEFF Research Database (Denmark)

Graham, Catherine H; Parra, Juan L; Rahbek, Carsten

2009-01-01

How biotic interactions, current and historical environment, and biogeographic barriers determine community structure is a fundamental question in ecology and evolution, especially in diverse tropical regions. To evaluate patterns of local and regional diversity, we quantified the phylogenetic...... composition of 189 hummingbird communities in Ecuador. We assessed how species and phylogenetic composition changed along environmental gradients and across biogeographic barriers. We show that humid, low-elevation communities are phylogenetically overdispersed (coexistence of distant relatives), a pattern...... that is consistent with the idea that competition influences the local composition of hummingbirds. At higher elevations communities are phylogenetically clustered (coexistence of close relatives), consistent with the expectation of environmental filtering, which may result from the challenge of sustaining...

Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control

Directory of Open Access Journals (Sweden)

ZeFang He

2015-01-01

Full Text Available Internal model control (IMC design method based on quasi-LPV (Linear Parameter Varying system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.

Premigratory fat metabolism in hummingbirds: A rumsfeldian approach

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Raul K. SUAREZ

2013-06-01

Full Text Available Hummingbird migration is a remarkable feat, given the small body sizes of migratory species, their high metabolic rates during flight and the long distances traveled using fat to fuel the effort. Equally remarkable is the ability of premigratory hummingbirds in the wild to accumulate fat, synthesized from sugar, at rates as high as 10% of body mass per day. This paper summarizes, using Rumsfeldian terminology, “known knowns” concerning the energetics of hummingbird migration and premigratory fattening. Energy metabolism during hover-feeding on floral nectar is fueled directly by dietary sugar through the pathway recently named the “sugar oxidation cascade”. However, flight without feeding for more than a few minutes requires shifting to fat as a fuel. It is proposed that behavior and metabolic fuel choice are coadapted to maximize the rate of fat deposition during premigratory fattening. The hummingbird liver appears to possess extraordinarily high capacities for fatty acid synthesis. The analysis of “known knowns” leads to identification of “known unknowns”, e.g., the fates of dietary glucose and fructose, the regulation of fat metabolism and metabolic interactions between liver and adipose tissue. The history of science behooves recognition of “unknown unknowns” that, when discovered serendipitously, might shed new light on fundamental mechanisms as well as human pathological conditions [Current Zoology 59 (3: 371–380, 2013].

Reproductive biology of the violet-chested hummingbird in Venezuela and comparisons with other tropical and temperate hummingbirds

Science.gov (United States)

Fierro-Calderon, Karolina; Martin, T.E.

2007-01-01

We provide details on the breeding biology of the Violet-chested Hummingbird (Sternoclyta cyanopectus) based on 67 nests studied in Yacambu?? National Park, Venezuela, from 2002 through 2006. Clutch size was two white eggs, usually laid every other day. Fresh egg mass (0.95 ?? 0.14 g) was 15% of female mass. Incubation and nestling periods were 20.4 ?? 0.3 and 26.0 ?? 0.4 days, respectively. Nest attentiveness increased from 60% in early incubation to 68% in late incubation. The female spent 50% of her time brooding young nestlings, but ceased brooding by 13 days of age. Only the female fed the young, with a low rate of nest visitation (3.3 trips per hour) that did not increase with age of the young. Growth rate based on nestling mass (K = 0.28) was slow. Daily predation rates decreased across stages and were 0.064 ?? 0.044, 0.033 ?? 0.008, and 0.020 ?? 0.006 during the egg-laying, incubation, and nestling periods, respectively. Most, but not all, life history traits of the Violet-chested Hummingbird were similar to those reported for other tropical and temperate hummingbirds, providing further evidence that this family shows a relatively narrow range of life history variation. ?? The Cooper Ornithological Society 2007.

Hovering hummingbird wing aerodynamics during the annual cycle. I. Complete wing.

Science.gov (United States)

Achache, Yonathan; Sapir, Nir; Elimelech, Yossef

2017-08-01

The diverse hummingbird family (Trochilidae) has unique adaptations for nectarivory, among which is the ability to sustain hover-feeding. As hummingbirds mainly feed while hovering, it is crucial to maintain this ability throughout the annual cycle-especially during flight-feather moult, in which wing area is reduced. To quantify the aerodynamic characteristics and flow mechanisms of a hummingbird wing throughout the annual cycle, time-accurate aerodynamic loads and flow field measurements were correlated over a dynamically scaled wing model of Anna's hummingbird ( Calypte anna ). We present measurements recorded over a model of a complete wing to evaluate the baseline aerodynamic characteristics and flow mechanisms. We found that the vorticity concentration that had developed from the wing's leading-edge differs from the attached vorticity structure that was typically found over insects' wings; firstly, it is more elongated along the wing chord, and secondly, it encounters high levels of fluctuations rather than a steady vortex. Lift characteristics resemble those of insects; however, a 20% increase in the lift-to-torque ratio was obtained for the hummingbird wing model. Time-accurate aerodynamic loads were also used to evaluate the time-evolution of the specific power required from the flight muscles, and the overall wingbeat power requirements nicely matched previous studies.

Relating form to function in the hummingbird feeding apparatus

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Alejandro Rico-Guevara

2017-06-01

Full Text Available A complete understanding of the feeding structures is fundamental in order to study how animals survive. Some birds use long and protrusible tongues as the main tool to collect their central caloric source (e.g., woodpeckers and nectarivores. Hummingbirds are the oldest and most diverse clade of nectarivorous vertebrates, being a perfect subject to study tongue specializations. Their tongue functions to intraorally transport arthropods through their long bills and enables them to exploit the nectarivorous niche by collecting small amounts of liquid, therefore it is of vital importance to study its anatomy and structure at various scales. I focused on the portions of the hummingbird tongue that have been shown to be key for understanding their feeding mechanisms. I used histology, transmission and scanning electron microscopy, microCT, and ex-vivo experiments in order to advance the comprehension of the morphology and functioning of the hummingbird feeding apparatus. I found that hummingbird tongues are composed mainly of thin cornified epithelium, lack papillae, and completely fill the internal cast of the rostral oropharyngeal cavity. Understanding this puzzle-piece match between bill and tongue will be essential for the study of intraoral transport of nectar. Likewise, I found that the structural composition and tissue architecture of the tongue groove walls provide the rostral portion of the tongue with elastic properties that are central to the study of tongue-nectar interactions during the feeding process. Detailed studies on hummingbirds set the basis for comparisons with other nectar-feeding birds and contribute to comprehend the natural solutions to collecting liquids in the most efficient way possible.

Relating form to function in the hummingbird feeding apparatus

Science.gov (United States)

2017-01-01

A complete understanding of the feeding structures is fundamental in order to study how animals survive. Some birds use long and protrusible tongues as the main tool to collect their central caloric source (e.g., woodpeckers and nectarivores). Hummingbirds are the oldest and most diverse clade of nectarivorous vertebrates, being a perfect subject to study tongue specializations. Their tongue functions to intraorally transport arthropods through their long bills and enables them to exploit the nectarivorous niche by collecting small amounts of liquid, therefore it is of vital importance to study its anatomy and structure at various scales. I focused on the portions of the hummingbird tongue that have been shown to be key for understanding their feeding mechanisms. I used histology, transmission and scanning electron microscopy, microCT, and ex-vivo experiments in order to advance the comprehension of the morphology and functioning of the hummingbird feeding apparatus. I found that hummingbird tongues are composed mainly of thin cornified epithelium, lack papillae, and completely fill the internal cast of the rostral oropharyngeal cavity. Understanding this puzzle-piece match between bill and tongue will be essential for the study of intraoral transport of nectar. Likewise, I found that the structural composition and tissue architecture of the tongue groove walls provide the rostral portion of the tongue with elastic properties that are central to the study of tongue-nectar interactions during the feeding process. Detailed studies on hummingbirds set the basis for comparisons with other nectar-feeding birds and contribute to comprehend the natural solutions to collecting liquids in the most efficient way possible. PMID:28607842

Treating hummingbirds as feathered bees: a case of ethological cross-pollination.

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Pritchard, D J; Tello Ramos, M C; Muth, F; Healy, S D

2017-12-01

Hummingbirds feed from hundreds of flowers every day. The properties of these flowers provide these birds with a wealth of information about colour, space and time to guide how they forage. To understand how hummingbirds might use this information, researchers have adapted established laboratory paradigms for use in the field. In recent years, however, experimental inspiration has come less from other birds, and more from looking at other nectar-feeders, particularly honeybees and bumblebees, which have been models for foraging behaviour and cognition for over a century. In a world in which the cognitive abilities of bees regularly make the news, research on the influence of ecology and sensory systems on bee behaviour is leading to novel insights in hummingbird cognition. As methods designed to study insects in the laboratory are being applied to hummingbirds in the field, converging methods can help us identify and understand convergence in cognition, behaviour and ecology. © 2017 The Author(s).

Flowers visited by hummingbirds in the open habitats of the southeastern Brazilian mountaintops: species composition and seasonality.

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Rodrigues, L C; Rodrigues, M

2014-08-01

The hummingbird-visited plant community located on the open-habitat mountaintop of the Espinhaço Range was studied for two years (from August 2007 to July 2009) in Serra do Cipó National Park, Southeastern Brazil (19° 15' S and 43° 31' W). The floral characteristics and flowering period of the hummingbird-visited plants was monthly recorded along trails located in three vegetation types: (1) typical campos rupestres (TCR), (2) open fields (OPF), and (3) capões de mata (CAM). Hummingbird visitation was observed in 51 plant species, 22 ornithophilous and 29 non-ornithophilous species. The TCR showed the greatest number of species visited (N = 38), followed by the OPF (N = 18) and CAM (N = 17). Six species of hummingbirds were recorded visiting flowers: Augastes scutatus, Campylopterus largipennis, Colibri serrirostris, Chlorostilbon lucidus, Eupetomena macroura and Phaethornis pretrei. This study demonstrates that the species richness and the number of ornithophilous species visited by the hummingbirds at the study site are more similar to hummingbird-plant communities of the Atlantic Forest than to those of the Cerrado communities and other Brazilian highland open-habitat communities. The plant families most visited by hummingbirds were Bromeliaceae and Asteraceae. Although the Asteraceae family is rarely used as a food resource for hummingbirds in other high and lowland communities, in the study site this family is used mainly by the endemic hummingbird Augastes scutatus. We found a large overlap of flowering throughout the year among the species visited by the hummingbirds. Thus, the nectar availability supports these resident hummingbirds. The present study also showed that the studied hummingbird-plant community is composed of many species endemic to the campos rupestres of the Espinhaço Range, some of which are considered to be in danger of extinction, thus constituting a unique and threatened community. Thus, understanding hummingbird-plant pollination

Flowers visited by hummingbirds in the open habitats of the southeastern brazilian mountaintops: species composition and seasonality

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LC Rodrigues

Full Text Available The hummingbird-visited plant community located on the open-habitat mountaintop of the Espinhaço Range was studied for two years (from August 2007 to July 2009 in Serra do Cipó National Park, Southeastern Brazil (19° 15′ S and 43° 31′ W. The floral characteristics and flowering period of the hummingbird-visited plants was monthly recorded along trails located in three vegetation types: (1 typical campos rupestres (TCR, (2 open fields (OPF, and (3 capões de mata(CAM. Hummingbird visitation was observed in 51 plant species, 22 ornithophilous and 29 non-ornithophilous species. The TCR showed the greatest number of species visited (N = 38, followed by the OPF (N = 18 and CAM (N = 17. Six species of hummingbirds were recorded visiting flowers: Augastes scutatus, Campylopterus largipennis, Colibri serrirostris, Chlorostilbon lucidus, Eupetomena macroura and Phaethornis pretrei. This study demonstrates that the species richness and the number of ornithophilous species visited by the hummingbirds at the study site are more similar to hummingbird-plant communities of the Atlantic Forest than to those of the Cerrado communities and other Brazilian highland open-habitat communities. The plant families most visited by hummingbirds were Bromeliaceae and Asteraceae. Although the Asteraceae family is rarely used as a food resource for hummingbirds in other high and lowland communities, in the study site this family is used mainly by the endemic hummingbird Augastes scutatus. We found a large overlap of flowering throughout the year among the species visited by the hummingbirds. Thus, the nectar availability supports these resident hummingbirds. The present study also showed that the studied hummingbird-plant community is composed of many species endemic to the campos rupestres of the Espinhaço Range, some of which are considered to be in danger of extinction, thus constituting a unique and threatened community. Thus, understanding hummingbird

Temporal-spatial segregation among hummingbirds foraging on honeydew in a temperate forest in Mexico

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Carlos LARA, Vanessa MARTÍNEZ-GARCÍA, Raúl ORTIZ-PULIDO, Jessica BRAVO-CADENA, Salvador LORANCA, Alex CÓRDOBA-AGUILAR

2011-02-01

Full Text Available Spatial and temporal variation in interactions between hummingbirds and plants have often been examined, and hummingbirds and insects are known to indirectly interact in networks of nectar plants. In a highland temperate forest in Hidalgo, Mexico some oak trees were heavily infested by honeydew-producing insects (family Margarodidae, tribe Xylococcini, genus Strigmacoccus and the honeydew was consumed by hummingbirds. Here using survival analysis we investigate how the honeydew produced by dense populations of these margarodids is temporally and spatially partitioned by hummingbirds. We also measured the availability and quality of honeydew exudates, and then we recorded the time until a bird visited and used such resources. Four hummingbird species consumed this resource (Atthis eloisa, Hylocharis leucotis, Colibri thalassinus and Eugenes fulgens. Data from 294 hours of observation on seven focal trees suggested temporal and spatial segregation among visiting birds according to body size and territorial behavior during the most honeydew-limited time. Hummingbird species differed in the daily times they foraged, as well as in the location where honeydew-producing insects were visited on the trees. Temporal and spatial segregation among hummingbird species is interpreted as an adaptation to reduce the risk of aggressive encounters. This may facilitate multispecies coexistence and allow these birds to exploit honeydew more effectively [Current Zoology 57 (1: 56–62, 2011].

Hovering in the heat: effects of environmental temperature on heat regulation in foraging hummingbirds.

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Powers, Donald R; Langland, Kathleen M; Wethington, Susan M; Powers, Sean D; Graham, Catherine H; Tobalske, Bret W

2017-12-01

At high temperature (greater than 40°C) endotherms experience reduced passive heat dissipation (radiation, conduction and convection) and increased reliance on evaporative heat loss. High temperatures challenge flying birds due to heat produced by wing muscles. Hummingbirds depend on flight for foraging, yet inhabit hot regions. We used infrared thermography to explore how lower passive heat dissipation during flight impacts body-heat management in broad-billed ( Cynanthus latirostris , 3.0 g), black-chinned ( Archilochus alexandri , 3.0 g), Rivoli's ( Eugenes fulgens , 7.5 g) and blue-throated ( Lampornis clemenciae , 8.0 g) hummingbirds in southeastern Arizona and calliope hummingbirds ( Selasphorus calliope , 2.6 g) in Montana. Thermal gradients driving passive heat dissipation through eye, shoulder and feet dissipation areas are eliminated between 36 and 40°C. Thermal gradients persisted at higher temperatures in smaller species, possibly allowing them to inhabit warmer sites. All species experienced extended daytime periods lacking thermal gradients. Broad-billed hummingbirds lacking thermal gradients regulated the mean total-body surface temperature at approximately 38°C, suggesting behavioural thermoregulation. Blue-throated hummingbirds were inactive when lacking passive heat dissipation and hence might have the lowest temperature tolerance of the four species. Use of thermal refugia permitted hummingbirds to tolerate higher temperatures, but climate change could eliminate refugia, forcing distributional shifts in hummingbird populations.

Outdoor altitude stabilization of QuadRotor based on type-2 fuzzy and fuzzy PID

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Wicaksono, H.; Yusuf, Y. G.; Kristanto, C.; Haryanto, L.

2017-11-01

This paper presents a design of altitude stabilization of QuadRotor based on type-2 fuzzy and fuzzy PID. This practical design is implemented outdoor. Barometric and sonar sensor were used in this experiment as an input for the controller YoHe. The throttle signal as a control input was provided by the controller to leveling QuadRotor in particular altitude and known well as altitude stabilization. The parameter of type-2 fuzzy and fuzzy PID was tuned in several heights to get the best control parameter for any height. Type-2 fuzzy produced better result than fuzzy PID but had a slow response in the beginning.

The Fast and Non-capillary Fluid Filling Mechanism in the Hummingbird's Tongue

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Rico-Guevara, Alejandro; Fan, Tai-Hsi; Rubega, Margaret

2014-03-01

Hummingbirds gather nectar by inserting their beaks inside flowers and cycling their tongues at a frequency of up to 20 Hz. It is unclear how they achieve efficiency at this high licking rate. Ever since proposed in 1833, it has been believed that hummingbird tongues are a pair of tiny straws filled with nectar by capillary rise. Our discoveries are very different from this general consensus. The tongue does not draw up floral nectar via capillary action under experimental conditions that resemble natural ones. Theoretical models based on capillary rise were mistaken and unsuitable for estimating the fluid intake rate and to support foraging theories. We filmed (up to 1265 frames/s) the fluid uptake in 20 species of hummingbirds that belong to 7 out of the 9 main hummingbird clades. We found that the fluid filling within the portions of the tongue that remain outside the nectar is about five times faster than capillary filling. We present strong evidence to rule out the capillarity model. We introduce a new fluid-structure interaction and hydrodynamic model and compare the results with field experimental data to explain how hummingbirds actually extract fluid from flowers at the lick level.

Frugivory by the hummingbird Chlorostilbon notatus (Apodiformes: Trochilidae in the Brazilian Amazon

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Piero Angeli Ruschi

2014-07-01

Full Text Available Hummingbirds rely solely on nectar as the main source of energy to supply their high physiological demands. Exceptions to their nectarivorous diet are few. The present work describes for the first time the consumption of fruit by hummingbirds.

How neotropical hummingbird versus bat species generate lift to hover

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Ingersoll, Rivers; Lentink, David

2017-11-01

Both hummingbirds and nectar bats evolved the ability to hover in front of flowers providing them access to energy rich nectar. Hummingbirds have been found to generate more than a quarter of their weight support during the upstroke by inverting their wings-much more than generalist birds during slow hovering flight. In contrast to hummingbirds, bats have membrane wings which they partially fold during the upstroke. It has been hypothesized that bats generate some vertical lift force during the upstroke although the complex wake structures make it hard to quantify upstroke function through flow measurement. To compare the kinematics and aerodynamic forces generated by both groups, we caught and trained over 100 individuals spanning 18 hummingbird and 3 bat species in Coto Brus, Costa Rica. We used 3D calibrated high-speed cameras to measure wingbeat kinematics and a novel aerodynamic force platform to measure the instantaneous vertical lift force in vivo. This data gives us new insight into how ecology shapes the evolution of hovering flight across taxa in the same ecosystem. This research is supported by NSF CAREER Award 1552419 and the KACST Center of Excellence for Aeronautics and Astronautics at Stanford.

The community of hummingbirds (Aves: Trochilidae and the assemblage of flowers in a Caatinga vegetation

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FMG Las-Casas

Full Text Available We studied hummingbirds and their food plants in an area of caatinga vegetation. We specifically examined their seasonal use of this habitat, migratory and non-migratory status, their foraging strategies and community roles The study was conducted in an area of arboreal-shrub caatinga, located in the Serra do Pará, municipality of Santa Cruz do Capibaribe, state of Pernambuco in northeastern Brazil. Field work was undertaken during 12 expeditions on a monthly basis between June, 2007 and May, 2008. Five species of hummingbirds were recorded visiting flowers in the community studied. Three were considered residents: Chlorostilbon lucidus (Shaw, 1812, Eupetomena macroura (Gmelin, 1788, and Heliomaster squamosus (Temminck, 1823. Hummingbirds visited 31 species of plants, of which only five presented attributes related to ornithophily. C. lucidus visited 29 plant species, including all ornithophilous species, and it was the most aggressive, defending territories. Among hummingbirds, C. lucidus may be considered the principal pollinator. Hummingbirds may also be acting as pollen vectors for some of the plant species not identified as ornithophilous. The hummingbird guilds varied among the plant species used as floral resources, as well as in their frequency of visits. Differences in plant species abundance, hummingbird preference, competitive exclusion or flowering seasonality are factors likely to influence those variations.

The community of hummingbirds (Aves: Trochilidae) and the assemblage of flowers in a Caatinga vegetation.

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Las-Casas, F M G; Azevedo Júnior, S M; Dias Filho, M M

2012-02-01

We studied hummingbirds and their food plants in an area of caatinga vegetation. We specifically examined their seasonal use of this habitat, migratory and non-migratory status, their foraging strategies and community roles The study was conducted in an area of arboreal-shrub caatinga, located in the Serra do Pará, municipality of Santa Cruz do Capibaribe, state of Pernambuco in northeastern Brazil. Field work was undertaken during 12 expeditions on a monthly basis between June, 2007 and May, 2008. Five species of hummingbirds were recorded visiting flowers in the community studied. Three were considered residents: Chlorostilbon lucidus (Shaw, 1812), Eupetomena macroura (Gmelin, 1788), and Heliomaster squamosus (Temminck, 1823). Hummingbirds visited 31 species of plants, of which only five presented attributes related to ornithophily. C. lucidus visited 29 plant species, including all ornithophilous species, and it was the most aggressive, defending territories. Among hummingbirds, C. lucidus may be considered the principal pollinator. Hummingbirds may also be acting as pollen vectors for some of the plant species not identified as ornithophilous. The hummingbird guilds varied among the plant species used as floral resources, as well as in their frequency of visits. Differences in plant species abundance, hummingbird preference, competitive exclusion or flowering seasonality are factors likely to influence those variations.

Parasite specialization in a unique habitat: hummingbirds as reservoirs of generalist blood parasites of Andean birds.

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Moens, Michaël A J; Valkiūnas, Gediminas; Paca, Anahi; Bonaccorso, Elisa; Aguirre, Nikolay; Pérez-Tris, Javier

2016-09-01

Understanding how parasites fill their ecological niches requires information on the processes involved in the colonization and exploitation of unique host species. Switching to hosts with atypical attributes may favour generalists broadening their niches or may promote specialization and parasite diversification as the consequence. We analysed which blood parasites have successfully colonized hummingbirds, and how they have evolved to exploit such a unique habitat. We specifically asked (i) whether the assemblage of Haemoproteus parasites of hummingbirds is the result of single or multiple colonization events, (ii) to what extent these parasites are specialized in hummingbirds or shared with other birds and (iii) how hummingbirds contribute to sustain the populations of these parasites, in terms of both prevalence and infection intensity. We sampled 169 hummingbirds of 19 species along an elevation gradient in Southern Ecuador to analyse the host specificity, diversity and infection intensity of Haemoproteus by molecular and microscopy techniques. In addition, 736 birds of 112 species were analysed to explore whether hummingbird parasites are shared with other birds. Hummingbirds hosted a phylogenetically diverse assemblage of generalist Haemoproteus lineages shared with other host orders. Among these parasites, Haemoproteus witti stood out as the most generalized. Interestingly, we found that infection intensities of this parasite were extremely low in passerines (with no detectable gametocytes), but very high in hummingbirds, with many gametocytes seen. Moreover, infection intensities of H. witti were positively correlated with the prevalence across host species. Our results show that hummingbirds have been colonized by generalist Haemoproteus lineages on multiple occasions. However, one of these generalist parasites (H. witti) seems to be highly dependent on hummingbirds, which arise as the most relevant reservoirs in terms of both prevalence and

Outperforming hummingbirds’ load-lifting capability with a lightweight hummingbird-like flapping-wing mechanism

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Frederik Leys

2016-08-01

Full Text Available The stroke-cam flapping mechanism presented in this paper closely mimics the wing motion of a hovering Rufous hummingbird. It is the only lightweight hummingbird-sized flapping mechanism which generates a harmonic wing stroke with both a high flapping frequency and a large stroke amplitude. Experiments on a lightweight prototype of this stroke-cam mechanism on a 50 mm-long wing demonstrate that a harmonic stroke motion is generated with a peak-to-peak stroke amplitude of 175° at a flapping frequency of 40 Hz. It generated a mass lifting capability of 5.1 g, which is largely sufficient to lift the prototype's mass of 3.39 g and larger than the mass-lifting capability of a Rufous hummingbird. The motor mass of a hummingbird-like robot which drives the stroke-cam mechanism is considerably larger (about five times than the muscle mass of a hummingbird with comparable load-lifting capability. This paper presents a flapping wing nano aerial vehicle which is designed to possess the same lift- and thrust-generating principles of the Rufous hummingbird. The application is indoor flight. We give an overview of the wing kinematics and some specifications which should be met to develop an artificial wing, and also describe the applications of these in the mechanism which has been developed in this work.

Detection and prevalence of Haemoproteus archilochus (Haemosporida, Haemoproteidae) in two species of California hummingbirds.

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Bradshaw, A C; Tell, L A; Ernest, H B; Bahan, S; Carlson, J; Sehgal, R N M

2017-07-01

Haemosporidian blood parasites are transmitted to a wide range of avian hosts via blood-sucking dipteran vectors. Microscopy has revealed an impressive diversity of avian haemosporidia with more than 250 species described. Moreover, PCR and subsequent sequence analyses have suggested a much greater diversity of haemosporidia than morphological analyses alone. Given the importance of these parasites, very few studies have focused on the charismatic hummingbirds. To date, three Haemoproteus species (Haemoproteus archilochus, Haemoproteus trochili, and Haemoproteus witti) and one Leucocytozoon species (Leucocytozoon quynzae) have been described in blood samples taken from hummingbirds (Trochilidae). Unconfirmed Plasmodium lineages have also been detected in hummingbirds. Here, we report the detection of H. archilochus in two hummingbird species (Calypte anna and Archilochus alexandri) sampled in Northern California and perform a phylogenetic analysis of mitochondrial cytochrome b (cyt b) gene lineages. A total of 261 hummingbirds (157 C. anna, 104 A. alexandri) were sampled and screened for blood parasites using PCR and microscopy techniques. Combining both methods, 4 (2.55%) haemosporidian infections were detected in C. anna and 18 (17.31%) haemosporidian infections were detected in A. alexandri. Molecular analyses revealed four distinct H. archilocus cyt b lineages, which clustered as a monophyletic clade. No species of Plasmodium or Leucocytozoon were detected in this study, raising the possibility of specific vector associations with hummingbirds. These results provide resources for future studies of haemosporidian prevalence, diversity, and pathogenicity in California hummingbird populations.

Self-adaptive Bioinspired Hummingbird-wing Stimulated Triboelectric Nanogenerators.

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Ahmed, Abdelsalam; Hassan, Islam; Song, Peiyi; Gamaleldin, Mohamed; Radhi, Ali; Panwar, Nishtha; Tjin, Swee Chuan; Desoky, Ahmed Y; Sinton, David; Yong, Ken-Tye; Zu, Jean

2017-12-07

Bio-inspired technologies have remarkable potential for energy harvesting from clean and sustainable energy sources. Inspired by the hummingbird-wing structure, we propose a shape-adaptive, lightweight triboelectric nanogenerator (TENG) designed to exploit the unique flutter mechanics of the hummingbird for small-scale wind energy harvesting. The flutter is confined between two surfaces for contact electrification upon oscillation. We investigate the flutter mechanics on multiple contact surfaces with several free-standing and lightweight electrification designs. The flutter driven-TENGs are deposited on simplified wing designs to match the electrical performance with variations in wind speed. The hummingbird TENG (H-TENG) device weighed 10 g, making it one of the lightest TENG harvesters in the literature. With a six TENG network, the hybrid design attained a 1.5 W m -2 peak electrical output at 7.5 m/s wind speed with an approximately linear increase in charge rate with the increased number of TENG harvesters. We demonstrate the ability of the H-TENG networks to operate Internet of Things (IoT) devices from sustainable and renewable energy sources.

Effect of artificial feeders on pollen loads of the hummingbirds of Cerro de La Muerte, Costa Rica

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Gerardo Avalos

2012-03-01

Full Text Available Although sugar-water feeders are commonly used by enthusiasts to attract hummingbirds, little is known about how they affect hummingbird behavior and flower use. We studied the highland hummingbird assemblage of Cerro de La Muerte, Costa Rica, both at a site with permanent feeders (La Georgina Restaurant and further from it. We examined how feeder use and monopolization affected seasonal changes in pollen loads during four sampling periods, including dry and wet seasons, from 2003-2005. We expected that species monopolizing the feeders would carry little or no pollen whatsoever, and would have pollen loads characterized by low floral diversity, in contrast with species less dependent on feeders. We obtained pollen samples from 183 individuals of four hummingbird species captured around the feeders using mist nets, which were compared with a pollen reference collection of plants with a pollination syndrome by hummingbirds. The same methods were implemented at a site 3km away from the feeders. Feeder usage was quantified by counting the number of times hummingbirds drank from the feeders in periods of 4min separated by 1min. The effects of hummingbird species and season on pollen load categories were assessed using a nominal logistic regression. The alpha species at the site, the Fiery-throated Hummingbird (Panterpe insignis, dominated the feeders during the dry season. Meanwhile, in the wet season, feeder usage was more evenly distributed across species, with the exception of the Volcano Hummingbird, Selasphorus flammula, which occupies the last place in the dominance hierarchy. Pollen loads of hummingbirds captured near feeders were low in abundance (more than 50% of captured individuals had zero or low pollen loads, and low in species richness (96% of the hummingbirds with pollen from only one plant genus, Centropogon. Overall pollen loads increased during the dry season coinciding with peaks in flower availability, although the majority of

Effect of artificial feeders on pollen loads of the hummingbirds of Cerro de la Muerte, Costa Rica.

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Avalos, Gerardo; Soto, Alejandra; Alfaro, Willy

2012-03-01

Although sugar-water feeders are commonly used by enthusiasts to attract hummingbirds, little is known about how they affect hummingbird behavior and flower use. We studied the highland hummingbird assemblage of Cerro de La Muerte, Costa Rica, both at a site with permanent feeders (La Georgina Restaurant) and further from it. We examined how feeder use and monopolization affected seasonal changes in pollen loads during four sampling periods, including dry and wet seasons, from 2003-2005. We expected that species monopolizing the feeders would carry little or no pollen whatsoever, and would have pollen loads characterized by low floral diversity, in contrast with species less dependent on feeders. We obtained pollen samples from 183 individuals of four hummingbird species captured around the feeders using mist nets, which were compared with a pollen reference collection of plants with a pollination syndrome by hummingbirds. The same methods were implemented at a site 3km away from the feeders. Feeder usage was quantified by counting the number of times hummingbirds drank from the feeders in periods of 4min separated by 1min. The effects of hummingbird species and season on pollen load categories were assessed using a nominal logistic regression. The alpha species at the site, the Fiery-throated Hummingbird (Panterpe insignis), dominated the feeders during the dry season. Meanwhile, in the wet season, feeder usage was more evenly distributed across species, with the exception of the Volcano Hummingbird, Selasphorus flammula, which occupies the last place in the dominance hierarchy. Pollen loads of hummingbirds captured near feeders were low in abundance (more than 50% of captured individuals had zero or low pollen loads), and low in species richness (96% of the hummingbirds with pollen from only one plant genus, Centropogon). Overall pollen loads increased during the dry season coinciding with peaks in flower availability, although the majority of captured

Electrostatic Charge on Flying Hummingbirds and Its Potential Role in Pollination.

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Badger, Marc; Ortega-Jimenez, Victor Manuel; von Rabenau, Lisa; Smiley, Ashley; Dudley, Robert

2015-01-01

Electrostatic phenomena are known to enhance both wind- and insect-mediated pollination, but have not yet been described for nectar-feeding vertebrates. Here we demonstrate that wild Anna's Hummingbirds (Calypte anna) can carry positive charges up to 800 pC while in flight (mean ± s.d.: 66 ± 129 pC). Triboelectric charging obtained by rubbing an isolated hummingbird wing against various plant structures generated charges up to 700 pC. A metal hummingbird model charged to 400 pC induced bending of floral stamens in four plants (Nicotiana, Hemerocallis, Penstemon, and Aloe spp.), and also attracted falling Lycopodium spores at distances of < 2 mm. Electrostatic forces may therefore influence pollen transfer onto nectar-feeding birds.

Trait evolution, resource specialization and vulnerability to plant extinctions among Antillean hummingbirds.

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Dalsgaard, Bo; Kennedy, Jonathan D; Simmons, Benno I; Baquero, Andrea C; Martín González, Ana M; Timmermann, Allan; Maruyama, Pietro K; McGuire, Jimmy A; Ollerton, Jeff; Sutherland, William J; Rahbek, Carsten

2018-03-28

Species traits are thought to predict feeding specialization and the vulnerability of a species to extinctions of interaction partners, but the context in which a species evolved and currently inhabits may also matter. Notably, the predictive power of traits may require that traits evolved to fit interaction partners. Furthermore, local abiotic and biotic conditions may be important. On islands, for instance, specialized and vulnerable species are predicted to be found mainly in mountains, whereas species in lowlands should be generalized and less vulnerable. We evaluated these predictions for hummingbirds and their nectar-food plants on Antillean islands. Our results suggest that the rates of hummingbird trait divergence were higher among ancestral mainland forms before the colonization of the Antilles. In correspondence with the limited trait evolution that occurred within the Antilles, local abiotic and biotic conditions-not species traits-correlate with hummingbird resource specialization and the vulnerability of hummingbirds to extinctions of their floral resources. Specifically, hummingbirds were more specialized and vulnerable in conditions with high topographical complexity, high rainfall, low temperatures and high floral resource richness, which characterize the Antillean Mountains. These findings show that resource specialization and species vulnerability to extinctions of interaction partners are highly context-dependent. © 2018 The Author(s).

Sensory biology. Evolution of sweet taste perception in hummingbirds by transformation of the ancestral umami receptor.

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Baldwin, Maude W; Toda, Yasuka; Nakagita, Tomoya; O'Connell, Mary J; Klasing, Kirk C; Misaka, Takumi; Edwards, Scott V; Liberles, Stephen D

2014-08-22

Sensory systems define an animal's capacity for perception and can evolve to promote survival in new environmental niches. We have uncovered a noncanonical mechanism for sweet taste perception that evolved in hummingbirds since their divergence from insectivorous swifts, their closest relatives. We observed the widespread absence in birds of an essential subunit (T1R2) of the only known vertebrate sweet receptor, raising questions about how specialized nectar feeders such as hummingbirds sense sugars. Receptor expression studies revealed that the ancestral umami receptor (the T1R1-T1R3 heterodimer) was repurposed in hummingbirds to function as a carbohydrate receptor. Furthermore, the molecular recognition properties of T1R1-T1R3 guided taste behavior in captive and wild hummingbirds. We propose that changing taste receptor function enabled hummingbirds to perceive and use nectar, facilitating the massive radiation of hummingbird species. Copyright © 2014, American Association for the Advancement of Science.

The biomechanical origin of extreme wing allometry in hummingbirds.

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Skandalis, Dimitri A; Segre, Paolo S; Bahlman, Joseph W; Groom, Derrick J E; Welch, Kenneth C; Witt, Christopher C; McGuire, Jimmy A; Dudley, Robert; Lentink, David; Altshuler, Douglas L

2017-10-19

Flying animals of different masses vary widely in body proportions, but the functional implications of this variation are often unclear. We address this ambiguity by developing an integrative allometric approach, which we apply here to hummingbirds to examine how the physical environment, wing morphology and stroke kinematics have contributed to the evolution of their highly specialised flight. Surprisingly, hummingbirds maintain constant wing velocity despite an order of magnitude variation in body weight; increased weight is supported solely through disproportionate increases in wing area. Conversely, wing velocity increases with body weight within species, compensating for lower relative wing area in larger individuals. By comparing inter- and intraspecific allometries, we find that the extreme wing area allometry of hummingbirds is likely an adaptation to maintain constant burst flight capacity and induced power requirements with increasing weight. Selection for relatively large wings simultaneously maximises aerial performance and minimises flight costs, which are essential elements of humming bird life history.

Hummingbird wing efficacy depends on aspect ratio and compares with helicopter rotors

NARCIS (Netherlands)

Kruyt, J.W.; Quicazan Rubio, E.M.; Heijst, van G.J.F.; Altshuler, D.L.; Lentink, D.

2014-01-01

Hummingbirds are the only birds that can sustain hovering. This unique flight behaviour comes, however, at high energetic cost. Based on helicopter and aeroplane design theory, we expect that hummingbird wing aspect ratio (AR), which ranges from about 3.0 to 4.5, determines aerodynamic efficacy.

Electrostatic Charge on Flying Hummingbirds and Its Potential Role in Pollination.

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Marc Badger

Full Text Available Electrostatic phenomena are known to enhance both wind- and insect-mediated pollination, but have not yet been described for nectar-feeding vertebrates. Here we demonstrate that wild Anna's Hummingbirds (Calypte anna can carry positive charges up to 800 pC while in flight (mean ± s.d.: 66 ± 129 pC. Triboelectric charging obtained by rubbing an isolated hummingbird wing against various plant structures generated charges up to 700 pC. A metal hummingbird model charged to 400 pC induced bending of floral stamens in four plants (Nicotiana, Hemerocallis, Penstemon, and Aloe spp., and also attracted falling Lycopodium spores at distances of < 2 mm. Electrostatic forces may therefore influence pollen transfer onto nectar-feeding birds.

Metabolic substrate use and the turnover of endogenous energy reserves in broad-tailed hummingbirds (Selasphorus platycercus).

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Carleton, Scott A; Bakken, Bradley Hartman; Del Rio, Carlos Martínez

2006-07-01

We fed broad-tailed hummingbirds (Selasphorus platycercus) diets of contrasting carbon isotope composition and measured changes in the delta(13)C of expired breath through time. By measuring the delta(13)C in the breath of fed and fasted birds we were able to quantify the fraction of metabolism fueled by assimilated sugars and endogenous energy reserves. These measurements also allowed us to estimate the fractional turnover of carbon in the hummingbirds' energy reserves. When hummingbirds were feeding, they fueled their metabolism largely ( approximately 90%) with assimilated sugars. The rate of carbon isotope incorporation into the energy reserves of hummingbirds was higher when birds were gaining as opposed to losing body mass. The average residence time of a carbon atom in the hummingbirds' energy reserves ranged from 1 to 2 days.

Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller

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Deepak Gautam

2013-11-01

Full Text Available This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of fuzzy parameters is achieved based on an EKF algorithm. A smart selection technique and exclusive tuning of active fuzzy parameters is proposed to reduce the computational time. Dijkstra's algorithm is used for path planning in a closed and known environment filled with obstacles and/or boundaries. The Dijkstra algorithm helps avoid obstacle and find the shortest route from a given initial position to the final position.

Neural specialization for hovering in hummingbirds: hypertrophy of the pretectal nucleus Lentiformis mesencephali.

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Iwaniuk, Andrew N; Wylie, Douglas R W

2007-01-10

Hummingbirds possess an array of morphological and physiological specializations that allow them hover such that they maintain a stable position in space for extended periods. Among birds, this sustained hovering is unique to hummingbirds, but possible neural specializations underlying this behavior have not been investigated. The optokinetic response (OKR) is one of several behaviors that facilitates stabilization. In birds, the OKR is generated by the nucleus of the basal optic root (nBOR) and pretectal nucleus lentiformis mesencephali (LM). Because stabilization during hovering is dependent on the OKR, we predicted that nBOR and LM would be significantly enlarged in hummingbirds. We examined the relative size of nBOR, LM, and other visual nuclei of 37 species of birds from 13 orders, including nine hummingbird species. Also included were three species that hover for short periods of time (transient hoverers; a kingfisher, a kestrel, and a nectarivorous songbird). Our results demonstrate that, relative to brain volume, LM is significantly hypertrophied in hummingbirds compared with other birds. In the transient hoverers, there is a moderate enlargement of the LM, but not to the extent found in the hummingbirds. The same degree of hypertrophy is not, however, present in nBOR or the other visual nuclei measured: nucleus geniculatus lateralis, pars ventralis, and optic tectum. This selective hypertrophy of LM and not other visual nuclei suggests that the direction-selective optokinetic neurons in LM are critical for sustained hovering flight because of their prominent role in the OKR and gaze stabilization. (c) 2006 Wiley-Liss, Inc.

Robust back-stepping output feedback trajectory tracking for quadrotors via extended state observer and sigmoid tracking differentiator

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Shao, Xingling; Liu, Jun; Wang, Honglun

2018-05-01

In this paper, a robust back-stepping output feedback trajectory tracking controller is proposed for quadrotors subject to parametric uncertainties and external disturbances. Based on the hierarchical control principle, the quadrotor dynamics is decomposed into translational and rotational subsystems to facilitate the back-stepping control design. With given model information incorporated into observer design, a high-order extended state observer (ESO) that relies only on position measurements is developed to estimate the remaining unmeasurable states and the lumped disturbances in rotational subsystem simultaneously. To overcome the problem of "explosion of complexity" in the back-stepping design, the sigmoid tracking differentiator (STD) is introduced to compute the derivative of virtual control laws. The advantage is that the proposed controller via output-feedback scheme not only can ensure good tracking performance using very limited information of quadrotors, but also has the ability of handling the undesired uncertainties. The stability analysis is established using the Lyapunov theory. Simulation results demonstrate the effectiveness of the proposed control scheme in achieving a guaranteed tracking performance with respect to an 8-shaped reference trajectory.

A robust two-way switching control system for remote piloting and stabilization of low-cost quadrotor UAVs

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Ripamonti, Francesco; Resta, Ferruccio; Vivani, Andrea

2015-04-01

The aim of this paper is to present two control logics and an attitude estimator for UAV stabilization and remote piloting, that are as robust as possible to physical parameters variation and to other external disturbances. Moreover, they need to be implemented on low-cost micro-controllers, in order to be attractive for commercial drones. As an example, possible applications of the two switching control logics could be area surveillance and facial recognition by means of a camera mounted on the drone: the high computational speed logic is used to reach the target, when the high-stability one is activated, in order to complete the recognition tasks.

Wild hummingbirds can use the geometry of a flower array.

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Hornsby, Mark A W; Healy, Susan D; Hurly, T Andrew

2017-06-01

Animals use cues from their environment to orient in space and to navigate their surroundings. Geometry is a cue whose informational content may originate from the metric properties of a given environment, and its use has been demonstrated in the laboratory in nearly every species of animal tested. However, it is not clear whether geometric information, used by animals typically tested in small, rectangular boxes, is directly relevant to animals in their natural environment. Here we present the first data that confirm the use of geometric cues by a free-living animal in the wild. We trained rufous hummingbirds to visit a rectangular array of four artificial flowers, one of which was rewarded. In some trials a conspicuous landmark cued the reward. Following array translocation and rotation, we presented hummingbirds with three tests. When trained and tested with the landmark, or when trained and tested without it, hummingbirds failed to show geometric learning. However, when trained with a landmark but tested without it, hummingbirds produced the classic geometric response, showing that they had learned the geometric relationships (distance and direction) of several non-reward visual elements of the environment. While it remains that the use of geometry to relocate a reward may be an experimental artefact, its use is not confined to the laboratory. Copyright © 2017 Elsevier B.V. All rights reserved.

Wing-pitching mechanism of hovering Ruby-throated hummingbirds

International Nuclear Information System (INIS)

Song, Jialei; Luo, Haoxiang; Hedrick, Tyson L

2015-01-01

In hovering flight, hummingbirds reverse the angle of attack of their wings through pitch reversal in order to generate aerodynamic lift during both downstroke and upstroke. In addition, the wings may pitch during translation to further enhance lift production. It is not yet clear whether these pitching motions are caused by the wing inertia or actuated through the musculoskeletal system. Here we perform a computational analysis of the pitching dynamics by incorporating the realistic wing kinematics to determine the inertial effects. The aerodynamic effect is also included using the pressure data from a previous three-dimensional computational fluid dynamics simulation of a hovering hummingbird. The results show that like many insects, pitch reversal of the hummingbird is, to a large degree, caused by the wing inertia. However, actuation power input at the root is needed in the beginning of pronation to initiate a fast pitch reversal and also in mid-downstroke to enable a nose-up pitching motion for lift enhancement. The muscles on the wing may not necessarily be activated for pitching of the distal section. Finally, power analysis of the flapping motion shows that there is no requirement for substantial elastic energy storage or energy absorption at the shoulder joint. (paper)

Wing-pitching mechanism of hovering Ruby-throated hummingbirds.

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Song, Jialei; Luo, Haoxiang; Hedrick, Tyson L

2015-01-19

In hovering flight, hummingbirds reverse the angle of attack of their wings through pitch reversal in order to generate aerodynamic lift during both downstroke and upstroke. In addition, the wings may pitch during translation to further enhance lift production. It is not yet clear whether these pitching motions are caused by the wing inertia or actuated through the musculoskeletal system. Here we perform a computational analysis of the pitching dynamics by incorporating the realistic wing kinematics to determine the inertial effects. The aerodynamic effect is also included using the pressure data from a previous three-dimensional computational fluid dynamics simulation of a hovering hummingbird. The results show that like many insects, pitch reversal of the hummingbird is, to a large degree, caused by the wing inertia. However, actuation power input at the root is needed in the beginning of pronation to initiate a fast pitch reversal and also in mid-downstroke to enable a nose-up pitching motion for lift enhancement. The muscles on the wing may not necessarily be activated for pitching of the distal section. Finally, power analysis of the flapping motion shows that there is no requirement for substantial elastic energy storage or energy absorption at the shoulder joint.

Generalist bees pollinate red-flowered Penstemon eatonii: Duality in the hummingbird pollination syndrome

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James H. Cane; Rick. Dunne

2014-01-01

The red tubular flowers of Penstemon eatonii (Plantaginaceae) typify the classic pollination syndrome for hummingbirds. Bees are thought to diminish its seed siring potential, but we found that foraging female generalist bees (Apis, Anthophora) deposited substantial amounts of conspecific pollen on P. eatonii stigmas. In the absence of hummingbirds, bee pollination of...

Heat dissipation during hovering and forward flight in hummingbirds.

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Powers, Donald R; Tobalske, Bret W; Wilson, J Keaton; Woods, H Arthur; Corder, Keely R

2015-12-01

Flying animals generate large amounts of heat, which must be dissipated to avoid overheating. In birds, heat dissipation is complicated by feathers, which cover most body surfaces and retard heat loss. To understand how birds manage heat budgets during flight, it is critical to know how heat moves from the skin to the external environment. Hummingbirds are instructive because they fly at speeds from 0 to more than 12 m s(-1), during which they transit from radiative to convective heat loss. We used infrared thermography and particle image velocimetry to test the effects of flight speed on heat loss from specific body regions in flying calliope hummingbirds (Selasphorus calliope). We measured heat flux in a carcass with and without plumage to test the effectiveness of the insulation layer. In flying hummingbirds, the highest thermal gradients occurred in key heat dissipation areas (HDAs) around the eyes, axial region and feet. Eye and axial surface temperatures were 8°C or more above air temperature, and remained relatively constant across speeds suggesting physiological regulation of skin surface temperature. During hovering, birds dangled their feet, which enhanced radiative heat loss. In addition, during hovering, near-body induced airflows from the wings were low except around the feet (approx. 2.5 m s(-1)), which probably enhanced convective heat loss. Axial HDA and maximum surface temperature exhibited a shallow U-shaped pattern across speeds, revealing a localized relationship with power production in flight in the HDA closest to the primary flight muscles. We conclude that hummingbirds actively alter routes of heat dissipation as a function of flight speed.

Do hummingbirds use a different mechanism than insects to flip and twist their wings?

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Song, Jialei; Luo, Haoxiang; Hedrick, Tyson

2014-11-01

Hovering hummingbirds flap their wings in an almost horizontal stroke plane and flip the wings to invert the angle of attack after stroke reversal, a strategy also utilized by many hovering insects such as fruit flies. However, unlike insects whose wing actuation mechanism is only located at the base, hummingbirds have a vertebrate musculoskeletal system and their wings contain bones and muscles and thus, they may be capable of both actively flipping and twisting their wings. To investigate this issue, we constructed a hummingbird wing model and study its pitching dynamics. The wing kinematics are reconstructed from high-speed imaging data, and the inertial torques are calculated in a rotating frame of reference using mass distribution data measured from dissections of hummingbird wings. Pressure data from a previous CFD study of the same wing kinematics are used to calculate the aerodynamic torque. The results show that like insect wings, the hummingbird wing pitching is driven by its own inertia during reversal, and the aerodynamic torque is responsible for wing twist during mid-stroke. In conclusion, our study suggests that their wing dynamics are very similar even though their actuation systems are entirely different. This research was supported by the NSF.

The hummingbird tongue is a fluid trap, not a capillary tube.

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Rico-Guevara, Alejandro; Rubega, Margaret A

2011-06-07

Hummingbird tongues pick up a liquid, calorie-dense food that cannot be grasped, a physical challenge that has long inspired the study of nectar-transport mechanics. Existing biophysical models predict optimal hummingbird foraging on the basis of equations that assume that fluid rises through the tongue in the same way as through capillary tubes. We demonstrate that the hummingbird tongue does not function like a pair of tiny, static tubes drawing up floral nectar via capillary action. Instead, we show that the tongue tip is a dynamic liquid-trapping device that changes configuration and shape dramatically as it moves in and out of fluids. We also show that the tongue-fluid interactions are identical in both living and dead birds, demonstrating that this mechanism is a function of the tongue structure itself, and therefore highly efficient because no energy expenditure by the bird is required to drive the opening and closing of the trap. Our results rule out previous conclusions from capillarity-based models of nectar feeding and highlight the necessity of developing a new biophysical model for nectar intake in hummingbirds. Our findings have ramifications for the study of feeding mechanics in other nectarivorous birds, and for the understanding of the evolution of nectarivory in general. We propose a conceptual mechanical explanation for this unique fluid-trapping capacity, with far-reaching practical applications (e.g., biomimetics).

Evaluating broad scale patterns among related species using resource experiments in tropical hummingbirds.

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Weinstein, Ben G; Graham, Catherine H

2016-08-01

A challenge in community ecology is connecting biogeographic patterns with local scale observations. In Neotropical hummingbirds, closely related species often co-occur less frequently than expected (overdispersion) when compared to a regional species pool. While this pattern has been attributed to interspecific competition, it is important to connect these findings with local scale mechanisms of coexistence. We measured the importance of the presence of competitors and the availability of resources on selectivity at experimental feeders for Andean hummingbirds along a wide elevation gradient. Selectivity was measured as the time a bird fed at a feeder with a high sucrose concentration when presented with feeders of both low and high sucrose concentrations. Resource selection was measured using time-lapse cameras to identity which floral resources were used by each hummingbird species. We found that the increased abundance of preferred resources surrounding the feeder best explained increased species selectivity, and that related hummingbirds with similar morphology chose similar floral resources. We did not find strong support for direct agonism based on differences in body size or phylogenetic relatedness in predicting selectivity. These results suggest closely related hummingbird species have overlapping resource niches, and that the intensity of interspecific competition is related to the abundance of those preferred resources. If these competitive interactions have negative demographic effects, our results could help explain the pattern of phylogenetic overdispersion observed at regional scales. © 2016 by the Ecological Society of America.

Hummingbirds at artificial flowers made to resemble ornithophiles versus melittophiles

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Wyndee A. Guzman

2012-06-01

Full Text Available Certain floral characteristics are associated with specific pollinators. Hummingbird-pollinated flowers are usually red, lack a landing platform, lack nectar guides, and contain a high amount of dilute sucrose-rich nectar. Here we test hypotheses concerning the reasons for these characters to the extent that they involve hummingbird responses. An array was set up of 16 artificial plants, each with five artificial flowers. (1 Flowers made to differ only in colour elicited a slight preference for red. (2 When colour was associated with nectar offerings, and birds generally learned to visit flowers that provided much more nectar but did not associatively learn differences as little as 2 µL. (3 Birds were offered 8 µL of 12% sucrose versus 2 µL of 48% hexose, and they did not prefer the dilute nectar; they showed no evidence of discerning sucrose from hexose; however, they preferred 48% over 12% sucrose when both were offered in the same quantity. (4 Birds preferred flowers that lacked landing platforms over those with landing platforms. (5 Birds were offered flowers with nectar guides, associated with differing nectar volumes, and they did not associate the higher nectar reward with either flower type. In summary, the feedback from hummingbirds reflects some of the differences between bird- and bee-adapted flowers, but nectar seemed less predictive than expected. Factors other than the behavioural proclivities of hummingbirds, such as adaptation to discourage bees, are discussed as additional causes for the differences between the syndromes. We also discuss significance testing for field experiments involving one unreplicated array.

Neuromuscular control of wingbeat kinematics in Anna's hummingbirds (Calypte anna).

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Altshuler, Douglas L; Welch, Kenneth C; Cho, Brian H; Welch, Danny B; Lin, Amy F; Dickson, William B; Dickinson, Michael H

2010-07-15

Hummingbirds can maintain the highest wingbeat frequencies of any flying vertebrate - a feat accomplished by the large pectoral muscles that power the wing strokes. An unusual feature of these muscles is that they are activated by one or a few spikes per cycle as revealed by electromyogram recordings (EMGs). The relatively simple nature of this activation pattern provides an opportunity to understand how motor units are recruited to modulate limb kinematics. Hummingbirds made to fly in low-density air responded by moderately increasing wingbeat frequency and substantially increasing the wing stroke amplitude as compared with flight in normal air. There was little change in the number of spikes per EMG burst in the pectoralis major muscle between flight in normal and low-density heliox (mean=1.4 spikes cycle(-1)). However the spike amplitude, which we take to be an indication of the number of active motor units, increased in concert with the wing stroke amplitude, 1.7 times the value in air. We also challenged the hummingbirds using transient load lifting to elicit maximum burst performance. During maximum load lifting, both wing stroke amplitude and wingbeat frequency increased substantially above those values during hovering flight. The number of spikes per EMG burst increased to a mean of 3.3 per cycle, and the maximum spike amplitude increased to approximately 1.6 times those values during flight in heliox. These results suggest that hummingbirds recruit additional motor units (spatial recruitment) to regulate wing stroke amplitude but that temporal recruitment is also required to maintain maximum stroke amplitude at the highest wingbeat frequencies.

Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems

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Amedeo Rodi Vetrella

2016-12-01

Full Text Available Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS receivers and Micro-Electro-Mechanical Systems (MEMS-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information.

Superciliums in white-eared hummingbirds as badges of status signaling dominance.

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González-García, Juan Manuel; Lara, Carlos; Quesada, Javier; Chávez-Zichinelli, Carlos A; Serrano-Meneses, Martín A

2018-04-03

The role of badges as indicators of contest ability has been previously described. In hummingbirds, the exhibition of a badge is expected to save energy expenditure in agonistic interactions and to favor energy intake. Here, we investigate whether variable supercilium size in the white-eared hummingbird has a role in dominance status signaling. Firstly, 45 hummingbird males were captured and their superciliums were photographed to investigate variation in size and any possible allometric relationships. Secondly, 42 male birds were used to analyze whether the supercilium has a role in dominance status signaling in a dyadic contest. We found that supercilium size varied continuously but that despite variability between individuals, there was no relationship between supercilium size and body size. However, our dyad experiment indicated that birds with larger badges were able to make more visits to the feeders than individuals with smaller badges. We suggest a status signaling function of the supercilium.

Neurons Responsive to Global Visual Motion Have Unique Tuning Properties in Hummingbirds.

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Gaede, Andrea H; Goller, Benjamin; Lam, Jessica P M; Wylie, Douglas R; Altshuler, Douglas L

2017-01-23

Neurons in animal visual systems that respond to global optic flow exhibit selectivity for motion direction and/or velocity. The avian lentiformis mesencephali (LM), known in mammals as the nucleus of the optic tract (NOT), is a key nucleus for global motion processing [1-4]. In all animals tested, it has been found that the majority of LM and NOT neurons are tuned to temporo-nasal (back-to-front) motion [4-11]. Moreover, the monocular gain of the optokinetic response is higher in this direction, compared to naso-temporal (front-to-back) motion [12, 13]. Hummingbirds are sensitive to small visual perturbations while hovering, and they drift to compensate for optic flow in all directions [14]. Interestingly, the LM, but not other visual nuclei, is hypertrophied in hummingbirds relative to other birds [15], which suggests enhanced perception of global visual motion. Using extracellular recording techniques, we found that there is a uniform distribution of preferred directions in the LM in Anna's hummingbirds, whereas zebra finch and pigeon LM populations, as in other tetrapods, show a strong bias toward temporo-nasal motion. Furthermore, LM and NOT neurons are generally classified as tuned to "fast" or "slow" motion [10, 16, 17], and we predicted that most neurons would be tuned to slow visual motion as an adaptation for slow hovering. However, we found the opposite result: most hummingbird LM neurons are tuned to fast pattern velocities, compared to zebra finches and pigeons. Collectively, these results suggest a role in rapid responses during hovering, as well as in velocity control and collision avoidance during forward flight of hummingbirds. Copyright © 2017 Elsevier Ltd. All rights reserved.

Memory for location and visual cues in white-eared hummingbirds Hylocharis leucotis

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Guillermo PÉREZ, Carlos LARA, José VICCON-PALE, Martha SIGNORET-POILLON

2011-08-01

Full Text Available In nature hummingbirds face floral resources whose availability, quality and quantity can vary spatially and temporally. Thus, they must constantly make foraging decisions about which patches, plants and flowers to visit, partly as a function of the nectar reward. The uncertainty of these decisions would possibly be reduced if an individual could remember locations or use visual cues to avoid revisiting recently depleted flowers. In the present study, we carried out field experiments with white-eared hummingbirds Hylocharis leucotis, to evaluate their use of locations or visual cues when foraging on natural flowers Penstemon roseus. We evaluated the use of spatial memory by observing birds while they were foraging between two plants and within a single plant. Our results showed that hummingbirds prefer to use location when foraging in two plants, but they also use visual cues to efficiently locate unvisited rewarded flowers when they feed on a single plant. However, in absence of visual cues, in both experiments birds mainly used the location of previously visited flowers to make subsequent visits. Our data suggest that hummingbirds are capable of learning and employing this flexibility depending on the faced environmental conditions and the information acquired in previous visits [Current Zoology 57 (4: 468–476, 2011].

Hummingbirds rely on both paracellular and carrier-mediated intestinal glucose absorption to fuel high metabolism

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McWhorter, Todd J; Bakken, Bradley Hartman; Karasov, William H; del Rio, Carlos Martínez

2005-01-01

Twenty years ago, the highest active glucose transport rate and lowest passive glucose permeability in vertebrates were reported in Rufous and Anna's hummingbirds (Selasphorus rufus, Calypte anna). These first measurements of intestinal nutrient absorption in nectarivores provided an unprecedented physiological foundation for understanding their foraging ecology. They showed that physiological processes are determinants of feeding behaviour. The conclusion that active, mediated transport accounts for essentially all glucose absorption in hummingbirds influenced two decades of subsequent research on the digestive physiology and nutritional ecology of nectarivores. Here, we report new findings demonstrating that the passive permeability of hummingbird intestines to glucose is much higher than previously reported, suggesting that not all sugar uptake is mediated. Even while possessing the highest active glucose transport rates measured in vertebrates, hummingbirds must rely partially on passive non-mediated intestinal nutrient absorption to meet their high mass-specific metabolic demands. PMID:17148346

Effects of flight speed upon muscle activity in hummingbirds.

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Tobalske, Bret W; Biewener, Andrew A; Warrick, Douglas R; Hedrick, Tyson L; Powers, Donald R

2010-07-15

Hummingbirds have the smallest body size and highest wingbeat frequencies of all flying vertebrates, so they represent one endpoint for evaluating the effects of body size on sustained muscle function and flight performance. Other bird species vary neuromuscular recruitment and contractile behavior to accomplish flight over a wide range of speeds, typically exhibiting a U-shaped curve with maxima at the slowest and fastest flight speeds. To test whether the high wingbeat frequencies and aerodynamically active upstroke of hummingbirds lead to different patterns, we flew rufous hummingbirds (Selasphorus rufus, 3 g body mass, 42 Hz wingbeat frequency) in a variable-speed wind tunnel (0-10 m s(-1)). We measured neuromuscular activity in the pectoralis (PECT) and supracoracoideus (SUPRA) muscles using electromyography (EMG, N=4 birds), and we measured changes in PECT length using sonomicrometry (N=1). Differing markedly from the pattern in other birds, PECT deactivation occurred before the start of downstroke and the SUPRA was deactivated before the start of upstroke. The relative amplitude of EMG signal in the PECT and SUPRA varied according to a U-shaped curve with flight speed; additionally, the onset of SUPRA activity became relatively later in the wingbeat at intermediate flight speeds (4 and 6 m s(-1)). Variation in the relative amplitude of EMG was comparable with that observed in other birds but the timing of muscle activity was different. These data indicate the high wingbeat frequency of hummingbirds limits the time available for flight muscle relaxation before the next half stroke of a wingbeat. Unlike in a previous study that reported single-twitch EMG signals in the PECT of hovering hummingbirds, across all flight speeds we observed 2.9+/-0.8 spikes per contraction in the PECT and 3.8+/-0.8 spikes per contraction in the SUPRA. Muscle strain in the PECT was 10.8+/-0.5%, the lowest reported for a flying bird, and average strain rate was 7.4+/-0.2 muscle

Land use change has stronger effects on functional diversity than taxonomic diversity in tropical Andean hummingbirds.

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Tinoco, Boris A; Santillán, Vinicio E; Graham, Catherine H

2018-03-01

Land use change modifies the environment at multiple spatial scales, and is a main driver of species declines and deterioration of ecosystem services. However, most of the research on the effects of land use change has focused on taxonomic diversity, while functional diversity, an important predictor of ecosystem services, is often neglected. We explored how local and landscape scale characteristics influence functional and taxonomic diversity of hummingbirds in the Andes Mountains in southern Ecuador. Data was collected in six landscapes along a land use gradient, from an almost intact landscape to one dominated by cattle pastures. We used point counts to sample hummingbirds from 2011 to 2012 to assessed how local factors (i.e., vegetation structure, flowering plants richness, nectar availability) and landscape factors (i.e., landscape heterogeneity, native vegetation cover) influenced taxonomic and functional diversity. Then, we analyzed environment - trait relationships (RLQ test) to explore how different hummingbird functional traits influenced species responses to these factors. Taxonomic and functional diversity of hummingbirds were positively associated with landscape heterogeneity but only functional diversity was positively related to native vegetation coverage. We found a weak response of taxonomic and functional diversity to land use change at the local scale. Environment-trait associations showed that body mass of hummingbirds likely influenced species sensitivity to land use change. In conclusion, landscape heterogeneity created by land use change can positively influence hummingbird taxonomic and functional diversity; however, a reduction of native vegetation cover could decrease functional diversity. Given that functional diversity can mediate ecosystem services, the conservation of native vegetation cover could play a key role in the maintenance of hummingbird pollination services in the tropical Andes. Moreover, there are particular functional

The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-Rotors

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Scott, Rollin L.

2014-01-01

position, energy is being saved because the vacuum created the same resistance the running servos did without using power. The Unmanned Flights via Quad-rotors are built because multi-rotor dynamics are an important starting point and fair analog for space craft control systems and they make good terrestrial development platforms for various aspects of control for space crafts. The project is being conducted to see what the thrust response is going to be when a pulse width modulation command is sent to the control system since the quad-rotors are PWM controlled. A simulation environment in constructed so that one can quickly iterate and test different designs such as control systems, PID control vs. LDR control, and state estimation. Using two DIY Quad Kits, APM 2.6, testing apparatus (called a data acquisition system) to test the quad-rotors, and a simulation program such as Simulink, two quad-rotors are built and controlled via a simulation program, which is designed to be as realistic as possible and not idealistic. Due to the quad-rotors not being completely built nor ready for testing, there are no results or conclusions to report.

Phoretic mites identified on andean hummingbirds (Trochilidae of Caldas, Colombia

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Natalia López-Orozco

Full Text Available Within the bird-plant-mite system, the relationship between hummingbirds, flowers, and mites remains poorly understood. In this study, we evaluated the degree of association between nasal mites and eight species of Andean hummingbirds in Colombia (Amazilia saucerrottei,A. tzacatl, Chalybura buffonii,Chlorostilbon mellisugus, Florisuga mellivora, Glaucis hirsutus, Phaethornis guy and P. striigularis. Over a five-month period (trapping effort 360 hours/month, a total of 178 birds were captured, from which 81 mite specimens were collected and identified as belonging to three genera (Proctolaelaps, Rhinoseius andTropicoseius spanning eleven species. This is the first report of its kind from Colombia on the identification of the mite speciesP. rabulatus, R. luteyni, R. rafinskii, T. berryi, T. colwelli, T. erro and T. uniformisand the first record of P. guy as phoretic host forProctolaelaps rabulatus. Morphological characteristics (length of the dorsal plate, width of the dorsal plate and setae z5 length alone failed to distinguish between mite species. The ecologic impact of this relationship on flowers with respect to nectar and pollen availability and the effect of mites on pollination by hummingbirds needs to be determined.

Phoretic mites identified on Andean hummingbirds (Trochilidae) of Caldas, Colombia.

Science.gov (United States)

López-Orozco, Natalia; Cañón-Franco, William Alberto

2013-01-01

Within the bird-plant-mite system, the relationship between hummingbirds, flowers, and mites remains poorly understood. In this study, we evaluated the degree of association between nasal mites and eight species of Andean hummingbirds in Colombia (Amazilia saucerrottei, A. tzacatl, Chalybura buffonii, Chlorostilbon mellisugus, Florisuga mellivora, Glaucis hirsutus, Phaethornis guy and P. striigularis). Over a five-month period (trapping effort 360 hours/month), a total of 178 birds were captured, from which 81 mite specimens were collected and identified as belonging to three genera (Proctolaelaps, Rhinoseius and Tropicoseius) spanning eleven species. This is the first report of its kind from Colombia on the identification of the mite species P. rabulatus, R. luteyni, R. rafinskii, T. berryi, T. colwelli, T. erro and T. uniformis and the first record of P. guy as phoretic host for Proctolaelaps rabulatus. Morphological characteristics (length of the dorsal plate, width of the dorsal plate and setae z5 length) alone failed to distinguish between mite species. The ecologic impact of this relationship on flowers with respect to nectar and pollen availability and the effect of mites on pollination by hummingbirds needs to be determined.

Wild, free-living rufous hummingbirds do not use geometric cues in a spatial task.

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Hornsby, Mark A W; Hurly, T Andrew; Hamilton, Caitlin E; Pritchard, David J; Healy, Susan D

2014-10-01

In the laboratory, many species orient themselves using the geometric properties of an enclosure or array and geometric information is often preferred over visual cues. Whether animals use geometric cues when relocating rewarded locations in the wild, however, has rarely been investigated. We presented free-living rufous hummingbirds with a rectangular array of four artificial flowers to investigate learning of rewarded locations using geometric cues. In one treatment, we rewarded two of four flowers at diagonally opposite corners. In a second treatment, we provided a visual cue to the rewarded flower by connecting the flowers with "walls" consisting of four dowels (three white, one blue) laid on the ground connecting each of the flowers. Neither treatment elicited classical geometry results; instead, hummingbirds typically chose one particular flower over all others. When we exchanged that flower with another, hummingbirds tended to visit the original flower. These results suggest that (1) hummingbirds did not use geometric cues, but instead may have used a visually derived cue on the flowers themselves, and (2) using geometric cues may have been more difficult than using visual characteristics. Although hummingbirds typically prefer spatial over visual information, we hypothesize that they will not use geometric cues over stable visual features but that they make use of small, flower-specific visual cues. Such cues may play a more important role in foraging decisions than previously thought. Copyright © 2014 Elsevier B.V. All rights reserved.

Muscle activation patterns and motor anatomy of Anna's hummingbirds Calypte anna and zebra finches Taeniopygia guttata.

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Donovan, Edward R; Keeney, Brooke K; Kung, Eric; Makan, Sirish; Wild, J Martin; Altshuler, Douglas L

2013-01-01

Flying animals exhibit profound transformations in anatomy, physiology, and neural architecture. Although much is known about adaptations in the avian skeleton and musculature, less is known about neuroanatomy and motor unit integration for bird flight. Hummingbirds are among the most maneuverable and specialized of vertebrate fliers, and two unusual neuromuscular features have been previously reported: (1) the pectoralis major has a unique distribution pattern of motor end plates (MEPs) compared with all other birds and (2) electromyograms (EMGs) from the hummingbird's pectoral muscles, the pectoralis major and the supracoracoideus, show activation bursts composed of one or a few spikes that appear to have a very consistent pattern. Here, we place these findings in a broader context by comparing the MEPs, EMGs, and organization of the spinal motor neuron pools of flight muscles of Anna's hummingbird Calypte anna, zebra finches Taeniopygia guttata, and, for MEPs, several other species. The previously shown MEP pattern of the hummingbird pectoralis major is not shared with its closest taxonomic relative, the swift, and appears to be unique to hummingbirds. MEP arrangements in previously undocumented wing muscles show patterns that differ somewhat from other avian muscles. In the parallel-fibered strap muscles of the shoulder, MEP patterns appear to relate to muscle length, with the smallest muscles having fibers that span the entire muscle. MEP patterns in pennate distal wing muscles were the same regardless of size, with tightly clustered bands in the middle portion of the muscle, not evenly distributed bands over the muscle's entire length. Muscle activations were examined during slow forward flight in both species, during hovering in hummingbirds, and during slow ascents in zebra finches. The EMG bursts of a wing muscle, the pronator superficialis, were highly variable in peak number, size, and distribution across wingbeats for both species. In the pectoralis

Flight mechanics and control of escape manoeuvres in hummingbirds. II. Aerodynamic force production, flight control and performance limitations.

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Cheng, Bo; Tobalske, Bret W; Powers, Donald R; Hedrick, Tyson L; Wang, Yi; Wethington, Susan M; Chiu, George T-C; Deng, Xinyan

2016-11-15

The superior manoeuvrability of hummingbirds emerges from complex interactions of specialized neural and physiological processes with the unique flight dynamics of flapping wings. Escape manoeuvring is an ecologically relevant, natural behaviour of hummingbirds, from which we can gain understanding into the functional limits of vertebrate locomotor capacity. Here, we extend our kinematic analysis of escape manoeuvres from a companion paper to assess two potential limiting factors of the manoeuvring performance of hummingbirds: (1) muscle mechanical power output and (2) delays in the neural sensing and control system. We focused on the magnificent hummingbird (Eugenes fulgens, 7.8 g) and the black-chinned hummingbird (Archilochus alexandri, 3.1 g), which represent large and small species, respectively. We first estimated the aerodynamic forces, moments and the mechanical power of escape manoeuvres using measured wing kinematics. Comparing active-manoeuvring and passive-damping aerodynamic moments, we found that pitch dynamics were lightly damped and dominated by the effect of inertia, while roll dynamics were highly damped. To achieve observed closed-loop performance, pitch manoeuvres required faster sensorimotor transduction, as hummingbirds can only tolerate half the delay allowed in roll manoeuvres. Accordingly, our results suggested that pitch control may require a more sophisticated control strategy, such as those based on prediction. For the magnificent hummingbird, we estimated that escape manoeuvres required muscle mass-specific power 4.5 times that during hovering. Therefore, in addition to the limitation imposed by sensorimotor delays, muscle power could also limit the performance of escape manoeuvres. © 2016. Published by The Company of Biologists Ltd.

Clinical findings and normative ocular data for free-living Anna's (Calypte anna) and Black-chinned (Archilochus alexandri) Hummingbirds.

Science.gov (United States)

Moore, Bret A; Maggs, David J; Kim, Soohyun; Motta, Monica J; Bandivadekar, Ruta; Tell, Lisa A; Murphy, Christopher J

2018-02-20

To estimate the prevalence of ocular disease and obtain normative ocular data for free-living hummingbirds. Two hundred and sixty-three free-living, adult Hummingbirds from coastal and inland central California were studied, including Anna's (Calypte anna, n = 186) and Black-chinned (Archilochus alexandri; n = 77) hummingbirds. Slit lamp biomicroscopy and indirect ophthalmoscopy were performed on all individuals. Rebound tonometry, measurement of horizontal palpebral fissure length, and streak retinoscopy were performed on select individuals. Five conscious Anna's Hummingbirds underwent ocular imaging including fundus photography, digital slit lamp photography, and anterior segment and retinal optical coherence tomography. The prevalence of ocular disease in this population was 2.28%. Ocular imaging revealed a thin cornea, shallow anterior chamber, large lens, and a single central, deep convexiclivate fovea. Mean ± SD intraocular pressure was 11.21 ± 2.23 mm Hg. Mean ± SD eyelid length was 2.59 ± 0.19 mm. All eyes were emmetropic or mildly hyperopic with a mean (range) ± SD refractive error of +0.32 (-0.25 to +1) ± 0.33 diopters. Consistent with previous reports, these data suggest that hummingbirds have visual characteristics found in predatory and prey species, as well as a low prevalence of spontaneous ocular disease. This work provides a set of reference values and clinical findings that can be used in the future research on hummingbird vision and ocular disease. It also provides representative diagnostic images of normal birds and demonstrates that advanced ocular imaging can be performed on manually restrained hummingbirds without pharmacologic dilation. © 2018 American College of Veterinary Ophthalmologists.

Adaptive fuzzy PID control for a quadrotor stabilisation

Science.gov (United States)

Cherrat, N.; Boubertakh, H.; Arioui, H.

2018-02-01

This paper deals with the design of an adaptive fuzzy PID control law for attitude and altitude stabilization of a quadrotor despite the system model uncertainties and disturbances. To this end, a PID control with adaptive gains is used in order to approximate a virtual ideal control previously designed to achieve the predefined objective. Specifically, the control gains are estimated and adjusted by mean of a fuzzy system whose parameters are adjusted online via a gradient descent-based adaptation law. The analysis of the closed-loop system is given by the Lyapunov approach. The simulation results are presented to illustrate the efficiency of the proposed approach.

Diagnoses of hybrid hummingbirds (Aves: Trochilidae). 17. Documentation of the intrageneric hybrid (Archilochus colubris × Archilochus alexandri)

DEFF Research Database (Denmark)

Graves, Gary R.; Dittmann, Donna L.; Cardiff, Steven W.

2016-01-01

Although the breeding ranges of Archilochus alexandri (Black-chinned Hummingbird) and Archilochus colubris (Ruby throated Hummingbird) are narrowly parapatric in central Texas and central and southern Oklahoma, there have been few reports of hybridization in the literature and no well......-documented hybrid specimens. Here we provide a comprehensive assessment of two male hybrids collected, respectively, in Grayson County, Texas, and East Baton Rouge Parish, Louisiana. As has been the pattern in other hummingbird hybrids, both specimens exhibit a blended mosaic of plumage characters of the parental...

Feeding behavior by hummingbirds (Aves: Trochilidae in artificial food patches in an Atlantic Forest remnant in southeastern Brazil

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Lucas L. Lanna

2017-06-01

Full Text Available ABSTRACT During flight, hummingbirds achieve the maximum aerobic metabolism rates within vertebrates. To meet such demands, these birds have to take in as much energy as possible, using strategies such as selecting the best food resources and adopting behaviors that allow the greatest energy gains. We tested whether hummingbirds choose sources that have higher sugar concentrations, and investigated their behaviors near and at food resources. The study was conducted at Atlantic forest remnant in Brazil, between June and December 2012. Four patches were provided with artificial feeders, containing sucrose solutions at concentrations of 5%, 15%, 25% and 35% weight/volume. Hummingbird behaviors were recorded using the ad libitum method with continuous recording of behaviors. The following species were observed: the Brazilian ruby Clytolaema rubricauda (Boddaert, 1783, Violet-capped woodnymph Thalurania glaucopis (Gmelin, 1788, Scale-throated hermit Phaethornis eurynome (Lesson, 1832, White-throated hummingbird Leucochloris albicollis (Vieillot, 1818, Versicoloured emerald Amazilia versicolor (Vieillot, 1818, Glittering-bellied emerald Chlorostilbon lucidus (Shaw, 1812 and other Phaethornis spp. C. rubricauda, P. eurynome and Phaethornis spp. visited the 35%-sucrose feeders more often, while the T. glaucopis visited the 25%-sucrose feeders more often. L. albicollis and A. versicolor visited more often solutions with sugar concentration of 15%. C. lucidus visited all patches equally. Three behavioral strategies were observed: 1 C. rubricauda and T. glaucopis exhibited interspecific and intraspecific dominance; 2 the remaining species exhibited subordinance to the dominant hummingbirds, and 3 P. eurynome and Phaethornis spp. adopted a hide-and-wait strategy to the dominant hummingbird species. The frequency of aggressive behaviors was correlated with the time the hummingbird spent feeding, and bird size. Our results showed that hummingbirds can adopt

Experimental investigation of a quad-rotor biplane micro air vehicle

Science.gov (United States)

Bogdanowicz, Christopher Michael

Micro air vehicles are expected to perform demanding missions requiring efficient operation in both hover and forward flight. This thesis discusses the development of a hybrid air vehicle which seamlessly combines both flight capabilities: hover and high-speed forward flight. It is the quad-rotor biplane, which weighs 240 grams and consists of four propellers with wings arranged in a biplane configuration. The performance of the vehicle system was investigated in conditions representative of flight through a series of wind tunnel experiments. These studies provided an understanding of propeller-wing interaction effects and system trim analysis. This showed that the maximum speed of 11 m/s and a cruise speed of 4 m/s were achievable and that the cruise power is approximately one-third of the hover power. Free flight testing of the vehicle successfully highlighted its ability to achieve equilibrium transition flight. Key design parameters were experimentally investigated to understand their effect on overall performance. It was found that a trade-off between efficiency and compactness affects the final choice of the design. Design improvements have allowed for decreases in vehicle weight and ground footprint, while increasing structural soundness. Numerous vehicle designs, models, and flight tests have proven system scalability as well as versatility, including an upscaled model to be utilized in an extensive commercial package delivery system. Overall, the quad-rotor biplane is proven to be an efficient and effective multi-role vehicle.

Wild rufous hummingbirds use local landmarks to return to rewarded locations.

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Pritchard, David J; Scott, Renee D; Healy, Susan D; Hurly, Andrew T

2016-01-01

Animals may remember an important location with reference to one or more visual landmarks. In the laboratory, birds and mammals often preferentially use landmarks near a goal ("local landmarks") to return to that location at a later date. Although we know very little about how animals in the wild use landmarks to remember locations, mammals in the wild appear to prefer to use distant landmarks to return to rewarded locations. To examine what cues wild birds use when returning to a goal, we trained free-living hummingbirds to search for a reward at a location that was specified by three nearby visual landmarks. Following training we expanded the landmark array to test the extent that the birds relied on the local landmarks to return to the reward. During the test the hummingbirds' search was best explained by the birds having used the experimental landmarks to remember the reward location. How the birds used the landmarks was not clear and seemed to change over the course of each test. These wild hummingbirds, then, can learn locations in reference to nearby visual landmarks. Copyright © 2015 Elsevier B.V. All rights reserved.

First observed roost site of Vervain Hummingbird (mellisuga minima)

Science.gov (United States)

P.B. Hamel

2012-01-01

An observation of a roost site of a male Vervain Hummingbird in the Dominican Republic on 7 November 2010 is the first for this species. The bird chose an entirely exposed position on a very thin twig,

Optic flow stabilizes flight in ruby-throated hummingbirds.

Science.gov (United States)

Ros, Ivo G; Biewener, Andrew A

2016-08-15

Flying birds rely on visual cues for retinal image stabilization by negating rotation-induced optic flow, the motion of the visual panorama across the retina, through corrective eye and head movements. In combination with vestibular and proprioceptive feedback, birds may also use visual cues to stabilize their body during flight. Here, we test whether artificially induced wide-field motion generated through projected visual patterns elicits maneuvers in body orientation and flight position, in addition to stabilizing vision. To test this hypothesis, we present hummingbirds flying freely within a 1.2 m cylindrical visual arena with a virtual surround rotated at different speeds about its vertical axis. The birds responded robustly to these visual perturbations by rotating their heads and bodies with the moving visual surround, and by adjusting their flight trajectories, following the surround. Thus, similar to insects, hummingbirds appear to use optic flow cues to control flight maneuvers as well as to stabilize their visual inputs. © 2016. Published by The Company of Biologists Ltd.

Hummingbird with modern feathering: an exceptionally well-preserved Oligocene fossil from southern France

Science.gov (United States)

Louchart, Antoine; Tourment, Nicolas; Carrier, Julie; Roux, Thierry; Mourer-Chauviré, Cécile

2008-02-01

Hummingbirds (Trochilidae) today have an exclusively New World distribution, but their pre-Pleistocene fossil record comes from Europe only. In this study, we describe an exceptionally preserved fossil hummingbird from the early Oligocene of southeastern France. The specimen is articulated, with a completely preserved beak and feathering. Osteological characters allow to identify it as Eurotrochilus sp. This genus is a stem group representative of Trochilidae and was recently described from the early Oligocene of southern Germany. The new fossil reveals that these European Trochilidae were remarkably modern in size, skeletal proportions and the shape of the wing, tail and beak and hyoid bones. These features confirm the early acquisition of the abilities of hovering and nectarivory in hummingbirds, probably before the Oligocene. In several morphological characteristics, they resemble members of the ‘true hummingbirds’ (subfamily Trochilinae) and differ from hermits (Phaethornithinae). These features, which include a short and square tail and a moderately long, almost straight beak, appear to be primitive within the family Trochilidae.

Evolution of sweet taste perception in hummingbirds by transformation of the ancestral umami receptor

OpenAIRE

Baldwin, Maude Wheeler; Toda, Y.; Nakagita, T.; O'Connell, Mary J.; Klasing, Kirk C.; Misaka, T.; Edwards, Scott V.; Liberles, Stephen D

2014-01-01

Sensory systems define an animal's capacity for perception and can evolve to promote survival in new environmental niches. We have uncovered a noncanonical mechanism for sweet taste perception that evolved in hummingbirds since their divergence from insectivorous swifts, their closest relatives. We observed the widespread absence in birds of an essential subunit (T1R2) of the only known vertebrate sweet receptor, raising questions about how specialized nectar feeders such as hummingbirds sens...

Seguimiento de trayectorias tridimensionales de un quadrotor mediante control PVA

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Silvia Estellés Martínez

2014-01-01

Full Text Available Resumen: Este trabajo presenta el modelado de un quadrotor como un sistema multicuerpo llevado a cabo mediante el software Vehicle- Sim, en el que los diferentes componentes del sistema son descritos mediante una estructura paterno-filial señalando las restricciones físicas entre ellos. Los modelos estructural y aerodinámico han sido desarrollados mediante este software, ampliamente utilizado en la simulación del comportamiento dinámico de vehículos.Sobre el modelo resultante se he desarrollado un algoritmo de control basado en la metodologia PVA con la finalidad de obtener un seguimiento de trayectoria mediante acciones de control suaves. Empleando la metodología convencional de control PVA no es posible estabilizar el vehículo en todos los rangos de posicionamiento lateral (y y longitudinal (x. En este artículo los autores muestran como esta limitación en el diseño de una estrategia de control PVA convencional es solventada con una modificación consistente en sustituir los parámetros constantes del PVA clásico por funciones dependientes del desplazamiento.El sistema de control es implementado para adecuarse a los requerimientos de las actuaciones y se diseña sobre la plataforma de simulación multidominio Simulink. Con la finalidad de obtener una importante mejora en la respuesta de posicionamiento, se im- plementa un generador de trayectorias continuas.Una vez que el modelo es desarrollado y el sistema de control implementado, los autores presentan el modelo matemático y los resultados de las simulaciones realizadas. Éstas validan el empleo tanto de la metodología de control PVA aplicada, como de la alimentación de trayectorias predefinidas, no sólo para la posición, sino también para la velocidad y aceleración. Abstract: In this work the authors present the modelling of a quadrotor as a multibody system carried out with the software VehicleSim, in which the different

Automatic UAV Image Geo-Registration by Matching UAV Images to Georeferenced Image Data

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Xiangyu Zhuo

2017-04-01

Full Text Available Recent years have witnessed the fast development of UAVs (unmanned aerial vehicles. As an alternative to traditional image acquisition methods, UAVs bridge the gap between terrestrial and airborne photogrammetry and enable flexible acquisition of high resolution images. However, the georeferencing accuracy of UAVs is still limited by the low-performance on-board GNSS and INS. This paper investigates automatic geo-registration of an individual UAV image or UAV image blocks by matching the UAV image(s with a previously taken georeferenced image, such as an individual aerial or satellite image with a height map attached or an aerial orthophoto with a DSM (digital surface model attached. As the biggest challenge for matching UAV and aerial images is in the large differences in scale and rotation, we propose a novel feature matching method for nadir or slightly tilted images. The method is comprised of a dense feature detection scheme, a one-to-many matching strategy and a global geometric verification scheme. The proposed method is able to find thousands of valid matches in cases where SIFT and ASIFT fail. Those matches can be used to geo-register the whole UAV image block towards the reference image data. When the reference images offer high georeferencing accuracy, the UAV images can also be geolocalized in a global coordinate system. A series of experiments involving different scenarios was conducted to validate the proposed method. The results demonstrate that our approach achieves not only decimeter-level registration accuracy, but also comparable global accuracy as the reference images.

Different foraging preferences of hummingbirds on artificial and natural flowers reveal mechanisms structuring plant-pollinator interactions.

Science.gov (United States)

Maglianesi, María A; Böhning-Gaese, Katrin; Schleuning, Matthias

2015-05-01

In plant-pollinator networks, the floral morphology of food plants is an important determinant of the interaction niche of pollinators. Studies on foraging preferences of pollinators combining experimental and observational approaches may help to understand the mechanisms behind patterns of interactions and niche partitioning within pollinator communities. In this study, we tested whether morphological floral traits were associated with foraging preferences of hummingbirds for artificial and natural flower types in Costa Rica. We performed field experiments with artificial feeders, differing in length and curvature of flower types, to quantify the hummingbirds' interaction niche under unlimited nectar resources. To quantify the interaction niche under real-world conditions of limited nectar resources, we measured foraging preferences of hummingbirds for a total of 34 plant species. Artificial feeders were visited by Eupherusa nigriventris and Phaethornis guy in the pre-montane forest, and Lampornis calolaemus in the lower montane forest. Under experimental conditions, all three hummingbird species overlapped their interaction niches and showed a preference for the short artificial flower type over the long-straight and the long-curved flower types. Under natural conditions, the two co-occurring hummingbird species preferred to feed on plant species with floral traits corresponding to their bill morphology. The short-billed hummingbird E. nigriventris preferred to feed on short and straight flowers, whereas the long- and curved-billed P. guy preferred long and curved natural flowers. The medium-size billed species L. calolaemus preferred to feed on flowers of medium length and did not show preferences for plant species with specific corolla curvature. Our results show that floral morphological traits constrain access by short-billed hummingbird species to nectar resources. Morphological constraints, therefore, represent one important mechanism structuring trophic

Residency in white-eared hummingbirds (Hylocharis leucotis and its effect in territorial contest resolution

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Verónica Mendiola-Islas

2016-10-01

Full Text Available Background Territory owners usually defeat intruders. One explanation for this observation is the uncorrelated asymmetry hypothesis which argues that contests might be settled by an arbitrary convention such as “owners win.” We studied the effect of territorial residency on contest asymmetries in the white-eared hummingbird (Hylocharis leucotis in a fir forest from central Mexico. Methods Twenty white-eared male adult hummingbird territories were monitored during a winter season, recording the territorial behavior of the resident against intruding hummingbirds. The size and quality of the territory were related to the probability that the resident would allow the use of flowers by the intruder. Various generalized models (logistical models were generated to describe the probabilities of victory for each individual resident depending on the different combinations of three predictor variables (territory size, territory quality, and intruder identity. Results In general, small and low quality territory owners tend to prevent conspecific intruders from foraging at a higher rate, while they frequently fail to exclude heterospecific intruders such as the magnificent hummingbird (Eugenes fulgens or the green violetear hummingbird (Colibri thalassinus on any territory size. Our results showed that the identity of the intruder and the size and quality of the territory determined the result of the contests, but not the intensity of defense. Discussion Initially, the rule that “the resident always wins” was supported, since no resident was expelled from its territory during the study. Nevertheless, the resident-intruder asymmetries during the course of a day depended on different factors, such as the size and quality of the territory and, mainly, the identity of the intruders. Our results showed that flexibility observed in contest tactics suggests that these tactics are not fixed but are socially plastic instead and they can be adjusted to

Residency in white-eared hummingbirds (Hylocharis leucotis) and its effect in territorial contest resolution.

Science.gov (United States)

Mendiola-Islas, Verónica; Lara, Carlos; Corcuera, Pablo; Valverde, Pedro Luis

2016-01-01

Territory owners usually defeat intruders. One explanation for this observation is the uncorrelated asymmetry hypothesis which argues that contests might be settled by an arbitrary convention such as "owners win." We studied the effect of territorial residency on contest asymmetries in the white-eared hummingbird ( Hylocharis leucotis ) in a fir forest from central Mexico. Twenty white-eared male adult hummingbird territories were monitored during a winter season, recording the territorial behavior of the resident against intruding hummingbirds. The size and quality of the territory were related to the probability that the resident would allow the use of flowers by the intruder. Various generalized models (logistical models) were generated to describe the probabilities of victory for each individual resident depending on the different combinations of three predictor variables (territory size, territory quality, and intruder identity). In general, small and low quality territory owners tend to prevent conspecific intruders from foraging at a higher rate, while they frequently fail to exclude heterospecific intruders such as the magnificent hummingbird ( Eugenes fulgens ) or the green violetear hummingbird ( Colibri thalassinus ) on any territory size. Our results showed that the identity of the intruder and the size and quality of the territory determined the result of the contests, but not the intensity of defense. Initially, the rule that "the resident always wins" was supported, since no resident was expelled from its territory during the study. Nevertheless, the resident-intruder asymmetries during the course of a day depended on different factors, such as the size and quality of the territory and, mainly, the identity of the intruders. Our results showed that flexibility observed in contest tactics suggests that these tactics are not fixed but are socially plastic instead and they can be adjusted to specific circumstances.

Postnatal Growth Rates of Hummingbirds : Review and New Records

NARCIS (Netherlands)

Freymann, Bernd P.; Schuchmann, Karl-Ludwig

2008-01-01

We review the published information on postnatal growth rates of hummingbirds (13 species), and report previously unpublished records for nine additional trochilid species. The allometric relationship based on the log(10)-transformed data of K (logistic growth rate constant) and body mass has a

Effect of artificial feeders on pollen loads of the hummingbirds of Cerro de La Muerte, Costa Rica

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Gerardo Avalos

2012-03-01

Full Text Available Although sugar-water feeders are commonly used by enthusiasts to attract hummingbirds, little is known about how they affect hummingbird behavior and flower use. We studied the highland hummingbird assemblage of Cerro de La Muerte, Costa Rica, both at a site with permanent feeders (La Georgina Restaurant and further from it. We examined how feeder use and monopolization affected seasonal changes in pollen loads during four sampling periods, including dry and wet seasons, from 2003-2005. We expected that species monopolizing the feeders would carry little or no pollen whatsoever, and would have pollen loads characterized by low floral diversity, in contrast with species less dependent on feeders. We obtained pollen samples from 183 individuals of four hummingbird species captured around the feeders using mist nets, which were compared with a pollen reference collection of plants with a pollination syndrome by hummingbirds. The same methods were implemented at a site 3km away from the feeders. Feeder usage was quantified by counting the number of times hummingbirds drank from the feeders in periods of 4min separated by 1min. The effects of hummingbird species and season on pollen load categories were assessed using a nominal logistic regression. The alpha species at the site, the Fiery-throated Hummingbird (Panterpe insignis, dominated the feeders during the dry season. Meanwhile, in the wet season, feeder usage was more evenly distributed across species, with the exception of the Volcano Hummingbird, Selasphorus flammula, which occupies the last place in the dominance hierarchy. Pollen loads of hummingbirds captured near feeders were low in abundance (more than 50% of captured individuals had zero or low pollen loads, and low in species richness (96% of the hummingbirds with pollen from only one plant genus, Centropogon. Overall pollen loads increased during the dry season coinciding with peaks in flower availability, although the majority of

Asynchronous changes in phenology of migrating Broad-tailed Hummingbirds and their early-season nectar resources.

Science.gov (United States)

McKinney, Amy M; CaraDonna, Paul J; Inouye, David W; Barr, Billy; Bertelsen, C David; Waser, Nickolas M

2012-09-01

Phenological advancements driven by climate change are especially pronounced at higher latitudes, so that migrants from lower latitudes may increasingly arrive at breeding grounds after the appearance of seasonal resources. To explore this possibility, we compared dates of first arrival of Broad-tailed Hummingbirds (Selasphorus platycercus) to dates of flowering of plants they visit for nectar. Near the southern limit of the breeding range, neither hummingbird arrival nor first flowering dates have changed significantly over the past few decades. At a nearby migration stopover site, first flowering of a major food plant has advanced, but peak flowering has not. Near the northern limit of the breeding range, first and peak flowering of early-season food plants have shifted to earlier dates, resulting in a shorter interval between appearance of first hummingbirds and first flowers. If phenological shifts continue at current rates, hummingbirds will eventually arrive at northern breeding grounds after flowering begins, which could reduce their nesting success. These results support the prediction that migratory species may experience the greatest phenological mismatches at the poleward limits of their migration. A novel hypothesis based on these results posits that the poleward limit for some species may contract toward lower latitudes under continued warming.

Pollination and breeding system of Canna paniculata(Cannaceae in a montane Atlantic Rainforest: asymmetric dependence on a hermit hummingbird

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Pietro Kiyoshi Maruyama

2015-03-01

Full Text Available We studied the pollination biology of Canna paniculata (Cannaceae, a plant species common in the Atlantic Rainforest of southeastern Brazil. The species presents specialized ornithophilous flowers, which in our study area are solely pollinated by the hermit hummingbird Phaethornis eurynome. Although C. paniculata is capable of bearing fruit after self-pollination, it requires pollinators for reproduction. We discuss the importance of hermit hummingbirds for the reproduction of specialized ornithophilous plants such as C. paniculata, including their asymmetric dependence on hermit hummingbirds - core pollinators in Neotropical forest ecosystems.

Three-dimensional space: locomotory style explains memory differences in rats and hummingbirds.

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Flores-Abreu, I Nuri; Hurly, T Andrew; Ainge, James A; Healy, Susan D

2014-06-07

While most animals live in a three-dimensional world, they move through it to different extents depending on their mode of locomotion: terrestrial animals move vertically less than do swimming and flying animals. As nearly everything we know about how animals learn and remember locations in space comes from two-dimensional experiments in the horizontal plane, here we determined whether the use of three-dimensional space by a terrestrial and a flying animal was correlated with memory for a rewarded location. In the cubic mazes in which we trained and tested rats and hummingbirds, rats moved more vertically than horizontally, whereas hummingbirds moved equally in the three dimensions. Consistent with their movement preferences, rats were more accurate in relocating the horizontal component of a rewarded location than they were in the vertical component. Hummingbirds, however, were more accurate in the vertical dimension than they were in the horizontal, a result that cannot be explained by their use of space. Either as a result of evolution or ontogeny, it appears that birds and rats prioritize horizontal versus vertical components differently when they remember three-dimensional space.

Evaluation of Proctophyllodes huitzilopochtlii on feathers from Anna's (Calypte anna) and Black-chinned (Archilochus alexandri) Hummingbirds: Prevalence assessment and imaging analysis using light and tabletop scanning electron microscopy.

Science.gov (United States)

Yamasaki, Youki K; Graves, Emily E; Houston, Robin S; OConnor, Barry M; Kysar, Patricia E; Straub, Mary H; Foley, Janet E; Tell, Lisa A

2018-01-01

Proctophyllodes huitzilopochtlii Atyeo & Braasch 1966 (Acariformes: Astigmata: Proctophyllodidae), a feather mite, was found on feathers collected from five hummingbird species in California. This mite has not been previously documented on feathers from Anna's (Calypte anna [Lesson 1829]) or Black-chinned (Archilochus alexandri [Bourcier & Mulsant 1846]) Hummingbirds. A total of 753 hummingbirds were evaluated for the presence of mites by species (Allen's n = 112; Anna's n = 500; Black-chinned n = 122; Rufous n = 18; Calliope n = 1), sex (males n = 421; females n = 329; 3 unidentified), and age (juvenile n = 199; after-hatch-year n = 549; 5 unidentified). Of these 753 hummingbirds evaluated, mites were present on the rectrices of 40.9% of the birds. Significantly more Anna's Hummingbirds were positive for rectricial mites (59.2%) compared with 8.2% of Black-chinned, 0.9% of Allen's, 5.6% of Rufous Hummingbirds, and 0% for Calliope (p-value hummingbird species, male hummingbirds (44.9%) had a higher prevalence of rectricial mites compared to female hummingbirds (36.2%; p-value = 0.004), while juvenile hummingbirds (46.2%) had a non-significantly higher prevalence compared to after-hatch-year hummingbirds (39.0%; p-value = 0.089). On average, the percentage of the long axis of the rachis occupied by mites for the outer rectrices (R4 and R5) was 19%, compared to 11% for inner rectrices (R1 and R2), a significant difference (p-value = hummingbird-feather mite relationship is not well understood, but the specialized TSEM technique may be especially useful in examining natural positioning and developmental aspects of the mites since it allows in situ feather examination of live mites.

Backward flight in hummingbirds employs unique kinematic adjustments and entails low metabolic cost.

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Sapir, Nir; Dudley, Robert

2012-10-15

Backward flight is a frequently used transient flight behavior among members of the species-rich hummingbird family (Trochilidae) when retreating from flowers, and is known from a variety of other avian and hexapod taxa, but the biomechanics of this intriguing locomotor mode have not been described. We measured rates of oxygen uptake (V(O2)) and flight kinematics of Anna's hummingbirds, Calypte anna (Lesson), within a wind tunnel using mask respirometry and high-speed videography, respectively, during backward, forward and hovering flight. We unexpectedly found that in sustained backward flight is similar to that in forward flight at equivalent airspeed, and is about 20% lower than hovering V(O2). For a bird that was measured throughout a range of backward airspeeds up to a speed of 4.5 m s(-1), the power curve resembled that of forward flight at equivalent airspeeds. Backward flight was facilitated by steep body angles coupled with substantial head flexion, and was also characterized by a higher wingbeat frequency, a flat stroke plane angle relative to horizontal, a high stroke plane angle relative to the longitudinal body axis, a high ratio of maximum:minimum wing positional angle, and a high upstroke:downstroke duration ratio. Because of the convergent evolution of hummingbird and some hexapod flight styles, flying insects may employ similar kinematics while engaged in backward flight, for example during station keeping or load lifting. We propose that backward flight behavior in retreat from flowers, together with other anatomical, physiological, morphological and behavioral adaptations, enables hummingbirds to maintain strictly aerial nectarivory.

Colour cues facilitate learning flower refill schedules in wild hummingbirds.

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Samuels, Michael; Hurly, T Andrew; Healy, Susan D

2014-11-01

Free-living hummingbirds can learn the refill schedules of individual experimental flowers but little is known about what information they use to do this. Colour cues, in particular, may be important to hummingbirds when learning about rewarded flower properties. We investigated, therefore, whether colour cues facilitated the learning of flower refill schedules in wild, free-living rufous hummingbirds (Selasphorus rufus). In the Cued condition, we presented birds with an array of six flowers, three of one colour, each of which were refilled 10min after being emptied by the bird and three of a different colour, which were refilled 20min after being emptied. In the Uncued condition we presented birds with six flowers of the same colour, three of which were refilled after 10min and three of which were refilled after 20min as for the birds in the Cued condition. In the second part of the experiment, we moved the array 2m and changed the shape of the array. Across both phases, birds in the Cued condition learned to discriminate between 10 and 20-min flowers more quickly than did the birds in the Uncued condition. The Cued birds were also better at discriminating between the two distinct refill intervals. Colour cues can, therefore, facilitate learning the refill schedules of experimental flowers in these birds. This article is part of a Special Issue entitled: Cognition in the wild. Copyright © 2014 Elsevier B.V. All rights reserved.

Trait-mediated trophic cascade creates enemy-free space for nesting hummingbirds.

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Greeney, Harold F; Meneses, M Rocio; Hamilton, Chris E; Lichter-Marck, Eli; Mannan, R William; Snyder, Noel; Snyder, Helen; Wethington, Susan M; Dyer, Lee A

2015-09-01

The indirect effects of predators on nonadjacent trophic levels, mediated through traits of intervening species, are collectively known as trait-mediated trophic cascades. Although birds are important predators in terrestrial ecosystems, clear examples of trait-mediated indirect effects involving bird predators have almost never been documented. Such indirect effects are important for structuring ecological communities and are likely to be negatively impacted by habitat fragmentation, climate change, and other factors that reduce abundance of top predators. We demonstrate that hummingbirds in Arizona realize increased breeding success when nesting in association with hawks. An enemy-free nesting space is created when jays, an important source of mortality for hummingbird nests, alter their foraging behavior in the presence of their hawk predators.

Contrasting patterns of phylogenetic assemblage structure along the elevational gradient for major hummingbird clades

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Parra, Juan L.; Rahbek, Carsten; McGuire, Jimmy A.

2011-01-01

Aim We evaluated the hypothesis that, given niche conservatism, relatedness of co-occurring hummingbird species of a given clade will increase at greater distances from the elevation where it originated. We also used prior knowledge of flight biomechanics and feeding specialization of hummingbird...... specialization (hermits and brilliants) always included a vegetation-related variable as an important predictor of change in phylogenetic structure. Main conclusions We found no overall support for the conservatism and zone of origin hypotheses. Knowledge of each clade’s natural history proved useful...

Hovering hummingbird wing aerodynamics during the annual cycle. II. Implications of wing feather moult

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Sapir, Nir; Elimelech, Yossef

2018-01-01

Birds usually moult their feathers in a particular sequence which may incur aerodynamic, physiological and behavioural implications. Among birds, hummingbirds are unique species in their sustained hovering flight. Because hummingbirds frequently hover-feed, they must maintain sufficiently high flight capacities even when moulting their flight feathers. A hummingbird wing consists of 10 primary flight feathers whose absence during moult may strongly affect wing performance. Using dynamic similarity rules, we compared time-accurate aerodynamic loads and flow field measurements over several wing geometries that follow the natural feather moult sequence of Calypte anna, a common hummingbird species in western North America. Our results suggest a drop of more than 20% in lift production during the early stages of the moult sequence in which mid-wing flight feathers are moulted. We also found that the wing's ability to generate lift strongly depended on the morphological integrity of the outer primaries and leading-edge. These findings may explain the evolution of wing morphology and moult attributes. Specifically, the high overlap between adjacent wing feathers, especially at the wing tip, and the slow sequential replacement of the wing feathers result in a relatively small reduction in wing surface area during moult with limited aerodynamic implications. We present power and efficiency analyses for hover flight during moult under several plausible scenarios, suggesting that body mass reduction could be a compensatory mechanism that preserves the energetic costs of hover flight. PMID:29515884

Specialization in plant-hummingbird networks is associated with species richness, contemporary precipitation and quaternary climate-change velocity

DEFF Research Database (Denmark)

Dalsgaard, Bo; Magård, Else; Fjeldså, Jon

2011-01-01

patterns of contemporary biotic specialization and its drivers, we use network analysis to determine the degree of specialization in plant-hummingbird mutualistic networks sampled at 31 localities, spanning a wide range of climate regimes across the Americas. We found greater biotic specialization at lower...... latitudes, with latitude explaining 20-22% of the spatial variation in plant-hummingbird specialization. Potential drivers of specialization--contemporary climate, Quaternary climate-change velocity, and species richness--had superior explanatory power, together explaining 53-64% of the variation...... specialization. These results suggest that both ecological and evolutionary processes at Quaternary time scales can be important in driving large-scale geographical patterns of contemporary biotic specialization, at least for co-evolved systems such as plant-hummingbird networks....

UAV Delivery Monitoring System

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San Khin Thida

2018-01-01

Full Text Available UAV-based delivery systems are increasingly being used in the logistics field, particularly to achieve faster last-mile delivery. This study develops a UAV delivery system that manages delivery order assignments, autonomous flight operation, real time control for UAV flights, and delivery status tracking. To manage the delivery item assignments, we apply the concurrent scheduler approach with a genetic algorithm. The present paper describes real time flight data based on a micro air vehicle communication protocol (MAVLink. It also presents the detailed hardware components used for the field tests. Finally, we provide UAV component analysis to choose the suitable components for delivery in terms of battery capacity, flight time, payload weight and motor thrust ratio.

Speciose opportunistic nectar-feeding avifauna in Cuba and its association to hummingbird island biogeography

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Dalsgaard, Bo; Baquero, Andrea C.; Rahbek, Carsten

2016-01-01

Island organisms often have wider feeding niches than mainland organisms, and migratory birds breeding on continents often widen their niches when overwintering on islands. Cuba's low hummingbird richness has puzzled ornithologists for decades. Here, we show that the Cuban hummingbird fauna is less...... rich than expected based on Cuba's elevation, when compared to the rest of the West Indian islands. Thereafter, we report nectar-feeding behaviour by 26 non-Trochilidae bird species in Cuba, encompassing pigeons/doves, woodpeckers and passerines, and endemic, resident and migratory species. We discuss...

Wake patterns of the wings and tail of hovering hummingbirds

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Altshuler, Douglas L.; Princevac, Marko; Pan, Hansheng; Lozano, Jesse

The flow fields of slowly flying bats and fasterflying birds differ in that bats produce two vortex loops during each stroke, one per wing, and birds produce a single vortex loop per stroke. In addition, the circulation at stroke transition approaches zero in bats but remains strong in birds. It is unknown if these difference derive from fundamental differences in wing morphology or are a consequence of flight speed. Here, we present an analysis of the horizontal flow field underneath hovering Anna's hummingbirds (Calypte anna) to describe the wake of a bird flying at zero forward velocity. We also consider how the hummingbird tail interacts with the wake generated by the wings. High-speed image recording and analysis from three orthogonal perspectives revealed that the wing tips reach peak velocities in the middle of each stroke and approach zero velocity at stroke transition. Hummingbirds use complex tail kinematic patterns ranging from in phase to antiphase cycling with respect to the wings, covering several phase shifted patterns. We employed particle image velocimetry to attain detailed horizontal flow measurements at three levels with respect to the tail: in the tail, at the tail tip, and just below the tail. The velocity patterns underneath the wings indicate that flow oscillates along the ventral-dorsal axis in response to the down- and up-strokes and that the sideways flows with respect to the bird are consistently from the lateral to medial. The region around the tail is dominated by axial flows in dorsal to ventral direction. We propose that these flows are generated by interaction between the wakes of the two wings at the end of the upstroke, and that the tail actively defects flows to generate moments that contribute to pitch stability. The flow fields images also revealed distinct vortex loops underneath each wing, which were generated during each stroke. From these data, we propose a model for the primary flow structures of hummingbirds that more

The Rufous Hummingbird in hovering flight -- full-body 3D immersed boundary simulation

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Ferreira de Sousa, Paulo; Luo, Haoxiang; Bocanegra Evans, Humberto

2009-11-01

Hummingbirds are an interesting case study for the development of micro-air vehicles since they combine the high flight stability of insects with the low metabolic power per unit of body mass of bats, during hovering flight. In this study, simulations of a full-body hummingbird in hovering flight were performed at a Reynolds number around 3600. The simulations employ a versatile sharp-interface immersed boundary method recently enhanced at our lab that can treat thin membranes and solid bodies alike. Implemented on a Cartesian mesh, the numerical method allows us to capture the vortex dynamics of the wake accurately and efficiently. The whole-body simulation will allow us to clearly identify the three general patterns of flow velocity around the body of the hummingbird referred in Altshuler et al. (Exp Fluids 46 (5), 2009). One focus of the current study is to understand the interaction between the wakes of the two wings at the end of the upstroke, and how the tail actively defects the flow to contribute to pitch stability. Another focus of the study will be to identify the pair of unconnected loops underneath each wing.

Control Neuronal en Línea para Regulación y Seguimiento de Trayectorias de Posición para un Quadrotor

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Hugo Yañez-Badillo

2017-04-01

Full Text Available Resumen: Los sistemas de control automático día a día se han convertido en elementos importantes en la vida cotidiana, en tal sentido, se deben proponer nuevas y mejores formas de incorporar modelos matemáticos y algoritmos de control adaptativos para superar la gran cantidad de cambios técnicos y físicos a los que se enfrentan para su utilización. En este artículo se realiza el control de posición y seguimiento de trayectorias para un Quadrotor. Debido a la naturaleza no lineal de este sistema subactuado, se propone el empleo de un controlador adaptativo basado en redes neuronales B-spline que permita determinar las señales de control mediante un entrenamiento dividido en dos etapas: a uno inicial fuera de línea y; b uno continuo en línea. Esta forma de aprendizaje permite al Quadrotor extender un desempeño satisfactorio ante diferentes condiciones operativas y seguimiento de los valores de referencia. Los resultados de simulación verifican la aplicabilidad del controlador propuesto y el impacto que se tiene en el desempeño del sistema minimizando la necesidad de contar con un modelo matemático no lineal detallado, así como el conocimiento exacto de los valores de los parámetros del Quadrotor. Abstract: Automatic control systems every day become more important in everyday life; therefore, it must find new and better ways to incorporate mathematical models and adaptive control algorithms to cope with a number of technical and physical challenges for exploitation. In this paper, the algorithm of the dynamic model of a Quadrotor applied to an angular position and trajectory control as a study case is detailed. Due to nonlinear nature of this type of systems, an adaptive on line neurocontroller algorithm based on B-spline neural networks is proposed, the learning procedure is divided in two stages: a an initial off line training and; b an on line continuous learning. This form of learning allows the Quadrotor extend its

Evaluation of Proctophyllodes huitzilopochtlii on feathers from Anna’s (Calypte anna) and Black-chinned (Archilochus alexandri) Hummingbirds: Prevalence assessment and imaging analysis using light and tabletop scanning electron microscopy

Science.gov (United States)

Yamasaki, Youki K.; Graves, Emily E.; Kysar, Patricia E.; Straub, Mary H.

2018-01-01

Proctophyllodes huitzilopochtlii Atyeo & Braasch 1966 (Acariformes: Astigmata: Proctophyllodidae), a feather mite, was found on feathers collected from five hummingbird species in California. This mite has not been previously documented on feathers from Anna’s (Calypte anna [Lesson 1829]) or Black-chinned (Archilochus alexandri [Bourcier & Mulsant 1846]) Hummingbirds. A total of 753 hummingbirds were evaluated for the presence of mites by species (Allen’s n = 112; Anna’s n = 500; Black-chinned n = 122; Rufous n = 18; Calliope n = 1), sex (males n = 421; females n = 329; 3 unidentified), and age (juvenile n = 199; after-hatch-year n = 549; 5 unidentified). Of these 753 hummingbirds evaluated, mites were present on the rectrices of 40.9% of the birds. Significantly more Anna’s Hummingbirds were positive for rectricial mites (59.2%) compared with 8.2% of Black-chinned, 0.9% of Allen’s, 5.6% of Rufous Hummingbirds, and 0% for Calliope (p-value hummingbird species, male hummingbirds (44.9%) had a higher prevalence of rectricial mites compared to female hummingbirds (36.2%; p-value = 0.004), while juvenile hummingbirds (46.2%) had a non-significantly higher prevalence compared to after-hatch-year hummingbirds (39.0%; p-value = 0.089). On average, the percentage of the long axis of the rachis occupied by mites for the outer rectrices (R4 and R5) was 19%, compared to 11% for inner rectrices (R1 and R2), a significant difference (p-value = hummingbird–feather mite relationship is not well understood, but the specialized TSEM technique may be especially useful in examining natural positioning and developmental aspects of the mites since it allows in situ feather examination of live mites. PMID:29444089

Adaptive Trajectory Tracking Control using Reinforcement Learning for Quadrotor

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Wenjie Lou

2016-02-01

Full Text Available Inaccurate system parameters and unpredicted external disturbances affect the performance of non-linear controllers. In this paper, a new adaptive control algorithm under the reinforcement framework is proposed to stabilize a quadrotor helicopter. Based on a command-filtered non-linear control algorithm, adaptive elements are added and learned by policy-search methods. To predict the inaccurate system parameters, a new kernel-based regression learning method is provided. In addition, Policy learning by Weighting Exploration with the Returns (PoWER and Return Weighted Regression (RWR are utilized to learn the appropriate parameters for adaptive elements in order to cancel the effect of external disturbance. Furthermore, numerical simulations under several conditions are performed, and the ability of adaptive trajectory-tracking control with reinforcement learning are demonstrated.

Eye Morphology and Retinal Topography in Hummingbirds (Trochilidae: Aves).

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Lisney, Thomas J; Wylie, Douglas R; Kolominsky, Jeffrey; Iwaniuk, Andrew N

2015-01-01

Hummingbirds are a group of small, highly specialized birds that display a range of adaptations to their nectarivorous lifestyle. Vision plays a key role in hummingbird feeding and hovering behaviours, yet very little is known about the visual systems of these birds. In this study, we measured eye morphology in 5 hummingbird species. For 2 of these species, we used stereology and retinal whole mounts to study the topographic distribution of neurons in the ganglion cell layer. Eye morphology (expressed as the ratio of corneal diameter to eye transverse diameter) was similar among all 5 species and was within the range previously documented for diurnal birds. Retinal topography was similar in Amazilia tzacatl and Calypte anna. Both species had 2 specialized retinal regions of high neuron density: a central region located slightly dorso-nasal to the superior pole of the pecten, where densities reached ∼ 45,000 cells · mm(-2), and a temporal area with lower densities (38,000-39,000 cells · mm(-2)). A weak visual streak bridged the two high-density areas. A retina from Phaethornis superciliosus also had a central high-density area with a similar peak neuron density. Estimates of spatial resolving power for all 3 species were similar, at approximately 5-6 cycles · degree(-1). Retinal cross sections confirmed that the central high-density region in C. anna contains a fovea, but not the temporal area. We found no evidence of a second, less well-developed fovea located close to the temporal retina margin. The central and temporal areas of high neuron density allow for increased spatial resolution in the lateral and frontal visual fields, respectively. Increased resolution in the frontal field in particular may be important for mediating feeding behaviors such as aerial docking with flowers and catching small insects. © 2015 S. Karger AG, Basel.

Quad Rotorcraft Control Vision-Based Hovering and Navigation

CERN Document Server

García Carrillo, Luis Rodolfo; Lozano, Rogelio; Pégard, Claude

2013-01-01

Quad-Rotor Control develops original control methods for the navigation and hovering flight of an autonomous mini-quad-rotor robotic helicopter. These methods use an imaging system and a combination of inertial and altitude sensors to localize and guide the movement of the unmanned aerial vehicle relative to its immediate environment. The history, classification and applications of UAVs are introduced, followed by a description of modelling techniques for quad-rotors and the experimental platform itself. A control strategy for the improvement of attitude stabilization in quad-rotors is then proposed and tested in real-time experiments. The strategy, based on the use of low-cost components and with experimentally-established robustness, avoids drift in the UAV’s angular position by the addition of an internal control loop to each electronic speed controller ensuring that, during hovering flight, all four motors turn at almost the same speed. The quad-rotor’s Euler angles being very close to the origin, oth...

Spurious RF signals emitted by mini-UAVs

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Schleijpen, Ric (H. M. A.); Voogt, Vincent; Zwamborn, Peter; van den Oever, Jaap

2016-10-01

This paper presents experimental work on the detection of spurious RF emissions of mini Unmanned Aerial Vehicles (mini-UAV). Many recent events have shown that mini-UAVs can be considered as a potential threat for civil security. For this reason the detection of mini-UAVs has become of interest to the sensor community. The detection, classification and identification chain can take advantage of different sensor technologies. Apart from the signatures used by radar and electro-optical sensor systems, the UAV also emits RF signals. These RF signatures can be split in intentional signals for communication with the operator and un-intentional RF signals emitted by the UAV. These unintentional or spurious RF emissions are very weak but could be used to discriminate potential UAV detections from false alarms. The goal of this research was to assess the potential of exploiting spurious emissions in the classification and identification chain of mini-UAVs. It was already known that spurious signals are very weak, but the focus was on the question whether the emission pattern could be correlated to the behaviour of the UAV. In this paper experimental examples of spurious RF emission for different types of mini-UAVs and their correlation with the electronic circuits in the UAVs will be shown

The sugar oxidation cascade: aerial refueling in hummingbirds and nectar bats.

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Suarez, Raul K; Herrera M, L Gerardo; Welch, Kenneth C

2011-01-15

Most hummingbirds and some species of nectar bats hover while feeding on floral nectar. While doing so, they achieve some of the highest mass-specific V(O(2)) values among vertebrates. This is made possible by enhanced functional capacities of various elements of the 'O(2) transport cascade', the pathway of O(2) from the external environment to muscle mitochondria. Fasted hummingbirds and nectar bats fly with respiratory quotients (RQs; V(CO(2))/V(O(2))) of ~0.7, indicating that fat fuels flight in the fasted state. During repeated hover-feeding on dietary sugar, RQ values progressively climb to ~1.0, indicating a shift from fat to carbohydrate oxidation. Stable carbon isotope experiments reveal that recently ingested sugar directly fuels ~80 and 95% of energy metabolism in hover-feeding nectar bats and hummingbirds, respectively. We name the pathway of carbon flux from flowers, through digestive and cardiovascular systems, muscle membranes and into mitochondria the 'sugar oxidation cascade'. O(2) and sugar oxidation cascades operate in parallel and converge in muscle mitochondria. Foraging behavior that favours the oxidation of dietary sugar avoids the inefficiency of synthesizing fat from sugar and breaking down fat to fuel foraging. Sugar oxidation yields a higher P/O ratio (ATP made per O atom consumed) than fat oxidation, thus requiring lower hovering V(O(2)) per unit mass. We propose that dietary sugar is a premium fuel for flight in nectarivorous, flying animals.

Unpredictability of nectar nicotine promotes outcrossing by hummingbirds in Nicotiana attenuata.

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Kessler, Danny; Bhattacharya, Samik; Diezel, Celia; Rothe, Eva; Gase, Klaus; Schöttner, Matthias; Baldwin, Ian T

2012-08-01

Many plants use sophisticated strategies to maximize their reproductive success via outcrossing. Nicotiana attenuata flowers produce nectar with nicotine at concentrations that are repellent to hummingbirds, increasing the number of flowers visited per plant. In choice tests using native hummingbirds, we show that these important pollinators learn to tolerate high-nicotine nectar but prefer low-nicotine nectar, and show no signs of nicotine addiction. Nectar nicotine concentrations, unlike those of other vegetative tissues, are unpredictably variable among flowers, not only among populations, but also within populations, and even among flowers within an inflorescence. To evaluate whether variations in nectar nicotine concentrations increase outcrossing, polymorphic microsatellite markers, optimized to evaluate paternity in native N. attenuata populations, were used to compare outcrossing in plants silenced for expression of a biosynthetic gene for nicotine production (Napmt1/2) and in control empty vector plants, which were antherectomized and transplanted into native populations. When only exposed to hummingbird pollinators, seeds produced by flowers with nicotine in their nectar had a greater number of genetically different sires, compared to seeds from nicotine-free flowers. As the variation in nectar nicotine levels among flowers in an inflorescence decreased in N. attenuata plants silenced in various combinations of three Dicer-like (DCL) proteins, small RNAs are probably involved in the unpredictable variation in nectar nicotine levels within a plant. © 2012 The Authors. The Plant Journal © 2012 Blackwell Publishing Ltd.

Glucose transporter expression in an avian nectarivore: the ruby-throated hummingbird (Archilochus colubris.

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Kenneth C Welch

Full Text Available Glucose transporter (GLUT proteins play a key role in the transport of monosaccharides across cellular membranes, and thus, blood sugar regulation and tissue metabolism. Patterns of GLUT expression, including the insulin-responsive GLUT4, have been well characterized in mammals. However, relatively little is known about patterns of GLUT expression in birds with existing data limited to the granivorous or herbivorous chicken, duck and sparrow. The smallest avian taxa, hummingbirds, exhibit some of the highest fasted and fed blood glucose levels and display an unusual ability to switch rapidly and completely between endogenous fat and exogenous sugar to fuel energetically expensive hovering flight. Despite this, nothing is known about the GLUT transporters that enable observed rapid rates of carbohydrate flux. We examined GLUT (GLUT1, 2, 3, & 4 expression in pectoralis, leg muscle, heart, liver, kidney, intestine and brain from both zebra finches (Taeniopygia guttata and ruby-throated hummingbirds (Archilochus colubris. mRNA expression of all four transporters was probed using reverse-transcription PCR (RT-PCR. In addition, GLUT1 and 4 protein expression were assayed by western blot and immunostaining. Patterns of RNA and protein expression of GLUT1-3 in both species agree closely with published reports from other birds and mammals. As in other birds, and unlike in mammals, we did not detect GLUT4. A lack of GLUT4 correlates with hyperglycemia and an uncoupling of exercise intensity and relative oxidation of carbohydrates in hummingbirds. The function of GLUTs present in hummingbird muscle tissue (e.g. GLUT1 and 3 remain undescribed. Thus, further work is necessary to determine if high capillary density, and thus surface area across which cellular-mediated transport of sugars into active tissues (e.g. muscle occurs, rather than taxon-specific differences in GLUT density or kinetics, can account for observed rapid rates of sugar flux into these

Evaluation of Proctophyllodes huitzilopochtlii on feathers from Anna's (Calypte anna and Black-chinned (Archilochus alexandri Hummingbirds: Prevalence assessment and imaging analysis using light and tabletop scanning electron microscopy.

Directory of Open Access Journals (Sweden)

Youki K Yamasaki

Full Text Available Proctophyllodes huitzilopochtlii Atyeo & Braasch 1966 (Acariformes: Astigmata: Proctophyllodidae, a feather mite, was found on feathers collected from five hummingbird species in California. This mite has not been previously documented on feathers from Anna's (Calypte anna [Lesson 1829] or Black-chinned (Archilochus alexandri [Bourcier & Mulsant 1846] Hummingbirds. A total of 753 hummingbirds were evaluated for the presence of mites by species (Allen's n = 112; Anna's n = 500; Black-chinned n = 122; Rufous n = 18; Calliope n = 1, sex (males n = 421; females n = 329; 3 unidentified, and age (juvenile n = 199; after-hatch-year n = 549; 5 unidentified. Of these 753 hummingbirds evaluated, mites were present on the rectrices of 40.9% of the birds. Significantly more Anna's Hummingbirds were positive for rectricial mites (59.2% compared with 8.2% of Black-chinned, 0.9% of Allen's, 5.6% of Rufous Hummingbirds, and 0% for Calliope (p-value < 0.0001. Across all hummingbird species, male hummingbirds (44.9% had a higher prevalence of rectricial mites compared to female hummingbirds (36.2%; p-value = 0.004, while juvenile hummingbirds (46.2% had a non-significantly higher prevalence compared to after-hatch-year hummingbirds (39.0%; p-value = 0.089. On average, the percentage of the long axis of the rachis occupied by mites for the outer rectrices (R4 and R5 was 19%, compared to 11% for inner rectrices (R1 and R2, a significant difference (p-value = <0.0001. There was a marginal lack of significance for symmetrical distribution of tail mites with the mean left side percentage of long axis of the rachis occupied by mites being 16% and very close to the mean right side score of 18% (p-value = 0.003. The identification of the feather mite species was based on light microscopic morphometry, and mite distribution on feathers was further evaluated using tabletop scanning electron microscopy (TSEM. The hummingbird-feather mite relationship is not well understood

Diverse Planning for UAV Control and Remote Sensing

Directory of Open Access Journals (Sweden)

Jan Tožička

2016-12-01

Full Text Available Unmanned aerial vehicles (UAVs are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs.

Flying in the rain: hovering performance of Anna's hummingbirds under varied precipitation.

Science.gov (United States)

Ortega-Jimenez, Victor Manuel; Dudley, Robert

2012-10-07

Flight in rain represents a greater challenge for smaller animals because the relative effects of water loading and drop impact are greater at reduced scales given the increased ratios of surface area to mass. Nevertheless, it is well known that small volant taxa such as hummingbirds can continue foraging even in extreme precipitation. Here, we evaluated the effect of four rain intensities (i.e. zero, light, moderate and heavy) on the hovering performance of Anna's hummingbirds (Calypte anna) under laboratory conditions. Light-to-moderate rain had only a marginal effect on flight kinematics; wingbeat frequency of individuals in moderate rain was reduced by 7 per cent relative to control conditions. By contrast, birds hovering in heavy rain adopted more horizontal body and tail positions, and also increased wingbeat frequency substantially, while reducing stroke amplitude when compared with control conditions. The ratio between peak forces produced by single drops on a wing and on a solid surface suggests that feathers can absorb associated impact forces by up to approximately 50 per cent. Remarkably, hummingbirds hovered well even under heavy precipitation (i.e. 270 mm h(-1)) with no apparent loss of control, although mechanical power output assuming perfect and zero storage of elastic energy was estimated to be about 9 and 57 per cent higher, respectively, compared with normal hovering.

Visual Neuroscience: Unique Neural System for Flight Stabilization in Hummingbirds.

Science.gov (United States)

Ibbotson, M R

2017-01-23

The pretectal visual motion processing area in the hummingbird brain is unlike that in other birds: instead of emphasizing detection of horizontal movements, it codes for motion in all directions through 360°, possibly offering precise visual stability control during hovering. Copyright © 2017 Elsevier Ltd. All rights reserved.

Hummingbirds generate bilateral vortex loops during hovering: evidence from flow visualization

Science.gov (United States)

Pournazeri, Sam; Segre, Paolo S.; Princevac, Marko; Altshuler, Douglas L.

2013-01-01

Visualization of the vortex wake of a flying animal provides understanding of how wingbeat kinematics are translated into the aerodynamic forces for powering and controlling flight. Two general vortex flow patterns have been proposed for the wake of hovering hummingbirds: (1) The two wings form a single, merged vortex ring during each wing stroke; and (2) the two wings form bilateral vortex loops during each wing stroke. The second pattern was proposed after a study with particle image velocimetry that demonstrated bilateral source flows in a horizontal measurement plane underneath hovering Anna's hummingbirds ( Calypte anna). Proof of this hypothesis requires a clear perspective of bilateral pairs of vortices. Here, we used high-speed image sequences (500 frames per second) of C. anna hover feeding within a white plume to visualize the vortex wake from multiple perspectives. The films revealed two key structural features: (1) Two distinct jets of downwards airflow are present under each wing; and (2) vortex loops around each jet are shed during each upstroke and downstroke. To aid in the interpretation of the flow visualization data, we analyzed high-speed kinematic data (1,000 frames per second) of wing tips and wing roots as C. anna hovered in normal air. These data were used to refine several simplified models of vortex topology. The observed flow patterns can be explained by either a single loop model with an hourglass shape or a bilateral model, with the latter being more likely. When hovering in normal air, hummingbirds used an average stroke amplitude of 153.6° (range 148.9°-164.4°) and a wingbeat frequency of 38.5 Hz (range 38.1-39.1 Hz). When hovering in the white plume, hummingbirds used shallower stroke amplitudes ( bar{x} = 129.8°, range 116.3°-154.1°) and faster wingbeat frequencies ( bar{x} = 41.1 Hz, range 38.5-44.7 Hz), although the bilateral jets and associated vortices were observed across the full kinematic range. The plume did not

UAV Swarm Operational Risk Assessment System

Science.gov (United States)

2015-09-01

are detected, clear monitoring is required to track and identify the possible intentions of inbound UAVs. And when a target is identified, enough...armed UAVs (Davis et al. 2014). Although manufacturers in the U.S. and Israel dominate the global UAV market (approximately 75 percent share between

What's a Nice Hummingbird Like You Doing at an AGU Meeting Like This? (or, Operation RubyThroat Meets The GLOBE Program)

Science.gov (United States)

Hilton, B.

2003-12-01

"Operation RubyThroat: The Hummingbird Project" is an international cross-disciplinary initiative that uses Ruby-throated Hummingbirds (Archilochus colubris) as a hook to excite K-12 students (and adults) about science learning. In 2002, Operation RubyThroat affiliated with The GLOBE Program as the first GLOBE protocol that involves animal behavior. Through Operation RubyThroat, students make observations about hummingbird phenology, behavior, and ecology and correlate their data against traditional GLOBE observations of atmosphere, climate, land cover, soils, hydrology, and phenology. Although Ruby-throated Hummingbirds (RTHUs) breed throughout the eastern half of the United States and southern Canada and may be the most common and most widely distributed of all 338 hummingbird species, little is known about how abiotic environmental factors affect their migration, nesting activities, and everyday behavior. Operation RubyThroat participants in the U.S. and Canada log early arrival dates of RTHUs during spring migration, note their presence throughout the breeding season, and report the last date RTHUs are seen in autumn. Conversely, participants in Mexico and all seven Central American countries (the region in which RTHUs spend their non-breeding months) watch for early arrivals in fall and late departures in spring. Participants also attempt to estimate numbers of RTHUs in local populations by counting the number of visits hummingbirds make to feeders and/or flowers in a 45-minute time block. Optional activities include observations of RTHU nesting behaviors and determining RTHU preferences for various species of native and exotic nectar sources. Participating schools are encouraged to establish Schoolyard Hummingbird Habitats in which to make their observations, but data may be collected in backyards or at local parks, nature centers, botanical gardens, and other sites where RTHUs occur. Adults not affiliated with K-12 schools are invited to become certified in

Robust UAV Mission Planning

NARCIS (Netherlands)

Evers, L.; Dollevoet, T.; Barros, A.I.; Monsuur, H.

2014-01-01

Unmanned Aerial Vehicles (UAVs) can provide significant contributions to information gathering in military missions. UAVs can be used to capture both full motion video and still imagery of specific target locations within the area of interest. In order to improve the effectiveness of a

Robust UAV mission planning

NARCIS (Netherlands)

Evers, L.; Dollevoet, T.; Barros, A.I.; Monsuur, H.

2011-01-01

Unmanned Areal Vehicles (UAVs) can provide significant contributions to information gathering in military missions. UAVs can be used to capture both full motion video and still imagery of specific target locations within the area of interest. In order to improve the effectiveness of a reconnaissance

Robust UAV Mission Planning

NARCIS (Netherlands)

Evers, L.; Dollevoet, T; Barros, A.I.; Monsuur, H.

2011-01-01

Unmanned Aerial Vehicles (UAVs) can provide significant contributions to information gathering in military missions. UAVs can be used to capture both full motion video and still imagery of specific target locations within the area of interest. In order to improve the effectiveness of a

Robust UAV Mission Planning

NARCIS (Netherlands)

L. Evers (Lanah); T.A.B. Dollevoet (Twan); A.I. Barros (Ana); H. Monsuur (Herman)

2011-01-01

textabstractUnmanned Areal Vehicles (UAVs) can provide significant contributions to information gathering in military missions. UAVs can be used to capture both full motion video and still imagery of specific target locations within the area of interest. In order to improve the effectiveness of a

A Survey of Channel Modeling for UAV Communications

KAUST Repository

Khuwaja, Aziz Altaf; Chen, Yunfei; Zhao, Nan; Alouini, Mohamed-Slim; Dobbins, Paul

2018-01-01

Unmanned aerial vehicles (UAVs) have gained great interest for rapid deployment in both civil and military applications. UAV communication has its own distinctive channel characteristics compared with widely used cellular and satellite systems. Thus, accurate channel characterization is crucial for the performance optimization and design of efficient UAV communication systems. However, several challenges exist in UAV channel modeling. For example, propagation characteristics of UAV channels are still less explored for spatial and temporal variations in non-stationary channels. Also, airframe shadowing has not yet been investigated for small size rotary UAVs. This paper provides an extensive survey on the measurement campaigns launched for UAV channel modeling using low altitude platforms and discusses various channel characterization efforts. We also review the contemporary perspective of UAV channel modeling approaches and outline some future research challenges in this domain.

A Survey of Channel Modeling for UAV Communications

KAUST Repository

Khuwaja, Aziz Altaf

2018-01-23

Unmanned aerial vehicles (UAVs) have gained great interest for rapid deployment in both civil and military applications. UAV communication has its own distinctive channel characteristics compared with widely used cellular and satellite systems. Thus, accurate channel characterization is crucial for the performance optimization and design of efficient UAV communication systems. However, several challenges exist in UAV channel modeling. For example, propagation characteristics of UAV channels are still less explored for spatial and temporal variations in non-stationary channels. Also, airframe shadowing has not yet been investigated for small size rotary UAVs. This paper provides an extensive survey on the measurement campaigns launched for UAV channel modeling using low altitude platforms and discusses various channel characterization efforts. We also review the contemporary perspective of UAV channel modeling approaches and outline some future research challenges in this domain.

Development of Cloud-Based UAV Monitoring and Management System.

Science.gov (United States)

Itkin, Mason; Kim, Mihui; Park, Younghee

2016-11-15

Unmanned aerial vehicles (UAVs) are an emerging technology with the potential to revolutionize commercial industries and the public domain outside of the military. UAVs would be able to speed up rescue and recovery operations from natural disasters and can be used for autonomous delivery systems (e.g., Amazon Prime Air). An increase in the number of active UAV systems in dense urban areas is attributed to an influx of UAV hobbyists and commercial multi-UAV systems. As airspace for UAV flight becomes more limited, it is important to monitor and manage many UAV systems using modern collision avoidance techniques. In this paper, we propose a cloud-based web application that provides real-time flight monitoring and management for UAVs. For each connected UAV, detailed UAV sensor readings from the accelerometer, GPS sensor, ultrasonic sensor and visual position cameras are provided along with status reports from the smaller internal components of UAVs (i.e., motor and battery). The dynamic map overlay visualizes active flight paths and current UAV locations, allowing the user to monitor all aircrafts easily. Our system detects and prevents potential collisions by automatically adjusting UAV flight paths and then alerting users to the change. We develop our proposed system and demonstrate its feasibility and performances through simulation.

Development of Cloud-Based UAV Monitoring and Management System

Directory of Open Access Journals (Sweden)

Mason Itkin

2016-11-01

Full Text Available Unmanned aerial vehicles (UAVs are an emerging technology with the potential to revolutionize commercial industries and the public domain outside of the military. UAVs would be able to speed up rescue and recovery operations from natural disasters and can be used for autonomous delivery systems (e.g., Amazon Prime Air. An increase in the number of active UAV systems in dense urban areas is attributed to an influx of UAV hobbyists and commercial multi-UAV systems. As airspace for UAV flight becomes more limited, it is important to monitor and manage many UAV systems using modern collision avoidance techniques. In this paper, we propose a cloud-based web application that provides real-time flight monitoring and management for UAVs. For each connected UAV, detailed UAV sensor readings from the accelerometer, GPS sensor, ultrasonic sensor and visual position cameras are provided along with status reports from the smaller internal components of UAVs (i.e., motor and battery. The dynamic map overlay visualizes active flight paths and current UAV locations, allowing the user to monitor all aircrafts easily. Our system detects and prevents potential collisions by automatically adjusting UAV flight paths and then alerting users to the change. We develop our proposed system and demonstrate its feasibility and performances through simulation.

Development of Cloud-Based UAV Monitoring and Management System

Science.gov (United States)

Itkin, Mason; Kim, Mihui; Park, Younghee

2016-01-01

Unmanned aerial vehicles (UAVs) are an emerging technology with the potential to revolutionize commercial industries and the public domain outside of the military. UAVs would be able to speed up rescue and recovery operations from natural disasters and can be used for autonomous delivery systems (e.g., Amazon Prime Air). An increase in the number of active UAV systems in dense urban areas is attributed to an influx of UAV hobbyists and commercial multi-UAV systems. As airspace for UAV flight becomes more limited, it is important to monitor and manage many UAV systems using modern collision avoidance techniques. In this paper, we propose a cloud-based web application that provides real-time flight monitoring and management for UAVs. For each connected UAV, detailed UAV sensor readings from the accelerometer, GPS sensor, ultrasonic sensor and visual position cameras are provided along with status reports from the smaller internal components of UAVs (i.e., motor and battery). The dynamic map overlay visualizes active flight paths and current UAV locations, allowing the user to monitor all aircrafts easily. Our system detects and prevents potential collisions by automatically adjusting UAV flight paths and then alerting users to the change. We develop our proposed system and demonstrate its feasibility and performances through simulation. PMID:27854267

Evolution of sexual dimorphism in bill size and shape of hermit hummingbirds (Phaethornithinae): a role for ecological causation.

Science.gov (United States)

Temeles, Ethan J; Miller, Jill S; Rifkin, Joanna L

2010-04-12

Unambiguous examples of ecological causation of sexual dimorphism are rare, and the best evidence involves sexual differences in trophic morphology. We show that moderate female-biased sexual dimorphism in bill curvature is the ancestral condition in hermit hummingbirds (Phaethornithinae), and that it is greatly amplified in species such as Glaucis hirsutus and Phaethornis guy, where bills of females are 60 per cent more curved than bills of males. In contrast, bill curvature dimorphism is lost or reduced in a lineage of short-billed hermit species and in specialist Eutoxeres sicklebill hermits. In the hermits, males tend to be larger than females in the majority of species, although size dimorphism is typically small. Consistent with earlier studies of hummingbird feeding performance, both raw regressions of traits and phylogenetic independent contrasts supported the prediction that dimorphism in bill curvature of hermits is associated with longer bills. Some evidence indicates that differences between sexes of hermit hummingbirds are associated with differences in the use of food plants. We suggest that some hermit hummingbirds provide model organisms for studies of ecological causation of sexual dimorphism because their sexual dimorphism in bill curvature provides a diagnostic clue for the food plants that need to be monitored for studies of sexual differences in resource use.

Oxygen consumption rates in hovering hummingbirds reflect substrate-dependent differences in P/O ratios: carbohydrate as a 'premium fuel'.

Science.gov (United States)

Welch, Kenneth C; Altshuler, Douglas L; Suarez, Raul K

2007-06-01

The stoichiometric relationship of ATP production to oxygen consumption, i.e. the P/O ratio, varies depending on the nature of the metabolic substrate used. The latest estimates reveal a P/O ratio approximately 15% higher when glucose is oxidized compared with fatty acid oxidation. Because the energy required to produce aerodynamic lift for hovering is independent of the metabolic fuel oxidized, we hypothesized that the rate of oxygen consumption, VO2, should decline as the respiratory quotient, RQ (VCO2/VO2), increases from 0.71 to 1.0 as hummingbirds transition from a fasted to a fed state. Here, we show that hovering VO2 values in rufous (Selasphorus rufus) and Anna's hummingbirds (Calypte anna) are significantly greater when fats are metabolized (RQ=0.71) than when carbohydrates are used (RQ=1.0). Because hummingbirds gained mass during our experiments, making mass a confounding variable, we estimated VO2 per unit mechanical power output. Expressed in this way, the difference in VO2 when hummingbirds display an RQ=0.71 (fasted) and an RQ=1.0 (fed) is between 16 and 18%, depending on whether zero or perfect elastic energy storage is assumed. These values closely match theoretical expectations, indicating that a combination of mechanical power estimates and ;indirect calorimetry', i.e. the measurement of rates of gas exchange, enables precise estimates of ATP turnover and metabolic flux rates in vivo. The requirement for less oxygen when oxidizing carbohydrate suggests that carbohydrate oxidation may facilitate hovering flight in hummingbirds at high altitude.

Characterization of UAV Performance and Development of a Formation Flight Controller for Multiple Small UAVS

National Research Council Canada - National Science Library

McCarthy, Patrick A

2006-01-01

... (UAV). One area of particular interest is using multiple small UAVs cooperatively to improve mission efficiency, as well as perform missions that couldn't be performed using vehicles independently...

Thrust sensing for small UAVs

Science.gov (United States)

Marchman, Christopher Scott

Unmanned aerial vehicles (UAVs) have become prevalent in both military and civilian applications. UAVs have many size categories from large-scale aircraft to micro air vehicles. The performance, health, and efficiency for UAVs of smaller sizes can be difficult to assess and few associated instrumentation systems have been developed. Thrust measurements on the ground can characterize systems especially when combined with simultaneous motor power measurements. This thesis demonstrates the use of strain measurements to measure the thrust produced by motor/propeller combinations for such small UAVs. A full-bridge Wheatstone circuit and electrical resistance strain gauges were used in conjunction with constant-stress cantilever beams for static tests and dynamic wind tunnel tests. An associated instrumentation module monitored power from the electric motor. Monitoring the thrust data over time can provide insights into optimal propeller and motor selection and early detection of problems such as component failure. The approach provides a system for laboratory or field measurements that can be scaled for a wide range of small UAVs.

Black Jacobin hummingbirds vocalize above the known hearing range of birds.

Science.gov (United States)

Olson, Christopher R; Fernández-Vargas, Marcela; Portfors, Christine V; Mello, Claudio V

2018-03-05

Hummingbirds are a fascinating group of birds, but some aspects of their biology are poorly understood, such as their highly diverse vocal behaviors. We show here that the predominant vocalization of black jacobins (Florisuga fusca), a hummingbird prevalent in the mountains of the Brazilian Atlantic Forest, consists of a triplet of syllables with high fundamental frequency (mean F0 ∼11.8 kHz), rapid frequency oscillations and strong ultrasonic harmonics and no detectable elements below ∼10 kHz. These are the most common vocalizations of these birds, and their frequency range is above the known hearing range of any bird species recorded to date, including hearing specialists such as owls. These observations suggest that black jacobins either have an atypically high frequency hearing range, or alternatively their primary vocalization has a yet unknown function unrelated to vocal communication. Black jacobin vocalizations challenge current notions about vocal communication in birds. Copyright © 2018 Elsevier Ltd. All rights reserved.

Development of Open source-based automatic shooting and processing UAV imagery for Orthoimage Using Smart Camera UAV

Science.gov (United States)

Park, J. W.; Jeong, H. H.; Kim, J. S.; Choi, C. U.

2016-06-01

Recently, aerial photography with unmanned aerial vehicle (UAV) system uses UAV and remote controls through connections of ground control system using bandwidth of about 430 MHz radio Frequency (RF) modem. However, as mentioned earlier, existing method of using RF modem has limitations in long distance communication. The Smart Camera equipments's LTE (long-term evolution), Bluetooth, and Wi-Fi to implement UAV that uses developed UAV communication module system carried out the close aerial photogrammetry with the automatic shooting. Automatic shooting system is an image capturing device for the drones in the area's that needs image capturing and software for loading a smart camera and managing it. This system is composed of automatic shooting using the sensor of smart camera and shooting catalog management which manages filmed images and information. Processing UAV imagery module used Open Drone Map. This study examined the feasibility of using the Smart Camera as the payload for a photogrammetric UAV system. The open soure tools used for generating Android, OpenCV (Open Computer Vision), RTKLIB, Open Drone Map.

Development of Open source-based automatic shooting and processing UAV imagery for Orthoimage Using Smart Camera UAV

Directory of Open Access Journals (Sweden)

J. W. Park

2016-06-01

Full Text Available Recently, aerial photography with unmanned aerial vehicle (UAV system uses UAV and remote controls through connections of ground control system using bandwidth of about 430 MHz radio Frequency (RF modem. However, as mentioned earlier, existing method of using RF modem has limitations in long distance communication. The Smart Camera equipments’s LTE (long-term evolution, Bluetooth, and Wi-Fi to implement UAV that uses developed UAV communication module system carried out the close aerial photogrammetry with the automatic shooting. Automatic shooting system is an image capturing device for the drones in the area’s that needs image capturing and software for loading a smart camera and managing it. This system is composed of automatic shooting using the sensor of smart camera and shooting catalog management which manages filmed images and information. Processing UAV imagery module used Open Drone Map. This study examined the feasibility of using the Smart Camera as the payload for a photogrammetric UAV system. The open soure tools used for generating Android, OpenCV (Open Computer Vision, RTKLIB, Open Drone Map.

Myosin heavy-chain isoforms in the flight and leg muscles of hummingbirds and zebra finches.

Science.gov (United States)

Velten, Brandy P; Welch, Kenneth C

2014-06-01

Myosin heavy chain (MHC) isoform complement is intimately related to a muscle's contractile properties, yet relatively little is known about avian MHC isoforms or how they may vary with fiber type and/or the contractile properties of a muscle. The rapid shortening of muscles necessary to power flight at the high wingbeat frequencies of ruby-throated hummingbirds and zebra finches (25-60 Hz), along with the varied morphology and use of the hummingbird hindlimb, provides a unique opportunity to understand how contractile and morphological properties of avian muscle may be reflected in MHC expression. Isoforms of the hummingbird and zebra finch flight and hindlimb muscles were electrophoretically separated and compared with those of other avian species representing different contractile properties and fiber types. The flight muscles of the study species operate at drastically different contraction rates and are composed of different histochemically defined fiber types, yet each exhibited the same, single MHC isoform corresponding to the chicken adult fast isoform. Thus, despite quantitative differences in the contractile demands of flight muscles across species, this isoform appears necessary for meeting the performance demands of avian powered flight. Variation in flight muscle contractile performance across species may be due to differences in the structural composition of this conserved isoform and/or variation within other mechanically linked proteins. The leg muscles were more varied in their MHC isoform composition across both muscles and species. The disparity in hindlimb MHC expression between hummingbirds and the other species highlights previously observed differences in fiber type composition and thrust production during take-off. Copyright © 2014 the American Physiological Society.

Numerical analysis of the three-dimensional aerodynamics of a hovering rufous hummingbird ( Selasphorus rufus)

Science.gov (United States)

Yang, Songyuan; Zhang, Weiping

2015-12-01

Hummingbirds have a unique way of hovering. However, only a few published papers have gone into details of the corresponding three-dimensional vortex structures and transient aerodynamic forces. In order to deepen the understanding in these two realms, this article presents an integrated computational fluid dynamics study on the hovering aerodynamics of a rufous hummingbird. The original morphological and kinematic data came from a former researcher's experiments. We found that conical and stable leading-edge vortices (LEVs) with spanwise flow inside their cores existed on the hovering hummingbird's wing surfaces. When the LEVs and other near-field vortices were all shed into the wake after stroke reversals, periodically shed bilateral vortex rings were formed. In addition, a strong downwash was present throughout the flapping cycle. Time histories of lift and drag were also obtained. Combining the three-dimensional flow field and time history of lift, we believe that high lift mechanisms (i.e., rotational circulation and wake capture) which take place at stroke reversals in insect flight was not evident here. For mean lift throughout a whole cycle, it is calculated to be 3.60 g (104.0 % of the weight support). The downstroke and upstroke provide 64.2 % and 35.8 % of the weight support, respectively.

Hummingbirds control turning velocity using body orientation and turning radius using asymmetrical wingbeat kinematics.

Science.gov (United States)

Read, Tyson J G; Segre, Paolo S; Middleton, Kevin M; Altshuler, Douglas L

2016-03-01

Turning in flight requires reorientation of force, which birds, bats and insects accomplish either by shifting body position and total force in concert or by using left-right asymmetries in wingbeat kinematics. Although both mechanisms have been observed in multiple species, it is currently unknown how each is used to control changes in trajectory. We addressed this problem by measuring body and wingbeat kinematics as hummingbirds tracked a revolving feeder, and estimating aerodynamic forces using a quasi-steady model. During arcing turns, hummingbirds symmetrically banked the stroke plane of both wings, and the body, into turns, supporting a body-dependent mechanism. However, several wingbeat asymmetries were present during turning, including a higher and flatter outer wingtip path and a lower more deviated inner wingtip path. A quasi-steady analysis of arcing turns performed with different trajectories revealed that changes in radius were associated with asymmetrical kinematics and forces, and changes in velocity were associated with symmetrical kinematics and forces. Collectively, our results indicate that both body-dependent and -independent force orientation mechanisms are available to hummingbirds, and that these kinematic strategies are used to meet the separate aerodynamic challenges posed by changes in velocity and turning radius. © 2016 The Author(s).

Temporal migration patterns between natal locations of ruby-throated hummingbirds (Archilochus colubris) and their Gulf Coast stopover site.

Science.gov (United States)

Zenzal, Theodore J; Contina, Andrea J; Kelly, Jeffrey F; Moore, Frank R

2018-01-01

Autumn latitudinal migrations generally exhibit one of two different temporal migration patterns: type 1 where southern populations migrate south before northern populations, or type 2 where northern populations overtake southern populations en route . The ruby-throated hummingbird ( Archilochus colubris ) is a species with an expansive breeding range, which allows opportunities to examine variation in the timing of migration. Our objective was to determine a relationship between natal origin of ruby-throated hummingbirds and arrival at a Gulf coast stopover site; and if so, what factors, such as differences in body size across the range as well as the cost of migration, might drive such a pattern. To carry out our objectives, we captured hummingbirds at a coastal stopover site during autumn migration, at which time we collected feathers from juveniles for analysis of hydrogen stable isotopes. Using the hydrogen stable isotope gradient of precipitation across North America and published hydrogen isotope values of feathers from populations of breeding ruby-throated hummingbirds, we assigned migrants to probable natal latitudes. Our results confirm that individuals from across the range (30-50° N) stopover along the Gulf of Mexico and there is a positive relationship between arrival day and latitude, suggesting a type 1 migration pattern. We also found no relationship between fuel load (proxy for migration cost) or fat-free body mass (proxy for body size) and natal latitude. Our results, coupled with previous work on the spatial migration patterns of hummingbirds, show a type 1 chain migration pattern. While the mechanisms we tested do not seem to influence the evolution of migratory patterns, other factors such as resource availability may play a prominent role in the evolution of this migration system.

Harmonic hopping, and both punctuated and gradual evolution of acoustic characters in Selasphorus hummingbird tail-feathers.

Directory of Open Access Journals (Sweden)

Christopher James Clark

Full Text Available Models of character evolution often assume a single mode of evolutionary change, such as continuous, or discrete. Here I provide an example in which a character exhibits both types of change. Hummingbirds in the genus Selasphorus produce sound with fluttering tail-feathers during courtship. The ancestral character state within Selasphorus is production of sound with an inner tail-feather, R2, in which the sound usually evolves gradually. Calliope and Allen's Hummingbirds have evolved autapomorphic acoustic mechanisms that involve feather-feather interactions. I develop a source-filter model of these interactions. The 'source' comprises feather(s that are both necessary and sufficient for sound production, and are aerodynamically coupled to neighboring feathers, which act as filters. Filters are unnecessary or insufficient for sound production, but may evolve to become sources. Allen's Hummingbird has evolved to produce sound with two sources, one with feather R3, another frequency-modulated sound with R4, and their interaction frequencies. Allen's R2 retains the ancestral character state, a ∼1 kHz "ghost" fundamental frequency masked by R3, which is revealed when R3 is experimentally removed. In the ancestor to Allen's Hummingbird, the dominant frequency has 'hopped' to the second harmonic without passing through intermediate frequencies. This demonstrates that although the fundamental frequency of a communication sound may usually evolve gradually, occasional jumps from one character state to another can occur in a discrete fashion. Accordingly, mapping acoustic characters on a phylogeny may produce misleading results if the physical mechanism of production is not known.

Aeromagnetic Compensation for UAVs

Science.gov (United States)

Naprstek, T.; Lee, M. D.

2017-12-01

Aeromagnetic data is one of the most widely collected types of data in exploration geophysics. With the continuing prevalence of unmanned air vehicles (UAVs) in everyday life there is a strong push for aeromagnetic data collection using UAVs. However, apart from the many political and legal barriers to overcome in the development of UAVs as aeromagnetic data collection platforms, there are also significant scientific hurdles, primary of which is magnetic compensation. This is a well-established process in manned aircraft achieved through a combination of platform magnetic de-noising and compensation routines. However, not all of this protocol can be directly applied to UAVs due to fundamental differences in the platforms, most notably the decrease in scale causing magnetometers to be significantly closer to the avionics. As such, the methodology must be suitably adjusted. The National Research Council of Canada has collaborated with Aeromagnetic Solutions Incorporated to develop a standardized approach to de-noising and compensating UAVs, which is accomplished through a series of static and dynamic experiments. On the ground, small static tests are conducted on individual components to determine their magnetization. If they are highly magnetic, they are removed, demagnetized, or characterized such that they can be accounted for in the compensation. Dynamic tests can include measuring specific components as they are powered on and off to assess their potential effect on airborne data. The UAV is then flown, and a modified compensation routine is applied. These modifications include utilizing onboard autopilot current sensors as additional terms in the compensation algorithm. This process has been applied with success to fixed-wing and rotary-wing platforms, with both a standard manned-aircraft magnetometer, as well as a new atomic magnetometer, much smaller in scale.

Persistent Aerial Tracking system for UAVs

KAUST Repository

Mueller, Matthias; Sharma, Gopal; Smith, Neil; Ghanem, Bernard

2016-01-01

In this paper, we propose a persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.

Persistent Aerial Tracking system for UAVs

KAUST Repository

Mueller, Matthias

2016-12-19

In this paper, we propose a persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by ‘handing over the camera’ from one UAV to another. We evaluate several state-of-the-art trackers on the VIVID aerial video dataset and additional sequences that are specifically tailored to low altitude UAV target tracking. Based on the evaluation, we select the leading tracker and improve upon it by optimizing for both speed and performance, integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.

Limitations of rotational manoeuvrability in insects and hummingbirds: evaluating the effects of neuro-biomechanical delays and muscle mechanical power.

Science.gov (United States)

Liu, Pan; Cheng, Bo

2017-07-01

Flying animals ranging in size from fruit flies to hummingbirds are nimble fliers with remarkable rotational manoeuvrability. The degrees of manoeuvrability among these animals, however, are noticeably diverse and do not simply follow scaling rules of flight dynamics or muscle power capacity. As all manoeuvres emerge from the complex interactions of neural, physiological and biomechanical processes of an animal's flight control system, these processes give rise to multiple limiting factors that dictate the maximal manoeuvrability attainable by an animal. Here using functional models of an animal's flight control system, we investigate the effects of three such limiting factors, including neural and biomechanical (from limited flapping frequency) delays and muscle mechanical power, for two insect species and two hummingbird species, undergoing roll, pitch and yaw rotations. The results show that for animals with similar degree of manoeuvrability, for example, fruit flies and hummingbirds, the underlying limiting factors are different, as the manoeuvrability of fruit flies is only limited by neural delays and that of hummingbirds could be limited by all three factors. In addition, the manoeuvrability also appears to be the highest about the roll axis as it requires the least muscle mechanical power and can tolerate the largest neural delays. © 2017 The Author(s).

Characterization of ten microsatellite loci in the Broad-tailed hummingbird (Selasphorus platycercus)

Science.gov (United States)

Oyler-McCance, Sara J.; Fike, Jennifer A.; Talley-Farnham, Tiffany; Engelman, Tena; Engelman, Fred

2011-01-01

The Broad-tailed Hummingbird (Selaphorus platycercus) breeds at higher elevations in the central and southern Rockies, eastern California, and Mexico and has been studied for 8 years in Rocky Mountain National Park, Colorado. Questions regarding the relatedness of Broad-tailed Hummingbirds banded together and then recaptured in close time proximity in later years led us to isolate and develop primers for 10 polymorphic microsatellite loci. In a screen of 25 individuals from a population in Rocky Mountain National Park, the 10 loci were found to have levels of variability ranging from two to 16 alleles. No loci were found to depart from linkage disequilibrium, although two loci revealed significant departures from Hardy–Weinberg equilibrium. These 10 microsatellite loci will be applicable for population genetic analyses, investigation of mating systems and relatedness, and may help gain insight into the migration timing and routes for this species.

Research for new UAV capabilities

Energy Technology Data Exchange (ETDEWEB)

Canavan, G.H.; Leadabrand, R.

1996-07-01

This paper discusses research for new Unmanned Aerial Vehicles (UAV) capabilities. Findings indicate that UAV performance could be greatly enhanced by modest research. Improved sensors and communications enhance near term cost effectiveness. Improved engines, platforms, and stealth improve long term effectiveness.

A system of UAV application in indoor environment

DEFF Research Database (Denmark)

Khosiawan, Yohanes; Nielsen, Izabela Ewa

2016-01-01

In recent years, there has been an increased demand in the use of multiple unmanned aerial vehicles (UAVs) in indoor environments such as material handling task in a manufacturing environment and plant/environment monitoring task in a greenhouse. However, there is a lack of work reported on this ......In recent years, there has been an increased demand in the use of multiple unmanned aerial vehicles (UAVs) in indoor environments such as material handling task in a manufacturing environment and plant/environment monitoring task in a greenhouse. However, there is a lack of work reported...... on this topic. This paper presents a detailed study on several UAV systems and UAV scheduling systems. It is followed by a proposed system of UAV application in indoor environment, which comprises components of UAV system addressed in detail; focused on scheduler as the heart of operations. Consequently, system...... architecture of UAV scheduling system is presented and the framework of scheduler component is included. Scheduler component works in a phased manner to provide a systematic abstraction and achieve an efficient computation time. This study serves as a reference guide for UAV application in indoor environment....

Optical and acoustical UAV detection

Science.gov (United States)

Christnacher, Frank; Hengy, Sébastien; Laurenzis, Martin; Matwyschuk, Alexis; Naz, Pierre; Schertzer, Stéphane; Schmitt, Gwenael

2016-10-01

Recent world events have highlighted that the proliferation of UAVs is bringing with it a new and rapidly increasing threat for national defense and security agencies. Whilst many of the reported UAV incidents seem to indicate that there was no terrorist intent behind them, it is not unreasonable to assume that it may not be long before UAV platforms are regularly employed by terrorists or other criminal organizations. The flight characteristics of many of these mini- and micro-platforms present challenges for current systems which have been optimized over time to defend against the traditional air-breathing airborne platforms. A lot of programs to identify cost-effective measures for the detection, classification, tracking and neutralization have begun in the recent past. In this paper, lSL shows how the performance of a UAV detection and tracking concept based on acousto-optical technology can be powerfully increased through active imaging.

Spurious RF signals emitted by mini-UAVs

NARCIS (Netherlands)

Schleijpen, R.; Voogt, V.; Zwamborn, P.; Oever, J. van den

2016-01-01

This paper presents experimental work on the detection of spurious RF emissions of mini Unmanned Aerial Vehicles (mini-UAV). Many recent events have shown that mini-UAVs can be considered as a potential threat for civil security. For this reason the detection of mini-UAVs has become of interest to

UAV magnetometry in mineral exploration and infrastructure detection

Science.gov (United States)

Braun, A.; Parvar, K.; Burns, M.

2015-12-01

Magnetic surveys are critical tools in mineral exploration and UAVs have the potential to carry magnetometers. UAV surveys can offer higher spatial resolution than traditional airborne surveys, and higher coverage than terrestrial surveys. However, the main advantage is their ability to sense the magnetic field in 3-D, while most airborne or terrestrial surveys are restricted to 2-D acquisition. This study compares UAV magnetic data from two different UAVs (JIB drone, DJI Phantom 2) and three different magnetometers (GEM GSPM35, Honeywell HMR2300, GEM GST-19). The first UAV survey was conducted using a JIB UAV with a GSPM35 flying at 10-15 m above ground. The survey's goal was to detect intrusive Rhyolite bodies for primary mineral exploration. The survey resulted in a better understanding of the validity/resolution of UAV data and led to improved knowledge about the geological structures in the area. The results further drove the design of a following terrestrial survey. Comparing the UAV data with an available airborne survey (upward continued to 250 m) reveals that the UAV data has superior spatial resolution, but exhibits a higher noise level. The magnetic anomalies related to the Rhyolite intrusions is about 109 nT and translates into an estimated depth of approximately 110 meters. The second survey was conducted using an in-house developed UAV magnetometer system equipped with a DJI Phantom 2 and a Honeywell HMR2300 fluxgate magnetometer. By flying the sensor in different altitudes, the vertical and horizontal gradients can be derived leading to full 3-D magnetic data volumes which can provide improved constraints for source depth/geometry characterization. We demonstrate that a buried steam pipeline was detectable with the UAV magnetometer system and compare the resulting data with a terrestrial survey using a GEM GST-19 Proton Precession Magnetometer.

Design of UAV (Diseño de un UAV)

OpenAIRE

Sacristán Estévez, José María

2016-01-01

En este proyecto se ha diseñado un dron, un vehículo aéreo no tripulado (UAV en sus siglas inglesas). El propósito de este proyecto es empezar el diseño desde cero hasta poder vender el dron y que sea rentable. Han sido calculados los parámetros necesarios para comenzar el diseño. Se ha comprobado si todas las partes del UAV son capaces de resistir un impacto contra el suelo durante su uso, y se ha buscado la forma más óptima de conseguir los materiales, así de cómo fabricar ciertas partes y ...

The conquering of North America: dated phylogenetic and biogeographic inference of migratory behavior in bee hummingbirds.

Science.gov (United States)

Licona-Vera, Yuyini; Ornelas, Juan Francisco

2017-06-05

Geographical and temporal patterns of diversification in bee hummingbirds (Mellisugini) were assessed with respect to the evolution of migration, critical for colonization of North America. We generated a dated multilocus phylogeny of the Mellisugini based on a dense sampling using Bayesian inference, maximum-likelihood and maximum parsimony methods, and reconstructed the ancestral states of distributional areas in a Bayesian framework and migratory behavior using maximum parsimony, maximum-likelihood and re-rooting methods. All phylogenetic analyses confirmed monophyly of the Mellisugini and the inclusion of Atthis, Calothorax, Doricha, Eulidia, Mellisuga, Microstilbon, Myrmia, Tilmatura, and Thaumastura. Mellisugini consists of two clades: (1) South American species (including Tilmatura dupontii), and (2) species distributed in North and Central America and the Caribbean islands. The second clade consists of four subclades: Mexican (Calothorax, Doricha) and Caribbean (Archilochus, Calliphlox, Mellisuga) sheartails, Calypte, and Selasphorus (incl. Atthis). Coalescent-based dating places the origin of the Mellisugini in the mid-to-late Miocene, with crown ages of most subclades in the early Pliocene, and subsequent species splits in the Pleistocene. Bee hummingbirds reached western North America by the end of the Miocene and the ancestral mellisuginid (bee hummingbirds) was reconstructed as sedentary, with four independent gains of migratory behavior during the evolution of the Mellisugini. Early colonization of North America and subsequent evolution of migration best explained biogeographic and diversification patterns within the Mellisugini. The repeated evolution of long-distance migration by different lineages was critical for the colonization of North America, contributing to the radiation of bee hummingbirds. Comparative phylogeography is needed to test whether the repeated evolution of migration resulted from northward expansion of southern sedentary

Collaborative UAV Exploration of Hostile Environments

National Research Council Canada - National Science Library

Luotsinen, Linus J; Gonzalez, Avelino J; Boeloeni, Ladislau

2004-01-01

.... UAVs can be lost or significantly damaged during the exploration process. Although employing multiple UAVs can increase the chance of success, their efficiency depends on the collaboration strategies used...

Generalist bees pollinate red-flowered Penstemon eatonii: duality in the hummingbird pollination syndrome

Science.gov (United States)

The red tubular flowers of Penstemon eatonii (Plantaginaceae, formerly Scrophulariaceae) conform to the classic pollination syndrome for hummingbirds. This could be problematic when farming this wildflower for rangeland restoration seed. By some models and experiments with nectaring bumblebees at ...

Fossil evidence of wing shape in a stem relative of swifts and hummingbirds (Aves, Pan-Apodiformes).

Science.gov (United States)

Ksepka, Daniel T; Clarke, Julia A; Nesbitt, Sterling J; Kulp, Felicia B; Grande, Lance

2013-06-22

A feathered specimen of a new species of Eocypselus from the Early Eocene Green River Formation of Wyoming provides insight into the wing morphology and ecology in an early part of the lineage leading to extant swifts and hummingbirds. Combined phylogenetic analysis of morphological and molecular data supports placement of Eocypselus outside the crown radiation of Apodiformes. The new specimen is the first described fossil of Pan-Apodiformes from the pre-Pleistocene of North America and the only reported stem taxon with informative feather preservation. Wing morphology of Eocypselus rowei sp. nov. is intermediate between the short wings of hummingbirds and the hyper-elongated wings of extant swifts, and shows neither modifications for the continuous gliding used by swifts nor modifications for the hovering flight style used by hummingbirds. Elongate hindlimb elements, particularly the pedal phalanges, also support stronger perching capabilities than are present in Apodiformes. The new species is the smallest bird yet described from the Green River Formation, and supports the hypothesis that a decrease in body size preceded flight specializations in Pan-Apodiformes. The specimen also provides the first instance of melanosome morphology preserved in association with skeletal remains from the Green River Formation.

A Benchmark and Simulator for UAV Tracking

KAUST Repository

Mueller, Matthias; Smith, Neil; Ghanem, Bernard

2016-01-01

In this paper, we propose a new aerial video dataset and benchmark for low altitude UAV target tracking, as well as, a photorealistic UAV simulator that can be coupled with tracking methods. Our benchmark provides the first evaluation of many state-of-the-art and popular trackers on 123 new and fully annotated HD video sequences captured from a low-altitude aerial perspective. Among the compared trackers, we determine which ones are the most suitable for UAV tracking both in terms of tracking accuracy and run-time. The simulator can be used to evaluate tracking algorithms in real-time scenarios before they are deployed on a UAV “in the field”, as well as, generate synthetic but photo-realistic tracking datasets with automatic ground truth annotations to easily extend existing real-world datasets. Both the benchmark and simulator are made publicly available to the vision community on our website to further research in the area of object tracking from UAVs. (https://ivul.kaust.edu.sa/Pages/pub-benchmark-simulator-uav.aspx.). © Springer International Publishing AG 2016.

A Benchmark and Simulator for UAV Tracking

KAUST Repository

Mueller, Matthias

2016-09-16

In this paper, we propose a new aerial video dataset and benchmark for low altitude UAV target tracking, as well as, a photorealistic UAV simulator that can be coupled with tracking methods. Our benchmark provides the first evaluation of many state-of-the-art and popular trackers on 123 new and fully annotated HD video sequences captured from a low-altitude aerial perspective. Among the compared trackers, we determine which ones are the most suitable for UAV tracking both in terms of tracking accuracy and run-time. The simulator can be used to evaluate tracking algorithms in real-time scenarios before they are deployed on a UAV “in the field”, as well as, generate synthetic but photo-realistic tracking datasets with automatic ground truth annotations to easily extend existing real-world datasets. Both the benchmark and simulator are made publicly available to the vision community on our website to further research in the area of object tracking from UAVs. (https://ivul.kaust.edu.sa/Pages/pub-benchmark-simulator-uav.aspx.). © Springer International Publishing AG 2016.

UAV Trajectory Modeling Using Neural Networks

Science.gov (United States)

Xue, Min

2017-01-01

Large amount of small Unmanned Aerial Vehicles (sUAVs) are projected to operate in the near future. Potential sUAV applications include, but not limited to, search and rescue, inspection and surveillance, aerial photography and video, precision agriculture, and parcel delivery. sUAVs are expected to operate in the uncontrolled Class G airspace, which is at or below 500 feet above ground level (AGL), where many static and dynamic constraints exist, such as ground properties and terrains, restricted areas, various winds, manned helicopters, and conflict avoidance among sUAVs. How to enable safe, efficient, and massive sUAV operations at the low altitude airspace remains a great challenge. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative works on establishing infrastructure and developing policies, requirement, and rules to enable safe and efficient sUAVs' operations. To achieve this goal, it is important to gain insights of future UTM traffic operations through simulations, where the accurate trajectory model plays an extremely important role. On the other hand, like what happens in current aviation development, trajectory modeling should also serve as the foundation for any advanced concepts and tools in UTM. Accurate models of sUAV dynamics and control systems are very important considering the requirement of the meter level precision in UTM operations. The vehicle dynamics are relatively easy to derive and model, however, vehicle control systems remain unknown as they are usually kept by manufactures as a part of intellectual properties. That brings challenges to trajectory modeling for sUAVs. How to model the vehicle's trajectories with unknown control system? This work proposes to use a neural network to model a vehicle's trajectory. The neural network is first trained to learn the vehicle's responses at numerous conditions. Once being fully trained, given current vehicle states, winds, and desired future trajectory, the neural

Radio Channel Modelling for UAV Communication over Cellular Networks

DEFF Research Database (Denmark)

Amorim, Rafhael Medeiros de; Nguyen, Huan Cong; Mogensen, Preben Elgaard

2017-01-01

a commercial UAV. Our results show that path loss exponents decrease as the UAV moves up, approximating freespace propagation for horizontal ranges up to tens of kilometers at UAV heights around 100m. Our findings support the need of heightdependent parameters for describing the propagation channel for UAVs...

The Way Ahead For Maritime UAVS

National Research Council Canada - National Science Library

Pearson , II, F. C

2006-01-01

.... There is an overarching USN plan for UAVs, but I propose an emphasis should be placed on the close range or tactical UAVs that will directly complement battle space management, increase situational...

An UAV scheduling and planning method for post-disaster survey

Science.gov (United States)

Li, G. Q.; Zhou, X. G.; Yin, J.; Xiao, Q. Y.

2014-11-01

Annually, the extreme climate and special geological environments lead to frequent natural disasters, e.g., earthquakes, floods, etc. The disasters often bring serious casualties and enormous economic losses. Post-disaster surveying is very important for disaster relief and assessment. As the Unmanned Aerial Vehicle (UAV) remote sensing with the advantage of high efficiency, high precision, high flexibility, and low cost, it is widely used in emergency surveying in recent years. As the UAVs used in emergency surveying cannot stop and wait for the happening of the disaster, when the disaster happens the UAVs usually are working at everywhere. In order to improve the emergency surveying efficiency, it is needed to track the UAVs and assign the emergency surveying task for each selected UAV. Therefore, a UAV tracking and scheduling method for post-disaster survey is presented in this paper. In this method, Global Positioning System (GPS), and GSM network are used to track the UAVs; an emergency tracking UAV information database is built in advance by registration, the database at least includes the following information, e.g., the ID of the UAVs, the communication number of the UAVs; when catastrophe happens, the real time location of all UAVs in the database will be gotten using emergency tracking method at first, then the traffic cost time for all UAVs to the disaster region will be calculated based on the UAVs' the real time location and the road network using the nearest services analysis algorithm; the disaster region is subdivided to several emergency surveying regions based on DEM, area, and the population distribution map; the emergency surveying regions are assigned to the appropriated UAV according to shortest cost time rule. The UAVs tracking and scheduling prototype is implemented using SQLServer2008, ArcEnginge 10.1 SDK, Visual Studio 2010 C#, Android, SMS Modem, and Google Maps API.

Review: The Shadow of the Hummingbird | Krüger | Tydskrif vir ...

African Journals Online (AJOL)

Author: Athol Fugard. Book Title: The Shadow of the Hummingbird. Cape Town: Human & Rousseau, 2015. 96 pp. ISBN: 978-0-7981-6993-6. Full Text: EMAIL FREE FULL TEXT EMAIL FREE FULL TEXT · DOWNLOAD FULL TEXT DOWNLOAD FULL TEXT · http://dx.doi.org/10.4314/tvl.v53i1.30 · AJOL African Journals ...

Implications of inflorescence clustering for the visitation rate by hummingbirds and fruit production by Heliconia bihai (L. L. (Heliconiaceae

Directory of Open Access Journals (Sweden)

Caio César Corrêa Missagia

2015-09-01

Full Text Available Plant spatial distribution can influence the activity of floral visitors. Flower clustering in patches may be more attractive to visitors and it supposedly influences the fruit production. This study aimed to test the hypothesis that in Heliconia bihai (L. L. (Heliconiaceae the inflorescence clustering size positively influences the visitation rate and fruit production by the species. The study was conducted at a stretch of Atlantic Forest, in Rio de Janeiro city, Brazil. Five hummingbird species were registered as floral visitors. The average visitation rate (± standard deviation of hummingbirds was 2 (± 0.56 visits per hour per clustering. The amount of inflorescences per clustering positively influenced the visitation rate of hummingbirds, but it negatively influenced the amount of fruits produced per inflorescence. According to the results obtained, we suggest that the density of inflorescences in a clustering may negatively influence the number of flowers visited per inflorescence, due to an increased amount of inflorescences included in the foraging routes.

Teaching UAVs to Race Using UE4Sim

KAUST Repository

Mueller, Matthias

2017-08-19

Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in the recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of data for training. In this paper, we develop a photo-realistic simulator that can afford the generation of large amounts of training data (both images rendered from the UAV camera and its controls) to teach a UAV to autonomously race through challenging tracks. We train a deep neural network to predict UAV controls from raw image data for the task of autonomous UAV racing. Training is done through imitation learning enabled by data augmentation to allow for the correction of navigation mistakes. Extensive experiments demonstrate that our trained network (when sufficient data augmentation is used) outperforms state-of-the-art methods and flies more consistently than many human pilots.

Teaching UAVs to Race Using UE4Sim

KAUST Repository

Mueller, Matthias; Casser, Vincent; Smith, Neil; Michels, Dominik L.; Ghanem, Bernard

2017-01-01

Automating the navigation of unmanned aerial vehicles (UAVs) in diverse scenarios has gained much attention in the recent years. However, teaching UAVs to fly in challenging environments remains an unsolved problem, mainly due to the lack of data for training. In this paper, we develop a photo-realistic simulator that can afford the generation of large amounts of training data (both images rendered from the UAV camera and its controls) to teach a UAV to autonomously race through challenging tracks. We train a deep neural network to predict UAV controls from raw image data for the task of autonomous UAV racing. Training is done through imitation learning enabled by data augmentation to allow for the correction of navigation mistakes. Extensive experiments demonstrate that our trained network (when sufficient data augmentation is used) outperforms state-of-the-art methods and flies more consistently than many human pilots.

Burst muscle performance predicts the speed, acceleration, and turning performance of Anna's hummingbirds.

Science.gov (United States)

Segre, Paolo S; Dakin, Roslyn; Zordan, Victor B; Dickinson, Michael H; Straw, Andrew D; Altshuler, Douglas L

2015-11-19

Despite recent advances in the study of animal flight, the biomechanical determinants of maneuverability are poorly understood. It is thought that maneuverability may be influenced by intrinsic body mass and wing morphology, and by physiological muscle capacity, but this hypothesis has not yet been evaluated because it requires tracking a large number of free flight maneuvers from known individuals. We used an automated tracking system to record flight sequences from 20 Anna's hummingbirds flying solo and in competition in a large chamber. We found that burst muscle capacity predicted most performance metrics. Hummingbirds with higher burst capacity flew with faster velocities, accelerations, and rotations, and they used more demanding complex turns. In contrast, body mass did not predict variation in maneuvering performance, and wing morphology predicted only the use of arcing turns and high centripetal accelerations. Collectively, our results indicate that burst muscle capacity is a key predictor of maneuverability.

Trace element contamination in feather and tissue samples from Anna’s hummingbirds

Science.gov (United States)

Mikoni, Nicole A.; Poppenga, Robert H.; Ackerman, Joshua T.; Foley, Janet E.; Hazlehurst, Jenny; Purdin, Güthrum; Aston, Linda; Hargrave, Sabine; Jelks, Karen; Tell, Lisa A.

2017-01-01

Trace element contamination (17 elements; Be, V, Cr, Mn, Fe, Co, Ni, Cu, Zn, As, Se, Mo, Cd, Ba, Hg, Tl, and Pb) of live (feather samples only) and deceased (feather and tissue samples) Anna's hummingbirds (Calypte anna) was evaluated. Samples were analyzed using inductively coupled plasma-mass spectrometry (ICP-MS; 17 elements) and atomic absorption spectrophotometry (Hg only). Mean plus one standard deviation (SD) was considered the benchmark, and concentrations above the mean + 1 SD were considered elevated above normal. Contour feathers were sampled from live birds of varying age, sex, and California locations. In order to reduce thermal impacts, minimal feathers were taken from live birds, therefore a novel method was developed for preparation of low mass feather samples for ICP-MS analysis. The study found that the novel feather preparation method enabled small mass feather samples to be analyzed for trace elements using ICP-MS. For feather samples from live birds, all trace elements, with the exception of beryllium, had concentrations above the mean + 1 SD. Important risk factors for elevated trace element concentrations in feathers of live birds were age for iron, zinc, and arsenic, and location for iron, manganese, zinc, and selenium. For samples from deceased birds, ICP-MS results from body and tail feathers were correlated for Fe, Zn, and Pb, and feather concentrations were correlated with renal (Fe, Zn, Pb) or hepatic (Hg) tissue concentrations. Results for AA spectrophotometry analyzed samples from deceased birds further supported the ICP-MS findings where a strong correlation between mercury concentrations in feather and tissue (pectoral muscle) samples was found. These study results support that sampling feathers from live free-ranging hummingbirds might be a useful, non-lethal sampling method for evaluating trace element exposure and provides a sampling alternative since their small body size limits traditional sampling of blood and tissues. The

Performance and Sizing Tool for Quadrotor Biplane Tailsitter UAS

Science.gov (United States)

Strom, Eric

The Quadrotor-Biplane-Tailsitter (QBT) configuration is the basis for a mechanically simplistic rotorcraft capable of both long-range, high-speed cruise as well as hovering flight. This work presents the development and validation of a set of preliminary design tools built specifically for this aircraft to enable its further development, including: a QBT weight model, preliminary sizing framework, and vehicle analysis tools. The preliminary sizing tool presented here shows the advantage afforded by QBT designs in missions with aggressive cruise requirements, such as offshore wind turbine inspections, wherein transition from a quadcopter configuration to a QBT allows for a 5:1 trade of battery weight for wing weight. A 3D, unsteady panel method utilizing a nonlinear implementation of the Kutta-Joukowsky condition is also presented as a means of computing aerodynamic interference effects and, through the implementation of rotor, body, and wing geometry generators, is prepared for coupling with a comprehensive rotor analysis package.

Air Force UAVs: The Secret History

Science.gov (United States)

2010-07-01

iA Mitchell Institute Study i Air Force UAVs The Secret History A Mitchell Institute Study July 2010 By Thomas P. Ehrhard Report Documentation Page...DATES COVERED 00-00-2010 to 00-00-2010 4. TITLE AND SUBTITLE Air Force UAVs The Secret History 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c...opening phases of Operation Enduring Freedom in Afghanistan. By Thomas P. Ehrhard a miTchEll insTiTuTE sTudy July 2010 Air Force UAVs The Secret History

Uav-Based 3d Urban Environment Monitoring

Science.gov (United States)

Boonpook, Wuttichai; Tan, Yumin; Liu, Huaqing; Zhao, Binbin; He, Lingfeng

2018-04-01

Unmanned Aerial Vehicle (UAV) based remote sensing can be used to make three-dimensions (3D) mapping with great flexibility, besides the ability to provide high resolution images. In this paper we propose a quick-change detection method on UAV images by combining altitude from Digital Surface Model (DSM) and texture analysis from images. Cases of UAV images with and without georeferencing are both considered. Research results show that the accuracy of change detection can be enhanced with georeferencing procedure, and the accuracy and precision of change detection on UAV images which are collected both vertically and obliquely but without georeferencing also have a good performance.

Review of the Current State of UAV Regulations

Directory of Open Access Journals (Sweden)

Claudia Stöcker

2017-05-01

Full Text Available UAVs—unmanned aerial vehicles—facilitate data acquisition at temporal and spatial scales that still remain unachievable for traditional remote sensing platforms. However, current legal frameworks that regulate UAVs present significant barriers to research and development. To highlight the importance, impact, and diversity of UAV regulations, this paper provides an exploratory investigation of UAV regulations on the global scale. For this, the methodological approach consists of a research synthesis of UAV regulations, including a thorough literature review and a comparative analysis of national regulatory frameworks. Similarities and contrasting elements in the various national UAV regulations are explored including their statuses from the perspectives of past, present, and future trends. Since the early 2000s, countries have gradually established national legal frameworks. Although all UAV regulations have one common goal—minimizing the risks to other airspace users and to both people and property on the ground—the results reveal distinct variations in all the compared variables. Furthermore, besides the clear presence of legal frameworks, market forces such as industry design standards and reliable information about UAVs as public goods are expected to shape future developments.

Flight safety measurements of UAVs in congested airspace

Directory of Open Access Journals (Sweden)

Xiang Jinwu

2016-10-01

Full Text Available Describing spatial safety status is crucial for high-density air traffic involving multiple unmanned aerial vehicles (UAVs in a complex environment. A probabilistic approach is proposed to measure safety situation in congested airspace. The occupancy distribution of the airspace is represented with conflict probability between spatial positions and UAV. The concept of a safety envelope related to flight performance and response time is presented first instead of the conventional fixed-size protected zones around aircraft. Consequently, the conflict probability is performance-dependent, and effects of various UAVs on safety can be distinguished. The uncertainty of a UAV future position is explicitly accounted for as Brownian motion. An analytic approximate algorithm for the conflict probability is developed to decrease the computational consumption. The relationship between safety and flight performance are discussed for different response times and prediction intervals. To illustrate the applications of the approach, an experiment of three UAVs in formation flight is performed. In addition, an example of trajectory planning is simulated for one UAV flying over airspace where five UAVs exist. The validation of the approach shows its potential in guaranteeing flight safety in highly dynamic environment.

Air Force UAV’s: The Secret History

Science.gov (United States)

2010-07-01

iA Mitchell Institute Study i Air Force UAVs The Secret History A Mitchell Institute Study July 2010 By Thomas P. Ehrhard Report Documentation Page...DATES COVERED 00-00-2010 to 00-00-2010 4. TITLE AND SUBTITLE Air Force UAVs The Secret History 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c... The Secret History 2 Air Force UAVs: The Secret History2 air Force uaVs: The secret history Has any airplane in the past decade captured the public

Tuning of PID Controllers for Quadcopter System using Cultural Exchange Imperialist Competitive Algorithm

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Nizar Hadi Abbas

2018-02-01

Full Text Available Quadrotors are coming up as an attractive platform for unmanned aerial vehicle (UAV research, due to the simplicity of their structure and maintenance, their ability to hover, and their vertical take-off and landing (VTOL capability. With the vast advancements in small-size sensors, actuators, and processors, researchers are now focusing on developing mini UAV’s to be used in both research and commercial applications. This work presents a detailed mathematical nonlinear dynamic model of the quadrotor which is formulated using the Newton-Euler method. Although the quadrotor is a 6 DOF under-actuated system, the derived rotational subsystem is fully actuated, while the translational subsystem is under-actuated. The derivation of the mathematical model was followed by the development of the controller to control the altitude, attitude, heading and position of the quadrotor in space, which is, based on the linear Proportional-Derivative- Integral (PID controller; thus, a simplified version of the model is obtained. The gains of the controllers will be tuned using optimization techniques to improve the system's dynamic response. The standard Imperialist Competitive Algorithm (ICA was applied to tune the PID parameters and then it was compared to Cultural Exchange Imperialist Competitive algorithm (CEICA tuning, and the results show improvement in the proposed algorithm. The objective function results were enhanced by (23.91% in the CEICA compared with ICA.

Phylogenetic systematics and biogeography of hummingbirds: Bayesian and maximum likelihood analyses of partitioned data and selection of an appropriate partitioning strategy.

Science.gov (United States)

McGuire, Jimmy A; Witt, Christopher C; Altshuler, Douglas L; Remsen, J V

2007-10-01

Hummingbirds are an important model system in avian biology, but to date the group has been the subject of remarkably few phylogenetic investigations. Here we present partitioned Bayesian and maximum likelihood phylogenetic analyses for 151 of approximately 330 species of hummingbirds and 12 outgroup taxa based on two protein-coding mitochondrial genes (ND2 and ND4), flanking tRNAs, and two nuclear introns (AK1 and BFib). We analyzed these data under several partitioning strategies ranging between unpartitioned and a maximum of nine partitions. In order to select a statistically justified partitioning strategy following partitioned Bayesian analysis, we considered four alternative criteria including Bayes factors, modified versions of the Akaike information criterion for small sample sizes (AIC(c)), Bayesian information criterion (BIC), and a decision-theoretic methodology (DT). Following partitioned maximum likelihood analyses, we selected a best-fitting strategy using hierarchical likelihood ratio tests (hLRTS), the conventional AICc, BIC, and DT, concluding that the most stringent criterion, the performance-based DT, was the most appropriate methodology for selecting amongst partitioning strategies. In the context of our well-resolved and well-supported phylogenetic estimate, we consider the historical biogeography of hummingbirds using ancestral state reconstructions of (1) primary geographic region of occurrence (i.e., South America, Central America, North America, Greater Antilles, Lesser Antilles), (2) Andean or non-Andean geographic distribution, and (3) minimum elevational occurrence. These analyses indicate that the basal hummingbird assemblages originated in the lowlands of South America, that most of the principle clades of hummingbirds (all but Mountain Gems and possibly Bees) originated on this continent, and that there have been many (at least 30) independent invasions of other primary landmasses, especially Central America.

Unmanned aerial vehicles (UAVs) in pest management: Progress in the development of a UAV-deployed mating disruption system for Wisconsin cranberries

Science.gov (United States)

Unmanned aerial vehicles (UAVs) represent a powerful new tool for agriculture. Currently, UAVs are used almost exclusively as crop reconnaissance devices (“eyes in the sky”), not as pest control delivery systems. Research in Wisconsin cranberries is taking UAVs in a new direction. The Steffan and Lu...

Hovering performance of Anna's hummingbirds (Calypte anna) in ground effect.

Science.gov (United States)

Kim, Erica J; Wolf, Marta; Ortega-Jimenez, Victor Manuel; Cheng, Stanley H; Dudley, Robert

2014-09-06

Aerodynamic performance and energetic savings for flight in ground effect are theoretically maximized during hovering, but have never been directly measured for flying animals. We evaluated flight kinematics, metabolic rates and induced flow velocities for Anna's hummingbirds hovering at heights (relative to wing length R = 5.5 cm) of 0.7R, 0.9R, 1.1R, 1.7R, 2.2R and 8R above a solid surface. Flight at heights less than or equal to 1.1R resulted in significant reductions in the body angle, tail angle, anatomical stroke plane angle, wake-induced velocity, and mechanical and metabolic power expenditures when compared with flight at the control height of 8R. By contrast, stroke plane angle relative to horizontal, wingbeat amplitude and wingbeat frequency were unexpectedly independent of height from ground. Qualitative smoke visualizations suggest that each wing generates a vortex ring during both down- and upstroke. These rings expand upon reaching the ground and present a complex turbulent interaction below the bird's body. Nonetheless, hovering near surfaces results in substantial energetic benefits for hummingbirds, and by inference for all volant taxa that either feed at flowers or otherwise fly close to plant or other surfaces. © 2014 The Author(s) Published by the Royal Society. All rights reserved.

Contour Detection for UAV-Based Cadastral Mapping

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Sophie Crommelinck

2017-02-01

Full Text Available Unmanned aerial vehicles (UAVs provide a flexible and low-cost solution for the acquisition of high-resolution data. The potential of high-resolution UAV imagery to create and update cadastral maps is being increasingly investigated. Existing procedures generally involve substantial fieldwork and many manual processes. Arguably, multiple parts of UAV-based cadastral mapping workflows could be automated. Specifically, as many cadastral boundaries coincide with visible boundaries, they could be extracted automatically using image analysis methods. This study investigates the transferability of gPb contour detection, a state-of-the-art computer vision method, to remotely sensed UAV images and UAV-based cadastral mapping. Results show that the approach is transferable to UAV data and automated cadastral mapping: object contours are comprehensively detected at completeness and correctness rates of up to 80%. The detection quality is optimal when the entire scene is covered with one orthoimage, due to the global optimization of gPb contour detection. However, a balance between high completeness and correctness is hard to achieve, so a combination with area-based segmentation and further object knowledge is proposed. The localization quality exhibits the usual dependency on ground resolution. The approach has the potential to accelerate the process of general boundary delineation during the creation and updating of cadastral maps.

Functional connectivity experiments reflect routine movement behavior of a tropical hummingbird species.

Science.gov (United States)

Volpe, Noelia L; Hadley, Adam S; Robinson, W Douglas; Betts, Matthew G

Translocation experiments, in which researchers displace animals and then monitor their movements to return home, are commonly used as tools to assess functional connectivity of fragmented landscapes. Such experiments are purported to have important advantages of being time efficient and of standardizing “motivation” to move across individuals. Yet, we lack tests of whether movement behavior of translocated birds reflects natural behavior of unmanipulated birds. We compared the routine movement behavior of a tropical hummingbird, the Green Hermit (Phaethornis guy), to that of experimentally translocated individuals. We tested for differences in site selection patterns during movement at two spatial scales (point and path levels). We also compared movement rates between treatments. Behaviors documented during translocation experiments reflected those observed during routine movements. At the point level, both translocated and non-translocated birds showed similar levels of preference for mature tropical forest. At the path level, step selection functions showed both translocated and non-translocated hummingbirds avoiding movement across non-forested matrix and selecting streams as movement corridors. Movement rates were generally higher during translocation experiments. However, the negative influence of forest cover on movement rates was proportionately similar in translocation and routine movement treatments. We report the first evidence showing that movement behavior of birds during translocation experiments is similar to their natural movement behavior. Therefore, translocation experiments may be reliable tools to address effects of landscape structure on animal movement. We observed consistent selection of landscape elements between translocated and non-translocated birds, indicating that both routine and translocation movement studies lead to similar conclusions regarding the effect of landscape structure and forest composition on functional connectivity

Nest site selection in native and exotic trees by Black-chinned Hummingbirds

Science.gov (United States)

Deborah M. Finch; Jeffrey Kelly

2002-01-01

We studied nest site selection and nesting success in Black-chinned Hummingbirds (Archilochus alexandri) along the middle Rio Grande, New Mexico. The study was conducted in association with an exotic woody plant removal program to determine whether the removal of exotic plants would affect wildlife populations and nesting success, either positively or negatively. Point...

Individual differences in decision making by foraging hummingbirds.

Science.gov (United States)

Morgan, Kate V; Hurly, T Andrew; Healy, Susan D

2014-11-01

For both humans and animals preference for one option over others can be influenced by the context in which the options occur. In animals, changes in preference could be due to comparative decision-making or to changes in the energy state of the animal when making decisions. We investigated which of these possibilities better explained the response of wild hummingbirds to the addition of a decoy option to a set of two options by presenting Rufous hummingbirds (Selasphorus rufus) with a foraging experiment with two treatments. In each treatment the birds were presented with a binary choice between two options and a trinary choice with three options. In treatment one the binary choice was between a volume option and a concentration option, whereas in treatment two the same volume option was presented alongside an alternative concentration option. In the trinary choice, birds were presented with the same options as in the binary choice plus one of two inferior options. Birds changed their preferences when a poorer option was added to the choice set: birds increased their preference for the same option when in the presence of either decoy. Which option differed across individuals and the changes in preference were not readily explained by either energy maximisation or the decoy effect. The consistency in response within individuals, however, would suggest that the individual itself brings an extra dimension to context-dependent decision-making. This article is part of a Special Issue entitled: Cognition in the wild. Copyright © 2014 Elsevier B.V. All rights reserved.

Commercial UAV operations in civil airspace

Science.gov (United States)

Newcome, Laurence R.

2000-11-01

The Federal Aviation Administration is often portrayed as the major impediment to unmanned aerial vehicle expansion into civil government and commercial markets. This paper describes one company's record for successfully negotiating the FAA regulations and obtaining authorizations for several types of UAVs to fly commercial reconnaissance missions in civil airspace. The process and criteria for obtaining such authorizations are described. The mishap records of the Pioneer, Predator and Hunter UAVs are examined in regard to their impact on FAA rule making. The paper concludes with a discussion of the true impediments to UAV penetration of commercial markets to date.

UAV State Estimation Modeling Techniques in AHRS

Science.gov (United States)

Razali, Shikin; Zhahir, Amzari

2017-11-01

Autonomous unmanned aerial vehicle (UAV) system is depending on state estimation feedback to control flight operation. Estimation on the correct state improves navigation accuracy and achieves flight mission safely. One of the sensors configuration used in UAV state is Attitude Heading and Reference System (AHRS) with application of Extended Kalman Filter (EKF) or feedback controller. The results of these two different techniques in estimating UAV states in AHRS configuration are displayed through position and attitude graphs.

Flight muscle enzymes and metabolic flux rates during hovering flight of the nectar bat, Glossophaga soricina: further evidence of convergence with hummingbirds.

Science.gov (United States)

Suarez, R K; Welch, K C; Hanna, S K; Herrera M, L G

2009-06-01

Given their high metabolic rates, nectarivorous diet, and ability to directly fuel their energetically-expensive flight using recently-ingested sugar, we tested the hypothesis that Pallas long tongued nectar bats (Glossophaga soricina) possess flight muscles similar to those of hummingbirds with respect to enzymatic flux capacities in bioenergetic pathways. In addition, we compared these biochemical capacities with flux rates achieved in vivo during hovering flight. Rates of oxygen consumption (V(O(2))) were measured during hover-feeding and used to estimate rates of ATP turnover, glucose and long-chain fatty acid oxidation per unit mass of flight muscle. Enzyme V(max) values at key steps in glucose and fatty acid oxidation obtained in vitro from pectoralis muscle samples exceed those found in the locomotory muscles of other species of small mammals and resemble data obtained from hummingbird flight muscles. The ability of nectar bats and hummingbirds to hover in fed and fasted states, fueled almost exclusively by carbohydrate or fat, respectively, allowed the estimation of fractional velocities (v/V(max)) at both the hexokinase and carnitine palmitoyltransferase-2 steps in glucose and fatty acid oxidation, respectively. The results further support the hypothesis of convergent evolution in biochemical and physiological traits in nectar bats and hummingbirds.

Synthesis of Control Algorithm for a Leaderheaded UAVs Group

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I. O. Samodov

2015-01-01

Full Text Available Currently, a defense sphere uses unmanned aerial vehicles (UAVs. UAVs have several advantages over manned aircrafts such as small size, reduced combat losses of personnel, etc. In addition, in threat environment, it is necessary to arrange both bringing together distant from each other UAVs in a group and their undetected in radar fields compact flying in terms of the joint flight security.However, the task to control a UAVs group is much more difficult than to control a single UAV, since it is necessary not only to control the aircraft, but also take into account the relative position of objects in the group.To solve this problem two ways are possible: using a network exchange between members of the group on the "everyone with everyone" principle and organizing the leader-headed flight.The aim of the article is to develop and study a possible option of the UAVs group control with arranging a leader-headed flight to provide the undetected in radar fields compact flying in terms of the joint flight security.The article develops a universal algorithm to control leader-headed group, based on a new modification of the statistical theory of optimal control. It studies effectiveness of the algorithm. While solving this task, a flight of seven UAVs was simulated in the horizontal plane in a rectangular coordinate system. Control time, linear errors of desired alignment of UAV, and control errors with respect to angular coordinates are used as measures of merit.The study results of the algorithm to control a leader-headed group of UAVs confirmed that it is possible to fulfill tasks of flying free-of-collision group of UAVs with essentially reduced computational costs.

Passivity-Based Control for a Micro Air Vehicle Using Unit Quaternions

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Maria Eusebia Guerrero-Sanchez

2016-12-01

Full Text Available In this paper the development and practical implementation of a Passivity-Based Control (PBC algorithm to stabilize an Unmanned Aerial Vehicle (UAV described with unit quaternions are presented. First, a mathematical model based on Euler-Lagrange formulation using a logarithmic mapping in the quaternion space is introduced. Then, a new methodology: a quaternion-passivity-based control is derived, which does not compute excessive and complex Partial Differential Equations (PDEs for synthesizing the control law, making a significant advantage in comparison with other methodologies. Therefore, the control design to a system as the quad-rotor is easily solved by the proposed methodology. Another advantage is the possibility to stabilize quad-rotor full dynamics which may not be possible with classical PBC techniques. Experimental results and numerical simulations to validate our proposed scheme are presented.

RAVEN-2: Around-The-World UAV Project

National Research Council Canada - National Science Library

Burleigh, Chris

2003-01-01

The Raven around-the-world UAV project is part of an on-going effort to build up a significant European capability in the design, construction and operation of large UAVs and manned reconnaissance aircraft...

Using crowd sourcing to combat potentially illegal or dangerous UAV operations

Science.gov (United States)

Tapsall, Brooke T.

2016-10-01

The UAV (Unmanned Aerial Vehicles) industry is growing exponentially at a pace that policy makers, individual countries and law enforcement agencies are finding difficult to keep up. The UAV market is large, as such the amount of UAVs being operated in potentially dangerous situations is prevalent and rapidly increasing. Media is continually reporting `near-miss' incidents between UAVs and commercial aircraft, UAV breaching security in sensitive areas or invading public privacy. One major challenge for law enforcement agencies is gaining tangible evidence against potentially dangerous or illegal UAV operators due to the rapidity with which UAV operators are able to enter, fly and exit a scene before authorities can arrive or before they can be located. DroneALERT, an application available via the Airport-UAV.com website, allows users to capture potentially dangerous or illegal UAV activity using their mobile device as it the incident is occurring. A short online DroneALERT Incident Report (DIR) is produced, emailed to the user and the Airport-UAV.com custodians. The DIR can be used to aid authorities in their investigations. The DIR contains details such as images and videos, location, time, date of the incident, drone model, its distance and height. By analysing information from the DIR, photos or video, there is a high potential for law enforcement authorities to use this evidence to identify the type of UAV used, triangulate the location of the potential dangerous UAV and operator, create a timeline of events, potential areas of operator exit and to determine the legalities breached. All provides crucial evidence for identifying and prosecuting a UAV operator.

Global Tracking Control of Quadrotor VTOL Aircraft in Three-Dimensional Space

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Duc Khac Do

2014-07-01

Full Text Available This paper presents a method to design controllers that force a quadrotor vertical take-off and landing (VTOL aircraft to globally asymptotically track a reference trajectory in three-dimensional space. Motivated by the vehicle's steering practice, the roll and pitch angles are considered as immediate controls plus the total thrust force  provided by the aircraft's four rotors to control the position and yaw angle of the aircraft. The control design is based on the newly introduced one-step ahead backstepping, the standard backstepping and Lyapunov's direct methods. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to obtain global tracking control results. The paper also includes a design of observers that exponentially estimate the aircraft's linear velocity vector and disturbances. Simulations illustrate the results.

Development Situation, Trend and Countermeasure of Consumer-level UAV Market in China

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Kang Yu-Lei

2017-01-01

Full Text Available This paper is based on the status of Chinese consumer-level UAV(Unmanned Aerial Vehicle market. According to the main problems in Chinese consumer-level UAV market, the author analyses the trends of Chinese consumer-level UAV market. Then, the author put forward some suggestions to develop Chinese consumer-level UAV market. In 21st century, the research and development expenditure presents the explosive growth in Chinese consumer-level UAV market. From the year of 2012, DJI released their first consumer-level UAV product. Amazon, Facebook, Google and other companies have announced their entry into the UAV market. In 2016, Huawei also announced that it will enter the UAV market.

Automatic Reverse Engineering of Private Flight Control Protocols of UAVs

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Ran Ji

2017-01-01

Full Text Available The increasing use of civil unmanned aerial vehicles (UAVs has the potential to threaten public safety and privacy. Therefore, airspace administrators urgently need an effective method to regulate UAVs. Understanding the meaning and format of UAV flight control commands by automatic protocol reverse-engineering techniques is highly beneficial to UAV regulation. To improve our understanding of the meaning and format of UAV flight control commands, this paper proposes a method to automatically analyze the private flight control protocols of UAVs. First, we classify flight control commands collected from a binary network trace into clusters; then, we analyze the meaning of flight control commands by the accumulated error of each cluster; next, we extract the binary format of commands and infer field semantics in these commands; and finally, we infer the location of the check field in command and the generator polynomial matrix. The proposed approach is validated via experiments on a widely used consumer UAV.

Multiple UAV Cooperation for Wildfire Monitoring

Science.gov (United States)

Lin, Zhongjie

Wildfires have been a major factor in the development and management of the world's forest. An accurate assessment of wildfire status is imperative for fire management. This thesis is dedicated to the topic of utilizing multiple unmanned aerial vehicles (UAVs) to cooperatively monitor a large-scale wildfire. This is achieved through wildfire spreading situation estimation based on on-line measurements and wise cooperation strategy to ensure efficiency. First, based on the understanding of the physical characteristics of the wildfire propagation behavior, a wildfire model and a Kalman filter-based method are proposed to estimate the wildfire rate of spread and the fire front contour profile. With the enormous on-line measurements from on-board sensors of UAVs, the proposed method allows a wildfire monitoring mission to benefit from on-line information updating, increased flexibility, and accurate estimation. An independent wildfire simulator is utilized to verify the effectiveness of the proposed method. Second, based on the filter analysis, wildfire spreading situation and vehicle dynamics, the influence of different cooperation strategies of UAVs to the overall mission performance is studied. The multi-UAV cooperation problem is formulated in a distributed network. A consensus-based method is proposed to help address the problem. The optimal cooperation strategy of UAVs is obtained through mathematical analysis. The derived optimal cooperation strategy is then verified in an independent fire simulation environment to verify its effectiveness.

Introduction to UAV systems

CERN Document Server

Fahlstrom, Paul

2012-01-01

Unmanned aerial vehicles (UAVs) have been widely adopted in the military world over the last decade and the success of these military applications is increasingly driving efforts to establish unmanned aircraft in non-military roles. Introduction to UAV Systems, 4th edition provides a comprehensive introduction to all of the elements of a complete Unmanned Aircraft System (UAS). It addresses the air vehicle, mission planning and control, several types of mission payloads, data links and how they interact with mission performance, and launch and recovery concepts. This

Slic Superpixels for Object Delineation from Uav Data

Science.gov (United States)

Crommelinck, S.; Bennett, R.; Gerke, M.; Koeva, M. N.; Yang, M. Y.; Vosselman, G.

2017-08-01

Unmanned aerial vehicles (UAV) are increasingly investigated with regard to their potential to create and update (cadastral) maps. UAVs provide a flexible and low-cost platform for high-resolution data, from which object outlines can be accurately delineated. This delineation could be automated with image analysis methods to improve existing mapping procedures that are cost, time and labor intensive and of little reproducibility. This study investigates a superpixel approach, namely simple linear iterative clustering (SLIC), in terms of its applicability to UAV data. The approach is investigated in terms of its applicability to high-resolution UAV orthoimages and in terms of its ability to delineate object outlines of roads and roofs. Results show that the approach is applicable to UAV orthoimages of 0.05 m GSD and extents of 100 million and 400 million pixels. Further, the approach delineates the objects with the high accuracy provided by the UAV orthoimages at completeness rates of up to 64 %. The approach is not suitable as a standalone approach for object delineation. However, it shows high potential for a combination with further methods that delineate objects at higher correctness rates in exchange of a lower localization quality. This study provides a basis for future work that will focus on the incorporation of multiple methods for an interactive, comprehensive and accurate object delineation from UAV data. This aims to support numerous application fields such as topographic and cadastral mapping.

78 FR 59 - Endangered and Threatened Wildlife and Plants; Listing the Honduran Emerald Hummingbird

Science.gov (United States)

2013-01-02

... used by another hummingbird species to travel between suitable habitats indicate that gaps in suitable..., agricultural cooperatives are raising citrus fruits, corn (maize), rice, and African palm for oil (WWF 2008, p... agricultural plantations. Pesticides and Fertilizers WWF notes that production yield level can only be...

Burst muscle performance predicts the speed, acceleration, and turning performance of Anna’s hummingbirds

Science.gov (United States)

Segre, Paolo S; Dakin, Roslyn; Zordan, Victor B; Dickinson, Michael H; Straw, Andrew D; Altshuler, Douglas L

2015-01-01

Despite recent advances in the study of animal flight, the biomechanical determinants of maneuverability are poorly understood. It is thought that maneuverability may be influenced by intrinsic body mass and wing morphology, and by physiological muscle capacity, but this hypothesis has not yet been evaluated because it requires tracking a large number of free flight maneuvers from known individuals. We used an automated tracking system to record flight sequences from 20 Anna's hummingbirds flying solo and in competition in a large chamber. We found that burst muscle capacity predicted most performance metrics. Hummingbirds with higher burst capacity flew with faster velocities, accelerations, and rotations, and they used more demanding complex turns. In contrast, body mass did not predict variation in maneuvering performance, and wing morphology predicted only the use of arcing turns and high centripetal accelerations. Collectively, our results indicate that burst muscle capacity is a key predictor of maneuverability. DOI: http://dx.doi.org/10.7554/eLife.11159.001 PMID:26583753

Fragmentation of CagA Reduces Hummingbird Phenotype Induction by Helicobactor pylori.

Directory of Open Access Journals (Sweden)

Chih-Chi Chang

Full Text Available Infection with Helicobacter pylori (H. pylori has been linked to various gastro-intestinal diseases; nevertheless it remains to be clarified why only a minority of infected individuals develop illness. Studies from the West have indicated that the cagA gene and the associated EPIYA genotype of H. pylori is closely linked to the development of severe gastritis and gastric carcinoma; however, as yet no consistent correlation has been found among the bacteria from East Asia. In addition to genotype variation, the CagA protein undergoes fragmentation; however, the functional significance of fragmentation with respect to H. pylori infection remains unknown. In this study, we isolated 594 H. pylori colonies from 99 patients and examined the fragmentation patterns of CagA protein using immunoblotting. By analyzing the ability of the isolates to induce the host cell morphological transition to the highly invasive hummingbird phenotype, we demonstrated that H. pylori colonies with substantial CagA fragmentation are less potent in terms of causing this morphological transition. Our results uncovered a functional role for CagA fragmentation with respect to H. pylori-induced hummingbird phenotype formation and these findings suggest the possibility that the post-translational processing of CagA may be involved in H. pylori infection pathogenesis.

Toward understanding the mechanics of hovering in insects, hummingbirds and bats

Science.gov (United States)

Vejdani, Hamid; Boerma, David; Swartz, Sharon; Breuer, Kenneth

2016-11-01

We present results on the dynamical characteristics of two different mechanisms of hovering, corresponding to the behavior of hummingbirds and bats. Using a Lagrangian formulation, we have developed a dynamical model of a body (trunk) and two rectangular wings. The trunk has 3 degrees of freedom (x, z and pitch angle) and each wing has 3 modes of actuation: flapping, pronation/supination, and wingspan extension/flexion (only present for bats). Wings can be effectively massless (hummingbird and insect wings) or relatively massive (important in the case of bats). The aerodynamic drag and lift forces are calculated using a quasi-steady blade-element model. The regions of state space in which hovering is possible are computed by over an exhaustive range of parameters. The effect of wing mass is to shrink the phase space available for viable hovering and, in general, to require higher wingbeat frequency. Moreover, by exploring hovering energy requirements, we find that the pronation angle of the wings also plays a critical role. For bats, who have relatively heavy wings, we show wing extension and flexion is critical in order to maintain a plausible hovering posture with reasonable power requirements. Comparisons with biological data show good agreement with our model predictions.

Tuning PID attitude stabilization of a quadrotor using particle swarm optimization (experimental

Directory of Open Access Journals (Sweden)

Khodja Mohammed Abdallah

2017-01-01

Full Text Available Proportional, Integral and Derivative (PID controllers are the most popular type of controller used in industrial applications because of their notable simplicity and effective implementation. However, manual tuning of these controllers is tedious and often leads to poor performance. The conventional Ziegler-Nichols (Z-N method of PID tuning was done experimentally enables easy identification stable PID parameters in a short time, but is accompanied by overshoot, high steady-state error, and large rise time. Therefore, in this study, the modern heuristics approach of Particle Swarm Optimization (PSO was employed to enhance the capabilities of the conventional Z-N technique. PSO with the constriction coefficient method experimentally demonstrated the ability to efficiently and effectively identify optimal PID controller parameters for attitude stabilization of a quadrotor.

State-Of in Uav Remote Sensing Survey - First Insights Into Applications of Uav Sensing Systems

Science.gov (United States)

Aasen, H.

2017-08-01

UAVs are increasingly adapted as remote sensing platforms. Together with specialized sensors, they become powerful sensing systems for environmental monitoring and surveying. Spectral data has great capabilities to the gather information about biophysical and biochemical properties. Still, capturing meaningful spectral data in a reproducible way is not trivial. Since a couple of years small and lightweight spectral sensors, which can be carried on small flexible platforms, have become available. With their adaption in the community, the responsibility to ensure the quality of the data is increasingly shifted from specialized companies and agencies to individual researchers or research teams. Due to the complexity of the data acquisition of spectral data, this poses a challenge for the community and standardized protocols, metadata and best practice procedures are needed to make data intercomparable. In November 2016, the ESSEM COST action Innovative optical Tools for proximal sensing of ecophysiological processes (OPTIMISE; http://optimise.dcs.aber.ac.uk/) held a workshop on best practices for UAV spectral sampling. The objective of this meeting was to trace the way from particle to pixel and identify influences on the data quality / reliability, to figure out how well we are currently doing with spectral sampling from UAVs and how we can improve. Additionally, a survey was designed to be distributed within the community to get an overview over the current practices and raise awareness for the topic. This talk will introduce the approach of the OPTIMISE community towards best practises in UAV spectral sampling and present first results of the survey (http://optimise.dcs.aber.ac.uk/uav-survey/). This contribution briefly introduces the survey and gives some insights into the first results given by the interviewees.

Repeated elevational transitions in hemoglobin function during the evolution of Andean hummingbirds.

Science.gov (United States)

Projecto-Garcia, Joana; Natarajan, Chandrasekhar; Moriyama, Hideaki; Weber, Roy E; Fago, Angela; Cheviron, Zachary A; Dudley, Robert; McGuire, Jimmy A; Witt, Christopher C; Storz, Jay F

2013-12-17

Animals that sustain high levels of aerobic activity under hypoxic conditions (e.g., birds that fly at high altitude) face the physiological challenge of jointly optimizing blood-O2 affinity for O2 loading in the pulmonary circulation and O2 unloading in the systemic circulation. At high altitude, this challenge is especially acute for small endotherms like hummingbirds that have exceedingly high mass-specific metabolic rates. Here we report an experimental analysis of hemoglobin (Hb) function in South American hummingbirds that revealed a positive correlation between Hb-O2 affinity and native elevation. Protein engineering experiments and ancestral-state reconstructions revealed that this correlation is attributable to derived increases in Hb-O2 affinity in highland lineages, as well as derived reductions in Hb-O2 affinity in lowland lineages. Site-directed mutagenesis experiments demonstrated that repeated evolutionary transitions in biochemical phenotype are mainly attributable to repeated amino acid replacements at two epistatically interacting sites that alter the allosteric regulation of Hb-O2 affinity. These results demonstrate that repeated changes in biochemical phenotype involve parallelism at the molecular level, and that mutations with indirect, second-order effects on Hb allostery play key roles in biochemical adaptation.

A mini-UAV VTOL Platform for Surveying Applications

Directory of Open Access Journals (Sweden)

Kuldeep Rawat

2014-05-01

Full Text Available In this paper we discuss implementation of a mini-Unmanned Aerial Vehicle (UAV vertical take-off and landing (VTOL platform for surveying activities related to highway construction. Recent advances in sensor and communication technologies have allowed scaling sizes of unmanned aerial platforms, and explore them for tasks that are economical and safe over populated or inhabited areas. In highway construction the capability of mini-UAVs to survey in hostile and/or hardly accessible areas can greatly reduce human risks. The project focused on developing a cost effective, remotely controlled, fuel powered mini-UAV VTOL (helicopter platform with certain payload capacity and configuration and demonstrated its use in surveying and monitoring activities required for highway planning and construction. With an on-board flight recorder global positioning system (GPS device, memory storage card, telemetry, inertial navigation sensors, and a video camera the mini-UAV can record flying coordinates and relay live video images to a remote ground receiver and surveyor. After all necessary integration and flight tests were done the mini-UAV helicopter was tested to operate and relay video from the areas where construction was underway. The mini-UAV can provide a platform for a range of sensors and instruments that directly support the operational requirements of transportation sector.

Flower morphology, nectar features, and hummingbird visitation to Palicourea crocea (Rubiaceae in the Upper Paraná River floodplain, Brazil

Directory of Open Access Journals (Sweden)

Luciana B. Mendonça

2006-03-01

Full Text Available We investigated flower morphology, nectar features, and hummingbird visitation to Palicourea crocea (Rubiaceae, a common ornithophilous shrub found in the riparian forest understory in the Upper Paraná River floodplain, Brazil. Flowers are distylous and the style-stamen dimorphism is accompanied by other intermorph dimorphisms in corolla length, anther length, and stigma lobe length and form. We did not observe strict reciprocity in the positioning of stigma and anthers between floral morphs. Flowering occurred during the rainy season, October to December. Nectar standing crop per flowerwas relatively constant throughout the day, which apparently resulted in hummingbirds visiting the plant throughout the day. Energetic content of the nectar in each flower (66.5J and that required daily by hummingbird visitors (up to 30kJ would oblige visits to hundreds of flowers each day, and thus movements between plants that should result in pollen flow. Three hummingbird species visited the flowers: the Gilded Sapphire (Hylocharis chrysura, the Black-throated Mango (Anthracothorax nigricollis, and the Glittering-bellied Emerald (Chlorostilbon aureoventris. The frequency of hummingbird visitation, nectar features, and the scarcity of other hummingbird-visited flowers in the study area, indicate that P. crocea is an important nectar resource for short-billed hummingbirds in the study site.Investigamos a morfologia floral, as características do néctar e a visita de beija-flores a Palicourea crocea (Rubiaceae, uma espécie ornitófila arbustiva comumente encontrada no sub-bosque da vegetação ripária na planície de inundação do Alto Rio Paraná, Brasil. As flores são distílicas, sendo o dimorfismo estilete-estames acompanhado por outras variações morfológicas no comprimento da corola, altura das anteras, comprimento das anteras e comprimento e forma das papilas estigmáticas. Não foi observada reciprocidade estrita na posição dos estigmas e

Energy-Efficient Power Allocation for UAV Cognitive Radio Systems

KAUST Repository

Sboui, Lokman

2018-02-12

We study the deployment of unmanned aerial vehicles (UAV) based cognitive system in an area covered by the primary network (PN). An UAV shares the spectrum of the PN and aims to maximize its energy efficiency (EE) by optimizing the transmit power. We focus on the case where the UAV simultaneously communicates with the ground receiver (G), under interference limitation, and with another relaying UAV (A), with a minimal required rate. We analytically develop the power allocation framework that maximizes the EE subject to power budget, interference, and minimal rate constraints. In the numerical results, we show that the minimal rate may cause a transmission outage at low power budget values. We also highlighted the existence of optimal altitudes given the UAV location with respect to the different other terminals.

Energy-Efficient Power Allocation for UAV Cognitive Radio Systems

KAUST Repository

Sboui, Lokman; Ghazzai, Hakim; Rezki, Zouheir; Alouini, Mohamed-Slim

2018-01-01

We study the deployment of unmanned aerial vehicles (UAV) based cognitive system in an area covered by the primary network (PN). An UAV shares the spectrum of the PN and aims to maximize its energy efficiency (EE) by optimizing the transmit power. We focus on the case where the UAV simultaneously communicates with the ground receiver (G), under interference limitation, and with another relaying UAV (A), with a minimal required rate. We analytically develop the power allocation framework that maximizes the EE subject to power budget, interference, and minimal rate constraints. In the numerical results, we show that the minimal rate may cause a transmission outage at low power budget values. We also highlighted the existence of optimal altitudes given the UAV location with respect to the different other terminals.

Assessing UAVs in Monitoring Crop Evapotranspiration within a Heterogeneous Soil

Science.gov (United States)

Rouze, G.; Neely, H.; Morgan, C.; Kustas, W. P.; McKee, L.; Prueger, J. H.; Cope, D.; Yang, C.; Thomasson, A.; Jung, J.

2017-12-01

Airborne and satellite remote sensing methods have been developed to provide ET estimates across entire management fields. However, airborne-based ET is not particularly cost-effective and satellite-based ET provides insufficient spatial/temporal information. ET estimations through remote sensing are also problematic where soils are highly variable within a given management field. Unlike airborne/satellite-based ET, Unmanned Aerial Vehicle (UAV)-based ET has the potential to increase the spatial and temporal detail of these measurements, particularly within a heterogeneous soil landscape. However, it is unclear to what extent UAVs can model ET. The overall goal of this project was to assess the capability of UAVs in modeling ET across a heterogeneous landscape. Within a 20-ha irrigated cotton field in Central Texas, low-altitude UAV surveys were conducted throughout the growing season over two soil types. UAVs were equipped with thermal and multispectral cameras to obtain canopy temperature and NDVI, respectively. UAV data were supplemented simultaneously with ground-truth measurements such as Leaf Area Index (LAI) and plant height. Both remote sensing and ground-truth parameters were used to model ET using a Two-Source Energy Balance (TSEB) model. UAV-based estimations of ET and other energy balance components were validated against energy balance measurements obtained from nearby eddy covariance towers that were installed within each soil type. UAV-based ET fluxes were also compared with airborne and satellite (Landsat 8)-based ET fluxes collected near the time of the UAV survey.

Research on UAV Intelligent Obstacle Avoidance Technology During Inspection of Transmission Line

Science.gov (United States)

Wei, Chuanhu; Zhang, Fei; Yin, Chaoyuan; Liu, Yue; Liu, Liang; Li, Zongyu; Wang, Wanguo

Autonomous obstacle avoidance of unmanned aerial vehicle (hereinafter referred to as UAV) in electric power line inspection process has important significance for operation safety and economy for UAV intelligent inspection system of transmission line as main content of UAV intelligent inspection system on transmission line. In the paper, principles of UAV inspection obstacle avoidance technology of transmission line are introduced. UAV inspection obstacle avoidance technology based on particle swarm global optimization algorithm is proposed after common obstacle avoidance technologies are studied. Stimulation comparison is implemented with traditional UAV inspection obstacle avoidance technology which adopts artificial potential field method. Results show that UAV inspection strategy of particle swarm optimization algorithm, adopted in the paper, is prominently better than UAV inspection strategy of artificial potential field method in the aspects of obstacle avoidance effect and the ability of returning to preset inspection track after passing through the obstacle. An effective method is provided for UAV inspection obstacle avoidance of transmission line.

A method of fast mosaic for massive UAV images

Science.gov (United States)

Xiang, Ren; Sun, Min; Jiang, Cheng; Liu, Lei; Zheng, Hui; Li, Xiaodong

2014-11-01

With the development of UAV technology, UAVs are used widely in multiple fields such as agriculture, forest protection, mineral exploration, natural disaster management and surveillances of public security events. In contrast of traditional manned aerial remote sensing platforms, UAVs are cheaper and more flexible to use. So users can obtain massive image data with UAVs, but this requires a lot of time to process the image data, for example, Pix4UAV need approximately 10 hours to process 1000 images in a high performance PC. But disaster management and many other fields require quick respond which is hard to realize with massive image data. Aiming at improving the disadvantage of high time consumption and manual interaction, in this article a solution of fast UAV image stitching is raised. GPS and POS data are used to pre-process the original images from UAV, belts and relation between belts and images are recognized automatically by the program, in the same time useless images are picked out. This can boost the progress of finding match points between images. Levenberg-Marquard algorithm is improved so that parallel computing can be applied to shorten the time of global optimization notably. Besides traditional mosaic result, it can also generate superoverlay result for Google Earth, which can provide a fast and easy way to show the result data. In order to verify the feasibility of this method, a fast mosaic system of massive UAV images is developed, which is fully automated and no manual interaction is needed after original images and GPS data are provided. A test using 800 images of Kelan River in Xinjiang Province shows that this system can reduce 35%-50% time consumption in contrast of traditional methods, and increases respond speed of UAV image processing rapidly.

Single and Multiple UAV Cyber-Attack Simulation and Performance Evaluation

Directory of Open Access Journals (Sweden)

Ahmad Y. Javaid

2015-02-01

Full Text Available Usage of ground, air and underwater unmanned vehicles (UGV, UAV and UUV has increased exponentially in the recent past with industries producing thousands of these unmanned vehicles every year.With the ongoing discussion of integration of UAVs in the US National Airspace, the need of a cost-effective way to verify the security and resilience of a group of communicating UAVs under attack has become very important. The answer to this need is a simulation testbed which can be used to simulate the UAV Network (UAVNet. One of these attempts is - UAVSim (Unmanned Aerial Vehicle Simulation testbed developed at the University of Toledo. It has the capability of simulating large UAV networks as well as small UAV networks with large number of attack nodes. In this paper, we analyse the performance of the simulation testbed for two attacks, targeting single and multiple UAVs. Traditional and generic computing resource available in a regular computer laboratory was used. Various evaluation results have been presented and analysed which suggest the suitability of UAVSim for UAVNet attack and swarm simulation applications.

Surveillance mission planning for UAVs in GPS-denied urban environment

Science.gov (United States)

Pengfei, Wang

In this thesis, the issues involved in the mission planning of UAVs for city surveillance have been studied. In this thesis, the research includes two major parts. Firstly, a mission planning system is developed that generates mission plans for a group of fixed-wing UAVs with on-board gimballed cameras to provide continuous surveillance over an urban area. Secondly, the problem of perching location selection (as part of perch-and-stare surveillance mission) for rotary-wing UAVs in a GPS-denied environment is studied. In this kind of mission, a UAV is dispatched to perch on a roof of a building to keep surveillance on a given target. The proposed algorithms to UAV surveillance mission planning (fixed-wing and rotary-wing) have been implemented and tested. It represents an important step towards achieving autonomous planning in UAV surveillance missions.

Characteristic analysis on UAV-MIMO channel based on normalized correlation matrix.

Science.gov (United States)

Gao, Xi jun; Chen, Zi li; Hu, Yong Jiang

2014-01-01

Based on the three-dimensional GBSBCM (geometrically based double bounce cylinder model) channel model of MIMO for unmanned aerial vehicle (UAV), the simple form of UAV space-time-frequency channel correlation function which includes the LOS, SPE, and DIF components is presented. By the methods of channel matrix decomposition and coefficient normalization, the analytic formula of UAV-MIMO normalized correlation matrix is deduced. This formula can be used directly to analyze the condition number of UAV-MIMO channel matrix, the channel capacity, and other characteristic parameters. The simulation results show that this channel correlation matrix can be applied to describe the changes of UAV-MIMO channel characteristics under different parameter settings comprehensively. This analysis method provides a theoretical basis for improving the transmission performance of UAV-MIMO channel. The development of MIMO technology shows practical application value in the field of UAV communication.

Mini UAV as an improvised air threat

NARCIS (Netherlands)

Kraker, K.J. de; Wiel, R.A.N. van de

2013-01-01

The use of UAVs for military and law enforcement purposes is increasing dramatically. Simultaneously, possible opponents are also developing UAV capabilities that they may deploy for their purposes. For example, a terrorist may deploy a commercially available model airplane or multicopter with an

Does intraspecific behavioural variation of pollinator species influence pollination? A quantitative study with hummingbirds and a Neotropical shrub.

Science.gov (United States)

Maruyama, P K; Justino, D G; Oliveira, P E

2016-11-01

Floral visitors differ in their efficacy as pollinators, and the impact of different pollinator species on pollen flow and plant reproduction has been frequently evaluated. In contrast, the impact of intraspecific behavioural changes on their efficacy as pollinators has seldom been quantified. We studied a self-incompatible shrub Palicourea rigida (Rubiaceae) and its hummingbird pollinators, which adjust their behaviour according to floral resource availability. Fluorescence microscopy was used to access pollen tube growth and incompatibility reaction in pistils after a single visit of territorial or intruder hummingbirds in two populations. To characterise the plant populations and possible differences in resource availability between areas we used a three-term quadrat variance method to detect clusters of floral resources. Within-species variation in foraging behaviour, but not species identity, affected pollinator efficacy. Effectively, hummingbirds intruding into territories deposited more compatible pollen grains on P. rigida stigmas than territory holders in both study areas. Additionally, territory holders deposited more incompatible than compatible pollen grains. Our results imply that intraspecific foraging behaviour variation has consequences for pollination success. Quantifying such variation and addressing the implications of intraspecific variability contribute to a better understanding of the dynamics and consequences of plant-pollinator interactions. © 2016 German Botanical Society and The Royal Botanical Society of the Netherlands.

SLIC superpixels for object delineation UAV data

NARCIS (Netherlands)

Crommelinck, Sophie Charlotte; Bennett, R.M.; Gerke, Markus; Koeva, M.N.; Yang, M.Y.; Vosselman, G.; Stachniss, C.; Förstner, W.; Schneider, J.

2017-01-01

Unmanned aerial vehicles (UAV) are increasingly investigated with regard to their potential to create and update (cadastral) maps. UAVs provide a flexible and low-cost platform for high-resolution data, from which object outlines can be accurately delineated. This delineation could be automated with

EMERGENCY RADIATION SURVEY DEVICE ONBOARD THE UAV

Directory of Open Access Journals (Sweden)

S. Bogatov

2013-08-01

Full Text Available Radiation survey device (RSD on the base of unmanned aerial vehicle (UAV was developed as an equipment of rescue forces for radiation situation reconnaissance in case of emergency. RSD is multi range radiometer with spectrometer functions capable to work within gamma ray fields of dose rate 10–7 – 10–1 Sievert per hour. UAV md4-1000 (Microdrones GmbH, Germany was selected as the RSD carrier as a reliable vehicle with appropriate properties. Short description of RSD, UAV and developed software features as well as sensitivity assessments for different radiation sources are presented.

Dynamic Data-Driven UAV Network for Plume Characterization

Science.gov (United States)

2016-05-23

AFRL-AFOSR-VA-TR-2016-0203 Dynamic Data-Driven UAV Network for Plume Characterization Kamran Mohseni UNIVERSITY OF FLORIDA Final Report 05/23/2016...AND SUBTITLE Dynamic Data-Driven UAV Network for Plume Characterization 5a.  CONTRACT NUMBER 5b.  GRANT NUMBER FA9550-13-1-0090 5c.  PROGRAM ELEMENT...studied a dynamic data driven (DDD) approach to operation of a heterogeneous team of unmanned aerial vehicles ( UAVs ) or micro/miniature aerial

Genetic architecture of pollination syndrome transition between hummingbird-specialist and generalist species in the genus Rhytidophyllum (Gesneriaceae

Directory of Open Access Journals (Sweden)

Hermine Alexandre

2015-06-01

Full Text Available Adaptation to pollinators is a key factor of diversification in angiosperms. The Caribbean sister genera Rhytidophyllum and Gesneria present an important diversification of floral characters. Most of their species can be divided in two major pollination syndromes. Large-open flowers with pale colours and great amount of nectar represent the generalist syndrome, while the hummingbird-specialist syndrome corresponds to red tubular flowers with a less important nectar volume. Repeated convergent evolution toward the generalist syndrome in this group suggests that such transitions rely on few genes of moderate to large effect. To test this hypothesis, we built a linkage map and performed a QTL detection for divergent pollination syndrome traits by crossing one specimen of the generalist species Rhytidophyllum auriculatum with one specimen of the hummingbird pollinated R. rupincola. Using geometric morphometrics and univariate traits measurements, we found that floral shape among the second-generation hybrids is correlated with morphological variation observed between generalist and hummingbird-specialist species at the genus level. The QTL analysis showed that colour and nectar volume variation between syndromes involve each one major QTL while floral shape has a more complex genetic basis and rely on few genes of moderate effect. Finally, we did not detect any genetic linkage between the QTLs underlying those traits. This genetic independence of traits could have facilitated evolution toward optimal syndromes.

Implications of longitude and latitude on the size of solar-powered UAV

International Nuclear Information System (INIS)

Rajendran, Parvathy; Smith, Howard

2015-01-01

Highlights: • We studied solar irradiance and daylight implication on solar-powered UAV design. • We explored for perpetual UAV flight for 12 cities around the world. • All year round solar-powered UAV operation possible for cities near equatorial line. • Cities in latitudes of ±35° are the optimal for solar-powered UAV. • Longitudinal coordinates and elevation have a minor effect on UAV design. - Abstract: The implication of solar irradiance and daylight duration on the design of a small solar-powered unmanned aerial vehicle (UAV) that is capable of operating perpetually in various cities around the world was investigated. Solar data in 2013 on 12 cities distributed around the world was collected. The effects of the available solar irradiance and daylight of the city on the maximum take-off weight and wing span of a small solar-powered UAV were studied. The analysis indicates that daylight duration is as important as the available solar irradiance to the performance of the solar-powered UAV. Longitudinal coordinates and elevation have a minor effect on the estimation of daylight duration. Areas considerably high in solar irradiance and daylight duration are more conducive to the effective performance of solar-powered UAVs than other areas. Therefore, cities closer to the equator have an advantage in utilizing solar-powered UAVs; where smaller and lighter solar-powered UAV can be designed

Aerial photogrammetry procedure optimized for micro uav

Directory of Open Access Journals (Sweden)

T. Anai

2014-06-01

Full Text Available This paper proposes the automatic aerial photogrammetry procedure optimized for Micro UAV that has ability of autonomous flight. The most important goal of our proposed method is the reducing the processing cost for fully automatic reconstruction of DSM from a large amount of image obtained from Micro UAV. For this goal, we have developed automatic corresponding point generation procedure using feature point tracking algorithm considering position and attitude information, which obtained from onboard GPS-IMU integrated on Micro UAV. In addition, we have developed the automatic exterior orientation and registration procedure from the automatic generated corresponding points on each image and position and attitude information from Micro UAV. Moreover, in order to reconstruct precise DSM, we have developed the area base matching process which considering edge information. In this paper, we describe processing flow of our automatic aerial photogrammetry. Moreover, the accuracy assessment is also described. Furthermore, some application of automatic reconstruction of DSM will be desired.

From random process to chaotic behavior in swarms of UAVs

OpenAIRE

Rosalie , Martin; Danoy , Grégoire; Chaumette , Serge; Bouvry , Pascal

2016-01-01

International audience; Unmanned Aerial Vehicles (UAVs) applications have seen an important increase in the last decade for both military and civilian applications ranging from fire and high seas rescue to military surveillance and target detection. While this technology is now mature for a single UAV, new methods are needed to operate UAVs in swarms, also referred to as fleets. This work focuses on the mobility management of one single autonomous swarm of UAVs which mission is to cover a giv...

Critical infrastructure monitoring using UAV imagery

Science.gov (United States)

Maltezos, Evangelos; Skitsas, Michael; Charalambous, Elisavet; Koutras, Nikolaos; Bliziotis, Dimitris; Themistocleous, Kyriacos

2016-08-01

The constant technological evolution in Computer Vision enabled the development of new techniques which in conjunction with the use of Unmanned Aerial Vehicles (UAVs) may extract high quality photogrammetric products for several applications. Dense Image Matching (DIM) is a Computer Vision technique that can generate a dense 3D point cloud of an area or object. The use of UAV systems and DIM techniques is not only a flexible and attractive solution to produce accurate and high qualitative photogrammetric results but also is a major contribution to cost effectiveness. In this context, this study aims to highlight the benefits of the use of the UAVs in critical infrastructure monitoring applying DIM. A Multi-View Stereo (MVS) approach using multiple images (RGB digital aerial and oblique images), to fully cover the area of interest, is implemented. The application area is an Olympic venue in Attica, Greece, at an area of 400 acres. The results of our study indicate that the UAV+DIM approach respond very well to the increasingly greater demands for accurate and cost effective applications when provided with, a 3D point cloud and orthomosaic.

Heterogeneous CPU-GPU moving targets detection for UAV video

Science.gov (United States)

Li, Maowen; Tang, Linbo; Han, Yuqi; Yu, Chunlei; Zhang, Chao; Fu, Huiquan

2017-07-01

Moving targets detection is gaining popularity in civilian and military applications. On some monitoring platform of motion detection, some low-resolution stationary cameras are replaced by moving HD camera based on UAVs. The pixels of moving targets in the HD Video taken by UAV are always in a minority, and the background of the frame is usually moving because of the motion of UAVs. The high computational cost of the algorithm prevents running it at higher resolutions the pixels of frame. Hence, to solve the problem of moving targets detection based UAVs video, we propose a heterogeneous CPU-GPU moving target detection algorithm for UAV video. More specifically, we use background registration to eliminate the impact of the moving background and frame difference to detect small moving targets. In order to achieve the effect of real-time processing, we design the solution of heterogeneous CPU-GPU framework for our method. The experimental results show that our method can detect the main moving targets from the HD video taken by UAV, and the average process time is 52.16ms per frame which is fast enough to solve the problem.

UAV formation control design with obstacle avoidance in dynamic three-dimensional environment.

Science.gov (United States)

Chang, Kai; Xia, Yuanqing; Huang, Kaoli

2016-01-01

This paper considers the artificial potential field method combined with rotational vectors for a general problem of multi-unmanned aerial vehicle (UAV) systems tracking a moving target in dynamic three-dimensional environment. An attractive potential field is generated between the leader and the target. It drives the leader to track the target based on the relative position of them. The other UAVs in the formation are controlled to follow the leader by the attractive control force. The repulsive force affects among the UAVs to avoid collisions and distribute the UAVs evenly on the spherical surface whose center is the leader-UAV. Specific orders or positions of the UAVs are not required. The trajectories of avoidance obstacle can be obtained through two kinds of potential field with rotation vectors. Every UAV can choose the optimal trajectory to avoid the obstacle and reconfigure the formation after passing the obstacle. Simulations study on UAV are presented to demonstrate the effectiveness of proposed method.

Application of Unmanned Air Vehicles (UAV) in monitoring of terrestrial habitats

DEFF Research Database (Denmark)

Sørensen, Peter Borgen; Strandberg, Beate; Bak, Jesper Leth

2015-01-01

I the last years there have been high focus on UAVs (drones) for many civil purposes and UAVs are also increasingly used for ecological data gathering. This presentation will first make an appetizer to show the new possibilities of using UAVs. The traditional concept of separating “data......” that are “real” from “models” that are “simulations” has to be refined in the area of field investigations, in order to utilize UAVs to make a revolution in data and understanding about the terrestrial habitats. However, this is not straightforward, and the presentation will line up the obstacles for using UAVs...

Multi-UAV Flight using Virtual Structure Combined with Behavioral Approach

Directory of Open Access Journals (Sweden)

Kownacki Cezary

2016-06-01

Full Text Available Implementations of multi-UAV systems can be divided mainly into two different approaches, centralised system that synchronises positions of each vehicle by a ground station and an autonomous system based on decentralised control, which offers more flexibility and independence. Decentralisation of multi-UAV control entails the need for information sharing between all vehicles, what in some cases could be problematic due to a significant amount of data to be sent over the wireless network. To improve the reliability and the throughput of information sharing inside the formation of UAVs, this paper proposes an approach that combines virtual structure with a leader and two flocking behaviours. Each UAV has assigned different virtual migration point referenced to the leader's position which is simultaneously the origin of a formation reference frame. All migration points create together a virtual rigid structure. Each vehicle uses local behaviours of cohesion and repulsion respectively, to track its own assigned point in the structure and to avoid a collision with the previous UAV in the structure. To calculate parameters of local behaviours, each UAV should know position and attitude of the leader to define the formation reference frame and also the actual position of the previous UAV in the structure. Hence, information sharing can be based on a chain of local peer-to-peer communication between two consecutive vehicles in the structure. In such solution, the information about the leader could be sequentially transmitted from one UAV to another. Numerical simulations were prepared and carried out to verify the effectiveness of the presented approach. Trajectories recorded during those simulations show collective, coherence and collision-free flights of the formation created with five UAVs.

Low complexity video encoding for UAV inspection

DEFF Research Database (Denmark)

Søgaard, Jacob; Zhang, Ruo; Forchhammer, Søren

2016-01-01

In this work we present several methods for fast integer motion estimation of videos recorded aboard an Unmanned Aerial Vehicle (UAV). Different from related work, the field depth is not considered to be consistent. The novel methods designed for low complexity MV prediction in H.264/AVC and anal......In this work we present several methods for fast integer motion estimation of videos recorded aboard an Unmanned Aerial Vehicle (UAV). Different from related work, the field depth is not considered to be consistent. The novel methods designed for low complexity MV prediction in H.264/AVC...... for UAV infrared (IR) video are also provided....

Classical Photogrammetry and Uav - Selected Ascpects

Science.gov (United States)

Mikrut, S.

2016-06-01

The UAV technology seems to be highly future-oriented due to its low costs as compared to traditional aerial images taken from classical photogrammetry aircrafts. The AGH University of Science and Technology in Cracow - Department of Geoinformation, Photogrammetry and Environmental Remote Sensing focuses mainly on geometry and radiometry of recorded images. Various scientific research centres all over the world have been conducting the relevant research for years. The paper presents selected aspects of processing digital images made with the UAV technology. It provides on a practical example a comparison between a digital image taken from an airborne (classical) height, and the one made from an UAV level. In his research the author of the paper is trying to find an answer to the question: to what extent does the UAV technology diverge today from classical photogrammetry, and what are the advantages and disadvantages of both methods? The flight plan was made over the Tokarnia Village Museum (more than 0.5 km2) for two separate flights: the first was made by an UAV - System FT-03A built by FlyTech Solution Ltd. The second was made with the use of a classical photogrammetric Cesna aircraft furnished with an airborne photogrammetric camera (Ultra Cam Eagle). Both sets of photographs were taken with pixel size of about 3 cm, in order to have reliable data allowing for both systems to be compared. The project has made aerotriangulation independently for the two flights. The DTM was generated automatically, and the last step was the generation of an orthophoto. The geometry of images was checked under the process of aerotriangulation. To compare the accuracy of these two flights, control and check points were used. RMSE were calculated. The radiometry was checked by a visual method and using the author's own algorithm for feature extraction (to define edges with subpixel accuracy). After initial pre-processing of data, the images were put together, and shown side by side

Landing spot selection for UAV emergency landing

NARCIS (Netherlands)

Eendebak, P.T.; Eekeren, A.W.M. van; Hollander, R.J.M. den

2013-01-01

We present a robust method for landing zone selection using obstacle detection to be used for UAV emergency landings. The method is simple enough to allow real-time implementation on a UAV system. The method is able to detect objects in the presence of camera movement and motion parallax. Using the

The Hummingbird GC-IMS: In Situ Analysis of a Cometary Nucleus

Science.gov (United States)

Kojiro, Daniel R.; Carle, Glenn C.; Cohen, Martin J.; Wernlund, Roger F.; Stimac, Robert M.; Takeuchi, Norishige; DeVincenzi, Donald L. (Technical Monitor)

2000-01-01

Comets are of enormous scientific interest for many reasons. They are primitive bodies that date back to the earliest stages of solar system formation and, because of their small size and because they have been stored in the outer reaches of the solar system, their pristine nature has been preserved better than for any other class of body. They are extremely rich in highly volatile elements, many in the form of ices, and are richer in organic matter than any other known solar system body. It is strongly suspected that in addition to their content of primordial solar nebular material, they also incorporate unprocessed matter from the interstellar medium. Impacts by comets occur onto all the planets and satellites, often with major consequences (e.g., the dinosaur extinction event at the KIT boundary), or sometimes just providing a spectacular cosmic event (e.g., the collision of comet Shoemaker-Levy 9 with Jupiter). A mission to analyze a cometary nucleus must be capable of detecting and identifying over 30 molecular species among several different chemical groups. The Hummingbird Mission will rendezvous with, orbit, characterize, and make multiple descents to the nucleus of a comet. Hummingbird will employ a Gas Chromatograph - Ion Mobility Spectrometer (GC-IMS) as part-of a suite of sophisticated instruments for a comprehensive in situ elemental, molecular, and isotopic analysis of the comet.

Weed detection by UAV with camera guided landing sequence

DEFF Research Database (Denmark)

Dyrmann, Mads

UAVs gain more and more currency in agriculture, as they allow for inspection of even remote areas of farmland. Measurements of weed occurrence in fields is one branch of this growing field of research. A problem with UAVs is that they have a limited energy capacity: Consequently, after a short...... flight, they must return to the farm to charge. By installing a landing platform in the field it is possible to have charging facilities close to the area where the UAV is used, providing greater opportunity for autonomous flight in distant fields. A landing platform in the field will also allow...... for greater computing capacity, whereby collected images can be processed and appropriate actions can be taken. The present study uses an entry level UAV with a Pixhawk controller and a GPS specified with an accuracy of 2.5m, meaning that the GPS alone is not sufficient to coordinate the UAV landing. Using...

Automatic analysis and characterization of the hummingbird wings motion using dense optical flow features

International Nuclear Information System (INIS)

Martínez, Fabio; Romero, Eduardo; Manzanera, Antoine

2015-01-01

A new method for automatic analysis and characterization of recorded hummingbird wing motion is proposed. The method starts by computing a multiscale dense optical flow field, which is used to segment the wings, i.e., pixels with larger velocities. Then, the kinematic and deformation of the wings were characterized as a temporal set of global and local measures: a global angular acceleration as a time function of each wing and a local acceleration profile that approximates the dynamics of the different wing segments. Additionally, the variance of the apparent velocity orientation estimates those wing foci with larger deformation. Finally a local measure of the orientation highlights those regions with maximal deformation. The approach was evaluated in a total of 91 flight cycles, captured using three different setups. The proposed measures follow the yaw turn hummingbird flight dynamics, with a strong correlation of all computed paths, reporting a standard deviation of 0.31 rad/frame 2 and 1.9 (rad/frame) 2 for the global angular acceleration and the global wing deformation respectively. (paper)

The application of micro UAV in construction project

Science.gov (United States)

Kaamin, Masiri; Razali, Siti Nooraiin Mohd; Ahmad, Nor Farah Atiqah; Bukari, Saifullizan Mohd; Ngadiman, Norhayati; Kadir, Aslila Abd; Hamid, Nor Baizura

2017-10-01

In every outstanding construction project, there is definitely have an effective construction management. Construction management allows a construction project to be implemented according to plan. Every construction project must have a progress development works that is usually created by the site engineer. Documenting the progress of works is one of the requirements in construction management. In a progress report it is necessarily have a visual image as an evidence. The conventional method used for photographing on the construction site is by using common digital camera which is has few setback comparing to Micro Unmanned Aerial Vehicles (UAV). Besides, site engineer always have a current issues involving limitation of monitoring on high reach point and entire view of the construction site. The purpose of this paper is to provide a concise review of Micro UAV technology in monitoring the progress on construction site through visualization approach. The aims of this study are to replace the conventional method of photographing on construction site using Micro UAV which can portray the whole view of the building, especially on high reach point and allows to produce better images, videos and 3D model and also facilitating site engineer to monitor works in progress. The Micro UAV was flown around the building construction according to the Ground Control Points (GCPs) to capture images and record videos. The images taken from Micro UAV have been processed generate 3D model and were analysed to visualize the building construction as well as monitoring the construction progress work and provides immediate reliable data for project estimation. It has been proven that by using Micro UAV, a better images and videos can give a better overview of the construction site and monitor any defects on high reach point building structures. Not to be forgotten, with Micro UAV the construction site progress is more efficiently tracked and kept on the schedule.

Review of the current state of UAV regulations

NARCIS (Netherlands)

Stöcker, Elvira Claudia; Bennett, Rohan; Nex, Francesco; Gerke, Markus; Zevenbergen, Jaap

2017-01-01

UAVs-unmanned aerial vehicles-facilitate data acquisition at temporal and spatial scales that still remain unachievable for traditional remote sensing platforms. However, current legal frameworks that regulate UAVs present significant barriers to research and development. To highlight the

Bimodal pollination system of the bromeliad Aechmea nudicaulis involving hummingbirds and bees.

Science.gov (United States)

Schmid, S; Schmid, V S; Zillikens, A; Harter-Marques, B; Steiner, J

2011-01-01

In order to compare the effectiveness of birds and insects as pollinators, we studied the floral biology of the bromeliad Aechmea nudicaulis (L.) Grisebach in the biome of the Atlantic rain forest, southern Brazil. On Santa Catarina Island, flowering extends from mid-September to the end of December, with diurnal anthesis. The reproductive system is obligatory xenogamy, thus pollinator-dependent. Flowers secrete 31.84 μl of nectar per day, with a mean sugar concentration of 23.2%. Highest nectar volume and sugar concentration occur at the beginning of anthesis. Most floral traits are characteristic for ornithophily, and nectar production appears to be adapted to the energy demand of hummingbirds. Continued secretion of the sucrose-dominated nectar attracts and binds visitors to inflorescences, strengthening trapline foraging behaviour. Experiments assessing seed set after single flower visits were performed with the most frequent visitors, revealing the hummingbird Thalurania glaucopis as the most effective pollen vector. In addition, bees are also functional pollinators, as substantiated by their high visitation frequency. We conclude that this pollination system is bimodal. Thus, there is redundancy in the pollination service provided by birds and bees, granting a high probability of successful reproduction in Ae. nudicaulis. © 2010 German Botanical Society and The Royal Botanical Society of the Netherlands.

USING DISTANCE SENSORS TO PERFORM COLLISION AVOIDANCE MANEUVRES ON UAV APPLICATIONS

Directory of Open Access Journals (Sweden)

A. Raimundo

2017-08-01

Full Text Available The Unmanned Aerial Vehicles (UAV and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. “Sense and Avoid” algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR, to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk’s flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G. Some tests were made in order to evaluate the “Sense and Avoid” algorithm’s overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and “Brake” mode on a real outdoor, proving its concepts.

Using Distance Sensors to Perform Collision Avoidance Maneuvres on Uav Applications

Science.gov (United States)

Raimundo, A.; Peres, D.; Santos, N.; Sebastião, P.; Souto, N.

2017-08-01

The Unmanned Aerial Vehicles (UAV) and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. "Sense and Avoid" algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR), to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk's flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G). Some tests were made in order to evaluate the "Sense and Avoid" algorithm's overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and "Brake" mode on a real outdoor, proving its concepts.

The potential indirect effects among plants via shared hummingbird pollinators are structured by phenotypic similarity.

Science.gov (United States)

Bergamo, Pedro Joaquim; Wolowski, Marina; Maruyama, Pietro Kiyoshi; Vizentin-Bugoni, Jeferson; Carvalheiro, Luísa G; Sazima, Marlies

2017-07-01

Plant species within communities may overlap in pollinators' use and influence visitation patterns of shared pollinators, potentially engaging in indirect interactions (e.g., facilitation or competition). While several studies have explored the mechanisms regulating insect-pollination networks, there is a lack of studies on bird-pollination systems, particularly in species-rich tropical areas. Here, we evaluated if phenotypic similarity, resource availability (floral abundance), evolutionary relatedness and flowering phenology affect the potential for indirect effects via shared pollinators in hummingbird-pollinated plant species within four communities in the Brazilian Atlantic forest. Among the evaluated factors, phenotypic similarity (corolla length and anther height) was the most important variable, while resource availability (floral abundance) had a secondary importance. On the other hand, evolutionary relatedness and flowering phenology were less important, which altogether highlights the relevance of convergent evolution and that the contribution of a plant to the diet of the pollinators of another plant is independent of the level of temporal overlap in flowering in this tropical system. Interestingly, our findings contrast with results from multiple insect-pollinated plant communities, mostly from temperate regions, in which floral abundance was the most important driver, followed by evolutionary relatedness and phenotypic similarity. We propose that these contrasting results are due to high level of specialization inherent to tropical hummingbird-pollination systems. Moreover, our results demonstrated that factors defining linkage rules of plant-hummingbird networks also determinate plant-plant potential indirect effects. Future studies are needed to test if these findings can be generalized to other highly specialized systems. Overall, our results have important implications for the understanding of ecological processes due resource sharing in

Current development of UAV sense and avoid system

Science.gov (United States)

Zhahir, A.; Razali, A.; Mohd Ajir, M. R.

2016-10-01

As unmanned aerial vehicles (UAVs) are now gaining high interests from civil and commercialised market, the automatic sense and avoid (SAA) system is currently one of the essential features in research spotlight of UAV. Several sensor types employed in current SAA research and technology of sensor fusion that offers a great opportunity in improving detection and tracking system are presented here. The purpose of this paper is to provide an overview of SAA system development in general, as well as the current challenges facing UAV researchers and designers.

A Natural Interaction Interface for UAVs Using Intuitive Gesture Recognition

Science.gov (United States)

Chandarana, Meghan; Trujillo, Anna; Shimada, Kenji; Allen, Danette

2016-01-01

The popularity of unmanned aerial vehicles (UAVs) is increasing as technological advancements boost their favorability for a broad range of applications. One application is science data collection. In fields like Earth and atmospheric science, researchers are seeking to use UAVs to augment their current portfolio of platforms and increase their accessibility to geographic areas of interest. By increasing the number of data collection platforms UAVs will significantly improve system robustness and allow for more sophisticated studies. Scientists would like be able to deploy an available fleet of UAVs to fly a desired flight path and collect sensor data without needing to understand the complex low-level controls required to describe and coordinate such a mission. A natural interaction interface for a Ground Control System (GCS) using gesture recognition is developed to allow non-expert users (e.g., scientists) to define a complex flight path for a UAV using intuitive hand gesture inputs from the constructed gesture library. The GCS calculates the combined trajectory on-line, verifies the trajectory with the user, and sends it to the UAV controller to be flown.

UAV Robust Strategy Control Based on MAS

Directory of Open Access Journals (Sweden)

Jian Han

2014-01-01

Full Text Available A novel multiagent system (MAS has been proposed to integrate individual UAV (unmanned aerial vehicle to form a UAV team which can accomplish complex missions with better efficiency and effect. The MAS based UAV team control is more able to conquer dynamic situations and enhance the performance of any single UAV. In this paper, the MAS proposed and established combines the reacting and thinking abilities to be an initiative and autonomous hybrid system which can solve missions involving coordinated flight and cooperative operation. The MAS uses BDI model to support its logical perception and to classify the different missions; then the missions will be allocated by utilizing auction mechanism after analyzing dynamic parameters. Prim potential algorithm, particle swarm algorithm, and reallocation mechanism are proposed to realize the rational decomposing and optimal allocation in order to reach the maximum profit. After simulation, the MAS has been proved to be able to promote the success ratio and raise the robustness, while realizing feasibility of coordinated flight and optimality of cooperative mission.

Volumetric calculation using low cost unmanned aerial vehicle (UAV) approach

Science.gov (United States)

Rahman, A. A. Ab; Maulud, K. N. Abdul; Mohd, F. A.; Jaafar, O.; Tahar, K. N.

2017-12-01

Unmanned Aerial Vehicles (UAV) technology has evolved dramatically in the 21st century. It is used by both military and general public for recreational purposes and mapping work. Operating cost for UAV is much cheaper compared to that of normal aircraft and it does not require a large work space. The UAV systems have similar functions with the LIDAR and satellite images technologies. These systems require a huge cost, labour and time consumption to produce elevation and dimension data. Measurement of difficult objects such as water tank can also be done by using UAV. The purpose of this paper is to show the capability of UAV to compute the volume of water tank based on a different number of images and control points. The results were compared with the actual volume of the tank to validate the measurement. In this study, the image acquisition was done using Phantom 3 Professional, which is a low cost UAV. The analysis in this study is based on different volume computations using two and four control points with variety set of UAV images. The results show that more images will provide a better quality measurement. With 95 images and four GCP, the error percentage to the actual volume is about 5%. Four controls are enough to get good results but more images are needed, estimated about 115 until 220 images. All in all, it can be concluded that the low cost UAV has a potential to be used for volume of water and dimension measurement.

UNMANNED AIRCRAFT VEHICLE (UAV IN THE ROMANIAN AIRSPACE. AN OVERVIEW

Directory of Open Access Journals (Sweden)

Vasile PRISACARIU

2014-04-01

Full Text Available For the last decade the unmanned aircraft vehicle (UAV field has evolved in terms of the sub-branches established in the aerospace industry. At national level the UAV market is still in its infancy but acknowledges an upward trend in the implementation and use of UAVs in civilian and military missions. The achievements of the past decade confirms that Romanian specialists are able to conceive, design and build UAVs at a technological and operational level comparable to the one achieved by large international producers creating the prerequisites of developing a sub-sector for the national aeronautic industry. The current article aims at providing an overview of all activities related to the conception, manufacturing, testing, improving, operating UAVs as these activities evolved within the national airspace filed with brief references to the missions and legislation in this area.

Towards a Biosynthetic UAV

Science.gov (United States)

Block, Eli; Byemerwa, Jovita; Dispenza, Ross; Doughty, Benjamin; Gillyard, KaNesha; Godbole, Poorwa; Gonzales-Wright, Jeanette; Hull, Ian; Kannappan, Jotthe; Levine, Alexander;

Radar sensing via a Micro-UAV-borne system

Science.gov (United States)

Catapano, Ilaria; Ludeno, Giovanni; Gennarelli, Gianluca; Soldovieri, Francesco; Rodi Vetrella, Amedeo; Fasano, Giancarmine

2017-04-01

In recent years, the miniaturization of flight control systems and payloads has contributed to a fast and widespread diffusion of micro-UAV (Unmanned Aircraft Vehicle). While micro-UAV can be a powerful tool in several civil applications such as environmental monitoring and surveillance, unleashing their full potential for societal benefits requires augmenting their sensing capability beyond the realm of active/passive optical sensors [1]. In this frame, radar systems are drawing attention since they allow performing missions in all-weather and day/night conditions and, thanks to the microwave ability to penetrate opaque media, they enable the detection and localization not only of surface objects but also of sub-surface/hidden targets. However, micro-UAV-borne radar imaging represents still a new frontier, since it is much more than a matter of technology miniaturization or payload installation, which can take advantage of the newly developed ultralight systems. Indeed, micro-UAV-borne radar imaging entails scientific challenges in terms of electromagnetic modeling and knowledge of flight dynamics and control. As a consequence, despite Synthetic Aperture Radar (SAR) imaging is a traditional remote sensing tool, its adaptation to micro-UAV is an open issue and so far only few case studies concerning the integration of SAR and UAV technologies have been reported worldwide [2]. In addition, only early results concerning subsurface imaging by means of an UAV-mounted radar are available [3]. As a contribution to radar imaging via autonomous micro-UAV, this communication presents a proof-of-concept experiment. This experiment represents the first step towards the development of a general methodological approach that exploits expertise about (sub-)surface imaging and aerospace systems with the aim to provide high-resolution images of the surveyed scene. In details, at the conference, we will present the results of a flight campaign carried out by using a single radar

Recording animal vocalizations from a UAV: bat echolocation during roost re-entry.

Science.gov (United States)

Kloepper, Laura N; Kinniry, Morgan

2018-05-17

Unmanned aerial vehicles (UAVs) are rising in popularity for wildlife monitoring, but direct recordings of animal vocalizations have not yet been accomplished, likely due to the noise generated by the UAV. Echolocating bats, especially Tadarida brasiliensis, are good candidates for UAV recording due to their high-speed, high-altitude flight. Here, we use a UAV to record the signals of bats during morning roost re-entry. We designed a UAV to block the noise of the propellers from the receiving microphone, and report on the characteristics of bioacoustic recordings from a UAV. We report the first published characteristics of echolocation signals from bats during group flight and cave re-entry. We found changes in inter-individual time-frequency shape, suggesting that bats may use differences in call design when sensing in complex groups. Furthermore, our first documented successful recordings of animals in their natural habitat demonstrate that UAVs can be important tools for bioacoustic monitoring, and we discuss the ethical considerations for such monitoring.

UAV Based Imaging for Crop, Weed and Disease Monitoring

DEFF Research Database (Denmark)

Garcia Ruiz, Francisco Jose

Summary Unmanned aerial vehicles (UAV) equipped with cameras have become a powerful technology to collect high resolution remote sensing data from agricultural crops. When equipped with multispectral cameras, light invisible for the human eye may be captured and used to characterize the physiolog......Summary Unmanned aerial vehicles (UAV) equipped with cameras have become a powerful technology to collect high resolution remote sensing data from agricultural crops. When equipped with multispectral cameras, light invisible for the human eye may be captured and used to characterize...... the physiological status of the vegetation. UAV imagery may be divided into three steps (1) spectral characterization of the targets of interest, (2) flight and image acquisition and (3) image processing and interpretation. The overall aims of this study were to improve knowledge in all three steps associated...... with UAV-based remote sensing for practical use in agriculture and to contribute to the incipient research on UAV based remote sensing for agricultural applications. Three case studies were performed to (1) Characterize the spectral signatures of sugar beet (Beta vulgaris L.) and creeping thistle (Cirsium...

UAV PHOTOGRAMMETRY: BLOCK TRIANGULATION COMPARISONS

Directory of Open Access Journals (Sweden)

R. Gini

2013-08-01

Full Text Available UAVs systems represent a flexible technology able to collect a big amount of high resolution information, both for metric and interpretation uses. In the frame of experimental tests carried out at Dept. ICA of Politecnico di Milano to validate vector-sensor systems and to assess metric accuracies of images acquired by UAVs, a block of photos taken by a fixed wing system is triangulated with several software. The test field is a rural area included in an Italian Park ("Parco Adda Nord", useful to study flight and imagery performances on buildings, roads, cultivated and uncultivated vegetation. The UAV SenseFly, equipped with a camera Canon Ixus 220HS, flew autonomously over the area at a height of 130 m yielding a block of 49 images divided in 5 strips. Sixteen pre-signalized Ground Control Points, surveyed in the area through GPS (NRTK survey, allowed the referencing of the block and accuracy analyses. Approximate values for exterior orientation parameters (positions and attitudes were recorded by the flight control system. The block was processed with several software: Erdas-LPS, EyeDEA (Univ. of Parma, Agisoft Photoscan, Pix4UAV, in assisted or automatic way. Results comparisons are given in terms of differences among digital surface models, differences in orientation parameters and accuracies, when available. Moreover, image and ground point coordinates obtained by the various software were independently used as initial values in a comparative adjustment made by scientific in-house software, which can apply constraints to evaluate the effectiveness of different methods of point extraction and accuracies on ground check points.

Unmanned air vehicle (UAV) ultra-persitence research

Energy Technology Data Exchange (ETDEWEB)

Dron, S. B.

2012-03-01

Sandia National Laboratories and Northrop Grumman Corporation Integrated Systems, Unmanned Systems (NGIS UMS) collaborated to further ultra-persistence technologies for unmanned air vehicles (UAVs). The greatest shortfalls in UAV capabilities have been repeatedly identified as (1) insufficient flight persistence or 'hang time,' (2) marginal electrical power for running higher power avionics and payload systems, and (3) inadequate communications bandwidth and reach. NGIS UMS requested support from Sandia to develop an ultra-persistent propulsion and power system (UP3S) for potential incorporation into next generation UAV systems. The team members tried to determine which energy storage and power generation concepts could most effectively push UAV propulsion and electrical power capabilities to increase UAV sortie duration from days to months while increasing available electrical power at least two-fold. Primary research and development areas that were pursued included these goals: perform general system engineering and integration analyses; develop initial thermal and electrical power estimates; provide mass, volume, dimensional, and balance estimates; conduct preliminary safety assessments; assess logistics support requirements; perform, preliminary assessments of any security and safeguards; evaluate options for removal, replacement, and disposition of materials; generally advance the potential of the UP3S concept. The effort contrasted and compared eight heat sources technologies, three power conversion, two dual cycle propulsion system configurations, and a single electrical power generation scheme. Overall performance, specific power parameters, technical complexities, security, safety, and other operational features were successfully investigated. Large and medium sized UAV systems were envisioned and operational flight profiles were developed for each concept. Heat source creation and support challenges for domestic and expeditionary operations were

a Three-Dimensional Simulation and Visualization System for Uav Photogrammetry

Science.gov (United States)

Liang, Y.; Qu, Y.; Cui, T.

2017-08-01

Nowadays UAVs has been widely used for large-scale surveying and mapping. Compared with manned aircraft, UAVs are more cost-effective and responsive. However, UAVs are usually more sensitive to wind condition, which greatly influences their positions and orientations. The flight height of a UAV is relative low, and the relief of the terrain may result in serious occlusions. Moreover, the observations acquired by the Position and Orientation System (POS) are usually less accurate than those acquired in manned aerial photogrammetry. All of these factors bring in uncertainties to UAV photogrammetry. To investigate these uncertainties, a three-dimensional simulation and visualization system has been developed. The system is demonstrated with flight plan evaluation, image matching, POS-supported direct georeferencing, and ortho-mosaicing. Experimental results show that the presented system is effective for flight plan evaluation. The generated image pairs are accurate and false matches can be effectively filtered. The presented system dynamically visualizes the results of direct georeferencing in three-dimensions, which is informative and effective for real-time target tracking and positioning. The dynamically generated orthomosaic can be used in emergency applications. The presented system has also been used for teaching theories and applications of UAV photogrammetry.

Rancang Bangun Prototype Unmanned Aerial Vehicle (UAV dengan Tiga Rotor

Directory of Open Access Journals (Sweden)

Darmawan Rasyid Hadi Saputra

2013-03-01

Full Text Available Unmanned Aerial Vehicle atau yang biasa dikenal dengan istilah UAV  merupakan sebuah sistem penerbangan/ pesawat tanpa pilot yang berada di dalam pesawat tersebut. UAV dapat dikendalikan dengan menggunakan remote dari jarak jauh, diprogram dengan perintah tertentu, atau bahkan dengan sistem pengendalian otomatis yang lebih kompleks. Aplikasi dari teknologi UAV pun beragam mulai dari tugas militer hingga pengamatan udara. Dalam penelitian ini, sebuah UAV akan dikembangkan dengan tiga buah rotor dan satu buah motor servo di bagian belakang UAV. Perancangan model menggunakan software CATIA dengan batasan dimensi (panjang × lebar maksimum 75 × 75 cm dan massa < 2 kg. Analisis struktur rangka dilakukan untuk menguji kekuatan rangka ketika terbang dan membawa beban, dengan menggunakan metode elemen hingga dan kriteria kegagalan Von-Misses. Dalam proses pengerjaan, rancangan dari CATIA dan analisis yang telah dilakukan dalam perancangan tersebut akan digunakan. Hasil yang didapat berupa UAV yang memiliki struktur rangka dengan defleksi maksimum 3,67 mm pada rangka tengah yang berbahan acrylic. Dalam pengujian di lapangan, UAV dapat melakukan gerak roll, pitch, dan yaw yang dikendalikan melalui remote control. Waktu operasi maksimum yang dapat dilakukan adalah selama 7 menit 43 detik.

Attitude Optimal Backstepping Controller Based Quaternion for a UAV

Directory of Open Access Journals (Sweden)

Kaddouri Djamel

2016-01-01

Full Text Available A hierarchical controller design based on nonlinear H∞ theory and backstepping technique is developed for a nonlinear and coupled dynamic attitude system using conventional quaternion based method. The derived controller combines the attractive features of H∞ optimal controller and the advantages of the backstepping technique leading to a control law which avoids winding phenomena. Performance issues of the controller are illustrated in a simulation study made for a four-rotor vertical take-off and landing (VTOL aerial robot prototype known as the quadrotor aircraft.

Optimal trajectory planning for a UAV glider using atmospheric thermals

Science.gov (United States)

Kagabo, Wilson B.

An Unmanned Aerial Vehicle Glider (UAV glider) uses atmospheric energy in its different forms to remain aloft for extended flight durations. This UAV glider's aim is to extract atmospheric thermal energy and use it to supplement its battery energy usage and increase the mission period. Given an infrared camera identified atmospheric thermal of known strength and location; current wind speed and direction; current battery level; altitude and location of the UAV glider; and estimating the expected altitude gain from the thermal, is it possible to make an energy-efficient based motivation to fly to an atmospheric thermal so as to achieve UAV glider extended flight time? For this work, an infrared thermal camera aboard the UAV glider takes continuous forward-looking ground images of "hot spots". Through image processing a candidate atmospheric thermal strength and location is estimated. An Intelligent Decision Model incorporates this information with the current UAV glider status and weather conditions to provide an energy-based recommendation to modify the flight path of the UAV glider. Research, development, and simulation of the Intelligent Decision Model is the primary focus of this work. Three models are developed: (1) Battery Usage Model, (2) Intelligent Decision Model, and (3) Altitude Gain Model. The Battery Usage Model comes from the candidate flight trajectory, wind speed & direction and aircraft dynamic model. Intelligent Decision Model uses a fuzzy logic based approach. The Altitude Gain Model requires the strength and size of the thermal and is found a priori.

Intification and modelling of flight characteristics for self-build shock flyer type UAV

Science.gov (United States)

Rashid., Z. A.; Dardin, A. S. F. Syed.; Azid, A. A.; Ahmad, K. A.

2018-02-01

The development of an autonomous Unmanned Aerial Vehicle (UAV) requires a fundamentals studies of the UAV's flight characteristic. The aim of this study is to identify and model the flight characteristic of a conventional fixed-wing type UAV. Subsequence to this, the mode of flight of the UAV can be investigated. One technique to identify the characteristic of a UAV is a flight test where it required specific maneuvering to be executed while measuring the attitude sensor. In this study, a simple shock flyer type UAV was used as the aircraft. The result shows that the modeled flight characteristic has a significant relation with actual values but the fitting value is rather small. It is suggested that the future study is conducted with an improvement of the physical UAV, data filtering and better system identification methods.

Modeling and Robust Trajectory Tracking Control for a Novel Six-Rotor Unmanned Aerial Vehicle

Directory of Open Access Journals (Sweden)

Chengshun Yang

2013-01-01

Full Text Available Modeling and trajectory tracking control of a novel six-rotor unmanned aerial vehicle (UAV is concerned to solve problems such as smaller payload capacity and lack of both hardware redundancy and anticrosswind capability for quad-rotor. The mathematical modeling for the six-rotor UAV is developed on the basis of the Newton-Euler formalism, and a second-order sliding-mode disturbance observer (SOSMDO is proposed to reconstruct the disturbances of the rotational dynamics. In consideration of the under-actuated and strong coupling properties of the six-rotor UAV, a nested double loops trajectory tracking control strategy is adopted. In the outer loop, a position error PID controller is designed, of which the task is to compare the desired trajectory with real position of the six-rotor UAV and export the desired attitude angles to the inner loop. In the inner loop, a rapid-convergent nonlinear differentiator (RCND is proposed to calculate the derivatives of the virtual control signal, instead of using the analytical differentiation, to avoid “differential expansion” in the procedure of the attitude controller design. Finally, the validity and effectiveness of the proposed technique are demonstrated by the simulation results.

Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum Time.

Science.gov (United States)

Avellar, Gustavo S C; Pereira, Guilherme A S; Pimenta, Luciano C A; Iscold, Paulo

2015-11-02

This paper presents a solution for the problem of minimum time coverage of ground areas using a group of unmanned air vehicles (UAVs) equipped with image sensors. The solution is divided into two parts: (i) the task modeling as a graph whose vertices are geographic coordinates determined in such a way that a single UAV would cover the area in minimum time; and (ii) the solution of a mixed integer linear programming problem, formulated according to the graph variables defined in the first part, to route the team of UAVs over the area. The main contribution of the proposed methodology, when compared with the traditional vehicle routing problem's (VRP) solutions, is the fact that our method solves some practical problems only encountered during the execution of the task with actual UAVs. In this line, one of the main contributions of the paper is that the number of UAVs used to cover the area is automatically selected by solving the optimization problem. The number of UAVs is influenced by the vehicles' maximum flight time and by the setup time, which is the time needed to prepare and launch a UAV. To illustrate the methodology, the paper presents experimental results obtained with two hand-launched, fixed-wing UAVs.

The use of UAVs for monitoring land degradation

Science.gov (United States)

Themistocleous, Kyriacos

2017-10-01

Land degradation is one of the causes of desertification of drylands in the Mediterranean. UAVs can be used to monitor and document the various variables that cause desertification in drylands, including overgrazing, aridity, vegetation loss, etc. This paper examines the use of UAVs and accompanying sensors to monitor overgrazing, vegetation stress and aridity in the study area. UAV images can be used to generate digital elevation models (DEMs) to examine the changes in microtopography as well as ortho-photos were used to detect changes in vegetation patterns. The combined data of the digital elevation models and the orthophotos can be used to identify the mechanisms for desertification in the study area.

UAV-based Radar Sounding of Antarctic Ice

Science.gov (United States)

Leuschen, Carl; Yan, Jie-Bang; Mahmood, Ali; Rodriguez-Morales, Fernando; Hale, Rick; Camps-Raga, Bruno; Metz, Lynsey; Wang, Zongbo; Paden, John; Bowman, Alec; Keshmiri, Shahriar; Gogineni, Sivaprasad

2014-05-01

We developed a compact radar for use on a small UAV to conduct measurements over the ice sheets in Greenland and Antarctica. It operates at center frequencies of 14 and 35 MHz with bandwidths of 1 MHz and 4 MHz, respectively. The radar weighs about 2 kgs and is housed in a box with dimensions of 20.3 cm x 15.2 cm x 13.2 cm. It transmits a signal power of 100 W at a pulse repletion frequency of 10 kHz and requires average power of about 20 W. The antennas for operating the radar are integrated into the wings and airframe of a small UAV with a wingspan of 5.3 m. We selected the frequencies of 14 and 35 MHz based on previous successful soundings of temperate ice in Alaska with a 12.5 MHz impulse radar [Arcone, 2002] and temperate glaciers in Patagonia with a 30 MHz monocycle radar [Blindow et al., 2012]. We developed the radar-equipped UAV to perform surveys over a 2-D grid, which allows us to synthesize a large two-dimensional aperture and obtain fine resolution in both the along- and cross-track directions. Low-frequency, high-sensitivity radars with 2-D aperture synthesis capability are needed to overcome the surface and volume scatter that masks weak echoes from the ice-bed interface of fast-flowing glaciers. We collected data with the radar-equipped UAV on sub-glacial ice near Lake Whillans at both 14 and 35 MHz. We acquired data to evaluate the concept of 2-D aperture synthesis and successfully demonstrated the first successful sounding of ice with a radar on an UAV. We are planning to build multiple radar-equipped UAVs for collecting fine-resolution data near the grounding lines of fast-flowing glaciers. In this presentation we will provide a brief overview of the radar and UAV, as well as present results obtained at both 14 and 35 MHz. Arcone, S. 2002. Airborne-radar stratigraphy and electrical structure of temperate firn: Bagley Ice Field, Alaska, U.S.A. Journal of Glaciology, 48, 317-334. Blindow, N., C. Salat, and G. Casassa. 2012. Airborne GPR sounding of

Wild hummingbirds rely on landmarks not geometry when learning an array of flowers.

Science.gov (United States)

Hurly, T Andrew; Fox, Thomas A O; Zwueste, Danielle M; Healy, Susan D

2014-09-01

Rats, birds or fish trained to find a reward in one corner of a small enclosure tend to learn the location of the reward using both nearby visual features and the geometric relationships of corners and walls. Because these studies are conducted under laboratory and thereby unnatural conditions, we sought to determine whether wild, free-living rufous hummingbirds (Selasphorus rufus) learning a single reward location within a rectangular array of flowers would similarly employ both nearby visual landmarks and the geometric relationships of the array. Once subjects had learned the location of the reward, we used test probes in which one or two experimental landmarks were moved or removed in order to reveal how the birds remembered the reward location. The hummingbirds showed no evidence that they used the geometry of the rectangular array of flowers to remember the reward. Rather, they used our experimental landmarks, and possibly nearby, natural landmarks, to orient and navigate to the reward. We believe this to be the first test of the use of rectangular geometry by wild animals, and we recommend further studies be conducted in ecologically relevant conditions in order to help determine how and when animals form complex geometric representations of their local environments.

One-trial spatial learning: wild hummingbirds relocate a reward after a single visit.

Science.gov (United States)

Flores-Abreu, I Nuri; Hurly, T Andrew; Healy, Susan D

2012-07-01

Beaconing to rewarded locations is typically achieved by visual recognition of the actual goal. Spatial recognition, on the other hand, can occur in the absence of the goal itself, relying instead on the landmarks surrounding the goal location. Although the duration or frequency of experiences that an animal needs to learn the landmarks surrounding a goal have been extensively studied with a variety of laboratory tasks, little is known about the way in which wild vertebrates use them in their natural environment. Here, we allowed hummingbirds to feed once only from a rewarding flower (goal) before it was removed. When we presented a similar flower at a different height in another location, birds frequently returned to the location the flower had previously occupied (spatial recognition) before flying to the flower itself (beaconing). After experiencing three rewarded flowers, each in a different location, they were more likely to beacon to the current visible flower than they were to return to previously rewarded locations (without a visible flower). These data show that hummingbirds can encode a rewarded location on the basis of the surrounding landmarks after a single visit. After multiple goal location manipulations, however, the birds changed their strategy to beaconing presumably because they had learned that the flower itself reliably signalled reward.

Winter range expansion of a hummingbird is associated with urbanization and supplementary feeding

Science.gov (United States)

Wood, Eric M.

2017-01-01

Anthropogenic changes to the landscape and climate cause novel ecological and evolutionary pressures, leading to potentially dramatic changes in the distribution of biodiversity. Warm winter temperatures can shift species' distributions to regions that were previously uninhabitable. Further, urbanization and supplementary feeding may facilitate range expansions and potentially reduce migration tendency. Here we explore how these factors interact to cause non-uniform effects across a species's range. Using 17 years of data from the citizen science programme Project FeederWatch, we examined the relationships between urbanization, winter temperatures and the availability of supplementary food (i.e. artificial nectar) on the winter range expansion (more than 700 km northward in the past two decades) of Anna's hummingbirds (Calypte anna). We found that Anna's hummingbirds have colonized colder locations over time, were more likely to colonize sites with higher housing density and were more likely to visit feeders in the expanded range compared to the historical range. Additionally, their range expansion mirrored a corresponding increase over time in the tendency of people to provide nectar feeders in the expanded range. This work illustrates how humans may alter the distribution and potentially the migratory behaviour of species through landscape and resource modification. PMID:28381617

Multi‐angular observations of vegetation indices from UAV cameras

DEFF Research Database (Denmark)

Sobejano-Paz, Veronica; Wang, Sheng; Jakobsen, Jakob

Unmanned aerial vehicles (UAVs) are found as an alternative to the classical manned aerial photogrammetry, which can be used to obtain environmental data or as a complementary solution to other methods (Nex and Remondino, 2014). Although UAVs have coverage limitations, they have better resolution...... (Berni et al., 2009), hyper spectral camera (Burkart et al., 2015) and photometric elevation mapping sensor (Shahbazi et al., 2015) among others. Therefore, UAVs can be used in many fields such as agriculture, forestry, archeology, architecture, environment and traffic monitoring (Nex and Remondino, 2014......). In this study, the UAV used is a hexacopter s900 equipped with a Global Positioning System (GPS) and two cameras; a digital RGB photo camera and a multispectral camera (MCA), with a resolution of 5472 x 3648 pixels and 1280 x 1024 pixels, respectively. In terms of applications, traditional methods using...

Comprehensive UAV agricultural remote-sensing research at Texas A M University

Science.gov (United States)

Thomasson, J. Alex; Shi, Yeyin; Olsenholler, Jeffrey; Valasek, John; Murray, Seth C.; Bishop, Michael P.

2016-05-01

Unmanned aerial vehicles (UAVs) have advantages over manned vehicles for agricultural remote sensing. Flying UAVs is less expensive, is more flexible in scheduling, enables lower altitudes, uses lower speeds, and provides better spatial resolution for imaging. The main disadvantage is that, at lower altitudes and speeds, only small areas can be imaged. However, on large farms with contiguous fields, high-quality images can be collected regularly by using UAVs with appropriate sensing technologies that enable high-quality image mosaics to be created with sufficient metadata and ground-control points. In the United States, rules governing the use of aircraft are promulgated and enforced by the Federal Aviation Administration (FAA), and rules governing UAVs are currently in flux. Operators must apply for appropriate permissions to fly UAVs. In the summer of 2015 Texas A&M University's agricultural research agency, Texas A&M AgriLife Research, embarked on a comprehensive program of remote sensing with UAVs at its 568-ha Brazos Bottom Research Farm. This farm is made up of numerous fields where various crops are grown in plots or complete fields. The crops include cotton, corn, sorghum, and wheat. After gaining FAA permission to fly at the farm, the research team used multiple fixed-wing and rotary-wing UAVs along with various sensors to collect images over all parts of the farm at least once per week. This article reports on details of flight operations and sensing and analysis protocols, and it includes some lessons learned in the process of developing a UAV remote-sensing effort of this sort.

Experiment on Uav Photogrammetry and Terrestrial Laser Scanning for Ict-Integrated Construction

Science.gov (United States)

Takahashi, N.; Wakutsu, R.; Kato, T.; Wakaizumi, T.; Ooishi, T.; Matsuoka, R.

2017-08-01

In the 2016 fiscal year the Ministry of Land, Infrastructure, Transport and Tourism of Japan started a program integrating construction and ICT in earthwork and concrete placing. The new program named "i-Construction" focusing on productivity improvement adopts such new technologies as UAV photogrammetry and TLS. We report a field experiment to investigate whether the procedures of UAV photogrammetry and TLS following the standards for "i-Construction" are feasible or not. In the experiment we measured an embankment of about 80 metres by 160 metres immediately after earthwork was done on the embankment. We used two sets of UAV and camera in the experiment. One is a larger UAV enRoute Zion QC730 and its onboard camera Sony α6000. The other is a smaller UAV DJI Phantom 4 and its dedicated onboard camera. Moreover, we used a terrestrial laser scanner FARO Focus3D X330 based on the phase shift principle. The experiment results indicate that the procedures of UAV photogrammetry using a QC730 with an α6000 and TLS using a Focus3D X330 following the standards for "i-Construction" would be feasible. Furthermore, the experiment results show that UAV photogrammetry using a lower price UAV Phantom 4 was unable to satisfy the accuracy requirement for "i-Construction." The cause of the low accuracy by Phantom 4 is under investigation. We also found that the difference of image resolution on the ground would not have a great influence on the measurement accuracy in UAV photogrammetry.

Perception-based Co-evolutionary Reinforcement Learning for UAV Sensor Allocation

National Research Council Canada - National Science Library

Berenji, Hamid

2003-01-01

.... A Perception-based reasoning approach based on co-evolutionary reinforcement learning was developed for jointly addressing sensor allocation on each individual UAV and allocation of a team of UAVs...

Precise Positioning of Uavs - Dealing with Challenging Rtk-Gps Measurement Conditions during Automated Uav Flights

Science.gov (United States)

Zimmermann, F.; Eling, C.; Klingbeil, L.; Kuhlmann, H.

2017-08-01

For some years now, UAVs (unmanned aerial vehicles) are commonly used for different mobile mapping applications, such as in the fields of surveying, mining or archeology. To improve the efficiency of these applications an automation of the flight as well as the processing of the collected data is currently aimed at. One precondition for an automated mapping with UAVs is that the georeferencing is performed directly with cm-accuracies or better. Usually, a cm-accurate direct positioning of UAVs is based on an onboard multi-sensor system, which consists of an RTK-capable (real-time kinematic) GPS (global positioning system) receiver and additional sensors (e.g. inertial sensors). In this case, the absolute positioning accuracy essentially depends on the local GPS measurement conditions. Especially during mobile mapping applications in urban areas, these conditions can be very challenging, due to a satellite shadowing, non-line-of sight receptions, signal diffraction or multipath effects. In this paper, two straightforward and easy to implement strategies will be described and analyzed, which improve the direct positioning accuracies for UAV-based mapping and surveying applications under challenging GPS measurement conditions. Based on a 3D model of the surrounding buildings and vegetation in the area of interest, a GPS geometry map is determined, which can be integrated in the flight planning process, to avoid GPS challenging environments as far as possible. If these challenging environments cannot be avoided, the GPS positioning solution is improved by using obstruction adaptive elevation masks, to mitigate systematic GPS errors in the RTK-GPS positioning. Simulations and results of field tests demonstrate the profit of both strategies.

Cost and effectiveness analysis on unmanned aerial vehicle (UAV) use at border security

Science.gov (United States)

Yilmaz, Bahadır.

2013-06-01

Drones and Remotely Piloted Vehicles are types of Unmanned Aerial Vehicles. UAVs began to be used with the war of Vietnam, they had a great interest when Israel used them in Bekaa Valley Operations of 1982. UAVs have been used by different countries with different aims with the help of emerging technology and investments. In this article, in the context of areas of UAV usage in national security, benefits and disadvantages of UAVs are put forward. Particularly, it has been evaluated on the basis of cost-effectiveness by focusing the use of UAV in the border security. UAVs have been studied by taking cost analysis, procurement and operational costs into consideration. Analysis of effectiveness has been done with illegal passages of people and drugs from flight times of UAVs. Although the procurement cost of the medium-level UAVs is low, its operational costs are high. For this reason, the idea of less costly alternative systems have been revealed for the border security. As the costs are reduced to acceptable level involving national security and border security in future with high-technology products in their structure, it will continue to be used in an increasing proportion.

Multidepot UAV Routing Problem with Weapon Configuration and Time Window

Directory of Open Access Journals (Sweden)

Tianren Zhou

2018-01-01

Full Text Available In recent wars, there is an increasing trend that unmanned aerial vehicles (UAVs are utilized to conduct military attacking missions. In this paper, we investigate a novel multidepot UAV routing problem with consideration of weapon configuration in the UAV and the attacking time window of the target. A mixed-integer linear programming model is developed to jointly optimize three kinds of decisions: the weapon configuration strategy in the UAV, the routing strategy of target, and the allocation strategy of weapons to targets. An adaptive large neighborhood search (ALNS algorithm is proposed for solving the problem, which is tested by randomly generated instances covering the small, medium, and large sizes. Experimental results confirm the effectiveness and robustness of the proposed ALNS algorithm.

HIL Tuning of UAV for Exploration of Risky Environments

Directory of Open Access Journals (Sweden)

C. D. Melita

2008-11-01

Full Text Available In this paper the latest results of an HIL architecture, optimized to develop and test UAV platforms are presented. This architecture has been used to realize the different devices involved in the navigation and stability control of the Volcan UAV, a plane designed to operate in volcanic environments. The proposed architecture is strongly modular and flexible and allows the development of avionic hardware and software, testing and tuning the involved algorithms with non-destructive trials. A flight simulator (X-Plane with a suitable plane model and plug-in, has been adopted to simulate the UAV dynamics. The flight simulator, interfaced with the real electronic boards, allows an easy tuning of all the control parameters and data collecting for test and validation. The effectiveness of adopted methodology was confirmed by several flight tests performed subsequently by using the designed avionic modules on the real UAV.

Common Operating Picture: UAV Security Study

Science.gov (United States)

2004-01-01

This initial communication security study is a top-level assessment of basic security issues related to the operation of Unmanned Aerial Vehicles (UAVs) in the National Airspace System (NAS). Security considerations will include information relating to the use of International Civil Aviation Organization (ICAO) Aeronautical Telecommunications Network (ATN) protocols and applications identifying their maturity, as well as the use of IPV4 and a version of mobile IPV6. The purpose of this assessment is to provide an initial analysis of the security implications of introducing UAVs into the NAS.

Survey on the novel hybrid aquatic-aerial amphibious aircraft: Aquatic unmanned aerial vehicle (AquaUAV)

Science.gov (United States)

Yang, Xingbang; Wang, Tianmiao; Liang, Jianhong; Yao, Guocai; Liu, Miao

2015-04-01

The aquatic unmanned aerial vehicle (AquaUAV), a kind of vehicle that can operate both in the air and the water, has been regarded as a new breakthrough to broaden the application scenario of UAV. Wide application prospects in military and civil field are more than bright, therefore many institutions have focused on the development of such a vehicle. However, due to the significant difference of the physical properties between the air and the water, it is rather difficult to design a fully-featured AquaUAV. Until now, majority of partially-featured AquaUAVs have been developed and used to verify the feasibility of an aquatic-aerial vehicle. In the present work, we classify the current partially-featured AquaUAV into three categories from the scope of the whole UAV field, i.e., the seaplane UAV, the submarine-launched UAV, and the submersible UAV. Then the recent advancements and common characteristics of the three kinds of AquaUAVs are reviewed in detail respectively. Then the applications of bionics in the design of AquaUAV, the transition mode between the air and the water, the morphing wing structure for air-water adaptation, and the power source and the propulsion type are summarized and discussed. The tradeoff analyses for different transition methods between the air and the water are presented. Furthermore, it indicates that applying the bionics into the design and development of the AquaUAV will be essential and significant. Finally, the significant technical challenges for the AquaUAV to change from a conception to a practical prototype are indicated.

Multimodal UAV detection: study of various intrusion scenarios

Science.gov (United States)

Hengy, Sebastien; Laurenzis, Martin; Schertzer, Stéphane; Hommes, Alexander; Kloeppel, Franck; Shoykhetbrod, Alex; Geibig, Thomas; Johannes, Winfried; Rassy, Oussama; Christnacher, Frank

2017-10-01

Small unmanned aerial vehicles (UAVs) are becoming increasingly popular and affordable the last years for professional and private consumer market, with varied capacities and performances. Recent events showed that illicit or hostile uses constitute an emergent, quickly evolutionary threat. Recent developments in UAV technologies tend to bring autonomous, highly agile and capable unmanned aerial vehicles to the market. These UAVs can be used for spying operations as well as for transporting illicit or hazardous material (smuggling, flying improvised explosive devices). The scenario of interest concerns the protection of sensitive zones against the potential threat constituted by small drones. In the recent past, field trials were carried out to investigate the detection and tracking of multiple UAV flying at low altitude. Here, we present results which were achieved using a heterogeneous sensor network consisting of acoustic antennas, small FMCW RADAR systems and optical sensors. While acoustics and RADAR was applied to monitor a wide azimuthal area (360°), optical sensors were used for sequentially identification. The localization results have been compared to the ground truth data to estimate the efficiency of each detection system. Seven-microphone acoustic arrays allow single source localization. The mean azimuth and elevation estimation error has been measured equal to 1.5 and -2.5 degrees respectively. The FMCW radar allows tracking of multiple UAVs by estimating their range, azimuth and motion speed. Both technologies can be linked to the electro-optical system for final identification of the detected object.

Thermocouple-based Temperature Sensing System for Chemical Cell Inside Micro UAV Device

Science.gov (United States)

Han, Yanhui; Feng, Yue; Lou, Haozhe; Zhang, Xinzhao

2018-03-01

Environmental temperature of UAV system is crucial for chemical cell component inside. Once the temperature of this chemical cell is over 259 °C and keeps more than 20 min, the high thermal accumulation would result in an explosion, which seriously damage the whole UAV system. Therefore, we develop a micro temperature sensing system for monitoring the temperature of chemical cell thermally influenced by UAV device deployed in a 300 °C temperature environment, which is quite useful for insensitive munitions and UAV safety enhancement technologies.

IMPLEMENTATION AND TESTING OF LOW COST UAV PLATFORM FOR ORTHOPHOTO IMAGING

Directory of Open Access Journals (Sweden)

D. Brucas

2013-08-01

Full Text Available Implementation of Unmanned Aerial Vehicles for civilian applications is rapidly increasing. Technologies which were expensive and available only for military use have recently spread on civilian market. There is a vast number of low cost open source components and systems for implementation on UAVs available. Using of low cost hobby and open source components ensures considerable decrease of UAV price, though in some cases compromising its reliability. In Space Science and Technology Institute (SSTI in collaboration with Vilnius Gediminas Technical University (VGTU researches have been performed in field of constructing and implementation of small UAVs composed of low cost open source components (and own developments. Most obvious and simple implementation of such UAVs – orthophoto imaging with data download and processing after the flight. The construction, implementation of UAVs, flight experience, data processing and data implementation will be further covered in the paper and presentation.

Implementation and Testing of Low Cost Uav Platform for Orthophoto Imaging

Science.gov (United States)

Brucas, D.; Suziedelyte-Visockiene, J.; Ragauskas, U.; Berteska, E.; Rudinskas, D.

2013-08-01

Implementation of Unmanned Aerial Vehicles for civilian applications is rapidly increasing. Technologies which were expensive and available only for military use have recently spread on civilian market. There is a vast number of low cost open source components and systems for implementation on UAVs available. Using of low cost hobby and open source components ensures considerable decrease of UAV price, though in some cases compromising its reliability. In Space Science and Technology Institute (SSTI) in collaboration with Vilnius Gediminas Technical University (VGTU) researches have been performed in field of constructing and implementation of small UAVs composed of low cost open source components (and own developments). Most obvious and simple implementation of such UAVs - orthophoto imaging with data download and processing after the flight. The construction, implementation of UAVs, flight experience, data processing and data implementation will be further covered in the paper and presentation.

Design of Electric Patrol UAVs Based on a Dual Antenna System

Directory of Open Access Journals (Sweden)

Yongjie Zhai

2018-04-01

Full Text Available China completed the construction of more than 1.15 million kilometers of transmission lines with conventional voltage levels spanning its vast territory in 2014. This large and complicated power grid structure relies mainly on manual operation and maintenance of lines. Unmanned aerial vehicles (UAVs equipped with high-definition digital video cameras and cameras and GPS positioning systems can conduct autonomous patrols along the grid. However, the presence of electromagnetic fields around high-voltage transmission lines can affect the UAV’s magnetometer, resulting in a wrong heading and thus unsafe flight. In this paper, the traditional method of UAV heading calculation using a magnetometer was analyzed, and a novel method for calculating UAV heading based on dual antennas was proposed. Experimental data showed that the proposed method improves the anti-magnetic interference characteristics of UAVs and increases UAV security and stability for power inspection applications.

Wingbeat kinematics and motor control of yaw turns in Anna's hummingbirds (Calypte anna).

Science.gov (United States)

Altshuler, Douglas L; Quicazán-Rubio, Elsa M; Segre, Paolo S; Middleton, Kevin M

2012-12-01

The biomechanical and neuromuscular mechanisms used by different animals to generate turns in flight are highly variable. Body size and body plan exert some influence, e.g. birds typically roll their body to orient forces generated by the wings whereas insects are capable of turning via left-right wingbeat asymmetries. Turns are also relatively brief and have low repeatability, with almost every wingbeat serving a different function throughout the change in heading. Here we present an analysis of Anna's hummingbirds (Calypte anna) as they fed continuously from an artificial feeder revolving around the outside of the animal. This setup allowed for examination of sustained changes in yaw without requiring any corresponding changes in pitch, roll or body position. Hummingbirds sustained yaw turns by expanding the wing stroke amplitude of the outer wing during the downstroke and by altering the deviation of the wingtip path during both downstroke and upstroke. The latter led to a shift in the inner-outer stroke plane angle during the upstroke and shifts in the elevation of the stroke plane and in the deviation of the wingtip path during both strokes. These features are generally more similar to how insects, as opposed to birds, turn. However, time series analysis also revealed considerable stroke-to-stroke variation. Changes in the stroke amplitude and the wingtip velocity were highly cross-correlated, as were changes in the stroke deviation and the elevation of the stroke plane. As was the case for wingbeat kinematics, electromyogram recordings from pectoral and wing muscles were highly variable, but no correlations were found between these two features of motor control. The high variability of both kinematic and muscle activation features indicates a high level of wingbeat-to-wingbeat adjustments during sustained yaw. The activation timing of the muscles was more repeatable than the activation intensity, which suggests that the former may be constrained by harmonic

Vision-IMU based collaborative control of a blind UAV

NARCIS (Netherlands)

Hoogervorst, R.; Stramigioli, Stefano; Wopereis, Han Willem; Fumagalli, Matteo

2015-01-01

Position estimation of UAVs is usually done using onboard sensors such as GPS and camera. However, in certain practical situations, the measurements of both the GPS and the onboard camera of the UAV might not always be available or reliable. This paper investigates the possibility to overcome

Development Of Linear Quadratic Regulator Design For Small UAV System

Directory of Open Access Journals (Sweden)

Cho Zin Myint

2015-08-01

Full Text Available The aim of this paper is to know the importance role of stability analysis for both unmanned aircraft system and for all control system. The objective of paper is to develop a method for dynamic stability analysis of the design process. These are categorized intoTo design model and stability analysis of UAV based on the forces and moment equations of aircraft dynamic model To choose the suitable controller for desired altitude of a particular UAV model To analyze the stability condition for aircraft using mathematical modeling and MATLAB. In this paper the analytical model of the longitudinal dynamic of flying wing UAV has been developed using aerodynamic data. The stability characteristics of UAV can be achieved from the system transfer function with LQR controller.

UAV-guided navigation for ground robot tele-operation in a military reconnaissance environment.

Science.gov (United States)

Chen, Jessie Y C

2010-08-01

A military reconnaissance environment was simulated to examine the performance of ground robotics operators who were instructed to utilise streaming video from an unmanned aerial vehicle (UAV) to navigate his/her ground robot to the locations of the targets. The effects of participants' spatial ability on their performance and workload were also investigated. Results showed that participants' overall performance (speed and accuracy) was better when she/he had access to images from larger UAVs with fixed orientations, compared with other UAV conditions (baseline- no UAV, micro air vehicle and UAV with orbiting views). Participants experienced the highest workload when the UAV was orbiting. Those individuals with higher spatial ability performed significantly better and reported less workload than those with lower spatial ability. The results of the current study will further understanding of ground robot operators' target search performance based on streaming video from UAVs. The results will also facilitate the implementation of ground/air robots in military environments and will be useful to the future military system design and training community.

Using LTE Networks for UAV Command and Control Link

DEFF Research Database (Denmark)

Nguyen, Huan Cong; Amorim, Rafhael Medeiros de; Wigard, Jeroen

2017-01-01

In this paper we investigate the ability of Long-Term Evolution (LTE) network to provide coverage for Unmanned Aerial Vehicles (UAVs) in a rural area, in particular for the Command and Control (C2) downlink. The study takes into consideration the dependency of the large-scale path loss on the hei......In this paper we investigate the ability of Long-Term Evolution (LTE) network to provide coverage for Unmanned Aerial Vehicles (UAVs) in a rural area, in particular for the Command and Control (C2) downlink. The study takes into consideration the dependency of the large-scale path loss...... on the height of the UAV, which is derived from actual measurements, and a real-world cellular network layout and configuration. The results indicate that interference is the dominant factor limiting the cellular coverage for UAVs in the downlink: outage level increases from 4.2% at 1.5 m height to 51.7% at 120...

Evapotranspiration from UAV Images

DEFF Research Database (Denmark)

Nielsen, Helene Hoffmann Munk

and is thus of importance in both hydrological, agricultural and atmospheric sciences. Still today, accurate measurements of ET are not achieved easily. The state-of the-art method to measure ET, the eddy covariance method, is associated with uncertainties and its footprint, though at the order of around 1...... hectare, varies much with the atmospheric stability and wind conditions. Indirect measurements of ET are obtained with satellite imagery, as a residual of the surface energy balance. Satellite images provide spatially distributed measurements, however high resolution satellite products provide footprints...... of measurements and thus new understandings of ET and its inferred parameters such as crop water stress and heat fluxes in the surface energy balance. However, UAV data collection is a new measuring method and the lightweight sensors are novel instrumentations. Workflows for processing UAV data, and the data...

Autonomous target tracking of UAVs based on low-power neural network hardware

Science.gov (United States)

Yang, Wei; Jin, Zhanpeng; Thiem, Clare; Wysocki, Bryant; Shen, Dan; Chen, Genshe

2014-05-01

Detecting and identifying targets in unmanned aerial vehicle (UAV) images and videos have been challenging problems due to various types of image distortion. Moreover, the significantly high processing overhead of existing image/video processing techniques and the limited computing resources available on UAVs force most of the processing tasks to be performed by the ground control station (GCS) in an off-line manner. In order to achieve fast and autonomous target identification on UAVs, it is thus imperative to investigate novel processing paradigms that can fulfill the real-time processing requirements, while fitting the size, weight, and power (SWaP) constrained environment. In this paper, we present a new autonomous target identification approach on UAVs, leveraging the emerging neuromorphic hardware which is capable of massively parallel pattern recognition processing and demands only a limited level of power consumption. A proof-of-concept prototype was developed based on a micro-UAV platform (Parrot AR Drone) and the CogniMemTMneural network chip, for processing the video data acquired from a UAV camera on the y. The aim of this study was to demonstrate the feasibility and potential of incorporating emerging neuromorphic hardware into next-generation UAVs and their superior performance and power advantages towards the real-time, autonomous target tracking.

SAR system development for UAV multicopter platforms

OpenAIRE

Escartin Martínez, Antonio

2015-01-01

SAR system development for UAV multicopter platforms This thesis describes the optimization of a synthetic aperture radar (SAR) at X-band and its integration into an unmanned aerial vehicle (UAV) of type octocopter. For such optimization the SAR system functionality was extended from singlepol to fulpol and it has been optimized at hardware level in order to improve its quality against noise figure. After its integration into the octocopter platform, its features has been used in order to ...

Mini-Uav LIDAR for Power Line Inspection

Science.gov (United States)

Teng, G. E.; Zhou, M.; Li, C. R.; Wu, H. H.; Li, W.; Meng, F. R.; Zhou, C. C.; Ma, L.

2017-09-01

Light detection and ranging (LIDAR) system based on unmanned aerial vehicles (UAVs) recently are in rapid advancement, meanwhile portable and flexible mini-UAV-borne laser scanners have been a hot research field, especially for the complex terrain survey in the mountains and other areas. This study proposes a power line inspection system solution based on mini-UAV-borne LIDAR system-AOEagle, developed by Academy of Opto-Electronics, Chinese Academy of Sciences, which mounted on a Multi-rotor unmanned aerial vehicle for complex terrain survey according to real test. Furthermore, the point cloud data was explored to validate its applicability for power line inspection, in terms of corridor and line laser point clouds; deformation detection of power towers, etc. The feasibility and advantages of AOEagle have been demonstrated by the promising results based on the real-measured data in the field of power line inspection.

Control of fixed-wing UAV at levelling phase using artificial intelligence

Science.gov (United States)

Sayfeddine, Daher

2018-03-01

The increase in the share of fly-by-wire and software controlled UAV is explained by the need to release the human-operator and the desire to reduce the degree of influence of the human factor errors that account for 26% of aircraft accidents. An important reason for the introduction of new control algorithms is also the high level of UAV failures due loss of communication channels and possible hacking. This accounts for 17% of the total number of accidents. The comparison with manned flights shows that the frequency of accidents of unmanned flights is 27,000 times higher. This means that the UAV has 1611 failures per million flight hours and only 0.06 failures at the same time for the manned flight. In view of that, this paper studies the flight autonomy of fixed-wing UAV at the levelling phase. Landing parameters of the UAV are described. They will be used to setup a control scheme for an autopilot based on fuzzy logic algorithm.

Evaluation and development of unmanned aircraft (UAV) for UDOT needs.

Science.gov (United States)

2012-05-01

This research involved the use of high-resolution aerial photography obtained from Unmanned Aerial Vehicles (UAV) to aid UDOT in monitoring and documenting State Roadway structures and associated issues. Using geo-referenced UAV high resolution aeria...

Inflorescence and floral traits of the Colombian species of Tristerix (Loranthaceae related to hummingbird pollination

Directory of Open Access Journals (Sweden)

Favio González

2017-11-01

Full Text Available Floral diversification in Loranthaceae reaches its highest peak in the Andes. The flowers of the exclusively Andean genus Tristerix exhibit tubular and vividly coloured flowers pollinated by hummingbirds. We studied inflorescence and flower morphoanatomy of the two Colombian species, T. longebracteatus and the highly endangered T. secundus. Both species have terminal racemes with up to 26 ebracteolate flowers, of which the proximal one opens and sets fruits first. The slightly irregular calyx initiation is followed by the simultaneous initiation of petals and the successive initiation of stamens. Anthesis is fenestrate, explosive, and triggered by the tension of the style against the abaxial petals, a mode so far not reported in Loranthaceae. Anthetic petals spread symmetrically in T. longebracteatus and asymmetrically in T. secundus. Nectar is produced by a supraovarial disk and by the petal mesophyll. Floral lifespan lasts up to 20 days. The hummingbirds Eriocnemis vestita and Pterophanes cyanopterus are the likely pollinators of T. secundus. Morphological traits are inconclusive to support one of the two competing sister group relationships that involve Tristerix, as the lack of cataphylls in renewal shoots links Ligaria and Tristerix, whereas the terminal inflorescences support its relationship with Desmaria and Tupeia.

A Survey of Open-Source UAV Flight Controllers and Flight Simulators

DEFF Research Database (Denmark)

Ebeid, Emad Samuel Malki; Skriver, Martin; Terkildsen, Kristian Husum

2018-01-01

The current disruptive innovation in civilian drone (UAV) applications has led to an increased need for research and development in UAV technology. The key challenges currently being addressed are related to UAV platform properties such as functionality, reliability, fault tolerance, and endurance......-source drone platform elements that can be used for research and development. The survey covers open-source hardware, software, and simulation drone platforms and compares their main features....

Abundancia de colibríes y uso de flores en un bosque templado del sureste de México Hummingbird abundance and flowers use in a template forest from Southeast Mexico

Directory of Open Access Journals (Sweden)

Ruth Partida Lara

2012-12-01

Full Text Available La abundancia de los colibríes puede variar por la fenología de floración de las plantas de las que se alimentan. Sin embargo, la información sobre la interacción colibrí-flor es limitada en ambientes tropicales de montaña. En este estudio se evaluó la abundancia de colibríes con redes de niebla y se registró la fenología de floración mensual de las flores visitadas por los colibríes en tres ambientes (bosque de encino, de neblina y matorral en la Reserva Ecológica Huitepec, Chiapas, México de enero a agosto 2010. Cuatro especies de colibríes (Hylocharis leucotis, Lampornis amethystinus, Lamprolaima rhami y Eugenes fulgens se registraron y sus abundancias variaron entre ambientes (H3.8=14.8, p=0.001. Siete especies de plantas fueron visitadas por los colibríes, y presentaron una mayor floración formando parches durante la temporada de secas. En el matorral se concentró el mayor número de especies de plantas con flores. Fuchsia paniculata presentó el mayor periodo de floración aunque solo fue visitada por H. leucotis. Passiflora membranacea fue la única especie visitada por las cuatro especies de colibríes. La única asociación positiva fue la abundancia de E. fulgens con la floración de P. membranacea (rS=0.93, p=0.02. Las fluctuaciones de las abundancias de colibríes en este estudio están en cierta forma determinadas por las interacciones del recurso floral y su distribución en el ambienteHummingbird abundance varies with plant bloom phenology used for feeding. However, the information on hummingbird-flower interaction is limited for tropical mountain environments. We evaluated hummingbird abundance using mist nest and estimated monthly flowering phenology visited by hummingbirds in three different habitats (oak forest, cloud forest and bush from January to August 2010 in Huitepec Ecological Reserve. We recorded four hummingbird species (Hylocharis leucotis, Lampornis amethystinus, Lamprolaima rhami and Eugenes

DTM GENERATION WITH UAV BASED PHOTOGRAMMETRIC POINT CLOUD

Directory of Open Access Journals (Sweden)

N. Polat

2017-11-01

Full Text Available Nowadays Unmanned Aerial Vehicles (UAVs are widely used in many applications for different purposes. Their benefits however are not entirely detected due to the integration capabilities of other equipment such as; digital camera, GPS, or laser scanner. The main scope of this paper is evaluating performance of cameras integrated UAV for geomatic applications by the way of Digital Terrain Model (DTM generation in a small area. In this purpose, 7 ground control points are surveyed with RTK and 420 photographs are captured. Over 30 million georeferenced points were used in DTM generation process. Accuracy of the DTM was evaluated with 5 check points. The root mean square error is calculated as 17.1 cm for an altitude of 100 m. Besides, a LiDAR derived DTM is used as reference in order to calculate correlation. The UAV based DTM has o 94.5 % correlation with reference DTM. Outcomes of the study show that it is possible to use the UAV Photogrammetry data as map producing, surveying, and some other engineering applications with the advantages of low-cost, time conservation, and minimum field work.

DTM Generation with Uav Based Photogrammetric Point Cloud

Science.gov (United States)

Polat, N.; Uysal, M.

2017-11-01

Nowadays Unmanned Aerial Vehicles (UAVs) are widely used in many applications for different purposes. Their benefits however are not entirely detected due to the integration capabilities of other equipment such as; digital camera, GPS, or laser scanner. The main scope of this paper is evaluating performance of cameras integrated UAV for geomatic applications by the way of Digital Terrain Model (DTM) generation in a small area. In this purpose, 7 ground control points are surveyed with RTK and 420 photographs are captured. Over 30 million georeferenced points were used in DTM generation process. Accuracy of the DTM was evaluated with 5 check points. The root mean square error is calculated as 17.1 cm for an altitude of 100 m. Besides, a LiDAR derived DTM is used as reference in order to calculate correlation. The UAV based DTM has o 94.5 % correlation with reference DTM. Outcomes of the study show that it is possible to use the UAV Photogrammetry data as map producing, surveying, and some other engineering applications with the advantages of low-cost, time conservation, and minimum field work.

PRECISE POSITIONING OF UAVS – DEALING WITH CHALLENGING RTK-GPS MEASUREMENT CONDITIONS DURING AUTOMATED UAV FLIGHTS

Directory of Open Access Journals (Sweden)

F. Zimmermann

2017-08-01

Full Text Available For some years now, UAVs (unmanned aerial vehicles are commonly used for different mobile mapping applications, such as in the fields of surveying, mining or archeology. To improve the efficiency of these applications an automation of the flight as well as the processing of the collected data is currently aimed at. One precondition for an automated mapping with UAVs is that the georeferencing is performed directly with cm-accuracies or better. Usually, a cm-accurate direct positioning of UAVs is based on an onboard multi-sensor system, which consists of an RTK-capable (real-time kinematic GPS (global positioning system receiver and additional sensors (e.g. inertial sensors. In this case, the absolute positioning accuracy essentially depends on the local GPS measurement conditions. Especially during mobile mapping applications in urban areas, these conditions can be very challenging, due to a satellite shadowing, non-line-of sight receptions, signal diffraction or multipath effects. In this paper, two straightforward and easy to implement strategies will be described and analyzed, which improve the direct positioning accuracies for UAV-based mapping and surveying applications under challenging GPS measurement conditions. Based on a 3D model of the surrounding buildings and vegetation in the area of interest, a GPS geometry map is determined, which can be integrated in the flight planning process, to avoid GPS challenging environments as far as possible. If these challenging environments cannot be avoided, the GPS positioning solution is improved by using obstruction adaptive elevation masks, to mitigate systematic GPS errors in the RTK-GPS positioning. Simulations and results of field tests demonstrate the profit of both strategies.

Complex coevolution of wing, tail, and vocal sounds of courting male bee hummingbirds.

Science.gov (United States)

Clark, Christopher J; McGuire, Jimmy A; Bonaccorso, Elisa; Berv, Jacob S; Prum, Richard O

2018-03-01

Phenotypic characters with a complex physical basis may have a correspondingly complex evolutionary history. Males in the "bee" hummingbird clade court females with sound from tail-feathers, which flutter during display dives. On a phylogeny of 35 species, flutter sound frequency evolves as a gradual, continuous character on most branches. But on at least six internal branches fall two types of major, saltational changes: mode of flutter changes, or the feather that is the sound source changes, causing frequency to jump from one discrete value to another. In addition to their tail "instruments," males also court females with sound from their syrinx and wing feathers, and may transfer or switch instruments over evolutionary time. In support of this, we found a negative phylogenetic correlation between presence of wing trills and singing. We hypothesize this transference occurs because wing trills and vocal songs serve similar functions and are thus redundant. There are also three independent origins of self-convergence of multiple signals, in which the same species produces both a vocal (sung) frequency sweep, and a highly similar nonvocal sound. Moreover, production of vocal, learned song has been lost repeatedly. Male bee hummingbirds court females with a diverse, coevolving array of acoustic traits. © 2018 The Author(s). Evolution © 2018 The Society for the Study of Evolution.

Wingbeat kinematics and energetics during weightlifting in hovering hummingbirds across an elevational gradient.

Science.gov (United States)

Groom, Derrick J E; Toledo, M Cecilia B; Welch, Kenneth C

2017-01-01

Hummingbirds differentially modify flight kinematics in response to the type of challenge imposed. Weightlifting is associated with increases in stroke amplitude (the angle swept by the wings) to increase the angular velocity of the wings and generate the requisite lift, but only up to 160°. Conversely, flight in hypodense air is accomplished by increasing the angular velocity of the wing through increases in wingbeat frequency and stroke amplitudes, with larger increases in amplitude than seen in weightlifting flight. The kinematic differences between these two challenges may be facilitated by the lower energetic costs associated with overcoming drag and inertial forces over the wing during hypodense flight. Thus, we hypothesized that energetic expenditure is what limits the kinematics of weightlifting flight, with lower air densities permitting increases in angular velocity at comparatively lower costs. To explore the kinematic and energetic effects of air density and weightlifting on hovering flight performance, video and respirometric recordings of weightlifting were performed on four species of hummingbirds across an elevational gradient. Contrary to our hypothesis, wingbeat frequency did not vary due to elevation. Instead, wingbeat frequency seems to increase depending on the power requirements for sustaining hovering flight. Furthermore, metabolic rates during hovering increased with angular velocity alone, independent of elevation. Thus, it appears that the differential responses to flight challenges are not driven by variation in the flight media.

Reproductive phenology and sharing of floral resource among hummingbirds (Trochilidae) in inflorescences of Dahlstedtia pinnata (Benth.) Malme. (Fabaceae) in the Atlantic forest.

Science.gov (United States)

Missagia, Caio C C; Verçoza, Fábio C; Alves, Maria Alice S

2014-12-01

The purpose of this study was to investigate the reproductive phenology and sharing of floral resource (nectar) of Dahlstedtia pinnata (Benth.) Malme. (Fabaceae), endemic of Atlantic forest, among hummingbirds. For the phenology, we looked at the presence of reproductive structures in the plants, and for floral resource sharing, the frequency of potential pollinators and foraging behaviors were examined. This study was conducted in Pedra Branca State Park, in state of Rio de Janeiro, in a dense ombrophilous forest, between August 2010 and August 2011. Flowering occurred between December 2010 and March 2011, and fruiting between April and June 2011. Hummingbirds' foraging schedules differed significantly, with legitimate visits to the flowers occurring in the morning and illegitimate visits occurring during late morning and the afternoon. Five species visited flowers, three of which were legitimate visitors: Phaethornis ruber, P. pretrei, and Ramphodon naevius. Amazilia fimbriata and Thalurania glaucopis females only visited illegitimately. Phaethornis ruber robbed nectar (78% of illegitimate visits, n=337). Ramphodon naevius, with a territorial foraging behavior and a body size bigger than that of other observed hummingbird species, dominated the floral visits, which suggests that D. pinnata is an important nourishing resource for this endemic bird of the Atlantic forest, currently globally categorized as Near Threatened.

Reproductive phenology and sharing of floral resource among hummingbirds (Trochilidae in inflorescences of Dahlstedtia pinnata (Benth. Malme. (Fabaceae in the Atlantic forest

Directory of Open Access Journals (Sweden)

CAIO C.C. MISSAGIA

2014-12-01

Full Text Available The purpose of this study was to investigate the reproductive phenology and sharing of floral resource (nectar of Dahlstedtia pinnata (Benth. Malme. (Fabaceae, endemic of Atlantic forest, among hummingbirds. For the phenology, we looked at the presence of reproductive structures in the plants, and for floral resource sharing, the frequency of potential pollinators and foraging behaviors were examined. This study was conducted in Pedra Branca State Park, in state of Rio de Janeiro, in a dense ombrophilous forest, between August 2010 and August 2011. Flowering occurred between December 2010 and March 2011, and fruiting between April and June 2011. Hummingbirds' foraging schedules differed significantly, with legitimate visits to the flowers occurring in the morning and illegitimate visits occurring during late morning and the afternoon. Five species visited flowers, three of which were legitimate visitors: Phaethornis ruber, P. pretrei, and Ramphodon naevius. Amazilia fimbriata and Thalurania glaucopis females only visited illegitimately. Phaethornis ruber robbed nectar (78% of illegitimate visits, n=337. Ramphodon naevius, with a territorial foraging behavior and a body size bigger than that of other observed hummingbird species, dominated the floral visits, which suggests that D. pinnata is an important nourishing resource for this endemic bird of the Atlantic forest, currently globally categorized as Near Threatened.

Unmanned Aerial Vehicles (UAVs): a new tool in counterterrorism operations?

Science.gov (United States)

Dörtbudak, Mehmet F.

2015-05-01

Terrorism is not a new phenomenon to the world, yet it remains difficult to define and counter. Countering terrorism requires several measures that must be taken simultaneously; however, counterterrorism strategies of many countries mostly depend on military measures. In the aftermath of the 2001 terrorist attack on the Twin Towers of the World Trade Center, the United States (U.S.) has started and led the campaign of Global War on Terrorism. They have invaded Afghanistan and Iraq and have encountered insurgencies run by terrorist organizations, such as al-Qaeda and its affiliates. The U.S. made the utilization of Air and Space Power very intensively during these operations. In order to implement operations; Intelligence, Surveillance, and Reconnaissance (ISR) assets were used to collect the necessary information. Before the successful insertion of a small number of U.S. Special Operation Force (SOF) teams into Afghanistan, the U.S. Air Force attacked al-Qaeda and Taliban's targets such as infrastructure, airfields, ground forces, command-control facilities etc. As soon as the U.S. troops got on the ground and started to marshal to Kabul, the Air Force supported them by attacking jointly determined targets. The Air Force continued to carry out the missions and played a significant role to achieve the objective of operation during all the time. This is not the only example of utilization of Air and Space Power in counterterrorism and counterinsurgency operations. All around the world, many countries have also made the utilization of Air Power in different missions ranging from ISR to attacking. Thinking that terrorism has a psychological dimension and losing a pilot during operations may result in decreasing the population support to operations, Unmanned Aerial Vehicles (UAVs) started to be used by practitioners and took priority over other assets. Although UAVs have been on the theatre for a long time used for ISR mission in conventional conflicts, with the advent

Interactive Cadastral Boundary Delineation from Uav Data

Science.gov (United States)

Crommelinck, S.; Höfle, B.; Koeva, M. N.; Yang, M. Y.; Vosselman, G.

2018-05-01

Unmanned aerial vehicles (UAV) are evolving as an alternative tool to acquire land tenure data. UAVs can capture geospatial data at high quality and resolution in a cost-effective, transparent and flexible manner, from which visible land parcel boundaries, i.e., cadastral boundaries are delineable. This delineation is to no extent automated, even though physical objects automatically retrievable through image analysis methods mark a large portion of cadastral boundaries. This study proposes (i) a methodology that automatically extracts and processes candidate cadastral boundary features from UAV data, and (ii) a procedure for a subsequent interactive delineation. Part (i) consists of two state-of-the-art computer vision methods, namely gPb contour detection and SLIC superpixels, as well as a classification part assigning costs to each outline according to local boundary knowledge. Part (ii) allows a user-guided delineation by calculating least-cost paths along previously extracted and weighted lines. The approach is tested on visible road outlines in two UAV datasets from Germany. Results show that all roads can be delineated comprehensively. Compared to manual delineation, the number of clicks per 100 m is reduced by up to 86 %, while obtaining a similar localization quality. The approach shows promising results to reduce the effort of manual delineation that is currently employed for indirect (cadastral) surveying.

Establishing a disruptive new capability for NASA to fly UAV's into hazardous conditions

Science.gov (United States)

Ely, Jay; Nguyen, Truong; Wilson, Jennifer; Brown, Robert; Laughter, Sean; Teets, Ed; Parker, Allen; Chan, Hon M.; Richards, Lance

2015-05-01

A 2015 NASA Aeronautics Mission "Seedling" Proposal is described for a Severe-Environment UAV (SE-UAV) that can perform in-situ measurements in hazardous atmospheric conditions like lightning, volcanic ash and radiation. Specifically, this paper describes the design of a proof-of-concept vehicle and measurement system that can survive lightning attachment during flight operations into thunderstorms. Elements from three NASA centers draw together for the SE-UAV concept. 1) The NASA KSC Genesis UAV was developed in collaboration with the DARPA Nimbus program to measure electric field and X-rays present within thunderstorms. 2) A novel NASA LaRC fiber-optic sensor uses Faraday-effect polarization rotation to measure total lightning electric current on an air vehicle fuselage. 3) NASA AFRC's state-of-the-art Fiber Optics and Systems Integration Laboratory is envisioned to transition the Faraday system to a compact, light-weight, all-fiber design. The SE-UAV will provide in-flight lightning electric-current return stroke and recoil leader data, and serve as a platform for development of emerging sensors and new missions into hazardous environments. NASA's Aeronautics and Science Missions are interested in a capability to perform in-situ volcanic plume measurements and long-endurance UAV operations in various weather conditions. (Figure 1 shows an artist concept of a SE-UAV flying near a volcano.) This paper concludes with an overview of the NASA Aeronautics Strategic Vision, Programs, and how a SE-UAV is envisioned to impact them. The SE-UAV concept leverages high-value legacy research products into a new capability for NASA to fly a pathfinder UAV into hazardous conditions, and is presented in the SPIE DSS venue to explore teaming, collaboration and advocacy opportunities outside NASA.

Establishing a Disruptive New Capability for NASA to Fly UAV's into Hazardous Conditions

Science.gov (United States)

Ely, Jay; Nguyen, Truong; Wilson, Jennifer; Brown, Robert; Laughter, Sean; Teets, Ed; Parker, Allen; Chan, Patrick Hon Man; Richards, Lance

2015-01-01

A 2015 NASA Aeronautics Mission "Seedling" Proposal is described for a Severe-Environment UAV (SE-UAV) that can perform in-situ measurements in hazardous atmospheric conditions like lightning, volcanic ash and radiation. Specifically, this paper describes the design of a proof-of-concept vehicle and measurement system that can survive lightning attachment during flight operations into thunderstorms. Elements from three NASA centers draw together for the SE-UAV concept. 1) The NASA KSC Genesis UAV was developed in collaboration with the DARPA Nimbus program to measure electric field and X-rays present within thunderstorms. 2) A novel NASA LaRC fiber-optic sensor uses Faraday-effect polarization rotation to measure total lightning electric current on an air vehicle fuselage. 3) NASA AFRC's state-of-the-art Fiber Optics and Systems Integration Laboratory is envisioned to transition the Faraday system to a compact, light-weight, all-fiber design. The SE-UAV will provide in-flight lightning electric-current return stroke and recoil leader data, and serve as a platform for development of emerging sensors and new missions into hazardous environments. NASA's Aeronautics and Science Missions are interested in a capability to perform in-situ volcanic plume measurements and long-endurance UAV operations in various weather conditions. (Figure 1 shows an artist concept of a SE-UAV flying near a volcano.) This paper concludes with an overview of the NASA Aeronautics Strategic Vision, Programs, and how a SE-UAV is envisioned to impact them. The SE-UAV concept leverages high-value legacy research products into a new capability for NASA to fly a pathfinder UAV into hazardous conditions, and is presented in the SPIE DSS venue to explore teaming, collaboration and advocacy opportunities outside NASA.

WETLAND ASSESSMENT USING UNMANNED AERIAL VEHICLE (UAV PHOTOGRAMMETRY

Directory of Open Access Journals (Sweden)

M. A. Boon

2016-06-01

Full Text Available The use of Unmanned Arial Vehicle (UAV photogrammetry is a valuable tool to enhance our understanding of wetlands. Accurate planning derived from this technological advancement allows for more effective management and conservation of wetland areas. This paper presents results of a study that aimed at investigating the use of UAV photogrammetry as a tool to enhance the assessment of wetland ecosystems. The UAV images were collected during a single flight within 2½ hours over a 100 ha area at the Kameelzynkraal farm, Gauteng Province, South Africa. An AKS Y-6 MKII multi-rotor UAV and a digital camera on a motion compensated gimbal mount were utilised for the survey. Twenty ground control points (GCPs were surveyed using a Trimble GPS to achieve geometrical precision and georeferencing accuracy. Structure-from-Motion (SfM computer vision techniques were used to derive ultra-high resolution point clouds, orthophotos and 3D models from the multi-view photos. The geometric accuracy of the data based on the 20 GCP’s were 0.018 m for the overall, 0.0025 m for the vertical root mean squared error (RMSE and an over all root mean square reprojection error of 0.18 pixel. The UAV products were then edited and subsequently analysed, interpreted and key attributes extracted using a selection of tools/ software applications to enhance the wetland assessment. The results exceeded our expectations and provided a valuable and accurate enhancement to the wetland delineation, classification and health assessment which even with detailed field studies would have been difficult to achieve.

Design of attitude solution algorithm for tail-sitter VTOL UAV

Directory of Open Access Journals (Sweden)

Donghui LIU

2016-02-01

Full Text Available The tail-sitter Vertical Takeoff and Landing (VTOL Unmanned Aerial Vehicle(UAV, flying in a fixed-wing model, overcomes many shortcomings of traditional fixed-wing UAVs, and inherits the advantage of high overall efficiency, which means it has great development potential and very broad application prospects. The attitude of tail-sitter VTOL UAV shows a wide change range in its takeoff and landing stages, and when the attitude sensor changes more than 90 degrees in pitch direction, the Euler angles converted by the Quaternions will have singular points, which means gimbal deadlock appears. From the solution algorithm, this paper provides a method of changing the order of rotation to avoid the appearance of singular points. The results show that this method can be well applied to the attitude solution of the VTOL UAV.

Extending Quad-Rotor UAV Autonomy with Onboard Image Processing

Science.gov (United States)

2015-03-01

Recognition subsystem of the Image Capture model. ..........................52 Figure 40. Remote-controlled car , used as the target in this experiment...RELATED WORK Unmanned vehicles are used by researchers throughout the world to study control theory, aerodynamics , guidance, and dozens of other...2. The algorithm is tested in an outdoor suburban environment, where the Parrot successfully tracks a variety of objects including people, cars , and

Generació de mapes a partir d'imatges preses amb un UAV

OpenAIRE

Perarnau, Guim; Universitat Autònoma de Barcelona. Escola d'Enginyeria

2015-01-01

En els darrers anys s'ha popularitzat l'ús dels UAVs (drones) en una gran varietat d'àmbits. Aquest treball se centra en el camp de generació de mapes (vistes àrees) òptima basat en imatges enregistrades amb un UAV. Per millorar la qualitat del mapa resultant es vol treure profit de la instal•lació de sensors en l'UAV que proporcionin informació que pugui ser útil en el procés, com la posició i l'orientació de l'UAV. Com a tal, es descriuran tots els passos emprats per tal d'aprofitar les dad...

Analysis of Nondeterministic Search Patterns for Minimization of UAV Counter-Targeting

Science.gov (United States)

2013-03-01

64 Figure 4.9 Procerus Unicorn UAV [48] used in multi-UAV look-ahead Levy search demonstration conducted at 13-2 JIFX in February, 2013...minimum time or coverage path, minimal overlap, increased robustness to localization errors, etc. [3–5]. The role of randomized coverage and search...to the Procerus Unicorn UAV employed during these flight experiments, shown in Figure 4.9. Figure 4.10 shows the straight-line path between the major

UAV measurements of aerosol properties at the Cyprus institute

Science.gov (United States)

Neitola, Kimmo; Sciare, Jean; Keleshis, Christos; Pikridas, Michael; Argyrides, Marios; Vouterakos, Panagiotis; Antoniou, Panyiota; Apostolou, Apostolos; Savvides, Constantinos; Vrekoussis, Mihalis; Mihalopoulos, Nikos; Biskos, George; Gao, Ru-Shan; Murphy, Daniel; Schrod, Jann; Weber, Daniel; Bingemer, Heinz; Mocnik, Grisa

2017-04-01

Unmanned Aerial Vehicles (UAVs) provide a cost-effective and easy-to-use method to document the vertical profiles of aerosol particles and their physical and optical properties, within and above the boundary layer. These observations combined with satellite and ground data together can provide important information and model constrains regarding the impact of aerosols on the air quality and regional climate. Cyprus is a unique place to observe long-range transported pollution and dust originating from different areas (Europe, Africa, Turkey, and Middle East) and perform such aerosol profiling. The USRL team at the Cyprus Institute has recently started weekly routine flights with a newly developed UAV fleet to build a unique dataset of vertical profile observations. Instrumentation on the UAVs includes miniature Scanning Aerosol Sun Photometer (miniSASP, Murphy et al., 2015), Printed Optical Particle Spectrometer (POPS, Gao et al., 2016), Ice nuclei sampler (IN) and Dual Wavelength absorption Prototype (DWP) together with the measured meteorological parameters (P, T and RH). The UAV fleet is still expanding, as well as the instrumentation, and preliminary test flights have led to very promising results. The UAV ascend up to approximately the middle of the boundary layer, defined by LIDAR measurements at Limassol, where the UAV will fly on one altitude for several minutes ensuring stable data collection. After flying on one altitude, the UAV will continue ascending above the boundary layer, where another level flight will take place for data gathering, before descending for safe landing. The miniSASP measures the sun irradiance and sky radiance at four wavelengths (460, 550, 670 and 680nm) by doing continuous almucantar scans every 30 s. The instrument installation compensates for the pitch and roll of the UAV with 4 Hz frequency. For this reason, the flights are designed to maintain level flight conditions, to ensure proper data acquisition, and to obtain data from

Online UAV Mission Planning

NARCIS (Netherlands)

Evers, L.; Barros, A.I.; Monsuur, H.; Wagelmans, A.P.M.

2014-01-01

Unmanned Aerial Vehicles (UAVs) have become an essential asset for military and law enforcement operations. In particular their use for surveillance and reconnaissance tasks has been growing due to the quick developments in the areal systems themselves, sensor technology, and image processing

Adaptive control of a quadrotor aerial vehicle with input constraints and uncertain parameters

Science.gov (United States)

Tran, Trong-Toan; Ge, Shuzhi Sam; He, Wei

2018-05-01

In this paper, we address the problem of adaptive bounded control for the trajectory tracking of a Quadrotor Aerial Vehicle (QAV) while the input saturations and uncertain parameters with the known bounds are simultaneously taken into account. First, to deal with the underactuated property of the QAV model, we decouple and construct the QAV model as a cascaded structure which consists of two fully actuated subsystems. Second, to handle the input constraints and uncertain parameters, we use a combination of the smooth saturation function and smooth projection operator in the control design. Third, to ensure the stability of the overall system of the QAV, we develop the technique for the cascaded system in the presence of both the input constraints and uncertain parameters. Finally, the region of stability of the closed-loop system is constructed explicitly, and our design ensures the asymptotic convergence of the tracking errors to the origin. The simulation results are provided to illustrate the effectiveness of the proposed method.

Beija-flores (Aves, Trochilidae e seus recursos florais em uma área urbana do Sul do Brasil Hummingbirds (Aves, Trochilidae and their flowers in an urban area of southern Brazil

Directory of Open Access Journals (Sweden)

Luciana Baza Mendonça

2005-03-01

Full Text Available A assembléia de flores visitadas por beija-flores e a partilha de recursos entre estas aves foram estudadas em uma área urbana do sul do Brasil. Vinte e duas espécies de plantas, em sua maioria exóticas e/ou não-ornitófilas, receberam visitas dos beija-flores. As espécies de beija-flores registradas apresentaram diferentes combinações de características morfológicas (massa, comprimento do bico, comprimento da asa e relação bico/asa, que refletiram no conjunto de flores exploradas e no papel comunitário desempenhado por cada espécie. De um modo geral, beija-flores com nichos tróficos mais amplos foram também os mais freqüentes na área de estudo, indicando que o ambiente urbano pode ser mais favorável às espécies generalistas.The main purpose of this study was to identify the assemblage of flowers used by hummingbirds in an urban area of southern Brazil, as well as describe the patterns of resource partitioning among the hummingbird species. Twenty two plant species were recorded, which flowers are visited by ten hummingbird species. Most of these plants are exotics and regarded as non-ornithophilous. The hummingbirds displayed different combinations of morphological features (mass, bill length, wing length and relation bill/wing, which were reflected in the sets of flowers visited and the community role played by each species. In general, hummingbirds with largest niche breadths were also the most frequent ones, indicating that urban areas could be more suitable for generalist species.

Onboard Flow Sensing For Downwash Detection and Avoidance On Small Quadrotor Helicopters

Science.gov (United States)

2015-01-01

onboard computers, one for flight stabilization and a Linux computer for sensor integration and control calculations . The Linux computer runs Robot...Hirokawa, D. Kubo , S. Suzuki, J. Meguro, and T. Suzuki. Small uav for immediate hazard map generation. In AIAA Infotech@Aerospace Conf, May 2007. 8F

Tracking, aiming, and hitting the UAV with ordinary assault rifle

Science.gov (United States)

Racek, František; Baláž, Teodor; Krejčí, Jaroslav; Procházka, Stanislav; Macko, Martin

2017-10-01

The usage small-unmanned aerial vehicles (UAVs) is significantly increasing nowadays. They are being used as a carrier of military spy and reconnaissance devices (taking photos, live video streaming and so on), or as a carrier of potentially dangerous cargo (intended for destruction and killing). Both ways of utilizing the UAV cause the necessity to disable it. From the military point of view, to disable the UAV means to bring it down by a weapon of an ordinary soldier that is the assault rifle. This task can be challenging for the soldier because he needs visually detect and identify the target, track the target visually and aim on the target. The final success of the soldier's mission depends not only on the said visual tasks, but also on the properties of the weapon and ammunition. The paper deals with possible methods of prediction of probability of hitting the UAV targets.

Pathloss Measurements and Modeling for UAVs Connected to Cellular Networks

DEFF Research Database (Denmark)

Amorim, Rafhael Medeiros de; Mogensen, Preben Elgaard; Sørensen, Troels Bundgaard

2017-01-01

. The measurements were conducted in an operating LTE network (850 MHz), using a commercial cell phone, placed inside the frame of the UAV. Trials were conducted for UAV flying at 5 different heights measured above ground level (20, 40, 60, 80 and 100m) and a pathloss regression line was obtained from results. Then......This paper assess field measurements, as part of the investigation of the suitability of cellular networks for providing connectivity to UAVs (unmanned aerial vehicles). Evaluation is done by means of field measurements obtained in a rural environment in Denmark with an airbone UAV......, downlink (DL) SINR levels obtained during flight measurements are also presented. An important result obtained from the measurents reveal that there is a height-related DL SINR degradation. Three main sources of uncertainty on the pathloss model that could be responsible for the SINR degradation are also...

Data Gathering and Energy Transfer Dilemma in UAV-Assisted Flying Access Network for IoT.

Science.gov (United States)

Arabi, Sara; Sabir, Essaid; Elbiaze, Halima; Sadik, Mohamed

2018-05-11

Recently, Unmanned Aerial Vehicles (UAVs) have emerged as an alternative solution to assist wireless networks, thanks to numerous advantages they offer in comparison to terrestrial fixed base stations. For instance, a UAV can be used to embed a flying base station providing an on-demand nomadic access to network services. A UAV can also be used to wirelessly recharge out-of-battery ground devices. In this paper, we aim to deal with both data collection and recharging depleted ground Internet-of-Things (IoT) devices through a UAV station used as a flying base station. To extend the network lifetime, we present a novel use of UAV with energy harvesting module and wireless recharging capabilities. However, the UAV is used as an energy source to empower depleted IoT devices. On one hand, the UAV charges depleted ground IoT devices under three policies: (1) low-battery first scheme; (2) high-battery first scheme; and (3) random scheme. On the other hand, the UAV station collects data from IoT devices that have sufficient energy to transmit their packets, and in the same phase, the UAV exploits the Radio Frequency (RF) signals transmitted by IoT devices to extract and harvest energy. Furthermore, and as the UAV station has a limited coverage time due to its energy constraints, we propose and investigate an efficient trade-off between ground users recharging time and data gathering time. Furthermore, we suggest to control and optimize the UAV trajectory in order to complete its travel within a minimum time, while minimizing the energy spent and/or enhancing the network lifetime. Extensive numerical results and simulations show how the system behaves under different scenarios and using various metrics in which we examine the added value of UAV with energy harvesting module.

Data Gathering and Energy Transfer Dilemma in UAV-Assisted Flying Access Network for IoT

Directory of Open Access Journals (Sweden)

Sara Arabi

2018-05-01

Full Text Available Recently, Unmanned Aerial Vehicles (UAVs have emerged as an alternative solution to assist wireless networks, thanks to numerous advantages they offer in comparison to terrestrial fixed base stations. For instance, a UAV can be used to embed a flying base station providing an on-demand nomadic access to network services. A UAV can also be used to wirelessly recharge out-of-battery ground devices. In this paper, we aim to deal with both data collection and recharging depleted ground Internet-of-Things (IoT devices through a UAV station used as a flying base station. To extend the network lifetime, we present a novel use of UAV with energy harvesting module and wireless recharging capabilities. However, the UAV is used as an energy source to empower depleted IoT devices. On one hand, the UAV charges depleted ground IoT devices under three policies: (1 low-battery first scheme; (2 high-battery first scheme; and (3 random scheme. On the other hand, the UAV station collects data from IoT devices that have sufficient energy to transmit their packets, and in the same phase, the UAV exploits the Radio Frequency (RF signals transmitted by IoT devices to extract and harvest energy. Furthermore, and as the UAV station has a limited coverage time due to its energy constraints, we propose and investigate an efficient trade-off between ground users recharging time and data gathering time. Furthermore, we suggest to control and optimize the UAV trajectory in order to complete its travel within a minimum time, while minimizing the energy spent and/or enhancing the network lifetime. Extensive numerical results and simulations show how the system behaves under different scenarios and using various metrics in which we examine the added value of UAV with energy harvesting module.

Miniature UAVs : An overview

NARCIS (Netherlands)

Weimar, P.W.L.; Kerkkamp, J.S.F.; Wiel, R.A.N.; Meiller, P.P.; Bos, J.G.H.

2014-01-01

With this book TNO provides an overview of topics related to Miniature Unmanned Aerial Vehicles (MUAVs). Both novices and experts may find this publication valuable. The Netherlands Organisation for Applied Scientific Research TNO conducts research on UAVs and MUAVs, see for example [1], on the

Cloud-Assisted UAV Data Collection for Multiple Emerging Events in Distributed WSNs.

Science.gov (United States)

Cao, Huiru; Liu, Yongxin; Yue, Xuejun; Zhu, Wenjian

2017-08-07

In recent years, UAVs (Unmanned Aerial Vehicles) have been widely applied for data collection and image capture. Specifically, UAVs have been integrated with wireless sensor networks (WSNs) to create data collection platforms with high flexibility. However, most studies in this domain focus on system architecture and UAVs' flight trajectory planning while event-related factors and other important issues are neglected. To address these challenges, we propose a cloud-assisted data gathering strategy for UAV-based WSN in the light of emerging events. We also provide a cloud-assisted approach for deriving UAV's optimal flying and data acquisition sequence of a WSN cluster. We validate our approach through simulations and experiments. It has been proved that our methodology outperforms conventional approaches in terms of flying time, energy consumption, and integrity of data acquisition. We also conducted a real-world experiment using a UAV to collect data wirelessly from multiple clusters of sensor nodes for monitoring an emerging event, which are deployed in a farm. Compared against the traditional method, this proposed approach requires less than half the flying time and achieves almost perfect data integrity.

Coastal areas mapping using UAV photogrammetry

Science.gov (United States)

Nikolakopoulos, Konstantinos G.; Kozarski, Dimitrios; Kogkas, Stefanos

2017-10-01

The coastal areas in the Patras Gulf suffer degradation due to the sea action and other natural and human-induced causes. Changes in beaches, ports, and other man made constructions need to be assessed, both after severe events and on a regular basis, to build models that can predict the evolution in the future. Thus, reliable spatial data acquisition is a critical process for the identification of the coastline and the broader coastal zones for geologists and other scientists involved in the study of coastal morphology. High resolution satellite data, airphotos and airborne Lidar provided in the past the necessary data for the coastline monitoring. High-resolution digital surface models (DSMs) and orthophoto maps had become a necessity in order to map with accuracy all the variations in costal environments. Recently, unmanned aerial vehicles (UAV) photogrammetry offers an alternative solution to the acquisition of high accuracy spatial data along the coastline. This paper presents the use of UAV to map the coastline in Rio area Western Greece. Multiple photogrammetric aerial campaigns were performed. A small commercial UAV (DJI Phantom 3 Advance) was used to acquire thousands of images with spatial resolutions better than 5 cm. Different photogrammetric software's were used to orientate the images, extract point clouds, build a digital surface model and produce orthoimage mosaics. In order to achieve the best positional accuracy signalised ground control points were measured with a differential GNSS receiver. The results of this coastal monitoring programme proved that UAVs can replace many of the conventional surveys, with considerable gains in the cost of the data acquisition and without any loss in the accuracy.

Dietary protein level affects iridescent coloration in Anna's hummingbirds, Calypte anna.

Science.gov (United States)

Meadows, Melissa G; Roudybush, Thomas E; McGraw, Kevin J

2012-08-15

Many animal displays involve colorful ornamental traits that signal an individual's quality as a mate or rival. Brilliant iridescent ornaments are common, but little is currently known about their production cost and signaling value. One potential cost of colorful ornaments is the acquisition of limited dietary resources that may be involved, directly or indirectly, in their production. Protein, the primary component of bird feathers and of many nanostructural components of iridescent traits, is naturally restricted in hummingbird diets (comprised mostly of sugars), suggesting that iridescent coloration may be especially challenging to produce in these animals. In this study, we experimentally investigated the effect of dietary protein availability during molt on iridescent color expression in male Anna's hummingbirds (Calypte anna). We fed captive birds either a 6% (high) or a 3% (low) protein diet and stimulated molt by plucking half the gorget and crown ornaments on each bird as well as the non-ornamental iridescent green tail feathers. We found that birds receiving more protein grew significantly more colorful crown feathers (higher red chroma and redder hue) than those fed the low-protein diet. Diet did not affect gorget coloration, but regrowth of feathers in captivity affected both gorget and crown coloration. Additionally, birds on the high-protein diet grew yellower (higher hue) green tail feathers than birds on the low-protein diet. These results indicate that iridescent ornamental feathers are sensitive to diet quality and may serve as honest signals of nutrition to mates or rivals. Further, because both ornamental and non-ornamental iridescent coloration were affected by conditions during their growth, iridescent color in these birds appears to be generally condition dependent.

Prognostics Applied to Electric Propulsion UAV

Science.gov (United States)

Goebel, Kai; Saha, Bhaskar

2013-01-01

Health management plays an important role in operations of UAV. If there is equipment malfunction on critical components, safe operation of the UAV might possibly be compromised. A technology with particular promise in this arena is equipment prognostics. This technology provides a state assessment of the health of components of interest and, if a degraded state has been found, it estimates how long it will take before the equipment will reach a failure threshold, conditional on assumptions about future operating conditions and future environmental conditions. This chapter explores the technical underpinnings of how to perform prognostics and shows an implementation on the propulsion of an electric UAV. A particle filter is shown as the method of choice in performing state assessment and predicting future degradation. The method is then applied to the batteries that provide power to the propeller motors. An accurate run-time battery life prediction algorithm is of critical importance to ensure the safe operation of the vehicle if one wants to maximize in-air time. Current reliability based techniques turn out to be insufficient to manage the use of such batteries where loads vary frequently in uncertain environments.

Tropical deforestation alters hummingbird movement patterns

Science.gov (United States)

Hadley, Adam S.; Betts, Matthew G.

2009-01-01

Reduced pollination success, as a function of habitat loss and fragmentation, appears to be a global phenomenon. Disruption of pollinator movement is one hypothesis put forward to explain this pattern in pollen limitation. However, the small size of pollinators makes them very difficult to track; thus, knowledge of their movements is largely speculative. Using tiny radio transmitters (0.25 g), we translocated a generalist tropical ‘trap-lining’ hummingbird, the green hermit (Phaethornis guy), across agricultural and forested landscapes to test the hypothesis that movement is influenced by patterns of deforestation. Although, we found no difference in homing times between landscape types, return paths were on average 459±144 m (±s.e.) more direct in forested than agricultural landscapes. In addition, movement paths in agricultural landscapes contained 36±4 per cent more forest than the most direct route. Our findings suggest that this species can circumvent agricultural matrix to move among forest patches. Nevertheless, it is clear that movement of even a highly mobile species is strongly influenced by landscape disturbance. Maintaining landscape connectivity with forest corridors may be important for enhancing movement, and thus in facilitating pollen transfer. PMID:19158031

Transmission Tower Environment Monitoring Using UAV

International Nuclear Information System (INIS)

Redzuwan, Redia Mohd; Din, Norashidah Md; Baharuddin, Mohd Zafri; Mustafa, Intan Shafinaz; Omar, Rohayu Che'

2013-01-01

Power utility engineers used to conduct ground survey to collect topographic data. Therefore, they can get detailed and accurate information, but these techniques take a lot of labors and expenses, and spending times for the surveying. An attractive solution to the ground survey is using images taken using Unmanned Aerial Vehicle (UAV). Images captured from UAV can be collected quickly and efficiently over the same area covered in the land survey, in a fraction of the time. The purpose of this research is to mosaic the large numbers of spectral images together into a region wide panoramic image which allows experts to analyze the data for transmission tower monitoring purposes.

Teaching UAVs to Race With Observational Imitation Learning

KAUST Repository

Li, Guohao; Mueller, Matthias; Casser, Vincent; Smith, Neil; Michels, Dominik L.; Ghanem, Bernard

2018-01-01

Recent work has tackled the problem of autonomous navigation by imitating a teacher and learning an end-to-end policy, which directly predicts controls from raw images. However, these approaches tend to be sensitive to mistakes by the teacher and do not scale well to other environments or vehicles. To this end, we propose a modular network architecture that decouples perception from control, and is trained using Observational Imitation Learning (OIL), a novel imitation learning variant that supports online training and automatic selection of optimal behavior from observing multiple teachers. We apply our proposed methodology to the challenging problem of unmanned aerial vehicle (UAV) racing. We develop a simulator that enables the generation of large amounts of synthetic training data (both UAV captured images and its controls) and also allows for online learning and evaluation. We train a perception network to predict waypoints from raw image data and a control network to predict UAV controls from these waypoints using OIL. Our modular network is able to autonomously fly a UAV through challenging race tracks at high speeds. Extensive experiments demonstrate that our trained network outperforms its teachers, end-to-end baselines, and even human pilots in simulation. The supplementary video can be viewed at https://youtu.be/PeTXSoriflc

Teaching UAVs to Race With Observational Imitation Learning

KAUST Repository

Li, Guohao

2018-03-03

Recent work has tackled the problem of autonomous navigation by imitating a teacher and learning an end-to-end policy, which directly predicts controls from raw images. However, these approaches tend to be sensitive to mistakes by the teacher and do not scale well to other environments or vehicles. To this end, we propose a modular network architecture that decouples perception from control, and is trained using Observational Imitation Learning (OIL), a novel imitation learning variant that supports online training and automatic selection of optimal behavior from observing multiple teachers. We apply our proposed methodology to the challenging problem of unmanned aerial vehicle (UAV) racing. We develop a simulator that enables the generation of large amounts of synthetic training data (both UAV captured images and its controls) and also allows for online learning and evaluation. We train a perception network to predict waypoints from raw image data and a control network to predict UAV controls from these waypoints using OIL. Our modular network is able to autonomously fly a UAV through challenging race tracks at high speeds. Extensive experiments demonstrate that our trained network outperforms its teachers, end-to-end baselines, and even human pilots in simulation. The supplementary video can be viewed at https://youtu.be/PeTXSoriflc

UAV Research, Operations, and Flight Test at the NASA Dryden Flight Research Center

Science.gov (United States)

Cosentino, Gary B.

2009-01-01

This slide presentation reviews some of the projects that have extended NASA Dryden's capabilities in designing, testing, and using Unmanned Aerial Vehicles (UAV's). Some of the UAV's have been for Science and experimental applications, some have been for flight research and demonstration purposes, and some have been small UAV's for other customers.

Cooperative control of UAVs for localization of intermittently emitting mobile targets.

Science.gov (United States)

Pack, Daniel J; Delima, Pedro; Toussaint, Gregory J; York, George

2009-08-01

Compared with a single platform, cooperative autonomous unmanned aerial vehicles (UAVs) offer efficiency and robustness in performing complex tasks. Focusing on ground mobile targets that intermittently emit radio frequency signals, this paper presents a decentralized control architecture for multiple UAVs, equipped only with rudimentary sensors, to search, detect, and locate targets over large areas. The proposed architecture has in its core a decision logic which governs the state of operation for each UAV based on sensor readings and communicated data. To support the findings, extensive simulation results are presented, focusing primarily on two success measures that the UAVs seek to minimize: overall time to search for a group of targets and the final target localization error achieved. The results of the simulations have provided support for hardware flight tests.

Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors.

Science.gov (United States)

Heredia, Guillermo; Caballero, Fernando; Maza, Iván; Merino, Luis; Viguria, Antidio; Ollero, Aníbal

2009-01-01

This paper presents a method to increase the reliability of Unmanned Aerial Vehicle (UAV) sensor Fault Detection and Identification (FDI) in a multi-UAV context. Differential Global Positioning System (DGPS) and inertial sensors are used for sensor FDI in each UAV. The method uses additional position estimations that augment individual UAV FDI system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factors, dynamic replanning of the multi-UAV team can be used to obtain a better estimation in case of faults caused by slow growing errors of absolute position estimation that cannot be detected by using local FDI in the UAVs. Experimental results with data from two real UAVs are also presented.

APPLICABILITY ANALYSIS OF ULTRA-LIGHT UAV FOR FLOODING SITE SURVEY IN SOUTH KOREA

Directory of Open Access Journals (Sweden)

I. Lee

2013-05-01

Full Text Available Recently, UAV (Unmanned Aerial Vehicle is used in a variety of fields such as the military service, fire prevention, traffic supervision, mapping, and etc. The increased demand for UAVs is typically attributed to the low manufacturing and operational costs, flexibility of the platforms to accommodate the consumer’s particular needs and the elimination of the risk to pilots’ lives in difficult missions. But, in South Korea, UAV might be first introduced to military service, and is still in its infancy, just being available for construction site monitoring, landscape photographing, spraying agricultural chemicals, broadcasting fields. This study presents the background and the aim of flood mapping, and presents the possibility analysis of how to use UAV effectively for flooding area. And author tries to overlap UAV image with the flooding area trace surveyed by ground surveys. As a result, it is expected that UAV photogrammetry will contributes to investigating the flooded area by providing images, which is describing the flooded area in near real-time and also making a decision like paying compensation.

EVALUATION OF THE QUALITY OF ACTION CAMERAS WITH WIDE-ANGLE LENSES IN UAV PHOTOGRAMMETRY

OpenAIRE

Hastedt, H.; Ekkel, T.; Luhmann, T.

2016-01-01

The application of light-weight cameras in UAV photogrammetry is required due to restrictions in payload. In general, consumer cameras with normal lens type are applied to a UAV system. The availability of action cameras, like the GoPro Hero4 Black, including a wide-angle lens (fish-eye lens) offers new perspectives in UAV projects. With these investigations, different calibration procedures for fish-eye lenses are evaluated in order to quantify their accuracy potential in UAV photogrammetry....

Observing Crop-Height Dynamics Using a UAV

Science.gov (United States)

Ziliani, M. G.; Parkes, S. D.; McCabe, M.

2017-12-01

Retrieval of vegetation height during a growing season is a key indicator for monitoring crop status, offering insight to the forecast yield relative to previous planting cycles. Improvement in Unmanned Aerial Vehicle (UAV) technologies, supported by advances in computer vision and photogrammetry software, has enabled retrieval of crop heights with much higher spatial resolution and coverage. These methodologies retrieve a Digital Surface Map (DSM), which combine terrain and crop elements to obtain a Crop Surface Map (CSM). Here we describe an automated method for deriving high resolution CSMs from a DSM, using RGB imagery from a UAV platform. Importantly, the approach does not require the need for a digital terrain map (DTM). The method involves distinguishing between vegetation and bare-ground cover pixels, using vegetation index maps from the RGB orthomosaic derived from the same flight as the DSM. We show that the absolute crop height can be extracted to within several centimeters, exploiting the data captured from a single UAV flight. In addition, the method is applied across five surveys during a maize growing cycle and compared against a terrain map constructed from a baseline UAV survey undertaken prior to crop growth. Results show that the approach is able to reproduce the observed spatial variability of the crop height within the maize field throughout the duration of the growing season. This is particularly valuable since it may be employed to detect intra-field problems (i.e. fertilizer variability, inefficiency in the irrigation system, salinity etc.) at different stages of the season, from which remedial action can be initiated to mitigate against yield loss. The method also demonstrates that UAV imagery combined with commercial photogrammetry software can determine a CSM from a single flight without the requirement of a prior DTM. This, together with the dynamic crop height estimation, provide useful information with which to inform precision

Possibilities of Use of UAVS for Technical Inspection of Buildings and Constructions

Science.gov (United States)

Banaszek, Anna; Banaszek, Sebastian; Cellmer, Anna

2017-12-01

In recent years, Unmanned Aerial Vehicles (UAVs) have been used in various sectors of the economy. This is due to the development of new technologies for acquiring and processing geospatial data. The paper presents the results of experiments using UAV, equipped with a high resolution digital camera, for a visual assessment of the technical condition of the building roof and for the inventory of energy infrastructure and its surroundings. The usefulness of digital images obtained from the UAV deck is presented in concrete examples. The use of UAV offers new opportunities in the area of technical inspection due to the detail and accuracy of the data, low operating costs and fast data acquisition.

An Efficient Genetic Algorithm for Routing Multiple UAVs under Flight Range and Service Time Window Constraints

OpenAIRE

KARAKAYA, Murat; SEVİNÇ, Ender

2017-01-01

Recently using Unmanned Aerial Vehicles (UAVs) either for military or civilian purposes is getting popularity. However, UAVs have their own limitations which require adopted approaches to satisfy the Quality of Service (QoS) promised by the applications depending on effective use of UAVs. One of the important limitations of the UAVs encounter is the flight range. Most of the time, UAVs have very scarce energy resources and, thus, they have relatively short flight ranges. Besides, for the appl...

Effects of Hearing Protection Device Attenuation on Unmanned Aerial Vehicle (UAV) Audio Signatures

Science.gov (United States)

2016-03-01

UAV ) Audio Signatures by Melissa Bezandry, Adrienne Raglin, and John Noble Approved for public release; distribution...Research Laboratory Effects of Hearing Protection Device Attenuation on Unmanned Aerial Vehicle ( UAV ) Audio Signatures by Melissa Bezandry...Aerial Vehicle ( UAV ) Audio Signatures 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Melissa Bezandry

An Application of UAV Attitude Estimation Using a Low-Cost Inertial Navigation System

Science.gov (United States)

Eure, Kenneth W.; Quach, Cuong Chi; Vazquez, Sixto L.; Hogge, Edward F.; Hill, Boyd L.

2013-01-01

Unmanned Aerial Vehicles (UAV) are playing an increasing role in aviation. Various methods exist for the computation of UAV attitude based on low cost microelectromechanical systems (MEMS) and Global Positioning System (GPS) receivers. There has been a recent increase in UAV autonomy as sensors are becoming more compact and onboard processing power has increased significantly. Correct UAV attitude estimation will play a critical role in navigation and separation assurance as UAVs share airspace with civil air traffic. This paper describes attitude estimation derived by post-processing data from a small low cost Inertial Navigation System (INS) recorded during the flight of a subscale commercial off the shelf (COTS) UAV. Two discrete time attitude estimation schemes are presented here in detail. The first is an adaptation of the Kalman Filter to accommodate nonlinear systems, the Extended Kalman Filter (EKF). The EKF returns quaternion estimates of the UAV attitude based on MEMS gyro, magnetometer, accelerometer, and pitot tube inputs. The second scheme is the complementary filter which is a simpler algorithm that splits the sensor frequency spectrum based on noise characteristics. The necessity to correct both filters for gravity measurement errors during turning maneuvers is demonstrated. It is shown that the proposed algorithms may be used to estimate UAV attitude. The effects of vibration on sensor measurements are discussed. Heuristic tuning comments pertaining to sensor filtering and gain selection to achieve acceptable performance during flight are given. Comparisons of attitude estimation performance are made between the EKF and the complementary filter.

Automated geographic registration and radiometric correction for UAV-based mosaics

Science.gov (United States)

Texas A&M University has been operating a large-scale, UAV-based, agricultural remote-sensing research project since 2015. To use UAV-based images in agricultural production, many high-resolution images must be mosaicked together to create an image of an agricultural field. Two key difficulties to s...

Cross Validation on the Equality of Uav-Based and Contour-Based Dems

Science.gov (United States)

Ma, R.; Xu, Z.; Wu, L.; Liu, S.

2018-04-01

Unmanned Aerial Vehicles (UAV) have been widely used for Digital Elevation Model (DEM) generation in geographic applications. This paper proposes a novel framework of generating DEM from UAV images. It starts with the generation of the point clouds by image matching, where the flight control data are used as reference for searching for the corresponding images, leading to a significant time saving. Besides, a set of ground control points (GCP) obtained from field surveying are used to transform the point clouds to the user's coordinate system. Following that, we use a multi-feature based supervised classification method for discriminating non-ground points from ground ones. In the end, we generate DEM by constructing triangular irregular networks and rasterization. The experiments are conducted in the east of Jilin province in China, which has been suffered from soil erosion for several years. The quality of UAV based DEM (UAV-DEM) is compared with that generated from contour interpolation (Contour-DEM). The comparison shows a higher resolution, as well as higher accuracy of UAV-DEMs, which contains more geographic information. In addition, the RMSE errors of the UAV-DEMs generated from point clouds with and without GCPs are ±0.5 m and ±20 m, respectively.

Doppler Effect-Based Automatic Landing Procedure for UAV in Difficult Access Environments

Directory of Open Access Journals (Sweden)

Jan M. Kelner

2017-01-01

Full Text Available Currently, almost unrestricted access to low-lying areas of airspace creates an opportunity to use unmanned aerial vehicles (UAVs, especially those capable of vertical take-off and landing (VTOL, in transport services. UAVs become increasingly popular for transporting postal items over small, medium, and large distances. It is forecasted that, in the near future, VTOL UAVs with a high take-off weight will also deliver goods to very distant and hard-to-reach locations. Therefore, UAV navigation plays a very important role in the process of carrying out transport services. At present, during the flight phase, drones make use of the integrated global navigation satellite system (GNSS and the inertial navigation system (INS. However, the inaccuracy of GNSS + INS makes it unsuitable for landing and take-off, necessitating the guidance of a human UAV operator during those phases. Available navigation systems do not provide sufficiently high positioning accuracy for an UAV. For this reason, full automation of the landing approach is not possible. This paper puts forward a proposal to solve this problem. The authors show the structure of an autonomous system and a Doppler-based navigation procedure that allows for automatic landing approaches. An accuracy evaluation of the developed solution for VTOL is made on the basis of simulation studies.

Comparison of a UAV-derived point-cloud to Lidar data at Haig Glacier, Alberta, Canada

Science.gov (United States)

Bash, E. A.; Moorman, B.; Montaghi, A.; Menounos, B.; Marshall, S. J.

2016-12-01

The use of unmanned aerial vehicles (UAVs) is expanding rapidly in glaciological research as a result of technological improvements that make UAVs a cost-effective solution for collecting high resolution datasets with relative ease. The cost and difficult access traditionally associated with performing fieldwork in glacial environments makes UAVs a particularly attractive tool. In the small, but growing, body of literature using UAVs in glaciology the accuracy of UAV data is tested through the comparison of a UAV-derived DEM to measured control points. A field campaign combining simultaneous lidar and UAV flights over Haig Glacier in April 2015, provided the unique opportunity to directly compare UAV data to lidar. The UAV was a six-propeller Mikrokopter carrying a Panasonic Lumix DMC-GF1 camera with a 12 Megapixel Live MOS sensor and Lumix G 20 mm lens flown at a height of 90 m, resulting in sub-centimetre ground resolution per image pixel. Lidar data collection took place April 20, while UAV flights were conducted April 20-21. A set of 65 control points were laid out and surveyed on the glacier surface on April 19 and 21 using a RTK GPS with a vertical uncertainty of 5 cm. A direct comparison of lidar points to these control points revealed a 9 cm offset between the control points and the lidar points on average, but the difference changed distinctly from points collected on April 19 versus those collected April 21 (7 cm and 12 cm). Agisoft Photoscan was used to create a point-cloud from imagery collected with the UAV and CloudCompare was used to calculate the difference between this and the lidar point cloud, revealing an average difference of less than 17 cm. This field campaign also highlighted some of the benefits and drawbacks of using a rotary UAV for glaciological research. The vertical takeoff and landing capabilities, combined with quick responsiveness and higher carrying capacity, make the rotary vehicle favourable for high-resolution photos when

An automated 3D reconstruction method of UAV images

Science.gov (United States)

Liu, Jun; Wang, He; Liu, Xiaoyang; Li, Feng; Sun, Guangtong; Song, Ping

2015-10-01

In this paper a novel fully automated 3D reconstruction approach based on low-altitude unmanned aerial vehicle system (UAVs) images will be presented, which does not require previous camera calibration or any other external prior knowledge. Dense 3D point clouds are generated by integrating orderly feature extraction, image matching, structure from motion (SfM) and multi-view stereo (MVS) algorithms, overcoming many of the cost, time limitations of rigorous photogrammetry techniques. An image topology analysis strategy is introduced to speed up large scene reconstruction by taking advantage of the flight-control data acquired by UAV. Image topology map can significantly reduce the running time of feature matching by limiting the combination of images. A high-resolution digital surface model of the study area is produced base on UAV point clouds by constructing the triangular irregular network. Experimental results show that the proposed approach is robust and feasible for automatic 3D reconstruction of low-altitude UAV images, and has great potential for the acquisition of spatial information at large scales mapping, especially suitable for rapid response and precise modelling in disaster emergency.

Accuracy assessment of topographic mapping using UAV image integrated with satellite images

International Nuclear Information System (INIS)

Azmi, S M; Ahmad, Baharin; Ahmad, Anuar

2014-01-01

Unmanned Aerial Vehicle or UAV is extensively applied in various fields such as military applications, archaeology, agriculture and scientific research. This study focuses on topographic mapping and map updating. UAV is one of the alternative ways to ease the process of acquiring data with lower operating costs, low manufacturing and operational costs, plus it is easy to operate. Furthermore, UAV images will be integrated with QuickBird images that are used as base maps. The objective of this study is to make accuracy assessment and comparison between topographic mapping using UAV images integrated with aerial photograph and satellite image. The main purpose of using UAV image is as a replacement for cloud covered area which normally exists in aerial photograph and satellite image, and for updating topographic map. Meanwhile, spatial resolution, pixel size, scale, geometric accuracy and correction, image quality and information contents are important requirements needed for the generation of topographic map using these kinds of data. In this study, ground control points (GCPs) and check points (CPs) were established using real time kinematic Global Positioning System (RTK-GPS) technique. There are two types of analysis that are carried out in this study which are quantitative and qualitative assessments. Quantitative assessment is carried out by calculating root mean square error (RMSE). The outputs of this study include topographic map and orthophoto. From this study, the accuracy of UAV image is ± 0.460 m. As conclusion, UAV image has the potential to be used for updating of topographic maps

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR

Science.gov (United States)

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-01-01

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner. PMID:29439447

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR.

Science.gov (United States)

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-02-11

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner.

Compliant Aerial Manipulators

DEFF Research Database (Denmark)

Bartelds, T.; Capra, A.; Hamaza, S.

2016-01-01

joints. The approach aims at limiting the influence of impacts on the controlled attitude dynamics in order to allow the aerial manipulator to remain stable during and after impact. The developed concept is intended to convert kinetic energy into potential energy, which is permanently stored into elastic...... elements by means of directional locking mechanisms. The proposed approach has been tested on a 2 d.o.f. manipulator mounted on a quadrotor UAV. The manipulation system has one active rotational d.o.f. compensating for pitch movements of the UAV and one passive linear joint which is in charge of absorbing...... the impact energy. The device has been used to validate the method through experiments, in comparison with a rigid manipulator. The results show that the proposed approach and the developed mechanical system achieve stable impact absorption without bouncing away from the interacting environment. Our work has...

Technologies Advance UAVs for Science, Military

Science.gov (United States)

2010-01-01

A Space Act Agreement with Goddard Space Flight Center and West Virginia University enabled Aurora Flight Sciences Corporation, of Manassas, Virginia, to develop cost-effective composite manufacturing capabilities and open a facility in West Virginia. The company now employs 160 workers at the plant, tasked with crafting airframe components for the Global Hawk unmanned aerial vehicle (UAV) program. While one third of the company's workforce focuses on Global Hawk production, the rest of the company develops advanced UAV technologies that are redefining traditional approaches to unmanned aviation. Since the company's founding, Aurora s cutting-edge work has been supported with funding from NASA's Small Business Innovation Research (SBIR) and Small Business Technology Transfer (STTR) programs.

Control of a Quadrotor Equipped with a Fixed-wing by Tilting Some of Four Rotors

Directory of Open Access Journals (Sweden)

Yoshikazu Nakamura

2017-03-01

Full Text Available Abstract—Unmanned aerial vehicles (UAVs are beingexpected to be used for the vegetational observation and theinformation collection of disaster sites. Especially, rotorcraftstypified by helicopters are attractive, because they are able tohover and achieve vertical take-off and landing (VTOL.However, rotorcrafts have a disadvantage that it cannot have along-distance flight, because they fly by the thrust of upwarddirection. Aircrafts with tilt rotors are developed in order toovercome such disadvantages. Such aircrafts can be hovering andtake a VTOL and also a long-distance flight by changing theangle of the rotor. In this research, it is aimed at proposing aVTOL-type UAV with a fixed-wing and four tiltable rotors andcontrolling it.

UAV MONITORING FOR ENVIROMENTAL MANAGEMENT IN GALAPAGOS ISLANDS

Directory of Open Access Journals (Sweden)

D. Ballaria

2016-06-01

Full Text Available In the Galapagos Islands, where 97% of the territory is protected and ecosystem dynamics are highly vulnerable, timely and accurate information is key for decision making. An appropriate monitoring system must meet two key features: on one hand, being able to capture information in a systematic and regular basis, and on the other hand, to quickly gather information on demand for specific purposes. The lack of such a system for geographic information limits the ability of Galapagos Islands’ institutions to evaluate and act upon environmental threats such as invasive species spread and vegetation degradation. In this context, the use of UAVs (unmanned aerial vehicles for capturing georeferenced images is a promising technology for environmental monitoring and management. This paper explores the potential of UAV images for monitoring degradation of littoral vegetation in Puerto Villamil (Isabela Island, Galapagos, Ecuador. Imagery was captured using two camera types: Red Green Blue (RGB and Infrarred Red Green (NIR. First, vegetation presence was identified through NDVI. Second, object-based classification was carried out for characterization of vegetation vigor. Results demonstrates the feasibility of UAV technology for base-line studies and monitoring on the amount and vigorousness of littoral vegetation in the Galapagos Islands. It is also showed that UAV images are not only useful for visual interpretation and object delineation, but also to timely produce useful thematic information for environmental management.

UAV Monitoring for Enviromental Management in Galapagos Islands

Science.gov (United States)

Ballari, D.; Orellana, D.; Acosta, E.; Espinoza, A.; Morocho, V.

2016-06-01

In the Galapagos Islands, where 97% of the territory is protected and ecosystem dynamics are highly vulnerable, timely and accurate information is key for decision making. An appropriate monitoring system must meet two key features: on one hand, being able to capture information in a systematic and regular basis, and on the other hand, to quickly gather information on demand for specific purposes. The lack of such a system for geographic information limits the ability of Galapagos Islands' institutions to evaluate and act upon environmental threats such as invasive species spread and vegetation degradation. In this context, the use of UAVs (unmanned aerial vehicles) for capturing georeferenced images is a promising technology for environmental monitoring and management. This paper explores the potential of UAV images for monitoring degradation of littoral vegetation in Puerto Villamil (Isabela Island, Galapagos, Ecuador). Imagery was captured using two camera types: Red Green Blue (RGB) and Infrarred Red Green (NIR). First, vegetation presence was identified through NDVI. Second, object-based classification was carried out for characterization of vegetation vigor. Results demonstrates the feasibility of UAV technology for base-line studies and monitoring on the amount and vigorousness of littoral vegetation in the Galapagos Islands. It is also showed that UAV images are not only useful for visual interpretation and object delineation, but also to timely produce useful thematic information for environmental management.

Recce and UAV: mass memory an enabling technology for merger

Science.gov (United States)

Hall, Walter J., Jr.

1996-11-01

In the era of Declining Defense Dollars, the cost of sophisticated aircraft and highly trained personnel has heightened interest in Unmanned Air Vehicles (UAVs). The obvious lure is the lower vehicle cost (no crew station and crew support systems) and reduced needs for highly skilled air crews. Reconnaissance (commonly called recce) aircraft and their missions are among the commonly sighted applications for UAVs. Today's UAV recce aircraft (such as the Predator) are the genesis of much more sophisticated UAVs of the future. The evolution of the UAV will not be constrained to recce aircraft, but the recce mission will be significant for UAVs. The recce hole has historically been that of a battlefield data collector for post mission review and planning. In the electronic battlefield of the future, that role will be expanded. Envisioned mission for future recce aircraft include real-time scout, target location and fire coordination, battle damage assessment, and large area surveillance. Associated with many of these new roles is the need to store or assess much higher volumes of data. The higher volume data requirements are the result of higher resolution sensors (the Advanced Helicopter Pilotage infrared sensor has a data rate of near 1.2 Gigabits per second) and multi-sensor applications (the Multi-Sensor Aided Targeting program considered infrared, TV, and radar). The evolution of the UAV recce role, and associated increased data storage needs (from higher data rates and increased coverage requirements), requires the development of new data storage equipment. One solution to the increased storage needs is solid-state memory. As solid-state memories become faster, smaller, and cheaper they will enable the UAV recce mission capability to expand. Because of the speed of the memory, it will be possible to buffer and assess (identify the existence of targets or other points of interest) data before committing to consumption of limited storage assets. Faster memory

Development of a variable stability, modular UAV airframe for local research purposes

CSIR Research Space (South Africa)

Monk, John S

2008-11-01

Full Text Available /DPSS Wind tunnel Test CAD Patterns &Moulds Future partners Manufacture XDM 1 Auto pilot spec. A/P design Univ. Stellenbosch A/P manufacture A/P update Manufacture UAVs 1&2 Integrate XM 2D Structural Design A/P integrate Iron Bird... Manufacture XDM 2 Slide 30 © CSIR 2008 www.csir.co.za UAV Systems Integration Laboratory Servos UAV Flight SimulatorIron Bird (XDM) Motors and Controllers Looms Wind Tunnel? Control algorithms Flight models Atmospheric...

Automatic detection of blurred images in UAV image sets

Science.gov (United States)

Sieberth, Till; Wackrow, Rene; Chandler, Jim H.

2016-12-01

Unmanned aerial vehicles (UAV) have become an interesting and active research topic for photogrammetry. Current research is based on images acquired by an UAV, which have a high ground resolution and good spectral and radiometrical resolution, due to the low flight altitudes combined with a high resolution camera. UAV image flights are also cost effective and have become attractive for many applications including, change detection in small scale areas. One of the main problems preventing full automation of data processing of UAV imagery is the degradation effect of blur caused by camera movement during image acquisition. This can be caused by the normal flight movement of the UAV as well as strong winds, turbulence or sudden operator inputs. This blur disturbs the visual analysis and interpretation of the data, causes errors and can degrade the accuracy in automatic photogrammetric processing algorithms. The detection and removal of these images is currently achieved manually, which is both time consuming and prone to error, particularly for large image-sets. To increase the quality of data processing an automated process is necessary, which must be both reliable and quick. This paper describes the development of an automatic filtering process, which is based upon the quantification of blur in an image. Images with known blur are processed digitally to determine a quantifiable measure of image blur. The algorithm is required to process UAV images fast and reliably to relieve the operator from detecting blurred images manually. The newly developed method makes it possible to detect blur caused by linear camera displacement and is based on human detection of blur. Humans detect blurred images best by comparing it to other images in order to establish whether an image is blurred or not. The developed algorithm simulates this procedure by creating an image for comparison using image processing. Creating internally a comparable image makes the method independent of

Improved Seam-Line Searching Algorithm for UAV Image Mosaic with Optical Flow.

Science.gov (United States)

Zhang, Weilong; Guo, Bingxuan; Li, Ming; Liao, Xuan; Li, Wenzhuo

2018-04-16

Ghosting and seams are two major challenges in creating unmanned aerial vehicle (UAV) image mosaic. In response to these problems, this paper proposes an improved method for UAV image seam-line searching. First, an image matching algorithm is used to extract and match the features of adjacent images, so that they can be transformed into the same coordinate system. Then, the gray scale difference, the gradient minimum, and the optical flow value of pixels in adjacent image overlapped area in a neighborhood are calculated, which can be applied to creating an energy function for seam-line searching. Based on that, an improved dynamic programming algorithm is proposed to search the optimal seam-lines to complete the UAV image mosaic. This algorithm adopts a more adaptive energy aggregation and traversal strategy, which can find a more ideal splicing path for adjacent UAV images and avoid the ground objects better. The experimental results show that the proposed method can effectively solve the problems of ghosting and seams in the panoramic UAV images.

Optimizing the presentation of UAV images in an attack helicopter cockpit

NARCIS (Netherlands)

Jansen, C.; Vries, S.C. de; Duistermaat, M.

2006-01-01

Future Unmanned Aerial Vehicles (UAV) will collaborate more directly with military manned aircraft. TNO Defence, Security and Safety investigated how to present UAV sensor images in a fighter aircraft cockpit in order to maximize target identification and flying performance. Ten military pilots

Application Possibility of Smartphone as Payload for Photogrammetric Uav System

Science.gov (United States)

Yun, M. H.; Kim, J.; Seo, D.; Lee, J.; Choi, C.

2012-07-01

Smartphone can not only be operated under 3G network environment anytime and anyplace but also cost less than the existing photogrammetric UAV since it provides high-resolution image, 3D location and attitude data on a real-time basis from a variety of built-in sensors. This study is aimed to assess the possibility of smartphone as a payload for photogrammetric UAV system. Prior to such assessment, a smartphone-based photogrammetric UAV system application was developed, through which real-time image, location and attitude data was obtained using smartphone under both static and dynamic conditions. Subsequently the accuracy assessment on the location and attitude data obtained and sent by this system was conducted. The smartphone images were converted into ortho-images through image triangulation. The image triangulation was conducted in accordance with presence or absence of consideration of the interior orientation (IO) parameters determined by camera calibration. In case IO parameters were taken into account in the static experiment, the results from triangulation for any smartphone type were within 1.5 pixel (RMSE), which was improved at least by 35% compared to when IO parameters were not taken into account. On the contrary, the improvement effect of considering IO parameters on accuracy in triangulation for smartphone images in dynamic experiment was not significant compared to the static experiment. It was due to the significant impact of vibration and sudden attitude change of UAV on the actuator for automatic focus control within the camera built in smartphone under the dynamic condition. This cause appears to have a negative impact on the image-based DEM generation. Considering these study findings, it is suggested that smartphone is very feasible as a payload for UAV system. It is also expected that smartphone may be loaded onto existing UAV playing direct or indirect roles significantly.

Hurricane Harvey Building Damage Assessment Using UAV Data

Science.gov (United States)

Yeom, J.; Jung, J.; Chang, A.; Choi, I.

2017-12-01

Hurricane Harvey which was extremely destructive major hurricane struck southern Texas, U.S.A on August 25, causing catastrophic flooding and storm damages. We visited Rockport suffered severe building destruction and conducted UAV (Unmanned Aerial Vehicle) surveying for building damage assessment. UAV provides very high resolution images compared with traditional remote sensing data. In addition, prompt and cost-effective damage assessment can be performed regardless of several limitations in other remote sensing platforms such as revisit interval of satellite platforms, complicated flight plan in aerial surveying, and cloud amounts. In this study, UAV flight and GPS surveying were conducted two weeks after hurricane damage to generate an orthomosaic image and a DEM (Digital Elevation Model). 3D region growing scheme has been proposed to quantitatively estimate building damages considering building debris' elevation change and spectral difference. The result showed that the proposed method can be used for high definition building damage assessment in a time- and cost-effective way.

An Ecological Approach to the Design of UAV Ground Control Station (GCS) Status Displays

Science.gov (United States)

Dowell, Susan; Morphew, Ephimia; Shively, Jay

2003-01-01

Use of UAVs in military and commercial applications will continue to increase. However, there has been limited research devoted to UAV GCS design. The current study employed an ecological approach to interfac e design. Ecological Interface Design (EID) can be characterized as r epresenting the properties of a system, such that an operator is enco uraged to use skill-based behavior when problem solving. When more ef fortful cognitive processes become necessary due to unfamiliar situations, the application of EID philosophy supports the application of kn owledge-based behavior. With advances toward multiple UAV command and control, operators need GCS interfaces designed to support understan ding of complex systems. We hypothesized that use of EID principles f or the display of UAV status information would result in better opera tor performance and situational awareness, while decreasing workload. Pilots flew a series of missions with three UAV GCS displays of statu s information (Alphanumeric, Ecological, and Hybrid display format). Measures of task performance, Situational Awareness, and workload dem onstrated the benefits of using an ecological approach to designing U AV GCS displays. The application of ecological principles to the design of UAV GCSs is a promising area for improving UAV operations.

Preliminary Study on Earthquake Surface Rupture Extraction from Uav Images

Science.gov (United States)

Yuan, X.; Wang, X.; Ding, X.; Wu, X.; Dou, A.; Wang, S.

2018-04-01

Because of the advantages of low-cost, lightweight and photography under the cloud, UAVs have been widely used in the field of seismic geomorphology research in recent years. Earthquake surface rupture is a typical seismic tectonic geomorphology that reflects the dynamic and kinematic characteristics of crustal movement. The quick identification of earthquake surface rupture is of great significance for understanding the mechanism of earthquake occurrence, disasters distribution and scale. Using integrated differential UAV platform, series images were acquired with accuracy POS around the former urban area (Qushan town) of Beichuan County as the area stricken seriously by the 2008 Wenchuan Ms8.0 earthquake. Based on the multi-view 3D reconstruction technique, the high resolution DSM and DOM are obtained from differential UAV images. Through the shade-relief map and aspect map derived from DSM, the earthquake surface rupture is extracted and analyzed. The results show that the surface rupture can still be identified by using the UAV images although the time of earthquake elapse is longer, whose middle segment is characterized by vertical movement caused by compression deformation from fault planes.

Multiple Event Localization in a Sparse Acoustic Sensor Network Using UAVs as Data Mules

Science.gov (United States)

2012-12-01

the events to arrive in different orders at the sensors. Consequently , simple rules to group the ToAs from an event at different sensors, such as...a Microhard radio to forward the ToAs to the mule-UAV. Two Procerus Unicorn UAVs were used with different payloads. The imaging- UAV was equipped

Beija-flores (Aves: Trochilidae e seus recursos florais em uma área de caatinga da Chapada Diamantina, Bahia, Brasil Hummingbirds (Aves: Trochilidae and their floral resources in an area of caatinga vegetation in the Chapada Diamantina, Bahia State, Northeast Brazil

Directory of Open Access Journals (Sweden)

Caio Graco Machado

2009-06-01

Full Text Available This study investigated the species of hummingbird occurring in an area of caatinga vegetation, examining their seasonal activities, the assemblages of plants that they used, as well as the floral characteristics and flowering phenology of that vegetation. These surveys were performed in an area of arboreal caatinga in Chapada Diamantina, municipality of Mucugê, state of Bahia, Brazil, during 12 expeditions undertaken on a bi-monthly basis between October, 2005 and August, 2007. Field activities included observations made of the visiting hummingbird species, their behavior, and the frequency of their visits; as well as the plant species visited, their floral attributes, size, and the flowering phenophase evident on the occasion of each expedition. Seven species of hummingbirds were registered, including five residents. Phaethornis pretrei (Lesson & Delattre, 1839 acted as the organizer of this pollination guild. This species and Chlorostilbon lucidus (Shaw, 1812, these two species were considered the principal pollinators within the community. The hummingbirds visited a total of 29 plant species, of which only 12 are considered ornitophilous. The plant community presented a continuous flowering, with 19 species flowering in both the dry and the rainy season, permitting the year-round permanence of resident hummingbird species.

Two-UAV Intersection Localization System Based on the Airborne Optoelectronic Platform.

Science.gov (United States)

Bai, Guanbing; Liu, Jinghong; Song, Yueming; Zuo, Yujia

2017-01-06

To address the limitation of the existing UAV (unmanned aerial vehicles) photoelectric localization method used for moving objects, this paper proposes an improved two-UAV intersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the LOS (line of sight, from the UAV to the target) vectors into homogeneous coordinates, and establishes a two-UAV intersection localization model. In this paper, the influence of the positional relationship between UAVs and the target on localization accuracy has been studied in detail to obtain an ideal measuring position and the optimal localization position where the optimal intersection angle is 72.6318°. The result shows that, given the optimal position, the localization root mean square error (RMS) will be 25.0235 m when the target is 5 km away from UAV baselines. Finally, the influence of modified adaptive Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization RMS error to 15.7983 m. Finally, An outfield experiment was carried out and obtained the optimal results: σ B = 1.63 × 10 - 4 ( ° ) , σ L = 1.35 × 10 - 4 ( ° ) , σ H = 15.8 ( m ) , σ s u m = 27.6 ( m ) , where σ B represents the longitude error, σ L represents the latitude error, σ H represents the altitude error, and σ s u m represents the error radius.

Visual navigation of the UAVs on the basis of 3D natural landmarks

Science.gov (United States)

Karpenko, Simon; Konovalenko, Ivan; Miller, Alexander; Miller, Boris; Nikolaev, Dmitry

2015-12-01

This work considers the tracking of the UAV (unmanned aviation vehicle) on the basis of onboard observations of natural landmarks including azimuth and elevation angles. It is assumed that UAV's cameras are able to capture the angular position of reference points and to measure the angles of the sight line. Such measurements involve the real position of UAV in implicit form, and therefore some of nonlinear filters such as Extended Kalman filter (EKF) or others must be used in order to implement these measurements for UAV control. Recently it was shown that modified pseudomeasurement method may be used to control UAV on the basis of the observation of reference points assigned along the UAV path in advance. However, the use of such set of points needs the cumbersome recognition procedure with the huge volume of on-board memory. The natural landmarks serving as such reference points which may be determined on-line can significantly reduce the on-board memory and the computational difficulties. The principal difference of this work is the usage of the 3D reference points coordinates which permits to determine the position of the UAV more precisely and thereby to guide along the path with higher accuracy which is extremely important for successful performance of the autonomous missions. The article suggests the new RANSAC for ISOMETRY algorithm and the use of recently developed estimation and control algorithms for tracking of given reference path under external perturbation and noised angular measurements.

Integration of Multiple UAVs for Collaborative ISR Missions in an Urban Environment

OpenAIRE

Chua, Chee Nam

2012-01-01

Military conflicts are shifting from jungles and deserts to cities. This is because terrorists, insurgents, and guerillas find these areas provide a rich target environment and good hideouts. With the use of UAVs, urban threats can be tracked and targeted effectively. However, in an urban environment where there is little or no GPS signals and many obstacles, navigation of UAVs is a major challenge. Multiple UAVs can be employed to share sensor information to counter these challenges and to p...

UAV Deployment Exercise for Mapping Purposes: Evaluation of Emergency Response Applications

Directory of Open Access Journals (Sweden)

Piero Boccardo

2015-07-01

Full Text Available Exploiting the decrease of costs related to UAV technology, the humanitarian community started piloting the use of similar systems in humanitarian crises several years ago in different application fields, i.e., disaster mapping and information gathering, community capacity building, logistics and even transportation of goods. Part of the author’s group, composed of researchers in the field of applied geomatics, has been piloting the use of UAVs since 2006, with a specific focus on disaster management application. In the framework of such activities, a UAV deployment exercise was jointly organized with the Regional Civil Protection authority, mainly aimed at assessing the operational procedures to deploy UAVs for mapping purposes and the usability of the acquired data in an emergency response context. In the paper the technical features of the UAV platforms will be described, comparing the main advantages/disadvantages of fixed-wing versus rotor platforms. The main phases of the adopted operational procedure will be discussed and assessed especially in terms of time required to carry out each step, highlighting potential bottlenecks and in view of the national regulation framework, which is rapidly evolving. Different methodologies for the processing of the acquired data will be described and discussed, evaluating the fitness for emergency response applications.

UAV Deployment Exercise for Mapping Purposes: Evaluation of Emergency Response Applications.

Science.gov (United States)

Boccardo, Piero; Chiabrando, Filiberto; Dutto, Furio; Tonolo, Fabio Giulio; Lingua, Andrea

2015-07-02

Exploiting the decrease of costs related to UAV technology, the humanitarian community started piloting the use of similar systems in humanitarian crises several years ago in different application fields, i.e., disaster mapping and information gathering, community capacity building, logistics and even transportation of goods. Part of the author's group, composed of researchers in the field of applied geomatics, has been piloting the use of UAVs since 2006, with a specific focus on disaster management application. In the framework of such activities, a UAV deployment exercise was jointly organized with the Regional Civil Protection authority, mainly aimed at assessing the operational procedures to deploy UAVs for mapping purposes and the usability of the acquired data in an emergency response context. In the paper the technical features of the UAV platforms will be described, comparing the main advantages/disadvantages of fixed-wing versus rotor platforms. The main phases of the adopted operational procedure will be discussed and assessed especially in terms of time required to carry out each step, highlighting potential bottlenecks and in view of the national regulation framework, which is rapidly evolving. Different methodologies for the processing of the acquired data will be described and discussed, evaluating the fitness for emergency response applications.

Quality Analysis on 3d Buidling Models Reconstructed from Uav Imagery

Science.gov (United States)

Jarzabek-Rychard, M.; Karpina, M.

2016-06-01

Recent developments in UAV technology and structure from motion techniques have effected that UAVs are becoming standard platforms for 3D data collection. Because of their flexibility and ability to reach inaccessible urban parts, drones appear as optimal solution for urban applications. Building reconstruction from the data collected with UAV has the important potential to reduce labour cost for fast update of already reconstructed 3D cities. However, especially for updating of existing scenes derived from different sensors (e.g. airborne laser scanning), a proper quality assessment is necessary. The objective of this paper is thus to evaluate the potential of UAV imagery as an information source for automatic 3D building modeling at LOD2. The investigation process is conducted threefold: (1) comparing generated SfM point cloud to ALS data; (2) computing internal consistency measures of the reconstruction process; (3) analysing the deviation of Check Points identified on building roofs and measured with a tacheometer. In order to gain deep insight in the modeling performance, various quality indicators are computed and analysed. The assessment performed according to the ground truth shows that the building models acquired with UAV-photogrammetry have the accuracy of less than 18 cm for the plannimetric position and about 15 cm for the height component.

QUALITY ANALYSIS ON 3D BUIDLING MODELS RECONSTRUCTED FROM UAV IMAGERY

Directory of Open Access Journals (Sweden)

M. Jarzabek-Rychard

2016-06-01

Full Text Available Recent developments in UAV technology and structure from motion techniques have effected that UAVs are becoming standard platforms for 3D data collection. Because of their flexibility and ability to reach inaccessible urban parts, drones appear as optimal solution for urban applications. Building reconstruction from the data collected with UAV has the important potential to reduce labour cost for fast update of already reconstructed 3D cities. However, especially for updating of existing scenes derived from different sensors (e.g. airborne laser scanning, a proper quality assessment is necessary. The objective of this paper is thus to evaluate the potential of UAV imagery as an information source for automatic 3D building modeling at LOD2. The investigation process is conducted threefold: (1 comparing generated SfM point cloud to ALS data; (2 computing internal consistency measures of the reconstruction process; (3 analysing the deviation of Check Points identified on building roofs and measured with a tacheometer. In order to gain deep insight in the modeling performance, various quality indicators are computed and analysed. The assessment performed according to the ground truth shows that the building models acquired with UAV-photogrammetry have the accuracy of less than 18 cm for the plannimetric position and about 15 cm for the height component.

Image-based tracking and sensor resource management for UAVs in an urban environment

Science.gov (United States)

Samant, Ashwin; Chang, K. C.

2010-04-01

Coordination and deployment of multiple unmanned air vehicles (UAVs) requires a lot of human resources in order to carry out a successful mission. The complexity of such a surveillance mission is significantly increased in the case of an urban environment where targets can easily escape from the UAV's field of view (FOV) due to intervening building and line-of-sight obstruction. In the proposed methodology, we focus on the control and coordination of multiple UAVs having gimbaled video sensor onboard for tracking multiple targets in an urban environment. We developed optimal path planning algorithms with emphasis on dynamic target prioritizations and persistent target updates. The command center is responsible for target prioritization and autonomous control of multiple UAVs, enabling a single operator to monitor and control a team of UAVs from a remote location. The results are obtained using extensive 3D simulations in Google Earth using Tangent plus Lyapunov vector field guidance for target tracking.

Vision based systems for UAV applications

CERN Document Server

Kuś, Zygmunt

2013-01-01

This monograph is motivated by a significant number of vision based algorithms for Unmanned Aerial Vehicles (UAV) that were developed during research and development projects. Vision information is utilized in various applications like visual surveillance, aim systems, recognition systems, collision-avoidance systems and navigation. This book presents practical applications, examples and recent challenges in these mentioned application fields. The aim of the book is to create a valuable source of information for researchers and constructors of solutions utilizing vision from UAV. Scientists, researchers and graduate students involved in computer vision, image processing, data fusion, control algorithms, mechanics, data mining, navigation and IC can find many valuable, useful and practical suggestions and solutions. The latest challenges for vision based systems are also presented.

Closing the Gap Between Research and Field Applications for Multi-UAV Cooperative Missions

Science.gov (United States)

2013-09-01

REPORT DATE September 2013 3. REPORT TYPE AND DATES COVERED Master’s Thesis 4. TITLE AND SUBTITLE CLOSING THE GAP BETWEEN RESEARCH AND FIELD...iii Approved for public release; distribution is unlimited CLOSING THE GAP BETWEEN RESEARCH AND FIELD APPLICATIONS FOR MULTI-UAV COOPERATIVE...the report is to lay the groundwork for future analysis in multi-UAV analysis to close the gap between existing research and efficient multi-UAV

Enabling UAV Navigation with Sensor and Environmental Uncertainty in Cluttered and GPS-Denied Environments

Directory of Open Access Journals (Sweden)

Fernando Vanegas

2016-05-01

Full Text Available Unmanned Aerial Vehicles (UAV can navigate with low risk in obstacle-free environments using ground control stations that plan a series of GPS waypoints as a path to follow. This GPS waypoint navigation does however become dangerous in environments where the GPS signal is faulty or is only present in some places and when the airspace is filled with obstacles. UAV navigation then becomes challenging because the UAV uses other sensors, which in turn generate uncertainty about its localisation and motion systems, especially if the UAV is a low cost platform. Additional uncertainty affects the mission when the UAV goal location is only partially known and can only be discovered by exploring and detecting a target. This navigation problem is established in this research as a Partially-Observable Markov Decision Process (POMDP, so as to produce a policy that maps a set of motion commands to belief states and observations. The policy is calculated and updated on-line while flying with a newly-developed system for UAV Uncertainty-Based Navigation (UBNAV, to navigate in cluttered and GPS-denied environments using observations and executing motion commands instead of waypoints. Experimental results in both simulation and real flight tests show that the UAV finds a path on-line to a region where it can explore and detect a target without colliding with obstacles. UBNAV provides a new method and an enabling technology for scientists to implement and test UAV navigation missions with uncertainty where targets must be detected using on-line POMDP in real flight scenarios.

Enabling UAV Navigation with Sensor and Environmental Uncertainty in Cluttered and GPS-Denied Environments.

Science.gov (United States)

Vanegas, Fernando; Gonzalez, Felipe

2016-05-10

Unmanned Aerial Vehicles (UAV) can navigate with low risk in obstacle-free environments using ground control stations that plan a series of GPS waypoints as a path to follow. This GPS waypoint navigation does however become dangerous in environments where the GPS signal is faulty or is only present in some places and when the airspace is filled with obstacles. UAV navigation then becomes challenging because the UAV uses other sensors, which in turn generate uncertainty about its localisation and motion systems, especially if the UAV is a low cost platform. Additional uncertainty affects the mission when the UAV goal location is only partially known and can only be discovered by exploring and detecting a target. This navigation problem is established in this research as a Partially-Observable Markov Decision Process (POMDP), so as to produce a policy that maps a set of motion commands to belief states and observations. The policy is calculated and updated on-line while flying with a newly-developed system for UAV Uncertainty-Based Navigation (UBNAV), to navigate in cluttered and GPS-denied environments using observations and executing motion commands instead of waypoints. Experimental results in both simulation and real flight tests show that the UAV finds a path on-line to a region where it can explore and detect a target without colliding with obstacles. UBNAV provides a new method and an enabling technology for scientists to implement and test UAV navigation missions with uncertainty where targets must be detected using on-line POMDP in real flight scenarios.

Standing "the Watches" with Armed UAVs

National Research Council Canada - National Science Library

McCulloch, Francis

2002-01-01

This paper addresses the additional Options available to the operational commander in charge of conducting 'presence and monitoring' missions with the introduction of an armed capability on Unmanned Aerial Vehicles (UAVs...

UAV FOR GEODATA ACQUISITION IN AGRICULTUREAL AND FORESTAL APPLICATIONS

Directory of Open Access Journals (Sweden)

P. Reidelstürz

2012-09-01

The airframe´s wingspan is about 3,45m weighting 4.2 kg, ready to fly. The hand launchable UAV can start from any place in agricultural regions. The wing is configured with flaps, allowing steep approaches and short landings using a „butterfly“ brake configuration. In spite of the lightweight configuration the UAV yet proves its worth under windy baltic wether situations by collecting regular sharp images of fields under wind speed up to 15m/s (Beaufort 6 –7. In further projects the development of further payload modules and a user friendly flight planning tool is scheduled considering different payload – and airframe requirements for different precision farming purposes and forest applications. Data processing and workflow will be optimized. Cooperation with further partners to establish UAV systems in agricultural, forest and geodata aquisition is desired.

Uav Photogrammetry: a Practical Solution for Challenging Mapping Projects

Science.gov (United States)

Saadatseresht, M.; Hashempour, A. H.; Hasanlou, M.

2015-12-01

We have observed huge attentions to application of unmanned aerial vehicle (UAV) in aerial mapping since a decade ago. Though, it has several advantages for handling time/cost/quality issues, there are a dozen of challenges in working with UAVs. In this paper, we; as the Robotic Photogrammetry Research Group (RPRG), will firstly review these challenges then show its advantages in three special practical projects. For each project, we will share our experiences through description of the UAV specifications, flight settings and processing steps. At the end, we will illustrate final result of each project and show how this technology could make unbelievable benefits to clients including 3D city realistic model in decimetre level, ultra high quality map production in several centimetre level, and accessing to a high risk and rough relief area for mapping aims.

Multisensor Equipped Uav/ugv for Automated Exploration

Science.gov (United States)

Batzdorfer, S.; Bobbe, M.; Becker, M.; Harms, H.; Bestmann, U.

2017-08-01

The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn - german acronym for Automated Navigation and Communication for Exploration - a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras - RGB as well as IR - or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

MULTISENSOR EQUIPPED UAV/UGV FOR AUTOMATED EXPLORATION

Directory of Open Access Journals (Sweden)

S. Batzdorfer

2017-08-01

Full Text Available The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn – german acronym for Automated Navigation and Communication for Exploration – a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras – RGB as well as IR – or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

Wavelength-Adaptive Dehazing Using Histogram Merging-Based Classification for UAV Images

Directory of Open Access Journals (Sweden)

Inhye Yoon

2015-03-01

Full Text Available Since incoming light to an unmanned aerial vehicle (UAV platform can be scattered by haze and dust in the atmosphere, the acquired image loses the original color and brightness of the subject. Enhancement of hazy images is an important task in improving the visibility of various UAV images. This paper presents a spatially-adaptive dehazing algorithm that merges color histograms with consideration of the wavelength-dependent atmospheric turbidity. Based on the wavelength-adaptive hazy image acquisition model, the proposed dehazing algorithm consists of three steps: (i image segmentation based on geometric classes; (ii generation of the context-adaptive transmission map; and (iii intensity transformation for enhancing a hazy UAV image. The major contribution of the research is a novel hazy UAV image degradation model by considering the wavelength of light sources. In addition, the proposed transmission map provides a theoretical basis to differentiate visually important regions from others based on the turbidity and merged classification results.

Wavelength-adaptive dehazing using histogram merging-based classification for UAV images.

Science.gov (United States)

Yoon, Inhye; Jeong, Seokhwa; Jeong, Jaeheon; Seo, Doochun; Paik, Joonki

2015-03-19

Since incoming light to an unmanned aerial vehicle (UAV) platform can be scattered by haze and dust in the atmosphere, the acquired image loses the original color and brightness of the subject. Enhancement of hazy images is an important task in improving the visibility of various UAV images. This paper presents a spatially-adaptive dehazing algorithm that merges color histograms with consideration of the wavelength-dependent atmospheric turbidity. Based on the wavelength-adaptive hazy image acquisition model, the proposed dehazing algorithm consists of three steps: (i) image segmentation based on geometric classes; (ii) generation of the context-adaptive transmission map; and (iii) intensity transformation for enhancing a hazy UAV image. The major contribution of the research is a novel hazy UAV image degradation model by considering the wavelength of light sources. In addition, the proposed transmission map provides a theoretical basis to differentiate visually important regions from others based on the turbidity and merged classification results.

Semiautonomous Avionics-and-Sensors System for a UAV

Science.gov (United States)

Shams, Qamar

2006-01-01

Unmanned Aerial Vehicles (UAVs) autonomous or remotely controlled pilotless aircraft have been recently thrust into the spotlight for military applications, for homeland security, and as test beds for research. In addition to these functions, there are many space applications in which lightweight, inexpensive, small UAVS can be used e.g., to determine the chemical composition and other qualities of the atmospheres of remote planets. Moreover, on Earth, such UAVs can be used to obtain information about weather in various regions; in particular, they can be used to analyze wide-band acoustic signals to aid in determining the complex dynamics of movement of hurricanes. The Advanced Sensors and Electronics group at Langley Research Center has developed an inexpensive, small, integrated avionics-and-sensors system to be installed in a UAV that serves two purposes. The first purpose is to provide flight data to an AI (Artificial Intelligence) controller as part of an autonomous flight-control system. The second purpose is to store data from a subsystem of distributed MEMS (microelectromechanical systems) sensors. Examples of these MEMS sensors include humidity, temperature, and acoustic sensors, plus chemical sensors for detecting various vapors and other gases in the environment. The critical sensors used for flight control are a differential- pressure sensor that is part of an apparatus for determining airspeed, an absolute-pressure sensor for determining altitude, three orthogonal accelerometers for determining tilt and acceleration, and three orthogonal angular-rate detectors (gyroscopes). By using these eight sensors, it is possible to determine the orientation, height, speed, and rates of roll, pitch, and yaw of the UAV. This avionics-and-sensors system is shown in the figure. During the last few years, there has been rapid growth and advancement in the technological disciplines of MEMS, of onboard artificial-intelligence systems, and of smaller, faster, and

Evaluating the effectiveness of low cost UAV generated topography for geomorphic change detection

Science.gov (United States)

Cook, K. L.

2014-12-01

With the recent explosion in the use and availability of unmanned aerial vehicle platforms and development of easy to use structure from motion software, UAV based photogrammetry is increasingly being adopted to produce high resolution topography for the study of surface processes. UAV systems can vary substantially in price and complexity, but the tradeoffs between these and the quality of the resulting data are not well constrained. We look at one end of this spectrum and evaluate the effectiveness of a simple low cost UAV setup for obtaining high resolution topography in a challenging field setting. Our study site is the Daan River gorge in western Taiwan, a rapidly eroding bedrock gorge that we have monitored with terrestrial Lidar since 2009. The site presents challenges for the generation and analysis of high resolution topography, including vertical gorge walls, vegetation, wide variation in surface roughness, and a complicated 3D morphology. In order to evaluate the accuracy of the UAV-derived topography, we compare it with terrestrial Lidar data collected during the same survey period. Our UAV setup combines a DJI Phantom 2 quadcopter with a 16 megapixel Canon Powershot camera for a total platform cost of less than $850. The quadcopter is flown manually, and the camera is programmed to take a photograph every 5 seconds, yielding 200-250 pictures per flight. We measured ground control points and targets for both the Lidar scans and the aerial surveys using a Leica RTK GPS with 1-2 cm accuracy. UAV derived point clouds were obtained using Agisoft Photoscan software. We conducted both Lidar and UAV surveys before and after a summer typhoon season, allowing us to evaluate the reliability of the UAV survey to detect geomorphic changes in the range of one to several meters. We find that this simple UAV setup can yield point clouds with an average accuracy on the order of 10 cm compared to the Lidar point clouds. Well-distributed and accurately located ground

UAV Swarm Tactics: An Agent-Based Simulation and Markov Process Analysis

Science.gov (United States)

2013-06-01

research UAV platforms, namely the (a) Procerus Unicorn UAV and (b) modified Ritewing ZephyrII RC plane, for ongoing live-fly field experimentation of the...number of possible states would grow exponentially, but short excursions with baseline two-on-one models, as found in the literature, could provide

A Novel Method for Vertical Acceleration Noise Suppression of a Thrust-Vectored VTOL UAV.

Science.gov (United States)

Li, Huanyu; Wu, Linfeng; Li, Yingjie; Li, Chunwen; Li, Hangyu

2016-12-02

Acceleration is of great importance in motion control for unmanned aerial vehicles (UAVs), especially during the takeoff and landing stages. However, the measured acceleration is inevitably polluted by severe noise. Therefore, a proper noise suppression procedure is required. This paper presents a novel method to reduce the noise in the measured vertical acceleration for a thrust-vectored tail-sitter vertical takeoff and landing (VTOL) UAV. In the new procedure, a Kalman filter is first applied to estimate the UAV mass by using the information in the vertical thrust and measured acceleration. The UAV mass is then used to compute an estimate of UAV vertical acceleration. The estimated acceleration is finally fused with the measured acceleration to obtain the minimum variance estimate of vertical acceleration. By doing this, the new approach incorporates the thrust information into the acceleration estimate. The method is applied to the data measured in a VTOL UAV takeoff experiment. Two other denoising approaches developed by former researchers are also tested for comparison. The results demonstrate that the new method is able to suppress the acceleration noise substantially. It also maintains the real-time performance in the final estimated acceleration, which is not seen in the former denoising approaches. The acceleration treated with the new method can be readily used in the motion control applications for UAVs to achieve improved accuracy.

A Novel Method for Vertical Acceleration Noise Suppression of a Thrust-Vectored VTOL UAV

Directory of Open Access Journals (Sweden)

Huanyu Li

2016-12-01

Full Text Available Acceleration is of great importance in motion control for unmanned aerial vehicles (UAVs, especially during the takeoff and landing stages. However, the measured acceleration is inevitably polluted by severe noise. Therefore, a proper noise suppression procedure is required. This paper presents a novel method to reduce the noise in the measured vertical acceleration for a thrust-vectored tail-sitter vertical takeoff and landing (VTOL UAV. In the new procedure, a Kalman filter is first applied to estimate the UAV mass by using the information in the vertical thrust and measured acceleration. The UAV mass is then used to compute an estimate of UAV vertical acceleration. The estimated acceleration is finally fused with the measured acceleration to obtain the minimum variance estimate of vertical acceleration. By doing this, the new approach incorporates the thrust information into the acceleration estimate. The method is applied to the data measured in a VTOL UAV takeoff experiment. Two other denoising approaches developed by former researchers are also tested for comparison. The results demonstrate that the new method is able to suppress the acceleration noise substantially. It also maintains the real-time performance in the final estimated acceleration, which is not seen in the former denoising approaches. The acceleration treated with the new method can be readily used in the motion control applications for UAVs to achieve improved accuracy.

Morphology, muscle capacity, skill, and maneuvering ability in hummingbirds.

Science.gov (United States)

Dakin, Roslyn; Segre, Paolo S; Straw, Andrew D; Altshuler, Douglas L

2018-02-09

How does agility evolve? This question is challenging because natural movement has many degrees of freedom and can be influenced by multiple traits. We used computer vision to record thousands of translations, rotations, and turns from more than 200 hummingbirds from 25 species, revealing that distinct performance metrics are correlated and that species diverge in their maneuvering style. Our analysis demonstrates that the enhanced maneuverability of larger species is explained by their proportionately greater muscle capacity and lower wing loading. Fast acceleration maneuvers evolve by recruiting changes in muscle capacity, whereas fast rotations and sharp turns evolve by recruiting changes in wing morphology. Both species and individuals use turns that play to their strengths. These results demonstrate how both skill and biomechanical traits shape maneuvering behavior. Copyright © 2018 The Authors, some rights reserved; exclusive licensee American Association for the Advancement of Science. No claim to original U.S. Government Works.

Energy-Efficient Systems Eliminate Icing Danger for UAVs

Science.gov (United States)

2010-01-01

Ames Research Center engineer Leonard Haslim invented an anti-icing t echnology called an electroexpulsive separation system, which uses m echanical force to shatter potentially dangerous ice buildup on an ai rcraft surface. Temecula, California-based Ice Management Systems (no w known as IMS-ESS) licensed the technology from Ames and has discov ered a niche market for the lightweight, energy-efficient technology: unmanned aerial vehicles (UAVs). IMS-ESS systems now prevent damagi ng ice accumulation on military UAVs, allowing the vehicles to carry out crucial missions year round.

ENGAGING ELEMENTARY AND MIDDLE SCHOOL STUDENTS IN ROBOTICS THROUGH HUMMINGBIRD KIT WITH SNAP! VISUAL PROGRAMMING LANGUAGE

OpenAIRE

Anna Newley; Hasan Deniz; Erdogan Kaya; Ezgi Yesilyurt

2016-01-01

The purpose of this paper is to describe how Hummingbird robotics kit with Snap! programing language was used to introduce basics of robotics to elementary and middle school students. Each student in the robotics program built a robot. The robot building process was open ended. Any specific robotics challenge was not provided to the students. Students’ knowledge about robots and programming language were measured through pre, post, and delayed posttests. Results indicated that students improv...

Evaluation of resampling applied to UAV imagery for weed detection using OBIA

OpenAIRE

Borra, I.; Peña Barragán, José Manuel; Torres Sánchez, Jorge; López Granados, Francisca

2015-01-01

Los vehículos aéreos no tripulados (UAVs) son una tecnología emergente en el estudio de parámetros agrícolas por sus características y por portar sensores en diferente rango espectral. En este trabajo se ha detectado y cartografiado rodales de malas hierbas en fase temprana mediante análisis OBIA para elaborar mapas que optimicen el tratamiento herbicida localizado. Se ha aplicado resampling (resampleo) sobre imágenes tomadas en campo desde un UAV (UAV-I) para crear una nueva imagen con disti...