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.

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

Multi-UAV joint target recognizing based on binocular vision theory

Directory of Open Access Journals (Sweden)

Yuan Zhang

2017-01-01

Full Text Available Target recognizing of unmanned aerial vehicle (UAV based on image processing take the advantage of 2D information containing in the image for identifying the target. Compare to single UAV with electrical optical tracking system (EOTS, multi-UAV with EOTS is able to take a group of image focused on the suspected target from multiple view point. Benefit from matching each couple of image in this group, points set constituted by matched feature points implicates the depth of each point. Coordinate of target feature points could be computing from depth of feature points. This depth information makes up a cloud of points and reconstructed an exclusive 3D model to recognizing system. Considering the target recognizing do not require precise target model, the cloud of feature points was regrouped into n subsets and reconstructed to a semi-3D model. Casting these subsets in a Cartesian coordinate and applying these projections in convolutional neural networks (CNN respectively, the integrated output of networks is the improved result of recognizing.

Development of an Effective System Identification and Control Capability for Quad-copter UAVs

Science.gov (United States)

Wei, Wei

In recent years, with the promise of extensive commercial applications, the popularity of Unmanned Aerial Vehicles (UAVs) has dramatically increased as witnessed by publications and mushrooming research and educational programs. Over the years, multi-copter aircraft have been chosen as a viable configuration for small-scale VTOL UAVs in the form of quad-copters, hexa-copters and octo-copters. Compared to the single main rotor configuration such as the conventional helicopter, multi-copter airframes require a simpler feedback control system and fewer mechanical parts. These characteristics make these UAV platforms, such as quad-copter which is the main emphasis in this dissertation, a rugged and competitive candidate for many applications in both military and civil areas. Because of its configuration and relative size, the small-scale quad-copter UAV system is inherently very unstable. In order to develop an effective control system through simulation techniques, obtaining an accurate dynamic model of a given quad-copter is imperative. Moreover, given the anticipated stringent safety requirements, fault tolerance will be a crucial component of UAV certification. Accurate dynamic modeling and control of this class of UAV is an enabling technology and is imperative for future commercial applications. In this work, the dynamic model of a quad-copter system in hover flight was identified using frequency-domain system identification techniques. A new and unique experimental system, data acquisition and processing procedure was developed catering specifically to the class of electric powered multi-copter UAV systems. The Comprehensive Identification from FrEquency Responses (CIFER RTM) software package, developed by US Army Aviation Development Directorate -- AFDD, was utilized along with flight tests to develop dynamic models of the quad-copter system. A new set of flight tests were conducted and the predictive capability of the dynamic models were successfully validated

Secure Utilization of Beacons and UAVs in Emergency Response Systems for Building Fire Hazard.

Science.gov (United States)

Seo, Seung-Hyun; Choi, Jung-In; Song, Jinseok

2017-09-25

An intelligent emergency system for hazard monitoring and building evacuation is a very important application area in Internet of Things (IoT) technology. Through the use of smart sensors, such a system can provide more vital and reliable information to first-responders and also reduce the incidents of false alarms. Several smart monitoring and warning systems do already exist, though they exhibit key weaknesses such as a limited monitoring coverage and security, which have not yet been sufficiently addressed. In this paper, we propose a monitoring and emergency response method for buildings by utilizing beacons and Unmanned Aerial Vehicles (UAVs) on an IoT security platform. In order to demonstrate the practicability of our method, we also implement a proof of concept prototype, which we call the UAV-EMOR (UAV-assisted Emergency Monitoring and Response) system. Our UAV-EMOR system provides the following novel features: (1) secure communications between UAVs, smart sensors, the control server and a smartphone app for security managers; (2) enhanced coordination between smart sensors and indoor/outdoor UAVs to expand real-time monitoring coverage; and (3) beacon-aided rescue and building evacuation.

The optimal design of UAV wing structure

Science.gov (United States)

Długosz, Adam; Klimek, Wiktor

2018-01-01

The paper presents an optimal design of UAV wing, made of composite materials. The aim of the optimization is to improve strength and stiffness together with reduction of the weight of the structure. Three different types of functionals, which depend on stress, stiffness and the total mass are defined. The paper presents an application of the in-house implementation of the evolutionary multi-objective algorithm in optimization of the UAV wing structure. Values of the functionals are calculated on the basis of results obtained from numerical simulations. Numerical FEM model, consisting of different composite materials is created. Adequacy of the numerical model is verified by results obtained from the experiment, performed on a tensile testing machine. Examples of multi-objective optimization by means of Pareto-optimal set of solutions are presented.

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.

USING A MICRO-UAV FOR ULTRA-HIGH RESOLUTION MULTI-SENSOR OBSERVATIONS OF ANTARCTIC MOSS BEDS

Directory of Open Access Journals (Sweden)

A. Lucieer

2012-07-01

Full Text Available This study is the first to use an Unmanned Aerial Vehicle (UAV for mapping moss beds in Antarctica. Mosses can be used as indicators for the regional effects of climate change. Mapping and monitoring their extent and health is therefore important. UAV aerial photography provides ultra-high resolution spatial data for this purpose. We developed a technique to extract an extremely dense 3D point cloud from overlapping UAV aerial photography based on structure from motion (SfM algorithms. The combination of SfM and patch-based multi-view stereo image vision algorithms resulted in a 2 cm resolution digital terrain model (DTM. This detailed topographic information combined with vegetation indices derived from a 6-band multispectral sensor enabled the assessment of moss bed health. This novel UAV system has allowed us to map different environmental characteristics of the moss beds at ultra-high resolution providing us with a better understanding of these fragile Antarctic ecosystems. The paper provides details on the different UAV instruments and the image processing framework resulting in DEMs, vegetation indices, and terrain derivatives.

Flocking of quad-rotor UAVs with fuzzy control.

Science.gov (United States)

Mao, Xiang; Zhang, Hongbin; Wang, Yanhui

2018-03-01

This paper investigates the flocking problem of quad-rotor UAVs. Considering the actual situations, we derived a new simplified quad-rotor UAV model which is more reasonable. Based on the model, the T-S fuzzy model of attitude dynamic equation and the corresponding T-S fuzzy feedback controller are discussed. By introducing a double-loop control construction, we adjust its attitude to realize the position control. Then a flocking algorithm is proposed to achieve the flocking of the quad-rotor UAVs. Compared with the flocking algorithm of the mass point model, we dealt with the collision problem of the quad-rotor UAVs. In order to improve the airspace utilization, a more compact configuration called quasi e-lattice is constructed to guarantee the compact flight of the quad-rotor UAVs. Finally, numerical simulations are provided to illustrate the effectiveness of the obtained theoretical results. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

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.

Assessing the Accuracy of Georeferenced Point Clouds Produced via Multi-View Stereopsis from Unmanned Aerial Vehicle (UAV Imagery

Directory of Open Access Journals (Sweden)

Arko Lucieer

2012-05-01

Full Text Available Sensor miniaturisation, improved battery technology and the availability of low-cost yet advanced Unmanned Aerial Vehicles (UAV have provided new opportunities for environmental remote sensing. The UAV provides a platform for close-range aerial photography. Detailed imagery captured from micro-UAV can produce dense point clouds using multi-view stereopsis (MVS techniques combining photogrammetry and computer vision. This study applies MVS techniques to imagery acquired from a multi-rotor micro-UAV of a natural coastal site in southeastern Tasmania, Australia. A very dense point cloud ( < 1–3 cm point spacing is produced in an arbitrary coordinate system using full resolution imagery, whereas other studies usually downsample the original imagery. The point cloud is sparse in areas of complex vegetation and where surfaces have a homogeneous texture. Ground control points collected with Differential Global Positioning System (DGPS are identified and used for georeferencing via a Helmert transformation. This study compared georeferenced point clouds to a Total Station survey in order to assess and quantify their geometric accuracy. The results indicate that a georeferenced point cloud accurate to 25–40 mm can be obtained from imagery acquired from 50 m. UAV-based image capture provides the spatial and temporal resolution required to map and monitor natural landscapes. This paper assesses the accuracy of the generated point clouds based on field survey points. Based on our key findings we conclude that sub-decimetre terrain change (in this case coastal erosion can be monitored.

Analysis of Landslide Kinematics using Multi-temporal UAV Imagery, La Honda, California

Science.gov (United States)

Carey, J.; Pickering, A.; Prentice, C. S.; Pinter, N.; DeLong, S.

2017-12-01

High-resolution topographic data are vital to studies of earth-surface processes. The combination of unmanned aerial vehicle (UAV) photography and structure-from-motion (SfM) digital photogrammetry provide a quickly deployable and cost-effective method for monitoring geomorphic change and landscape evolution. We acquired imagery of an active landslide in La Honda, California using a GPS-enabled quadcopter UAV with a 12.4 megapixel camera. Deep-seated landslides were previously documented in this region during the winter of 1997-98, with movement recurring and the landslide expanding during the winters of 2004-05 and 2005-06. This study documents the kinematics of a new and separate landslide immediately adjacent to the previous ones, throughout the winter of 2016-17. The roughly triangular-shaped, deep-seated landslide covers an area of approximately 10,000 m2. The area is underlain by SW dipping late Miocene to Pliocene sandstones and mudstones. A 3 m high head scarp stretches along the northeast portion of the slide for approximately 100 m. Internally, the direction of movement is towards the southwest, with two prominent NW-SE striking extensional grabens and numerous tension cracks across the landslide body. Here we calculate displaced landslide volumes and surface displacements from multi-temporal UAV surveys. Photogrammetric reconstruction of UAV/SfM-derived point clouds allowed creation of six digital elevation models (DEMs) with spatial resolutions ranging from 3 to 15 cm per pixel. We derived displacement magnitude, direction and rate by comparing multiple generations of DEMs and orthophotos, and estimated displaced volumes by differencing subsequent DEMs. We then correlated displacements with total rainfall and rainfall intensity measurements. Detailed geomorphic maps identify major landslide features, documenting dominant surface processes. Additionally, we compare the accuracy of the UAV/SfM-derived DEM with a DEM sourced from a synchronous terrestrial

Get-in-the-Zone (GITZ) Transition Display Format for Changing Camera Views in Multi-UAV Operations

Science.gov (United States)

2008-12-01

the multi-UAV operator will witch between dynamic and static missions, each potentially involving very different scenario environments and task...another. Inspired by cinematography techniques to help audiences maintain spatial understanding of a scene across discrete film cuts, use of a

Autonomous Control of a Quadrotor UAV Using Fuzzy Logic

Science.gov (United States)

Sureshkumar, Vijaykumar

UAVs are being increasingly used today than ever before in both military and civil applications. They are heavily preferred in "dull, dirty or dangerous" mission scenarios. Increasingly, UAVs of all kinds are being used in policing, fire-fighting, inspection of structures, pipelines etc. Recently, the FAA gave its permission for UAVs to be used on film sets for motion capture and high definition video recording. The rapid development in MEMS and actuator technology has made possible a plethora of UAVs that are suited for commercial applications in an increasingly cost effective manner. An emerging popular rotary wing UAV platform is the Quadrotor A Quadrotor is a helicopter with four rotors, that make it more stable; but more complex to model and control. Characteristics that provide a clear advantage over other fixed wing UAVs are VTOL and hovering capabilities as well as a greater maneuverability. It is also simple in construction and design compared to a scaled single rotorcraft. Flying such UAVs using a traditional radio Transmitter-Receiver setup can be a daunting task especially in high stress situations. In order to make such platforms widely applicable, a certain level of autonomy is imperative to the future of such UAVs. This thesis paper presents a methodology for the autonomous control of a Quadrotor UAV using Fuzzy Logic. Fuzzy logic control has been chosen over conventional control methods as it can deal effectively with highly nonlinear systems, allows for imprecise data and is extremely modular. Modularity and adaptability are the key cornerstones of FLC. The objective of this thesis is to present the steps of designing, building and simulating an intelligent flight control module for a Quadrotor UAV. In the course of this research effort, a Quadrotor UAV is indigenously developed utilizing the resources of an online open source project called Aeroquad. System design is comprehensively dealt with. A math model for the Quadrotor is developed and a

The fusion of satellite and UAV data: simulation of high spatial resolution band

Science.gov (United States)

Jenerowicz, Agnieszka; Siok, Katarzyna; Woroszkiewicz, Malgorzata; Orych, Agata

2017-10-01

Remote sensing techniques used in the precision agriculture and farming that apply imagery data obtained with sensors mounted on UAV platforms became more popular in the last few years due to the availability of low- cost UAV platforms and low- cost sensors. Data obtained from low altitudes with low- cost sensors can be characterised by high spatial and radiometric resolution but quite low spectral resolution, therefore the application of imagery data obtained with such technology is quite limited and can be used only for the basic land cover classification. To enrich the spectral resolution of imagery data acquired with low- cost sensors from low altitudes, the authors proposed the fusion of RGB data obtained with UAV platform with multispectral satellite imagery. The fusion is based on the pansharpening process, that aims to integrate the spatial details of the high-resolution panchromatic image with the spectral information of lower resolution multispectral or hyperspectral imagery to obtain multispectral or hyperspectral images with high spatial resolution. The key of pansharpening is to properly estimate the missing spatial details of multispectral images while preserving their spectral properties. In the research, the authors presented the fusion of RGB images (with high spatial resolution) obtained with sensors mounted on low- cost UAV platforms and multispectral satellite imagery with satellite sensors, i.e. Landsat 8 OLI. To perform the fusion of UAV data with satellite imagery, the simulation of the panchromatic bands from RGB data based on the spectral channels linear combination, was conducted. Next, for simulated bands and multispectral satellite images, the Gram-Schmidt pansharpening method was applied. As a result of the fusion, the authors obtained several multispectral images with very high spatial resolution and then analysed the spatial and spectral accuracies of processed images.

Neural network-based optimal adaptive output feedback control of a helicopter UAV.

Science.gov (United States)

Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani

2013-07-01

Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.

Modeling Multioperator Multi-UAV Operator Attention Allocation Problem Based on Maximizing the Global Reward

Directory of Open Access Journals (Sweden)

Yuhang Wu

2016-01-01

Full Text Available This paper focuses on the attention allocation problem (AAP in modeling multioperator multi-UAV (MOMU, with the operator model and task properties taken into consideration. The model of MOMU operator AAP based on maximizing the global reward is established and used to allocate tasks to all operators as well as set work time and rest time to each task simultaneously for operators. The proposed model is validated in Matlab simulation environment, using the immune algorithm and dynamic programming algorithm to evaluate the performance of the model in terms of the reward value with regard to the work time, rest time, and task allocation. The result shows that the total reward of the proposed model is larger than the one obtained from previously published methods using local maximization and the total reward of our method has an exponent-like relation with the task arrival rate. The proposed model can improve the operators’ task processing efficiency in the MOMU command and control scenarios.

Using Multi-Spectral UAV Imagery to Extract Tree Crop Structural Properties and Assess Pruning Effects

Directory of Open Access Journals (Sweden)

Kasper Johansen

2018-06-01

Full Text Available Unmanned aerial vehicles (UAV provide an unprecedented capacity to monitor the development and dynamics of tree growth and structure through time. It is generally thought that the pruning of tree crops encourages new growth, has a positive effect on fruiting, makes fruit-picking easier, and may increase yield, as it increases light interception and tree crown surface area. To establish the response of pruning in an orchard of lychee trees, an assessment of changes in tree structure, i.e., tree crown perimeter, width, height, area and Plant Projective Cover (PPC, was undertaken using multi-spectral UAV imagery collected before and after a pruning event. While tree crown perimeter, width and area could be derived directly from the delineated tree crowns, height was estimated from a produced canopy height model and PPC was most accurately predicted based on the NIR band. Pre- and post-pruning results showed significant differences in all measured tree structural parameters, including an average decrease in tree crown perimeter of 1.94 m, tree crown width of 0.57 m, tree crown height of 0.62 m, tree crown area of 3.5 m2, and PPC of 14.8%. In order to provide guidance on data collection protocols for orchard management, the impact of flying height variations was also examined, offering some insight into the influence of scale and the scalability of this UAV-based approach for larger orchards. The different flying heights (i.e., 30, 50 and 70 m produced similar measurements of tree crown width and PPC, while tree crown perimeter, area and height measurements decreased with increasing flying height. Overall, these results illustrate that routine collection of multi-spectral UAV imagery can provide a means of assessing pruning effects on changes in tree structure in commercial orchards, and highlight the importance of collecting imagery with consistent flight configurations, as varying flying heights may cause changes to tree structural measurements.

Using Multi-Spectral UAV Imagery to Extract Tree Crop Structural Properties and Assess Pruning Effects

KAUST Repository

Johansen, Kasper

2018-04-18

Unmanned aerial vehicles (UAV) provide an unprecedented capacity to monitor the development and dynamics of tree growth and structure through time. It is generally thought that the pruning of tree crops encourages new growth, has a positive effect on fruiting, makes fruit-picking easier, and may increase yield, as it increases light interception and tree crown surface area. To establish the response of pruning in an orchard of lychee trees, an assessment of changes in tree structure, i.e. tree crown perimeter, width, height, area and Plant Projective Cover (PPC), was undertaken using multi-spectral UAV imagery collected before and after a pruning event. While tree crown perimeter, width and area could be derived directly from the delineated tree crowns, height was estimated from a produced canopy height model and PPC was most accurately predicted based on the NIR band. Pre- and post-pruning results showed significant differences in all measured tree structural parameters, including an average decrease in tree crown perimeter of 1.94 m, tree crown width of 0.57 m, tree crown height of 0.62 m, tree crown area of 3.5 m2, and PPC of 14.8%. In order to provide guidance on data collection protocols for orchard management, the impact of flying height variations was also examined, offering some insight into the influence of scale and the scalability of this UAV based approach for larger orchards. The different flying heights (i.e. 30, 50 and 70 m) produced similar measurements of tree crown width and PPC, while tree crown perimeter, area and height measurements decreased with increasing flying height. Overall, these results illustrate that routine collection of multi-spectral UAV imagery can provide a means of assessing pruning effects on changes in tree structure in commercial orchards, and highlight the importance of collecting imagery with consistent flight configurations, as varying flying heights may cause changes to tree structural measurements.

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.

Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target

Directory of Open Access Journals (Sweden)

Chang-jian Ru

2015-01-01

Full Text Available To reduce the impact of uncertainties caused by unknown motion parameters on searching plan of moving targets and improve the efficiency of UAV’s searching, a novel distributed Multi-UAVs cooperative search control method for moving target is proposed in this paper. Based on detection results of onboard sensors, target probability map is updated using Bayesian theory. A Gaussian distribution of target transition probability density function is introduced to calculate prediction probability of moving target existence, and then target probability map can be further updated in real-time. A performance index function combining with target cost, environment cost, and cooperative cost is constructed, and the cooperative searching problem can be transformed into a central optimization problem. To improve computational efficiency, the distributed model predictive control method is presented, and thus the control command of each UAV can be obtained. The simulation results have verified that the proposed method can avoid the blindness of UAV searching better and improve overall efficiency of the team effectively.

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.

On decentralized adaptive full-order sliding mode control of multiple UAVs.

Science.gov (United States)

Xiang, Xianbo; Liu, Chao; Su, Housheng; Zhang, Qin

2017-11-01

In this study, a novel decentralized adaptive full-order sliding mode control framework is proposed for the robust synchronized formation motion of multiple unmanned aerial vehicles (UAVs) subject to system uncertainty. First, a full-order sliding mode surface in a decentralized manner is designed to incorporate both the individual position tracking error and the synchronized formation error while the UAV group is engaged in building a certain desired geometric pattern in three dimensional space. Second, a decentralized virtual plant controller is constructed which allows the embedded low-pass filter to attain the chattering free property of the sliding mode controller. In addition, robust adaptive technique is integrated in the decentralized chattering free sliding control design in order to handle unknown bounded uncertainties, without requirements for assuming a priori knowledge of bounds on the system uncertainties as stated in conventional chattering free control methods. Subsequently, system robustness as well as stability of the decentralized full-order sliding mode control of multiple UAVs is synthesized. Numerical simulation results illustrate the effectiveness of the proposed control framework to achieve robust 3D formation flight of the multi-UAV system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

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

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.

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.

Pilot Dependence on Imperfect Diagnostic Automation in Simulated UAV Flights: An Attentional Visual Scanning Analysis

National Research Council Canada - National Science Library

Wickens, Christopher; Dixon, Stephen; Goh, Juliana; Hammer, Ben

2005-01-01

An unmanned air vehicle (UAV) simulation was designed to reveal the effects of imperfectly reliable diagnostic automation a monitor of system health parameters on pilot attention, as the latter was assessed via visual scanning...

Framework for utilizing computational devices within simulation

Directory of Open Access Journals (Sweden)

Miroslav Mintál

2013-12-01

Full Text Available Nowadays there exist several frameworks to utilize a computation power of graphics cards and other computational devices such as FPGA, ARM and multi-core processors. The best known are either low-level and need a lot of controlling code or are bounded only to special graphic cards. Furthermore there exist more specialized frameworks, mainly aimed to the mathematic field. Described framework is adjusted to use in a multi-agent simulations. Here it provides an option to accelerate computations when preparing simulation and mainly to accelerate a computation of simulation itself.

Assessing the Utility of Uav-Borne Hyperspectral Image and Photogrammetry Derived 3d Data for Wetland Species Distribution Quick Mapping

Science.gov (United States)

Li, Q. S.; Wong, F. K. K.; Fung, T.

2017-08-01

Lightweight unmanned aerial vehicle (UAV) loaded with novel sensors offers a low cost and minimum risk solution for data acquisition in complex environment. This study assessed the performance of UAV-based hyperspectral image and digital surface model (DSM) derived from photogrammetric point clouds for 13 species classification in wetland area of Hong Kong. Multiple feature reduction methods and different classifiers were compared. The best result was obtained when transformed components from minimum noise fraction (MNF) and DSM were combined in support vector machine (SVM) classifier. Wavelength regions at chlorophyll absorption green peak, red, red edge and Oxygen absorption at near infrared were identified for better species discrimination. In addition, input of DSM data reduces overestimation of low plant species and misclassification due to the shadow effect and inter-species morphological variation. This study establishes a framework for quick survey and update on wetland environment using UAV system. The findings indicate that the utility of UAV-borne hyperspectral and derived tree height information provides a solid foundation for further researches such as biological invasion monitoring and bio-parameters modelling in wetland.

AN IMAGE-BASED TECHNIQUE FOR 3D BUILDING RECONSTRUCTION USING MULTI-VIEW UAV IMAGES

Directory of Open Access Journals (Sweden)

F. Alidoost

2015-12-01

Full Text Available Nowadays, with the development of the urban areas, the automatic reconstruction of the buildings, as an important objects of the city complex structures, became a challenging topic in computer vision and photogrammetric researches. In this paper, the capability of multi-view Unmanned Aerial Vehicles (UAVs images is examined to provide a 3D model of complex building façades using an efficient image-based modelling workflow. The main steps of this work include: pose estimation, point cloud generation, and 3D modelling. After improving the initial values of interior and exterior parameters at first step, an efficient image matching technique such as Semi Global Matching (SGM is applied on UAV images and a dense point cloud is generated. Then, a mesh model of points is calculated using Delaunay 2.5D triangulation and refined to obtain an accurate model of building. Finally, a texture is assigned to mesh in order to create a realistic 3D model. The resulting model has provided enough details of building based on visual assessment.

High-Fidelity Computational Aerodynamics of Multi-Rotor Unmanned Aerial Vehicles

Science.gov (United States)

Ventura Diaz, Patricia; Yoon, Seokkwan

2018-01-01

High-fidelity Computational Fluid Dynamics (CFD) simulations have been carried out for several multi-rotor Unmanned Aerial Vehicles (UAVs). Three vehicles have been studied: the classic quadcopter DJI Phantom 3, an unconventional quadcopter specialized for forward flight, the SUI Endurance, and an innovative concept for Urban Air Mobility (UAM), the Elytron 4S UAV. The three-dimensional unsteady Navier-Stokes equations are solved on overset grids using high-order accurate schemes, dual-time stepping, and a hybrid turbulence model. The DJI Phantom 3 is simulated with different rotors and with both a simplified airframe and the real airframe including landing gear and a camera. The effects of weather are studied for the DJI Phantom 3 quadcopter in hover. The SUI En- durance original design is compared in forward flight to a new configuration conceived by the authors, the hybrid configuration, which gives a large improvement in forward thrust. The Elytron 4S UAV is simulated in helicopter mode and in airplane mode. Understanding the complex flows in multi-rotor vehicles will help design quieter, safer, and more efficient future drones and UAM vehicles.

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.

SIMULATION OF INERTIAL NAVIGATION SYSTEM ERRORS AT AERIAL PHOTOGRAPHY FROM UAV

Directory of Open Access Journals (Sweden)

R. Shults

2017-05-01

Full Text Available The problem of accuracy determination of the UAV position using INS at aerial photography can be resolved in two different ways: modelling of measurement errors or in-field calibration for INS. The paper presents the results of INS errors research by mathematical modelling. In paper were considered the following steps: developing of INS computer model; carrying out INS simulation; using reference data without errors, estimation of errors and their influence on maps creation accuracy by UAV data. It must be remembered that the values of orientation angles and the coordinates of the projection centre may change abruptly due to the influence of the atmosphere (different air density, wind, etc.. Therefore, the mathematical model of the INS was constructed taking into account the use of different models of wind gusts. For simulation were used typical characteristics of micro electromechanical (MEMS INS and parameters of standard atmosphere. According to the simulation established domination of INS systematic errors that accumulate during the execution of photographing and require compensation mechanism, especially for orientation angles. MEMS INS have a high level of noise at the system input. Thanks to the developed model, we are able to investigate separately the impact of noise in the absence of systematic errors. According to the research was found that on the interval of observations in 5 seconds the impact of random and systematic component is almost the same. The developed model of INS errors studies was implemented in Matlab software environment and without problems can be improved and enhanced with new blocks.

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

A New Approach to Performing Bundle Adjustment for Time Series UAV Images 3D Building Change Detection

Directory of Open Access Journals (Sweden)

Wenzhuo Li

2017-06-01

Full Text Available Successful change detection in multi-temporal images relies on high spatial co-registration accuracy. However, co-registration accuracy alone cannot meet the needs of change detection when using several ground control points to separately geo-reference multi-temporal images from unmanned aerial vehicles (UAVs. This letter reports on a new approach to perform bundle adjustment—named united bundle adjustment (UBA—to solve this co-registration problem for change detection in multi-temporal UAV images. In UBA, multi-temporal UAV images are matched with each other to construct a unified tie point net. One single bundle adjustment process is performed on the unified tie point net, placing every image into the same coordinate system and thus automatically accomplishing spatial co-registration. We then perform change detection using both orthophotos and three-dimensional height information derived from dense image matching techniques. Experimental results show that UBA co-registration accuracy is higher than the accuracy of commonly-used approaches for multi-temporal UAV images. Our proposed preprocessing method extends the capacities of consumer-level UAVs so they can eventually meet the growing need for automatic building change detection and dynamic monitoring using only RGB band images.

Bridge Crack Detection Using Multi-Rotary Uav and Object-Base Image Analysis

Science.gov (United States)

Rau, J. Y.; Hsiao, K. W.; Jhan, J. P.; Wang, S. H.; Fang, W. C.; Wang, J. L.

2017-08-01

Bridge is an important infrastructure for human life. Thus, the bridge safety monitoring and maintaining is an important issue to the government. Conventionally, bridge inspection were conducted by human in-situ visual examination. This procedure sometimes require under bridge inspection vehicle or climbing under the bridge personally. Thus, its cost and risk is high as well as labor intensive and time consuming. Particularly, its documentation procedure is subjective without 3D spatial information. In order cope with these challenges, this paper propose the use of a multi-rotary UAV that equipped with a SONY A7r2 high resolution digital camera, 50 mm fixed focus length lens, 135 degrees up-down rotating gimbal. The target bridge contains three spans with a total of 60 meters long, 20 meters width and 8 meters height above the water level. In the end, we took about 10,000 images, but some of them were acquired by hand held method taken on the ground using a pole with 2-8 meters long. Those images were processed by Agisoft PhotoscanPro to obtain exterior and interior orientation parameters. A local coordinate system was defined by using 12 ground control points measured by a total station. After triangulation and camera self-calibration, the RMS of control points is less than 3 cm. A 3D CAD model that describe the bridge surface geometry was manually measured by PhotoscanPro. They were composed of planar polygons and will be used for searching related UAV images. Additionally, a photorealistic 3D model can be produced for 3D visualization. In order to detect cracks on the bridge surface, we utilize object-based image analysis (OBIA) technique to segment the image into objects. Later, we derive several object features, such as density, area/bounding box ratio, length/width ratio, length, etc. Then, we can setup a classification rule set to distinguish cracks. Further, we apply semi-global-matching (SGM) to obtain 3D crack information and based on image scale we

BRIDGE CRACK DETECTION USING MULTI-ROTARY UAV AND OBJECT-BASE IMAGE ANALYSIS

Directory of Open Access Journals (Sweden)

J. Y. Rau

2017-08-01

Full Text Available Bridge is an important infrastructure for human life. Thus, the bridge safety monitoring and maintaining is an important issue to the government. Conventionally, bridge inspection were conducted by human in-situ visual examination. This procedure sometimes require under bridge inspection vehicle or climbing under the bridge personally. Thus, its cost and risk is high as well as labor intensive and time consuming. Particularly, its documentation procedure is subjective without 3D spatial information. In order cope with these challenges, this paper propose the use of a multi-rotary UAV that equipped with a SONY A7r2 high resolution digital camera, 50 mm fixed focus length lens, 135 degrees up-down rotating gimbal. The target bridge contains three spans with a total of 60 meters long, 20 meters width and 8 meters height above the water level. In the end, we took about 10,000 images, but some of them were acquired by hand held method taken on the ground using a pole with 2–8 meters long. Those images were processed by Agisoft PhotoscanPro to obtain exterior and interior orientation parameters. A local coordinate system was defined by using 12 ground control points measured by a total station. After triangulation and camera self-calibration, the RMS of control points is less than 3 cm. A 3D CAD model that describe the bridge surface geometry was manually measured by PhotoscanPro. They were composed of planar polygons and will be used for searching related UAV images. Additionally, a photorealistic 3D model can be produced for 3D visualization. In order to detect cracks on the bridge surface, we utilize object-based image analysis (OBIA technique to segment the image into objects. Later, we derive several object features, such as density, area/bounding box ratio, length/width ratio, length, etc. Then, we can setup a classification rule set to distinguish cracks. Further, we apply semi-global-matching (SGM to obtain 3D crack information and based

A Multi-Disciplinary Approach to Remote Sensing through Low-Cost UAVs.

Science.gov (United States)

Calvario, Gabriela; Sierra, Basilio; Alarcón, Teresa E; Hernandez, Carmen; Dalmau, Oscar

2017-06-16

The use of Unmanned Aerial Vehicles (UAVs) based on remote sensing has generated low cost monitoring, since the data can be acquired quickly and easily. This paper reports the experience related to agave crop analysis with a low cost UAV. The data were processed by traditional photogrammetric flow and data extraction techniques were applied to extract new layers and separate the agave plants from weeds and other elements of the environment. Our proposal combines elements of photogrammetry, computer vision, data mining, geomatics and computer science. This fusion leads to very interesting results in agave control. This paper aims to demonstrate the potential of UAV monitoring in agave crops and the importance of information processing with reliable data flow.

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.

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...

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.

Target Tracking in 3-D Using Estimation Based Nonlinear Control Laws for UAVs

Directory of Open Access Journals (Sweden)

Mousumi Ahmed

2016-02-01

Full Text Available This paper presents an estimation based backstepping like control law design for an Unmanned Aerial Vehicle (UAV to track a moving target in 3-D space. A ground-based sensor or an onboard seeker antenna provides range, azimuth angle, and elevation angle measurements to a chaser UAV that implements an extended Kalman filter (EKF to estimate the full state of the target. A nonlinear controller then utilizes this estimated target state and the chaser’s state to provide speed, flight path, and course/heading angle commands to the chaser UAV. Tracking performance with respect to measurement uncertainty is evaluated for three cases: (1 stationary white noise; (2 stationary colored noise and (3 non-stationary (range correlated white noise. Furthermore, in an effort to improve tracking performance, the measurement model is made more realistic by taking into consideration range-dependent uncertainties in the measurements, i.e., as the chaser closes in on the target, measurement uncertainties are reduced in the EKF, thus providing the UAV with more accurate control commands. Simulation results for these cases are shown to illustrate target state estimation and trajectory tracking performance.

Control system design for UAV trajectory tracking

Science.gov (United States)

Wang, Haitao; Gao, Jinyuan

2006-11-01

In recent years, because of the emerging requirements for increasing autonomy, the controller of uninhabited air vehicles must be augmented with a very sophisticated autopilot design which is capable of tracking complex and agile maneuvering trajectory. This paper provides a simplified control system framework to solve UAV maneuvering trajectory tracking problem. The flight control system is divided into three subsystems including command generation, transformation and allocation. According to the kinematics equations of the aircraft, flight path angle commands can be generated by desired 3D position from path planning. These commands are transformed to body angular rates through direct nonlinear mapping, which is simpler than common multi-loop method based on time scale separation assumption. Then, by using weighted pseudo-inverse method, the control surface deflections are allocated to follow body angular rates from the previous step. In order to improve the robustness, a nonlinear disturbance observer-based approach is used to compensate the uncertainty of system. A 6DOF nonlinear UAV model is controlled to demonstrate the performance of the trajectory tracking control system. Simulation results show that the control strategy is easy to be realized and the precision of tracking is satisfying.

Use of the RoboFlag synthetic task environment to investigate workload and stress responses in UAV operation.

Science.gov (United States)

Guznov, Svyatoslav; Matthews, Gerald; Funke, Gregory; Dukes, Allen

2011-09-01

Use of unmanned aerial vehicles (UAVs) is an increasingly important element of military missions. However, controlling UAVs may impose high stress and workload on the operator. This study evaluated the use of the RoboFlag simulated environment as a means for profiling multiple dimensions of stress and workload response to a task requiring control of multiple vehicles (robots). It tested the effects of two workload manipulations, environmental uncertainty (i.e., UAV's visual view area) and maneuverability, in 64 participants. The findings confirmed that the task produced substantial workload and elevated distress. Dissociations between the stress and performance effects of the manipulations confirmed the utility of a multivariate approach to assessment. Contrary to expectations, distress and some aspects of workload were highest in the low-uncertainty condition, suggesting that overload of information may be an issue for UAV interface designers. The strengths and limitations of RoboFlag as a methodology for investigating stress and workload responses are discussed.

Simulated minimum detectable activity concentration (MDAC) for a real-time UAV airborne radioactivity monitoring system with HPGe and LaBr_3 detectors

International Nuclear Information System (INIS)

Tang, Xiao-Bin; Meng, Jia; Wang, Peng; Cao, Ye; Huang, Xi; Wen, Liang-Sheng; Chen, Da

2016-01-01

An automatic real-time UAV airborne radioactivity monitoring system with high-purity germanium (HPGe) and lanthanum bromide (LaBr_3) detectors (NH-UAV) was developed to precisely obtain small-scope nuclide information in major nuclear accidents. The specific minimum detectable activity concentration (MDAC) calculation method for NH-UAV in the atmospheric environment was deduced in this study for a priori evaluation and quantification of the suitability of NH-UAV in the Fukushima nuclear accident, where the MDAC values of this new equipment were calculated based on Monte Carlo simulation. The effects of radioactive source term size and activity concentration on the MDAC values were analyzed to assess the detection performance of NH-UAV in more realistic environments. Finally, the MDAC values were calculated at different shielding thicknesses of the HPGe detector to improve the detection capabilities of the HPGe detector, and the relationship between the MDAC and the acquisition time of the system was deduced. The MDAC calculation method and data results in this study may be used as a reference for in-situ radioactivity measurement of NH-UAV. - Highlights: • A real-time UAV airborne radioactivity monitoring system (NH-UAV) was developed. • The efficiency calculations and MDAC values are given. • NH-UAV is able to monitor major nuclear accidents, such as the Fukushima accident. • The source term size can influence the detection sensitivity of the system. • The HPGe detector possesses measurement thresholds on activity concentration.

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.

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.

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

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.

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.

Communication Architecture in Mixed-Reality Simulations of Unmanned Systems.

Science.gov (United States)

Selecký, Martin; Faigl, Jan; Rollo, Milan

2018-03-14

Verification of the correct functionality of multi-vehicle systems in high-fidelity scenarios is required before any deployment of such a complex system, e.g., in missions of remote sensing or in mobile sensor networks. Mixed-reality simulations where both virtual and physical entities can coexist and interact have been shown to be beneficial for development, testing, and verification of such systems. This paper deals with the problems of designing a certain communication subsystem for such highly desirable realistic simulations. Requirements of this communication subsystem, including proper addressing, transparent routing, visibility modeling, or message management, are specified prior to designing an appropriate solution. Then, a suitable architecture of this communication subsystem is proposed together with solutions to the challenges that arise when simultaneous virtual and physical message transmissions occur. The proposed architecture can be utilized as a high-fidelity network simulator for vehicular systems with implicit mobility models that are given by real trajectories of the vehicles. The architecture has been utilized within multiple projects dealing with the development and practical deployment of multi-UAV systems, which support the architecture's viability and advantages. The provided experimental results show the achieved similarity of the communication characteristics of the fully deployed hardware setup to the setup utilizing the proposed mixed-reality architecture.

Communication Architecture in Mixed-Reality Simulations of Unmanned Systems

Directory of Open Access Journals (Sweden)

Martin Selecký

2018-03-01

Full Text Available Verification of the correct functionality of multi-vehicle systems in high-fidelity scenarios is required before any deployment of such a complex system, e.g., in missions of remote sensing or in mobile sensor networks. Mixed-reality simulations where both virtual and physical entities can coexist and interact have been shown to be beneficial for development, testing, and verification of such systems. This paper deals with the problems of designing a certain communication subsystem for such highly desirable realistic simulations. Requirements of this communication subsystem, including proper addressing, transparent routing, visibility modeling, or message management, are specified prior to designing an appropriate solution. Then, a suitable architecture of this communication subsystem is proposed together with solutions to the challenges that arise when simultaneous virtual and physical message transmissions occur. The proposed architecture can be utilized as a high-fidelity network simulator for vehicular systems with implicit mobility models that are given by real trajectories of the vehicles. The architecture has been utilized within multiple projects dealing with the development and practical deployment of multi-UAV systems, which support the architecture’s viability and advantages. The provided experimental results show the achieved similarity of the communication characteristics of the fully deployed hardware setup to the setup utilizing the proposed mixed-reality architecture.

Analysis of a UAV that can Hover and Fly Level

Directory of Open Access Journals (Sweden)

Çakıcı Ferit

2016-01-01

Full Text Available In this study, an unmanned aerial vehicle (UAV with level flight, vertical take-off and landing (VTOL and mode-changing capability is analysed. The platform design combines both multirotor and fixed-wing (FW conventional airplane structures and control surfaces; therefore, named as VTOL-FW. The aircraft is modelled using aerodynamical principles and linear models are constructed utilizing small perturbation theory for trim conditions. The proposed method of control includes implementation of multirotor and airplane mode controllers and design of an algorithm to transition between modes in achieving smooth switching manoeuvres between VTOL and FW flight. Thus, VTOL-FW UAV’s flight characteristics are expected to be improved by enlarging operational flight envelope through enabling mode-transitioning, agile manoeuvres and increasing survivability. Experiments conducted in simulation and real world environments show that, VTOL-FW UAV has both multirotor and airplane characteristics with extra benefits in an enlarged flight envelope.

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.

Adaptive Levels of Autonomy (ALOA) for UAV Supervisory Control

National Research Council Canada - National Science Library

Johnson, Rubin; Leen, Michael; Goldberg, Dan; Chiu, Michael

2005-01-01

.... To demonstrate the architecture and LOA implementation, we designed a prototype Multi-UAV Control Station Emulator research test bed, by building on existing ORCA-developed software components...

Optimization of a Turboprop UAV for Maximum Loiter and Specific Power Using Genetic Algorithm

Science.gov (United States)

Dinc, Ali

2016-09-01

In this study, a genuine code was developed for optimization of selected parameters of a turboprop engine for an unmanned aerial vehicle (UAV) by employing elitist genetic algorithm. First, preliminary sizing of a UAV and its turboprop engine was done, by the code in a given mission profile. Secondly, single and multi-objective optimization were done for selected engine parameters to maximize loiter duration of UAV or specific power of engine or both. In single objective optimization, as first case, UAV loiter time was improved with an increase of 17.5% from baseline in given boundaries or constraints of compressor pressure ratio and burner exit temperature. In second case, specific power was enhanced by 12.3% from baseline. In multi-objective optimization case, where previous two objectives are considered together, loiter time and specific power were increased by 14.2% and 9.7% from baseline respectively, for the same constraints.

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

Multi utility - a successful conception for energy supply companies?; Multi-Utility - Erfolgskonzept fuer Energieversorger? Zusammenwachsen der Maerkte

Energy Technology Data Exchange (ETDEWEB)

Schmidt, C. [LBD-Beratungsgesellschaft mbH, Berlin (Germany)

2003-06-02

Multi-utility is seen as the most promising marketing strategy for energy companies. In the future, experts say, only the combined supply of electricity, natural gas, water, waste management and services will allow companies to grow. But are today's multi-utility-products answering the needs of the customers? The author goes further into this question and finds the answer: Multi-utility needs to be further developed. Only products from growth and competition markets can generate additional margins. (orig.) [German] Multi-Utility gilt als die Marketingstrategie fuer Energieversorger. Nur wer zukuenftig Strom, Gas, Wasser, Entsorgung und Service aus einer Hand anbietet, heisst es in der Branche, kann im Markt wachsen. Doch inwieweit entspricht das heutige Multi-Utility-Angebot wirklich dem Kundenbeduerfnis? Die Verfasserin geht dieser Frage nach und kommt zu dem Schluss: Die Multi-Utility-Palette muss weiterentwickelt werden. Nur mit Produkten aus Wachstums- und Wettbewerbsmaerkten kann zusaetzliche Marge generiert werden. (orig.)

A Sliding Mode LCO Regulation Strategy for Dual-Parallel Underactuated UAV Systems Using Synthetic Jet Actuators

Directory of Open Access Journals (Sweden)

N. Ramos-Pedroza

2015-01-01

careful algebraic manipulation in the regulation error system development, along with innovative design of the sliding surface. A detailed model of the UAV LCO dynamics is utilized, and a rigorous analysis is provided to prove asymptotic regulation of the pitching and plunging displacements. Numerical simulation results are provided to demonstrate the performance of the control law.

Investigation of Alien Wavelength Quality in Live Multi-Domain, Multi-Vendor Link Using Advanced Simulation Tool

DEFF Research Database (Denmark)

Petersen, Martin Nordal; Nuijts, Roeland; Bjorn, Lars Lange

2014-01-01

This article presents an advanced optical model for simulation of alien wavelengths in multi-domain and multi-vendor dense wavelength-division multiplexing networks. The model aids optical network planners with a better understanding of the non-linear effects present in dense wavelength-division ......This article presents an advanced optical model for simulation of alien wavelengths in multi-domain and multi-vendor dense wavelength-division multiplexing networks. The model aids optical network planners with a better understanding of the non-linear effects present in dense wavelength......-division multiplexing systems and better utilization of alien wavelengths in future applications. The limiting physical effects for alien wavelengths are investigated in relation to power levels, channel spacing, and other factors. The simulation results are verified through experimental setup in live multi...

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.

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 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.

Flight route Designing and mission planning Of power line inspecting system Based On multi-sensor UAV

International Nuclear Information System (INIS)

Xiaowei, Xie; Zhengjun, Liu; Zhiquan, Zuo

2014-01-01

In order to obtain various information of power facilities such as spatial location, geometry, images data and video information in the infrared and ultraviolet band and so on, Unmanned Aerial Vehicle (UAV) power line inspecting system needs to integrate a variety of sensors for data collection. Low altitude and side-looking imaging are required for UAV flight to ensure sensors to acquire high-quality data and device security. In this paper, UAV power line inspecting system is deferent from existing ones that used in Surveying and Mapping. According to characteristics of UAV for example equipped multiple sensor, side-looking imaging, working at low altitude, complex terrain conditions and corridor type flight, this paper puts forward a UAV power line inspecting scheme which comprehensively considered of the UAV performance, sensor parameters and task requirements. The scheme is finally tested in a region of Guangdong province, and the preliminary results show that the scheme is feasible

AirSTAR: A UAV Platform for Flight Dynamics and Control System Testing

Science.gov (United States)

Jordan, Thomas L.; Foster, John V.; Bailey, Roger M.; Belcastro, Christine M.

2006-01-01

As part of the NASA Aviation Safety Program at Langley Research Center, a dynamically scaled unmanned aerial vehicle (UAV) and associated ground based control system are being developed to investigate dynamics modeling and control of large transport vehicles in upset conditions. The UAV is a 5.5% (seven foot wingspan), twin turbine, generic transport aircraft with a sophisticated instrumentation and telemetry package. A ground based, real-time control system is located inside an operations vehicle for the research pilot and associated support personnel. The telemetry system supports over 70 channels of data plus video for the downlink and 30 channels for the control uplink. Data rates are in excess of 200 Hz. Dynamic scaling of the UAV, which includes dimensional, weight, inertial, actuation, and control system scaling, is required so that the sub-scale vehicle will realistically simulate the flight characteristics of the full-scale aircraft. This testbed will be utilized to validate modeling methods, flight dynamics characteristics, and control system designs for large transport aircraft, with the end goal being the development of technologies to reduce the fatal accident rate due to loss-of-control.

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.

Exploring Naval Tactics with UAVs in an Island Complex Using Agent-Based Simulation

National Research Council Canada - National Science Library

Lalis, Vasileios

2007-01-01

The benefits of Unmanned Aerial Vehicles (UAV) at sea are undisputed. The amount and speed of the incoming information from a UAV, combined with its maneuverability and time-on-task capability, are assets to any navy...

Practical strategies of wind energy utilization for uninhabited aerial vehicles in loiter flights

Science.gov (United States)

Singhania, Hong Yang

Uninhabited Aerial Vehicle (UAV) is becoming increasingly attractive in missions where human presence is undesirable or impossible. Agile maneuvers and long endurance are among the most desired advantages of UAVs over aircraft that have human pilots onboard. Past studies suggest that the performance of UAVs may be considerably improved by utilizing natural resources, especially wind energy, during flights. The key challenge of exploiting wind energy in practical UAV operations lies in the availability of reliable and timely wind field information in the operational region. This thesis presents a practical onboard strategy that attempts to over-come this challenge, to enable UAVs in utilizing wind energy effectively during flights, and therefore to enhance performance. We propose and explore a strategy that combines wind measurement and optimal trajectory planning onboard UAVs. During a cycle of a loiter flight, a UAV can take measurements of wind velocity components over the flight region, use these measurements to estimate the local wind field through a model-based approach, and then compute a flight trajectory for the next flight cycle with the objective of optimizing fuel. As the UAV follows the planned trajectory, it continues to measure the wind components and repeats the process of updating the wind model with new estimations and planning optimal trajectories for the next flight cycle. Besides presenting an onboard trajectory planning strategy of wind energy exploration, estimation, and utilization, this research also develops a semi-analytical linearized solution to the formulated nonlinear optimal control problem. Simulations and numerical results indicate that the fuel savings of trajectories generated using the proposed scheme depend on wind speed, wind estimation errors, rates of change in wind speed, and the wind model structures. For a given wind field, the magnitude of potential fuel savings is also contingent upon UAVs' performance capabilities.

Multi-UAVs Formation Autonomous Control Method Based on RQPSO-FSM-DMPC

Directory of Open Access Journals (Sweden)

Shao-lei Zhou

2016-01-01

Full Text Available For various threats in the enemy defense area, in order to achieve covert penetration and implement effective combat against enemy, the unmanned aerial vehicles formation needs to be reconfigured in the process of penetration; the mutual collision avoidance problems and communication constraint problems among the formation also need to be considered. By establishing the virtual-leader formation model, this paper puts forward distributed model predictive control and finite state machine formation manager. Combined with distributed cooperative strategy establishing the formation reconfiguration cost function, this paper proposes that adopting the revised quantum-behaved particle swarm algorithm solves the cost function, and it is compared with the result which is solved by particle swarm algorithm. Simulation result shows that this algorithm can control multiple UAVs formation autonomous reconfiguration effectively and achieve covert penetration safely.

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

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

A biomimetic, energy-harvesting, obstacle-avoiding, path-planning algorithm for UAVs

Science.gov (United States)

Gudmundsson, Snorri

This dissertation presents two new approaches to energy harvesting for Unmanned Aerial Vehicles (UAV). One method is based on the Potential Flow Method (PFM); the other method seeds a wind-field map based on updraft peak analysis and then applies a variant of the Bellman-Ford algorithm to find the minimum-cost path. Both methods are enhanced by taking into account the performance characteristics of the aircraft using advanced performance theory. The combined approach yields five possible trajectories from which the one with the minimum energy cost is selected. The dissertation concludes by using the developed theory and modeling tools to simulate the flight paths of two small Unmanned Aerial Vehicles (sUAV) in the 500 kg and 250 kg class. The results show that, in mountainous regions, substantial energy can be recovered, depending on topography and wind characteristics. For the examples presented, as much as 50% of the energy was recovered for a complex, multi-heading, multi-altitude, 170 km mission in an average wind speed of 9 m/s. The algorithms constitute a Generic Intelligent Control Algorithm (GICA) for autonomous unmanned aerial vehicles that enables an extraction of atmospheric energy while completing a mission trajectory. At the same time, the algorithm. automatically adjusts the flight path in order to avoid obstacles, in a fashion not unlike what one would expect from living organisms, such as birds and insects. This multi-disciplinary approach renders the approach biomimetic, i.e. it constitutes a synthetic system that “mimics the formation and function of biological mechanisms and processes.”.

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

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.

Simulation to Flight Test for a UAV Controls Testbed

Science.gov (United States)

Motter, Mark A.; Logan, Michael J.; French, Michael L.; Guerreiro, Nelson M.

2006-01-01

The NASA Flying Controls Testbed (FLiC) is a relatively small and inexpensive unmanned aerial vehicle developed specifically to test highly experimental flight control approaches. The most recent version of the FLiC is configured with 16 independent aileron segments, supports the implementation of C-coded experimental controllers, and is capable of fully autonomous flight from takeoff roll to landing, including flight test maneuvers. The test vehicle is basically a modified Army target drone, AN/FQM-117B, developed as part of a collaboration between the Aviation Applied Technology Directorate (AATD) at Fort Eustis, Virginia and NASA Langley Research Center. Several vehicles have been constructed and collectively have flown over 600 successful test flights, including a fully autonomous demonstration at the Association of Unmanned Vehicle Systems International (AUVSI) UAV Demo 2005. Simulations based on wind tunnel data are being used to further develop advanced controllers for implementation and flight test.

Design and implementation for integrated UAV multi-spectral inspection system

Science.gov (United States)

Zhu, X.; Li, X.; Yan, F.

2018-04-01

In order to improve the working efficiency of the transmission line inspection and reduce the labour intensity of the inspectors, this paper presents an Unmanned Aerial Vehicle (UAV) inspection system architecture for the transmission line inspection. In this document, the light-duty design for different inspection equipment and processing terminals is completed. It presents the reference design for the information-processing terminal, supporting the inspection and interactive equipment accessing, and obtains all performance indicators of the inspection information processing through the tests. Practical application shows that the UAV inspection system supports access and management of different types of mainstream fault detection equipment, and can implement the independent diagnosis of the detected information to generate inspection reports in line with industry norms, which can meet the fast, timely, and efficient requirements for the power line inspection work.

Uav-Based Detection of Unknown Radioactive Biomass Deposits in Chernobyl's Exclusion Zone

Science.gov (United States)

Briechle, S.; Sizov, A.; Tretyak, O.; Antropov, V.; Molitor, N.; Krzystek, P.

2018-05-01

Shortly after the explosion of the Chernobyl nuclear power plant (ChNPP) in 1986, radioactive fall-out and contaminated trees (socalled Red Forest) were buried in the Chernobyl Exclusion Zone (ChEZ). These days, exact locations of the buried contaminated material are needed. Moreover, 3D vegetation maps are necessary to simulate the impact of tornados and forest fire. After 30 years, some of the so-called trenches and clamps are visible. However, some of them are overgrown and have slightly settled in the centimeter and decimeter range. This paper presents a pipeline that comprises 3D vegetation mapping and machine learning methods to precisely map trenches and clamps from remote sensing data. The dataset for our experiments consists of UAV-based LiDAR data, multi-spectral data, and aerial gamma-spectrometry data. Depending on the study areas overall accuracies ranging from 95.6 % to 99.0 % were reached for the classification of radioactive deposits. Our first results demonstrate an accurate and reliable UAV-based detection of unknown radioactive biomass deposits in the ChEZ.

Synthesis of Control Algorithm for a Leaderheaded UAVs Group

Directory of Open Access Journals (Sweden)

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.

UAV based hydromorphological mapping of a river reach to improve hydrodynamic numerical models

Science.gov (United States)

Lükő, Gabriella; Baranya, Sándor; Rüther, Nils

2017-04-01

Unmanned Aerial Vehicles (UAVs) are increasingly used in the field of engineering surveys. In river engineering, or in general, water resources engineering, UAV based measurements have a huge potential. For instance, indirect measurements of the flow discharge using e.g. large-scale particle image velocimetry (LSPIV), particle tracking velocimetry (PTV), space-time image velocimetry (STIV) or radars became a real alternative for direct flow measurements. Besides flow detection, topographic surveys are also essential for river flow studies as the channel and floodplain geometry is the primary steering feature of the flow. UAVs can play an important role in this field, too. The widely used laser based topographic survey method (LIDAR) can be deployed on UAVs, moreover, the application of the Structure from Motion (SfM) method, which is based on images taken by UAVs, might be an even more cost-efficient alternative to reveal the geometry of distinct objects in the river or on the floodplain. The goal of this study is to demonstrate the utilization of photogrammetry and videogrammetry from airborne footage to provide geometry and flow data for a hydrodynamic numerical simulation of a 2 km long river reach in Albania. First, the geometry of the river is revealed from photogrammetry using the SfM method. Second, a more detailed view of the channel bed at low water level is taken. Using the fine resolution images, a Matlab based code, BASEGrain, developed by the ETH in Zürich, will be applied to determine the grain size characteristics of the river bed. This information will be essential to define the hydraulic roughness in the numerical model. Third, flow mapping is performed using UAV measurements and LSPIV method to quantitatively asses the flow field at the free surface and to estimate the discharge in the river. All data collection and analysis will be carried out using a simple, low-cost UAV, moreover, for all the data processing, open source, freely available

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...

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

, which are all tightly linked to the UAV flight controller hardware and software. The lack of standardization of flight controller architectures and the use of proprietary closed-source flight controllers on many UAV platforms, however, complicates this work: solutions developed for one flight controller...... may be difficult to port to another without substantial extra development and testing. Using open-source flight controllers mitigates some of these challenges and enables other researchers to validate and build upon existing research. This paper presents a survey of the publicly available open...

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.

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.

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.

Rapid Control Prototyping and PIL Co-Simulation of a Quadrotor UAV Based on NI myRIO-1900 Board

OpenAIRE

Soufiene Bouallègue; Rabii Fessi

2016-01-01

In this paper, a new Computer Aided Design (CAD) methodology for the Processor-In-the-Loop (PIL) co-simulation and Rapid Control Prototyping (RCP) of a Quadrotor Vertical Take-Off and Landing (VTOL) type of Unmanned Arial Vehicle (UAV) is proposed and successfully implemented around an embedded NI myRIO-1900 target and a host PC. The developed software (SW) and hardware (HW) prototyping platform is based on the Control Design and Simulation (CDSim) module of LabVIEW environment and an establi...

Use of UAVs for Remote Measurement of Vegetation Canopy Variables

Science.gov (United States)

Rango, A.; Laliberte, A.; Herrick, J.; Steele, C.; Bestelmeyer, B.; Chopping, M. J.

2006-12-01

Remote sensing with different sensors has proven useful for measuring vegetation canopy variables at scales ranging from landscapes down to individual plants. For use at landscape scales, such as desert grasslands invaded by shrubs, it is possible to use multi-angle imagery from satellite sensors, such as MISR and CHRIS/Proba, with geometric optical models to retrieve fractional woody plant cover. Vegetation community states can be mapped using visible and near infrared ASTER imagery at 15 m resolution. At finer scales, QuickBird satellite imagery with approximately 60 cm resolution and piloted aircraft photography with 25-80 cm resolution can be used to measure shrubs above a critical size. Tests conducted with the QuickBird data in the Jornada basin of southern New Mexico have shown that 87% of all shrubs greater than 2 m2 were detected whereas only about 29% of all shrubs less than 2 m2 were detected, even at these high resolutions. Because there is an observational gap between satellite/aircraft measurements and ground observations, we have experimented with Unmanned Aerial Vehicles (UAVs) producing digital photography with approximately 5 cm resolution. We were able to detect all shrubs greater than 2 m2, and we were able to map small subshrubs indicative of rangeland deterioration, as well as remnant grass patches, for the first time. None of these could be identified on the 60 cm resolution data. Additionally, we were able to measure canopy gaps, shrub patterns, percent bare soil, and vegetation cover over mixed rangeland vegetation. This approach is directly applicable to rangeland health monitoring, and it provides a quantitative way to assess shrub invasion over time and to detect the depletion or recovery of grass patches. Further, if the UAV images have sufficient overlap, it may be possible to exploit the stereo viewing capabilities to develop a digital elevation model from the orthophotos, with a potential for extracting canopy height. We envision two

Concept of Indoor 3D-Route UAV Scheduling System

DEFF Research Database (Denmark)

Khosiawan, Yohanes; Nielsen, Izabela Ewa; Do, Ngoc Ang Dung

2016-01-01

environment. On top of that, the multi-source productive best-first-search concept also supports efficient real-time scheduling in response to uncertain events. Without human intervention, the proposed work provides an automatic scheduling system for UAV routing problem in 3D indoor environment....

A Robust Photogrammetric Processing Method of Low-Altitude UAV Images

Directory of Open Access Journals (Sweden)

Mingyao Ai

2015-02-01

Full Text Available Low-altitude Unmanned Aerial Vehicles (UAV images which include distortion, illumination variance, and large rotation angles are facing multiple challenges of image orientation and image processing. In this paper, a robust and convenient photogrammetric approach is proposed for processing low-altitude UAV images, involving a strip management method to automatically build a standardized regional aerial triangle (AT network, a parallel inner orientation algorithm, a ground control points (GCPs predicting method, and an improved Scale Invariant Feature Transform (SIFT method to produce large number of evenly distributed reliable tie points for bundle adjustment (BA. A multi-view matching approach is improved to produce Digital Surface Models (DSM and Digital Orthophoto Maps (DOM for 3D visualization. Experimental results show that the proposed approach is robust and feasible for photogrammetric processing of low-altitude UAV images and 3D visualization of products.

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.

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

UAV-BASED DETECTION OF UNKNOWN RADIOACTIVE BIOMASS DEPOSITS IN CHERNOBYL’S EXCLUSION ZONE

Directory of Open Access Journals (Sweden)

S. Briechle

2018-05-01

Full Text Available Shortly after the explosion of the Chernobyl nuclear power plant (ChNPP in 1986, radioactive fall-out and contaminated trees (socalled Red Forest were buried in the Chernobyl Exclusion Zone (ChEZ. These days, exact locations of the buried contaminated material are needed. Moreover, 3D vegetation maps are necessary to simulate the impact of tornados and forest fire. After 30 years, some of the so-called trenches and clamps are visible. However, some of them are overgrown and have slightly settled in the centimeter and decimeter range. This paper presents a pipeline that comprises 3D vegetation mapping and machine learning methods to precisely map trenches and clamps from remote sensing data. The dataset for our experiments consists of UAV-based LiDAR data, multi-spectral data, and aerial gamma-spectrometry data. Depending on the study areas overall accuracies ranging from 95.6 % to 99.0 % were reached for the classification of radioactive deposits. Our first results demonstrate an accurate and reliable UAV-based detection of unknown radioactive biomass deposits in the ChEZ.

Real-Time Multi-Target Localization from Unmanned Aerial Vehicles

Directory of Open Access Journals (Sweden)

Xuan Wang

2016-12-01

Full Text Available In order to improve the reconnaissance efficiency of unmanned aerial vehicle (UAV electro-optical stabilized imaging systems, a real-time multi-target localization scheme based on an UAV electro-optical stabilized imaging system is proposed. First, a target location model is studied. Then, the geodetic coordinates of multi-targets are calculated using the homogeneous coordinate transformation. On the basis of this, two methods which can improve the accuracy of the multi-target localization are proposed: (1 the real-time zoom lens distortion correction method; (2 a recursive least squares (RLS filtering method based on UAV dead reckoning. The multi-target localization error model is established using Monte Carlo theory. In an actual flight, the UAV flight altitude is 1140 m. The multi-target localization results are within the range of allowable error. After we use a lens distortion correction method in a single image, the circular error probability (CEP of the multi-target localization is reduced by 7%, and 50 targets can be located at the same time. The RLS algorithm can adaptively estimate the location data based on multiple images. Compared with multi-target localization based on a single image, CEP of the multi-target localization using RLS is reduced by 25%. The proposed method can be implemented on a small circuit board to operate in real time. This research is expected to significantly benefit small UAVs which need multi-target geo-location functions.

Output feedback control of a quadrotor UAV using neural networks.

Science.gov (United States)

Dierks, Travis; Jagannathan, Sarangapani

2010-01-01

In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.

Fleet Protection Using a Small UAV Based IR Sensor

National Research Council Canada - National Science Library

Buss, James R; Ax, Jr, George R

2005-01-01

A study was performed to define candidate electro-optical and infrared (EO/IR) sensor configurations and assess their potential utility as small UAV-based sensors surveilling a perimeter around surface fleet assets...

Improved estimation of leaf area index and leaf chlorophyll content of a potato crop using multi-angle spectral data - potential of unmanned aerial vehicle imagery

Science.gov (United States)

Roosjen, Peter P. J.; Brede, Benjamin; Suomalainen, Juha M.; Bartholomeus, Harm M.; Kooistra, Lammert; Clevers, Jan G. P. W.

2018-04-01

In addition to single-angle reflectance data, multi-angular observations can be used as an additional information source for the retrieval of properties of an observed target surface. In this paper, we studied the potential of multi-angular reflectance data for the improvement of leaf area index (LAI) and leaf chlorophyll content (LCC) estimation by numerical inversion of the PROSAIL model. The potential for improvement of LAI and LCC was evaluated for both measured data and simulated data. The measured data was collected on 19 July 2016 by a frame-camera mounted on an unmanned aerial vehicle (UAV) over a potato field, where eight experimental plots of 30 × 30 m were designed with different fertilization levels. Dozens of viewing angles, covering the hemisphere up to around 30° from nadir, were obtained by a large forward and sideways overlap of collected images. Simultaneously to the UAV flight, in situ measurements of LAI and LCC were performed. Inversion of the PROSAIL model was done based on nadir data and based on multi-angular data collected by the UAV. Inversion based on the multi-angular data performed slightly better than inversion based on nadir data, indicated by the decrease in RMSE from 0.70 to 0.65 m2/m2 for the estimation of LAI, and from 17.35 to 17.29 μg/cm2 for the estimation of LCC, when nadir data were used and when multi-angular data were used, respectively. In addition to inversions based on measured data, we simulated several datasets at different multi-angular configurations and compared the accuracy of the inversions of these datasets with the inversion based on data simulated at nadir position. In general, the results based on simulated (synthetic) data indicated that when more viewing angles, more well distributed viewing angles, and viewing angles up to larger zenith angles were available for inversion, the most accurate estimations were obtained. Interestingly, when using spectra simulated at multi-angular sampling configurations as

Volcanic Plume Measurements with UAV (Invited)

Science.gov (United States)

Shinohara, H.; Kaneko, T.; Ohminato, T.

2013-12-01

Volatiles in magmas are the driving force of volcanic eruptions and quantification of volcanic gas flux and composition is important for the volcano monitoring. Recently we developed a portable gas sensor system (Multi-GAS) to quantify the volcanic gas composition by measuring volcanic plumes and obtained volcanic gas compositions of actively degassing volcanoes. As the Multi-GAS measures variation of volcanic gas component concentrations in the pumped air (volcanic plume), we need to bring the apparatus into the volcanic plume. Commonly the observer brings the apparatus to the summit crater by himself but such measurements are not possible under conditions of high risk of volcanic eruption or difficulty to approach the summit due to topography etc. In order to overcome these difficulties, volcanic plume measurements were performed by using manned and unmanned aerial vehicles. The volcanic plume measurements by manned aerial vehicles, however, are also not possible under high risk of eruption. The strict regulation against the modification of the aircraft, such as installing sampling pipes, also causes difficulty due to the high cost. Application of the UAVs for the volcanic plume measurements has a big advantage to avoid these problems. The Multi-GAS consists of IR-CO2 and H2O gas analyzer, SO2-H2O chemical sensors and H2 semiconductor sensor and the total weight ranges 3-6 kg including batteries. The necessary conditions of the UAV for the volcanic plumes measurements with the Multi-GAS are the payloads larger than 3 kg, maximum altitude larger than the plume height and installation of the sampling pipe without contamination of the exhaust gases, as the exhaust gases contain high concentrations of H2, SO2 and CO2. Up to now, three different types of UAVs were applied for the measurements; Kite-plane (Sky Remote) at Miyakejima operated by JMA, Unmanned airplane (Air Photo Service) at Shinomoedake, Kirishima volcano, and Unmanned helicopter (Yamaha) at Sakurajima

Multi-Agent Cooperative Target Search

Directory of Open Access Journals (Sweden)

Jinwen Hu

2014-05-01

Full Text Available This paper addresses a vision-based cooperative search for multiple mobile ground targets by a group of unmanned aerial vehicles (UAVs with limited sensing and communication capabilities. The airborne camera on each UAV has a limited field of view and its target discriminability varies as a function of altitude. First, by dividing the whole surveillance region into cells, a probability map can be formed for each UAV indicating the probability of target existence within each cell. Then, we propose a distributed probability map updating model which includes the fusion of measurement information, information sharing among neighboring agents, information decay and transmission due to environmental changes such as the target movement. Furthermore, we formulate the target search problem as a multi-agent cooperative coverage control problem by optimizing the collective coverage area and the detection performance. The proposed map updating model and the cooperative control scheme are distributed, i.e., assuming that each agent only communicates with its neighbors within its communication range. Finally, the effectiveness of the proposed algorithms is illustrated by simulation.

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.

Product bundling, the key to a successful multi-utility strategy; Buendelung: Der Schluessel zu einer erfolgreichen Multi Utility-Strategie

Energy Technology Data Exchange (ETDEWEB)

Laker, M.; Nigge, K.M.; Wuebker, G. [Simon, Kucher und Partner Strategy and Marketing Consultants GmbH, Berlin (Germany)

2002-04-01

The article explains essential aspects of successful multi-utility management strategies for local utilities. Product bundling and the creation of incentives for enhancing the consumers' propensity to conclude multi-utility contracts, as e.g. pricing policy and the range of services that can be offered in a package are discussed. (orig./CB) [German] Das Thema Multi Utility, d.h. die Integration von Strom, Erdgas, Wasser, Entsorgung und Dienstleistungen wird ausfuehrlich diskutiert. Es muessen vielmehr Anreize dafuer geschaffen werden, dass die Kunden die Komplettangebote auch wahrnehmen. Dies ist eine Frage der Produkt- und Preisgestaltung. Buendelung ist das ideale Instrument zur Schaffung solcher Anreize. (orig./CB)

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

Directory of Open Access Journals (Sweden)

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.

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.

Using Unmanned Aerial Vehicles (UAV for High-Resolution Reconstruction of Topography: The Structure from Motion Approach on Coastal Environments

Directory of Open Access Journals (Sweden)

Francesco Mancini

2013-12-01

Full Text Available The availability of high-resolution Digital Surface Models of coastal environments is of increasing interest for scientists involved in the study of the coastal system processes. Among the range of terrestrial and aerial methods available to produce such a dataset, this study tests the utility of the Structure from Motion (SfM approach to low-altitude aerial imageries collected by Unmanned Aerial Vehicle (UAV. The SfM image-based approach was selected whilst searching for a rapid, inexpensive, and highly automated method, able to produce 3D information from unstructured aerial images. In particular, it was used to generate a dense point cloud and successively a high-resolution Digital Surface Models (DSM of a beach dune system in Marina di Ravenna (Italy. The quality of the elevation dataset produced by the UAV-SfM was initially evaluated by comparison with point cloud generated by a Terrestrial Laser Scanning (TLS surveys. Such a comparison served to highlight an average difference in the vertical values of 0.05 m (RMS = 0.19 m. However, although the points cloud comparison is the best approach to investigate the absolute or relative correspondence between UAV and TLS methods, the assessment of geomorphic features is usually based on multi-temporal surfaces analysis, where an interpolation process is required. DSMs were therefore generated from UAV and TLS points clouds and vertical absolute accuracies assessed by comparison with a Global Navigation Satellite System (GNSS survey. The vertical comparison of UAV and TLS DSMs with respect to GNSS measurements pointed out an average distance at cm-level (RMS = 0.011 m. The successive point by point direct comparison between UAV and TLS elevations show a very small average distance, 0.015 m, with RMS = 0.220 m. Larger values are encountered in areas where sudden changes in topography are present. The UAV-based approach was demonstrated to be a straightforward one and accuracy of the vertical dataset

The Adaptive Multi-scale Simulation Infrastructure

Energy Technology Data Exchange (ETDEWEB)

Tobin, William R. [Rensselaer Polytechnic Inst., Troy, NY (United States)

2015-09-01

The Adaptive Multi-scale Simulation Infrastructure (AMSI) is a set of libraries and tools developed to support the development, implementation, and execution of general multimodel simulations. Using a minimal set of simulation meta-data AMSI allows for minimally intrusive work to adapt existent single-scale simulations for use in multi-scale simulations. Support for dynamic runtime operations such as single- and multi-scale adaptive properties is a key focus of AMSI. Particular focus has been spent on the development on scale-sensitive load balancing operations to allow single-scale simulations incorporated into a multi-scale simulation using AMSI to use standard load-balancing operations without affecting the integrity of the overall multi-scale simulation.

Solid images generated from UAVs to analyze areas affected by rock falls

Science.gov (United States)

Giordan, Daniele; Manconi, Andrea; Allasia, Paolo; Baldo, Marco

2015-04-01

The study of rock fall affected areas is usually based on the recognition of principal joints families and the localization of potential instable sectors. This requires the acquisition of field data, although as the areas are barely accessible and field inspections are often very dangerous. For this reason, remote sensing systems can be considered as suitable alternative. Recently, Unmanned Aerial Vehicles (UAVs) have been proposed as platform to acquire the necessary information. Indeed, mini UAVs (in particular in the multi-rotors configuration) provide versatility for the acquisition from different points of view a large number of high resolution optical images, which can be used to generate high resolution digital models relevant to the study area. By considering the recent development of powerful user-friendly software and algorithms to process images acquired from UAVs, there is now a need to establish robust methodologies and best-practice guidelines for correct use of 3D models generated in the context of rock fall scenarios. In this work, we show how multi-rotor UAVs can be used to survey areas by rock fall during real emergency contexts. We present two examples of application located in northwestern Italy: the San Germano rock fall (Piemonte region) and the Moneglia rock fall (Liguria region). We acquired data from both terrestrial LiDAR and UAV, in order to compare digital elevation models generated with different remote sensing approaches. We evaluate the volume of the rock falls, identify the areas potentially unstable, and recognize the main joints families. The use on is not so developed but probably this approach can be considered the better solution for a structural investigation of large rock walls. We propose a methodology that jointly considers the Structure from Motion (SfM) approach for the generation of 3D solid images, and a geotechnical analysis for the identification of joint families and potential failure planes.

Utility application of simulation software

International Nuclear Information System (INIS)

Sudduth, A.L.

1986-01-01

The purpose of this paper is to discuss dynamic system simulation from the perspective of a successful utility user. In it, four aspects of the issue of utility use of simulation will be addressed: (1) What simulation software is available to utilities which can be of practical assistance with a modest investment in staff and training. (2) To what specific problems can utilities apply the technique of simulation and achieve reasonably cost effective results. (3) What the advantages are of in-house dynamic simulation capability, as opposed to depending on NSSS vendors or consultants. (4) What the prospects are for wider use of dynamic simulation in the utility industry

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.

MULTI-TEMPORAL CLASSIFICATION AND CHANGE DETECTION USING UAV IMAGES

Directory of Open Access Journals (Sweden)

S. Makuti

2018-05-01

Full Text Available In this paper different methodologies for the classification and change detection of UAV image blocks are explored. UAV is not only the cheapest platform for image acquisition but it is also the easiest platform to operate in repeated data collections over a changing area like a building construction site. Two change detection techniques have been evaluated in this study: the pre-classification and the post-classification algorithms. These methods are based on three main steps: feature extraction, classification and change detection. A set of state of the art features have been used in the tests: colour features (HSV, textural features (GLCM and 3D geometric features. For classification purposes Conditional Random Field (CRF has been used: the unary potential was determined using the Random Forest algorithm while the pairwise potential was defined by the fully connected CRF. In the performed tests, different feature configurations and settings have been considered to assess the performance of these methods in such challenging task. Experimental results showed that the post-classification approach outperforms the pre-classification change detection method. This was analysed using the overall accuracy, where by post classification have an accuracy of up to 62.6 % and the pre classification change detection have an accuracy of 46.5 %. These results represent a first useful indication for future works and developments.

On the throughput of cognitive radio MIMO systems assisted with UAV relays

KAUST Repository

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

2017-01-01

We analyze the achievable rates of a cognitive radio MIMO system assisted by an unmanned aerial vehicle (UAV) relay. The primary user (PU) and the secondary user (SU) aim to communicate to the closest primary base station (BS) via a multi

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.

UAV Delivery Monitoring System

Directory of Open Access Journals (Sweden)

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.

System Engineering Strategy for Distributed Multi-Purpose Simulation Architectures

Science.gov (United States)

Bhula, Dlilpkumar; Kurt, Cindy Marie; Luty, Roger

2007-01-01

This paper describes the system engineering approach used to develop distributed multi-purpose simulations. The multi-purpose simulation architecture focuses on user needs, operations, flexibility, cost and maintenance. This approach was used to develop an International Space Station (ISS) simulator, which is called the International Space Station Integrated Simulation (ISIS)1. The ISIS runs unmodified ISS flight software, system models, and the astronaut command and control interface in an open system design that allows for rapid integration of multiple ISS models. The initial intent of ISIS was to provide a distributed system that allows access to ISS flight software and models for the creation, test, and validation of crew and ground controller procedures. This capability reduces the cost and scheduling issues associated with utilizing standalone simulators in fixed locations, and facilitates discovering unknowns and errors earlier in the development lifecycle. Since its inception, the flexible architecture of the ISIS has allowed its purpose to evolve to include ground operator system and display training, flight software modification testing, and as a realistic test bed for Exploration automation technology research and development.

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.

Optimizing Multiple Kernel Learning for the Classification of UAV Data

Directory of Open Access Journals (Sweden)

Caroline M. Gevaert

2016-12-01

Full Text Available Unmanned Aerial Vehicles (UAVs are capable of providing high-quality orthoimagery and 3D information in the form of point clouds at a relatively low cost. Their increasing popularity stresses the necessity of understanding which algorithms are especially suited for processing the data obtained from UAVs. The features that are extracted from the point cloud and imagery have different statistical characteristics and can be considered as heterogeneous, which motivates the use of Multiple Kernel Learning (MKL for classification problems. In this paper, we illustrate the utility of applying MKL for the classification of heterogeneous features obtained from UAV data through a case study of an informal settlement in Kigali, Rwanda. Results indicate that MKL can achieve a classification accuracy of 90.6%, a 5.2% increase over a standard single-kernel Support Vector Machine (SVM. A comparison of seven MKL methods indicates that linearly-weighted kernel combinations based on simple heuristics are competitive with respect to computationally-complex, non-linear kernel combination methods. We further underline the importance of utilizing appropriate feature grouping strategies for MKL, which has not been directly addressed in the literature, and we propose a novel, automated feature grouping method that achieves a high classification accuracy for various MKL methods.

Multi-period mean–variance portfolio optimization based on Monte-Carlo simulation

NARCIS (Netherlands)

F. Cong (Fei); C.W. Oosterlee (Kees)

2016-01-01

htmlabstractWe propose a simulation-based approach for solving the constrained dynamic mean– variance portfolio managemen tproblem. For this dynamic optimization problem, we first consider a sub-optimal strategy, called the multi-stage strategy, which can be utilized in a forward fashion. Then,

Use of UAV-Borne Spectrometer for Land Cover Classification

Directory of Open Access Journals (Sweden)

Sowmya Natesan

2018-04-01

Full Text Available Unmanned aerial vehicles (UAV are being used for low altitude remote sensing for thematic land classification using visible light and multi-spectral sensors. The objective of this work was to investigate the use of UAV equipped with a compact spectrometer for land cover classification. The UAV platform used was a DJI Flamewheel F550 hexacopter equipped with GPS and Inertial Measurement Unit (IMU navigation sensors, and a Raspberry Pi processor and camera module. The spectrometer used was the FLAME-NIR, a near-infrared spectrometer for hyperspectral measurements. RGB images and spectrometer data were captured simultaneously. As spectrometer data do not provide continuous terrain coverage, the locations of their ground elliptical footprints were determined from the bundle adjustment solution of the captured images. For each of the spectrometer ground ellipses, the land cover signature at the footprint location was determined to enable the characterization, identification, and classification of land cover elements. To attain a continuous land cover classification map, spatial interpolation was carried out from the irregularly distributed labeled spectrometer points. The accuracy of the classification was assessed using spatial intersection with the object-based image classification performed using the RGB images. Results show that in homogeneous land cover, like water, the accuracy of classification is 78% and in mixed classes, like grass, trees and manmade features, the average accuracy is 50%, thus, indicating the contribution of hyperspectral measurements of low altitude UAV-borne spectrometers to improve land cover classification.

Introducing a Low-Cost Mini-Uav for - and Multispectral-Imaging

Science.gov (United States)

Bendig, J.; Bolten, A.; Bareth, G.

2012-07-01

The trend to minimize electronic devices also accounts for Unmanned Airborne Vehicles (UAVs) as well as for sensor technologies and imaging devices. Consequently, it is not surprising that UAVs are already part of our daily life and the current pace of development will increase civil applications. A well known and already wide spread example is the so called flying video game based on Parrot's AR.Drone which is remotely controlled by an iPod, iPhone, or iPad (http://ardrone.parrot.com). The latter can be considered as a low-weight and low-cost Mini-UAV. In this contribution a Mini-UAV is considered to weigh less than 5 kg and is being able to carry 0.2 kg to 1.5 kg of sensor payload. While up to now Mini-UAVs like Parrot's AR.Drone are mainly equipped with RGB cameras for videotaping or imaging, the development of such carriage systems clearly also goes to multi-sensor platforms like the ones introduced for larger UAVs (5 to 20 kg) by Jaakkolla et al. (2010) for forestry applications or by Berni et al. (2009) for agricultural applications. The problem when designing a Mini-UAV for multi-sensor imaging is the limitation of payload of up to 1.5 kg and a total weight of the whole system below 5 kg. Consequently, the Mini-UAV without sensors but including navigation system and GPS sensors must weigh less than 3.5 kg. A Mini-UAV system with these characteristics is HiSystems' MK-Okto (www.mikrokopter.de). Total weight including battery without sensors is less than 2.5 kg. Payload of a MK-Okto is approx. 1 kg and maximum speed is around 30 km/h. The MK-Okto can be operated up to a wind speed of less than 19 km/h which corresponds to Beaufort scale number 3 for wind speed. In our study, the MK-Okto is equipped with a handheld low-weight NEC F30IS thermal imaging system. The F30IS which was developed for veterinary applications, covers 8 to 13 μm, weighs only 300 g, and is capturing the temperature range between -20 °C and 100 °C. Flying at a height of 100 m, the camera

Advanced Software Ground Station and UAV Development for NLoS Control Using Mobile Communications

Directory of Open Access Journals (Sweden)

Amr AbdElHamid

2015-01-01

Full Text Available Over the last decades, Unmanned Aerial Systems (UASs have gained much attention due to their various applications in different sections. However, their communication range is limited to utilized communication equipment. Therefore, utilization of GSM channels opens a new prospect towards long distance UAV missions and mobile command and control centers. This paper demonstrates new design and development of a small-scale UAV and a Ground Control Station (GCS using GSM bidirectional communications for Non-Line of Sight (NLoS long range control. GCSs are considered the front end node in UAV guidance process. Therefore, the proposed GCS employs a two-layer framework to consider all ground pilot requirements. Moreover, a new exploitation of global weather forecast data is added to the GCS. On the other hand, the proposed airborne system utilizes a new integration of different Commercial off-the-Shelf (COTS components and excludes short range receivers. The ground and flight tests show that stable bidirectional GSM communication is established, reliable hardware integration is accomplished, real time performance is achieved, GCS functional fidelity is obtained, and low cost is maintained. Finally, some qualitative aspects of the proposed platform are presented to address the detailed features.

Estimation of Vegetable Crop Parameter by Multi-temporal UAV-Borne Images

Directory of Open Access Journals (Sweden)

Thomas Moeckel

2018-05-01

Full Text Available 3D point cloud analysis of imagery collected by unmanned aerial vehicles (UAV has been shown to be a valuable tool for estimation of crop phenotypic traits, such as plant height, in several species. Spatial information about these phenotypic traits can be used to derive information about other important crop characteristics, like fresh biomass yield, which could not be derived directly from the point clouds. Previous approaches have often only considered single date measurements using a single point cloud derived metric for the respective trait. Furthermore, most of the studies focused on plant species with a homogenous canopy surface. The aim of this study was to assess the applicability of UAV imagery for capturing crop height information of three vegetables (crops eggplant, tomato, and cabbage with a complex vegetation canopy surface during a complete crop growth cycle to infer biomass. Additionally, the effect of crop development stage on the relationship between estimated crop height and field measured crop height was examined. Our study was conducted in an experimental layout at the University of Agricultural Science in Bengaluru, India. For all the crops, the crop height and the biomass was measured at five dates during one crop growth cycle between February and May 2017 (average crop height was 42.5, 35.5, and 16.0 cm for eggplant, tomato, and cabbage. Using a structure from motion approach, a 3D point cloud was created for each crop and sampling date. In total, 14 crop height metrics were extracted from the point clouds. Machine learning methods were used to create prediction models for vegetable crop height. The study demonstrates that the monitoring of crop height using an UAV during an entire growing period results in detailed and precise estimates of crop height and biomass for all three crops (R2 ranging from 0.87 to 0.97, bias ranging from −0.66 to 0.45 cm. The effect of crop development stage on the predicted crop height was

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.

Geohazard reconnaissance mapping for potential rock boulder fall using low altitude UAV photogrammetry

Science.gov (United States)

Sharan Kumar, N.; Ashraf Mohamad Ismail, Mohd; Sukor, Nur Sabahiah Abdul; Cheang, William

2018-05-01

This paper discusses potential applications of unmanned aerial vehicles (UAVs) for evaluation of risk immediately with photos and 3-dimensional digital element. Aerial photography using UAV ready to give a powerful technique for potential rock boulder fall recognition. High-resolution outputs from this method give the chance to evaluate the site for potential rock boulder falls spatially. The utilization of UAV to capture the aerial photos is a quick, reliable, and cost-effective technique contrasted with terrestrial laser scanning method. Reconnaissance of potential rock boulder susceptible to fall is very crucial during the geotechnical investigation. This process is essential in the view of the rock fall hazards nearby site before the beginning of any preliminary work. Photogrammetric applications have empowered the automated way to deal with identification of rock boulder susceptible to fall by recognizing the location, size, and position. A developing examination of the utilization of digital photogrammetry gives numerous many benefits for civil engineering application. These advancements have made important contributions to our capabilities to create the geohazard map on potential rock boulder fall.

Spurious RF signals emitted by mini-UAVs

Science.gov (United States)

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

UAV Controller Based on Adaptive Neuro-Fuzzy Inference System and PID

Directory of Open Access Journals (Sweden)

Ali Moltajaei Farid

2013-01-01

Full Text Available ANFIS is combining a neural network with a fuzzy system results in a hybrid neuro-fuzzy system, capable of reasoning and learning in an uncertain and imprecise environment. In this paper, an adaptive neuro-fuzzy inference system (ANFIS is employed to control an unmanned aircraft vehicle (UAV.  First, autopilots structure is defined, and then ANFIS controller is applied, to control UAVs lateral position. The results of ANFIS and PID lateral controllers are compared, where it shows the two controllers have similar results. ANFIS controller is capable to adaptation in nonlinear conditions, while PID has to be tuned to preserves proper control in some conditions. The simulation results generated by Matlab using Aerosim Aeronautical Simulation Block Set, which provides a complete set of tools for development of six degree-of-freedom. Nonlinear Aerosonde unmanned aerial vehicle model with ANFIS controller is simulated to verify the capability of the system. Moreover, the results are validated by FlightGear flight simulator.

Shigaraki UAV-Radar Experiment (ShUREX): overview of the campaign with some preliminary results

Science.gov (United States)

Kantha, Lakshmi; Lawrence, Dale; Luce, Hubert; Hashiguchi, Hiroyuki; Tsuda, Toshitaka; Wilson, Richard; Mixa, Tyler; Yabuki, Masanori

2017-12-01

The Shigaraki unmanned aerial vehicle (UAV)-Radar Experiment (ShUREX) is an international (USA-Japan-France) observational campaign, whose overarching goal is to demonstrate the utility of small, lightweight, inexpensive, autonomous UAVs in probing and monitoring the lower troposphere and to promote synergistic use of UAVs and very high frequency (VHF) radars. The 2-week campaign lasting from June 1 to June 14, 2015, was carried out at the Middle and Upper Atmosphere (MU) Observatory in Shigaraki, Japan. During the campaign, the DataHawk UAV, developed at the University of Colorado, Boulder, and equipped with high-frequency response cold wire and pitot tube sensors (as well as an iMET radiosonde), was flown near and over the VHF-band MU radar. Measurements in the atmospheric column in the immediate vicinity of the radar were obtained. Simultaneous and continuous operation of the radar in range imaging mode enabled fine-scale structures in the atmosphere to be visualized by the radar. It also permitted the UAV to be commanded to sample interesting structures, guided in near real time by the radar images. This overview provides a description of the ShUREX campaign and some interesting but preliminary results of the very first simultaneous and intensive probing of turbulent structures by UAVs and the MU radar. The campaign demonstrated the validity and utility of the radar range imaging technique in obtaining very high vertical resolution ( 20 m) images of echo power in the atmospheric column, which display evolving fine-scale atmospheric structures in unprecedented detail. The campaign also permitted for the very first time the evaluation of the consistency of turbulent kinetic energy dissipation rates in turbulent structures inferred from the spectral broadening of the backscattered radar signal and direct, in situ measurements by the high-frequency response velocity sensor on the UAV. The data also enabled other turbulence parameters such as the temperature

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.

Pigeon interaction mode switch-based UAV distributed flocking control under obstacle environments.

Science.gov (United States)

Qiu, Huaxin; Duan, Haibin

2017-11-01

Unmanned aerial vehicle (UAV) flocking control is a serious and challenging problem due to local interactions and changing environments. In this paper, a pigeon flocking model and a pigeon coordinated obstacle-avoiding model are proposed based on a behavior that pigeon flocks will switch between hierarchical and egalitarian interaction mode at different flight phases. Owning to the similarity between bird flocks and UAV swarms in essence, a distributed flocking control algorithm based on the proposed pigeon flocking and coordinated obstacle-avoiding models is designed to coordinate a heterogeneous UAV swarm to fly though obstacle environments with few informed individuals. The comparative simulation results are elaborated to show the feasibility, validity and superiority of our proposed algorithm. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

High-Fidelity Computational Aerodynamics of the Elytron 4S UAV

Science.gov (United States)

Ventura Diaz, Patricia; Yoon, Seokkwan; Theodore, Colin R.

2018-01-01

High-fidelity Computational Fluid Dynamics (CFD) have been carried out for the Elytron 4S Unmanned Aerial Vehicle (UAV), also known as the converticopter "proto12". It is the scaled wind tunnel model of the Elytron 4S, an Urban Air Mobility (UAM) concept, a tilt-wing, box-wing rotorcraft capable of Vertical Take-Off and Landing (VTOL). The three-dimensional unsteady Navier-Stokes equations are solved on overset grids employing high-order accurate schemes, dual-time stepping, and a hybrid turbulence model using NASA's CFD code OVERFLOW. The Elytron 4S UAV has been simulated in airplane mode and in helicopter mode.

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

Directory of Open Access Journals (Sweden)

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.

UAV-borne lidar with MEMS mirror-based scanning capability

Science.gov (United States)

Kasturi, Abhishek; Milanovic, Veljko; Atwood, Bryan H.; Yang, James

2016-05-01

Firstly, we demonstrated a wirelessly controlled MEMS scan module with imaging and laser tracking capability which can be mounted and flown on a small UAV quadcopter. The MEMS scan module was reduced down to a small volume of smartphone via Bluetooth while flying on a drone, and could project vector content, text, and perform laser based tracking. Also, a "point-and-range" LiDAR module was developed for UAV applications based on low SWaP (Size, Weight and Power) gimbal-less MEMS mirror beam-steering technology and off-the-shelf OEM LRF modules. For demonstration purposes of an integrated laser range finder module, we used a simple off-the-shelf OEM laser range finder (LRF) with a 100m range, +/-1.5mm accuracy, and 4Hz ranging capability. The LRFs receiver optics were modified to accept 20° of angle, matching the transmitter's FoR. A relatively large (5.0mm) diameter MEMS mirror with +/-10° optical scanning angle was utilized in the demonstration to maintain the small beam divergence of the module. The complete LiDAR prototype can fit into a small volume of battery. The MEMS mirror based LiDAR system allows for ondemand ranging of points or areas within the FoR without altering the UAV's position. Increasing the LRF ranging frequency and stabilizing the pointing of the laser beam by utilizing the onboard inertial sensors and the camera are additional goals of the next design.

Multiple utility constrained multi-objective programs using Bayesian theory

Science.gov (United States)

Abbasian, Pooneh; Mahdavi-Amiri, Nezam; Fazlollahtabar, Hamed

2018-03-01

A utility function is an important tool for representing a DM's preference. We adjoin utility functions to multi-objective optimization problems. In current studies, usually one utility function is used for each objective function. Situations may arise for a goal to have multiple utility functions. Here, we consider a constrained multi-objective problem with each objective having multiple utility functions. We induce the probability of the utilities for each objective function using Bayesian theory. Illustrative examples considering dependence and independence of variables are worked through to demonstrate the usefulness of the proposed model.

Achievable Rates of UAV-Relayed Cooperative Cognitive Radio MIMO Systems

KAUST Repository

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

2017-01-01

We study the achievable rate of an uplink MIMO cognitive radio system where the primary user (PU) and the secondary user (SU) aim to communicate to the closest primary base station (BS) via a multi-access channel through the same unmanned aerial vehicle (UAV) relay. The SU message is then forwarded from the primary BS to the secondary network with a certain incentive reward as a part of the cooperation protocol between both networks. A special linear precoding scheme is proposed to enable the SU to exploit the PU free eigenmodes. We analyze two scenarios in which the UAV relay gain matrix is either fixed or optimized. We derive the optimal power allocation that maximizes the achievable rate of the SU respecting power budget, interference, and relay power constraints. Numerical results highlight the cognitive rate gain of our proposed scheme with respect to various problem parameters. We also highlight the effect of UAV altitude on the SU and PU rates. Finally, when the relay matrix is optimized, we show that the PU rate is remarkably enhanced and that the SU rate is only improved at high power regime.

Achievable Rates of UAV-Relayed Cooperative Cognitive Radio MIMO Systems

KAUST Repository

Sboui, Lokman

2017-04-19

We study the achievable rate of an uplink MIMO cognitive radio system where the primary user (PU) and the secondary user (SU) aim to communicate to the closest primary base station (BS) via a multi-access channel through the same unmanned aerial vehicle (UAV) relay. The SU message is then forwarded from the primary BS to the secondary network with a certain incentive reward as a part of the cooperation protocol between both networks. A special linear precoding scheme is proposed to enable the SU to exploit the PU free eigenmodes. We analyze two scenarios in which the UAV relay gain matrix is either fixed or optimized. We derive the optimal power allocation that maximizes the achievable rate of the SU respecting power budget, interference, and relay power constraints. Numerical results highlight the cognitive rate gain of our proposed scheme with respect to various problem parameters. We also highlight the effect of UAV altitude on the SU and PU rates. Finally, when the relay matrix is optimized, we show that the PU rate is remarkably enhanced and that the SU rate is only improved at high power regime.

Multimodel Predictive Control Approach for UAV Formation Flight

Directory of Open Access Journals (Sweden)

Chang-jian Ru

2014-01-01

Full Text Available Formation flight problem is the most important and interesting problem of multiple UAVs (unmanned aerial vehicles cooperative control. In this paper, a novel approach for UAV formation flight based on multimodel predictive control is designed. Firstly, the state equation of relative motion is obtained and then discretized. By the geometrical method, the characteristic points of state are determined. Afterwards, based on the linearization technique, the standard linear discrete model is obtained at each characteristic state point. Then, weighted model set is proposed using the idea of T-S (Takagi-Sugeno fuzzy control and the predictive control is carried out based on the multimodel method. Finally, to verify the performance of the proposed method, two different simulation scenarios are performed.

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

APPLICATION OF SENSOR FUSION TO IMPROVE UAV IMAGE CLASSIFICATION

Directory of Open Access Journals (Sweden)

S. Jabari

2017-08-01

Full Text Available Image classification is one of the most important tasks of remote sensing projects including the ones that are based on using UAV images. Improving the quality of UAV images directly affects the classification results and can save a huge amount of time and effort in this area. In this study, we show that sensor fusion can improve image quality which results in increasing the accuracy of image classification. Here, we tested two sensor fusion configurations by using a Panchromatic (Pan camera along with either a colour camera or a four-band multi-spectral (MS camera. We use the Pan camera to benefit from its higher sensitivity and the colour or MS camera to benefit from its spectral properties. The resulting images are then compared to the ones acquired by a high resolution single Bayer-pattern colour camera (here referred to as HRC. We assessed the quality of the output images by performing image classification tests. The outputs prove that the proposed sensor fusion configurations can achieve higher accuracies compared to the images of the single Bayer-pattern colour camera. Therefore, incorporating a Pan camera on-board in the UAV missions and performing image fusion can help achieving higher quality images and accordingly higher accuracy classification results.

Application of Sensor Fusion to Improve Uav Image Classification

Science.gov (United States)

Jabari, S.; Fathollahi, F.; Zhang, Y.

2017-08-01

Image classification is one of the most important tasks of remote sensing projects including the ones that are based on using UAV images. Improving the quality of UAV images directly affects the classification results and can save a huge amount of time and effort in this area. In this study, we show that sensor fusion can improve image quality which results in increasing the accuracy of image classification. Here, we tested two sensor fusion configurations by using a Panchromatic (Pan) camera along with either a colour camera or a four-band multi-spectral (MS) camera. We use the Pan camera to benefit from its higher sensitivity and the colour or MS camera to benefit from its spectral properties. The resulting images are then compared to the ones acquired by a high resolution single Bayer-pattern colour camera (here referred to as HRC). We assessed the quality of the output images by performing image classification tests. The outputs prove that the proposed sensor fusion configurations can achieve higher accuracies compared to the images of the single Bayer-pattern colour camera. Therefore, incorporating a Pan camera on-board in the UAV missions and performing image fusion can help achieving higher quality images and accordingly higher accuracy classification results.

INTRODUCING A LOW-COST MINI-UAV FOR THERMAL- AND MULTISPECTRAL-IMAGING

Directory of Open Access Journals (Sweden)

J. Bendig

2012-07-01

Full Text Available The trend to minimize electronic devices also accounts for Unmanned Airborne Vehicles (UAVs as well as for sensor technologies and imaging devices. Consequently, it is not surprising that UAVs are already part of our daily life and the current pace of development will increase civil applications. A well known and already wide spread example is the so called flying video game based on Parrot's AR.Drone which is remotely controlled by an iPod, iPhone, or iPad (http://ardrone.parrot.com. The latter can be considered as a low-weight and low-cost Mini-UAV. In this contribution a Mini-UAV is considered to weigh less than 5 kg and is being able to carry 0.2 kg to 1.5 kg of sensor payload. While up to now Mini-UAVs like Parrot's AR.Drone are mainly equipped with RGB cameras for videotaping or imaging, the development of such carriage systems clearly also goes to multi-sensor platforms like the ones introduced for larger UAVs (5 to 20 kg by Jaakkolla et al. (2010 for forestry applications or by Berni et al. (2009 for agricultural applications. The problem when designing a Mini-UAV for multi-sensor imaging is the limitation of payload of up to 1.5 kg and a total weight of the whole system below 5 kg. Consequently, the Mini-UAV without sensors but including navigation system and GPS sensors must weigh less than 3.5 kg. A Mini-UAV system with these characteristics is HiSystems' MK-Okto (www.mikrokopter.de. Total weight including battery without sensors is less than 2.5 kg. Payload of a MK-Okto is approx. 1 kg and maximum speed is around 30 km/h. The MK-Okto can be operated up to a wind speed of less than 19 km/h which corresponds to Beaufort scale number 3 for wind speed. In our study, the MK-Okto is equipped with a handheld low-weight NEC F30IS thermal imaging system. The F30IS which was developed for veterinary applications, covers 8 to 13 μm, weighs only 300 g, and is capturing the temperature range between −20 °C and 100 °C. Flying at a height of

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

Bandwidth Assessment for MultiRotor UAVs

Directory of Open Access Journals (Sweden)

Ferrarese Gastone

2017-06-01

Full Text Available This paper is a technical note about the theoretical evaluation of the bandwidth of multirotor helicopters. Starting from a mathematical linear model of the dynamics of a multirotor aircraft, the transfer functions of the state variables that deeply affect the stability characteristics of the aircraft are obtained. From these transfer functions, the frequency response analysis of the system is effected. After this analysis, the bandwidth of the system is defined. This result is immediately utilized for the design of discrete PID controllers for hovering flight stabilization. Numeric simulations are shown to demonstrate that the knowledge of the bandwidth is a valid aid in the design of flight control systems of these machines.

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.

Real-time UAV trajectory generation using feature points matching between video image sequences

Science.gov (United States)

Byun, Younggi; Song, Jeongheon; Han, Dongyeob

2017-09-01

Unmanned aerial vehicles (UAVs), equipped with navigation systems and video capability, are currently being deployed for intelligence, reconnaissance and surveillance mission. In this paper, we present a systematic approach for the generation of UAV trajectory using a video image matching system based on SURF (Speeded up Robust Feature) and Preemptive RANSAC (Random Sample Consensus). Video image matching to find matching points is one of the most important steps for the accurate generation of UAV trajectory (sequence of poses in 3D space). We used the SURF algorithm to find the matching points between video image sequences, and removed mismatching by using the Preemptive RANSAC which divides all matching points to outliers and inliers. The inliers are only used to determine the epipolar geometry for estimating the relative pose (rotation and translation) between image sequences. Experimental results from simulated video image sequences showed that our approach has a good potential to be applied to the automatic geo-localization of the UAVs system

Modeling and Flocking Consensus Analysis for Large-Scale UAV Swarms

Directory of Open Access Journals (Sweden)

Li Bing

2013-01-01

Full Text Available Recently, distributed coordination control of the unmanned aerial vehicle (UAV swarms has been a particularly active topic in intelligent system field. In this paper, through understanding the emergent mechanism of the complex system, further research on the flocking and the dynamic characteristic of UAV swarms will be given. Firstly, this paper analyzes the current researches and existent problems of UAV swarms. Afterwards, by the theory of stochastic process and supplemented variables, a differential-integral model is established, converting the system model into Volterra integral equation. The existence and uniqueness of the solution of the system are discussed. Then the flocking control law is given based on artificial potential with system consensus. At last, we analyze the stability of the proposed flocking control algorithm based on the Lyapunov approach and prove that the system in a limited time can converge to the consensus direction of the velocity. Simulation results are provided to verify the conclusion.

UAV-Assisted Dynamic Clustering of Wireless Sensor Networks for Crop Health Monitoring.

Science.gov (United States)

Uddin, Mohammad Ammad; Mansour, Ali; Jeune, Denis Le; Ayaz, Mohammad; Aggoune, El-Hadi M

2018-02-11

In this study, a crop health monitoring system is developed by using state of the art technologies including wireless sensors and Unmanned Aerial Vehicles (UAVs). Conventionally data is collected from sensor nodes either by fixed base stations or mobile sinks. Mobile sinks are considered a better choice nowadays due to their improved network coverage and energy utilization. Usually, the mobile sink is used in two ways: either it goes for random walk to find the scattered nodes and collect data, or follows a pre-defined path established by the ground network/clusters. Neither of these options is suitable in our scenario due to the factors like dynamic data collection, the strict targeted area required to be scanned, unavailability of a large number of nodes, dynamic path of the UAV, and most importantly, none of these are known in advance. The contribution of this paper is the formation of dynamic runtime clusters of field sensors by considering the above mentioned factors. Furthermore a mechanism (Bayesian classifier) is defined to select best node as cluster head. The proposed system is validated through simulation results, lab and infield experiments using concept devices. The obtained results are encouraging, especially in terms of deployment time, energy, efficiency, throughput and ease of use.

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.

Multi-utility services, the key to success; Mit Multi-Utility-Dienstleistungen zum Erfolg

Energy Technology Data Exchange (ETDEWEB)

Lowak, M. [MVV Energie AG, Mannheim (Germany). Bereich Energiedienstleistungen

2002-04-01

The article summarizes essential aspects of successful management strategies, including cross selling, of the Mannheim-based multi-utility enterprise MVV Energie AG, which developed a successful portfolio of innovative products and services. (orig./CB) [German] Aus ihrem Kerngeschaeft als Verteilerunternehmen hat die MVV Energie AG, Mannheim, ein umfassendes Portfolio innovativer Produkte und Dienstleistungen entwickelt. (orig./CB)

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...

Optimization of Pesticide Spraying Tasks via Multi-UAVs Using Genetic Algorithm

Directory of Open Access Journals (Sweden)

He Luo

2017-01-01

Full Text Available Task allocation is the key factor in the spraying pesticides process using unmanned aerial vehicles (UAVs, and maximizing the effects of pesticide spraying is the goal of optimizing UAV pesticide spraying. In this study, we first introduce each UAV’s kinematic constraint and extend the Euclidean distance between fields to the Dubins path distance. We then analyze the two factors affecting the pesticide spraying effects, which are the type of pesticides and the temperature during the pesticide spraying. The time window of the pesticide spraying is dynamically generated according to the temperature and is introduced to the pesticide spraying efficacy function. Finally, according to the extensions, we propose a team orienteering problem with variable time windows and variable profits model. We propose the genetic algorithm to solve the above model and give the methods of encoding, crossover, and mutation in the algorithm. The experimental results show that this model and its solution method have clear advantages over the common manual allocation strategy and can provide the same results as those of the enumeration method in small-scale scenarios. In addition, the results also show that the algorithm parameter can affect the solution, and we provide the optimal parameters configuration for the algorithm.

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.

A Robust Vision-based Runway Detection and Tracking Algorithm for Automatic UAV Landing

KAUST Repository

Abu Jbara, Khaled F.

2015-05-01

This work presents a novel real-time algorithm for runway detection and tracking applied to the automatic takeoff and landing of Unmanned Aerial Vehicles (UAVs). The algorithm is based on a combination of segmentation based region competition and the minimization of a specific energy function to detect and identify the runway edges from streaming video data. The resulting video-based runway position estimates are updated using a Kalman Filter, which can integrate other sensory information such as position and attitude angle estimates to allow a more robust tracking of the runway under turbulence. We illustrate the performance of the proposed lane detection and tracking scheme on various experimental UAV flights conducted by the Saudi Aerospace Research Center. Results show an accurate tracking of the runway edges during the landing phase under various lighting conditions. Also, it suggests that such positional estimates would greatly improve the positional accuracy of the UAV during takeoff and landing phases. The robustness of the proposed algorithm is further validated using Hardware in the Loop simulations with diverse takeoff and landing videos generated using a commercial flight simulator.

CO-REGISTRATION OF DSMs GENERATED BY UAV AND TERRESTRIAL LASER SCANNING SYSTEMS

Directory of Open Access Journals (Sweden)

R. A. Persad

2016-06-01

Full Text Available An approach for the co-registration of Digital Surface Models (DSMs derived from Unmanned Aerial Vehicles (UAVs and Terrestrial Laser Scanners (TLS is proposed. Specifically, a wavelet-based feature descriptor for matching surface keypoints on the 2.5D DSMs is developed. DSMs are useful in wide-scope of various applications such as 3D building modelling and reconstruction, cultural heritage, urban and environmental planning, aircraft navigation/path routing, accident and crime scene reconstruction, mining as well as, topographic map revision and change detection. For these listed applications, it is not uncommon that there will be a need for automatically aligning multi-temporal DSMs which may have been acquired from multiple sensors, with different specifications over a period of time, and may have various overlaps. Terrestrial laser scanners usually capture urban facades in an accurate manner; however this is not the case for building roof structures. On the other hand, vertical photography from UAVs can capture the roofs. Therefore, the automatic fusion of UAV and laser-scanning based DSMs is addressed here as it serves various geospatial applications.

On the throughput of cognitive radio MIMO systems assisted with UAV relays

KAUST Repository

Sboui, Lokman

2017-07-20

We analyze the achievable rates of a cognitive radio MIMO system assisted by an unmanned aerial vehicle (UAV) relay. The primary user (PU) and the secondary user (SU) aim to communicate to the closest primary base station (BS) via a multi-access channel through the same UAV relay. The SU message is then forwarded from the primary BS to the secondary network with a certain incentive reward as a part of the cooperation protocol between both networks. We propose a special linear precoding scheme to enable the SU to exploit the PU free eigenmodes. We, also, present the expression of the power maximizing both primary and secondary rates under power budget, relay power, and interference constraints. In the numerical results, we evaluate the PU and SU rates of proposed scheme with respect to various problem parameters. We also highlight the effect of the UAV altitude on the SU and PU rates. Finally, we show that the relay matrix variation affects both rates that reach their peaks at different values of the matrix.

Relative position control design of receiver UAV in flying-boom aerial refueling phase.

Science.gov (United States)

An, Shuai; Yuan, Suozhong

2018-02-01

This paper proposes the design of the relative position-keeping control of the receiver unmanned aerial vehicle (UAV) with the time-varying mass in the refueling phase utilizing an inner-outer loop structure. Firstly, the model of the receiver in the refueling phase is established. And then tank model is set up to analyze the influence of fuel transfer on the receiver. Subsequently, double power reaching law based sliding mode controller is designed to control receiver translational motion relative to tanker aircraft in the outer loop while active disturbance rejection control technique is applied to the inner loop to stabilize the receiver. In addition, the closed-loop stabilities of the subsystems are established, respectively. Finally, an aerial refueling model under various refueling strategies is utilized. Simulations and comparative analysis demonstrate the effectiveness and robustness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Rapid mapping of landslide disaster using UAV- photogrammetry

Science.gov (United States)

Cahyono, A. B.; Zayd, R. A.

2018-03-01

Unmanned Aerial Vehicle (UAV) systems offered many advantages in several mapping applications such as slope mapping, geohazard studies, etc. This study utilizes UAV system for landslide disaster occurred in Jombang Regency, East Java. This study concentrates on type of rotor-wing UAV, that is because rotor wing units are stable and able to capture images easily. Aerial photograph were acquired in the form of strips which followed the procedure of acquiring aerial photograph where taken 60 photos. Secondary data of ground control points using GPS Geodetic and check points established using Total Station technique was used. The digital camera was calibrated using close range photogrammetric software and the recovered camera calibration parameters were then used in the processing of digital images. All the aerial photographs were processed using digital photogrammetric software and the output in the form of orthophoto was produced. The final result shows a 1: 1500 scale orthophoto map from the data processing with SfM algorithm with GSD accuracy of 3.45 cm. And the calculated volume of contour line delineation of 10527.03 m3. The result is significantly different from the result of terrestrial methode equal to 964.67 m3 or 8.4% of the difference of both.

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.

Study on the aerodynamic behavior of a UAV with an applied seeder for agricultural practices

Science.gov (United States)

Felismina, Raimundo; Silva, Miguel; Mateus, Artur; Malça, Cândida

2017-06-01

It is irrefutable that the use of Unmanned Airborne Vehicle Systems (UAVs) in agricultural tasks and on the analysis of health and vegetative conditions represents a powerful tool in modern agriculture. To contribute to the growth of the agriculture economic sector a seeder to be coupled to any type of UAV was previously developed and designed by the authors. This seeder allows for the deposition of seeds with positional accuracy, i.e., seeds are accurately deposited at pre-established distances between plants [1]. This work aims at analyzing the aerodynamic behavior of UAV/Seeder assembly to determine the suitable inclination - among 0°, 15° and 30° - for its takeoff and for its motion during the seeding operation and, in turn, to define the suitable flight plan that increases the batteries autonomy. For this the ANSYS® FLUENT computational tool was used to simulate a wind tunnel which has as principle the Navier-Stokes differential equations, that designates the fluid flow around the UAV/Seeder assembly. The aerodynamic results demonstrated that for take-off the UAV inclination of 30° is the aerodynamically most favorable position due to the lower aerodynamic drag during the climb. Concerning flying motion during the seeding procedure the UAV inclination of 0° is that which leads to lower UAV/Seeder frontal area and drag coefficient.

Efficiency calibration and minimum detectable activity concentration of a real-time UAV airborne sensor system with two gamma spectrometers

International Nuclear Information System (INIS)

Tang, Xiao-Bin; Meng, Jia; Wang, Peng; Cao, Ye; Huang, Xi; Wen, Liang-Sheng; Chen, Da

2016-01-01

A small-sized UAV (NH-UAV) airborne system with two gamma spectrometers (LaBr_3 detector and HPGe detector) was developed to monitor activity concentration in serious nuclear accidents, such as the Fukushima nuclear accident. The efficiency calibration and determination of minimum detectable activity concentration (MDAC) of the specific system were studied by MC simulations at different flight altitudes, different horizontal distances from the detection position to the source term center and different source term sizes. Both air and ground radiation were considered in the models. The results obtained may provide instructive suggestions for in-situ radioactivity measurements of NH-UAV. - Highlights: • A small-sized UAV airborne sensor system was developed. • Three radioactive models were chosen to simulate the Fukushima accident. • Both the air and ground radiation were considered in the models. • The efficiency calculations and MDAC values were given. • The sensor system is able to monitor in serious nuclear accidents.

Multi-agent systems simulation and applications

CERN Document Server

Uhrmacher, Adelinde M

2009-01-01

Methodological Guidelines for Modeling and Developing MAS-Based SimulationsThe intersection of agents, modeling, simulation, and application domains has been the subject of active research for over two decades. Although agents and simulation have been used effectively in a variety of application domains, much of the supporting research remains scattered in the literature, too often leaving scientists to develop multi-agent system (MAS) models and simulations from scratch. Multi-Agent Systems: Simulation and Applications provides an overdue review of the wide ranging facets of MAS simulation, i

Monitoring landslide dynamics using timeseries of UAV imagery

Science.gov (United States)

de Jong, S. M.; Van Beek, L. P.

2017-12-01

Landslides are worldwide occurring processes that can have large economic impact and sometimes result in fatalities. Multiple factors are important in landslide processes and can make an area prone to landslide activity. Human factors like drainage and removal of vegetation or land clearing are examples of factors that may cause a landslide. Other environmental factors such as topography and the shear strength of the slope material are more difficult to control. Triggering factors for landslides are typically heavy rainfall events or sometimes by earthquakes or under cutting processes by a river. The collection of data about existing landslides in a given area is important for predicting future landslides in that region. We have setup a monitoring program for landslide using cameras aboard Unmanned Airborne Vehicles. UAV with cameras are able to collect ultra-high resolution images and UAVs can be operated in a very flexible way, they just fit in the back of a car. Here, in this study we used Unmanned Aerial Vehicles to collect a time series of high-resolution images over landslides in France and Australia. The algorithm used to process the UAV images into OrthoMosaics and OrthoDEMs is Structure from Motion (SfM). The process generally results in centimeter precision in the horizontal and vertical direction. Such multi-temporal datasets enable the detection of landslide area, the leading edge slope, temporal patterns and volumetric changes of particular areas of the landslide. We measured and computed surface movement of the landslide using the COSI-Corr image correlation algorithm with ground validation. Our study shows the possibilities of generating accurate Digital Surface Models (DSMs) of landslides using images collected with an Unmanned Aerial Vehicle (UAV). The technique is robust and repeatable such that a substantial time series of datasets can be routinely collected. It is shown that a time-series of UAV images can be used to map landslide movements with

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.

CFD Analysis of UAV Flying Wing

Directory of Open Access Journals (Sweden)

Vasile PRISACARIU

2016-09-01

Full Text Available Numerical methods for solving equations describing the evolution of 3D fluid experienced a significant development closely related to the progress of information systems. Today, especially in the field of fluid mechanics, numerical simulations allow the study of gas-thermodynamic confirmed by experimental techniques in wind tunnel conditions and actual flight tests for modeling complex aircraft. The article shows a case of numerical analysis of the lifting surface on the UAV type flying wing.

A Q-Learning Approach to Flocking With UAVs in a Stochastic Environment.

Science.gov (United States)

Hung, Shao-Ming; Givigi, Sidney N

2017-01-01

In the past two decades, unmanned aerial vehicles (UAVs) have demonstrated their efficacy in supporting both military and civilian applications, where tasks can be dull, dirty, dangerous, or simply too costly with conventional methods. Many of the applications contain tasks that can be executed in parallel, hence the natural progression is to deploy multiple UAVs working together as a force multiplier. However, to do so requires autonomous coordination among the UAVs, similar to swarming behaviors seen in animals and insects. This paper looks at flocking with small fixed-wing UAVs in the context of a model-free reinforcement learning problem. In particular, Peng's Q(λ) with a variable learning rate is employed by the followers to learn a control policy that facilitates flocking in a leader-follower topology. The problem is structured as a Markov decision process, where the agents are modeled as small fixed-wing UAVs that experience stochasticity due to disturbances such as winds and control noises, as well as weight and balance issues. Learned policies are compared to ones solved using stochastic optimal control (i.e., dynamic programming) by evaluating the average cost incurred during flight according to a cost function. Simulation results demonstrate the feasibility of the proposed learning approach at enabling agents to learn how to flock in a leader-follower topology, while operating in a nonstationary stochastic environment.

UAV – a useful tool for monitoring woodlands

Directory of Open Access Journals (Sweden)

Zmarz Anna

2014-06-01

Full Text Available Unmanned aerial systems are in many countries one of the most dynamically developing branches of technology. They have also been recognized and are being utilized by scientists who find remote sensing indispensable in their work. Today, it is increasingly common to find research teams utilizing so-called drones in field research. Unmanned systems are becoming ever more important for environment monitoring by, on the one hand, providing data from inaccessible or remote areas, and, on the other hand, reducing the human costs required by traditional large field teams while also increasing the efficiency of the work. This paper presents the possibility of utilizing UAVs for image data collection in woodland areas.

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.

Integration of UAV and ground-based Structure from Motion with Multi-View Stereo photogrammetry and hydrological data to quantify hillslope gully erosion processes in tropical savanna

Science.gov (United States)

Koci, J.; Jarihani, B.; Sidle, R. C.; Wilkinson, S. N.; Bartley, R.

2017-12-01

Structure from Motion with Multi-View Stereo (SfM-MVS) photogrammetry provides a cost-effective method of rapidly acquiring high resolution (sub-meter) topographic data, but is rarely used in hydrogeomorphic investigations of gully erosion. This study integrates high resolution topographic and land cover data derived from an unmanned aerial vehicle (UAV) and ground-based SfM-MVS photogrammetry, with rainfall and gully discharge data, to elucidate hydrogeomorphic processes driving hillslope gully erosion. The study is located within a small (13 km2) dry-tropical savanna catchment within the Burdekin River Basin, northeast Australia, which is a major contributor sediments and nutrients to the Great Barrier Reef World Heritage Area. A pre-wet season UAV survey covered an entire hillslope gully system (0.715 km2), and is used to derive topography, ground cover and hydrological flow pathways in the gully contributing area. Ground-based surveys of a single active gully (650 m2) within the broader hillslope are compared between pre- and post-wet season conditions to quantify gully geomorphic change. Rainfall, recorded near to the head of the gully, is related to gully discharge during sporadic storm events. The study provides valuable insights into the relationships among hydrological flow pathways, ground cover, rainfall and runoff, and spatial patterns of gully morphologic change. We demonstrate how UAV and ground-based SfM-MVS photogrammetry can be used to improve hydrogeomorphic process understanding and aid in the modelling and management of hillslope gully systems.

Optimal multi-agent path planning for fast inverse modeling in UAV-based flood sensing applications

KAUST Repository

Abdelkader, Mohamed

2014-05-01

Floods are the most common natural disasters, causing thousands of casualties every year in the world. In particular, flash flood events are particularly deadly because of the short timescales on which they occur. Unmanned air vehicles equipped with mobile microsensors could be capable of sensing flash floods in real time, saving lives and greatly improving the efficiency of the emergency response. However, of the main issues arising with sensing floods is the difficulty of planning the path of the sensing agents in advance so as to obtain meaningful data as fast as possible. In this particle, we present a fast numerical scheme to quickly compute the trajectories of a set of UAVs in order to maximize the accuracy of model parameter estimation over a time horizon. Simulation results are presented, a preliminary testbed is briefly described, and future research directions and problems are discussed. © 2014 IEEE.

Hierarchical heuristic search using a Gaussian mixture model for UAV coverage planning.

Science.gov (United States)

Lin, Lanny; Goodrich, Michael A

2014-12-01

During unmanned aerial vehicle (UAV) search missions, efficient use of UAV flight time requires flight paths that maximize the probability of finding the desired subject. The probability of detecting the desired subject based on UAV sensor information can vary in different search areas due to environment elements like varying vegetation density or lighting conditions, making it likely that the UAV can only partially detect the subject. This adds another dimension of complexity to the already difficult (NP-Hard) problem of finding an optimal search path. We present a new class of algorithms that account for partial detection in the form of a task difficulty map and produce paths that approximate the payoff of optimal solutions. The algorithms use the mode goodness ratio heuristic that uses a Gaussian mixture model to prioritize search subregions. The algorithms search for effective paths through the parameter space at different levels of resolution. We compare the performance of the new algorithms against two published algorithms (Bourgault's algorithm and LHC-GW-CONV algorithm) in simulated searches with three real search and rescue scenarios, and show that the new algorithms outperform existing algorithms significantly and can yield efficient paths that yield payoffs near the optimal.

Building Damage Extraction Triggered by Earthquake Using the Uav Imagery

Science.gov (United States)

Li, S.; Tang, H.

2018-04-01

When extracting building damage information, we can only determine whether the building is collapsed using the post-earthquake satellite images. Even the satellite images have the sub-meter resolution, the identification of slightly damaged buildings is still a challenge. As the complementary data to satellite images, the UAV images have unique advantages, such as stronger flexibility and higher resolution. In this paper, according to the spectral feature of UAV images and the morphological feature of the reconstructed point clouds, the building damage was classified into four levels: basically intact buildings, slightly damaged buildings, partially collapsed buildings and totally collapsed buildings, and give the rules of damage grades. In particular, the slightly damaged buildings are determined using the detected roof-holes. In order to verify the approach, we conduct experimental simulations in the cases of Wenchuan and Ya'an earthquakes. By analyzing the post-earthquake UAV images of the two earthquakes, the building damage was classified into four levels, and the quantitative statistics of the damaged buildings is given in the experiments.

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 BASED BRDF-MEASUREMENTS OF AGRICULTURAL SURFACES WITH PFIFFIKUS

Directory of Open Access Journals (Sweden)

G. J. Grenzdörffer

2012-09-01

Full Text Available BRDF is a common problem in remote sensing and also in oblique photogrammetry. Common approaches of BRDF-measurement with a field goniometer are costly and rather cumbersome. UAVs may offer an interesting alternative by using a special flight pattern of oblique and converging images. The main part of this paper is the description of a photogrammetric workflow in order to determine the anisotropic reflection properties of a given surface. Due to the relatively low flying heights standard procedures from close range photogrammetry were adopted for outdoor usage. The photogrammetric processing delivered automatic and highly accurate orientation information with the aid of coded targets. The interior orientation of the consumer grade camera is more or less stable. The radiometrically corrected oblique images are converted into ortho photos. The azimuth and elevation angle of every point may then be computed. The calculated anisotropy of a winter wheat plot is shown. A system four diagonally-looking cameras (Four Vision and an additional nadir looking camera is under development. The multi camera system especially designed for a Micro- UAV with a payload of min 1 kg. The system is composed of five industrial digital frame cameras (1.3 Mpix CCD-chips, 15 fp/s with fixed lenses. Also special problems with the construction of a light weight housing of the multi camera solution are covered in the paper.

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 ...

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...

Multi-filter spectrophotometry simulations

Science.gov (United States)

Callaghan, Kim A. S.; Gibson, Brad K.; Hickson, Paul

1993-01-01

To complement both the multi-filter observations of quasar environments described in these proceedings, as well as the proposed UBC 2.7 m Liquid Mirror Telescope (LMT) redshift survey, we have initiated a program of simulated multi-filter spectrophotometry. The goal of this work, still very much in progress, is a better quantitative assessment of the multiband technique as a viable mechanism for obtaining useful redshift and morphological class information from large scale multi-filter surveys.

Feasibility Analysis of UAV Technology to Improve Tactical Surveillance in South Korea’s Rear Area Operations

Science.gov (United States)

2017-03-01

19 Figure 9. South Korea Topography . Source: Wikimedia Commons (2016) .............19 Figure 10. Terrain Map and Terrain Features. Adapted from...the effectiveness of using UAVs to overcome NK’s capability to fire scatterable mines . His study introduces computer modeling and simulation to the...ROKA artillery research about NK’s mine artillery threat, whereas previous efforts had been mostly qualitative analyses. He used more capable UAVs

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...

PROCESSING OF UAV BASED RANGE IMAGING DATA TO GENERATE DETAILED ELEVATION MODELS OF COMPLEX NATURAL STRUCTURES

Directory of Open Access Journals (Sweden)

T. K. Kohoutek

2012-07-01

Full Text Available Unmanned Aerial Vehicles (UAVs are more and more used in civil areas like geomatics. Autonomous navigated platforms have a great flexibility in flying and manoeuvring in complex environments to collect remote sensing data. In contrast to standard technologies such as aerial manned platforms (airplanes and helicopters UAVs are able to fly closer to the object and in small-scale areas of high-risk situations such as landslides, volcano and earthquake areas and floodplains. Thus, UAVs are sometimes the only practical alternative in areas where access is difficult and where no manned aircraft is available or even no flight permission is given. Furthermore, compared to terrestrial platforms, UAVs are not limited to specific view directions and could overcome occlusions from trees, houses and terrain structures. Equipped with image sensors and/or laser scanners they are able to provide elevation models, rectified images, textured 3D-models and maps. In this paper we will describe a UAV platform, which can carry a range imaging (RIM camera including power supply and data storage for the detailed mapping and monitoring of complex structures, such as alpine riverbed areas. The UAV platform NEO from Swiss UAV was equipped with the RIM camera CamCube 2.0 by PMD Technologies GmbH to capture the surface structures. Its navigation system includes an autopilot. To validate the UAV-trajectory a 360° prism was installed and tracked by a total station. Within the paper a workflow for the processing of UAV-RIM data is proposed, which is based on the processing of differential GNSS data in combination with the acquired range images. Subsequently, the obtained results for the trajectory are compared and verified with a track of a UAV (Falcon 8, Ascending Technologies carried out with a total station simultaneously to the GNSS data acquisition. The results showed that the UAV's position using differential GNSS could be determined in the centimetre to the decimetre

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor

Directory of Open Access Journals (Sweden)

Ramūnas Kikutis

2017-09-01

Full Text Available Current research on Unmanned Aerial Vehicles (UAVs shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically.

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor.

Science.gov (United States)

Kikutis, Ramūnas; Stankūnas, Jonas; Rudinskas, Darius; Masiulionis, Tadas

2017-09-28

Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically.

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.

Coastal Ecosystem Assessment, Development and Creation of a Policy Tool using Unmanned Aerial Vehicles (UAVs) for: A Case Study of Western Puerto Rico Coastal Region

Science.gov (United States)

Munoz Barreto, J.; Pillich, J.; Aponte Bermúdez, L. D.; Torres Pagan, G.

2017-12-01

This project utilizes low-cost Unmanned Aerial Vehicles (UAVs) based systems for different applications, such as low-altitude (high resolution) aerial photogrammetry for aerial analysis of vegetation, reconstruction of beach topography and mapping coastal erosion to understand, and estimated ecosystem values. As part of this work, five testbeds coastal sites, designated as the Caribbean Littoral Aerial Surveillance System (CLASS), were established. The sites are distributed along western Puerto Rico coastline where population and industry (tourism) are very much clustered and dense along the coast. Over the past year, rapid post-storm deployment of UAV surveying has been successfully integrated into the CLASS sites, specifically at Rincon (Puerto Rico), where coastal erosion has raised the public and government concern over the past decades. A case study is presented here where we collected aerial photos before and after the swells caused by Hurricane Mathew (October 2016). We merged the point cloud obtained from the UAV photogrammetric assessment with topo-bathymetric data, to get a complete beach topography. Using the rectified and georeferenced UAV orthophotos, we identified the maximum wave runup for the pre-swell and post-swell events. Also, we used numerical modeling (X-Beach) to simulate the rate-of-change dynamics of the coastal zones and compare the model results to observed values (including multiple historic shoreline positions). In summary, our project has accomplished the first milestone which is the Development and Implementation of an Effective Shoreline Monitoring Program using UAVs. The activities of the monitoring program have enabled the collection of crucial data for coastal mapping along Puerto Rico's shorelines with emphasis on coastal erosion hot spots zones and ecosystem values. Our results highlight the potential of the synergy between UAVs, photogrammetry, and Geographic Information Systems to provide faster and low-cost reliable

A guidance law for UAV autonomous aerial refueling based on the iterative computation method

Directory of Open Access Journals (Sweden)

Luo Delin

2014-08-01

Full Text Available The rendezvous and formation problem is a significant part for the unmanned aerial vehicle (UAV autonomous aerial refueling (AAR technique. It can be divided into two major phases: the long-range guidance phase and the formation phase. In this paper, an iterative computation guidance law (ICGL is proposed to compute a series of state variables to get the solution of a control variable for a UAV conducting rendezvous with a tanker in AAR. The proposed method can make the control variable converge to zero when the tanker and the UAV receiver come to a formation flight eventually. For the long-range guidance phase, the ICGL divides it into two sub-phases: the correction sub-phase and the guidance sub-phase. The two sub-phases share the same iterative process. As for the formation phase, a velocity coordinate system is created by which control accelerations are designed to make the speed of the UAV consistent with that of the tanker. The simulation results demonstrate that the proposed ICGL is effective and robust against wind disturbance.

A UAV-Based Fog Collector Design for Fine-Scale Aerobiological Sampling

Science.gov (United States)

Gentry, Diana; Guarro, Marcello; Demachkie, Isabella Siham; Stumfall, Isabel; Dahlgren, Robert P.

2017-01-01

Airborne microbes are found throughout the troposphere and into the stratosphere. Knowing how the activity of airborne microorganisms can alter water, carbon, and other geochemical cycles is vital to a full understanding of local and global ecosystems. Just as on the land or in the ocean, atmospheric regions vary in habitability; the underlying geochemical, climatic, and ecological dynamics must be characterized at different scales to be effectively modeled. Most aerobiological studies have focused on a high level: 'How high are airborne microbes found?' and 'How far can they travel?' Most fog and cloud water studies collect from stationary ground stations (point) or along flight transects (1D). To complement and provide context for this data, we have designed a UAV-based modified fog and cloud water collector to retrieve 4D-resolved samples for biological and chemical analysis.Our design uses a passive impacting collector hanging from a rigid rod suspended between two multi-rotor UAVs. The suspension design reduces the effect of turbulence and potential for contamination from the UAV downwash. The UAVs are currently modeled in a leader-follower configuration, taking advantage of recent advances in modular UAVs, UAV swarming, and flight planning.The collector itself is a hydrophobic mesh. Materials including Tyvek, PTFE, nylon, and polypropylene monofilament fabricated via laser cutting, CNC knife, or 3D printing were characterized for droplet collection efficiency using a benchtop atomizer and particle counter. Because the meshes can be easily and inexpensively fabricated, a set can be pre-sterilized and brought to the field for 'hot swapping' to decrease cross-contamination between flight sessions or use as negative controls.An onboard sensor and logging system records the time and location of each sample; when combined with flight tracking data, the samples can be resolved into a 4D volumetric map of the fog bank. Collected samples can be returned to the lab for

Rapid melting dynamics of an alpine glacier with repeated UAV photogrammetry

Science.gov (United States)

Rossini, Micol; Di Mauro, Biagio; Garzonio, Roberto; Baccolo, Giovanni; Cavallini, Giuseppe; Mattavelli, Matteo; De Amicis, Mattia; Colombo, Roberto

2018-03-01

Glacial retreat is a major problem in the Alps, especially over the past 40 years. Unmanned aerial vehicles (UAVs) can provide an unparalleled opportunity to track the spatiotemporal variations in rapidly changing glacial morphological features related to glacial dynamics. The objective of this study is to evaluate the potential of commercial UAV platforms to detect the evolution of the surface topography and morphology of an alpine glacier over a short time scale through the repeated acquisition of high-resolution photogrammetric data. Two high-resolution UAV surveys were performed on the ablation region of the Morteratsch Glacier (Swiss Alps) in July and September 2016. First, structure-from-motion (SfM) techniques were applied to create orthophotos and digital surface models (DSMs) of the glacial surface from multi-view UAV acquisitions. The geometric accuracy of DSMs and orthophotos was checked using differential global navigation satellite system (dGNSS) ground measurements, and an accuracy of approximately 17 cm was achieved for both models. High-resolution orthophotos and DSMs made it possible to provide a detailed characterization of rapidly changing glacial environments. Comparing the data from the first and the second campaigns, the evolution of the lower part of the glacier in response to summer ablation was evaluated. Two distinct processes were revealed and accurately quantified: an average lowering of the surface, with a mean ice thinning of 4 m, and an average horizontal displacement of 3 m due to flowing ice. These data were validated through a comparison of different algorithms and approaches, which clearly showed the consistency of the results. The melt rate spatial patterns were then compared to the glacial brightness and roughness maps derived from the September UAV acquisition. The results showed that the DSM differences describing the glacial melt rates were inversely related to the glacial brightness. In contrast, a positive but weaker

Moments of Inertia: Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID)

Science.gov (United States)

Haro, Helida C.

2010-01-01

The objective of this research effort is to determine the most appropriate, cost efficient, and effective method to utilize for finding moments of inertia for the Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID). A moment is a measure of the body's tendency to turn about its center of gravity (CG) and inertia is the resistance of a body to changes in its momentum. Therefore, the moment of inertia (MOI) is a body's resistance to change in rotation about its CG. The inertial characteristics of an UAV have direct consequences on aerodynamics, propulsion, structures, and control. Therefore, it is imperative to determine the precise inertial characteristics of the DROID.

Moments of Inertia - Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID)

Science.gov (United States)

Haro, Helida C.

2010-01-01

The objective of this research effort is to determine the most appropriate, cost efficient, and effective method to utilize for finding moments of inertia for the Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID). A moment is a measure of the body's tendency to turn about its center of gravity (CG) and inertia is the resistance of a body to changes in its momentum. Therefore, the moment of inertia (MOI) is a body's resistance to change in rotation about its CG. The inertial characteristics of an UAV have direct consequences on aerodynamics, propulsion, structures, and control. Therefore, it is imperative to determine the precise inertial characteristics of the DROID.

Simulation-optimization framework for multi-site multi-season hybrid stochastic streamflow modeling

Science.gov (United States)

Srivastav, Roshan; Srinivasan, K.; Sudheer, K. P.

2016-11-01

A simulation-optimization (S-O) framework is developed for the hybrid stochastic modeling of multi-site multi-season streamflows. The multi-objective optimization model formulated is the driver and the multi-site, multi-season hybrid matched block bootstrap model (MHMABB) is the simulation engine within this framework. The multi-site multi-season simulation model is the extension of the existing single-site multi-season simulation model. A robust and efficient evolutionary search based technique, namely, non-dominated sorting based genetic algorithm (NSGA - II) is employed as the solution technique for the multi-objective optimization within the S-O framework. The objective functions employed are related to the preservation of the multi-site critical deficit run sum and the constraints introduced are concerned with the hybrid model parameter space, and the preservation of certain statistics (such as inter-annual dependence and/or skewness of aggregated annual flows). The efficacy of the proposed S-O framework is brought out through a case example from the Colorado River basin. The proposed multi-site multi-season model AMHMABB (whose parameters are obtained from the proposed S-O framework) preserves the temporal as well as the spatial statistics of the historical flows. Also, the other multi-site deficit run characteristics namely, the number of runs, the maximum run length, the mean run sum and the mean run length are well preserved by the AMHMABB model. Overall, the proposed AMHMABB model is able to show better streamflow modeling performance when compared with the simulation based SMHMABB model, plausibly due to the significant role played by: (i) the objective functions related to the preservation of multi-site critical deficit run sum; (ii) the huge hybrid model parameter space available for the evolutionary search and (iii) the constraint on the preservation of the inter-annual dependence. Split-sample validation results indicate that the AMHMABB model is

Using Multi-Spectral UAV Imagery to Extract Tree Crop Structural Properties and Assess Pruning Effects

KAUST Repository

Johansen, Kasper; Raharjo, Tri; McCabe, Matthew

2018-01-01

Unmanned aerial vehicles (UAV) provide an unprecedented capacity to monitor the development and dynamics of tree growth and structure through time. It is generally thought that the pruning of tree crops encourages new growth, has a positive effect

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

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.

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

Dual-Stack Single-Radio Communication Architecture for UAV Acting As a Mobile Node to Collect Data in WSNs.

Science.gov (United States)

Sayyed, Ali; de Araújo, Gustavo Medeiros; Bodanese, João Paulo; Becker, Leandro Buss

2015-09-16

The use of mobile nodes to collect data in a Wireless Sensor Network (WSN) has gained special attention over the last years. Some researchers explore the use of Unmanned Aerial Vehicles (UAVs) as mobile node for such data-collection purposes. Analyzing these works, it is apparent that mobile nodes used in such scenarios are typically equipped with at least two different radio interfaces. The present work presents a Dual-Stack Single-Radio Communication Architecture (DSSRCA), which allows a UAV to communicate in a bidirectional manner with a WSN and a Sink node. The proposed architecture was specifically designed to support different network QoS requirements, such as best-effort and more reliable communications, attending both UAV-to-WSN and UAV-to-Sink communications needs. DSSRCA was implemented and tested on a real UAV, as detailed in this paper. This paper also includes a simulation analysis that addresses bandwidth consumption in an environmental monitoring application scenario. It includes an analysis of the data gathering rate that can be achieved considering different UAV flight speeds. Obtained results show the viability of using a single radio transmitter for collecting data from the WSN and forwarding such data to the Sink node.

Real-Time Reliability Verification for UAV Flight Control System Supporting Airworthiness Certification.

Science.gov (United States)

Xu, Haiyang; Wang, Ping

2016-01-01

In order to verify the real-time reliability of unmanned aerial vehicle (UAV) flight control system and comply with the airworthiness certification standard, we proposed a model-based integration framework for modeling and verification of time property. Combining with the advantages of MARTE, this framework uses class diagram to create the static model of software system, and utilizes state chart to create the dynamic model. In term of the defined transformation rules, the MARTE model could be transformed to formal integrated model, and the different part of the model could also be verified by using existing formal tools. For the real-time specifications of software system, we also proposed a generating algorithm for temporal logic formula, which could automatically extract real-time property from time-sensitive live sequence chart (TLSC). Finally, we modeled the simplified flight control system of UAV to check its real-time property. The results showed that the framework could be used to create the system model, as well as precisely analyze and verify the real-time reliability of UAV flight control system.

EM Modeling of Far-Field Radiation Patterns for Antennas on the GMA-TT UAV

Science.gov (United States)

Mackenzie, Anne I.

2015-01-01

To optimize communication with the Generic Modular Aircraft T-Tail (GMA-TT) unmanned aerial vehicle (UAV), electromagnetic (EM) simulations have been performed to predict the performance of two antenna types on the aircraft. Simulated far-field radiation patterns tell the amount of power radiated by the antennas and the aircraft together, taking into account blockage by the aircraft as well as radiation by conducting and dielectric portions of the aircraft. With a knowledge of the polarization and distance of the two communicating antennas, e.g. one on the UAV and one on the ground, and the transmitted signal strength, a calculation may be performed to find the strength of the signal travelling from one antenna to the other and to check that the transmitted signal meets the receiver system requirements for the designated range. In order to do this, the antenna frequency and polarization must be known for each antenna, in addition to its design and location. The permittivity, permeability, and geometry of the UAV components must also be known. The full-wave method of moments solution produces the appropriate dBi radiation pattern in which the received signal strength is calculated relative to that of an isotropic radiator.

Real-time Collision Avoidance and Path Optimizer for Semi-autonomous UAVs.

Science.gov (United States)

Hawary, A. F.; Razak, N. A.

2018-05-01

Whilst UAV offers a potentially cheaper and more localized observation platform than current satellite or land-based approaches, it requires an advance path planner to reveal its true potential, particularly in real-time missions. Manual control by human will have limited line-of-sights and prone to errors due to careless and fatigue. A good alternative solution is to equip the UAV with semi-autonomous capabilities that able to navigate via a pre-planned route in real-time fashion. In this paper, we propose an easy-and-practical path optimizer based on the classical Travelling Salesman Problem and adopts a brute force search method to re-optimize the route in the event of collisions using range finder sensor. The former utilizes a Simple Genetic Algorithm and the latter uses Nearest Neighbour algorithm. Both algorithms are combined to optimize the route and avoid collision at once. Although many researchers proposed various path planning algorithms, we find that it is difficult to integrate on a basic UAV model and often lacks of real-time collision detection optimizer. Therefore, we explore a practical benefit from this approach using on-board Arduino and Ardupilot controllers by manually emulating the motion of an actual UAV model prior to test on the flying site. The result showed that the range finder sensor provides a real-time data to the algorithm to find a collision-free path and eventually optimized the route successfully.

Modeling, Simulation, and Characterization of Distributed Multi-agent Systems

Directory of Open Access Journals (Sweden)

Reed F. Young

2012-04-01

Full Text Available A strategy is described that utilizes a novel application of a potential-force function that includes the tuning of coefficients to control mobile robots orchestrated as a distributed multiagent system. Control system parameters are manipulated methodically via simulation and hardware experimentation to gain a better understanding of their impact upon mission performance of the multi-agent system as applied to a predetermined task of area exploration and mapping. Also included are descriptions of experiment infrastructure components that afford convenient solutions to research challenges. These consist of a surrogate localization (position and orientation function utilizing a novel MATLAB executable (MEX function and a user datagram protocol (UDP-based communications protocol that facilitates communication among network-based control computers.

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...

The System Design of a Global Communications System for Military and Commercial use Utilizing High Altitude Unmanned Aerial Vehicles (UAVs) and Terrestrial Local Multipoint Distribution Service (LMDS) Sites

OpenAIRE

Banks, Bradley

2000-01-01

This thesis proposes the design of the UAV-LMDS communication system for military and commercial use. The UAV-LMDS system is a digital, wireless communication system that provides service using unmanned aerial vehicles (UAVs) flying at 60,000 ft. acting as communication hubs. This thesis provides background information on UAV-LMDS system elements, a financial analysis, theory, link budgets, system component design and implementation issues. To begin the design, we develop link budgets t...

UAV-Based Hyperspectral Remote Sensing for Precision Agriculture: Challenges and Opportunities

Science.gov (United States)

Angel, Y.; Parkes, S. D.; Turner, D.; Houborg, R.; Lucieer, A.; McCabe, M.

2017-12-01

Modern agricultural production relies on monitoring crop status by observing and measuring variables such as soil condition, plant health, fertilizer and pesticide effect, irrigation and crop yield. Managing all of these factors is a considerable challenge for crop producers. As such, providing integrated technological solutions that enable improved diagnostics of field condition to maximize profits, while minimizing environmental impacts, would be of much interest. Such challenges can be addressed by implementing remote sensing systems such as hyperspectral imaging to produce precise biophysical indicator maps across the various cycles of crop development. Recent progress in unmanned aerial vehicles (UAVs) have advanced traditional satellite-based capabilities, providing a capacity for high-spatial, spectral and temporal response. However, while some hyperspectral sensors have been developed for use onboard UAVs, significant investment is required to develop a system and data processing workflow that retrieves accurately georeferenced mosaics. Here we explore the use of a pushbroom hyperspectral camera that is integrated on-board a multi-rotor UAV system to measure the surface reflectance in 272 distinct spectral bands across a wavelengths range spanning 400-1000 nm, and outline the requirement for sensor calibration, integration onto a stable UAV platform enabling accurate positional data, flight planning, and development of data post-processing workflows for georeferenced mosaics. The provision of high-quality and geo-corrected imagery facilitates the development of metrics of vegetation health that can be used to identify potential problems such as production inefficiencies, diseases and nutrient deficiencies and other data-streams to enable improved crop management. Immense opportunities remain to be exploited in the implementation of UAV-based hyperspectral sensing (and its combination with other imaging systems) to provide a transferable and scalable

MONITORING PHENOLOGY OF FLOODPLAIN GRASSLAND AND HERBACEOUS VEGETATION WITH UAV IMAGERY

Directory of Open Access Journals (Sweden)

W. K. van Iersel

2016-06-01

Full Text Available River restoration projects, which aim at improved flood safety and increased ecological value, have resulted in more heterogeneous vegetation. However, they also resulted in increasing hydraulic roughness, which leads to higher flood water levels during peak discharges. Due to allowance of vegetation development and succession, both ecological and hydraulic characteristics of the floodplain change more rapidly over time. Monitoring of floodplain vegetation has become essential to document and evaluate the changing floodplain characteristics and associated functioning. Extraction of characteristics of low vegetation using single-epoch remote sensing data, however, remains challenging. The aim of this study was to (1 evaluate the performance of multi-temporal, high-spatial-resolution UAV imagery for extracting temporal vegetation height profiles of grassland and herbaceous vegetation in floodplains and (2 to assess the relation between height development and NDVI changes. Vegetation height was measured six times during one year in 28 field plots within a single floodplain. UAV true-colour and false-colour imagery of the floodplain were recorded coincidently with each field survey. We found that: (1 the vertical accuracy of UAV normalized digital surface models (nDSMs is sufficiently high to obtain temporal height profiles of low vegetation over a growing season, (2 vegetation height can be estimated from the time series of nDSMs, with the highest accuracy found for combined imagery from February and November (RMSE = 29-42 cm, (3 temporal relations between NDVI and observed vegetation height show different hysteresis behaviour for grassland and herbaceous vegetation. These results show the high potential of using UAV imagery for increasing grassland and herbaceous vegetation classification accuracy.

Nuclear reactor multi-physics simulations with coupled MCNP5 and STAR-CCM+

International Nuclear Information System (INIS)

Cardoni, Jeffrey Neil; Rizwan-uddin

2011-01-01

The MCNP5 Monte Carlo particle transport code has been coupled to the computational fluid dynamics code, STAR-CCM+, to provide a high fidelity multi-physics simulation tool for pressurized water nuclear reactors. The codes are executed separately and coupled externally through a Perl script. The Perl script automates the exchange of temperature, density, and volumetric heating information between the codes using ASCII text data files. Fortran90 and Java utility programs assist job automation with data post-processing and file management. The MCNP5 utility code, MAKXSF, pre-generates temperature dependent cross section libraries for the thermal feedback calculations. The MCNP5–STAR-CCM+ coupled simulation tool, dubbed MULTINUKE, was applied to a steady state, PWR cell model to demonstrate its usage and capabilities. The demonstration calculation showed reasonable results that agree with PWR values typically reported in literature. Temperature and fission reaction rate distributions were realistic and intuitive. Reactivity coefficients were also deemed reasonable in comparison to historically reported data. The demonstration problem consisted of 9,984 CFD cells and 7,489 neutronic cells. MCNP5 tallied fission energy deposition over 3,328 UO_2 cells. The coupled solution converged within eight hours and in three MULTINUKE iterations. The simulation was carried out on a 64 bit, quad core, Intel 2.8 GHz microprocessor with 1 GB RAM. The simulations on a quad core machine indicated that a massively parallelized implementation of MULTINUKE can be used to assess larger multi-million cell models. (author)

Contour Detection for UAV-Based Cadastral Mapping

Directory of Open Access Journals (Sweden)

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.

The Parrot UAV Controlled by PID Controllers

OpenAIRE

Koszewnik Andrzej

2014-01-01

The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered dire...

A quantum-classical simulation of a multi-surface multi-mode ...

Indian Academy of Sciences (India)

Multi surface multi mode quantum dynamics; parallelized quantum classical approach; TDDVR method. 1. ... cal simulation on molecular system is a great cha- llenge for ..... on a multiple core cluster with shared memory using. OpenMP based ...

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.

Photovoltaic electric power applied to Unmanned Aerial Vehicles (UAV)

Science.gov (United States)

Geis, Jack; Arnold, Jack H.

1994-09-01

Photovoltaic electric-powered flight is receiving a great deal of attention in the context of the United States' Unmanned Aerial Vehicle (UAV) program. This paper addresses some of the enabling technical areas and their potential solutions. Of particular interest are the long-duration, high-altitude class of UAV's whose mission it is to achieve altitudes between 60,000 and 100,000 feet, and to remain at those altitudes for prolonged periods performing various mapping and surveillance activities. Addressed herein are studies which reveal the need for extremely light-weight and efficient solar cells, high-efficiency electric motor-driven propeller modules, and power management and distribution control elements. Since the potential payloads vary dramatically in their power consumption and duty cycles, a typical load profile has been selected to provide commonality for the propulsion power comparisons. Since missions vary widely with respect to ground coverage requirements, from repeated orbiting over a localized target to long-distance routes over irregular terrain, we have also averaged the power requirements for on-board guidance and control power, as well as ground control and communication link utilization. In the context of the national technology reinvestment program, wherever possible we modeled components and materials which have been qualified for space and defense applications, yet are compatible with civilian UAV activities. These include, but are not limited to, solar cell developments, electric storage technology for diurnal operation, local and ground communications, power management and distribution, and control servo design. And finally, the results of tests conducted by Wright Laboratory on ultralight, highly efficient MOCVD GaAs solar cells purchased from EPI Materials Ltd. (EML) of the UK are presented. These cells were also used for modeling the flight characteristics of UAV aircraft.

Photovoltaic electric power applied to Unmanned Aerial Vehicles (UAV)

Science.gov (United States)

Geis, Jack; Arnold, Jack H.

1994-01-01

Photovoltaic electric-powered flight is receiving a great deal of attention in the context of the United States' Unmanned Aerial Vehicle (UAV) program. This paper addresses some of the enabling technical areas and their potential solutions. Of particular interest are the long-duration, high-altitude class of UAV's whose mission it is to achieve altitudes between 60,000 and 100,000 feet, and to remain at those altitudes for prolonged periods performing various mapping and surveillance activities. Addressed herein are studies which reveal the need for extremely light-weight and efficient solar cells, high-efficiency electric motor-driven propeller modules, and power management and distribution control elements. Since the potential payloads vary dramatically in their power consumption and duty cycles, a typical load profile has been selected to provide commonality for the propulsion power comparisons. Since missions vary widely with respect to ground coverage requirements, from repeated orbiting over a localized target to long-distance routes over irregular terrain, we have also averaged the power requirements for on-board guidance and control power, as well as ground control and communication link utilization. In the context of the national technology reinvestment program, wherever possible we modeled components and materials which have been qualified for space and defense applications, yet are compatible with civilian UAV activities. These include, but are not limited to, solar cell developments, electric storage technology for diurnal operation, local and ground communications, power management and distribution, and control servo design. And finally, the results of tests conducted by Wright Laboratory on ultralight, highly efficient MOCVD GaAs solar cells purchased from EPI Materials Ltd. (EML) of the UK are presented. These cells were also used for modeling the flight characteristics of UAV aircraft.

An Evaluation of Protocols for UAV Science Applications

Science.gov (United States)

Ivancic, William D.; Stewart, David E.; Sullivan, Donald V.; Finch, Patrick E.

2012-01-01

This paper identifies data transport needs for current and future science payloads deployed on the NASA Global Hawk Unmanned Aeronautical Vehicle (UAV). The NASA Global Hawk communication system and operational constrains are presented. The Genesis and Rapid Intensification Processes (GRIP) mission is used to provide the baseline communication requirements as a variety of payloads were utilized in this mission. User needs and desires are addressed. Protocols are matched to the payload needs and an evaluation of various techniques and tradeoffs are presented. Such techniques include utilization rate-base selective negative acknowledgement protocols and possible use of protocol enhancing proxies. Tradeoffs of communication architectures that address ease-of-use and security considerations are also presented.

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.

Demonstrations of bio-inspired perching landing gear for UAVs

Science.gov (United States)

Tieu, Mindy; Michael, Duncan M.; Pflueger, Jeffery B.; Sethi, Manik S.; Shimazu, Kelli N.; Anthony, Tatiana M.; Lee, Christopher L.

2016-04-01

Results are presented which demonstrate the feasibility and performance of two concepts of biologically-inspired landing-gear systems that enable bird-sized, unmanned aerial vehicles (UAV's) to land, perch, and take-off from branchlike structures and/or ledges. The first concept follows the anatomy of birds that can grasp ahold of a branch and perch as tendons in their legs are tensioned. This design involves a gravity-activated, cable-driven, underactuated, graspingfoot mechanism. As the UAV lands, its weight collapses a four-bar linkage pulling a cable which curls two opposing, multi-segmented feet to grasp the landing target. Each foot is a single, compliant mechanism fabricated by simultaneouly 3D-printing a flexible thermo-plastic and a stiffer ABS plastic. The design is optimized to grasp structures over a range of shapes and sizes. Quasi-static and flight tests of this landing gear affixed to RC rotorcraft (24 cm to 550 cm in diameter) demonstrate that the aircraft can land, perch, and take-off from a tree branch, rectangular wood board, PVC pipe, metal hand rail, chair armrest, and in addition, a stone wall ledge. Stability tests show that perching is maintained under base and wind disturbances. The second design concept, inspired by roosting bats, is a two-material, 3D-printed hooking mechanism that enables the UAV to stably suspend itself from a wire or small-diameter branch. The design balances structural stiffness for support and flexibility for the perching process. A flight-test demonstrates the attaching and dis-engaging of a small, RC quadcopter from a suspended line.

Dual-Stack Single-Radio Communication Architecture for UAV Acting As a Mobile Node to Collect Data in WSNs

Directory of Open Access Journals (Sweden)

Ali Sayyed

2015-09-01

Full Text Available The use of mobile nodes to collect data in a Wireless Sensor Network (WSN has gained special attention over the last years. Some researchers explore the use of Unmanned Aerial Vehicles (UAVs as mobile node for such data-collection purposes. Analyzing these works, it is apparent that mobile nodes used in such scenarios are typically equipped with at least two different radio interfaces. The present work presents a Dual-Stack Single-Radio Communication Architecture (DSSRCA, which allows a UAV to communicate in a bidirectional manner with a WSN and a Sink node. The proposed architecture was specifically designed to support different network QoS requirements, such as best-effort and more reliable communications, attending both UAV-to-WSN and UAV-to-Sink communications needs. DSSRCA was implemented and tested on a real UAV, as detailed in this paper. This paper also includes a simulation analysis that addresses bandwidth consumption in an environmental monitoring application scenario. It includes an analysis of the data gathering rate that can be achieved considering different UAV flight speeds. Obtained results show the viability of using a single radio transmitter for collecting data from the WSN and forwarding such data to the Sink node.

UAV Remote Sensing Surveillance of a Mine Tailings Impoundment in Sub-Arctic Conditions

Directory of Open Access Journals (Sweden)

Anssi Rauhala

2017-12-01

Full Text Available Mining typically involves extensive areas where environmental monitoring is spatially sporadic. New remote sensing techniques and platforms such as Structure from Motion (SfM and unmanned aerial vehicles (UAVs may offer one solution for more comprehensive and spatially continuous measurements. We conducted UAV campaigns in three consecutive summers (2015–2017 at a sub-Arctic mining site where production was temporarily suspended. The aim was to monitor a 0.5 km2 tailings impoundment and measure potential subsidence of tailings. SfM photogrammetry was used to produce yearly topographical models of the tailings surface, which allowed the amount of surface displacement between years to be tracked. Ground checkpoints surveyed in stable areas of the impoundment were utilized in assessing the vertical accuracy of the models. Observed surface displacements were linked to a combination of erosion, tailings settlement, and possible compaction of the peat layer underlying the tailings. The accuracy obtained indicated that UAV-assisted monitoring of tailings impoundments is sufficiently accurate for supporting impoundment management operations and for tracking surface displacements in the decimeter range.

Detection and Mapping of the Geomorphic Effects of Flooding Using UAV Photogrammetry

Science.gov (United States)

Langhammer, Jakub; Vacková, Tereza

2018-04-01

In this paper, we present a novel technique for the objective detection of the geomorphological effects of flooding in riverbeds and floodplains using imagery acquired by unmanned aerial vehicles (UAVs, also known as drones) equipped with an panchromatic camera. The proposed method is based on the fusion of the two key data products of UAV photogrammetry, the digital elevation model (DEM), and the orthoimage, as well as derived qualitative information, which together serve as the basis for object-based segmentation and the supervised classification of fluvial forms. The orthoimage is used to calculate textural features, enabling detection of the structural properties of the image area and supporting the differentiation of features with similar spectral responses but different surface structures. The DEM is used to derive a flood depth model and the terrain ruggedness index, supporting the detection of bank erosion. All the newly derived information layers are merged with the orthoimage to form a multi-band data set, which is used for object-based segmentation and the supervised classification of key fluvial forms resulting from flooding, i.e., fresh and old gravel accumulations, sand accumulations, and bank erosion. The method was tested on the effects of a snowmelt flood that occurred in December 2015 in a montane stream in the Sumava Mountains, Czech Republic, Central Europe. A multi-rotor UAV was used to collect images of a 1-km-long and 200-m-wide stretch of meandering stream with fresh traces of fluvial activity. The performed segmentation and classification proved that the fusion of 2D and 3D data with the derived qualitative layers significantly enhanced the reliability of the fluvial form detection process. The assessment accuracy for all of the detected classes exceeded 90%. The proposed technique proved its potential for application in rapid mapping and detection of the geomorphological effects of flooding.

Efficiency calibration and minimum detectable activity concentration of a real-time UAV airborne sensor system with two gamma spectrometers.

Science.gov (United States)

Tang, Xiao-Bin; Meng, Jia; Wang, Peng; Cao, Ye; Huang, Xi; Wen, Liang-Sheng; Chen, Da

2016-04-01

A small-sized UAV (NH-UAV) airborne system with two gamma spectrometers (LaBr3 detector and HPGe detector) was developed to monitor activity concentration in serious nuclear accidents, such as the Fukushima nuclear accident. The efficiency calibration and determination of minimum detectable activity concentration (MDAC) of the specific system were studied by MC simulations at different flight altitudes, different horizontal distances from the detection position to the source term center and different source term sizes. Both air and ground radiation were considered in the models. The results obtained may provide instructive suggestions for in-situ radioactivity measurements of NH-UAV. Copyright © 2016 Elsevier Ltd. All rights reserved.

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.

The Parrot UAV Controlled by PID Controllers

Directory of Open Access Journals (Sweden)

Koszewnik Andrzej

2014-08-01

Full Text Available The paper presents the process of modeling and designing control laws for four-rotor type of the Parrot UAV. The state space model is obtained by using several phenomena like gyroscopic effects for rigid bodies, propellers and rotors. The obtained model has been used to design PID control laws for roll, pitch, yaw angle and altitude, respectively. The numerical simulations of the closed loop model are shown that system in satisfy way stabilize flight of the quadro-rotor in all considered directions.

ALIGNMENT OF POINT CLOUD DSMs FROM TLS AND UAV PLATFORMS

Directory of Open Access Journals (Sweden)

R. A. Persad

2015-08-01

Full Text Available The co-registration of 3D point clouds has received considerable attention from various communities, particularly those in photogrammetry, computer graphics and computer vision. Although significant progress has been made, various challenges such as coarse alignment using multi-sensory data with different point densities and minimal overlap still exist. There is a need to address such data integration issues, particularly with the advent of new data collection platforms such as the unmanned aerial vehicles (UAVs. In this study, we propose an approach to align 3D point clouds derived photogrammetrically from UAV approximately vertical images with point clouds measured by terrestrial laser scanners (TLS. The method begins by automatically extracting 3D surface keypoints on both point cloud datasets. Afterwards, regions of interest around each keypoint are established to facilitate the establishment of scale-invariant descriptors for each of them. We use the popular SURF descriptor for matching the keypoints. In our experiments, we report the accuracies of the automatically derived transformation parameters in comparison to manually-derived reference parameter data.

Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators

Directory of Open Access Journals (Sweden)

Natalie Ramos Pedroza

2014-09-01

Full Text Available In this paper, a synthetic jet actuators (SJA-based nonlinear robust controller is developed, which is capable of completely suppressing limit cycle oscillations (LCO in UAV systems with parametric uncertainty in the SJA dynamics and unmodeled external disturbances. Specifically, the control law compensates for uncertainty in an input gain matrix, which results from the unknown airflow dynamics generated by the SJA. Challenges in the control design include compensation for input-multiplicative parametric uncertainty in the actuator dynamic model. The result was achieved via innovative algebraic manipulation in the error system development, along with a Lyapunov-based robust control law. A rigorous Lyapunov-based stability analysis is utilized to prove asymptotic LCO suppression, considering a detailed dynamic model of the pitching and plunging dynamics. Numerical simulation results are provided to demonstrate the robustness and practical performance of the proposed control law.

UAV-based urban structural damage assessment using object-based image analysis and semantic reasoning

Science.gov (United States)

Fernandez Galarreta, J.; Kerle, N.; Gerke, M.

2015-06-01

Structural damage assessment is critical after disasters but remains a challenge. Many studies have explored the potential of remote sensing data, but limitations of vertical data persist. Oblique imagery has been identified as more useful, though the multi-angle imagery also adds a new dimension of complexity. This paper addresses damage assessment based on multi-perspective, overlapping, very high resolution oblique images obtained with unmanned aerial vehicles (UAVs). 3-D point-cloud assessment for the entire building is combined with detailed object-based image analysis (OBIA) of façades and roofs. This research focuses not on automatic damage assessment, but on creating a methodology that supports the often ambiguous classification of intermediate damage levels, aiming at producing comprehensive per-building damage scores. We identify completely damaged structures in the 3-D point cloud, and for all other cases provide the OBIA-based damage indicators to be used as auxiliary information by damage analysts. The results demonstrate the usability of the 3-D point-cloud data to identify major damage features. Also the UAV-derived and OBIA-processed oblique images are shown to be a suitable basis for the identification of detailed damage features on façades and roofs. Finally, we also demonstrate the possibility of aggregating the multi-perspective damage information at building level.

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

Directory of Open Access Journals (Sweden)

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

Directory of Open Access Journals (Sweden)

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.

An evaluation of a UAV guidance system with consumer grade GPS receivers

Science.gov (United States)

Rosenberg, Abigail Stella

Remote sensing has been demonstrated an important tool in agricultural and natural resource management and research applications, however there are limitations that exist with traditional platforms (i.e., hand held sensors, linear moves, vehicle mounted, airplanes, remotely piloted vehicles (RPVs), unmanned aerial vehicles (UAVs) and satellites). Rapid technological advances in electronics, computers, software applications, and the aerospace industry have dramatically reduced the cost and increased the availability of remote sensing technologies. Remote sensing imagery vary in spectral, spatial, and temporal resolutions and are available from numerous providers. Appendix A presented results of a test project that acquired high-resolution aerial photography with a RPV to map the boundary of a 0.42 km2 fire area. The project mapped the boundaries of the fire area from a mosaic of the aerial images collected and compared this with ground-based measurements. The project achieved a 92.4% correlation between the aerial assessment and the ground truth data. Appendix B used multi-objective analysis to quantitatively assess the tradeoffs between different sensor platform attributes to identify the best overall technology. Experts were surveyed to identify the best overall technology at three different pixel sizes. Appendix C evaluated the positional accuracy of a relatively low cost UAV designed for high resolution remote sensing of small areas in order to determine the positional accuracy of sensor readings. The study evaluated the accuracy and uncertainty of a UAV flight route with respect to the programmed waypoints and of the UAV's GPS position, respectively. In addition, the potential displacement of sensor data was evaluated based on (1) GPS measurements on board the aircraft and (2) the autopilot's circuit board with 3-axis gyros and accelerometers (i.e., roll, pitch, and yaw). The accuracies were estimated based on a 95% confidence interval or similar methods. The

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.

Video change detection for fixed wing UAVs

Science.gov (United States)

Bartelsen, Jan; Müller, Thomas; Ring, Jochen; Mück, Klaus; Brüstle, Stefan; Erdnüß, Bastian; Lutz, Bastian; Herbst, Theresa

2017-10-01

In this paper we proceed the work of Bartelsen et al.1 We present the draft of a process chain for an image based change detection which is designed for videos acquired by fixed wing unmanned aerial vehicles (UAVs). From our point of view, automatic video change detection for aerial images can be useful to recognize functional activities which are typically caused by the deployment of improvised explosive devices (IEDs), e.g. excavations, skid marks, footprints, left-behind tooling equipment, and marker stones. Furthermore, in case of natural disasters, like flooding, imminent danger can be recognized quickly. Due to the necessary flight range, we concentrate on fixed wing UAVs. Automatic change detection can be reduced to a comparatively simple photogrammetric problem when the perspective change between the "before" and "after" image sets is kept as small as possible. Therefore, the aerial image acquisition demands a mission planning with a clear purpose including flight path and sensor configuration. While the latter can be enabled simply by a fixed and meaningful adjustment of the camera, ensuring a small perspective change for "before" and "after" videos acquired by fixed wing UAVs is a challenging problem. Concerning this matter, we have performed tests with an advanced commercial off the shelf (COTS) system which comprises a differential GPS and autopilot system estimating the repetition accuracy of its trajectory. Although several similar approaches have been presented,23 as far as we are able to judge, the limits for this important issue are not estimated so far. Furthermore, we design a process chain to enable the practical utilization of video change detection. It consists of a front-end of a database to handle large amounts of video data, an image processing and change detection implementation, and the visualization of the results. We apply our process chain on the real video data acquired by the advanced COTS fixed wing UAV and synthetic data. For the

Supervisory Fault Tolerant Control of the GTM UAV Using LPV Methods

Directory of Open Access Journals (Sweden)

Péni Tamás

2015-03-01

Full Text Available A multi-level reconfiguration framework is proposed for fault tolerant control of over-actuated aerial vehicles, where the levels indicate how much authority is given to the reconfiguration task. On the lowest, first level the fault is accommodated by modifying only the actuator/sensor configuration, so the fault remains hidden from the baseline controller. A dynamic reallocation scheme is applied on this level. The allocation mechanism exploits the actuator/sensor redundancy available on the aircraft. When the fault cannot be managed at the actuator/sensor level, the reconfiguration process has access to the baseline controller. Based on the LPV control framework, this is done by introducing fault-specific scheduling parameters. The baseline controller is designed to provide an acceptable performance level along all fault scenarios coded in these scheduling variables. The decision on which reconfiguration level has to be initiated in response to a fault is determined by a supervisor unit. The method is demonstrated on a full six-degrees-of-freedom nonlinear simulation model of the GTM UAV.

Multi-threaded ATLAS simulation on Intel Knights Landing processors

Science.gov (United States)

Farrell, Steven; Calafiura, Paolo; Leggett, Charles; Tsulaia, Vakhtang; Dotti, Andrea; ATLAS Collaboration

2017-10-01

The Knights Landing (KNL) release of the Intel Many Integrated Core (MIC) Xeon Phi line of processors is a potential game changer for HEP computing. With 72 cores and deep vector registers, the KNL cards promise significant performance benefits for highly-parallel, compute-heavy applications. Cori, the newest supercomputer at the National Energy Research Scientific Computing Center (NERSC), was delivered to its users in two phases with the first phase online at the end of 2015 and the second phase now online at the end of 2016. Cori Phase 2 is based on the KNL architecture and contains over 9000 compute nodes with 96GB DDR4 memory. ATLAS simulation with the multithreaded Athena Framework (AthenaMT) is a good potential use-case for the KNL architecture and supercomputers like Cori. ATLAS simulation jobs have a high ratio of CPU computation to disk I/O and have been shown to scale well in multi-threading and across many nodes. In this paper we will give an overview of the ATLAS simulation application with details on its multi-threaded design. Then, we will present a performance analysis of the application on KNL devices and compare it to a traditional x86 platform to demonstrate the capabilities of the architecture and evaluate the benefits of utilizing KNL platforms like Cori for ATLAS production.

Assessment of UAV and Ground-Based Structure from Motion with Multi-View Stereo Photogrammetry in a Gullied Savanna Catchment

Directory of Open Access Journals (Sweden)

Jack Koci

2017-10-01

Full Text Available Structure from Motion with Multi-View Stereo photogrammetry (SfM-MVS is increasingly used in geoscience investigations, but has not been thoroughly tested in gullied savanna systems. The aim of this study was to test the accuracy of topographic models derived from aerial (via Unmanned Aerial Vehicle, ‘UAV’ and ground-based (via handheld digital camera, ‘ground’ SfM-MVS in modelling hillslope gully systems in a dry-tropical savanna, and to assess the strengths and limitations of the approach at a hillslope scale and an individual gully scale. UAV surveys covered three separate hillslope gully systems (with areas of 0.412–0.715 km2, while ground surveys assessed individual gullies within the broader systems (with areas of 350–750 m2. SfM-MVS topographic models, including Digital Surface Models (DSM and dense point clouds, were compared against RTK-GPS point data and a pre-existing airborne LiDAR Digital Elevation Model (DEM. Results indicate that UAV SfM-MVS can deliver topographic models with a resolution and accuracy suitable to define gully systems at a hillslope scale (e.g., approximately 0.1 m resolution with 0.4–1.2 m elevation error, while ground-based SfM-MVS is more capable of quantifying gully morphology (e.g., approximately 0.01 m resolution with 0.04–0.1 m elevation error. Despite difficulties in reconstructing vegetated surfaces, uncertainty as to optimal survey and processing designs, and high computational demands, this study has demonstrated great potential for SfM-MVS to be used as a cost-effective tool to aid in the mapping, modelling and management of hillslope gully systems at different scales, in savanna landscapes and elsewhere.

A comparative pressure analysis of air flow between horizontal and V-Tail of UAV MALE of NACA0012H with speed variation

OpenAIRE

Riza Rahmat; Kurniawan Dicky; Wicaksono Arif Budi

2018-01-01

NACA0012H is an airfoil type that could be used for Unmanned Aerial Vehicle Medium Altitude Long Endurance. This experiment was used to analyze stress in the surface of Tail of UAV MALE that was caused by air flow. The experiment was conducted using Computational Fluid Dynamics Software. Two designs of tail, horizontal and V-tail, were considered to simulate pressure occurred on the surface of leading edge, chamber and trailing edge. The simulation was developed varying the speed of the UAV M...

Comparison of Computational Approaches for Rapid Aerodynamic Assessment of Small UAVs

Science.gov (United States)

Shafer, Theresa C.; Lynch, C. Eric; Viken, Sally A.; Favaregh, Noah; Zeune, Cale; Williams, Nathan; Dansie, Jonathan

2014-01-01

Computational Fluid Dynamic (CFD) methods were used to determine the basic aerodynamic, performance, and stability and control characteristics of the unmanned air vehicle (UAV), Kahu. Accurate and timely prediction of the aerodynamic characteristics of small UAVs is an essential part of military system acquisition and air-worthiness evaluations. The forces and moments of the UAV were predicted using a variety of analytical methods for a range of configurations and conditions. The methods included Navier Stokes (N-S) flow solvers (USM3D, Kestrel and Cobalt) that take days to set up and hours to converge on a single solution; potential flow methods (PMARC, LSAERO, and XFLR5) that take hours to set up and minutes to compute; empirical methods (Datcom) that involve table lookups and produce a solution quickly; and handbook calculations. A preliminary aerodynamic database can be developed very efficiently by using a combination of computational tools. The database can be generated with low-order and empirical methods in linear regions, then replacing or adjusting the data as predictions from higher order methods are obtained. A comparison of results from all the data sources as well as experimental data obtained from a wind-tunnel test will be shown and the methods will be evaluated on their utility during each portion of the flight envelope.

Beach Volume Change Using Uav Photogrammetry Songjung Beach, Korea

Science.gov (United States)

Yoo, C. I.; Oh, T. S.

2016-06-01

Natural beach is controlled by many factors related to wave and tidal forces, wind, sediment, and initial topography. For this reason, if numerous topographic data of beach is accurately collected, coastal erosion/acceleration is able to be assessed and clarified. Generally, however, many studies on coastal erosion have limitation to analyse the whole beach, carried out of partial area as like shoreline (horizontal 2D) and beach profile (vertical 2D) on account of limitation of numerical simulation. This is an important application for prevention of coastal erosion, and UAV photogrammetry is also used to 3D topographic data. This paper analyses the use of unmanned aerial vehicles (UAV) to 3D map and beach volume change. UAV (Quadcopter) equipped with a non-metric camera was used to acquire images in Songjung beach which is located south-east Korea peninsula. The dynamics of beach topography, its geometric properties and estimates of eroded and deposited sand volumes were determined by combining elevation data with quarterly RTK-VRS measurements. To explore the new possibilities for assessment of coastal change we have developed a methodology for 3D analysis of coastal topography evolution based on existing high resolution elevation data combined with low coast, UAV and on-ground RTK-VRS surveys. DSMs were obtained by stereo-matching using Agisoft Photoscan. Using GCPs the vertical accuracy of the DSMs was found to be 10 cm or better. The resulting datasets were integrated in a local coordinates and the method proved to be a very useful fool for the detection of areas where coastal erosion occurs and for the quantification of beach change. The value of such analysis is illustrated by applications to coastal of South Korea sites that face significant management challenges.

BEACH VOLUME CHANGE USING UAV PHOTOGRAMMETRY SONGJUNG BEACH, KOREA

Directory of Open Access Journals (Sweden)

C. I. Yoo

2016-06-01

Full Text Available Natural beach is controlled by many factors related to wave and tidal forces, wind, sediment, and initial topography. For this reason, if numerous topographic data of beach is accurately collected, coastal erosion/acceleration is able to be assessed and clarified. Generally, however, many studies on coastal erosion have limitation to analyse the whole beach, carried out of partial area as like shoreline (horizontal 2D and beach profile (vertical 2D on account of limitation of numerical simulation. This is an important application for prevention of coastal erosion, and UAV photogrammetry is also used to 3D topographic data. This paper analyses the use of unmanned aerial vehicles (UAV to 3D map and beach volume change. UAV (Quadcopter equipped with a non-metric camera was used to acquire images in Songjung beach which is located south-east Korea peninsula. The dynamics of beach topography, its geometric properties and estimates of eroded and deposited sand volumes were determined by combining elevation data with quarterly RTK-VRS measurements. To explore the new possibilities for assessment of coastal change we have developed a methodology for 3D analysis of coastal topography evolution based on existing high resolution elevation data combined with low coast, UAV and on-ground RTK-VRS surveys. DSMs were obtained by stereo-matching using Agisoft Photoscan. Using GCPs the vertical accuracy of the DSMs was found to be 10 cm or better. The resulting datasets were integrated in a local coordinates and the method proved to be a very useful fool for the detection of areas where coastal erosion occurs and for the quantification of beach change. The value of such analysis is illustrated by applications to coastal of South Korea sites that face significant management challenges.

Nonlinear control of fixed-wing UAVs in presence of stochastic winds

Science.gov (United States)

Rubio Hervas, Jaime; Reyhanoglu, Mahmut; Tang, Hui; Kayacan, Erdal

2016-04-01

This paper studies the control of fixed-wing unmanned aerial vehicles (UAVs) in the presence of stochastic winds. A nonlinear controller is designed based on a full nonlinear mathematical model that includes the stochastic wind effects. The air velocity is controlled exclusively using the position of the throttle, and the rest of the dynamics are controlled with the aileron, elevator, and rudder deflections. The nonlinear control design is based on a smooth approximation of a sliding mode controller. An extended Kalman filter (EKF) is proposed for the state estimation and filtering. A case study is presented: landing control of a UAV on a ship deck in the presence of wind based exclusively on LADAR measurements. The effectiveness of the nonlinear control algorithm is illustrated through a simulation example.

Multi-utility enterprises: an outlook on the prospects in the liberalising markets. Terms and definitions, competition, management strategies, trends; Multi-Utility: Wohin entwickelt sich der Markt? Begriffe, Standort, Strategie, Tendenzen

Energy Technology Data Exchange (ETDEWEB)

Mattis, M. [multi-utility consulting, Stuttgart (Germany)

2003-03-01

In the light of a spreading confusion of concepts in the context of emerging new business structures and new supply and disposal services in the utility sector, the article explains the current concepts and terms like utility, multi-utility, single-utility, and cross selling, and the respective corporate management and trading characteristics. (orig./CB) [German] In der Ver- und Entsorgung herrscht heillose Begriffsverwirrung. Viele verstehen unter Begriffen wie Utility, Multi-Utility, Single-Utility und cross selling etwas anderes. Versuch einer Begriffsbestimmung und daran anschliessende strategische Ueberlegungen. (orig./CB)

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.

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.

Multisensor Super Resolution Using Directionally-Adaptive Regularization for UAV Images.

Science.gov (United States)

Kang, Wonseok; Yu, Soohwan; Ko, Seungyong; Paik, Joonki

2015-05-22

In various unmanned aerial vehicle (UAV) imaging applications, the multisensor super-resolution (SR) technique has become a chronic problem and attracted increasing attention. Multisensor SR algorithms utilize multispectral low-resolution (LR) images to make a higher resolution (HR) image to improve the performance of the UAV imaging system. The primary objective of the paper is to develop a multisensor SR method based on the existing multispectral imaging framework instead of using additional sensors. In order to restore image details without noise amplification or unnatural post-processing artifacts, this paper presents an improved regularized SR algorithm by combining the directionally-adaptive constraints and multiscale non-local means (NLM) filter. As a result, the proposed method can overcome the physical limitation of multispectral sensors by estimating the color HR image from a set of multispectral LR images using intensity-hue-saturation (IHS) image fusion. Experimental results show that the proposed method provides better SR results than existing state-of-the-art SR methods in the sense of objective measures.

Urology Residents' Experience and Attitude Toward Surgical Simulation: Presenting our 4-Year Experience With a Multi-institutional, Multi-modality Simulation Model.

Science.gov (United States)

Chow, Alexander K; Sherer, Benjamin A; Yura, Emily; Kielb, Stephanie; Kocjancic, Ervin; Eggener, Scott; Turk, Thomas; Park, Sangtae; Psutka, Sarah; Abern, Michael; Latchamsetty, Kalyan C; Coogan, Christopher L

2017-11-01

To evaluate the Urological resident's attitude and experience with surgical simulation in residency education using a multi-institutional, multi-modality model. Residents from 6 area urology training programs rotated through simulation stations in 4 consecutive sessions from 2014 to 2017. Workshops included GreenLight photovaporization of the prostate, ureteroscopic stone extraction, laparoscopic peg transfer, 3-dimensional laparoscopy rope pass, transobturator sling placement, intravesical injection, high definition video system trainer, vasectomy, and Urolift. Faculty members provided teaching assistance, objective scoring, and verbal feedback. Participants completed a nonvalidated questionnaire evaluating utility of the workshop and soliciting suggestions for improvement. Sixty-three of 75 participants (84%) (postgraduate years 1-6) completed the exit questionnaire. Median rating of exercise usefulness on a scale of 1-10 ranged from 7.5 to 9. On a scale of 0-10, cumulative median scores of the course remained high over 4 years: time limit per station (9; interquartile range [IQR] 2), faculty instruction (9, IQR 2), ease of use (9, IQR 2), face validity (8, IQR 3), and overall course (9, IQR 2). On multivariate analysis, there was no difference in rating of domains between postgraduate years. Sixty-seven percent (42/63) believe that simulation training should be a requirement of Urology residency. Ninety-seven percent (63/65) viewed the laboratory as beneficial to their education. This workshop model is a valuable training experience for residents. Most participants believe that surgical simulation is beneficial and should be a requirement for Urology residency. High ratings of usefulness for each exercise demonstrated excellent face validity provided by the course. Copyright © 2017 Elsevier Inc. All rights reserved.

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.

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.

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

MULTI-TEMPORAL CROP SURFACE MODELS COMBINED WITH THE RGB VEGETATION INDEX FROM UAV-BASED IMAGES FOR FORAGE MONITORING IN GRASSLAND

Directory of Open Access Journals (Sweden)

M. Possoch

2016-06-01

Full Text Available Remote sensing of crop biomass is important in regard to precision agriculture, which aims to improve nutrient use efficiency and to develop better stress and disease management. In this study, multi-temporal crop surface models (CSMs were generated from UAV-based dense imaging in order to derive plant height distribution and to determine forage mass. The low-cost UAV-based RGB imaging was carried out in a grassland experiment at the University of Bonn, Germany, in summer 2015. The test site comprised three consecutive growths including six different nitrogen fertilizer levels and three replicates, in sum 324 plots with a size of 1.5×1.5 m. Each growth consisted of six harvesting dates. RGB-images and biomass samples were taken at twelve dates nearly biweekly within two growths between June and September 2015. Images were taken with a DJI Phantom 2 in combination of a 2D Zenmuse gimbal and a GoPro Hero 3 (black edition. Overlapping images were captured in 13 to 16 m and overview images in approximately 60 m height at 2 frames per second. The RGB vegetation index (RGBVI was calculated as the normalized difference of the squared green reflectance and the product of blue and red reflectance from the non-calibrated images. The post processing was done with Agisoft PhotoScan Professional (SfM-based and Esri ArcGIS. 14 ground control points (GCPs were located in the field, distinguished by 30 cm × 30 cm markers and measured with a RTK-GPS (HiPer Pro Topcon with 0.01 m horizontal and vertical precision. The errors of the spatial resolution in x-, y-, z-direction were in a scale of 3-4 cm. From each survey, also one distortion corrected image was georeferenced by the same GCPs and used for the RGBVI calculation. The results have been used to analyse and evaluate the relationship between estimated plant height derived with this low-cost UAV-system and forage mass. Results indicate that the plant height seems to be a suitable indicator for forage mass

Multi-Temporal Crop Surface Models Combined with the RGB Vegetation Index from Uav-Based Images for Forage Monitoring in Grassland

Science.gov (United States)

Possoch, M.; Bieker, S.; Hoffmeister, D.; Bolten, A.; Schellberg, J.; Bareth, G.

2016-06-01

Remote sensing of crop biomass is important in regard to precision agriculture, which aims to improve nutrient use efficiency and to develop better stress and disease management. In this study, multi-temporal crop surface models (CSMs) were generated from UAV-based dense imaging in order to derive plant height distribution and to determine forage mass. The low-cost UAV-based RGB imaging was carried out in a grassland experiment at the University of Bonn, Germany, in summer 2015. The test site comprised three consecutive growths including six different nitrogen fertilizer levels and three replicates, in sum 324 plots with a size of 1.5×1.5 m. Each growth consisted of six harvesting dates. RGB-images and biomass samples were taken at twelve dates nearly biweekly within two growths between June and September 2015. Images were taken with a DJI Phantom 2 in combination of a 2D Zenmuse gimbal and a GoPro Hero 3 (black edition). Overlapping images were captured in 13 to 16 m and overview images in approximately 60 m height at 2 frames per second. The RGB vegetation index (RGBVI) was calculated as the normalized difference of the squared green reflectance and the product of blue and red reflectance from the non-calibrated images. The post processing was done with Agisoft PhotoScan Professional (SfM-based) and Esri ArcGIS. 14 ground control points (GCPs) were located in the field, distinguished by 30 cm × 30 cm markers and measured with a RTK-GPS (HiPer Pro Topcon) with 0.01 m horizontal and vertical precision. The errors of the spatial resolution in x-, y-, z-direction were in a scale of 3-4 cm. From each survey, also one distortion corrected image was georeferenced by the same GCPs and used for the RGBVI calculation. The results have been used to analyse and evaluate the relationship between estimated plant height derived with this low-cost UAV-system and forage mass. Results indicate that the plant height seems to be a suitable indicator for forage mass. There is a

PHOTOGRAMMETRIC EVALUATION OF MULTI-TEMPORAL FIXED WING UAV IMAGERY

Directory of Open Access Journals (Sweden)

E. Gülch

2012-09-01

Full Text Available Several flights have been undertaken with PAMS (Photogrammetric Aerial Mapping System by Germatics, Germany, which is briefly introduced. This system is based on the SmartPlane fixed-wing UAV and a CANON IXUS camera system. The plane is equipped with GPS and has an infrared sensor system to estimate attitude values. A software has been developed to link the PAMS output to a standard photogrammetric processing chain built on Trimble INPHO. The linking of the image files and image IDs and the handling of different cases with partly corrupted output have to be solved to generate an INPHO project file. Based on this project file the software packages MATCH-AT, MATCH-T DSM, OrthoMaster and OrthoVista for digital aerial triangulation, DTM/DSM generation and finally digital orthomosaik generation are applied. The focus has been on investigations on how to adapt the "usual" parameters for the digital aerial triangulation and other software to the UAV flight conditions, which are showing high overlaps, large kappa angles and a certain image blur in case of turbulences. It was found, that the selected parameter setup shows a quite stable behaviour and can be applied to other flights. Investigations have been performed to improve the image quality estimates by the PAMS software and extend it to whole images. This gives the user a reliable basis when deciding on rejecting images with low quality for the follow-up process. Flights over the same area at different times have been compared to each other. The major objective was first to see, on how far differences occur relative to each other, without having access to ground control data, which would have a potential for applications with low requirements on the absolute accuracy. In a second stage the results are compared to GPS measurements on the ground. The results show, that there are influences of weather and illumination visible. The "unusual" flight pattern, which shows big time differences for

Multi-Algorithm Particle Simulations with Spatiocyte.

Science.gov (United States)

Arjunan, Satya N V; Takahashi, Koichi

2017-01-01

As quantitative biologists get more measurements of spatially regulated systems such as cell division and polarization, simulation of reaction and diffusion of proteins using the data is becoming increasingly relevant to uncover the mechanisms underlying the systems. Spatiocyte is a lattice-based stochastic particle simulator for biochemical reaction and diffusion processes. Simulations can be performed at single molecule and compartment spatial scales simultaneously. Molecules can diffuse and react in 1D (filament), 2D (membrane), and 3D (cytosol) compartments. The implications of crowded regions in the cell can be investigated because each diffusing molecule has spatial dimensions. Spatiocyte adopts multi-algorithm and multi-timescale frameworks to simulate models that simultaneously employ deterministic, stochastic, and particle reaction-diffusion algorithms. Comparison of light microscopy images to simulation snapshots is supported by Spatiocyte microscopy visualization and molecule tagging features. Spatiocyte is open-source software and is freely available at http://spatiocyte.org .

A Simple Aerial Photogrammetric Mapping System Overview and Image Acquisition Using Unmanned Aerial Vehicles (UAVs

Directory of Open Access Journals (Sweden)

Wenang Anurogo

2017-06-01

Full Text Available Aerial photogrammetry is one of the Alternative technologies for more detailed data, real time, fast and cheaper. Nowadays, many photogrammetric mapping methods have used UAV / unmanned drones or drones to retrieve and record data from an object in the earth. The application of drones in the field of geospatial science today is in great demand because of its relatively easy operation and relatively affordable cost compared to satellite systems especially high - resolution satellite imagery.  This research aims to determine the stage or overview of data retrieval process with DJI Phantom 4 (multi - rotor quad - copter drone with processing using third party software. This research also produces 2 - dimensional high resolution image data on the research area. Utilization of third party software (Agisoft PhotoScan making it easier to acquire and process aerial photogrammetric data. The results of aerial photogrammetric recording with a flying altitude of 70 meters obtained high resolution images with a spatial resolution of 2 inches / pixels.

EVALUATING THE ACCURACY OF DEM GENERATION ALGORITHMS FROM UAV IMAGERY

Directory of Open Access Journals (Sweden)

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.

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

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

On Open- source Multi-robot simulators

CSIR Research Space (South Africa)

Namoshe, M

2008-07-01

Full Text Available Open source software simulators play a major role in robotics design and research as platforms for developing, testing and improving architectures, concepts and algorithms for cooperative/multi-robot systems. Simulation environment enables control...

UAV survey of a Thyrrenian micro-tidal beach for shoreline evolution update

Science.gov (United States)

Benassai, Guido; Pugliano, Giovanni; Di Paola, Gianluigi; Mucerino, Luigi

2015-04-01

Coastal geomorphology requires increasingly accurate topographic information of the beach systems to perform reliable simulation of coastal erosion, flooding phenomena, and coastal vulnerability assessment. Among the range of terrestrial and aerial methods available to produce such a dataset, this study tests the utility of low-altitude aerial imageries collected by Unmanned Aerial Vehicle (UAV). The image-based approach was selected whilst searching for a rapid, inexpensive, and highly automated method, able to produce 3D information from unstructured aerial images. In particular, it was used to generate a high-resolution Digital Surface Model (DSM) of the micro-tidal beach of Serapo - Gaeta (LT) in order to obtain recent update of erosional/accretional trends already established through historical shoreline evolution. A UAV exacopter (fig. 1a) was used, weighing about 2500g, carrying on board a GPS and multi-directional accelerometer to ensure a recovery of the beach features (fig. 1b) through a sweep with constant speed, direction and altitude. The on-board camera was a Canon 16M pixels, with fixed and constant focal takeoff in order to perform the 3D cloud points. Six adjacent strips were performed for the survey realization with pictures taken every second in sequence, in order to allow a minimum 80% overlap. A direct on site survey was also carried out with a DGPS for the placement of GPS markers and the geo-referencing of the final product (fig. 1c). Each flight with constant speed, direction and altitude recorded from 500 to 800 shots. The height of flight was dictated by the scale of the final report, an altitude of 100m was used for the beach survey. The topographic survey on the ground for the placement of the control points was performed with the Trimble R6 DGPS in RTK mode. The long-term shoreline evolution was obtained by a sixty-year historical shoreline time-series, through the analysis of a number of aerial photographs dating from 1954 to 2013. The

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...

Vegetation Removal from Uav Derived Dsms, Using Combination of RGB and NIR Imagery

Science.gov (United States)

Skarlatos, D.; Vlachos, M.

2018-05-01

Current advancements on photogrammetric software along with affordability and wide spreading of Unmanned Aerial Vehicles (UAV), allow for rapid, timely and accurate 3D modelling and mapping of small to medium sized areas. Although the importance and applications of large format aerial overlaps cameras and photographs in Digital Surface Model (DSM) production and LIDAR data is well documented in literature, this is not the case for UAV photography. Additionally, the main disadvantage of photogrammetry is the inability to map the dead ground (terrain), when we deal with areas that include vegetation. This paper assesses the use of near-infrared imagery captured by small UAV platforms to automatically remove vegetation from Digital Surface Models (DSMs) and obtain a Digital Terrain Model (DTM). Two areas were tested, based on the availability of ground reference points, both under trees and among vegetation, as well as on terrain. In addition, RGB and near-infrared UAV photography was captured and processed using Structure from Motion (SfM) and Multi View Stereo (MVS) algorithms to generate DSMs and corresponding colour and NIR orthoimages with 0.2 m and 0.25 m as pixel size respectively for the two test sites. Moreover, orthophotos were used to eliminate the vegetation from the DSMs using NDVI index, thresholding and masking. Following that, different interpolation algorithms, according to the test sites, were applied to fill in the gaps and created DTMs. Finally, a statistic analysis was made using reference terrain points captured on field, both on dead ground and under vegetation to evaluate the accuracy of the whole process and assess the overall accuracy of the derived DTMs in contrast with the DSMs.

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.

Flexible Structure Control Scheme of a UAVs Formation to Improve the Formation Stability During Maneuvers

Directory of Open Access Journals (Sweden)

Kownacki Cezary

2017-09-01

Full Text Available One of the issues related to formation flights, which requires to be still discussed, is the stability of formation flight in turns, where the aerodynamic conditions can be substantially different for outer vehicles due to varying bank angles. Therefore, this paper proposes a decentralized control algorithm based on a leader as the reference point for followers, i.e. other UAVs and two flocking behaviors responsible for local position control, i.e. cohesion and repulsion. But opposite to other research in this area, the structure of the formation becomes flexible (structure is being reshaped and bent according to actual turn radius of the leader. During turns the structure is bent basing on concentred circles with different radiuses corresponding to relative locations of vehicles in the structure. Simultaneously, UAVs' air-speeds must be modified according to the length of turn radius to achieve the stability of the structure. The effectiveness of the algorithm is verified by the results of simulated flights of five UAVs.

Data Acquisition (DAQ) system dedicated for remote sensing applications on Unmanned Aerial Vehicles (UAV)

Science.gov (United States)

Keleshis, C.; Ioannou, S.; Vrekoussis, M.; Levin, Z.; Lange, M. A.

2014-08-01

Continuous advances in unmanned aerial vehicles (UAV) and the increased complexity of their applications raise the demand for improved data acquisition systems (DAQ). These improvements may comprise low power consumption, low volume and weight, robustness, modularity and capability to interface with various sensors and peripherals while maintaining the high sampling rates and processing speeds. Such a system has been designed and developed and is currently integrated on the Autonomous Flying Platforms for Atmospheric and Earth Surface Observations (APAESO/NEA-YΠOΔOMH/NEKΠ/0308/09) however, it can be easily adapted to any UAV or any other mobile vehicle. The system consists of a single-board computer with a dual-core processor, rugged surface-mount memory and storage device, analog and digital input-output ports and many other peripherals that enhance its connectivity with various sensors, imagers and on-board devices. The system is powered by a high efficiency power supply board. Additional boards such as frame-grabbers, differential global positioning system (DGPS) satellite receivers, general packet radio service (3G-4G-GPRS) modems for communication redundancy have been interfaced to the core system and are used whenever there is a mission need. The onboard DAQ system can be preprogrammed for automatic data acquisition or it can be remotely operated during the flight from the ground control station (GCS) using a graphical user interface (GUI) which has been developed and will also be presented in this paper. The unique design of the GUI and the DAQ system enables the synchronized acquisition of a variety of scientific and UAV flight data in a single core location. The new DAQ system and the GUI have been successfully utilized in several scientific UAV missions. In conclusion, the novel DAQ system provides the UAV and the remote-sensing community with a new tool capable of reliably acquiring, processing, storing and transmitting data from any sensor integrated

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

Natural gas in the 21st century. Part 3. Multi-utility as survival strategy

International Nuclear Information System (INIS)

Krikke, R.E.

2000-01-01

The products energy becomes commercially attractive if value is added, e.g. by transferring it into a multi-utility. The marketing manager of a Dutch public utility (Essent) is interviewed about the opportunities and threats for energy companies which embrace the multi-utility concept

Multi-level Simulation of a Real Time Vibration Monitoring System Component

Science.gov (United States)

Robertson, Bryan A.; Wilkerson, Delisa

2005-01-01

This paper describes the development of a custom built Digital Signal Processing (DSP) printed circuit board designed to implement the Advanced Real Time Vibration Monitoring Subsystem proposed by Marshall Space Flight Center (MSFC) Transportation Directorate in 2000 for the Space Shuttle Main Engine Advanced Health Management System (AHMS). This Real Time Vibration Monitoring System (RTVMS) is being developed for ground use as part of the AHMS Health Management Computer-Integrated Rack Assembly (HMC-IRA). The HMC-IRA RTVMS design contains five DSPs which are highly interconnected through individual communication ports, shared memory, and a unique communication router that allows all the DSPs to receive digitized data fiom two multi-channel analog boards simultaneously. This paper will briefly cover the overall board design but will focus primarily on the state-of-the-art simulation environment within which this board was developed. This 16-layer board with over 1800 components and an additional mezzanine card has been an extremely challenging design. Utilization of a Mentor Graphics simulation environment provided the unique board and system level simulation capability to ascertain any timing or functional concerns before production. By combining VHDL, Synopsys Software and Hardware Models, and the Mentor Design Capture Environment, multiple simulations were developed to verify the RTVMS design. This multi-level simulation allowed the designers to achieve complete operability without error the first time the RTVMS printed circuit board was powered. The HMC-IRA design has completed all engineering and deliverable unit testing. P

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...

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

Feasibility Study for an Autonomous UAV -Magnetometer System -- Final Report on SERDP SEED 1509:2206

Energy Technology Data Exchange (ETDEWEB)

Roelof Versteeg; Mark McKay; Matt Anderson; Ross Johnson; Bob Selfridge; Jay Bennett

2007-09-01

Large areas across the United States are potentially contaminated with UXO, with some ranges encompassing tens to hundreds of thousands of acres. Technologies are needed which will allow for cost effective wide area scanning with 1) near 100 % coverage and 2) near 100 % detection of subsurface ordnance or features indicative of subsurface ordnance. The current approach to wide area scanning is a multi-level one, in which medium altitude fixed wing optical imaging is used for an initial site assessment. This assessment is followed with low altitude manned helicopter based magnetometry followed by surface investigations using either towed geophysical sensor arrays or man portable sensors. In order to be effective for small UXO detection, the sensing altitude for magnetic site investigations needs to be on the order of 1 – 3 meters. These altitude requirements means that manned helicopter surveys will generally only be feasible in large, open and relatively flat terrains. While such surveys are effective in mapping large areas relatively fast there are substantial mobilization/demobilization, staffing and equipment costs associated with these surveys (resulting in costs of approximately $100-$150/acre). Surface towed arrays provide high resolution maps but have other limitations, e.g. in their ability to navigate rough terrain effectively. Thus, other systems are needed allowing for effective data collection. An UAV (Unmanned Aerial Vehicle) magnetometer platform is an obvious alternative. The motivation behind such a system is that it would be safer for the operators, cheaper in initial and O&M costs, and more effective in terms of site characterization. However, while UAV data acquisition from fixed wing platforms for large (> 200 feet) stand off distances is relatively straight forward, a host of challenges exist for low stand-off distance (~ 6 feet) UAV geophysical data acquisition. The objective of SERDP SEED 1509:2006 was to identify the primary challenges

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.

Assessing UAV platform types and optical sensor specifications

Science.gov (United States)

Altena, B.; Goedemé, T.

2014-05-01

Photogrammetric acquisition with unmanned aerial vehicles (UAV) has grown extensively over the last couple of years. Such mobile platforms and their processing software have matured, resulting in a market which offers off-the-shelf mapping solutions to surveying companies and geospatial enterprises. Different approaches in platform type and optical instruments exist, though its resulting products have similar specifications. To demonstrate differences in acquisitioning practice, a case study over an open mine was flown with two different off-the-shelf UAVs (a fixed-wing and a multi-rotor). The resulting imagery is analyzed to clarify the differences in collection quality. We look at image settings, and stress the fact of photographic experience if manual setting are applied. For mapping production it might be safest to set the camera on automatic. Furthermore, we try to estimate if blur is present due to image motion. A subtle trend seems to be present, for the fast flying platform though its extent is of similar order to the slow moving one. It shows both systems operate at their limits. Finally, the lens distortion is assessed with special attention to chromatic aberration. Here we see that through calibration such aberrations could be present, however detecting this phenomena directly on imagery is not straightforward. For such effects a normal lens is sufficient, though a better lens and collimator does give significant improvement.

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.

Investigation of a robust tendon-sheath mechanism for flexible membrane wing application in mini-UAV

Science.gov (United States)

Lee, Shian; Tjahjowidodo, Tegoeh; Lee, Hsuchew; Lai, Benedict

2017-02-01

Two inherent issues manifest themselves in flying mini-unmanned aerial vehicles (mini-UAV) in the dense area at tropical climate regions, namely disturbances from gusty winds and limited space for deployment tasks. Flexible membrane wing (FMW) UAVs are seen to be potentials to mitigate these problems. FMWs are adaptable to gusty airflow as the wings are able to flex according to the gust load to reduce the effective angle-of-attack, thus, reducing the aerodynamic loads on the wing. On the other hand, the flexible structure is allowing the UAV to fold in a compact package, and later on, the mini-UAV can be deployed instantly from the storage tube, e.g. through a catapult mechanism. This paper discusses the development of an FMW UAV actuated by a tendon-sheath mechanism (TSM). This approach allows the wing to morph to generate a rolling moment, while still allowing the wing to fold. Dynamic characteristics of the mechanism that exhibits the strong nonlinear phenomenon of friction on TSM are modeled and compensated for. A feed-forward controller was implemented based on the identified nonlinear behavior to control the warping position of the wing. The proposed strategy is validated experimentally in a wind tunnel facility by creating a gusty environment that is imitating a realistic gusty condition based upon the results of computational fluid dynamics (CFD) simulation. The results demonstrate a stable and robust wing-warping actuation, even in gusty conditions. Accurate wing-warping can be achieved via the TSM, while also allowing the wings to fold.

Position and attitude tracking control for a quadrotor UAV.

Science.gov (United States)

Xiong, Jing-Jing; Zheng, En-Hui

2014-05-01

A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Development of a Hybrid Uav Sensor Platform Suitable for Farm-Scale Applications in Precision Agriculture

Science.gov (United States)

Pircher, M.; Geipel, J.; Kusnierek, K.; Korsaeth, A.

2017-08-01

Today's modern precision agriculture applications have a huge demand for data with high spatial and temporal resolution. This leads to the need of unmanned aerial vehicles (UAV) as sensor platforms providing both, easy use and a high area coverage. This study shows the successful development of a prototype hybrid UAV for practical applications in precision agriculture. The UAV consists of an off-the-shelf fixed-wing fuselage, which has been enhanced with multi-rotor functionality. It was programmed to perform pre-defined waypoint missions completely autonomously, including vertical take-off, horizontal flight, and vertical landing. The UAV was tested for its return-to-home (RTH) accuracy, power consumption and general flight performance at different wind speeds. The RTH accuracy was 43.7 cm in average, with a root-mean-square error of 39.9 cm. The power consumption raised with an increase in wind speed. An extrapolation of the analysed power consumption to conditions without wind resulted in an estimated 40 km travel range, when we assumed a 25 % safety margin of remaining battery capacity. This translates to a maximal area coverage of 300 ha for a scenario with 18 m/s airspeed, 50 minutes flight time, 120 m AGL altitude, and a desired 70 % of image side-lap and 85 % forward-lap. The ground sample distance with an in-built RGB camera was 3.5 cm, which we consider sufficient for farm-scale mapping missions for most precision agriculture applications.

Stock Control in Automotive Industry with Simulation Utilization

Directory of Open Access Journals (Sweden)

Petra Vegnerová

2008-12-01

Full Text Available At this time in economic environment there is the big trend of coming logistical chain, supply chain and supply chain management (SCM. SCM deals with material and information flows control, inventory management, demand forecast, production plan optimalization, distribution management etc. Nowadays for effective purchase, production and distribution plan and control in companies are utilized the simulation and simulation programmes. This paper deals with the simulation programme Witness and its utilization for finding of results real problems – simulation utilization for stocks solution in automotive industry. The model can be used for the determination of new delivery system of materials and for stocks reduction.

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.

Trait-Based Cue Utilization and Initial Skill Acquisition: Implications for Models of the Progression to Expertise

Directory of Open Access Journals (Sweden)

Mark eWiggins

2014-06-01

Full Text Available The primary aim of this study was to examine the role of cue utilization in the initial acquisition of psychomotor skills. Two experiments were undertaken, the first of which examined the relationship between cue utilization typologies and levels of accuracy following four simulated, power-off landing trials in a light aircraft simulator. The results indicated that higher levels of cue utilization were associated with a greater level of landing accuracy following training exposure. In the second study, participants’ levels of cue utilization were assessed prior to two 15 minute periods during which they practiced take-offs and landings using a simulated Unmanned Aerial Vehicle (UAV. Consistent with Study 1, the outcomes of Study 2 revealed a statistically significant relationship between levels of cue utilization and the number of trials to criterion on the take-off task, and the proportion of successful trials during both take-off and landing. In combination, the results suggest that the capacity for the acquisition and the subsequent utilization of cues is an important predictor of skill acquisition, particularly during the initial stages of the process. The implications for theory and applied practice are discussed.

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

a Mobile Multi-Sensor Platform for Building Reconstruction Integrating Terrestrial and Autonomous Uav-Based Close Range Data Acquisition

Science.gov (United States)

Cefalu, A.; Haala, N.; Schmohl, S.; Neumann, I.; Genz, T.

2017-08-01

Photogrammetric data capture of complex 3D objects using UAV imagery has become commonplace. Software tools based on algorithms like Structure-from-Motion and multi-view stereo image matching enable the fully automatic generation of densely meshed 3D point clouds. In contrast, the planning of a suitable image network usually requires considerable effort of a human expert, since this step directly influences the precision and completeness of the resulting point cloud. Planning of suitable camera stations can be rather complex, in particular for objects like buildings, bridges and monuments, which frequently feature strong depth variations to be acquired by high resolution images at a short distance. Within the paper, we present an automatic flight mission planning tool, which generates flight lines while aiming at camera configurations, which maintain a roughly constant object distance, provide sufficient image overlap and avoid unnecessary stations. Planning is based on a coarse Digital Surface Model and an approximate building outline. As a proof of concept, we use the tool within our research project MoVEQuaD, which aims at the reconstruction of building geometry at sub-centimetre accuracy.

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...

An Integrated Multi-Sensor Approach to Monitor Desert Environments by UAV and Satellite Sensors: Case Study Kubuqi Desert, China

Science.gov (United States)

Kim, J.; Lin, C. W.; vanGasselt, S.; Lin, S.; Lan, C. W.

2017-12-01

Expanding deserts have been causing significant socio-economical threats by, e.g., hampering anthropogenic activities or causing decline of agricultural productivity. Countries in the Asian-Pacific regions in particular have been suffering from dust storms originating in the arid deserts of China, Mongolia and central Asia. In order to mitigate such environmental interferences by means of, e.g. combat desertification activities and early warning systems, the establishment of reliable desert monitoring schemes is needed. In this study, we report on a remote sensing data fusion approach to constantly and precisely monitor desert environments. We have applied this approach over a test site located in the Kubuqi desert located in Northeast China and which is considered to be a major contributor of dust storms today. In order to understand spatial and temporal trends of desertification, the planimetric distribution and 3D shape and size of sand dunes were reconstructed using Digital Terrain Models (DTM) derived from stereo observations made by Unmanned Aerial Vehicles (UAV). Based on this, the volumetric change of sand dunes was directly estimated through co-registered DTMs. We furthermore derived and investigated topographic parameters, such as the aerodynamic roughness length, the protrusion coefficient, the Normalized Difference Angular Index, and the phase coherence derived from spaceborne optical/synthetic aperture radar (SAR) remote sensing assets with the calibration index from UAV observation. Throughout such a multi-data approach, temporal changes of a target's environmental parameters can be traced, analyzed and correlated with weather conditions. An improved understanding of aeolian processes in sand deserts will be a valuable contribution for desertification combat activities and early warning systems for dust storm generation. Future research needs to be conducted over more extensive spatial and temporal domains, also by combining investigations on the

Development of porous structure simulator for multi-scale simulation of irregular porous catalysts

International Nuclear Information System (INIS)

Koyama, Michihisa; Suzuki, Ai; Sahnoun, Riadh; Tsuboi, Hideyuki; Hatakeyama, Nozomu; Endou, Akira; Takaba, Hiromitsu; Kubo, Momoji; Del Carpio, Carlos A.; Miyamoto, Akira

2008-01-01

Efficient development of highly functional porous materials, used as catalysts in the automobile industry, demands a meticulous knowledge of the nano-scale interface at the electronic and atomistic scale. However, it is often difficult to correlate the microscopic interfacial interactions with macroscopic characteristics of the materials; for instance, the interaction between a precious metal and its support oxide with long-term sintering properties of the catalyst. Multi-scale computational chemistry approaches can contribute to bridge the gap between micro- and macroscopic characteristics of these materials; however this type of multi-scale simulations has been difficult to apply especially to porous materials. To overcome this problem, we have developed a novel mesoscopic approach based on a porous structure simulator. This simulator can construct automatically irregular porous structures on a computer, enabling simulations with complex meso-scale structures. Moreover, in this work we have developed a new method to simulate long-term sintering properties of metal particles on porous catalysts. Finally, we have applied the method to the simulation of sintering properties of Pt on alumina support. This newly developed method has enabled us to propose a multi-scale simulation approach for porous catalysts

Multi-resolution simulation of focused ultrasound propagation through ovine skull from a single-element transducer

Science.gov (United States)

Yoon, Kyungho; Lee, Wonhye; Croce, Phillip; Cammalleri, Amanda; Yoo, Seung-Schik

2018-05-01

Transcranial focused ultrasound (tFUS) is emerging as a non-invasive brain stimulation modality. Complicated interactions between acoustic pressure waves and osseous tissue introduce many challenges in the accurate targeting of an acoustic focus through the cranium. Image-guidance accompanied by a numerical simulation is desired to predict the intracranial acoustic propagation through the skull; however, such simulations typically demand heavy computation, which warrants an expedited processing method to provide on-site feedback for the user in guiding the acoustic focus to a particular brain region. In this paper, we present a multi-resolution simulation method based on the finite-difference time-domain formulation to model the transcranial propagation of acoustic waves from a single-element transducer (250 kHz). The multi-resolution approach improved computational efficiency by providing the flexibility in adjusting the spatial resolution. The simulation was also accelerated by utilizing parallelized computation through the graphic processing unit. To evaluate the accuracy of the method, we measured the actual acoustic fields through ex vivo sheep skulls with different sonication incident angles. The measured acoustic fields were compared to the simulation results in terms of focal location, dimensions, and pressure levels. The computational efficiency of the presented method was also assessed by comparing simulation speeds at various combinations of resolution grid settings. The multi-resolution grids consisting of 0.5 and 1.0 mm resolutions gave acceptable accuracy (under 3 mm in terms of focal position and dimension, less than 5% difference in peak pressure ratio) with a speed compatible with semi real-time user feedback (within 30 s). The proposed multi-resolution approach may serve as a novel tool for simulation-based guidance for tFUS applications.

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

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.

Initial Study of An Effective Fast-Time Simulation Platform for Unmanned Aircraft System Traffic Management

Science.gov (United States)

Xue, Min; Rios, Joseph

2017-01-01

Small Unmanned Aerial Vehicles (sUAVs), typically 55 lbs and below, are envisioned to play a major role in surveilling critical assets, collecting important information, and delivering goods. Large scale small UAV operations are expected to happen in low altitude airspace in the near future. Many static and dynamic constraints exist in low altitude airspace because of manned aircraft or helicopter activities, various wind conditions, restricted airspace, terrain and man-made buildings, and conflict-avoidance among sUAVs. High sensitivity and high maneuverability are unique characteristics of sUAVs that bring challenges to effective system evaluations and mandate such a simulation platform different from existing simulations that were built for manned air traffic system and large unmanned fixed aircraft. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative focuses on enabling safe and efficient sUAV operations in the future. In order to help define requirements and policies for a safe and efficient UTM system to accommodate a large amount of sUAV operations, it is necessary to develop a fast-time simulation platform that can effectively evaluate requirements, policies, and concepts in a close-to-reality environment. This work analyzed the impacts of some key factors including aforementioned sUAV's characteristics and demonstrated the importance of these factors in a successful UTM fast-time simulation platform.

LUNA: low-flying UAV-based forest monitoring system

Science.gov (United States)

Keizer, Jan Jacob; Pereira, Luísa; Pinto, Glória; Alves, Artur; Barros, Antonio; Boogert, Frans-Joost; Cambra, Sílvia; de Jesus, Cláudia; Frankenbach, Silja; Mesquita, Raquel; Serôdio, João; Martins, José; Almendra, Ricardo

2015-04-01

The LUNA project is aiming to develop an information system for precision forestry and, in particular, the monitoring of eucalypt plantations that is first and foremost based on multi-spectral imagery acquired using low-flying uav's. The presentation will focus on the first phase of image acquisition, processing and analysis for a series of pot experiments addressing main threats for early-stage eucalypt plantations in Portugal, i.e. acute , chronic and cyclic hydric stress, nutrient stress, fungal infections and insect plague attacks. The imaging results will be compared with spectroscopic measurements as well as with eco-physiological and plant morphological measurements. Furthermore, the presentation will show initial results of the project's second phase, comprising field tests in existing eucalypt plantations in north-central Portugal.

A comparative pressure analysis of air flow between horizontal and V-Tail of UAV MALE of NACA0012H with speed variation

Directory of Open Access Journals (Sweden)

Riza Rahmat

2018-01-01

Full Text Available NACA0012H is an airfoil type that could be used for Unmanned Aerial Vehicle Medium Altitude Long Endurance. This experiment was used to analyze stress in the surface of Tail of UAV MALE that was caused by air flow. The experiment was conducted using Computational Fluid Dynamics Software. Two designs of tail, horizontal and V-tail, were considered to simulate pressure occurred on the surface of leading edge, chamber and trailing edge. The simulation was developed varying the speed of the UAV MALE. The results showed that pressure occurred on the surface of horizontal tail higher than pressure on the V-tail.

TOWARDS A MORE EFFICIENT DETECTION OF EARTHQUAKE INDUCED FAÇADE DAMAGES USING OBLIQUE UAV IMAGERY

Directory of Open Access Journals (Sweden)

D. Duarte

2017-08-01

Full Text Available Urban search and rescue (USaR teams require a fast and thorough building damage assessment, to focus their rescue efforts accordingly. Unmanned aerial vehicles (UAV are able to capture relevant data in a short time frame and survey otherwise inaccessible areas after a disaster, and have thus been identified as useful when coupled with RGB cameras for façade damage detection. Existing literature focuses on the extraction of 3D and/or image features as cues for damage. However, little attention has been given to the efficiency of the proposed methods which hinders its use in an urban search and rescue context. The framework proposed in this paper aims at a more efficient façade damage detection using UAV multi-view imagery. This was achieved directing all damage classification computations only to the image regions containing the façades, hence discarding the irrelevant areas of the acquired images and consequently reducing the time needed for such task. To accomplish this, a three-step approach is proposed: i building extraction from the sparse point cloud computed from the nadir images collected in an initial flight; ii use of the latter as proxy for façade location in the oblique images captured in subsequent flights, and iii selection of the façade image regions to be fed to a damage classification routine. The results show that the proposed framework successfully reduces the extracted façade image regions to be assessed for damage 6 fold, hence increasing the efficiency of subsequent damage detection routines. The framework was tested on a set of UAV multi-view images over a neighborhood of the city of L’Aquila, Italy, affected in 2009 by an earthquake.

INVESTIGATION OF 1 : 1,000 SCALE MAP GENERATION BY STEREO PLOTTING USING UAV IMAGES

Directory of Open Access Journals (Sweden)

S. Rhee

2017-08-01

Full Text Available Large scale maps and image mosaics are representative geospatial data that can be extracted from UAV images. Map drawing using UAV images can be performed either by creating orthoimages and digitizing them, or by stereo plotting. While maps generated by digitization may serve the need for geospatial data, many institutions and organizations require map drawing using stereoscopic vision on stereo plotting systems. However, there are several aspects to be checked for UAV images to be utilized for stereo plotting. The first aspect is the accuracy of exterior orientation parameters (EOPs generated through automated bundle adjustment processes. It is well known that GPS and IMU sensors mounted on a UAV are not very accurate. It is necessary to adjust initial EOPs accurately using tie points. For this purpose, we have developed a photogrammetric incremental bundle adjustment procedure. The second aspect is unstable shooting conditions compared to aerial photographing. Unstable image acquisition may bring uneven stereo coverage, which will result in accuracy loss eventually. Oblique stereo pairs will create eye fatigue. The third aspect is small coverage of UAV images. This aspect will raise efficiency issue for stereo plotting of UAV images. More importantly, this aspect will make contour generation from UAV images very difficult. This paper will discuss effects relate to these three aspects. In this study, we tried to generate 1 : 1,000 scale map from the dataset using EOPs generated from software developed in-house. We evaluated Y-disparity of the tie points extracted automatically through the photogrammetric incremental bundle adjustment process. We could confirm that stereoscopic viewing is possible. Stereoscopic plotting work was carried out by a professional photogrammetrist. In order to analyse the accuracy of the map drawing using stereoscopic vision, we compared the horizontal and vertical position difference between adjacent models after

Investigation of 1 : 1,000 Scale Map Generation by Stereo Plotting Using Uav Images

Science.gov (United States)

Rhee, S.; Kim, T.

2017-08-01

Large scale maps and image mosaics are representative geospatial data that can be extracted from UAV images. Map drawing using UAV images can be performed either by creating orthoimages and digitizing them, or by stereo plotting. While maps generated by digitization may serve the need for geospatial data, many institutions and organizations require map drawing using stereoscopic vision on stereo plotting systems. However, there are several aspects to be checked for UAV images to be utilized for stereo plotting. The first aspect is the accuracy of exterior orientation parameters (EOPs) generated through automated bundle adjustment processes. It is well known that GPS and IMU sensors mounted on a UAV are not very accurate. It is necessary to adjust initial EOPs accurately using tie points. For this purpose, we have developed a photogrammetric incremental bundle adjustment procedure. The second aspect is unstable shooting conditions compared to aerial photographing. Unstable image acquisition may bring uneven stereo coverage, which will result in accuracy loss eventually. Oblique stereo pairs will create eye fatigue. The third aspect is small coverage of UAV images. This aspect will raise efficiency issue for stereo plotting of UAV images. More importantly, this aspect will make contour generation from UAV images very difficult. This paper will discuss effects relate to these three aspects. In this study, we tried to generate 1 : 1,000 scale map from the dataset using EOPs generated from software developed in-house. We evaluated Y-disparity of the tie points extracted automatically through the photogrammetric incremental bundle adjustment process. We could confirm that stereoscopic viewing is possible. Stereoscopic plotting work was carried out by a professional photogrammetrist. In order to analyse the accuracy of the map drawing using stereoscopic vision, we compared the horizontal and vertical position difference between adjacent models after drawing a specific

UAV Research at NASA Langley: Towards Safe, Reliable, and Autonomous Operations

Science.gov (United States)

Davila, Carlos G.

2016-01-01

Unmanned Aerial Vehicles (UAV) are fundamental components in several aspects of research at NASA Langley, such as flight dynamics, mission-driven airframe design, airspace integration demonstrations, atmospheric science projects, and more. In particular, NASA Langley Research Center (Langley) is using UAVs to develop and demonstrate innovative capabilities that meet the autonomy and robotics challenges that are anticipated in science, space exploration, and aeronautics. These capabilities will enable new NASA missions such as asteroid rendezvous and retrieval (ARRM), Mars exploration, in-situ resource utilization (ISRU), pollution measurements in historically inaccessible areas, and the integration of UAVs into our everyday lives all missions of increasing complexity, distance, pace, and/or accessibility. Building on decades of NASA experience and success in the design, fabrication, and integration of robust and reliable automated systems for space and aeronautics, Langley Autonomy Incubator seeks to bridge the gap between automation and autonomy by enabling safe autonomous operations via onboard sensing and perception systems in both data-rich and data-deprived environments. The Autonomy Incubator is focused on the challenge of mobility and manipulation in dynamic and unstructured environments by integrating technologies such as computer vision, visual odometry, real-time mapping, path planning, object detection and avoidance, object classification, adaptive control, sensor fusion, machine learning, and natural human-machine teaming. These technologies are implemented in an architectural framework developed in-house for easy integration and interoperability of cutting-edge hardware and software.

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.

System Considerations and Challendes in 3d Mapping and Modeling Using Low-Cost Uav Systems

Science.gov (United States)

Lari, Z.; El-Sheimy, N.

2015-08-01

In the last few years, low-cost UAV systems have been acknowledged as an affordable technology for geospatial data acquisition that can meet the needs of a variety of traditional and non-traditional mapping applications. In spite of its proven potential, UAV-based mapping is still lacking in terms of what is needed for it to become an acceptable mapping tool. In other words, a well-designed system architecture that considers payload restrictions as well as the specifications of the utilized direct geo-referencing component and the imaging systems in light of the required mapping accuracy and intended application is still required. Moreover, efficient data processing workflows, which are capable of delivering the mapping products with the specified quality while considering the synergistic characteristics of the sensors onboard, the wide range of potential users who might lack deep knowledge in mapping activities, and time constraints of emerging applications, are still needed to be adopted. Therefore, the introduced challenges by having low-cost imaging and georeferencing sensors onboard UAVs with limited payload capability, the necessity of efficient data processing techniques for delivering required products for intended applications, and the diversity of potential users with insufficient mapping-related expertise needs to be fully investigated and addressed by UAV-based mapping research efforts. This paper addresses these challenges and reviews system considerations, adaptive processing techniques, and quality assurance/quality control procedures for achievement of accurate mapping products from these systems.

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.

Rapid generation of control parameters of Multi-Infeed system through online simulation

Directory of Open Access Journals (Sweden)

Rasool Aazim

2017-05-01

Full Text Available Simulated Self-Generated - Particle Swarm optimization (SSG-PSO toolbox that automatically generates PI control parameters very quickly in PSCAD is designed. This toolbox operates by utilizing transient simulation to evaluate objective function and converges the fitness values of objective function through PSO algorithm during run time simulation of Multi-infeed HVDC systems. Integral Square Error-Objective Function (ISE-OF is used to accomplish the task. To make the toolbox faster, ranges are set for PSO generated value that limit the time of data acquisition for the objective function by only considering transition time of a system. This toolbox has a capability to optimize multiple controllers at same time. The PI values are generated faster and the results are showing markedly improved performance of a system during startup and under fault condition. The experimental results are presented in this paper.

Method for the visualization of landform by mapping using low altitude UAV application

Science.gov (United States)

Sharan Kumar, N.; Ashraf Mohamad Ismail, Mohd; Sukor, Nur Sabahiah Abdul; Cheang, William

2018-05-01

Unmanned Aerial Vehicle (UAV) and Digital Photogrammetry are evolving drastically in mapping technology. The significance and necessity for digital landform mapping are developing with years. In this study, a mapping workflow is applied to obtain two different input data sets which are the orthophoto and DSM. A fine flying technology is used to capture Low Altitude Aerial Photography (LAAP). Low altitude UAV (Drone) with the fixed advanced camera was utilized for imagery while computerized photogrammetry handling using Photo Scan was applied for cartographic information accumulation. The data processing through photogrammetry and orthomosaic processes is the main applications. High imagery quality is essential for the effectiveness and nature of normal mapping output such as 3D model, Digital Elevation Model (DEM), Digital Surface Model (DSM) and Ortho Images. The exactitude of Ground Control Points (GCP), flight altitude and the resolution of the camera are essential for good quality DEM and Orthophoto.

Geomorphological mapping of shallow landslides using UAVs

Science.gov (United States)

Fiorucci, Federica; Giordan, Daniele; Dutto, Furio; Rossi, Mauro; Guzzetti, Fausto

2015-04-01

The mapping of event shallow landslides is a critical activity, due to the large number of phenomena, mostly with small dimension, affecting extensive areas. This is commonly done through aerial photo-interpretation or through field surveys. Nowadays, landslide maps can be realized exploiting other methods/technologies: (i) airborne LiDARs, (ii) stereoscopic satellite images, and (iii) unmanned aerial vehicles (UAVs). In addition to the landslide maps, these methods/technologies allow the generation of updated Digital Terrain Models (DTM). In December 2013, in the Collazzone area (Umbria, Central Italy), an intense rainfall event triggered a large number of shallow landslides. To map the landslides occurred in the area, we exploited data and images obtained through (A) an airborne LiDAR survey, (B) a remote controlled optocopter (equipped with a Canon EOS M) survey, and (C) a stereoscopic satellite WorldView II MS. To evaluate the mapping accuracy of these methods, we select two landslides and we mapped them using a GPS RTK instrumentation. We consider the GPS survey as the benchmark being the most accurate system. The results of the comparison allow to highlight pros and cons of the methods/technologies used. LiDAR can be considered the most accurate system and in addition it allows the extraction and the classification of the digital surface models from the surveyed point cloud. Conversely, LiDAR requires additional time for the flight planning, and specific data analysis user capabilities. The analysis of the satellite WorldView II MS images facilitates the landslide mapping over large areas, but at the expenses of a minor resolution to detect the smaller landslides and their boundaries. UAVs can be considered the cheapest and fastest solution for the acquisition of high resolution ortho-photographs on limited areas, and the best solution for a multi-temporal analysis of specific landslide phenomena. Limitations are due to (i) the needs of optimal climatic

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

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...

Multi-attribute utility theory. Toward a more general framework

International Nuclear Information System (INIS)

Beaudoin, F.; Munier, B.; Serquin, Y.; Ecole Normale Superieure, 94 - Cachan

1997-12-01

Optimizing maintenance programs for nuclear power plants is a difficult task. Beyond the reliability of the systems at hand, one has to consider several conflicting objectives such as safety, availability, maintenance costs, personal exposure to radiations, all under risk. Multi-Attributed Utility Theory is a widely used framework to cope with such problems. This procedure is, however, based on a set of axioms which imply an expected utility treatment of risk. It has been shown elsewhere that the risk structure to be considered in such cases does not correspond to behavior consistent with such a treatment of risk, but would rather correspond to a rank dependent evaluation type of model. The question raised is then how to use a multi-attributed scheme of preferences under such conditions. (author)

Design of uav robust autopilot based on adaptive neuro-fuzzy inference system

Directory of Open Access Journals (Sweden)

Mohand Achour Touat

2008-04-01

Full Text Available  This paper is devoted to the application of adaptive neuro-fuzzy inference systems to the robust control of the UAV longitudinal motion. The adaptive neore-fuzzy inference system model needs to be trained by input/output data. This data were obtained from the modeling of a ”crisp” robust control system. The synthesis of this system is based on the separation theorem, which defines the structure and parameters of LQG-optimal controller, and further - robust optimization of this controller, based on the genetic algorithm. Such design procedure can define the rule base and parameters of fuzzyfication and defuzzyfication algorithms of the adaptive neore-fuzzy inference system controller, which ensure the robust properties of the control system. Simulation of the closed loop control system of UAV longitudinal motion with adaptive neore-fuzzy inference system controller demonstrates high efficiency of proposed design procedure.

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.

Formalizing Knowledge in Multi-Scale Agent-Based Simulations.

Science.gov (United States)

Somogyi, Endre; Sluka, James P; Glazier, James A

2016-10-01

Multi-scale, agent-based simulations of cellular and tissue biology are increasingly common. These simulations combine and integrate a range of components from different domains. Simulations continuously create, destroy and reorganize constituent elements causing their interactions to dynamically change. For example, the multi-cellular tissue development process coordinates molecular, cellular and tissue scale objects with biochemical, biomechanical, spatial and behavioral processes to form a dynamic network. Different domain specific languages can describe these components in isolation, but cannot describe their interactions. No current programming language is designed to represent in human readable and reusable form the domain specific knowledge contained in these components and interactions. We present a new hybrid programming language paradigm that naturally expresses the complex multi-scale objects and dynamic interactions in a unified way and allows domain knowledge to be captured, searched, formalized, extracted and reused.

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...

Photogrammetric Measurements in Fixed Wing Uav Imagery

Science.gov (United States)

Gülch, E.

2012-07-01

Several flights have been undertaken with PAMS (Photogrammetric Aerial Mapping System) by Germap, Germany, which is briefly introduced. This system is based on the SmartPlane fixed-wing UAV and a CANON IXUS camera system. The plane is equipped with GPS and has an infrared sensor system to estimate attitude values. A software has been developed to link the PAMS output to a standard photogrammetric processing chain built on Trimble INPHO. The linking of the image files and image IDs and the handling of different cases with partly corrupted output have to be solved to generate an INPHO project file. Based on this project file the software packages MATCH-AT, MATCH-T DSM, OrthoMaster and OrthoVista for digital aerial triangulation, DTM/DSM generation and finally digital orthomosaik generation are applied. The focus has been on investigations on how to adapt the "usual" parameters for the digital aerial triangulation and other software to the UAV flight conditions, which are showing high overlaps, large kappa angles and a certain image blur in case of turbulences. It was found, that the selected parameter setup shows a quite stable behaviour and can be applied to other flights. A comparison is made to results from other open source multi-ray matching software to handle the issue of the described flight conditions. Flights over the same area at different times have been compared to each other. The major objective was here to see, on how far differences occur relative to each other, without having access to ground control data, which would have a potential for applications with low requirements on the absolute accuracy. The results show, that there are influences of weather and illumination visible. The "unusual" flight pattern, which shows big time differences for neighbouring strips has an influence on the AT and DTM/DSM generation. The results obtained so far do indicate problems in the stability of the camera calibration. This clearly requests a usage of GCPs for all

Design of Smart Multi-Functional Integrated Aviation Photoelectric Payload

Science.gov (United States)

Zhang, X.

2018-04-01

To coordinate with the small UAV at reconnaissance mission, we've developed a smart multi-functional integrated aviation photoelectric payload. The payload weighs only 1kg, and has a two-axis stabilized platform with visible task payload, infrared task payload, laser pointers and video tracker. The photoelectric payload could complete the reconnaissance tasks above the target area (including visible and infrared). Because of its light weight, small size, full-featured, high integrated, the constraints of the UAV platform carrying the payload will be reduced a lot, which helps the payload suit for more extensive using occasions. So all users of this type of smart multi-functional integrated aviation photoelectric payload will do better works on completion of the ground to better pinpoint targets, artillery calibration, assessment of observe strike damage, customs officials and other tasks.

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.

Design of UAV-Embedded Microphone Array System for Sound Source Localization in Outdoor Environments

Directory of Open Access Journals (Sweden)

Kotaro Hoshiba

2017-11-01

Full Text Available In search and rescue activities, unmanned aerial vehicles (UAV should exploit sound information to compensate for poor visual information. This paper describes the design and implementation of a UAV-embedded microphone array system for sound source localization in outdoor environments. Four critical development problems included water-resistance of the microphone array, efficiency in assembling, reliability of wireless communication, and sufficiency of visualization tools for operators. To solve these problems, we developed a spherical microphone array system (SMAS consisting of a microphone array, a stable wireless network communication system, and intuitive visualization tools. The performance of SMAS was evaluated with simulated data and a demonstration in the field. Results confirmed that the SMAS provides highly accurate localization, water resistance, prompt assembly, stable wireless communication, and intuitive information for observers and operators.

Design of UAV-Embedded Microphone Array System for Sound Source Localization in Outdoor Environments.

Science.gov (United States)

Hoshiba, Kotaro; Washizaki, Kai; Wakabayashi, Mizuho; Ishiki, Takahiro; Kumon, Makoto; Bando, Yoshiaki; Gabriel, Daniel; Nakadai, Kazuhiro; Okuno, Hiroshi G

2017-11-03

In search and rescue activities, unmanned aerial vehicles (UAV) should exploit sound information to compensate for poor visual information. This paper describes the design and implementation of a UAV-embedded microphone array system for sound source localization in outdoor environments. Four critical development problems included water-resistance of the microphone array, efficiency in assembling, reliability of wireless communication, and sufficiency of visualization tools for operators. To solve these problems, we developed a spherical microphone array system (SMAS) consisting of a microphone array, a stable wireless network communication system, and intuitive visualization tools. The performance of SMAS was evaluated with simulated data and a demonstration in the field. Results confirmed that the SMAS provides highly accurate localization, water resistance, prompt assembly, stable wireless communication, and intuitive information for observers and operators.

Computational fluid dynamic (CFD) analysis on ALUDRA SR-10 UAV with parachute recovery system

Science.gov (United States)

Saim, R.; Mohd, S.; Shamsudin, S. S.; Zulkifli, M. F.; Omar, Z.; Subari@Rahmat, Z.; Masrom, M. F. Mohd; Zaki, Y.

2017-09-01

In an operation, belly landing is mostly applied as recovery method especially on research Unmanned Aerial Vehicle (UAV) such as Aludra SR-10. This type of landing method may encounter tough landing on hard soil and gravel which create high impact load on the aircraft. The impact may cause structural or system damage which costly to be repaired. Nowadays, Parachute Recovery System (PRS) recently used in numerous different tasks such as landing purpose to replace belly landing technique. Parachute use in this system to slow down flying or falling UAV to a safe landing by opening the canopy to increase aerodynamic drag. This paper was described the Computational Fluid Dynamic (CFD) analysis on ALUDRA SR-10 model with two different conditions i.e. the UAV equipped with and without parachute in order to identify the changes of aerodynamic characteristics. This simulation studies using solid models of aircraft and hemisphere parachute and was carried out by using ANSYS 16.0 Fluent under steady and turbulent flow and was modelled using the k-epsilon (k-ε) turbulence model. This simulation was limited to determine the drag force and drag coefficient. The obtained result showed that implementation of parachute increase 0.25 drag coefficient of the aircraft that is from 0.93 to 1.18. Subsequent to the reduction of descent rate caused by the parachute, the drag force of the aircraft increase by 0.76N. These increasing of drag force of the aircraft will produce lower terminal velocity which is expected to reduce the impact force on the aircraft during landing.

PERFORMANCE CHARACTERISTIC MEMS-BASED IMUs FOR UAVs NAVIGATION

Directory of Open Access Journals (Sweden)

H. A. Mohamed

2015-08-01

Full Text Available Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK, and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS signal outage.

Performance Characteristic Mems-Based IMUs for UAVs Navigation

Science.gov (United States)

Mohamed, H. A.; Hansen, J. M.; Elhabiby, M. M.; El-Sheimy, N.; Sesay, A. B.

2015-08-01

Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs) are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS) or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK), and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS) signal outage.

An approach to multi-attribute utility analysis under parametric uncertainty

International Nuclear Information System (INIS)

Kelly, M.; Thorne, M.C.

2001-01-01

The techniques of cost-benefit analysis and multi-attribute analysis provide a useful basis for informing decisions in situations where a number of potentially conflicting opinions or interests need to be considered, and where there are a number of possible decisions that could be adopted. When the input data to such decision-making processes are uniquely specified, cost-benefit analysis and multi-attribute utility analysis provide unambiguous guidance on the preferred decision option. However, when the data are not uniquely specified, application and interpretation of these techniques is more complex. Herein, an approach to multi-attribute utility analysis (and hence, as a special case, cost-benefit analysis) when input data are subject to parametric uncertainty is presented. The approach is based on the use of a Monte Carlo technique, and has recently been applied to options for the remediation of former uranium mining liabilities in a number of Central and Eastern European States

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.

Multi-Device Knob Utility for LCLS

Energy Technology Data Exchange (ETDEWEB)

Zelazny, Michael; Chevtsov, Sergei; Chu, Chungming Paul; Fairley, Diane; Krejcik, Patrick; Rogind, Deborah; Smith, Howard; White, Greg; Yocky, Gerald; /SLAC

2009-12-09

At the SLAC National Accelerator Laboratory (SLAC) the Controls Department (CD) has developed a new Multi-Device Knob Utility (MKB) based on the Experimental Physics and Industrial Control System (EPICS) toolkit for controlling one or more Process Variables (PVs) in unison, or simultaneously, from a physical knob located in the control room, or from various software tools such as the EPICS Extensible Display Manager (EDM) or a Swing slider in Java. A group of devices are hooked up to a knob, and then the value written to the devices is a simple function of the value of the knob. This is used, most commonly, to create a bump in the electron beam for the Linac Coherent Light Source (LCLS). Control system variables typically controlled are magnetic fields, phases, and timing offsets. This paper describes the technologies used to implement this utility.

Quasi-ADS-B Based UAV Conflict Detection and Resolution to Manned Aircraft

Directory of Open Access Journals (Sweden)

Chin E. Lin

2015-01-01

Full Text Available A Conflict Detection and Resolution (CD&R system for manned/unmanned aerial vehicle (UAV based on Automatic Dependent Surveillance-Broadcast (ADS-B concept is designed and verified in this paper. The 900 MHz XBee-Pro is selected as data transponder to broadcast flight information among participating aircraft in omnirange. Standard Compact Position Report (CPR format packet data are automatically broadcasted by ID sequencing under Quasi-ADS-B mechanism. Time Division Multiple Access (TDMA monitoring checks the designated time slot and reallocates the conflict ID. This mechanism allows the transponder to effectively share data with multiple aircraft in near airspace. The STM32f103 microprocessor is designed to handle RF, GPS, and flight data with Windows application on manned aircraft and ground control station simultaneously. Different conflict detection and collision avoidance algorithms can be implemented into the system to ensure flight safety. The proposed UAV/CD&R using Quasi-ADS-B transceiver is tested using ultralight aircraft flying at 100–120 km/hr speed in small airspace for mission simulation. The proposed hardware is also useful to additional applications to mountain hikers for emergency search and rescue. The fundamental function by the proposed UAV/CD&R using Quasi-ADS-B is verified with effective signal broadcasting for surveillance and efficient collision alert and avoidance performance to low altitude flights.

Textured digital elevation model formation from low-cost UAV LADAR/digital image data

Science.gov (United States)

Bybee, Taylor C.; Budge, Scott E.

2015-05-01

Textured digital elevation models (TDEMs) have valuable use in precision agriculture, situational awareness, and disaster response. However, scientific-quality models are expensive to obtain using conventional aircraft-based methods. The cost of creating an accurate textured terrain model can be reduced by using a low-cost (processing step and enables both 2D- and 3D-image registration techniques to be used. This paper describes formation of TDEMs using simulated data from a small UAV gathering swaths of texel images of the terrain below. Being a low-cost UAV, only a coarse knowledge of position and attitude is known, and thus both 2D- and 3D-image registration techniques must be used to register adjacent swaths of texel imagery to create a TDEM. The process of creating an aggregate texel image (a TDEM) from many smaller texel image swaths is described. The algorithm is seeded with the rough estimate of position and attitude of each capture. Details such as the required amount of texel image overlap, registration models, simulated flight patterns (level and turbulent), and texture image formation are presented. In addition, examples of such TDEMs are shown and analyzed for accuracy.

ARCHITECTURAL HERITAGE DOCUMENTATION BY USING LOW COST UAV WITH FISHEYE LENS: OTAG-I HUMAYUN IN ISTANBUL AS A CASE STUDY

Directory of Open Access Journals (Sweden)

N. Yastikli

2017-11-01

Full Text Available The digital documentation of architectural heritage is important for monitoring, preserving, managing as well as 3B BIM modelling, time-space VR (virtual reality applications. The unmanned aerial vehicles (UAVs have been widely used in these application thanks to rapid developments in technology which enable the high resolution images with resolutions in millimeters. Moreover, it has become possible to produce highly accurate 3D point clouds with structure from motion (SfM and multi-view stereo (MVS, to obtain a surface reconstruction of a realistic 3D architectural heritage model by using high-overlap images and 3D modeling software such as Context capture, Pix4Dmapper, Photoscan. In this study, digital documentation of Otag-i Humayun (The Ottoman Empire Sultan's Summer Palace located in Davutpaşa, Istanbul/Turkey is aimed using low cost UAV. The data collections have been made with low cost UAS 3DR Solo UAV with GoPro Hero 4 with fisheye lens. The data processing was accomplished by using commercial Pix4D software. The dense point clouds, a true orthophoto and 3D solid model of the Otag-i Humayun were produced results. The quality check of the produced point clouds has been performed. The obtained result from Otag-i Humayun in Istanbul proved that, the low cost UAV with fisheye lens can be successfully used for architectural heritage documentation.

Architectural Heritage Documentation by Using Low Cost Uav with Fisheye Lens: Otag-I Humayun in Istanbul as a Case Study

Science.gov (United States)

Yastikli, N.; Özerdem, Ö. Z.

2017-11-01

The digital documentation of architectural heritage is important for monitoring, preserving, managing as well as 3B BIM modelling, time-space VR (virtual reality) applications. The unmanned aerial vehicles (UAVs) have been widely used in these application thanks to rapid developments in technology which enable the high resolution images with resolutions in millimeters. Moreover, it has become possible to produce highly accurate 3D point clouds with structure from motion (SfM) and multi-view stereo (MVS), to obtain a surface reconstruction of a realistic 3D architectural heritage model by using high-overlap images and 3D modeling software such as Context capture, Pix4Dmapper, Photoscan. In this study, digital documentation of Otag-i Humayun (The Ottoman Empire Sultan's Summer Palace) located in Davutpaşa, Istanbul/Turkey is aimed using low cost UAV. The data collections have been made with low cost UAS 3DR Solo UAV with GoPro Hero 4 with fisheye lens. The data processing was accomplished by using commercial Pix4D software. The dense point clouds, a true orthophoto and 3D solid model of the Otag-i Humayun were produced results. The quality check of the produced point clouds has been performed. The obtained result from Otag-i Humayun in Istanbul proved that, the low cost UAV with fisheye lens can be successfully used for architectural heritage documentation.

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.

Coupled multi-physics simulation frameworks for reactor simulation: A bottom-up approach

International Nuclear Information System (INIS)

Tautges, Timothy J.; Caceres, Alvaro; Jain, Rajeev; Kim, Hong-Jun; Kraftcheck, Jason A.; Smith, Brandon M.

2011-01-01

A 'bottom-up' approach to multi-physics frameworks is described, where first common interfaces to simulation data are developed, then existing physics modules are adapted to communicate through those interfaces. Physics modules read and write data through those common interfaces, which also provide access to common simulation services like parallel IO, mesh partitioning, etc.. Multi-physics codes are assembled as a combination of physics modules, services, interface implementations, and driver code which coordinates calling these various pieces. Examples of various physics modules and services connected to this framework are given. (author)

Analysis of Unmanned Aerial Vehicle (UAV) hyperspectral remote sensing monitoring key technology in coastal wetland

Science.gov (United States)

Ma, Yi; Zhang, Jie; Zhang, Jingyu

2016-01-01

The coastal wetland, a transitional zone between terrestrial ecosystems and marine ecosystems, is the type of great value to ecosystem services. For the recent 3 decades, area of the coastal wetland is decreasing and the ecological function is gradually degraded with the rapid development of economy, which restricts the sustainable development of economy and society in the coastal areas of China in turn. It is a major demand of the national reality to carry out the monitoring of coastal wetlands, to master the distribution and dynamic change. UAV, namely unmanned aerial vehicle, is a new platform for remote sensing. Compared with the traditional satellite and manned aerial remote sensing, it has the advantage of flexible implementation, no cloud cover, strong initiative and low cost. Image-spectrum merging is one character of high spectral remote sensing. At the same time of imaging, the spectral curve of each pixel is obtained, which is suitable for quantitative remote sensing, fine classification and target detection. Aimed at the frontier and hotspot of remote sensing monitoring technology, and faced the demand of the coastal wetland monitoring, this paper used UAV and the new remote sensor of high spectral imaging instrument to carry out the analysis of the key technologies of monitoring coastal wetlands by UAV on the basis of the current situation in overseas and domestic and the analysis of developing trend. According to the characteristic of airborne hyperspectral data on UAV, that is "three high and one many", the key technology research that should develop are promoted as follows: 1) the atmosphere correction of the UAV hyperspectral in coastal wetlands under the circumstance of complex underlying surface and variable geometry, 2) the best observation scale and scale transformation method of the UAV platform while monitoring the coastal wetland features, 3) the classification and detection method of typical features with high precision from multi scale

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.

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...

Generalizable open source urban water portfolio simulation framework demonstrated using a multi-objective risk-based planning benchmark problem.

Science.gov (United States)

Trindade, B. C.; Reed, P. M.

2017-12-01

The growing access and reduced cost for computing power in recent years has promoted rapid development and application of multi-objective water supply portfolio planning. As this trend continues there is a pressing need for flexible risk-based simulation frameworks and improved algorithm benchmarking for emerging classes of water supply planning and management problems. This work contributes the Water Utilities Management and Planning (WUMP) model: a generalizable and open source simulation framework designed to capture how water utilities can minimize operational and financial risks by regionally coordinating planning and management choices, i.e. making more efficient and coordinated use of restrictions, water transfers and financial hedging combined with possible construction of new infrastructure. We introduce the WUMP simulation framework as part of a new multi-objective benchmark problem for planning and management of regionally integrated water utility companies. In this problem, a group of fictitious water utilities seek to balance the use of the mentioned reliability driven actions (e.g., restrictions, water transfers and infrastructure pathways) and their inherent financial risks. Several traits of this problem make it ideal for a benchmark problem, namely the presence of (1) strong non-linearities and discontinuities in the Pareto front caused by the step-wise nature of the decision making formulation and by the abrupt addition of storage through infrastructure construction, (2) noise due to the stochastic nature of the streamflows and water demands, and (3) non-separability resulting from the cooperative formulation of the problem, in which decisions made by stakeholder may substantially impact others. Both the open source WUMP simulation framework and its demonstration in a challenging benchmarking example hold value for promoting broader advances in urban water supply portfolio planning for regions confronting change.

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 ...

Vision-Based Target Finding and Inspection of a Ground Target Using a Multirotor UAV System.

Science.gov (United States)

Hinas, Ajmal; Roberts, Jonathan M; Gonzalez, Felipe

2017-12-17

In this paper, a system that uses an algorithm for target detection and navigation and a multirotor Unmanned Aerial Vehicle (UAV) for finding a ground target and inspecting it closely is presented. The system can also be used for accurate and safe delivery of payloads or spot spraying applications in site-specific crop management. A downward-looking camera attached to a multirotor is used to find the target on the ground. The UAV descends to the target and hovers above the target for a few seconds to inspect the target. A high-level decision algorithm based on an OODA (observe, orient, decide, and act) loop was developed as a solution to address the problem. Navigation of the UAV was achieved by continuously sending local position messages to the autopilot via Mavros. The proposed system performed hovering above the target in three different stages: locate, descend, and hover. The system was tested in multiple trials, in simulations and outdoor tests, from heights of 10 m to 40 m. Results show that the system is highly reliable and robust to sensor errors, drift, and external disturbance.

High performance MRI simulations of motion on multi-GPU systems.

Science.gov (United States)

Xanthis, Christos G; Venetis, Ioannis E; Aletras, Anthony H

2014-07-04

MRI physics simulators have been developed in the past for optimizing imaging protocols and for training purposes. However, these simulators have only addressed motion within a limited scope. The purpose of this study was the incorporation of realistic motion, such as cardiac motion, respiratory motion and flow, within MRI simulations in a high performance multi-GPU environment. Three different motion models were introduced in the Magnetic Resonance Imaging SIMULator (MRISIMUL) of this study: cardiac motion, respiratory motion and flow. Simulation of a simple Gradient Echo pulse sequence and a CINE pulse sequence on the corresponding anatomical model was performed. Myocardial tagging was also investigated. In pulse sequence design, software crushers were introduced to accommodate the long execution times in order to avoid spurious echoes formation. The displacement of the anatomical model isochromats was calculated within the Graphics Processing Unit (GPU) kernel for every timestep of the pulse sequence. Experiments that would allow simulation of custom anatomical and motion models were also performed. Last, simulations of motion with MRISIMUL on single-node and multi-node multi-GPU systems were examined. Gradient Echo and CINE images of the three motion models were produced and motion-related artifacts were demonstrated. The temporal evolution of the contractility of the heart was presented through the application of myocardial tagging. Better simulation performance and image quality were presented through the introduction of software crushers without the need to further increase the computational load and GPU resources. Last, MRISIMUL demonstrated an almost linear scalable performance with the increasing number of available GPU cards, in both single-node and multi-node multi-GPU computer systems. MRISIMUL is the first MR physics simulator to have implemented motion with a 3D large computational load on a single computer multi-GPU configuration. The incorporation

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...

Applications of UAVs to Measurement and Monitoring of Anthropogenic Contamination of an Urban Wildlife Preserve

Science.gov (United States)

Higa, E.; Valencia, D.; Hunt, A.

2017-12-01

Over the past decade, the use of unmanned aerial vehicles (UAV's) has seen unprecedented growth in diverse research areas due to advances in UAV hardware and reduced total operating costs. These developments have given environmental investigators a new aerial data acquisition technique that can be used to not only survey large areas of terrain in a time-efficient and cost-effective manner but can be used to gather previously almost unattainable air quality data. Vertically resolved profiles of air pollutant data can be readily constructed. This project's goal is to produce a time resolved (seasonal) aerial survey of a 150-acre section from a 1300-acre ecologically diverse park of bottomland forests, wetlands and prairies. This ecosystem provides abundant habitats for a diverse wildlife community. This section was chosen due to its close proximity to the city landfill located 0.5 miles due north from the chosen section. The process of collecting UAV aerial images at a constant altitude of ( 200ft) on a bi-monthly basis (for a period of 6 months) has commenced. The UAV has been fitted with a custom made mount to secure an Ultrafine Particle (UFP) counter; this is providing information on UFP levels over the study area as a proxy for airborne particle inputs to the site. Sediment samples will be taken from several runoff ponds within the survey area to evaluate possible anthropogenic contamination of the park . Post processing imaging software, DroneDeploy, is being used to create an orthomosaic, topographic surface and 3D model that can be integrated with GIS platforms to create a comprehensive and cohesive multi-layered data set. Data sets of this nature will provide information on temporally constrained sources of runoff material to the pond areas in the preserve.

Interactive Preference Learning of Utility Functions for Multi-Objective Optimization

OpenAIRE

Dewancker, Ian; McCourt, Michael; Ainsworth, Samuel

2016-01-01

Real-world engineering systems are typically compared and contrasted using multiple metrics. For practical machine learning systems, performance tuning is often more nuanced than minimizing a single expected loss objective, and it may be more realistically discussed as a multi-objective optimization problem. We propose a novel generative model for scalar-valued utility functions to capture human preferences in a multi-objective optimization setting. We also outline an interactive active learn...

Wind and Wake Sensing with UAV Formation Flight: System Development and Flight Testing

Science.gov (United States)

Larrabee, Trenton Jameson

sensing data using UAVs in formation flight. This has been achieved and well documented before in manned aircraft but very little work has been done on UAV wake sensing especially during flight testing. This document describes the development and flight testing of small unmanned aerial system (UAS) for wind and wake sensing purpose including a Ground Control Station (GCS) and UAVs. This research can be stated in four major components. Firstly, formation flight was obtained by integrating a formation flight controller on the WVU Phastball Research UAV aircraft platform from the Flight Control Systems Laboratory (FCSL) at West Virginia University (WVU). Second, a new approach to wind estimation using an Unscented Kalman filter (UKF) is discussed along with results from flight data. Third, wake modeling within a simulator and wake sensing during formation flight is shown. Finally, experimental results are used to discuss the "sweet spot" for energy harvesting in formation flight, a novel approach to cooperative wind estimation, and gust suppression control for a follower aircraft in formation flight.

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.

Hierarchical path planning and control of a small fixed-wing UAV: Theory and experimental validation

Science.gov (United States)

Jung, Dongwon

2007-12-01

problem is formulated by setting up geometric linear constraints as well as boundary conditions. Subsequently, we construct B-spline path templates by solving a set of distinct optimization problems. For application in UAV motion planning, the path templates are incorporated to replace parts of the entire path by the smooth B-spline paths. Each path segment is stitched together while preserving continuity to obtain a final smooth reference path to be used for path following control. The path following control for a small fixed-wing UAV to track the prescribed smooth reference path is also addressed. Assuming the UAV is equipped with an autopilot for low level control, we adopt a kinematic error model with respect to the moving Serret-Frenet frame attached to a path for tracking controller design. A kinematic path following control law that commands heading rate is presented. Backstepping is applied to derive the roll angle command by taking into account the approximate closed-loop roll dynamics. A parameter adaptation technique is employed to account for the inaccurate time constant of the closed-loop roll dynamics during actual implementation. Finally, we implement the proposed hierarchical path control of a small UAV on the actual hardware platform, which is based on an 1/5 scale R/C model airframe (Decathlon) and the autopilot hardware and software. Based on the hardware-in-the-loop (HIL) simulation environment, the proposed hierarchical path control algorithm has been validated through on-line, real-time implementation on a small micro-controller. By a seamless integration of the control algorithms for path planning, path smoothing, and path following, it has been demonstrated that the UAV equipped with a small autopilot having limited computational resources manages to accomplish the path control objective to reach the goal while avoiding obstacles with minimal human intervention.

Sim4CV: A Photo-Realistic Simulator for Computer Vision Applications

KAUST Repository

Mü ller, Matthias; Casser, Vincent; Lahoud, Jean; Smith, Neil; Ghanem, Bernard

2018-01-01

based cars, unmanned aerial vehicles (UAVs), and animated human actors in diverse urban and suburban 3D environments. We demonstrate the versatility of the simulator with two case studies: autonomous UAV-based tracking of moving objects and autonomous

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.

Fixed-Wing UAVs Flock Control through Cohesion and Repulsion Behaviours Combined with a Leadership

Directory of Open Access Journals (Sweden)

Cezary Kownacki

2016-02-01

Full Text Available The aim of this paper is to present a novel approach to swarm control of small fixed-wing UAVs, which combines only two flocking behaviours with a leadership feature. In the presented approach, two fundamental rules of Reynolds flocking are applied, i.e., cohesion and repulsion, as the base of a decentralized control of self-organization of the flock. These rules are combined with a leadership feature, which is responsible for a global behaviour of guidance, as in the case of animals. Such a bio-inspired combination allows the achievement of a coherent collective flight of a flock of fixed-wing UAVs without applying formal behaviours of migration and alignment. This highly simplifies an implementation of the algorithm. The presented results include both numerical simulations and experimental flights, which validate the hardware implementation of the approach.

Application Of Reinforcement Learning In Heading Control Of A Fixed Wing UAV Using X-Plane Platform

Directory of Open Access Journals (Sweden)

Kimathi

2017-02-01

Full Text Available Heading control of an Unmanned Aerial Vehicle UAV is a vital operation of an autopilot system. It is executed by employing a design of control algorithms that control its direction and navigation. Most commonly available autopilots exploit Proportional-Integral-Derivative PID based heading controllers. In this paper we propose an online adaptive reinforcement learning heading controller. The autopilot heading controller will be designed in MatlabSimulink for controlling a UAV in X-Plane test platform. Through this platform the performance of the controller is shown using real time simulations. The performance of this controller is compared to that of a PID controller. The results show that the proposed method performs better than a well tuned PID controller.

Development of autonomous controller system of high speed UAV from simulation to ready to fly condition

Science.gov (United States)

Yudhi Irwanto, Herma

2018-02-01

The development of autonomous controller system that is specially used in our high speed UAV, it’s call RKX-200EDF/TJ controlled vehicle needs to be continued as a step to mastery and to developt control system of LAPAN’s satellite launching rocket. The weakness of the existing control system in this high speed UAV needs to be repaired and replaced using the autonomous controller system. Conversion steps for ready-to-fly system involved controlling X tail fin, adjusting auto take off procedure by adding X axis sensor, procedure of way points reading and process of measuring distance and heading to the nearest way point, developing user-friendly ground station, and adding tools for safety landing. The development of this autonomous controller system also covered a real flying test in Pandanwangi, Lumajang in November 2016. Unfortunately, the flying test was not successful because the booster rocket was blown right after burning. However, the system could record the event and demonstrated that the controller system had worked according to plan.

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.

Design of UAV-Embedded Microphone Array System for Sound Source Localization in Outdoor Environments †

Science.gov (United States)

Hoshiba, Kotaro; Washizaki, Kai; Wakabayashi, Mizuho; Ishiki, Takahiro; Bando, Yoshiaki; Gabriel, Daniel; Nakadai, Kazuhiro; Okuno, Hiroshi G.

2017-01-01

In search and rescue activities, unmanned aerial vehicles (UAV) should exploit sound information to compensate for poor visual information. This paper describes the design and implementation of a UAV-embedded microphone array system for sound source localization in outdoor environments. Four critical development problems included water-resistance of the microphone array, efficiency in assembling, reliability of wireless communication, and sufficiency of visualization tools for operators. To solve these problems, we developed a spherical microphone array system (SMAS) consisting of a microphone array, a stable wireless network communication system, and intuitive visualization tools. The performance of SMAS was evaluated with simulated data and a demonstration in the field. Results confirmed that the SMAS provides highly accurate localization, water resistance, prompt assembly, stable wireless communication, and intuitive information for observers and operators. PMID:29099790

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...

Implementation of Grid-computing Framework for Simulation in Multi-scale Structural Analysis

Directory of Open Access Journals (Sweden)

Data Iranata

2010-05-01

Full Text Available A new grid-computing framework for simulation in multi-scale structural analysis is presented. Two levels of parallel processing will be involved in this framework: multiple local distributed computing environments connected by local network to form a grid-based cluster-to-cluster distributed computing environment. To successfully perform the simulation, a large-scale structural system task is decomposed into the simulations of a simplified global model and several detailed component models using various scales. These correlated multi-scale structural system tasks are distributed among clusters and connected together in a multi-level hierarchy and then coordinated over the internet. The software framework for supporting the multi-scale structural simulation approach is also presented. The program architecture design allows the integration of several multi-scale models as clients and servers under a single platform. To check its feasibility, a prototype software system has been designed and implemented to perform the proposed concept. The simulation results show that the software framework can increase the speedup performance of the structural analysis. Based on this result, the proposed grid-computing framework is suitable to perform the simulation of the multi-scale structural analysis.

IMPROVED UAV-BORNE 3D MAPPING BY FUSING OPTICAL AND LASERSCANNER DATA

Directory of Open Access Journals (Sweden)

B. Jutzi

2013-08-01

Full Text Available In this paper, a new method for fusing optical and laserscanner data is presented for improved UAV-borne 3D mapping. We propose to equip an unmanned aerial vehicle (UAV with a small platform which includes two sensors: a standard low-cost digital camera and a lightweight Hokuyo UTM-30LX-EW laserscanning device (210 g without cable. Initially, a calibration is carried out for the utilized devices. This involves a geometric camera calibration and the estimation of the position and orientation offset between the two sensors by lever-arm and bore-sight calibration. Subsequently, a feature tracking is performed through the image sequence by considering extracted interest points as well as the projected 3D laser points. These 2D results are fused with the measured laser distances and fed into a bundle adjustment in order to obtain a Simultaneous Localization and Mapping (SLAM. It is demonstrated that an improvement in terms of precision for the pose estimation is derived by fusing optical and laserscanner data.

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

Single-phase multi-dimensional thermohydraulics direct numerical simulation code DINUS-3. Input data description

Energy Technology Data Exchange (ETDEWEB)

Muramatsu, Toshiharu [Power Reactor and Nuclear Fuel Development Corp., Oarai, Ibaraki (Japan). Oarai Engineering Center

1998-08-01

This report explains the numerical methods and the set-up method of input data for a single-phase multi-dimensional thermohydraulics direct numerical simulation code DINUS-3 (Direct Numerical Simulation using a 3rd-order upwind scheme). The code was developed to simulate non-stationary temperature fluctuation phenomena related to thermal striping phenomena, developed at Power Reactor and Nuclear Fuel Development Corporation (PNC). The DINUS-3 code was characterized by the use of a third-order upwind scheme for convection terms in instantaneous Navier-Stokes and energy equations, and an adaptive control system based on the Fuzzy theory to control time step sizes. Author expect this report is very useful to utilize the DINUS-3 code for the evaluation of various non-stationary thermohydraulic phenomena in reactor applications. (author)

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

MISSION-ORIENTED SENSOR ARRAYS AND UAVs – A CASE STUDY ON ENVIRONMENTAL MONITORING

Directory of Open Access Journals (Sweden)

N. M. Figueira

2015-08-01

Full Text Available This paper presents a new concept of UAV mission design in geomatics, applied to the generation of thematic maps for a multitude of civilian and military applications. We discuss the architecture of Mission-Oriented Sensors Arrays (MOSA, proposed in Figueira et Al. (2013, aimed at splitting and decoupling the mission-oriented part of the system (non safety-critical hardware and software from the aircraft control systems (safety-critical. As a case study, we present an environmental monitoring application for the automatic generation of thematic maps to track gunshot activity in conservation areas. The MOSA modeled for this application integrates information from a thermal camera and an on-the-ground microphone array. The use of microphone arrays technology is of particular interest in this paper. These arrays allow estimation of the direction-of-arrival (DOA of the incoming sound waves. Information about events of interest is obtained by the fusion of the data provided by the microphone array, captured by the UAV, fused with information from the termal image processing. Preliminary results show the feasibility of the on-the-ground sound processing array and the simulation of the main processing module, to be embedded into an UAV in a future work. The main contributions of this paper are the proposed MOSA system, including concepts, models and architecture.

Two-stage discrete-continuous multi-objective load optimization: An industrial consumer utility approach to demand response

International Nuclear Information System (INIS)

Abdulaal, Ahmed; Moghaddass, Ramin; Asfour, Shihab

2017-01-01

Highlights: •Two-stage model links discrete-optimization to real-time system dynamics operation. •The solutions obtained are non-dominated Pareto optimal solutions. •Computationally efficient GA solver through customized chromosome coding. •Modest to considerable savings are achieved depending on the consumer’s preference. -- Abstract: In the wake of today’s highly dynamic and competitive energy markets, optimal dispatching of energy sources requires effective demand responsiveness. Suppliers have adopted a dynamic pricing strategy in efforts to control the downstream demand. This method however requires consumer awareness, flexibility, and timely responsiveness. While residential activities are more flexible and schedulable, larger commercial consumers remain an obstacle due to the impacts on industrial performance. This paper combines methods from quadratic, stochastic, and evolutionary programming with multi-objective optimization and continuous simulation, to propose a two-stage discrete-continuous multi-objective load optimization (DiCoMoLoOp) autonomous approach for industrial consumer demand response (DR). Stage 1 defines discrete-event load shifting targets. Accordingly, controllable loads are continuously optimized in stage 2 while considering the consumer’s utility. Utility functions, which measure the loads’ time value to the consumer, are derived and weights are assigned through an analytical hierarchy process (AHP). The method is demonstrated for an industrial building model using real data. The proposed method integrates with building energy management system and solves in real-time with autonomous and instantaneous load shifting in the hour-ahead energy price (HAP) market. The simulation shows the occasional existence of multiple load management options on the Pareto frontier. Finally, the computed savings, based on the simulation analysis with real consumption, climate, and price data, ranged from modest to considerable amounts

Efficient approach for simulating response of multi-body structure in reactor core subjected to seismic loading

International Nuclear Information System (INIS)

Zhang Hongkun; Cen Song; Wang Haitao; Cheng Huanyu

2012-01-01

An efficient 3D approach is proposed for simulating the complicated responses of the multi-body structure in reactor core under seismic loading. By utilizing the rigid-body and connector functions of the software Abaqus, the multi-body structure of the reactor core is simplified as a mass-point system interlinked by spring-dashpot connectors. And reasonable schemes are used for determining various connector coefficients. Furthermore, a scripting program is also complied for the 3D parametric modeling. Numerical examples show that, the proposed method can not only produce the results which satisfy the engineering requirements, but also improve the computational efficiency more than 100 times. (authors)

SUSI 62 A ROBUST AND SAFE PARACHUTE UAV WITH LONG FLIGHT TIME AND GOOD PAYLOAD

Directory of Open Access Journals (Sweden)

H. P. Thamm

2012-09-01

Full Text Available In many research areas in the geo-sciences (erosion, land use, land cover change, etc. or applications (e.g. forest management, mining, land management etc. there is a demand for remote sensing images of a very high spatial and temporal resolution. Due to the high costs of classic aerial photo campaigns, the use of a UAV is a promising option for obtaining the desired remote sensed information at the time it is needed. However, the UAV must be easy to operate, safe, robust and should have a high payload and long flight time. For that purpose, the parachute UAV SUSI 62 was developed. It consists of a steel frame with a powerful 62 cm3 2- stroke engine and a parachute wing. The frame can be easily disassembled for transportation or to replace parts. On the frame there is a gimbal mounted sensor carrier where different sensors, standard SLR cameras and/or multi-spectral and thermal sensors can be mounted. Due to the design of the parachute, the SUSI 62 is very easy to control. Two different parachute sizes are available for different wind speed conditions. The SUSI 62 has a payload of up to 8 kg providing options to use different sensors at the same time or to extend flight duration. The SUSI 62 needs a runway of between 10 m and 50 m, depending on the wind conditions. The maximum flight speed is approximately 50 km/h. It can be operated in a wind speed of up to 6 m/s. The design of the system utilising a parachute UAV makes it comparatively safe as a failure of the electronics or the remote control only results in the UAV coming to the ground at a slow speed. The video signal from the camera, the GPS coordinates and other flight parameters are transmitted to the ground station in real time. An autopilot is available, which guarantees that the area of investigation is covered at the desired resolution and overlap. The robustly designed SUSI 62 has been used successfully in Europe, Africa and Australia for scientific projects and also for

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...

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

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.

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.

Application of Multilayer Perceptron with Automatic Relevance Determination on Weed Mapping Using UAV Multispectral Imagery.

Science.gov (United States)

Tamouridou, Afroditi A; Alexandridis, Thomas K; Pantazi, Xanthoula E; Lagopodi, Anastasia L; Kashefi, Javid; Kasampalis, Dimitris; Kontouris, Georgios; Moshou, Dimitrios

2017-10-11

Remote sensing techniques are routinely used in plant species discrimination and of weed mapping. In the presented work, successful Silybum marianum detection and mapping using multilayer neural networks is demonstrated. A multispectral camera (green-red-near infrared) attached on a fixed wing unmanned aerial vehicle (UAV) was utilized for the acquisition of high-resolution images (0.1 m resolution). The Multilayer Perceptron with Automatic Relevance Determination (MLP-ARD) was used to identify the S. marianum among other vegetation, mostly Avena sterilis L. The three spectral bands of Red, Green, Near Infrared (NIR) and the texture layer resulting from local variance were used as input. The S. marianum identification rates using MLP-ARD reached an accuracy of 99.54%. Τhe study had an one year duration, meaning that the results are specific, although the accuracy shows the interesting potential of S. marianum mapping with MLP-ARD on multispectral UAV imagery.

Simulations of Quantum Turing Machines by Quantum Multi-Stack Machines

OpenAIRE

Qiu, Daowen

2005-01-01

As was well known, in classical computation, Turing machines, circuits, multi-stack machines, and multi-counter machines are equivalent, that is, they can simulate each other in polynomial time. In quantum computation, Yao [11] first proved that for any quantum Turing machines $M$, there exists quantum Boolean circuit $(n,t)$-simulating $M$, where $n$ denotes the length of input strings, and $t$ is the number of move steps before machine stopping. However, the simulations of quantum Turing ma...

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.

High spatial resolution mapping of folds and fractures using Unmanned Aerial Vehicle (UAV) photogrammetry

Science.gov (United States)

Cruden, A. R.; Vollgger, S.

2016-12-01

The emerging capability of UAV photogrammetry combines a simple and cost-effective method to acquire digital aerial images with advanced computer vision algorithms that compute spatial datasets from a sequence of overlapping digital photographs from various viewpoints. Depending on flight altitude and camera setup, sub-centimeter spatial resolution orthophotographs and textured dense point clouds can be achieved. Orientation data can be collected for detailed structural analysis by digitally mapping such high-resolution spatial datasets in a fraction of time and with higher fidelity compared to traditional mapping techniques. Here we describe a photogrammetric workflow applied to a structural study of folds and fractures within alternating layers of sandstone and mudstone at a coastal outcrop in SE Australia. We surveyed this location using a downward looking digital camera mounted on commercially available multi-rotor UAV that autonomously followed waypoints at a set altitude and speed to ensure sufficient image overlap, minimum motion blur and an appropriate resolution. The use of surveyed ground control points allowed us to produce a geo-referenced 3D point cloud and an orthophotograph from hundreds of digital images at a spatial resolution automatically extracted from these high-resolution datasets using open-source software. This resulted in an extensive and statistically relevant orientation dataset that was used to 1) interpret the progressive development of folds and faults in the region, and 2) to generate a 3D structural model that underlines the complex internal structure of the outcrop and quantifies spatial variations in fold geometries. Overall, our work highlights how UAV photogrammetry can contribute to new insights in structural analysis.

A debugging method of the Quadrotor UAV based on infrared thermal imaging

Science.gov (United States)

Cui, Guangjie; Hao, Qian; Yang, Jianguo; Chen, Lizhi; Hu, Hongkang; Zhang, Lijun

2018-01-01

High-performance UAV has been popular and in great need in recent years. The paper introduces a new method in debugging Quadrotor UAVs. Based on the infrared thermal technology and heat transfer theory, a UAV is under debugging above a hot-wire grid which is composed of 14 heated nichrome wires. And the air flow propelled by the rotating rotors has an influence on the temperature distribution of the hot-wire grid. An infrared thermal imager below observes the distribution and gets thermal images of the hot-wire grid. With the assistance of mathematic model and some experiments, the paper discusses the relationship between thermal images and the speed of rotors. By means of getting debugged UAVs into test, the standard information and thermal images can be acquired. The paper demonstrates that comparing to the standard thermal images, a UAV being debugging in the same test can draw some critical data directly or after interpolation. The results are shown in the paper and the advantages are discussed.

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

Poisson solvers for self-consistent multi-particle simulations

International Nuclear Information System (INIS)

Qiang, J; Paret, S

2014-01-01

Self-consistent multi-particle simulation plays an important role in studying beam-beam effects and space charge effects in high-intensity beams. The Poisson equation has to be solved at each time-step based on the particle density distribution in the multi-particle simulation. In this paper, we review a number of numerical methods that can be used to solve the Poisson equation efficiently. The computational complexity of those numerical methods will be O(N log(N)) or O(N) instead of O(N2), where N is the total number of grid points used to solve the Poisson equation

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.

Bio-Inspired Multi-Functional Drug Transport Design Concept and Simulations.

Science.gov (United States)

Pidaparti, Ramana M; Cartin, Charles; Su, Guoguang

2017-04-25

In this study, we developed a microdevice concept for drug/fluidic transport taking an inspiration from supramolecular motor found in biological cells. Specifically, idealized multi-functional design geometry (nozzle/diffuser/nozzle) was developed for (i) fluidic/particle transport; (ii) particle separation; and (iii) droplet generation. Several design simulations were conducted to demonstrate the working principles of the multi-functional device. The design simulations illustrate that the proposed design concept is feasible for multi-functionality. However, further experimentation and optimization studies are needed to fully evaluate the multifunctional device concept for multiple applications.

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...

Optimal Wonderful Life Utility Functions in Multi-Agent Systems

Science.gov (United States)

Wolpert, David H.; Tumer, Kagan; Swanson, Keith (Technical Monitor)

2000-01-01

The mathematics of Collective Intelligence (COINs) is concerned with the design of multi-agent systems so as to optimize an overall global utility function when those systems lack centralized communication and control. Typically in COINs each agent runs a distinct Reinforcement Learning (RL) algorithm, so that much of the design problem reduces to how best to initialize/update each agent's private utility function, as far as the ensuing value of the global utility is concerned. Traditional team game solutions to this problem assign to each agent the global utility as its private utility function. In previous work we used the COIN framework to derive the alternative Wonderful Life Utility (WLU), and experimentally established that having the agents use it induces global utility performance up to orders of magnitude superior to that induced by use of the team game utility. The WLU has a free parameter (the clamping parameter) which we simply set to zero in that previous work. Here we derive the optimal value of the clamping parameter, and demonstrate experimentally that using that optimal value can result in significantly improved performance over that of clamping to zero, over and above the improvement beyond traditional approaches.

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

Acceptability and perceived utility of drone technology among emergency medical service responders and incident commanders for mass casualty incident management.

Science.gov (United States)

Hart, Alexander; Chai, Peter R; Griswold, Matthew K; Lai, Jeffrey T; Boyer, Edward W; Broach, John

2017-01-01

This study seeks to understand the acceptability and perceived utility of unmanned aerial vehicle (UAV) technology to Mass Casualty Incidents (MCI) scene management. Qualitative questionnaires regarding the ease of operation, perceived usefulness, and training time to operate UAVs were administered to Emergency Medical Technicians (n = 15). A Single Urban New England Academic Tertiary Care Medical Center. Front-line emergency medical service (EMS) providers and senior EMS personnel in Incident Commander roles. Data from this pilot study indicate that EMS responders are accepting to deploying and operating UAV technology in a disaster scenario. Additionally, they perceived UAV technology as easy to adopt yet impactful in improving MCI scene management.

Critical Zone Co-dynamics: Quantifying Interactions between Subsurface, Land Surface, and Vegetation Properties Using UAV and Geophysical Approaches

Science.gov (United States)

Dafflon, B.; Leger, E.; Peterson, J.; Falco, N.; Wainwright, H. M.; Wu, Y.; Tran, A. P.; Brodie, E.; Williams, K. H.; Versteeg, R.; Hubbard, S. S.

2017-12-01

Improving understanding and modelling of terrestrial systems requires advances in measuring and quantifying interactions among subsurface, land surface and vegetation processes over relevant spatiotemporal scales. Such advances are important to quantify natural and managed ecosystem behaviors, as well as to predict how watershed systems respond to increasingly frequent hydrological perturbations, such as droughts, floods and early snowmelt. Our study focuses on the joint use of UAV-based multi-spectral aerial imaging, ground-based geophysical tomographic monitoring (incl., electrical and electromagnetic imaging) and point-scale sensing (soil moisture sensors and soil sampling) to quantify interactions between above and below ground compartments of the East River Watershed in the Upper Colorado River Basin. We evaluate linkages between physical properties (incl. soil composition, soil electrical conductivity, soil water content), metrics extracted from digital surface and terrain elevation models (incl., slope, wetness index) and vegetation properties (incl., greenness, plant type) in a 500 x 500 m hillslope-floodplain subsystem of the watershed. Data integration and analysis is supported by numerical approaches that simulate the control of soil and geomorphic characteristic on hydrological processes. Results provide an unprecedented window into critical zone interactions, revealing significant below- and above-ground co-dynamics. Baseline geophysical datasets provide lithological structure along the hillslope, which includes a surface soil horizon, underlain by a saprolite layer and the fractured Mancos shale. Time-lapse geophysical data show very different moisture dynamics in various compartments and locations during the winter and growing season. Integration with aerial imaging reveals a significant linkage between plant growth and the subsurface wetness, soil characteristics and the topographic gradient. The obtained information about the organization and

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

WiP abstract: Optimal multi-agent path planning for fast inverse modeling in UAV-based flood sensing applications

KAUST Repository

Abdelkader, Mohamed; Shaqura, Mohammad; Ghommem, Mehdi; Collier, Nathan O.; Calo, Victor M.; Claudel, Christian G.

2014-01-01

Floods are one of the most commonly occurring natural disasters, and caused more than 120,000 fatalities in the world between 1991 and 2005. Most of these casualties are caused by the lack of a reliable real-time flash flood monitoring system. Given the area to monitor, unmanned aerial vehicles (UAVs) appear as the most promising solutions for this task. © 2014 IEEE.

WiP abstract: Optimal multi-agent path planning for fast inverse modeling in UAV-based flood sensing applications

KAUST Repository

Abdelkader, Mohamed

2014-04-01

Floods are one of the most commonly occurring natural disasters, and caused more than 120,000 fatalities in the world between 1991 and 2005. Most of these casualties are caused by the lack of a reliable real-time flash flood monitoring system. Given the area to monitor, unmanned aerial vehicles (UAVs) appear as the most promising solutions for this task. © 2014 IEEE.

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.

Multi-Agent Based Microscopic Simulation Modeling for Urban Traffic Flow

Directory of Open Access Journals (Sweden)

Xianyan Kuang

2014-10-01

Full Text Available Traffic simulation plays an important role in the evaluation of traffic decisions. The movement of vehicles essentially is the operating process of drivers, in order to reproduce the urban traffic flow from the micro-aspect on computer, this paper establishes an urban traffic flow microscopic simulation system (UTFSim based on multi-agent. The system is seen as an intelligent virtual environment system (IVES, and the four-layer structure of it is built. The road agent, vehicle agent and signal agent are modeled. The concept of driving trajectory which is divided into LDT (Lane Driving Trajectory and VDDT (Vehicle Dynamic Driving Trajectory is introduced. The “Link-Node” road network model is improved. The driving behaviors including free driving, following driving, lane changing, slowing down, vehicle stop, etc. are analyzed. The results of the signal control experiments utilizing the UTFSim developed in the platform of Visual Studio. NET indicates that it plays a good performance and can be used in the evaluation of traffic management and control.

Coupling biomechanics to a cellular level model: an approach to patient-specific image driven multi-scale and multi-physics tumor simulation.

Science.gov (United States)

May, Christian P; Kolokotroni, Eleni; Stamatakos, Georgios S; Büchler, Philippe

2011-10-01

Modeling of tumor growth has been performed according to various approaches addressing different biocomplexity levels and spatiotemporal scales. Mathematical treatments range from partial differential equation based diffusion models to rule-based cellular level simulators, aiming at both improving our quantitative understanding of the underlying biological processes and, in the mid- and long term, constructing reliable multi-scale predictive platforms to support patient-individualized treatment planning and optimization. The aim of this paper is to establish a multi-scale and multi-physics approach to tumor modeling taking into account both the cellular and the macroscopic mechanical level. Therefore, an already developed biomodel of clinical tumor growth and response to treatment is self-consistently coupled with a biomechanical model. Results are presented for the free growth case of the imageable component of an initially point-like glioblastoma multiforme tumor. The composite model leads to significant tumor shape corrections that are achieved through the utilization of environmental pressure information and the application of biomechanical principles. Using the ratio of smallest to largest moment of inertia of the tumor material to quantify the effect of our coupled approach, we have found a tumor shape correction of 20% by coupling biomechanics to the cellular simulator as compared to a cellular simulation without preferred growth directions. We conclude that the integration of the two models provides additional morphological insight into realistic tumor growth behavior. Therefore, it might be used for the development of an advanced oncosimulator focusing on tumor types for which morphology plays an important role in surgical and/or radio-therapeutic treatment planning. Copyright © 2011 Elsevier Ltd. All rights reserved.

An observation planning algorithm applied to multi-objective astronomical observations and its simulation in COSMOS field

Science.gov (United States)

Jin, Yi; Gu, Yonggang; Zhai, Chao

2012-09-01

Multi-Object Fiber Spectroscopic sky surveys are now booming, such as LAMOST already built by China, BIGBOSS project put forward by the U.S. Lawrence Berkeley National Lab and GTC (Gran Telescopio Canarias) telescope developed by the United States, Mexico and Spain. They all use or will use this approach and each fiber can be moved within a certain area for one astrology target, so observation planning is particularly important for this Sky Surveys. One observation planning algorithm used in multi-objective astronomical observations is developed. It can avoid the collision and interference between the fiber positioning units in the focal plane during the observation in one field of view, and the interested objects can be ovserved in a limited round with the maximize efficiency. Also, the observation simulation can be made for wide field of view through multi-FOV observation. After the observation planning is built ,the simulation is made in COSMOS field using GTC telescope. Interested galaxies, stars and high-redshift LBG galaxies are selected after the removal of the mask area, which may be bright stars. Then 9 FOV simulation is completed and observation efficiency and fiber utilization ratio for every round are given. Otherwise,allocating a certain number of fibers for background sky, giving different weights for different objects and how to move the FOV to improve the overall observation efficiency are discussed.

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.

Multi-scale simulation for homogenization of cement media

International Nuclear Information System (INIS)

Abballe, T.

2011-01-01

To solve diffusion problems on cement media, two scales must be taken into account: a fine scale, which describes the micrometers wide microstructures present in the media, and a work scale, which is usually a few meters long. Direct numerical simulations are almost impossible because of the huge computational resources (memory, CPU time) required to assess both scales at the same time. To overcome this problem, we present in this thesis multi-scale resolution methods using both Finite Volumes and Finite Elements, along with their efficient implementations. More precisely, we developed a multi-scale simulation tool which uses the SALOME platform to mesh domains and post-process data, and the parallel calculation code MPCube to solve problems. This SALOME/MPCube tool can solve automatically and efficiently multi-scale simulations. Parallel structure of computer clusters can be use to dispatch the more time-consuming tasks. We optimized most functions to account for cement media specificities. We presents numerical experiments on various cement media samples, e.g. mortar and cement paste. From these results, we manage to compute a numerical effective diffusivity of our cement media and to reconstruct a fine scale solution. (author) [fr

Multi-dimensional simulations of core-collapse supernova explosions with CHIMERA

Science.gov (United States)

Messer, O. E. B.; Harris, J. A.; Hix, W. R.; Lentz, E. J.; Bruenn, S. W.; Mezzacappa, A.

2018-04-01

Unraveling the core-collapse supernova (CCSN) mechanism is a problem that remains essentially unsolved despite more than four decades of effort. Spherically symmetric models with otherwise high physical fidelity generally fail to produce explosions, and it is widely accepted that CCSNe are inherently multi-dimensional. Progress in realistic modeling has occurred recently through the availability of petascale platforms and the increasing sophistication of supernova codes. We will discuss our most recent work on understanding neutrino-driven CCSN explosions employing multi-dimensional neutrino-radiation hydrodynamics simulations with the Chimera code. We discuss the inputs and resulting outputs from these simulations, the role of neutrino radiation transport, and the importance of multi-dimensional fluid flows in shaping the explosions. We also highlight the production of 48Ca in long-running Chimera simulations.

High performance pseudo-analytical simulation of multi-object adaptive optics over multi-GPU systems

KAUST Repository

Abdelfattah, Ahmad; Gendron, É ric; Gratadour, Damien; Keyes, David E.; Ltaief, Hatem; Sevin, Arnaud; Vidal, Fabrice

2014-01-01

Multi-object adaptive optics (MOAO) is a novel adaptive optics (AO) technique dedicated to the special case of wide-field multi-object spectrographs (MOS). It applies dedicated wavefront corrections to numerous independent tiny patches spread over a large field of view (FOV). The control of each deformable mirror (DM) is done individually using a tomographic reconstruction of the phase based on measurements from a number of wavefront sensors (WFS) pointing at natural and artificial guide stars in the field. The output of this study helps the design of a new instrument called MOSAIC, a multi-object spectrograph proposed for the European Extremely Large Telescope (E-ELT). We have developed a novel hybrid pseudo-analytical simulation scheme that allows us to accurately simulate in detail the tomographic problem. The main challenge resides in the computation of the tomographic reconstructor, which involves pseudo-inversion of a large dense symmetric matrix. The pseudo-inverse is computed using an eigenvalue decomposition, based on the divide and conquer algorithm, on multicore systems with multi-GPUs. Thanks to a new symmetric matrix-vector product (SYMV) multi-GPU kernel, our overall implementation scores significant speedups over standard numerical libraries on multicore, like Intel MKL, and up to 60% speedups over the standard MAGMA implementation on 8 Kepler K20c GPUs. At 40,000 unknowns, this appears to be the largest-scale tomographic AO matrix solver submitted to computation, to date, to our knowledge and opens new research directions for extreme scale AO simulations. © 2014 Springer International Publishing Switzerland.

PROCESSING UAV AND LIDAR POINT CLOUDS IN GRASS GIS

Directory of Open Access Journals (Sweden)

V. Petras

2016-06-01

Full Text Available Today’s methods of acquiring Earth surface data, namely lidar and unmanned aerial vehicle (UAV imagery, non-selectively collect or generate large amounts of points. Point clouds from different sources vary in their properties such as number of returns, density, or quality. We present a set of tools with applications for different types of points clouds obtained by a lidar scanner, structure from motion technique (SfM, and a low-cost 3D scanner. To take advantage of the vertical structure of multiple return lidar point clouds, we demonstrate tools to process them using 3D raster techniques which allow, for example, the development of custom vegetation classification methods. Dense point clouds obtained from UAV imagery, often containing redundant points, can be decimated using various techniques before further processing. We implemented and compared several decimation techniques in regard to their performance and the final digital surface model (DSM. Finally, we will describe the processing of a point cloud from a low-cost 3D scanner, namely Microsoft Kinect, and its application for interaction with physical models. All the presented tools are open source and integrated in GRASS GIS, a multi-purpose open source GIS with remote sensing capabilities. The tools integrate with other open source projects, specifically Point Data Abstraction Library (PDAL, Point Cloud Library (PCL, and OpenKinect libfreenect2 library to benefit from the open source point cloud ecosystem. The implementation in GRASS GIS ensures long term maintenance and reproducibility by the scientific community but also by the original authors themselves.

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

A multi-species multi-fleet bioeconomic simulation model for the English Channel artisanal fisheries

DEFF Research Database (Denmark)

Ulrich, Clara; Le Gallic, B.; Dunn, M.R.

2002-01-01

Considering the large number of technical interactions between various fishing activities, the English Channel (ICES divisions VIId and VIIe) fisheries may be regarded as one large and diverse multi-country, multi-gear and multi-species artisanal fishery, although rarely studied as such. A whole...... of the model is to study the long-term consequences of various management alternatives on the economic situation of the English and French fleets fishing in the area and on exploited resources. The model describes this feature through the links between three entities on the one hand (stocks, fleets...... and "metiers", i.e. gear x target species x fishing area), and three modules on the other hand (activity, biological production and economics). The model is described and some simulation results are presented. An example simulating a decrease of one fleet segment effort illustrates these technical interactions...

Image processing analysis of geospatial uav orthophotos for palm oil plantation monitoring

Science.gov (United States)

Fahmi, F.; Trianda, D.; Andayani, U.; Siregar, B.

2018-03-01

Unmanned Aerial Vehicle (UAV) is one of the tools that can be used to monitor palm oil plantation remotely. With the geospatial orthophotos, it is possible to identify which part of the plantation land is fertile for planted crops, means to grow perfectly. It is also possible furthermore to identify less fertile in terms of growth but not perfect, and also part of plantation field that is not growing at all. This information can be easily known quickly with the use of UAV photos. In this study, we utilized image processing algorithm to process the orthophotos for more accurate and faster analysis. The resulting orthophotos image were processed using Matlab including classification of fertile, infertile, and dead palm oil plants by using Gray Level Co-Occurrence Matrix (GLCM) method. The GLCM method was developed based on four direction parameters with specific degrees 0°, 45°, 90°, and 135°. From the results of research conducted with 30 image samples, it was found that the accuracy of the system can be reached by using the features extracted from the matrix as parameters Contras, Correlation, Energy, and Homogeneity.

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.