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Sample records for uav recovery system

  1. 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

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. 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

  7. RECONNAISSANCE MICRO UAV SYSTEM

    Directory of Open Access Journals (Sweden)

    Petr Gabrlik

    2015-12-01

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

  8. Dragon Drone UAV System

    Science.gov (United States)

    2003-09-02

    TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Dragon Drone UAV System 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER...ABSTRACT unclassified c. THIS PAGE unclassified Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18 A E R O S Y S T E M S BAI’s Dragon Drone ...the hundreds. BAI’s Dragon Drone system is the result of combining new ideas and emerging technologies with the in-depth knowl- edge gained from real

  9. 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.

  10. 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.

  11. 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 ...

  12. Roving UAV IED Interdiction System

    Science.gov (United States)

    2011-03-01

    UAVs (Raven, Wasp, and Puma) do not advertise any payload capability, the Tier I operators that Team Bravo contacted claimed small payload...www.ncca.navy.mil/services/inflation.cfm (accessed February 2011). Net Resources International. "Javelin Anti- Armour Missile." Army-Technology.com. 2011. http

  13. Launch and Recovery System Literature Review

    Science.gov (United States)

    2010-12-01

    water. Goldie [21] suggests a sled or cart recovery system for use with UAV’s on the Littoral Combatant Ship (LCS) and other small deck navy ships...21. Goldie , J., “A Recovery System for Unmanned Aerial Vehicles (UAVs) Aboard LCS and other Small-Deck Navy Ships,” ASNE Launch and Recovery of

  14. 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.

  15. 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

  16. 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....

  17. 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.

  18. 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.

  19. 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.

  20. 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.

  1. 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.

  2. Battery Health Management System for Electric UAVs

    Data.gov (United States)

    National Aeronautics and Space Administration — In summary, this paper lays out a novel battery health management technique for application onboard an electric UAV. This technique is also applicable to other...

  3. 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.

  4. Energy-Efficient Systems Eliminate Icing Danger for UAVs

    Science.gov (United States)

    2010-01-01

    Ames Research Center engineer Leonard Haslim invented an anti-icing t echnology called an electroexpulsive separation system, which uses m echanical force to shatter potentially dangerous ice buildup on an ai rcraft surface. Temecula, California-based Ice Management Systems (no w known as IMS-ESS) licensed the technology from Ames and has discov ered a niche market for the lightweight, energy-efficient technology: unmanned aerial vehicles (UAVs). IMS-ESS systems now prevent damagi ng ice accumulation on military UAVs, allowing the vehicles to carry out crucial missions year round.

  5. 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.

  6. 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...

  7. 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

  8. Development of a bio-inspired UAV perching system

    Science.gov (United States)

    Xie, Pu

    Although technologies of unmanned aerial vehicles (UAVs) including micro air vehicles (MAVs) have been greatly advanced in the recent years, it is still very difficult for a UAV to perform some very challenging tasks such as perching to any desired spot reliably and agilely like a bird. Unlike the UAVs, the biological control mechanism of birds has been optimized through millions of year evolution and hence, they can perform many extremely maneuverability tasks, such as perching or grasping accurately and robustly. Therefore, we have good reason to learn from the nature in order to significantly improve the capabilities of UAVs. The development of a UAV perching system is becoming feasible, especially after a lot of research contributions in ornithology which involve the analysis of the bird's functionalities. Meanwhile, as technology advances in many engineering fields, such as airframes, propulsion, sensors, batteries, micro-electromechanical-system (MEMS), and UAV technology is also advancing rapidly. All of these research efforts in ornithology and the fast growing development technologies in UAV applications are motivating further interests and development in the area of UAV perching and grasping research. During the last decade, the research contributions about UAV perching and grasping were mainly based on fixed-wing, flapping-wing, and rotorcraft UAVs. However, most of the current researches in UAV systems with perching and grasping capability are focusing on either active (powered) grasping and perching or passive (unpowered) perching. Although birds do have both active and passive perching capabilities depending on their needs, there is no UAV perching system with both capabilities. In this project, we focused on filling this gap. Inspired by the anatomy analysis of bird legs and feet, a novel perching system has been developed to implement the bionics action for both active grasping and passive perching. In addition, for developing a robust and

  9. 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....

  10. Semiautonomous Avionics-and-Sensors System for a UAV

    Science.gov (United States)

    Shams, Qamar

    2006-01-01

    Unmanned Aerial Vehicles (UAVs) autonomous or remotely controlled pilotless aircraft have been recently thrust into the spotlight for military applications, for homeland security, and as test beds for research. In addition to these functions, there are many space applications in which lightweight, inexpensive, small UAVS can be used e.g., to determine the chemical composition and other qualities of the atmospheres of remote planets. Moreover, on Earth, such UAVs can be used to obtain information about weather in various regions; in particular, they can be used to analyze wide-band acoustic signals to aid in determining the complex dynamics of movement of hurricanes. The Advanced Sensors and Electronics group at Langley Research Center has developed an inexpensive, small, integrated avionics-and-sensors system to be installed in a UAV that serves two purposes. The first purpose is to provide flight data to an AI (Artificial Intelligence) controller as part of an autonomous flight-control system. The second purpose is to store data from a subsystem of distributed MEMS (microelectromechanical systems) sensors. Examples of these MEMS sensors include humidity, temperature, and acoustic sensors, plus chemical sensors for detecting various vapors and other gases in the environment. The critical sensors used for flight control are a differential- pressure sensor that is part of an apparatus for determining airspeed, an absolute-pressure sensor for determining altitude, three orthogonal accelerometers for determining tilt and acceleration, and three orthogonal angular-rate detectors (gyroscopes). By using these eight sensors, it is possible to determine the orientation, height, speed, and rates of roll, pitch, and yaw of the UAV. This avionics-and-sensors system is shown in the figure. During the last few years, there has been rapid growth and advancement in the technological disciplines of MEMS, of onboard artificial-intelligence systems, and of smaller, faster, and

  11. BENCHMARKING THE OPTICAL RESOLVING POWER OF UAV BASED CAMERA SYSTEMS

    Directory of Open Access Journals (Sweden)

    H. Meißner

    2017-08-01

    Full Text Available UAV based imaging and 3D object point generation is an established technology. Some of the UAV users try to address (very highaccuracy applications, i.e. inspection or monitoring scenarios. In order to guarantee such level of detail and accuracy high resolving imaging systems are mandatory. Furthermore, image quality considerably impacts photogrammetric processing, as the tie point transfer, mandatory for forming the block geometry, fully relies on the radiometric quality of images. Thus, empirical testing of radiometric camera performance is an important issue, in addition to standard (geometric calibration, which normally is covered primarily. Within this paper the resolving power of ten different camera/lens installations has been investigated. Selected systems represent different camera classes, like DSLRs, system cameras, larger format cameras and proprietary systems. As the systems have been tested in wellcontrolled laboratory conditions and objective quality measures have been derived, individual performance can be compared directly, thus representing a first benchmark on radiometric performance of UAV cameras. The results have shown, that not only the selection of appropriate lens and camera body has an impact, in addition the image pre-processing, i.e. the use of a specific debayering method, significantly influences the final resolving power.

  12. The UAV take-off and landing system used for small areas of mobile vehicles

    Science.gov (United States)

    Ren, Tian-Yu; Duanmu, Qing-Duo; Wu, Bo-Qi

    2018-03-01

    In order to realize an UAV formation cluster system based on the current GPS and the fault and insufficiency of Beidou integrated navigation system in strong jamming environment. Due to the impact of the compass on the plane crash, navigation system error caused by the mobile area to help reduce the need for large landing sites and not in the small fast moving area to achieve the reality of the landing. By using Strapdown inertial and all-optical system to form Composite UAV flight control system, the photoelectric composite strapdown inertial coupling is realized, and through the laser and microwave telemetry link compound communication mechanism, using all-optical strapdown inertial and visual navigation system to solve the deviation of take-off and landing caused by electromagnetic interference, all-optical bidirectional data link realizes two-way position correction of landing site and aircraft, thus achieves the accurate recovery of UAV formation cluster in the mobile narrow area which the traditional navigation system can't realize. This system is a set of efficient unmanned aerial vehicle Group Take-off/descending system, which is suitable for many tasks, and not only realizes the reliable continuous navigation under the complex electromagnetic interference environment, moreover, the intelligent flight and Take-off and landing of unmanned aerial vehicles relative to the fast moving and small recovery sites in complex electromagnetic interference environment can not only improve the safe operation rate of unmanned aerial vehicle, but also guarantee the operation safety of the aircraft, and the more has important social value for the application foreground of the aircraft.

  13. 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.

  14. UAV Flight Control Based on RTX System Simulation Platform

    Directory of Open Access Journals (Sweden)

    Xiaojun Duan

    2014-03-01

    Full Text Available This paper proposes RTX and Matlab UAV flight control system simulation platform based on the advantages and disadvantages of Windows and real-time system RTX. In the simulation platform, we set the RTW toolbox configuration and modify grt_main.c in order to make simulation platform endowed with online parameter adjustment, fault injection. Meanwhile, we develop the interface of the system simulation platform by CVI, thus it makes effective and has good prospects in application. In order to improve the real-time performance of simulation system, the current computer of real-time simulation mostly use real-time operating system to solve simulation model, as well as dual- framework containing in Host and target machine. The system is complex, high cost, and generally used for the control and half of practical system simulation. For the control system designers, they expect to design control law at a computer with Windows-based environment and conduct real-time simulation. This paper proposes simulation platform for UAV flight control system based on RTX and Matlab for this demand.

  15. 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.

  16. REMOTE SPECTRAL IMAGING USING A LOW COST UAV SYSTEM

    Directory of Open Access Journals (Sweden)

    C. Tsouvaltsidis

    2015-08-01

    Full Text Available The purpose of this scientific survey is to support the research being conducted at York University in the field of spectroscopy and nanosatellites using Argus 1000 micro- spectrometer and low cost unmanned aerial vehicle (UAV system. On the CanX-2 mission, the Argus spectrometer observes reflected infrared solar radiation emitted by Earth surface targets as small as 1.5 km within the 0.9-1.7 μm range. However, limitations in the volume of data due to onboard power constraints and a lack of an onboard camera system make it very difficult to verify these objectives using ground truth. In the last five years that Argus has been in operation, we have made over 200 observations over a series of land and ocean targets. We have recently examined algorithms to improve the geolocation accuracy of the spectrometer payload and began to conduct an analysis of soil health content using Argus spectral data. A field campaign is used to obtain data to assess geolocation accuracy using coastline crossing detection and to obtain airborne bare soil spectra in ground truth form. The payload system used for the field campaign consists of an Argus spectrometer, optical camera, GPS, and attitude sensors, integrated into a low-cost, unmanned aerial vehicle (UAV, which will be presented along with the experimental procedure and field campaign results.

  17. System Identification and Verification of Rotorcraft UAVs

    Science.gov (United States)

    Carlton, Zachary M.

    The task of a controls engineer is to design and implement control logic. To complete this task, it helps tremendously to have an accurate model of the system to be controlled. Obtaining a very accurate system model is not a trivial one, as much time and money is usually associated with the development of such a model. A typical physics based approach can require hundreds of hours of flight time. In an iterative process the model is tuned in such a way that it accurately models the physical system's response. This process becomes even more complicated for unstable and highly non-linear systems such as the dynamics of rotorcraft. An alternate approach to solving this problem is to extract an accurate model by analyzing the frequency response of the system. This process involves recording the system's responses for a frequency range of input excitations. From this data, an accurate system model can then be deduced. Furthermore, it has been shown that with use of the software package CIFER® (Comprehensive Identification from FrEquency Responses), this process can both greatly reduce the cost of modeling a dynamic system and produce very accurate results. The topic of this thesis is to apply CIFER® to a quadcopter to extract a system model for the flight condition of hover. The quadcopter itself is comprised of off-the-shelf components with a Pixhack flight controller board running open source Ardupilot controller logic. In this thesis, both the closed and open loop systems are identified. The model is next compared to dissimilar flight data and verified in the time domain. Additionally, the ESC (Electronic Speed Controller) motor/rotor subsystem, which is comprised of all the vehicle's actuators, is also identified. This process required the development of a test bench environment, which included a GUI (Graphical User Interface), data pre and post processing, as well as the augmentation of the flight controller source code. This augmentation of code allowed for

  18. 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.

  19. Next Generation UAV Based Spectral Systems for Environmental Monitoring

    Data.gov (United States)

    National Aeronautics and Space Administration — At present, UAVs used in environmental monitoring mostly collect low spectral resolution imagery, capable of retrieving canopy greenness or properties related water...

  20. 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.

  1. A Robust H∞ Controller for an UAV Flight Control System

    Directory of Open Access Journals (Sweden)

    J. López

    2015-01-01

    Full Text Available The objective of this paper is the implementation and validation of a robust H∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H∞ robust controller in the inner loop, H∞ control methodology is used. The two controllers that conform the outer loop are designed using the H∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

  2. 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...

  3. 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.

  4. A meta-analysis of human-system interfaces in unmanned aerial vehicle (UAV) swarm management.

    Science.gov (United States)

    Hocraffer, Amy; Nam, Chang S

    2017-01-01

    A meta-analysis was conducted to systematically evaluate the current state of research on human-system interfaces for users controlling semi-autonomous swarms composed of groups of drones or unmanned aerial vehicles (UAVs). UAV swarms pose several human factors challenges, such as high cognitive demands, non-intuitive behavior, and serious consequences for errors. This article presents findings from a meta-analysis of 27 UAV swarm management papers focused on the human-system interface and human factors concerns, providing an overview of the advantages, challenges, and limitations of current UAV management interfaces, as well as information on how these interfaces are currently evaluated. In general allowing user and mission-specific customization to user interfaces and raising the swarm's level of autonomy to reduce operator cognitive workload are beneficial and improve situation awareness (SA). It is clear more research is needed in this rapidly evolving field. Copyright © 2016 Elsevier Ltd. All rights reserved.

  5. 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.

  6. 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.

  7. A MICRO-UAV SYSTEM FOR FOREST MANAGEMENT

    Directory of Open Access Journals (Sweden)

    T. Hormigo

    2013-08-01

    Full Text Available Spin.Works has developed a complete micro-UAV system with the purpose of supporting forest management activities. The aircraft is based on a winged-body design spanning 1.8 m with a maximum take-off weight of 2 kg, and can carry out missions lasting up to 2 h at a cruise speed of about 60 km/h. The corresponding ground station ensures the mission planning functions, real-time flight monitoring and visualization, and serves also as a real-time and post-flight data exploitation platform. A particular emphasis is placed on image processing techniques applied to two operational concepts: a fire detection service and a forest mapping service. The real-time operations related to fire detection consist on object tracking and geo-referencing functions, which can be operated by a user directly over the video stream, enabling the quick estimation of the 3D location (latitude, longitude, altitude of suspected fires. The post-flight processing consists of extracting valuable knowledge from the payload data, in particular tree coverage maps, orthophoto mosaics and Digital Surface Models (DSMs, which can be used for further forest characterization such as wood and cork volume estimation. The system is currently entering initial operations, with expanded operations expected during Q3 2013.

  8. 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

  9. Modelling and Analysis of Vibrations in a UAV Helicopter with a Vision System

    Directory of Open Access Journals (Sweden)

    G. Nicolás Marichal Plasencia

    2012-11-01

    Full Text Available The analysis of the nature and damping of unwanted vibrations on Unmanned Aerial Vehicle (UAV helicopters are important tasks when images from on-board vision systems are to be obtained. In this article, the authors model a UAV system, generate a range of vibrations originating in the main rotor and design a control methodology in order to damp these vibrations. The UAV is modelled using VehicleSim, the vibrations that appear on the fuselage are analysed to study their effects on the on-board vision system by using Simmechanics software. Following this, the authors present a control method based on an Adaptive Neuro-Fuzzy Inference System (ANFIS to achieve satisfactory damping results over the vision system on board.

  10. 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

  11. Heat Recovery System

    Science.gov (United States)

    1984-01-01

    Ball Metal's design of ducting and controls for series of roof top heat exchangers was inspired by Tech Briefs. Heat exchangers are installed on eight press and coating lines used to decorate sheet metal. The heat recovery system provides an estimated energy savings of more than $250,000 per year.

  12. Magnetic profiling of the San Andreas Fault using a dual magnetometer UAV aerial survey system.

    Science.gov (United States)

    Abbate, J. A.; Angelopoulos, V.; Masongsong, E. V.; Yang, J.; Medina, H. R.; Moon, S.; Davis, P. M.

    2017-12-01

    Aeromagnetic survey methods using planes are more time-effective than hand-held methods, but can be far more expensive per unit area unless large areas are covered. The availability of low cost UAVs and low cost, lightweight fluxgate magnetometers (FGMs) allows, with proper offset determination and stray fields correction, for low-cost magnetic surveys. Towards that end, we have developed a custom multicopter UAV for magnetic mapping using a dual 3-axis fluxgate magnetometer system: the GEOphysical Drone Enhanced Survey Instrument (GEODESI). A high precision sensor measures the UAV's position and attitude (roll, pitch, and yaw) and is recorded using a custom Arduino data processing system. The two FGMs (in-board and out-board) are placed on two ends of a vertical 1m boom attached to the base of the UAV. The in-board FGM is most sensitive to stray fields from the UAV and its signal is used, after scaling, to clean the signal of the out-board FGM from the vehicle noise. The FGMs record three orthogonal components of the magnetic field in the UAV body coordinates which are then transformed into a north-east-down coordinate system using a rotation matrix determined from the roll-pitch-yaw attitude data. This ensures knowledge of the direction of all three field components enabling us to perform inverse modeling of magnetic anomalies with greater accuracy than total or vertical field measurements used in the past. Field tests were performed at Dragon's Back Pressure Ridge in the Carrizo Plain of California, where there is a known crossing of the San Andreas Fault. Our data and models were compared to previously acquired LiDAR and hand-held magnetometer measurements. Further tests will be carried out to solidify our results and streamline our processing for educational use in the classroom and student field training.

  13. Two-UAV Intersection Localization System Based on the Airborne Optoelectronic Platform.

    Science.gov (United States)

    Bai, Guanbing; Liu, Jinghong; Song, Yueming; Zuo, Yujia

    2017-01-06

    To address the limitation of the existing UAV (unmanned aerial vehicles) photoelectric localization method used for moving objects, this paper proposes an improved two-UAV intersection localization system based on airborne optoelectronic platforms by using the crossed-angle localization method of photoelectric theodolites for reference. This paper introduces the makeup and operating principle of intersection localization system, creates auxiliary coordinate systems, transforms the LOS (line of sight, from the UAV to the target) vectors into homogeneous coordinates, and establishes a two-UAV intersection localization model. In this paper, the influence of the positional relationship between UAVs and the target on localization accuracy has been studied in detail to obtain an ideal measuring position and the optimal localization position where the optimal intersection angle is 72.6318°. The result shows that, given the optimal position, the localization root mean square error (RMS) will be 25.0235 m when the target is 5 km away from UAV baselines. Finally, the influence of modified adaptive Kalman filtering on localization results is analyzed, and an appropriate filtering model is established to reduce the localization RMS error to 15.7983 m. Finally, An outfield experiment was carried out and obtained the optimal results: σ B = 1.63 × 10 - 4 ( ° ) , σ L = 1.35 × 10 - 4 ( ° ) , σ H = 15.8 ( m ) , σ s u m = 27.6 ( m ) , where σ B represents the longitude error, σ L represents the latitude error, σ H represents the altitude error, and σ s u m represents the error radius.

  14. Design and Implementation of a Fully Autonomous UAV's Navigator Based on Omni-directional Vision System

    Directory of Open Access Journals (Sweden)

    Seyed Mohammadreza Kasaei

    2011-12-01

    Full Text Available Unmanned Aerial Vehicles (UAVs are the subject of an increasing interest in many applications . UAVs are seeing more widespread use in military, scenic, and civilian sectors in recent years. Autonomy is one of the major advantages of these vehicles. It is then necessary to develop particular sensor in order to provide efficient navigation functions. The helicopter has been stabilized with visual information through the control loop. Omni directional vision can be a useful sensor for this propose. It can be used as the only sensor or as complementary sensor. In this paper , we propose a novel method for path planning on an UAV based on electrical potential .We are using an omni directional vision system for navigating and path planning.

  15. 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

  16. failure analysis of a uav flight control system using markov analysis

    African Journals Online (AJOL)

    Failure analysis of a flight control system proposed for Air Force Institute of Technology (AFIT) Unmanned Aerial Vehicle (UAV) was studied using Markov Analysis (MA). It was perceived that understanding of the number of failure states and the probability of being in those state are of paramount importance in order to ...

  17. 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

  18. Development of a Data Acquisition System for Unmanned Aerial Vehicle (UAV) System Identification

    Science.gov (United States)

    Lear, Donald Joseph

    Aircraft system identification techniques are developed for fixed wing Unmanned Aerial Vehicles (UAV). The use of a designed flight experiment with measured system inputs/outputs can be used to derive aircraft stability derivatives. This project set out to develop a methodology to support an experiment to model pitch damping in the longitudinal short-period mode of a UAV. A Central Composite Response Surface Design was formed using angle of attack and power levels as factors to test for the pitching moment coefficient response induced by a multistep pitching maneuver. Selecting a high-quality data acquisition platform was critical to the success of the project. This system was designed to support fixed wing research through the addition of a custom air data vane capable of measuring angle of attack and sideslip, as well as an airspeed sensor. A Pixhawk autopilot system serves as the core and modification of the device firmware allowed for the integration of custom sensors and custom RC channels dedicated to performing system identification maneuvers. Tests were performed on all existing Pixhawk sensors to validate stated uncertainty values. The air data system was calibrated in a low speed wind tunnel and dynamic performance was verified. The assembled system was then installed in a commercially available UAV known as an Air Titan FPV in order to test the Pixhawk's automated flight maneuvers and determine the final performance of each sensor. Flight testing showed all the critical sensors produced acceptable data for further research. The Air Titan FPV airframe was found to be very flexible and did not lend itself well to accurate measurement of inertial properties. This realization prohibited the construction of the required math models for longitudinal dynamics. It is recommended that future projects using the developed methods choose an aircraft with a more rigid airframe.

  19. Waste heat recovery system

    International Nuclear Information System (INIS)

    Phi Wah Tooi

    2010-01-01

    Full text: The Konzen in-house designed anaerobic digester system for the POME (Palm Oil Mill Effluent) treatment process is one of the registered Clean Development Mechanism (CDM) projects in Malaysia. It is an organic wastewater treatment process which achieves excellent co-benefits objectives through the prevention of water pollution and reduction of greenhouse gas emissions, which is estimated to be 40,000 to 50,000 t-CO 2 per year. The anaerobic digester was designed in mesophile mode with temperature ranging from 37 degree Celsius to 45 degree Celsius. A microorganisms growth is optimum under moderately warm temperature conditions. The operating temperature of the anaerobic digester needs to be maintained constantly. There are two waste heat recovery systems designed to make the treatment process self-sustaining. The heat recovered will be utilised as a clean energy source to heat up the anaerobic digester indirectly. The first design for the waste heat recovery system utilises heat generated from the flue gas of the biogas flaring system. A stainless steel water tank with an internal water layer is installed at the top level of the flare stack. The circulating water is heated by the methane enriched biogas combustion process. The second design utilizes heat generated during the compression process for the biogas compressor operation. The compressed biogas needs to be cooled before being recycled back into the digester tank for mixing purposes. Both the waste heat recovery systems use a design which applies a common water circulation loop and hot water tank to effectively become a closed loop. The hot water tank will perform both storage and temperature buffer functions. The hot water is then used to heat up recycled sludge from 30 degree Celsius to 45 degree Celsius with the maximum temperature setting at 50 degree Celsius. The recycled sludge line temperature will be measured and monitored by a temperature sensor and transmitter, which will activate the

  20. 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.

  1. Design of rapid prototype of UAV line-of-sight stabilized control system

    Science.gov (United States)

    Huang, Gang; Zhao, Liting; Li, Yinlong; Yu, Fei; Lin, Zhe

    2018-01-01

    The line-of-sight (LOS) stable platform is the most important technology of UAV (unmanned aerial vehicle), which can reduce the effect to imaging quality from vibration and maneuvering of the aircraft. According to the requirement of LOS stability system (inertial and optical-mechanical combined method) and UAV's structure, a rapid prototype is designed using based on industrial computer using Peripheral Component Interconnect (PCI) and Windows RTX to exchange information. The paper shows the control structure, and circuit system including the inertial stability control circuit with gyro and voice coil motor driven circuit, the optical-mechanical stability control circuit with fast-steering-mirror (FSM) driven circuit and image-deviation-obtained system, outer frame rotary follower, and information-exchange system on PC. Test results show the stability accuracy reaches 5μrad, and prove the effectiveness of the combined line-of-sight stabilization control system, and the real-time rapid prototype runs stable.

  2. 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.

  3. Cooperative Monocular-Based SLAM for Multi-UAV Systems in GPS-Denied Environments.

    Science.gov (United States)

    Trujillo, Juan-Carlos; Munguia, Rodrigo; Guerra, Edmundo; Grau, Antoni

    2018-04-26

    This work presents a cooperative monocular-based SLAM approach for multi-UAV systems that can operate in GPS-denied environments. The main contribution of the work is to show that, using visual information obtained from monocular cameras mounted onboard aerial vehicles flying in formation, the observability properties of the whole system are improved. This fact is especially notorious when compared with other related visual SLAM configurations. In order to improve the observability properties, some measurements of the relative distance between the UAVs are included in the system. These relative distances are also obtained from visual information. The proposed approach is theoretically validated by means of a nonlinear observability analysis. Furthermore, an extensive set of computer simulations is presented in order to validate the proposed approach. The numerical simulation results show that the proposed system is able to provide a good position and orientation estimation of the aerial vehicles flying in formation.

  4. Design of Power Cable UAV Intelligent Patrol System Based on Adaptive Kalman Filter Fuzzy PID Control

    Directory of Open Access Journals (Sweden)

    Chen Siyu

    2017-01-01

    Full Text Available Patrol UAV has poor aerial posture stability and is largely affected by anthropic factors, which lead to some shortages such as low power cable tracking precision, captured image loss and inconvenient temperature measurement, etc. In order to solve these disadvantages, this article puts forward a power cable intelligent patrol system. The core innovation of the system is a 360° platform. This collects the position information of power cables by using far infrared sensors and carries out real-time all-direction adjustment of UAV lifting platform through the adaptive Kalman filter fuzzy PID control algorithm, so that the precise tracking of power cables is achieved. An intelligent patrol system is established to detect the faults more accurately, so that a high intelligence degree of power cable patrol system is realized.

  5. 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.

  6. 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

  7. 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.

  8. Waste heat recovery system

    Energy Technology Data Exchange (ETDEWEB)

    Ernst, Timothy C.; Zigan, James A.

    2017-12-19

    A waste heat recovery system includes a Rankine cycle (RC) circuit having a pump, a boiler, an energy converter, and a condenser fluidly coupled via conduits in that order, to provide additional work. The additional work is fed to an input of a gearbox assembly including a capacity for oil by mechanically coupling to the energy converter to a gear assembly. An interface is positioned between the RC circuit and the gearbox assembly to partially restrict movement of oil present in the gear assembly into the RC circuit and partially restrict movement of working fluid present in the RC circuit into the gear assembly. An oil return line is fluidly connected to at least one of the conduits fluidly coupling the RC components to one another and is operable to return to the gear assembly oil that has moved across the interface from the gear assembly to the RC circuit.

  9. 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.

  10. Budget Uav Systems for the Prospection of - and Medium-Scale Archaeological Sites

    Science.gov (United States)

    Ostrowski, W.; Hanus, K.

    2016-06-01

    One of the popular uses of UAVs in photogrammetry is providing an archaeological documentation. A wide offer of low-cost (consumer) grade UAVs, as well as the popularity of user-friendly photogrammetric software allowing obtaining satisfying results, contribute to facilitating the process of preparing documentation for small archaeological sites. However, using solutions of this kind is much more problematic for larger areas. The limited possibilities of autonomous flight makes it significantly harder to obtain data for areas too large to be covered during a single mission. Moreover, sometimes the platforms used are not equipped with telemetry systems, which makes navigating and guaranteeing a similar quality of data during separate flights difficult. The simplest solution is using a better UAV, however the cost of devices of such type often exceeds the financial capabilities of archaeological expeditions. The aim of this article is to present methodology allowing obtaining data for medium scale areas using only a basic UAV. The proposed methodology assumes using a simple multirotor, not equipped with any flight planning system or telemetry. Navigating of the platform is based solely on live-view images sent from the camera attached to the UAV. The presented survey was carried out using a simple GoPro camera which, from the perspective of photogrammetric use, was not the optimal configuration due to the fish eye geometry of the camera. Another limitation is the actual operational range of UAVs which in the case of cheaper systems, rarely exceeds 1 kilometre and is in fact often much smaller. Therefore the surveyed area must be divided into sub-blocks which correspond to the range of the drone. It is inconvenient since the blocks must overlap, so that they will later be merged during their processing. This increases the length of required flights as well as the computing power necessary to process a greater number of images. These issues make prospection highly

  11. BUDGET UAV SYSTEMS FOR THE PROSPECTION OF SMALL- AND MEDIUM-SCALE ARCHAEOLOGICAL SITES

    Directory of Open Access Journals (Sweden)

    W. Ostrowski

    2016-06-01

    Full Text Available One of the popular uses of UAVs in photogrammetry is providing an archaeological documentation. A wide offer of low-cost (consumer grade UAVs, as well as the popularity of user-friendly photogrammetric software allowing obtaining satisfying results, contribute to facilitating the process of preparing documentation for small archaeological sites. However, using solutions of this kind is much more problematic for larger areas. The limited possibilities of autonomous flight makes it significantly harder to obtain data for areas too large to be covered during a single mission. Moreover, sometimes the platforms used are not equipped with telemetry systems, which makes navigating and guaranteeing a similar quality of data during separate flights difficult. The simplest solution is using a better UAV, however the cost of devices of such type often exceeds the financial capabilities of archaeological expeditions. The aim of this article is to present methodology allowing obtaining data for medium scale areas using only a basic UAV. The proposed methodology assumes using a simple multirotor, not equipped with any flight planning system or telemetry. Navigating of the platform is based solely on live-view images sent from the camera attached to the UAV. The presented survey was carried out using a simple GoPro camera which, from the perspective of photogrammetric use, was not the optimal configuration due to the fish eye geometry of the camera. Another limitation is the actual operational range of UAVs which in the case of cheaper systems, rarely exceeds 1 kilometre and is in fact often much smaller. Therefore the surveyed area must be divided into sub-blocks which correspond to the range of the drone. It is inconvenient since the blocks must overlap, so that they will later be merged during their processing. This increases the length of required flights as well as the computing power necessary to process a greater number of images. These issues make

  12. 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.

  13. 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.

  14. Mobile 3d Mapping with a Low-Cost Uav System

    Science.gov (United States)

    Neitzel, F.; Klonowski, J.

    2011-09-01

    In this contribution it is shown how an UAV system can be built at low costs. The components of the system, the equipment as well as the control software are presented. Furthermore an implemented programme for photogrammetric flight planning and its execution are described. The main focus of this contribution is on the generation of 3D point clouds from digital imagery. For this web services and free software solutions are presented which automatically generate 3D point clouds from arbitrary image configurations. Possibilities of georeferencing are described whereas the achieved accuracy has been determined. The presented workflow is finally used for the acquisition of 3D geodata. On the example of a landfill survey it is shown that marketable products can be derived using a low-cost UAV.

  15. 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.

  16. Development of a UAV-LiDAR System with Application to Forest Inventory

    Directory of Open Access Journals (Sweden)

    Darren Turner

    2012-05-01

    Full Text Available We present the development of a low-cost Unmanned Aerial Vehicle-Light Detecting and Ranging (UAV-LiDAR system and an accompanying workflow to produce 3D point clouds. UAV systems provide an unrivalled combination of high temporal and spatial resolution datasets. The TerraLuma UAV-LiDAR system has been developed to take advantage of these properties and in doing so overcome some of the current limitations of the use of this technology within the forestry industry. A modified processing workflow including a novel trajectory determination algorithm fusing observations from a GPS receiver, an Inertial Measurement Unit (IMU and a High Definition (HD video camera is presented. The advantages of this workflow are demonstrated using a rigorous assessment of the spatial accuracy of the final point clouds. It is shown that due to the inclusion of video the horizontal accuracy of the final point cloud improves from 0.61 m to 0.34 m (RMS error assessed against ground control. The effect of the very high density point clouds (up to 62 points per m2 produced by the UAV-LiDAR system on the measurement of tree location, height and crown width are also assessed by performing repeat surveys over individual isolated trees. The standard deviation of tree height is shown to reduce from 0.26 m, when using data with a density of 8 points perm2, to 0.15mwhen the higher density data was used. Improvements in the uncertainty of the measurement of tree location, 0.80 m to 0.53 m, and crown width, 0.69 m to 0.61 m are also shown.

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

    Science.gov (United States)

    Larrabee, Trenton Jameson

    Wind turbulence including atmospheric turbulence and wake turbulence have been widely investigated; however, only recently it become possible to use Unmanned Aerial Vehicles (UAVs) as a validation tool for research in this area. Wind can be a major contributing factor of adverse weather for aircraft. More importantly, it is an even greater risk towards UAVs because of their small size and weight. Being able to estimate wind fields and gusts can potentially provide substantial benefits for both unmanned and manned aviation. Possible applications include gust suppression for improving handling qualities, a better warning system for high wind encounters, and enhanced control for small UAVs during flight. On the other hand, the existence of wind can be advantageous since it can lead to fuel savings and longer duration flights through dynamic soaring or thermal soaring. Wakes are an effect of the lift distribution across an aircraft's wing or tail. Wakes can cause substantial disturbances when multiple aircraft are moving through the same airspace. In fact, the perils from an aircraft flying through the wake of another aircraft is a leading cause of the delay between takeoff times at airports. Similar to wind, though, wakes can be useful for energy harvesting and increasing an aircraft's endurance when flying in formation which can be a great advantage to UAVs because they are often limited in flight time due to small payload capacity. Formation flight can most often be seen in manned aircraft but can be adopted for use with unmanned systems. Autonomous flight is needed for flying in the "sweet spot" of the generated wakes for energy harvesting as well as for thermal soaring during long duration flights. For the research presented here formation flight was implemented for the study of wake sensing and gust alleviation. The major contributions of this research are in the areas of a novel technique to estimate wind using an Unscented Kalman filter and experimental wake

  18. Comparison of Uncalibrated Rgbvi with Spectrometer-Based Ndvi Derived from Uav Sensing Systems on Field Scale

    Science.gov (United States)

    Bareth, G.; Bolten, A.; Gnyp, M. L.; Reusch, S.; Jasper, J.

    2016-06-01

    The development of UAV-based sensing systems for agronomic applications serves the improvement of crop management. The latter is in the focus of precision agriculture which intends to optimize yield, fertilizer input, and crop protection. Besides, in some cropping systems vehicle-based sensing devices are less suitable because fields cannot be entered from certain growing stages onwards. This is true for rice, maize, sorghum, and many more crops. Consequently, UAV-based sensing approaches fill a niche of very high resolution data acquisition on the field scale in space and time. While mounting RGB digital compact cameras to low-weight UAVs (modified version of the Yara N-Sensor. The latter is a well-established tractor-based hyperspectral sensor for crop management and is available on the market since a decade. It was modified for this study to fit the requirements of UAV-based data acquisition. Consequently, we focus on three objectives in this contribution: (1) to evaluate the potential of the uncalibrated RGBVI for monitoring nitrogen status in winter wheat, (2) investigate the UAV-based performance of the modified Yara N-Sensor, and (3) compare the results of the two different UAV-based sensing approaches for winter wheat.

  19. 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

  20. Using infrared HOG-based pedestrian detection for outdoor autonomous searching UAV with embedded system

    Science.gov (United States)

    Shao, Yanhua; Mei, Yanying; Chu, Hongyu; Chang, Zhiyuan; He, Yuxuan; Zhan, Huayi

    2018-04-01

    Pedestrian detection (PD) is an important application domain in computer vision and pattern recognition. Unmanned Aerial Vehicles (UAVs) have become a major field of research in recent years. In this paper, an algorithm for a robust pedestrian detection method based on the combination of the infrared HOG (IR-HOG) feature and SVM is proposed for highly complex outdoor scenarios on the basis of airborne IR image sequences from UAV. The basic flow of our application operation is as follows. Firstly, the thermal infrared imager (TAU2-336), which was installed on our Outdoor Autonomous Searching (OAS) UAV, is used for taking pictures of the designated outdoor area. Secondly, image sequences collecting and processing were accomplished by using high-performance embedded system with Samsung ODROID-XU4 and Ubuntu as the core and operating system respectively, and IR-HOG features were extracted. Finally, the SVM is used to train the pedestrian classifier. Experiment show that, our method shows promising results under complex conditions including strong noise corruption, partial occlusion etc.

  1. Direct Georeferencing of a Pushbroom, Lightweight Hyperspectral System for Mini-UAV Applications

    Directory of Open Access Journals (Sweden)

    Marion Jaud

    2018-01-01

    Full Text Available Hyperspectral imagery has proven its potential in many research applications, especially in the field of environmental sciences. Currently, hyperspectral imaging is generally performed by satellite or aircraft platforms, but mini-UAV (Unmanned Aerial Vehicle platforms (<20 kg are now emerging. On such platforms, payload restrictions are critical, so sensors must be selected according to stringent specifications. This article presents the integration of a light pushbroom hyperspectral sensor onboard a multirotor UAV, which we have called Hyper-DRELIO (Hyperspectral DRone for Environmental and LIttoral Observations. This article depicts the system design: the UAV platform, the imaging module, the navigation module, and the interfacing between the different elements. Pushbroom sensors offer a better combination of spatial and spectral resolution than full-frame cameras. Nevertheless, data georectification has to be performed line by line, the quality of direct georeferencing being limited by mechanical stability, good timing accuracy, and the resolution and accuracy of the proprioceptive sensors. A georegistration procedure is proposed for geometrical pre-processing of hyperspectral data. The specifications of Hyper-DRELIO surveys are described through two examples of surveys above coastal or inland waters, with different flight altitudes. This system can collect hyperspectral data in VNIR (Visible and Near InfraRed domain above small study sites (up to about 4 ha with both high spatial resolution (<10 cm and high spectral resolution (1.85 nm and with georectification accuracy on the order of 1 to 2 m.

  2. 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.

  3. 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.

  4. 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.

  5. 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.

  6. COMPARISON OF UNCALIBRATED RGBVI WITH SPECTROMETER-BASED NDVI DERIVED FROM UAV SENSING SYSTEMS ON FIELD SCALE

    Directory of Open Access Journals (Sweden)

    G. Bareth

    2016-06-01

    Full Text Available The development of UAV-based sensing systems for agronomic applications serves the improvement of crop management. The latter is in the focus of precision agriculture which intends to optimize yield, fertilizer input, and crop protection. Besides, in some cropping systems vehicle-based sensing devices are less suitable because fields cannot be entered from certain growing stages onwards. This is true for rice, maize, sorghum, and many more crops. Consequently, UAV-based sensing approaches fill a niche of very high resolution data acquisition on the field scale in space and time. While mounting RGB digital compact cameras to low-weight UAVs (< 5 kg is well established, the miniaturization of sensors in the last years also enables hyperspectral data acquisition from those platforms. From both, RGB and hyperspectral data, vegetation indices (VIs are computed to estimate crop growth parameters. In this contribution, we compare two different sensing approaches from a low-weight UAV platform (< 5 kg for monitoring a nitrogen field experiment of winter wheat and a corresponding farmers’ field in Western Germany. (i A standard digital compact camera was flown to acquire RGB images which are used to compute the RGBVI and (ii NDVI is computed from a newly modified version of the Yara N-Sensor. The latter is a well-established tractor-based hyperspectral sensor for crop management and is available on the market since a decade. It was modified for this study to fit the requirements of UAV-based data acquisition. Consequently, we focus on three objectives in this contribution: (1 to evaluate the potential of the uncalibrated RGBVI for monitoring nitrogen status in winter wheat, (2 investigate the UAV-based performance of the modified Yara N-Sensor, and (3 compare the results of the two different UAV-based sensing approaches for winter wheat.

  7. Development and Evaluation of a UAV-Photogrammetry System for Precise 3D Environmental Modeling.

    Science.gov (United States)

    Shahbazi, Mozhdeh; Sohn, Gunho; Théau, Jérôme; Menard, Patrick

    2015-10-30

    The specific requirements of UAV-photogrammetry necessitate particular solutions for system development, which have mostly been ignored or not assessed adequately in recent studies. Accordingly, this paper presents the methodological and experimental aspects of correctly implementing a UAV-photogrammetry system. The hardware of the system consists of an electric-powered helicopter, a high-resolution digital camera and an inertial navigation system. The software of the system includes the in-house programs specifically designed for camera calibration, platform calibration, system integration, on-board data acquisition, flight planning and on-the-job self-calibration. The detailed features of the system are discussed, and solutions are proposed in order to enhance the system and its photogrammetric outputs. The developed system is extensively tested for precise modeling of the challenging environment of an open-pit gravel mine. The accuracy of the results is evaluated under various mapping conditions, including direct georeferencing and indirect georeferencing with different numbers, distributions and types of ground control points. Additionally, the effects of imaging configuration and network stability on modeling accuracy are assessed. The experiments demonstrated that 1.55 m horizontal and 3.16 m vertical absolute modeling accuracy could be achieved via direct geo-referencing, which was improved to 0.4 cm and 1.7 cm after indirect geo-referencing.

  8. 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.

  9. Lightweight Hyperspectral Mapping System and a Novel Photogrammetric Processing Chain for UAV-based Sensing

    Science.gov (United States)

    Suomalainen, Juha; Franke, Jappe; Anders, Niels; Iqbal, Shahzad; Wenting, Philip; Becker, Rolf; Kooistra, Lammert

    2014-05-01

    We have developed a lightweight Hyperspectral Mapping System (HYMSY) and a novel processing chain for UAV based mapping. The HYMSY consists of a custom pushbroom spectrometer (range 450-950nm, FWHM 9nm, ~20 lines/s, 328 pixels/line), a consumer camera (collecting 16MPix raw image every 2 seconds), a GPS-Inertia Navigation System (GPS-INS), and synchronization and data storage units. The weight of the system at take-off is 2.0kg allowing us to mount it on a relatively small octocopter. The novel processing chain exploits photogrammetry in the georectification process of the hyperspectral data. At first stage the photos are processed in a photogrammetric software producing a high-resolution RGB orthomosaic, a Digital Surface Model (DSM), and photogrammetric UAV/camera position and attitude at the moment of each photo. These photogrammetric camera positions are then used to enhance the internal accuracy of GPS-INS data. These enhanced GPS-INS data are then used to project the hyperspectral data over the photogrammetric DSM, producing a georectified end product. The presented photogrammetric processing chain allows fully automated georectification of hyperspectral data using a compact GPS-INS unit while still producingin UAV use higher georeferencing accuracy than would be possible using the traditional processing method. During 2013, we have operated HYMSY on 150+ octocopter flights at 60+ sites or days. On typical flight we have produced for a 2-10ha area: a RGB orthoimagemosaic at 1-5cm resolution, a DSM in 5-10cm resolution, and hyperspectral datacube at 10-50cm resolution. The targets have mostly consisted of vegetated targets including potatoes, wheat, sugar beets, onions, tulips, coral reefs, and heathlands,. In this poster we present the Hyperspectral Mapping System and the photogrammetric processing chain with some of our first mapping results.

  10. JOINT PROCESSING OF UAV IMAGERY AND TERRESTRIAL MOBILE MAPPING SYSTEM DATA FOR VERY HIGH RESOLUTION CITY MODELING

    Directory of Open Access Journals (Sweden)

    A. Gruen

    2013-08-01

    Full Text Available Both unmanned aerial vehicle (UAV technology and Mobile Mapping Systems (MMS are important techniques for surveying and mapping. In recent years, the UAV technology has seen tremendous interest, both in the mapping community and in many other fields of application. Carrying off-the shelf digital cameras, the UAV can collect high quality aerial optical images for city modeling using photogrammetric techniques. In addition, a MMS can acquire high density point clouds of ground objects along the roads. The UAV, if operated in an aerial mode, has difficulties in acquiring information of ground objects under the trees and along façades of buildings. On the contrary, the MMS collects accurate point clouds of objects from the ground, together with stereo images, but it suffers from system errors due to loss of GPS signals, and also lacks the information of the roofs. Therefore, both technologies are complementary. This paper focuses on the integration of UAV images, MMS point cloud data and terrestrial images to build very high resolution 3D city models. The work we will show is a practical modeling project of the National University of Singapore (NUS campus, which includes buildings, some of them very high, roads and other man-made objects, dense tropical vegetation and DTM. This is an intermediate report. We present work in progress.

  11. Ground Control Point - Wireless System Network for UAV-based environmental monitoring applications

    Science.gov (United States)

    Mejia-Aguilar, Abraham

    2016-04-01

    In recent years, Unmanned Aerial Vehicles (UAV) have seen widespread civil applications including usage for survey and monitoring services in areas such as agriculture, construction and civil engineering, private surveillance and reconnaissance services and cultural heritage management. Most aerial monitoring services require the integration of information acquired during the flight (such as imagery) with ground-based information (such as GPS information or others) for improved ground truth validation. For example, to obtain an accurate 3D and Digital Elevation Model based on aerial imagery, it is necessary to include ground-based information of coordinate points, which are normally acquired with surveying methods based on Global Position Systems (GPS). However, GPS surveys are very time consuming and especially for longer time series of monitoring data repeated GPS surveys are necessary. In order to improve speed of data collection and integration, this work presents an autonomous system based on Waspmote technologies build on single nodes interlinked in a Wireless Sensor Network (WSN) star-topology for ground based information collection and later integration with surveying data obtained by UAV. Nodes are designed to be visible from the air, to resist extreme weather conditions with low-power consumption. Besides, nodes are equipped with GPS as well as Inertial Measurement Unit (IMU), accelerometer, temperature and soil moisture sensors and thus provide significant advantages in a broad range of applications for environmental monitoring. For our purpose, the WSN transmits the environmental data with 3G/GPRS to a database on a regular time basis. This project provides a detailed case study and implementation of a Ground Control Point System Network for UAV-based vegetation monitoring of dry mountain grassland in the Matsch valley, Italy.

  12. Feasibility study of a novel miniaturized spectral imaging system architecture in UAV surveillance

    Science.gov (United States)

    Liu, Shuyang; Zhou, Tao; Jia, Xiaodong; Cui, Hushan; Huang, Chengjun

    2016-01-01

    The spectral imaging technology is able to analysis the spectral and spatial geometric character of the target at the same time. To break through the limitation brought by the size, weight and cost of the traditional spectral imaging instrument, a miniaturized novel spectral imaging based on CMOS processing has been introduced in the market. This technology has enabled the possibility of applying spectral imaging in the UAV platform. In this paper, the relevant technology and the related possible applications have been presented to implement a quick, flexible and more detailed remote sensing system.

  13. 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.

  14. Enhanced oil recovery system

    Science.gov (United States)

    Goldsberry, Fred L.

    1989-01-01

    All energy resources available from a geopressured geothermal reservoir are used for the production of pipeline quality gas using a high pressure separator/heat exchanger and a membrane separator, and recovering waste gas from both the membrane separator and a low pressure separator in tandem with the high pressure separator for use in enhanced oil recovery, or in powering a gas engine and turbine set. Liquid hydrocarbons are skimmed off the top of geothermal brine in the low pressure separator. High pressure brine from the geothermal well is used to drive a turbine/generator set before recovering waste gas in the first separator. Another turbine/generator set is provided in a supercritical binary power plant that uses propane as a working fluid in a closed cycle, and uses exhaust heat from the combustion engine and geothermal energy of the brine in the separator/heat exchanger to heat the propane.

  15. 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.

  16. Systemic Approach to Elevation Data Acquisition for Geophysical Survey Alignments in Hilly Terrains Using UAVs

    Science.gov (United States)

    Ismail, M. A. M.; Kumar, N. S.; Abidin, M. H. Z.; Madun, A.

    2018-04-01

    This study is about systematic approach to photogrammetric survey that is applicable in the extraction of elevation data for geophysical surveys in hilly terrains using Unmanned Aerial Vehicles (UAVs). The outcome will be to acquire high-quality geophysical data from areas where elevations vary by locating the best survey lines. The study area is located at the proposed construction site for the development of a water reservoir and related infrastructure in Kampus Pauh Putra, Universiti Malaysia Perlis. Seismic refraction surveys were carried out for the modelling of the subsurface for detailed site investigations. Study were carried out to identify the accuracy of the digital elevation model (DEM) produced from an UAV. At 100 m altitude (flying height), over 135 overlapping images were acquired using a DJI Phantom 3 quadcopter. All acquired images were processed for automatic 3D photo-reconstruction using Agisoft PhotoScan digital photogrammetric software, which was applied to all photogrammetric stages. The products generated included a 3D model, dense point cloud, mesh surface, digital orthophoto, and DEM. In validating the accuracy of the produced DEM, the coordinates of the selected ground control point (GCP) of the survey line in the imaging area were extracted from the generated DEM with the aid of Global Mapper software. These coordinates were compared with the GCPs obtained using a real-time kinematic global positioning system. The maximum percentage of difference between GCP’s and photogrammetry survey is 13.3 %. UAVs are suitable for acquiring elevation data for geophysical surveys which can save time and cost.

  17. Designing and Testing a UAV Mapping System for Agricultural Field Surveying

    Directory of Open Access Journals (Sweden)

    Martin Peter Christiansen

    2017-11-01

    Full Text Available A Light Detection and Ranging (LiDAR sensor mounted on an Unmanned Aerial Vehicle (UAV can map the overflown environment in point clouds. Mapped canopy heights allow for the estimation of crop biomass in agriculture. The work presented in this paper contributes to sensory UAV setup design for mapping and textual analysis of agricultural fields. LiDAR data are combined with data from Global Navigation Satellite System (GNSS and Inertial Measurement Unit (IMU sensors to conduct environment mapping for point clouds. The proposed method facilitates LiDAR recordings in an experimental winter wheat field. Crop height estimates ranging from 0.35–0.58 m are correlated to the applied nitrogen treatments of 0–300 kg N ha . The LiDAR point clouds are recorded, mapped, and analysed using the functionalities of the Robot Operating System (ROS and the Point Cloud Library (PCL. Crop volume estimation is based on a voxel grid with a spatial resolution of 0.04 × 0.04 × 0.001 m. Two different flight patterns are evaluated at an altitude of 6 m to determine the impacts of the mapped LiDAR measurements on crop volume estimations.

  18. Designing and Testing a UAV Mapping System for Agricultural Field Surveying.

    Science.gov (United States)

    Christiansen, Martin Peter; Laursen, Morten Stigaard; Jørgensen, Rasmus Nyholm; Skovsen, Søren; Gislum, René

    2017-11-23

    A Light Detection and Ranging (LiDAR) sensor mounted on an Unmanned Aerial Vehicle (UAV) can map the overflown environment in point clouds. Mapped canopy heights allow for the estimation of crop biomass in agriculture. The work presented in this paper contributes to sensory UAV setup design for mapping and textual analysis of agricultural fields. LiDAR data are combined with data from Global Navigation Satellite System (GNSS) and Inertial Measurement Unit (IMU) sensors to conduct environment mapping for point clouds. The proposed method facilitates LiDAR recordings in an experimental winter wheat field. Crop height estimates ranging from 0.35-0.58 m are correlated to the applied nitrogen treatments of 0-300 kg N ha . The LiDAR point clouds are recorded, mapped, and analysed using the functionalities of the Robot Operating System (ROS) and the Point Cloud Library (PCL). Crop volume estimation is based on a voxel grid with a spatial resolution of 0.04 × 0.04 × 0.001 m. Two different flight patterns are evaluated at an altitude of 6 m to determine the impacts of the mapped LiDAR measurements on crop volume estimations.

  19. Corn and sorghum phenotyping using a fixed-wing UAV-based remote sensing system

    Science.gov (United States)

    Shi, Yeyin; Murray, Seth C.; Rooney, William L.; Valasek, John; Olsenholler, Jeff; Pugh, N. Ace; Henrickson, James; Bowden, Ezekiel; Zhang, Dongyan; Thomasson, J. Alex

    2016-05-01

    Recent development of unmanned aerial systems has created opportunities in automation of field-based high-throughput phenotyping by lowering flight operational cost and complexity and allowing flexible re-visit time and higher image resolution than satellite or manned airborne remote sensing. In this study, flights were conducted over corn and sorghum breeding trials in College Station, Texas, with a fixed-wing unmanned aerial vehicle (UAV) carrying two multispectral cameras and a high-resolution digital camera. The objectives were to establish the workflow and investigate the ability of UAV-based remote sensing for automating data collection of plant traits to develop genetic and physiological models. Most important among these traits were plant height and number of plants which are currently manually collected with high labor costs. Vegetation indices were calculated for each breeding cultivar from mosaicked and radiometrically calibrated multi-band imagery in order to be correlated with ground-measured plant heights, populations and yield across high genetic-diversity breeding cultivars. Growth curves were profiled with the aerial measured time-series height and vegetation index data. The next step of this study will be to investigate the correlations between aerial measurements and ground truth measured manually in field and from lab tests.

  20. 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.

  1. Development of a UAV system for VNIR-TIR acquisitions in precision agriculture

    Science.gov (United States)

    Misopolinos, L.; Zalidis, Ch.; Liakopoulos, V.; Stavridou, D.; Katsigiannis, P.; Alexandridis, T. K.; Zalidis, G.

    2015-06-01

    Adoption of precision agriculture techniques requires the development of specialized tools that provide spatially distributed information. Both flying platforms and airborne sensors are being continuously evolved to cover the needs of plant and soil sensing at affordable costs. Due to restrictions in payload, flying platforms are usually limited to carry a single sensor on board. The aim of this work is to present the development of a vertical take-off and landing autonomous unmanned aerial vehicle (VTOL UAV) system for the simultaneous acquisition of high resolution vertical images at the visible, near infrared (VNIR) and thermal infrared (TIR) wavelengths. A system was developed that has the ability to trigger two cameras simultaneously with a fully automated process and no pilot intervention. A commercial unmanned hexacopter UAV platform was optimized to increase reliability, ease of operation and automation. The designed systems communication platform is based on a reduced instruction set computing (RISC) processor running Linux OS with custom developed drivers in an efficient way, while keeping the cost and weight to a minimum. Special software was also developed for the automated image capture, data processing and on board data and metadata storage. The system was tested over a kiwifruit field in northern Greece, at flying heights of 70 and 100m above the ground. The acquired images were mosaicked and geo-corrected. Images from both flying heights were of good quality and revealed unprecedented detail within the field. The normalized difference vegetation index (NDVI) was calculated along with the thermal image in order to provide information on the accurate location of stressors and other parameters related to the crop productivity. Compared to other available sources of data, this system can provide low cost, high resolution and easily repeatable information to cover the requirements of precision agriculture.

  2. A UAV-based active AirCore system for measurements of greenhouse gases

    Science.gov (United States)

    Andersen, Truls; Scheeren, Bert; Peters, Wouter; Chen, Huilin

    2018-05-01

    We developed and field-tested an unmanned aerial vehicle (UAV)-based active AirCore for atmospheric mole fraction measurements of CO2, CH4, and CO. The system applies an alternative way of using the AirCore technique invented by NOAA. As opposed to the conventional concept of passively sampling air using the atmospheric pressure gradient during descent, the active AirCore collects atmospheric air samples using a pump to pull the air through the tube during flight, which opens up the possibility to spatially sample atmospheric air. The active AirCore system used for this study weighs ˜ 1.1 kg. It consists of a ˜ 50 m long stainless-steel tube, a small stainless-steel tube filled with magnesium perchlorate, a KNF micropump, and a 45 µm orifice working together to form a critical flow of dried atmospheric air through the active AirCore. A cavity ring-down spectrometer (CRDS) was used to analyze the air samples on site not more than 7 min after landing for mole fraction measurements of CO2, CH4, and CO. We flew the active AirCore system on a UAV near the atmospheric measurement station at Lutjewad, located in the northwest of the city of Groningen in the Netherlands. Five consecutive flights took place over a 5 h period on the same morning, from sunrise until noon. We validated the measurements of CO2 and CH4 from the active AirCore against those from the Lutjewad station at 60 m. The results show a good agreement between the measurements from the active AirCore and the atmospheric station (N = 146; R2CO2: 0.97 and R2CH4: 0.94; and mean differences: ΔCO2: 0.18 ppm and ΔCH4: 5.13 ppb). The vertical and horizontal resolution (for CH4) at typical UAV speeds of 1.5 and 2.5 m s-1 were determined to be ±24.7 to 29.3 and ±41.2 to 48.9 m, respectively, depending on the storage time. The collapse of the nocturnal boundary layer and the buildup of the mixed layer were clearly observed with three consecutive vertical profile measurements in the early morning hours. Besides

  3. Hankel Matrix Correlation Function-Based Subspace Identification Method for UAV Servo System

    Directory of Open Access Journals (Sweden)

    Minghong She

    2018-01-01

    Full Text Available For the identification problem of closed-loop subspace model, we propose a zero space projection method based on the estimation of correlation function to fill the block Hankel matrix of identification model by combining the linear algebra with geometry. By using the same projection of related data in time offset set and LQ decomposition, the multiplication operation of projection is achieved and dynamics estimation of the unknown equipment system model is obtained. Consequently, we have solved the problem of biased estimation caused when the open-loop subspace identification algorithm is applied to the closed-loop identification. A simulation example is given to show the effectiveness of the proposed approach. In final, the practicability of the identification algorithm is verified by hardware test of UAV servo system in real environment.

  4. Advanced regenerative heat recovery system

    Science.gov (United States)

    Prasad, A.; Jasti, J. K.

    1982-02-01

    A regenerative heat recovery system was designed and fabricated to deliver 1500 scfm preheated air to a maximum temperature of 1600 F. Since this system is operating at 2000 F, the internal parts were designed to be fabricated with ceramic materials. This system is also designed to be adaptable to an internal metallic structure to operate in the range of 1100 to 1500 F. A test facility was designed and fabricated to test this system. The test facility is equipped to impose a pressure differential of up to 27 inches of water column in between preheated air and flue gas lines for checking possible leakage through the seals. The preliminary tests conducted on the advanced regenerative heat recovery system indicate the thermal effectiveness in the range of 60% to 70%. Bench scale studies were conducted on various ceramic and gasket materials to identify the proper material to be used in high temperature applications. A market survey was conducted to identify the application areas for this heat recovery system. A cost/benefit analysis showed a payback period of less than one and a half years.

  5. Gimbal system configurations and line-of-sight control techniques for small UAV applications

    Science.gov (United States)

    Miller, Rick; Mooty, Greg; Hilkert, J. M.

    2013-05-01

    The proliferation of small Unmanned Air Vehicles (UAVs) in the past decade has been driven, in part, by the diverse applications that various industries have found for these platforms. Originally, these applications were predominately military in nature but now include law enforcement/security, environmental monitoring/remote sensing, agricultural surveying, movie making and others. Many of these require sensors/payloads such as cameras, laser pointers/ illuminators/rangefinders and other systems that must be pointed and/or stabilized and therefore require a precision miniature gimbal or other means to control their line-of-sight (LOS). Until now, these markets have been served by traditional/larger gimbals; however, the latest class of small UAVs demands much smaller gimbals while maintaining high-performance. The limited size and weight of these gimbaled devices result in design challenges unique to the small-gimbal design field. In the past five years, Ascendant Engineering Solutions has engaged in designing, analyzing and building several small-gimbal systems to meet these challenges and has undertaken a number of trade studies to investigate techniques to achieve optimal performance within the inherent limitations mentioned above. These have included investigating various gimbal configurations, feedback sensors such as gyros, IMUs and encoders, drive train configurations, control system techniques, packaging and interconnect, as well as technology such as fast-steering mirrors and image-stabilization algorithms. This paper summarizes the results of these trade studies, attempts to identify inherent trends and limitations in the various design approaches and techniques, and discusses some practical issues such as test and verification.

  6. A Robust H ∞ Controller for an UAV Flight Control System.

    Science.gov (United States)

    López, J; Dormido, R; Dormido, S; Gómez, J P

    2015-01-01

    The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

  7. A UAV based system for real time flash flood monitoring in desert environments using Lagrangian microsensors

    KAUST Repository

    Abdelkader, Mohamed

    2013-05-01

    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. Most casualties could be avoided with advance warning, for which real time monitoring is critical. While satellite-based high resolution weather forecasts can help predict floods to a certain extent, they are not reliable enough, as flood models depend on a large number of parameters that cannot be estimated beforehand. In this article, we present a novel flood sensing architecture to monitor large scale desert hydrological basins surrounding metropolitan areas, based on unmanned air vehicles. The system relies on Lagrangian (mobile) microsensors, that are released by a swarm of UAVs. A preliminary testbed implementing this technology is briefly described, and future research directions and problems are discussed. © 2013 IEEE.

  8. 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.

  9. Image restoration for civil engineering structure monitoring using imaging system embedded on UAV

    Science.gov (United States)

    Vozel, Benoit; Dumoulin, Jean; Chehdi, Kacem

    2013-04-01

    Nowadays, civil engineering structures are periodically surveyed by qualified technicians (i.e. alpinist) operating visual inspection using heavy mechanical pods. This method is far to be safe, not only for civil engineering structures monitoring staff, but also for users. Due to the unceasing traffic increase, making diversions or closing lanes on bridge becomes more and more difficult. New inspection methods have to be found. One of the most promising technique is to develop inspection method using images acquired by a dedicated monitoring system operating around the civil engineering structures, without disturbing the traffic. In that context, the use of images acquired with an UAV, which fly around the structures is of particular interest. The UAV can be equipped with different vision system (digital camera, infrared sensor, video, etc.). Nonetheless, detection of small distresses on images (like cracks of 1 mm or less) depends on image quality, which is sensitive to internal parameters of the UAV (vibration modes, video exposure times, etc.) and to external parameters (turbulence, bad illumination of the scene, etc.). Though progresses were made at UAV level and at sensor level (i.e. optics), image deterioration is still an open problem. These deteriorations are mainly represented by motion blur that can be coupled with out-of-focus blur and observation noise on acquired images. In practice, deteriorations are unknown if no a priori information is available or dedicated additional instrumentation is set-up at UAV level. Image restoration processing is therefore required. This is a difficult problem [1-3] which has been intensively studied over last decades [4-12]. Image restoration can be addressed by following a blind approach or a myopic one. In both cases, it includes two processing steps that can be implemented in sequential or alternate mode. The first step carries out the identification of the blur impulse response and the second one makes use of this

  10. Research on the Application of Rapid Surveying and Mapping for Large Scare Topographic Map by Uav Aerial Photography System

    Science.gov (United States)

    Gao, Z.; Song, Y.; Li, C.; Zeng, F.; Wang, F.

    2017-08-01

    Rapid acquisition and processing method of large scale topographic map data, which relies on the Unmanned Aerial Vehicle (UAV) low-altitude aerial photogrammetry system, is studied in this paper, elaborating the main work flow. Key technologies of UAV photograph mapping is also studied, developing a rapid mapping system based on electronic plate mapping system, thus changing the traditional mapping mode and greatly improving the efficiency of the mapping. Production test and achievement precision evaluation of Digital Orth photo Map (DOM), Digital Line Graphic (DLG) and other digital production were carried out combined with the city basic topographic map update project, which provides a new techniques for large scale rapid surveying and has obvious technical advantage and good application prospect.

  11. A Novel System for Correction of Relative Angular Displacement between Airborne Platform and UAV in Target Localization

    Directory of Open Access Journals (Sweden)

    Chenglong Liu

    2017-03-01

    Full Text Available This paper provides a system and method for correction of relative angular displacements between an Unmanned Aerial Vehicle (UAV and its onboard strap-down photoelectric platform to improve localization accuracy. Because the angular displacements have an influence on the final accuracy, by attaching a measuring system to the platform, the texture image of platform base bulkhead can be collected in a real-time manner. Through the image registration, the displacement vector of the platform relative to its bulkhead can be calculated to further determine angular displacements. After being decomposed and superposed on the three attitude angles of the UAV, the angular displacements can reduce the coordinate transformation errors and thus improve the localization accuracy. Even a simple kind of method can improve the localization accuracy by 14.3%.

  12. THE PERFORMANCE ANALYSIS OF A UAV BASED MOBILE MAPPING SYSTEM PLATFORM

    Directory of Open Access Journals (Sweden)

    M. L. Tsai

    2013-08-01

    Full Text Available To facilitate applications such as environment detection or disaster monitoring, the development of rapid low cost systems for collecting near real-time spatial information is very critical. Rapid spatial information collection has become an emerging trend for remote sensing and mapping applications. This study develops a Direct Georeferencing (DG based fixed-wing Unmanned Aerial Vehicle (UAV photogrammetric platform where an Inertial Navigation System (INS/Global Positioning System (GPS integrated Positioning and Orientation System (POS system is implemented to provide the DG capability of the platform. The performance verification indicates that the proposed platform can capture aerial images successfully. A flight test is performed to verify the positioning accuracy in DG mode without using Ground Control Points (GCP. The preliminary results illustrate that horizontal DG positioning accuracies in the x and y axes are around 5 m with 300 m flight height. The positioning accuracy in the z axis is less than 10 m. Such accuracy is good for near real-time disaster relief. The DG ready function of proposed platform guarantees mapping and positioning capability even in GCP free environments, which is very important for rapid urgent response for disaster relief. Generally speaking, the data processing time for the DG module, including POS solution generalization, interpolation, Exterior Orientation Parameters (EOP generation, and feature point measurements, is less than one hour.

  13. The Performance Analysis of a Uav Based Mobile Mapping System Platform

    Science.gov (United States)

    Tsai, M. L.; Chiang, K. W.; Lo, C. F.; Ch, C. H.

    2013-08-01

    To facilitate applications such as environment detection or disaster monitoring, the development of rapid low cost systems for collecting near real-time spatial information is very critical. Rapid spatial information collection has become an emerging trend for remote sensing and mapping applications. This study develops a Direct Georeferencing (DG) based fixed-wing Unmanned Aerial Vehicle (UAV) photogrammetric platform where an Inertial Navigation System (INS)/Global Positioning System (GPS) integrated Positioning and Orientation System (POS) system is implemented to provide the DG capability of the platform. The performance verification indicates that the proposed platform can capture aerial images successfully. A flight test is performed to verify the positioning accuracy in DG mode without using Ground Control Points (GCP). The preliminary results illustrate that horizontal DG positioning accuracies in the x and y axes are around 5 m with 300 m flight height. The positioning accuracy in the z axis is less than 10 m. Such accuracy is good for near real-time disaster relief. The DG ready function of proposed platform guarantees mapping and positioning capability even in GCP free environments, which is very important for rapid urgent response for disaster relief. Generally speaking, the data processing time for the DG module, including POS solution generalization, interpolation, Exterior Orientation Parameters (EOP) generation, and feature point measurements, is less than one hour.

  14. 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

  15. Classification of Maize in Complex Smallholder Farming Systems Using UAV Imagery

    Directory of Open Access Journals (Sweden)

    Ola Hall

    2018-06-01

    Full Text Available Yield estimates and yield gap analysis are important for identifying poor agricultural productivity. Remote sensing holds great promise for measuring yield and thus determining yield gaps. Farming systems in sub-Saharan Africa (SSA are commonly characterized by small field size, intercropping, different crop species with similar phenologies, and sometimes high cloud frequency during the growing season, all of which pose real challenges to remote sensing. Here, an unmanned aerial vehicle (UAV system based on a quadcopter equipped with two consumer-grade cameras was used for the delineation and classification of maize plants on smallholder farms in Ghana. Object-oriented image classification methods were applied to the imagery, combined with measures of image texture and intensity, hue, and saturation (IHS, in order to achieve delineation. It was found that the inclusion of a near-infrared (NIR channel and red–green–blue (RGB spectra, in combination with texture or IHS, increased the classification accuracy for both single and mosaic images to above 94%. Thus, the system proved suitable for delineating and classifying maize using RGB and NIR imagery and calculating the vegetation fraction, an important parameter in producing yield estimates for heterogeneous smallholder farming systems.

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

    Science.gov (United States)

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

    2015-02-02

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

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

    Directory of Open Access Journals (Sweden)

    Juan Jesús Roldán

    2015-02-01

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

  18. Microbial Heat Recovery Cell (MHRC) System Concept

    Energy Technology Data Exchange (ETDEWEB)

    None

    2017-09-01

    This factsheet describes a project that aimed to develop a microbial heat recovery cell (MHRC) system that combines a microbial reverse electrodialysis technology with waste heat recovery to convert industrial effluents into electricity and hydrogen.

  19. A UAV-based active AirCore system for measurements of greenhouse gases

    Directory of Open Access Journals (Sweden)

    T. Andersen

    2018-05-01

    Full Text Available We developed and field-tested an unmanned aerial vehicle (UAV-based active AirCore for atmospheric mole fraction measurements of CO2, CH4, and CO. The system applies an alternative way of using the AirCore technique invented by NOAA. As opposed to the conventional concept of passively sampling air using the atmospheric pressure gradient during descent, the active AirCore collects atmospheric air samples using a pump to pull the air through the tube during flight, which opens up the possibility to spatially sample atmospheric air. The active AirCore system used for this study weighs ∼ 1.1 kg. It consists of a ∼ 50 m long stainless-steel tube, a small stainless-steel tube filled with magnesium perchlorate, a KNF micropump, and a 45 µm orifice working together to form a critical flow of dried atmospheric air through the active AirCore. A cavity ring-down spectrometer (CRDS was used to analyze the air samples on site not more than 7 min after landing for mole fraction measurements of CO2, CH4, and CO. We flew the active AirCore system on a UAV near the atmospheric measurement station at Lutjewad, located in the northwest of the city of Groningen in the Netherlands. Five consecutive flights took place over a 5 h period on the same morning, from sunrise until noon. We validated the measurements of CO2 and CH4 from the active AirCore against those from the Lutjewad station at 60 m. The results show a good agreement between the measurements from the active AirCore and the atmospheric station (N  =  146; R2CO2: 0.97 and R2CH4: 0.94; and mean differences: ΔCO2: 0.18 ppm and ΔCH4: 5.13 ppb. The vertical and horizontal resolution (for CH4 at typical UAV speeds of 1.5 and 2.5 m s−1 were determined to be ±24.7 to 29.3 and ±41.2 to 48.9 m, respectively, depending on the storage time. The collapse of the nocturnal boundary layer and the buildup of the mixed layer were clearly observed with three consecutive vertical

  20. 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.

  1. Heat recovery system series arrangements

    Science.gov (United States)

    Kauffman, Justin P.; Welch, Andrew M.; Dawson, Gregory R.; Minor, Eric N.

    2017-11-14

    The present disclosure is directed to heat recovery systems that employ two or more organic Rankine cycle (ORC) units disposed in series. According to certain embodiments, each ORC unit includes an evaporator that heats an organic working fluid, a turbine generator set that expands the working fluid to generate electricity, a condenser that cools the working fluid, and a pump that returns the working fluid to the evaporator. The heating fluid is directed through each evaporator to heat the working fluid circulating within each ORC unit, and the cooling fluid is directed through each condenser to cool the working fluid circulating within each ORC unit. The heating fluid and the cooling fluid flow through the ORC units in series in the same or opposite directions.

  2. Small UAV Automatic Ground Collision Avoidance System Design Considerations and Flight Test Results

    Science.gov (United States)

    Sorokowski, Paul; Skoog, Mark; Burrows, Scott; Thomas, SaraKatie

    2015-01-01

    The National Aeronautics and Space Administration (NASA) Armstrong Flight Research Center Small Unmanned Aerial Vehicle (SUAV) Automatic Ground Collision Avoidance System (Auto GCAS) project demonstrated several important collision avoidance technologies. First, the SUAV Auto GCAS design included capabilities to take advantage of terrain avoidance maneuvers flying turns to either side as well as straight over terrain. Second, the design also included innovative digital elevation model (DEM) scanning methods. The combination of multi-trajectory options and new scanning methods demonstrated the ability to reduce the nuisance potential of the SUAV while maintaining robust terrain avoidance. Third, the Auto GCAS algorithms were hosted on the processor inside a smartphone, providing a lightweight hardware configuration for use in either the ground control station or on board the test aircraft. Finally, compression of DEM data for the entire Earth and successful hosting of that data on the smartphone was demonstrated. The SUAV Auto GCAS project demonstrated that together these methods and technologies have the potential to dramatically reduce the number of controlled flight into terrain mishaps across a wide range of aviation platforms with similar capabilities including UAVs, general aviation aircraft, helicopters, and model aircraft.

  3. SKA aperture array verification system: electromagnetic modeling and beam pattern measurements using a micro UAV

    Science.gov (United States)

    de Lera Acedo, E.; Bolli, P.; Paonessa, F.; Virone, G.; Colin-Beltran, E.; Razavi-Ghods, N.; Aicardi, I.; Lingua, A.; Maschio, P.; Monari, J.; Naldi, G.; Piras, M.; Pupillo, G.

    2018-03-01

    In this paper we present the electromagnetic modeling and beam pattern measurements of a 16-elements ultra wideband sparse random test array for the low frequency instrument of the Square Kilometer Array telescope. We discuss the importance of a small array test platform for the development of technologies and techniques towards the final telescope, highlighting the most relevant aspects of its design. We also describe the electromagnetic simulations and modeling work as well as the embedded-element and array pattern measurements using an Unmanned Aerial Vehicle system. The latter are helpful both for the validation of the models and the design as well as for the future instrumental calibration of the telescope thanks to the stable, accurate and strong radio frequency signal transmitted by the UAV. At this stage of the design, these measurements have shown a general agreement between experimental results and numerical data and have revealed the localized effect of un-calibrated cable lengths in the inner side-lobes of the array pattern.

  4. 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.

  5. 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.

  6. Longitudinal And Lateral Dynamic System Modeling Of A Fixed-Wing UAV

    Directory of Open Access Journals (Sweden)

    Pann Nu Wai Lin

    2017-04-01

    Full Text Available In this paper presents work completed for flight characteristics mathematical model of an aircraft are the focus. To construct the mathematical model type of UAV and flying mode quality must be chosen firstly.Longitudinal command hold outputs and lateral outputs slide slip velocity yaw rate heading angle and roll angle must be considered to control the desired flight conditions.

  7. 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.

  8. 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.

  9. 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

  10. AERIAL IMAGES FROM AN UAV SYSTEM: 3D MODELING AND TREE SPECIES CLASSIFICATION IN A PARK AREA

    Directory of Open Access Journals (Sweden)

    R. Gini

    2012-07-01

    Full Text Available The use of aerial imagery acquired by Unmanned Aerial Vehicles (UAVs is scheduled within the FoGLIE project (Fruition of Goods Landscape in Interactive Environment: it starts from the need to enhance the natural, artistic and cultural heritage, to produce a better usability of it by employing audiovisual movable systems of 3D reconstruction and to improve monitoring procedures, by using new media for integrating the fruition phase with the preservation ones. The pilot project focus on a test area, Parco Adda Nord, which encloses various goods' types (small buildings, agricultural fields and different tree species and bushes. Multispectral high resolution images were taken by two digital compact cameras: a Pentax Optio A40 for RGB photos and a Sigma DP1 modified to acquire the NIR band. Then, some tests were performed in order to analyze the UAV images' quality with both photogrammetric and photo-interpretation purposes, to validate the vector-sensor system, the image block geometry and to study the feasibility of tree species classification. Many pre-signalized Control Points were surveyed through GPS to allow accuracy analysis. Aerial Triangulations (ATs were carried out with photogrammetric commercial software, Leica Photogrammetry Suite (LPS and PhotoModeler, with manual or automatic selection of Tie Points, to pick out pros and cons of each package in managing non conventional aerial imagery as well as the differences in the modeling approach. Further analysis were done on the differences between the EO parameters and the corresponding data coming from the on board UAV navigation system.

  11. Life Support Systems: Oxygen Generation and Recovery

    Data.gov (United States)

    National Aeronautics and Space Administration — The Advanced Exploration Systems (AES) Life Support Systems project Oxygen Generation and Recovery technology development area encompasses several sub-tasks in an...

  12. 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; hide

    2014-01-01

    We are currently working on a series of projects towards the construction of a fully biological unmanned aerial vehicle (UAV) for use in scientific and humanitarian missions. The prospect of a biologically-produced UAV presents numerous advantages over the current manufacturing paradigm. First, a foundational architecture built by cells allows for construction or repair in locations where it would be difficult to bring traditional tools of production. Second, a major limitation of current research with UAVs is the size and high power consumption of analytical instruments, which require bulky electrical components and large fuselages to support their weight. By moving these functions into cells with biosensing capabilities - for example, a series of cells engineered to report GFP, green fluorescent protein, when conditions exceed a certain threshold concentration of a compound of interest, enabling their detection post-flight - these problems of scale can be avoided. To this end, we are working to engineer cells to synthesize cellulose acetate as a novel bioplastic, characterize biological methods of waterproofing the material, and program this material's systemic biodegradation. In addition, we aim to use an "amberless" system to prevent horizontal gene transfer from live cells on the material to microorganisms in the flight environment.

  13. 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

  14. Split heat pipe heat recovery system

    OpenAIRE

    E. Azad

    2008-01-01

    This paper describes a theoretical analysis of a split heat pipe heat recovery system. The analysis is based on an Effectiveness-NTU approach to deduce its heat transfer characteristics. In this study the variation of overall effectiveness of heat recovery with the number of transfer units are presented. Copyright , Manchester University Press.

  15. Pengembangan Sistem Navigasi Otomatis Pada UAV (Unmanned Aerial Vehicle dengan GPS(Global Positioning System Waypoint

    Directory of Open Access Journals (Sweden)

    Rahmad Hidayat

    2017-01-01

    Full Text Available UAV adalah salah satu wahana tanpa awak di udara yang mana dapat terbang tanpa pilot, menggunakan gaya aerodinamik untuk menghasilkan gaya angkat (lift, dapat terbang secara autonomous atau dioperasikan dengan radio kontrol. UAV digunakan untuk berbagai keperluan baik di lingkup militer maupun sipil. Pada tugas akhir ini dirancang dan direalisasikan pengembangan sistem navigasi otomatis pada UAV dengan GPS waypoint. Sistem ini menggunakan kontrol manual dan autopilot. Pada mode manual, pengguna secara manual mengendalikan pergerakan pesawat melalui radio kontroler sedangkan pada mode autopilot pesawat dikendalikan oleh mikrokontroler Arduino Mega 2560 yang mengolah data-data sensor IMU (Inertial Measurement Unit yang didalamnya terdapat gyroscope dan accelerometer, GPS dan barometric altimeter sehingga dapat terbang secara otomatis dengan sesuai waypoint GPS yang dimasukkan. Mikrokontroler menerima dan menolah data dari sensor dan menghasilkan keluaran untuk menggerakkan servo aktuator. Pengolahan data dari sensor menggunakan kontrol PID (Proportional Integral Derivative. Pesawat akan terkoneksi dengan ground station melalui perangkat telemetri untuk mengirimkan data penerbangan ke darat. Sistem navigasi ini diharapkan dapat secara tepat mengarahkan pesawat menuju satu titik atau lebih dengan toleransi kesalahan ≤ 30 meter pada ketinggian 30-100 meter. Selain itu pesawat diharapkan dapat terbang dengan radius ± 2 km dari ground station. Hasil dari pengujian dapat dilaksanakan kontrol manual dan otomatis pada UAV melalui 5 channel (aileron, elevator, throttle, rudder dan saklar. Distorsi pada kontrol manual diminimalisir dengan memperbesar faktor pembagi sinyal PWM sebesar 50μs-100μs. Kontrol otomatis dapat menstabilkan sikap pesawat di udara (sudut roll 45° dan sudut pitch 30° Setting Kp 1,2 dan Ki 0,01, setting Kp navigasi GPS 0,2 Ki 0,01 dan Kd 4 dengan sudut roll maksimal 15°.

  16. Estimating spatially distributed turbulent heat fluxes from high-resolution thermal imagery acquired with a UAV system.

    Science.gov (United States)

    Brenner, Claire; Thiem, Christina Elisabeth; Wizemann, Hans-Dieter; Bernhardt, Matthias; Schulz, Karsten

    2017-05-19

    aerodynamic and radiometric temperature) that depends on the surface-to-air temperature gradient yielded the best agreement with EC measurements. This study showed that the applied UAV system equipped with a dual-camera set-up allows for the acquisition of thermal imagery with high spatial and temporal resolution that illustrates the small-scale heterogeneity of thermal surface properties. The UAV-based thermal imagery therefore provides the means for analysing patterns of LST and other surface properties with a high level of detail that cannot be obtained by traditional remote sensing methods.

  17. 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.

  18. 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.

  19. System i Disaster Recovery Planning

    CERN Document Server

    Dolewski, Richard

    2008-01-01

    Mapping out all the preparations necessary for an effective disaster recovery plan and its safeguard-a continuous maintenance program-this guide is aimed at IT managers of small and medium businesses. The opening section covers the initial steps of auditing vulnerability, ranking essential IT functions, and reviewing the storage of tape backups, with the following discussion focused on the elements of the plan itself. The plan includes a mission statement, a definition of disaster, the assignment of staff to teams, methods of compensating for human error, and standards for documenting the step

  20. Rankine cycle waste heat recovery system

    Science.gov (United States)

    Ernst, Timothy C.; Nelson, Christopher R.

    2014-08-12

    This disclosure relates to a waste heat recovery (WHR) system and to a system and method for regulation of a fluid inventory in a condenser and a receiver of a Rankine cycle WHR system. Such regulation includes the ability to regulate the pressure in a WHR system to control cavitation and energy conversion.

  1. Validating a UAV artificial intelligence control system using an autonomous test case generator

    Science.gov (United States)

    Straub, Jeremy; Huber, Justin

    2013-05-01

    The validation of safety-critical applications, such as autonomous UAV operations in an environment which may include human actors, is an ill posed problem. To confidence in the autonomous control technology, numerous scenarios must be considered. This paper expands upon previous work, related to autonomous testing of robotic control algorithms in a two dimensional plane, to evaluate the suitability of similar techniques for validating artificial intelligence control in three dimensions, where a minimum level of airspeed must be maintained. The results of human-conducted testing are compared to this automated testing, in terms of error detection, speed and testing cost.

  2. 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.

  3. Proportional hazards models of infrastructure system recovery

    International Nuclear Information System (INIS)

    Barker, Kash; Baroud, Hiba

    2014-01-01

    As emphasis is being placed on a system's ability to withstand and to recover from a disruptive event, collectively referred to as dynamic resilience, there exists a need to quantify a system's ability to bounce back after a disruptive event. This work applies a statistical technique from biostatistics, the proportional hazards model, to describe (i) the instantaneous rate of recovery of an infrastructure system and (ii) the likelihood that recovery occurs prior to a given point in time. A major benefit of the proportional hazards model is its ability to describe a recovery event as a function of time as well as covariates describing the infrastructure system or disruptive event, among others, which can also vary with time. The proportional hazards approach is illustrated with a publicly available electric power outage data set

  4. Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design

    Directory of Open Access Journals (Sweden)

    Juing-Shian Chiou

    2013-01-01

    Full Text Available This paper has implemented nonlinear control strategy for the single tilt tri-rotor aerial robot. Based on Newton-Euler’s laws, the linear and nonlinear mathematical models of tri-rotor UAVs are obtained. A numerical analysis using Newton-Raphson method is chosen for finding hovering equilibrium point. Back-stepping nonlinear controller design is based on constructing Lyapunov candidate function for closed-loop system. By imitating the linguistic logic of human thought, fuzzy logic controllers (FLCs are designed based on control rules and membership functions, which are much less rigid than the calculations computers generally perform. Effectiveness of the controllers design scheme is shown through nonlinear simulation model on each channel.

  5. Flight Path Recovery System (FPRS) design study

    Energy Technology Data Exchange (ETDEWEB)

    1978-09-01

    The study contained herein presents a design for a Flight Path Recovery System (FPPS) for use in the NURE Program which will be more accurate than systems presently used, provide position location data in digital form suitable for automatic data processing, and provide for flight path recovery in a more economic and operationally suitable manner. The design is based upon the use of presently available hardware and technoloy, and presents little, it any, development risk. In addition, a Flight Test Plan designed to test the FPRS design concept is presented.

  6. Flight Path Recovery System (FPRS) design study

    International Nuclear Information System (INIS)

    1978-09-01

    The study contained herein presents a design for a Flight Path Recovery System (FPPS) for use in the NURE Program which will be more accurate than systems presently used, provide position location data in digital form suitable for automatic data processing, and provide for flight path recovery in a more economic and operationally suitable manner. The design is based upon the use of presently available hardware and technoloy, and presents little, it any, development risk. In addition, a Flight Test Plan designed to test the FPRS design concept is presented

  7. 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.

  8. Uses and abuses of recovery: implementing recovery-oriented practices in mental health systems

    Science.gov (United States)

    Slade, Mike; Amering, Michaela; Farkas, Marianne; Hamilton, Bridget; O'Hagan, Mary; Panther, Graham; Perkins, Rachel; Shepherd, Geoff; Tse, Samson; Whitley, Rob

    2014-01-01

    An understanding of recovery as a personal and subjective experience has emerged within mental health systems. This meaning of recovery now underpins mental health policy in many countries. Developing a focus on this type of recovery will involve transformation within mental health systems. Human systems do not easily transform. In this paper, we identify seven mis-uses (“abuses”) of the concept of recovery: recovery is the latest model; recovery does not apply to “my” patients; services can make people recover through effective treatment; compulsory detention and treatment aid recovery; a recovery orientation means closing services; recovery is about making people independent and normal; and contributing to society happens only after the person is recovered. We then identify ten empirically-validated interventions which support recovery, by targeting key recovery processes of connectedness, hope, identity, meaning and empowerment (the CHIME framework). The ten interventions are peer support workers, advance directives, wellness recovery action planning, illness management and recovery, REFOCUS, strengths model, recovery colleges or recovery education programs, individual placement and support, supported housing, and mental health trialogues. Finally, three scientific challenges are identified: broadening cultural understandings of recovery, implementing organizational transformation, and promoting citizenship. PMID:24497237

  9. General Atomic's radioactive gas recovery system

    International Nuclear Information System (INIS)

    Mahn, J.A.; Perry, C.A.

    1975-01-01

    General Atomic Company has developed a Radioactive Gas Recovery System for the HTGR which separates, for purposes of retention, the radioactive components from the non-radioactive reactor plant waste gases. This provides the capability for reducing to an insignificant level the amount of radioactivity released from the gas waste system to the atmosphere--a most significant improvement in reducing total activity release to the environment. (U.S.)

  10. Design of infrared imaging birefringent interferometers for small-UAVs and handheld scanning systems (Conference Presentation)

    Science.gov (United States)

    Pola Fossi, Armande; Ferrec, Yann; Guerineau, Nicolas; Roux, Nicolas; Kling, Emmanuel; Sauer, Hervé

    2016-10-01

    Hyperspectral imaging from unmanned aerial vehicles arouses a growing interest, as well for agriculture management as pollution monitoring or security purposes. Most of current instruments are in the visible or near infrared spectral range, but the midwave or longwave infrared may also be interesting. Among the available solutions for compact imaging spectrometers in this spectral range, static imaging Fourier transform spectrometers are well adapted, thanks to the absence of moving part, a 2D snapshot imaging, which can be useful for image registration, and a high flux collection efficiency. To reach a high compactness compliant with small UAVs, birefringent interferometers are good candidates. Indeed, they can be roughly seen as a plate which comes in front of the camera lens. We propose here firstly to expose the design rules of such instruments in the midwave or longwave infrared. The first point is about the material: highly birefringent uniaxial crystals materials are not so common in this spectral domain. For MWIR spectral imagers, TeO2 or YVO4 can be used. For LWIR instruments, current materials, like ZnGeP2 or AgGaS2 are available, but their birefringence is not so high. Calomel is a promising way, but not still available. The second point consists in defining the type of interferometer, like Savart interferometer, Wollaston interferometer, or other designs. To help this choice, we have developed a software tool to calculate the propagation of plane waves in a stack of birefringent plates. This allows us to choose the optimal assembly of the plates to reach the required spectral resolution. We will then present experimental results obtained with a MWIR prototype. This prototype, called SIBI,, works in the [3.7µm-4.8µm] spectral domain (or [2050cm 1-2700cm 1]), with a spectral resolution about 13cm 1. A first ground campaign was led in June 2015, on Mount Etna (Italy). This campaign was useful to emphasize the assets and drawbacks of this instrument

  11. 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

  12. Kinetic energy recovery systems in motor vehicles

    Science.gov (United States)

    Śliwiński, C.

    2016-09-01

    The article draws attention to the increasing environmental pollution caused by the development of vehicle transport and motorization. Different types of design solutions used in vehicles for the reduction of fuel consumption, and thereby emission of toxic gasses into the atmosphere, were specified. Historical design solutions concerning energy recovery devices in mechanical vehicles which used flywheels to accumulate kinetic energy were shown. Developmental tendencies in the area of vehicle manufacturing in the form of hybrid electric and electric devices were discussed. Furthermore, designs of energy recovery devices with electrical energy storage from the vehicle braking and shock absorbing systems were presented. A mechanical energy storing device using a flywheel operating under vacuum was presented, as were advantages and disadvantages of both systems, the limitations they impose on individual constructions and safety issues. The paper also discusses a design concept of an energy recovery device in mechanical vehicles which uses torsion springs as the main components of energy accumulation during braking. The desirability of a cooperation of both the mechanical- and electrical energy recovery devices was indicated.

  13. Recovery of the immune system after exercise.

    Science.gov (United States)

    Peake, Jonathan M; Neubauer, Oliver; Walsh, Neil P; Simpson, Richard J

    2017-05-01

    The notion that prolonged, intense exercise causes an "open window" of immunodepression during recovery after exercise is well accepted. Repeated exercise bouts or intensified training without sufficient recovery may increase the risk of illness. However, except for salivary IgA, clear and consistent markers of this immunodepression remain elusive. Exercise increases circulating neutrophil and monocyte counts and reduces circulating lymphocyte count during recovery. This lymphopenia results from preferential egress of lymphocyte subtypes with potent effector functions [e.g., natural killer (NK) cells, γδ T cells, and CD8 + T cells]. These lymphocytes most likely translocate to peripheral sites of potential antigen encounter (e.g., lungs and gut). This redeployment of effector lymphocytes is an integral part of the physiological stress response to exercise. Current knowledge about changes in immune function during recovery from exercise is derived from assessment at the cell population level of isolated cells ex vivo or in blood. This assessment can be biased by large changes in the distribution of immune cells between blood and peripheral tissues during and after exercise. Some evidence suggests that reduced immune cell function in vitro may coincide with changes in vivo and rates of illness after exercise, but more work is required to substantiate this notion. Among the various nutritional strategies and physical therapies that athletes use to recover from exercise, carbohydrate supplementation is the most effective for minimizing immune disturbances during exercise recovery. Sleep is an important aspect of recovery, but more research is needed to determine how sleep disruption influences the immune system of athletes. Copyright © 2017 the American Physiological Society.

  14. Recovery of the Education System in Myanmar

    Directory of Open Access Journals (Sweden)

    Martin Hayden And Richard Martin

    2013-10-01

    Full Text Available Myanmar's education system is in a very weakened state. The physical condition and human resource capacity of the system is poor by any standard, and teachers, whether in schools, colleges or universities, have few opportunities and little incentive for professional development. A process of recovery is getting underway, but it will take years before significant improvements are evident. Major cultural change is required in the style of leadership and management at all levels of government, and there is also a desperate need for more financial resources. This paper documents the current state of the education system in Myanmar and advances three priority areas for immediate attention.

  15. Aminosilicone solvent recovery methods and systems

    Science.gov (United States)

    Spiry, Irina Pavlovna; Perry, Robert James; Wood, Benjamin Rue; Singh, Surinder Prabhjot; Farnum, Rachel Lizabeth; Genovese, Sarah Elizabeth

    2018-02-13

    The present invention is directed to aminosilicone solvent recovery methods and systems. The methods and systems disclosed herein may be used to recover aminosilicone solvent from a carbon dioxide containing vapor stream, for example, a vapor stream that leaves an aminosilicone solvent desorber apparatus. The methods and systems of the invention utilize a first condensation process at a temperature from about 80.degree. C. to about 150.degree. C. and a second condensation process at a temperature from about 5.degree. C. to about 75.degree. C. The first condensation process yields recovered aminosilicone solvent. The second condensation process yields water.

  16. 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

  17. 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

  18. 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

  19. 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

  20. 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.

  1. 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.

  2. 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....

  3. 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.

  4. Rankine cycle waste heat recovery system

    Science.gov (United States)

    Ernst, Timothy C.; Nelson, Christopher R.

    2015-09-22

    A waste heat recovery (WHR) system connects a working fluid to fluid passages formed in an engine block and/or a cylinder head of an internal combustion engine, forming an engine heat exchanger. The fluid passages are formed near high temperature areas of the engine, subjecting the working fluid to sufficient heat energy to vaporize the working fluid while the working fluid advantageously cools the engine block and/or cylinder head, improving fuel efficiency. The location of the engine heat exchanger downstream from an EGR boiler and upstream from an exhaust heat exchanger provides an optimal position of the engine heat exchanger with respect to the thermodynamic cycle of the WHR system, giving priority to cooling of EGR gas. The configuration of valves in the WHR system provides the ability to select a plurality of parallel flow paths for optimal operation.

  5. 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.

  6. SKYLARK - A crossbow-launched micro scale cheap UAV for close aerial surveillance

    Directory of Open Access Journals (Sweden)

    Alexandru-Marius PANAIT

    2012-03-01

    Full Text Available Close air support of ground troops especially in densely populated, urban environments has an ever increasing prevalence in the modern warfare. Counter-terrorism activities as well as land-based “surgical strikes” impose a set of special requirements on all the used weapons and equipment so as to minimize weight, cost and complexity and maximize efficiency. Small scale UAVs are in service with all the armed forces around the globe; micro UAVs are emerging as the ground troop close support preferred solution. Endurance and range of these devices is regularly small to very small, and their speed is low. Their small size makes them virtually un-targetable if somewhat still detectable. A new generation of micro-drones is proposed, with a higher speed (up to 350 km/h ground speed averaged and automatic recovery system. Project SKYLARK consists of a reusable minimal micro-UAV featuring a portable micro-USB camera and an aerodynamically assisted timer-based recovery system.

  7. 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

  8. Performance assessment techniques for groundwater recovery and treatment systems

    Energy Technology Data Exchange (ETDEWEB)

    Kirkpatrick, G.L. [Environmental Resources Management, Inc., Exton, PA (United States)

    1993-03-01

    Groundwater recovery and treatment (pump and treat systems) continue to be the most commonly selected remedial technology for groundwater restoration and protection programs at hazardous waste sites and RCRA facilities nationwide. Implementing a typical groundwater recovery and treatment system includes the initial assessment of groundwater quality, characterizing aquifer hydrodynamics, recovery system design, system installation, testing, permitting, and operation and maintenance. This paper focuses on methods used to assess the long-term efficiency of a pump and treat system. Regulatory agencies and industry alike are sensitive to the need for accurate assessment of the performance and success of groundwater recovery systems for contaminant plume abatement and aquifer restoration. Several assessment methods are available to measure the long-term performance of a groundwater recovery system. This paper presents six assessment techniques: degree of compliance with regulatory agency agreement (Consent Order of Record of Decision), hydraulic demonstration of system performance, contaminant mass recovery calculation, system design and performance comparison, statistical evaluation of groundwater quality and preferably, integration of the assessment methods. Applying specific recovery system assessment methods depends upon the type, amount, and quality of data available. Use of an integrated approach is encouraged to evaluate the success of a groundwater recovery and treatment system. The methods presented in this paper are for engineers and corporate management to use when discussing the effectiveness of groundwater remediation systems with their environmental consultant. In addition, an independent (third party) system evaluation is recommended to be sure that a recovery system operates efficiently and with minimum expense.

  9. 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.

  10. Amoxicillin in a biological water recovery system

    International Nuclear Information System (INIS)

    Morse, A.; Jackson, A.; Rainwater, K.; Pickering, K.

    2002-01-01

    wastewater recovery system as a drinking water supply source. (author)

  11. a Uav-Based Low-Cost Stereo Camera System for Archaeological Surveys - Experiences from Doliche (turkey)

    Science.gov (United States)

    Haubeck, K.; Prinz, T.

    2013-08-01

    The use of Unmanned Aerial Vehicles (UAVs) for surveying archaeological sites is becoming more and more common due to their advantages in rapidity of data acquisition, cost-efficiency and flexibility. One possible usage is the documentation and visualization of historic geo-structures and -objects using UAV-attached digital small frame cameras. These monoscopic cameras offer the possibility to obtain close-range aerial photographs, but - under the condition that an accurate nadir-waypoint flight is not possible due to choppy or windy weather conditions - at the same time implicate the problem that two single aerial images not always meet the required overlap to use them for 3D photogrammetric purposes. In this paper, we present an attempt to replace the monoscopic camera with a calibrated low-cost stereo camera that takes two pictures from a slightly different angle at the same time. Our results show that such a geometrically predefined stereo image pair can be used for photogrammetric purposes e.g. the creation of digital terrain models (DTMs) and orthophotos or the 3D extraction of single geo-objects. Because of the limited geometric photobase of the applied stereo camera and the resulting base-height ratio the accuracy of the DTM however directly depends on the UAV flight altitude.

  12. 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.

  13. Space Station Freedom regenerative water recovery system configuration selection

    Science.gov (United States)

    Reysa, R.; Edwards, J.

    1991-01-01

    The Space Station Freedom (SSF) must recover water from various waste water sources to reduce 90 day water resupply demands for a four/eight person crew. The water recovery system options considered are summarized together with system configuration merits and demerits, resource advantages and disadvantages, and water quality considerations used to select the SSF water recovery system.

  14. 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.

  15. 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.

  16. 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.

  17. failure analysis of a uav flight control system using markov analysis

    African Journals Online (AJOL)

    eobe

    2016-01-01

    Jan 1, 2016 ... Tree Analysis (FTA), Dependence Diagram Analysis. (DDA) and Markov Analysis (MA) are the most widely-used methods of probabilistic safety and reliability analysis for airborne system [1]. Fault trees analysis is a backward failure searching ..... [4] Christopher Dabrowski and Fern Hunt Markov Chain.

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

    Science.gov (United States)

    Heredia, Guillermo; Caballero, Fernando; Maza, Iván; Merino, Luis; Viguria, Antidio; Ollero, Aníbal

    2009-01-01

    This paper presents a method to increase the reliability of Unmanned Aerial Vehicle (UAV) sensor Fault Detection and Identification (FDI) in a multi-UAV context. Differential Global Positioning System (DGPS) and inertial sensors are used for sensor FDI in each UAV. The method uses additional position estimations that augment individual UAV FDI system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factors, dynamic replanning of the multi-UAV team can be used to obtain a better estimation in case of faults caused by slow growing errors of absolute position estimation that cannot be detected by using local FDI in the UAVs. Experimental results with data from two real UAVs are also presented.

  19. 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.

  20. A High Performance System With Explicit Incorporation of ATC Regulations to Generate Contingency Plans for UAVs with Lost Communication, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose a comprehensive and systematic contingency plan generation framework to deal with lost communication in UAVs. ATC regulations are explicitly incorporated...

  1. 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

  2. Investigation of Capabilities and Technologies Supporting Rapid UAV Launch System Development

    Science.gov (United States)

    2015-06-01

    on these aircraft tends to limit their overall aerodynamic efficiency during flight, resulting in lower top speeds and more limited ranges than compa...this problem, a retaining pin was added to the lever-arm that engages a mechanism that is, essentially, a car -door lock [38]. This locking system, which...12.81 DROK 10A/50W 9-32V 12V/24V to 5V Car DC Voltage Con- verter Regulator Power Sup- ply,Waterproof Amazon DROK 10A/50W 9-32V 12V/24V to 5V Car DC

  3. Baseline and Multimodal UAV GCS Interface Design

    Science.gov (United States)

    2013-07-01

    complete a computerized version of the NASA - TLX assessment of perceived mental workload. 2.3 Results The baseline condition ran smoothly and with...System MALE Medium-altitude, Long-endurance NASA - TLX NASA Task Load Index SA Situation Awareness TDT Tucker Davis Technologies UAV Uninhabited Aerial

  4. a Precise, Low-Cost Rtk Gnss System for Uav Applications

    Science.gov (United States)

    Stempfhuber, W.; Buchholz, M.

    2011-09-01

    High accuracy with real-time positioning of moving objects has been considered a standard task of engineering geodesy for 10 to 15 years. An absolute positioning accuracy of 1-3 cm is generally possible worldwide and is further used in many areas of machine guidance (machine control and guidance), and farming (precision farming) as well as for various special applications (e.g. railway trolley, mining, etc.). The cost of the measuring instruments required for the use of geodetic L1/L2 receivers with a local reference station amounts to approximately USD 30,000 to 50,000. Therefore, dual frequency RTK GNSS receivers are not used in the mass market. Affordable GPS/GNSS modules have already reached the mass market in various areas such as mobile phones, car navigation, the leisure industry, etc. Kinematic real-time positioning applications with centimetre or decimetre levels could also evolve into a mass product. In order for this to happen, the costs for such systems must lie between USD 1,000 to 2,000. What exactly low-cost means is determined by the precise specifications of the given individual application. Several university studies in geodesy focus on the approach of high-accuracy positioning by means of single frequency receivers for static applications [e.g. GLABSCH et. al. 2009, SCHWIEGER and GLÄSER 2005, ALKAN 2010, REALINI et. al. 2010, KORTH and HOFMANN 2011]. Although intelligent approaches have been developed that compute a trajectory in the post-processing mode [REALINI et. al., 2010], at present, there are only a very few GNSS Low-Cost Systems that enable real-time processing. This approach to precise position determination by means of the computation of static raw data with single frequency receivers is currently being explored in a research project at the Beuth Hochschule für Technik Berlin - and is being further developed for kinematic applications. The project is embedded in the European Social Fund. It is a follow-up project in the area of

  5. A PRECISE, LOW-COST RTK GNSS SYSTEM FOR UAV APPLICATIONS

    Directory of Open Access Journals (Sweden)

    W. Stempfhuber

    2012-09-01

    Full Text Available High accuracy with real-time positioning of moving objects has been considered a standard task of engineering geodesy for 10 to 15 years. An absolute positioning accuracy of 1–3 cm is generally possible worldwide and is further used in many areas of machine guidance (machine control and guidance, and farming (precision farming as well as for various special applications (e.g. railway trolley, mining, etc.. The cost of the measuring instruments required for the use of geodetic L1/L2 receivers with a local reference station amounts to approximately USD 30,000 to 50,000. Therefore, dual frequency RTK GNSS receivers are not used in the mass market. Affordable GPS/GNSS modules have already reached the mass market in various areas such as mobile phones, car navigation, the leisure industry, etc. Kinematic real-time positioning applications with centimetre or decimetre levels could also evolve into a mass product. In order for this to happen, the costs for such systems must lie between USD 1,000 to 2,000. What exactly low-cost means is determined by the precise specifications of the given individual application. Several university studies in geodesy focus on the approach of high-accuracy positioning by means of single frequency receivers for static applications [e.g. GLABSCH et. al. 2009, SCHWIEGER and GLÄSER 2005, ALKAN 2010, REALINI et. al. 2010, KORTH and HOFMANN 2011]. Although intelligent approaches have been developed that compute a trajectory in the post-processing mode [REALINI et. al., 2010], at present, there are only a very few GNSS Low-Cost Systems that enable real-time processing. This approach to precise position determination by means of the computation of static raw data with single frequency receivers is currently being explored in a research project at the Beuth Hochschule für Technik Berlin – and is being further developed for kinematic applications. The project is embedded in the European Social Fund. It is a follow-up project

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

    Science.gov (United States)

    Ripamonti, Francesco; Resta, Ferruccio; Vivani, Andrea

    2015-04-01

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

  7. Design Recovery Technology for Real-Time Systems.

    Science.gov (United States)

    1995-10-01

    RL-TR-95-208 Final Technical Report October 1995 DESIGN RECOVERY TECHNOLOGY FOR REAL TIME SYSTEMS The MITRE Corporation Lester J. Holtzblatt...92 - Jan 95 4. TTTLE AND SUBTITLE DESIGN RECOVERY TECHNOLOGY FOR REAL - TIME SYSTEMS 6. AUTHOR(S) Lester J. Holtzblatt, Richard Piazza, and Susan...behavior of real - time systems in general, our initial efforts have centered on recovering this information from one system in particular, the Modular

  8. A Synthetic Teammate for UAV Applications: A Prospective Look

    National Research Council Canada - National Science Library

    Gluck, Kevin A; Ball, Jerry T; Gunzelmann, Glenn; Krusmark, Michael A; Lyon, Don R; Cooke, Nancy J

    2006-01-01

    This report describes current progress and future plans for research and development in synthetic teammates for applications in training, analysis, and system design for Uninhabited Aerial Vehicle (UAV) operations...

  9. Chemical Microsensor Instrument for UAV Airborne Atmospheric Measurements, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — The rapid expansion of available UAV types and increased mission capability (payload, flight duration, and system cost reductions) offers wide range of potential...

  10. 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

  11. 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.

  12. 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.

  13. The Quality of Quantity: Mini-UAVS As An Alternative UAV Acquisition Strategy at the Army Brigade Level

    National Research Council Canada - National Science Library

    Weed, Shawn

    2002-01-01

    This monograph asks should the U.S. Army alter its current UAV acquisition strategy for maneuver brigades from one in which limited numbers of high capability systems are acquired, in favor of another that fields a large quantity...

  14. Hydropower recovery in water supply systems: Models and case study

    International Nuclear Information System (INIS)

    Vilanova, Mateus Ricardo Nogueira; Balestieri, José Antônio Perrella

    2014-01-01

    Highlights: • We present hydropower recovery models for water supply systems. • Hydropower recovery potential in water supply systems is highly variable. • The case studied could make the supply systems self-sufficient in terms of energy. • Hydropower recovery can reduce GHGs emissions and generate carbon credits. - Abstract: The energy efficiency of water supply systems can be increased through the recovery of hydraulic energy implicit to the volumes of water transported in various stages of the supply process, which can be converted into electricity through hydroelectric recovery systems. Such a process allows the use of a clean energy source that is usually neglected in water supplies, reducing its dependence on energy from the local network and the system’s operation costs. This article evaluates the possibilities and benefits of the use of water supply facilities, structures and equipment for hydraulic energy recovery, addressing several applicable hydroelectric models. A real case study was developed in Brazil to illustrate the technical, economic and environmental aspects of hydropower recovery in water supply systems

  15. Applications of UAV Photogrammetric Surveys to Natural Hazard Detection and Cultural Heritage Documentation

    Science.gov (United States)

    Trizzino, Rosamaria; Caprioli, Mauro; Mazzone, Francesco; Scarano, Mario

    2017-04-01

    Unmanned Aerial Vehicle (UAV) systems are increasingly seen as an attractive low-cost alternative or supplement to aerial and terrestrial photogrammetry due to their low cost, flexibility, availability and readiness for duty. In addition, UAVs can be operated in hazardous or temporarily inaccessible locations. The combination of photogrammetric aerial and terrestrial recording methods using a mini UAV (also known as "drone") opens a broad range of applications, such as surveillance and monitoring of the environment and infrastructural assets. In particular, these methods and techniques are of paramount interest for the documentation of cultural heritage sites and areas of natural importance, facing threats from natural deterioration and hazards. In order to verify the reliability of these technologies an UAV survey and a LIDAR survey have been carried out along about 1 km of coast in the Salento peninsula, near the towns of San Foca, Torre dell' Orso and SantAndrea ( Lecce, Southern Italy). This area is affected by serious environmental hazards due to the presence of dangerous rocky cliffs named "falesie". The UAV platform was equipped with a photogrammetric measurement system that allowed us to obtain a mobile mapping of the fractured fronts of dangerous rocky cliffs. UAV-images data have been processed using dedicated software (Agisoft Photoscan). The point clouds obtained from both the UAV and LIDAR surveys have been processed using Cloud Compare software, with the aim of testing the UAV results with respect to the LIDAR ones. The analysis were done using the C2C algorithm which provides good results in terms of Euclidian distances, highlighting differences between the 3D models obtained from both the survey techiques. The total error obtained was of centimeter-order that is a very satisfactory result. In the the 2nd study area, the opportunities of obtaining more detailed documentation of cultural goods throughout UAV survey have been investigated. The study

  16. 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.

  17. 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.

  18. 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.

  19. Energy saving and recovery measures in integrated urban water systems

    Science.gov (United States)

    Freni, Gabriele; Sambito, Mariacrocetta

    2017-11-01

    The present paper describes different energy production, recovery and saving measures which can be applied in an integrated urban water system. Production measures are often based on the installation of photovoltaic systems; the recovery measures are commonly based on hydraulic turbines, exploiting the available pressure potential to produce energy; saving measures are based on substitution of old pumps with higher efficiency ones. The possibility of substituting some of the pipes of the water supply system can be also considered in a recovery scenario in order to reduce leakages and recovery part of the energy needed for water transport and treatment. The reduction of water losses can be obtained through the Active Leakage Control (ALC) strategies resulting in a reduction in energy consumption and in environmental impact. Measures were applied to a real case study to tested it the efficiency, i.e., the integrated urban water system of the Palermo metropolitan area in Sicily (Italy).

  20. Carbonaceous Asteroid Volatile Recovery (CAVoR) system, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — The Carbonaceous Asteroid Volatile Recovery (CAVoR) system produces water and hydrogen-rich syngas for propellant production, life support consumables, and...

  1. Optimization-based design of waste heat recovery systems

    DEFF Research Database (Denmark)

    Cignitti, Stefano

    /or selected. This dissertation focuses on the chemical product and process systems used for waste heat recovery. Here, chemical products are working fluids, which are under continuous development and screening to fulfill regulatory environmental protection and safe operation requirements. Furthermore......, for the recovery of low-grade waste heat, new fluids and processes are needed to make the recovery technically and economically feasible. As the chemical product is influential in the design of the process system, the design of novel chemical products must be considered with the process system. Currently, state...... product and process system in terms of efficiency and sustainability. Today, some of the most important chemical product design problems are solvents and working fluids. Solvents are a vital part in the recovery of valuable resources in separation processes or waste water treatment. Working fluids...

  2. A new helium gas recovery and purification system

    International Nuclear Information System (INIS)

    Yamamotot, T.; Suzuki, H.; Ishii, J.; Hamana, I.; Hayashi, S.; Mizutani, S.; Sanjo, S.

    1974-01-01

    A helium gas recovery and purification system, based on the principle of gas permeation through a membrane, is described. The system can be used for the purification of helium gas containing air as a contaminant. The apparatus, operating at ambient temperature does not need constant attention, the recovery ratio of helium gas is satisfactory and running costs are low. Gases other than helium can be processed with the apparatus. (U.K.)

  3. 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...

  4. 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...

  5. 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.

  6. Decision support systems for recovery of endangered species

    International Nuclear Information System (INIS)

    Armstrong, C.E.

    1995-01-01

    The listing of a species as endangered under the Endangered Species Act invokes a suite of responses to help improve conditions for the recovery of that species, to include identification of stressors contributing to population loss, decision analysis of the impacts of proposed recovery options, and implementation of optimal recovery measures. The ability of a decision support system to quantify inherent stressor uncertainties and to identify the key stressors that can be controlled or eliminated becomes key to ensuring the recovery of an endangered species. The listing of the Snake River sockeye, spring/summer chinook, and fall chinook salmon species in the Snake River as endangered provides a vivid example of the importance of sophisticated decision support systems. Operational and physical changes under consideration at eight of the hydroelectric dams along the Columbia and Lower Snake River pose significant financial impacts to a variety of stakeholders involved in the salmon population recovery process and carry significant uncertainties of outcome. A decision support system is presented to assist in the identification of optimal recovery actions for this example that includes the following: creation of datamarts of information on environmental, engineering, and ecological values that influence species survival; incorporation of decision analysis tools to determine optimal decision policies; and the use of geographic information systems (GIS) to provide a context for decision analysis and to communicate the impacts of decision policies

  7. 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

  8. 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.

  9. 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.

  10. Design manual. [High temperature heat pump for heat recovery system

    Energy Technology Data Exchange (ETDEWEB)

    Burch, T.E.; Chancellor, P.D.; Dyer, D.F.; Maples, G.

    1980-01-01

    The design and performance of a waste heat recovery system which utilizes a high temperature heat pump and which is intended for use in those industries incorporating indirect drying processes are described. It is estimated that use of this heat recovery system in the paper, pulp, and textile industries in the US could save 3.9 x 10/sup 14/ Btu/yr. Information is included on over all and component design for the heat pump system, comparison of prime movers for powering the compressor, control equipment, and system economics. (LCL)

  11. 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.

  12. 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.

  13. 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.

  14. Possibilities of heat energy recovery from greywater systems

    Science.gov (United States)

    Niewitecka, Kaja

    2018-02-01

    Waste water contains a large amount of heat energy which is irretrievably lost, so it is worth thinking about the possibilities of its recovery. It is estimated that in a residential building with full sanitary fittings, about 70% of the total tap water supplied is discharged as greywater and could be reused. The subject of the work is the opportunity to reuse waste water as an alternative source of heat for buildings. For this purpose, the design of heat exchangers used in the process of greywater heat recovery in indoor sewage systems, public buildings as well as in industrial plants has been reviewed. The possibility of recovering heat from waste water transported in outdoor sewage systems was also taken into consideration. An exemplary waste water heat recovery system was proposed, and the amount of heat that could be obtained using a greywater heat recovery system in a residential building was presented. The work shows that greywater heat recovery systems allow for significant savings in preheating hot tap water, and the rate of cost reimbursement depends on the purpose of the building and the type of installation. At the same time, the work shows that one should adjust the construction solutions of heat exchangers and indoor installations in buildings to the quality of the medium flowing, which is greywater.

  15. A proposed UAV for indoor patient care.

    Science.gov (United States)

    Todd, Catherine; Watfa, Mohamed; El Mouden, Yassine; Sahir, Sana; Ali, Afrah; Niavarani, Ali; Lutfi, Aoun; Copiaco, Abigail; Agarwal, Vaibhavi; Afsari, Kiyan; Johnathon, Chris; Okafor, Onyeka; Ayad, Marina

    2015-09-10

    Indoor flight, obstacle avoidance and client-server communication of an Unmanned Aerial Vehicle (UAV) raises several unique research challenges. This paper examines current methods and associated technologies adapted within the literature toward autonomous UAV flight, for consideration in a proposed system for indoor healthcare administration with a quadcopter. We introduce Healthbuddy, a unique research initiative towards overcoming challenges associated with indoor navigation, collision detection and avoidance, stability, wireless drone-server communications and automated decision support for patient care in a GPS-denied environment. To address the identified research deficits, a drone-based solution is presented. The solution is preliminary as we develop and refine the suggested algorithms and hardware system to achieve the research objectives.

  16. Optimal control of a one product recovery system with backlogging

    NARCIS (Netherlands)

    Kiesmüller, G.P.; Minner, S.; Kleber, R.

    2000-01-01

    In this paper a product recovery system for one product is investigated. The system contains one inventory for returned and recoverable items and one for serviceable items. Demands are satisfied from serviceable inventory where backlogging of demands is allowed. In addition, there is the possibility

  17. 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.

  18. Helium-Hydrogen Recovery System, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Immense quantities of expensive liquefied helium are required at Stennis and Kennedy Space Centers for pre-cooling rocket engine propellant systems prior to filling...

  19. Process Control for Precipitation Prevention in Space Water Recovery Systems

    Science.gov (United States)

    Sargusingh, Miriam; Callahan, Michael R.; Muirhead, Dean

    2015-01-01

    The ability to recover and purify water through physiochemical processes is crucial for realizing long-term human space missions, including both planetary habitation and space travel. Because of their robust nature, rotary distillation systems have been actively pursued by NASA as one of the technologies for water recovery from wastewater primarily comprised of human urine. A specific area of interest is the prevention of the formation of solids that could clog fluid lines and damage rotating equipment. To mitigate the formation of solids, operational constraints are in place that limits such that the concentration of key precipitating ions in the wastewater brine are below the theoretical threshold. This control in effected by limiting the amount of water recovered such that the risk of reaching the precipitation threshold is within acceptable limits. The water recovery limit is based on an empirically derived worst case wastewater composition. During the batch process, water recovery is estimated by monitoring the throughput of the system. NASA Johnson Space Center is working on means of enhancing the process controls to increase water recovery. Options include more precise prediction of the precipitation threshold. To this end, JSC is developing a means of more accurately measuring the constituent of the brine and/or wastewater. Another means would be to more accurately monitor the throughput of the system. In spring of 2015, testing will be performed to test strategies for optimizing water recovery without increasing the risk of solids formation in the brine.

  20. Tanker self-help spill recovery systems

    Energy Technology Data Exchange (ETDEWEB)

    Smedley, J B; Wainwright, J G; Ehman, T K

    1991-12-01

    An investigation was conducted of the circumstances in which oil spills occur from tankers at sea by analyzing available historical oil spill data. A data base of marine oil spills greater than 134 tonnes occurring from 1974 and June 1990, included in an appendix, was among the information analyzed. The analysis showed that marine oil spills of 5,000 tonnes and greater account for 39.4% of the accidents yet 94.7% of the total spilled quantity; 84% of those spills occur in vessels of 20,000 deadweight tonnes and larger. Of spills over 5,000 tonnes, 78.5% occur outside of harbor or pier areas where spill response equipment may not be readily available. Over 50% of spills are caused by groundings or collisions where the vessel crew might be able to respond in mitigating and controlling the outflow of oil. The review suggested that tanker self-help systems warrant serious consideration. Potential self-help systems are described, ranging from additives such as bioremediation, dispersants, and solidifiers to equipment such as portable pumps, booms, and skimmers. Candidate systems were examined in terms of their safety, ease of operation, practicability, and effectiveness. Their possible performance was then assessed for the case of major marine oil spills that have occurred in Canadian waters. Four systems are identified as potential candidates for further evaluation and possible implementation: internal oil transfer, hydrostatic loading, external oil lightering, and contingency planning. A system design is evaluated and its benefits and possible implementation are outlined, based on integration of the preferred attributes of the above four options. Recommendations for implementation are also provided. 28 refs., 6 figs., 33 tabs.

  1. System and method for determining the net output torque from a waste heat recovery system

    Science.gov (United States)

    Tricaud, Christophe; Ernst, Timothy C.; Zigan, James A.

    2016-12-13

    The disclosure provides a waste heat recovery system with a system and method for calculation of the net output torque from the waste heat recovery system. The calculation uses inputs from existing pressure and speed sensors to create a virtual pump torque sensor and a virtual expander torque sensor, and uses these sensors to provide an accurate net torque output from the WHR system.

  2. Faulted systems recovery experience. Final report, May 1992

    International Nuclear Information System (INIS)

    1992-05-01

    This report addresses the recovery (i.e., return to service from a faulted, or otherwise unavailable, condition) of important nuclear power plant front-line and support systems and equipment. It contains information based on operating experience relative to the times to recover from a variety of plant events. It also indicates the nature of the operator actions involved. This information is intended to provide useful insights to utilities who are undertaking Individual Plant Examinations (IPEs) per Generic Letter 88-20 of the Nuclear Regulatory Commission. The report provides a database of recovery experience primarily derived from Licensee Event Reports (LERs). The database contains recovery duration information for 205 demand events and 98 nondemand events. In particular, it contains recovery durations for 42 pump related and 143 valve related events that are representative of demand conditions. Experience shows that, overall, about one-half of all pumps and valves are recovered in 30 minutes or less. Specific recovery experience is dependent on the equipment type, the plant system involved, and the failure mode encountered. (author)

  3. Cloud Standby: Disaster Recovery of Distributed Systems in the Cloud

    OpenAIRE

    Lenk , Alexander; Tai , Stefan

    2014-01-01

    International audience; Disaster recovery planning and securing business processes against outtakes have been essential parts of running a company for decades. As IT systems became more important, and especially since more and more revenue is generated over the Internet, securing the IT systems that support the business processes against outages is essential. Using fully operational standby sites with periodically updated standby systems is a well-known approach to prepare against disasters. ...

  4. Temperature control of evaporators in automotive waste heat recovery systems

    NARCIS (Netherlands)

    Oom, M.E.E.; Feru, E.; de Jager, A.G.; de Lange, H.C.; Ouwerkerk, H.

    2017-01-01

    his paper presents a control strategy for the steam generation process in automotive waste heat recovery systems that are based on the subcritical Rankine cycle. The central question is how to regulate the flow of water into the evaporator such that dry steam is generated at its outlet, subject to

  5. Optimal Control of Diesel Engines with Waste Heat Recovery System

    NARCIS (Netherlands)

    Willems, F.P.T.; Donkers, M.C.F.; Kupper, F.

    2014-01-01

    This study presents an integrated energy and emission management strategy for a Euro-VI diesel engine with Waste Heat Recovery (WHR) system. This Integrated Powertrain Control (IPC) strategy optimizes the CO2-NOx trade-off by minimizing the operational costs associated with fuel and AdBlue

  6. Optimal control of diesel engines with waste heat recovery systems

    NARCIS (Netherlands)

    Willems, F.P.T.; Donkers, M.C.F.; Kupper, F.; Waschl, H.; Kolmanovsky, I.; Steinbuch, M.; Del Re, L.

    2014-01-01

    This study presents an integrated energy and emission management strategy for a Euro-VI diesel engine with Waste Heat Recovery (WHR) system. This Integrated Powertrain Control (IPC) strategy optimizes the CO 2 - NO x trade-off by minimizing the operational costs associated with fuel and AdBlue

  7. Design and analysis of heat recovery system in bioprocess plant

    International Nuclear Information System (INIS)

    Anastasovski, Aleksandar; Rašković, Predrag; Guzović, Zvonimir

    2015-01-01

    Highlights: • Heat integration of a bioprocess plant is studied. • Bioprocess plant produces yeast and ethyl-alcohol. • The design of a heat recovery system is performed by batch pinch analysis. • Direct and indirect heat integration approaches are used in process design. • The heat recovery system without a heat storage opportunity is more profitable. - Abstract: The paper deals with the heat integration of a bioprocess plant which produces yeast and ethyl-alcohol. The referent plant is considered to be a multiproduct batch plant which operates in a semi-continuous mode. The design of a heat recovery system is performed by batch pinch analysis and by the use of the Time slice model. The results obtained by direct and indirect heat integration approaches are presented in the form of cost-optimal heat exchanger networks and evaluated by different thermodynamic and economic indicators. They signify that the heat recovery system without a heat storage opportunity can be considered to be a more profitable solution for the energy efficiency increase in a plant

  8. Control of automotive waste heat recovery systems with parallel evaporators

    NARCIS (Netherlands)

    Feru, E.; Willems, F.P.T.; Rascanu, G.C.; Jager, de A.G.; Steinbuch, M.

    2014-01-01

    In this paper, Model Predictive Control (MPC) is applied to control a Waste Heat Recovery system for a highly dynamic automotive application. As a benchmark, a commonly applied control strategy is used that consists of a feedforward based on engine conditions and of two PI controllers that

  9. 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.

  10. UAV telemetry communications using ZigBee protocol

    Science.gov (United States)

    Nasution, T. H.; Siregar, I.; Yasir, M.

    2017-10-01

    Wireless communication has been widely used in various fields or disciplines such as agriculture, health, engineering, military, and aerospace so as to support the work in that field. The communication technology is typically used for controlling devices and data monitoring. One development of wireless communication is the widely used telemetry system used to reach areas that cannot be reached by humans using UAV (Unmanned Aerial Vehicle) or unmanned aircraft. In this paper we discuss the design of telemetry system in UAV using ZigBee protocol. From the test obtained the system can work well with visualization displays without pause is 20 data per second with a maximum data length of 120 characters.

  11. 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.

  12. Transaction Costs in Collective Waste Recovery Systems in the EU

    OpenAIRE

    Nozharov, Shteryo

    2018-01-01

    The study aims to identify the institutional flaws of the current EU waste management model by analysing the economic model of extended producer responsibility and collective waste management systems and to create a model for measuring the transaction costs borne by waste recovery organizations. The model was approbated by analysing the Bulgarian collective waste management systems that have been complying with the EU legislation for the last 10 years. The analysis focuses on waste oils becau...

  13. Distributed UAV-Swarm Real-Time Geomatic Data Collection Under Dynamically Changing Resolution Requirements

    Science.gov (United States)

    Almeida, Miguel; Hildmann, Hanno; Solmaz, Gürkan

    2017-08-01

    Unmanned Aerial Vehicles (UAVs) have been used for reconnaissance and surveillance missions as far back as the Vietnam War, but with the recent rapid increase in autonomy, precision and performance capabilities - and due to the massive reduction in cost and size - UAVs have become pervasive products, available and affordable for the general public. The use cases for UAVs are in the areas of disaster recovery, environmental mapping & protection and increasingly also as extended eyes and ears of civil security forces such as fire-fighters and emergency response units. In this paper we present a swarm algorithm that enables a fleet of autonomous UAVs to collectively perform sensing tasks related to environmental and rescue operations and to dynamically adapt to e.g. changing resolution requirements. We discuss the hardware used to build our own drones and the settings under which we validate the proposed approach.

  14. Thermal energy recovery of air conditioning system--heat recovery system calculation and phase change materials development

    International Nuclear Information System (INIS)

    Gu Zhaolin; Liu Hongjuan; Li Yun

    2004-01-01

    Latent heat thermal energy storage systems can be used to recover the rejected heat from air conditioning systems, which can be used to generate low-temperature hot water. It decreases not only the consumption of primary energy for heating domestic hot water but also the calefaction to the surroundings due to the rejection of heat from air conditioning systems. A recovery system using phase change materials (PCMs) to store the rejected (sensible and condensation) heat from air conditioning system has been developed and studied, making up the shortage of other sensible heat storage system. Also, PCMs compliant for heat recovery of air conditioning system should be developed. Technical grade paraffin wax has been discussed in this paper in order to develop a paraffin wax based PCM for the recovery of rejected heat from air conditioning systems. The thermal properties of technical grade paraffin wax and the mixtures of paraffin wax with lauric acid and with liquid paraffin (paraffin oil) are investigated and discussed, including volume expansion during the phase change process, the freezing point and the heat of fusion

  15. Optimal control of Formula One car energy recovery systems

    Science.gov (United States)

    Limebeer, D. J. N.; Perantoni, G.; Rao, A. V.

    2014-10-01

    The utility of orthogonal collocation methods in the solution of optimal control problems relating to Formula One racing is demonstrated. These methods can be used to optimise driver controls such as the steering, braking and throttle usage, and to optimise vehicle parameters such as the aerodynamic down force and mass distributions. Of particular interest is the optimal usage of energy recovery systems (ERSs). Contemporary kinetic energy recovery systems are studied and compared with future hybrid kinetic and thermal/heat ERSs known as ERS-K and ERS-H, respectively. It is demonstrated that these systems, when properly controlled, can produce contemporary lap time using approximately two-thirds of the fuel required by earlier generation (2013 and prior) vehicles.

  16. Ultra-Tightly Coupled GNSS/INS for small UAVs

    DEFF Research Database (Denmark)

    Olesen, Daniel; Jakobsen, Jakob; Knudsen, Per

    2017-01-01

    This paper describes an ultra-tight integration of a Global Navigation Satellite System ( GNSS) receiver and an Inertial Navigation System ( INS) for small Unmanned Aerial Vehicles ( UAVs). The system is based on a low-cost and low-weight GNSS Intermediate Frequency ( IF) sampler which has been...

  17. In situ Volcanic Plume Monitoring with small Unmanned Aerial Systems for Cal/Val of Satellite Remote Sensing Data: CARTA-UAV 2013 Mission (Invited)

    Science.gov (United States)

    Diaz, J. A.; Pieri, D. C.; Bland, G.; Fladeland, M. M.

    2013-12-01

    The development of small unmanned aerial systems (sUAS) with a variety of sensor packages, enables in situ and proximal remote sensing measurements of volcanic plumes. Using Costa Rican volcanoes as a Natural Laboratory, the University of Costa Rica as host institution, in collaboration with four NASA centers, have started an initiative to develop low-cost, field-deployable airborne platforms to perform volcanic gas & ash plume research, and in-situ volcanic monitoring in general, in conjunction with orbital assets and state-of-the-art models of plume transport and composition. Several gas sensors have been deployed into the active plume of Turrialba Volcano including a miniature mass spectrometer, and an electrochemical SO2 sensor system with temperature, pressure, relative humidity, and GPS sensors. Several different airborne platforms such as manned research aircraft, unmanned aerial vehicles, tethered balloons, as well as man-portable in-situ ground truth systems are being used for this research. Remote sensing data is also collected from the ASTER and OMI spaceborne instruments and compared with in situ data. The CARTA-UAV 2013 Mission deployment and follow up measurements successfully demonstrated a path to study and visualize gaseous volcanic emissions using mass spectrometer and gas sensor based instrumentation in harsh environment conditions to correlate in situ ground/airborne data with remote sensing satellite data for calibration and validation purposes. The deployment of such technology improves on our current capabilities to detect, analyze, monitor, model, and predict hazards presented to aircraft by volcanogenic ash clouds from active and impending volcanic eruptions.

  18. 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...

  19. 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...

  20. 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.

  1. 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.

  2. 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.

  3. 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.

  4. 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.

  5. Final Report, Materials for Industrial Heat Recovery Systems, Tasks 3 and 4 Materials for Heat Recovery in Recovery Boilers

    Energy Technology Data Exchange (ETDEWEB)

    Keiser, James R.; Kish, Joseph R.; Singh, Preet M.; Sarma, Gorti B.; Yuan, Jerry; Gorog, J. Peter; Frederick, Laurie A.; Jette, Francois R.; Meisner, Roberta A.; Singbeil, Douglas L.

    2007-12-31

    The DOE-funded project on materials for industrial heat recovery systems included four research tasks: materials for aluminum melting furnace recuperator tubes, materials and operational changes to prevent cracking and corrosion of the co-extruded tubes that form primary air ports in black liquor recovery boilers, the cause of and means to prevent corrosion of carbon steel tubes in the mid-furnace area of recovery boilers, and materials and operational changes to prevent corrosion and cracking of recovery boiler superheater tubes. Results from studies on the latter two topics are given in this report while separate reports on results for the first two tasks have already been published. Accelerated, localized corrosion has been observed in the mid-furnace area of kraft recovery boilers. This corrosion of the carbon steel waterwall tubes is typically observed in the vicinity of the upper level of air ports where the stainless clad co-extruded wall tubes used in the lower portion of the boiler are welded to the carbon steel tubes that extend from this transition point or “cut line” to the top of the boiler. Corrosion patterns generally vary from one boiler to another depending on boiler design and operating parameters, but the corrosion is almost always found within a few meters of the cut line and often much closer than that. This localized corrosion results in tube wall thinning that can reach the level where the integrity of the tube is at risk. Collection and analysis of gas samples from various areas near the waterwall surface showed reducing and sulfidizing gases were present in the areas where corrosion was accelerated. However, collection of samples from the same areas at intervals over a two year period showed the gaseous environment in the mid-furnace section can cycle between oxidizing and reducing conditions. These fluctuations are thought to be due to gas flow instabilities and they result in an unstable or a less protective scale on the carbon steel

  6. High-Fidelity Solar Power Income Modeling for Solar-Electric UAVs: Development and Flight Test Based Verification

    OpenAIRE

    Oettershagen, Philipp

    2017-01-01

    Solar power models are a crucial element of solar-powered UAV design and performance analysis. During the conceptual design phase, their accuracy directly relates to the accuracy of the predicted performance metrics and thus the final design characteristics of the solar-powered UAV. Likewise, during the operations phase of a solar-powered UAV accurate solar power income models are required to predict and assess the solar power system performance. However, the existing literature on solar-powe...

  7. Comparison of Configurations for High-Recovery Inland Desalination Systems

    Directory of Open Access Journals (Sweden)

    Philip A. Davies

    2012-09-01

    Full Text Available Desalination of brackish groundwater (BW is an effective approach to augment water supply, especially for inland regions that are far from seawater resources. Brackish water reverse osmosis (BWRO desalination is still subject to intensive energy consumption compared to the theoretical minimum energy demand. Here, we review some of the BWRO plants with various system arrangements. We look at how to minimize energy demands, as these contribute considerably to the cost of desalinated water. Different configurations of BWRO system have been compared from the view point of normalized specific energy consumption (SEC. Analysis is made at theoretical limits. The SEC reduction of BWRO can be achieved by (i increasing number of stages, (ii using an energy recovery device (ERD, or (iii operating the BWRO in batch mode or closed circuit mode. Application of more stages not only reduces SEC but also improves water recovery. However, this improvement is less pronounced when the number of stages exceeds four. Alternatively and more favourably, the BWRO system can be operated in Closed Circuit Desalination (CCD mode and gives a comparative SEC to that of the 3-stage system with a recovery ratio of 80%. A further reduction of about 30% in SEC can be achieved through batch-RO operation. Moreover, the costly ERDs and booster pumps are avoided with both CCD and batch-RO, thus furthering the effectiveness of lowering the costs of these innovative approaches.

  8. Research on an IP disaster recovery storage system

    Science.gov (United States)

    Zeng, Dong; Wang, Yusheng; Zhu, Jianfeng

    2008-12-01

    According to both the Fibre Channel (FC) Storage Area Network (SAN) switch and Fabric Application Interface Standard (FAIS) mechanism, an iSCSI storage controller is put forward and based upon it, an internet Small Computer System Interface (iSCSI) SAN construction strategy for disaster recovery (DR) is proposed and some multiple sites replication models and a closed queue performance analysis method are also discussed in this paper. The iSCSI storage controller lies in the fabric level of the networked storage infrastructure, and it can be used to connect to both the hybrid storage applications and storage subsystems, besides, it can provide virtualized storage environment and support logical volume access control, and by cooperating with the remote peerparts, a disaster recovery storage system can be built on the basis of the data replication, block-level snapshot and Internet Protocol (IP) take-over functions.

  9. Progressive retry for software error recovery in distributed systems

    Science.gov (United States)

    Wang, Yi-Min; Huang, Yennun; Fuchs, W. K.

    1993-01-01

    In this paper, we describe a method of execution retry for bypassing software errors based on checkpointing, rollback, message reordering and replaying. We demonstrate how rollback techniques, previously developed for transient hardware failure recovery, can also be used to recover from software faults by exploiting message reordering to bypass software errors. Our approach intentionally increases the degree of nondeterminism and the scope of rollback when a previous retry fails. Examples from our experience with telecommunications software systems illustrate the benefits of the scheme.

  10. Energy recovery system using an organic rankine cycle

    Science.gov (United States)

    Ernst, Timothy C

    2013-10-01

    A thermodynamic system for waste heat recovery, using an organic rankine cycle is provided which employs a single organic heat transferring fluid to recover heat energy from two waste heat streams having differing waste heat temperatures. Separate high and low temperature boilers provide high and low pressure vapor streams that are routed into an integrated turbine assembly having dual turbines mounted on a common shaft. Each turbine is appropriately sized for the pressure ratio of each stream.

  11. Maintenance and Recovery of Water System for Injection (WFI)

    International Nuclear Information System (INIS)

    Wan Anuar Wan Awang; Ahmad Firdaus Jalil; Wan Mohd Firdaus Wan Ishak

    2015-01-01

    Water system for injection (WFI) is one of the main component in manufacturing pharmaceutical materials and radiopharmaceuticals. This system accredited in 2005. Water quality produced analyzed and give the unsatisfied results. The operation of WFI was stopped temporarily due to technical problems. In 2013, recovery works were implemented with budget of RM 226,500.00. Comprehensive maintenance were implemented by Rykertech (Asia) Sdn. Bhd. With duration of 24 months (October 2014 until September 2016) with cost RM 473,550.00. Now, this system operated in good condition and produced water that meet with the specifications. (author)

  12. UAV FOR GEODATA ACQUISITION IN AGRICULTUREAL AND FORESTAL APPLICATIONS

    Directory of Open Access Journals (Sweden)

    P. Reidelstürz

    2012-09-01

    The airframe´s wingspan is about 3,45m weighting 4.2 kg, ready to fly. The hand launchable UAV can start from any place in agricultural regions. The wing is configured with flaps, allowing steep approaches and short landings using a „butterfly“ brake configuration. In spite of the lightweight configuration the UAV yet proves its worth under windy baltic wether situations by collecting regular sharp images of fields under wind speed up to 15m/s (Beaufort 6 –7. In further projects the development of further payload modules and a user friendly flight planning tool is scheduled considering different payload – and airframe requirements for different precision farming purposes and forest applications. Data processing and workflow will be optimized. Cooperation with further partners to establish UAV systems in agricultural, forest and geodata aquisition is desired.

  13. Experimental determination of the heat transfer coefficient for the optimal design of the cooling system of a PEM fuel cell placed inside the fuselage of an UAV

    International Nuclear Information System (INIS)

    Barroso, Jorge; Renau, Jordi; Lozano, Antonio; Miralles, José; Martín, Jesús; Sánchez, Fernando; Barreras, Félix

    2015-01-01

    The objective of this research is to calculate the heat transfer coefficients needed for the further design of the optimal cooling system of a high-temperature polymer electrolyte membrane fuel cell (HT-PEMFC) stack that will be incorporated to the powerplant of a light unmanned aerial vehicle (UAV) capable of reaching an altitude of 10,000 m. Experiments are performed in two rectangular tunnels, for three different form factors, in experimental conditions as close as possible to the actual ones in the HT-PEMFC stack. For the calculations, all the relevant thermal processes are considered (i.e., convection and radiation). Different parameters are measured, such as air mass flow rate, inlet and outlet air temperatures, and wall temperatures for bipolar plates and endplates. Different numerical models are fitted revealing the influence of the diverse relevant non-dimensional groups on the Nusselt number. Heat transfer coefficients calculated for the air cooling flow vary from 8 to 44 W m"−"2 K"−"1. Results obtained at sea level are extrapolated for a flight ceiling of 10 km. The flow section is optimized as a function of the power required to cool the stack down to the temperature recommended by the membrane-electrode assembly (MEA) manufacturer using a numerical code specifically developed for this purpose. - Highlights: • Heat transfer coefficients to refrigerate a HT-PEMFC stack are calculated. • Experiments are performed in 2 wind tunnels, for 3 form factors and real conditions. • The calculated heat transfer coefficient varies from 8 to 44 W m"−"2 K"−"1. • Results at sea level are suitably extrapolated for a target altitude of 10 km. • Flow area is optimized as a function of the power required to cool the stack down.

  14. Electron energy recovery system for negative ion sources

    International Nuclear Information System (INIS)

    Dagenhart, W.K.; Stirling, W.L.

    1982-01-01

    An electron energy recovery system for negative ion sources is provided. The system, employs crossed electric and magnetic fields to separate the electrons from ions as they are extracted from a negative ion source plasma generator and before the ions are accelerated to their full kinetic energy. With the electric and magnetic fields oriented 90* to each other, the electrons are separated from the plasma and remain at approximately the electrical potential of the generator in which they were generated. The electrons migrate from the ion beam path in a precessing motion out of the ion accelerating field region into an electron recovery region provided by a specially designed electron collector electrode. The electron collector electrode is uniformly spaced from a surface of the ion generator which is transverse to the direction of migration of the electrons and the two surfaces are contoured in a matching relationship which departs from a planar configuration to provide an electric field component in the recovery region which is parallel to the magnetic field thereby forcing the electrons to be directed into and collected by the electron collector electrode. The collector electrode is maintained at a potential slightly positive with respect to the ion generator so that the electrons are collected at a small fraction of the full accelerating supply voltage energy

  15. Enterprise systems backup and recovery a corporate insurance policy

    CERN Document Server

    de Guise, Preston

    2008-01-01

    The success of information backup systems does not rest on IT administrators alone. Rather, a well-designed backup system comes about only when several key factors coalesce-business involvement, IT acceptance, best practice designs, enterprise software, and reliable hardware. Enterprise Systems Backup and Recovery: A Corporate Insurance Policy provides organizations with a comprehensive understanding of the principles and features involved in effective enterprise backups.Instead of focusing on any individual backup product, this book recommends corporate procedures and policies that need to be established for comprehensive data protection. It provides relevant information to any organization, regardless of which operating systems or applications are deployed, what backup system is in place, or what planning has been done for business continuity. It explains how backup must be included in every phase of system planning, development, operation, and maintenance. It also provides techniques for analyzing and impr...

  16. 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.

  17. 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.

  18. 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.

  19. 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...

  20. 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.

  1. 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

  2. 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.

  3. 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

  4. Aquifer storage and recovery: recent hydrogeological advances and system performance.

    Science.gov (United States)

    Maliva, Robert G; Guo, Weixing; Missimer, Thomas M

    2006-12-01

    Aquifer storage and recovery (ASR) is part of the solution to the global problem of managing water resources to meet existing and future freshwater demands. However, the metaphoric "ASR bubble" has been burst with the realization that ASR systems are more physically and chemically complex than the general conceptualization. Aquifer heterogeneity and fluid-rock interactions can greatly affect ASR system performance. The results of modeling studies and field experiences indicate that more sophisticated data collection and solute-transport modeling are required to predict how stored water will migrate in heterogeneous aquifers and how fluid-rock interactions will affect the quality of stored water. It has been well-demonstrated, by historic experience, that ASR systems can provide very large volumes of storage at a lesser cost than other options. The challenges moving forward are to improve the success rate of ASR systems, optimize system performance, and set expectations appropriately.

  5. Heat recovery unit operation of HVAC system in IMEF

    International Nuclear Information System (INIS)

    Paek, S. R.; Oh, Y. W.; Song, E. S.; Park, D. K.; Joo, Y. S.; Hong, K. P.

    2003-01-01

    HVAC system including a supply and exhaust air system in IMEF(Irradiated Materials Examination Facility) is an essential facility for preventing a leakage of radioactive materials and for a preservation of a working environment. It costs a lot to operate the HVAC system in IMEF because our ventilation type is once-through system, and an air flow is maintained from low level contamination area to high level and maintained high turns of ventilation air under certain conditions. As HRU(Heat Recovery Unit) at HVAC system based on PIEF(Post Irradiation Examination Facility) operation experiences is designed and adopted, it prevents from a heating coil freezing destruction in winter and makes much energy saving etc.. Heat pipe type HRU is adopted in IMEF, and a construction and operation result of HRU is examined

  6. Water Recovery System Architecture and Operational Concepts to Accommodate Dormancy

    Science.gov (United States)

    Carter, Layne; Tabb, David; Anderson, Molly

    2017-01-01

    Future manned missions beyond low Earth orbit will include intermittent periods of extended dormancy. The mission requirement includes the capability for life support systems to support crew activity, followed by a dormant period of up to one year, and subsequently for the life support systems to come back online for additional crewed missions. NASA personnel are evaluating the architecture and operational concepts that will allow the Water Recovery System (WRS) to support such a mission. Dormancy could be a critical issue due to concerns with microbial growth or chemical degradation that might prevent water systems from operating properly when the crewed mission began. As such, it is critical that the water systems be designed to accommodate this dormant period. This paper identifies dormancy issues, concepts for updating the WRS architecture and operational concepts that will enable the WRS to support the dormancy requirement.

  7. Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation.

    Science.gov (United States)

    Nitti, Davide O; Bovenga, Fabio; Chiaradia, Maria T; Greco, Mario; Pinelli, Gianpaolo

    2015-07-28

    This study explores the potential of Synthetic Aperture Radar (SAR) to aid Unmanned Aerial Vehicle (UAV) navigation when Inertial Navigation System (INS) measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE) UAV class, which permits heavy and wide payloads (as required by SAR) and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM). A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimated UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system.

  8. Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation

    Directory of Open Access Journals (Sweden)

    Davide O. Nitti

    2015-07-01

    Full Text Available This study explores the potential of Synthetic Aperture Radar (SAR to aid Unmanned Aerial Vehicle (UAV navigation when Inertial Navigation System (INS measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE UAV class, which permits heavy and wide payloads (as required by SAR and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM. A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimated UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system.

  9. 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

  10. Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms.

    Science.gov (United States)

    Beom, Jaewon; Koh, Sukgyu; Nam, Hyung Seok; Kim, Wonshik; Kim, Yoonjae; Seo, Han Gil; Oh, Byung-Mo; Chung, Sun Gun; Kim, Sungwan

    2016-08-15

    Mirror therapy has been performed as effective occupational therapy in a clinical setting for functional recovery of a hemiplegic arm after stroke. It is conducted by eliciting an illusion through use of a mirror as if the hemiplegic arm is moving in real-time while moving the healthy arm. It can facilitate brain neuroplasticity through activation of the sensorimotor cortex. However, conventional mirror therapy has a critical limitation in that the hemiplegic arm is not actually moving. Thus, we developed a real-time 2-axis mirror robot system as a simple add-on module for conventional mirror therapy using a closed feedback mechanism, which enables real-time movement of the hemiplegic arm. We used 3 Attitude and Heading Reference System sensors, 2 brushless DC motors for elbow and wrist joints, and exoskeletal frames. In a feasibility study on 6 healthy subjects, robotic mirror therapy was safe and feasible. We further selected tasks useful for activities of daily living training through feedback from rehabilitation doctors. A chronic stroke patient showed improvement in the Fugl-Meyer assessment scale and elbow flexor spasticity after a 2-week application of the mirror robot system. Robotic mirror therapy may enhance proprioceptive input to the sensory cortex, which is considered to be important in neuroplasticity and functional recovery of hemiplegic arms. The mirror robot system presented herein can be easily developed and utilized effectively to advance occupational therapy.

  11. Focus-of-attention for human activity recognition from UAVs

    NARCIS (Netherlands)

    Burghouts, G.J.; Eekeren, A.W.M. van; Dijk, J.

    2014-01-01

    This paper presents a system to extract metadata about human activities from full-motion video recorded from a UAV. The pipeline consists of these components: tracking, motion features, representation of the tracks in terms of their motion features, and classification of each track as one of the

  12. Advanced Supermarket Refrigeration/Heat Recovery Systems. Country Report, Denmark

    DEFF Research Database (Denmark)

    Knudsen, Hans-Jørgen Høgaard; Christensen, K. G.

    Annex 26 is the first international project under the IEA Heat Pump Programme that links refrigeration and heat pump technology. Recovering heat from advanced supermarket refrigeration systems for space and water heating seems obvious and is beneficial for owners and operators. Because the great...... number of supermarkets that offer frozen and chilled food and further growth of this sector may be expected, the amount of energy used for refrigeration is enormous and will likely increase in the near future. Annex 26 analysed several advanced supermarket refrigeration systems and came to remarkable...... conclusions as far energy conservation and TEWI reduction is concerned. The conclusion justify that advanced supermarket systems with heat recovery should receive great attention and support. And there is still further research needed in several areas. The Annex also included a thorough system analyses...

  13. Nondestructive assay system development for a plutonium scrap recovery facility

    International Nuclear Information System (INIS)

    Hsue, S.T.; Baker, M.P.

    1984-01-01

    A plutonium scrap recovery facility is being constructed at the Savannah River Plant (SRP). The safeguards groups of the Los Alamos National Laboratory have been working since the early design stage of the facility with SRP and other national laboratories to develop a state-of-the-art assay system for this new facility. Not only will the most current assay techniques be incorporated into the system, but also the various nondestructive assay (NDA) instruments are to be integrated with an Instrument Control Computer (ICC). This undertaking is both challenging and ambitious; an entire assay system of this type has never been done before in a working facility. This paper will describe, in particular, the effort of the Los Alamos Safeguards Assay Group in this endeavor. Our effort in this project can be roughly divided into three phases: NDA development, system integration, and integral testing. 6 references

  14. Piloted Simulation of a Model-Predictive Automated Recovery System

    Science.gov (United States)

    Liu, James (Yuan); Litt, Jonathan; Sowers, T. Shane; Owens, A. Karl; Guo, Ten-Huei

    2014-01-01

    This presentation describes a model-predictive automatic recovery system for aircraft on the verge of a loss-of-control situation. The system determines when it must intervene to prevent an imminent accident, resulting from a poor approach. It estimates the altitude loss that would result from a go-around maneuver at the current flight condition. If the loss is projected to violate a minimum altitude threshold, the maneuver is automatically triggered. The system deactivates to allow landing once several criteria are met. Piloted flight simulator evaluation showed the system to provide effective envelope protection during extremely unsafe landing attempts. The results demonstrate how flight and propulsion control can be integrated to recover control of the vehicle automatically and prevent a potential catastrophe.

  15. 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.

  16. Multi-UAV Flight using Virtual Structure Combined with Behavioral Approach

    Directory of Open Access Journals (Sweden)

    Kownacki Cezary

    2016-06-01

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

  17. A fast and mobile system for registration of low-altitude visual and thermal aerial images using multiple small-scale UAVs

    Science.gov (United States)

    Yahyanejad, Saeed; Rinner, Bernhard

    2015-06-01

    The use of multiple small-scale UAVs to support first responders in disaster management has become popular because of their speed and low deployment costs. We exploit such UAVs to perform real-time monitoring of target areas by fusing individual images captured from heterogeneous aerial sensors. Many approaches have already been presented to register images from homogeneous sensors. These methods have demonstrated robustness against scale, rotation and illumination variations and can also cope with limited overlap among individual images. In this paper we focus on thermal and visual image registration and propose different methods to improve the quality of interspectral registration for the purpose of real-time monitoring and mobile mapping. Images captured by low-altitude UAVs represent a very challenging scenario for interspectral registration due to the strong variations in overlap, scale, rotation, point of view and structure of such scenes. Furthermore, these small-scale UAVs have limited processing and communication power. The contributions of this paper include (i) the introduction of a feature descriptor for robustly identifying corresponding regions of images in different spectrums, (ii) the registration of image mosaics, and (iii) the registration of depth maps. We evaluated the first method using a test data set consisting of 84 image pairs. In all instances our approach combined with SIFT or SURF feature-based registration was superior to the standard versions. Although we focus mainly on aerial imagery, our evaluation shows that the presented approach would also be beneficial in other scenarios such as surveillance and human detection. Furthermore, we demonstrated the advantages of the other two methods in case of multiple image pairs.

  18. 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

  19. Understanding Ammonium Transport in Bioelectrochemical Systems towards its Recovery

    Science.gov (United States)

    Liu, Ying; Qin, Mohan; Luo, Shuai; He, Zhen; Qiao, Rui

    2016-03-01

    We report an integrated experimental and simulation study of ammonia recovery using microbial electrolysis cells (MECs). The transport of various species during the batch-mode operation of an MEC was examined experimentally and the results were used to validate the mathematical model for such an operation. It was found that, while the generated electrical current through the system tends to acidify (or basify) the anolyte (or catholyte), their effects are buffered by a cascade of chemical groups such as the NH3/NH4+ group, leading to relatively stable pH values in both anolyte and catholyte. The transport of NH4+ ions accounts for ~90% of the total current, thus quantitatively confirming that the NH4+ ions serve as effective proton shuttles during MEC operations. Analysis further indicated that, because of the Donnan equilibrium at cation exchange membrane-anolyte/catholyte interfaces, the Na+ ion in the anolyte actually facilitates the transport of NH4+ ions during the early stage of a batch cycle and they compete with the NH4+ ions weakly at later time. These insights, along with a new and simple method for predicting the strength of ammonia diffusion from the catholyte toward the anolyte, will help effective design and operation of bioeletrochemical system-based ammonia recovery systems.

  20. Enhancing Readiness of the Unmanned Aerial Vehicle (UAV) System via Use of Simulation Modeling and Contract Incentives

    National Research Council Canada - National Science Library

    Kasal, Omer

    1999-01-01

    ...) test system of the Turkish Army Command are the failure to address life cycle cost (LCC) considerations during financial resource allocations and the absence of contract reliability incentives...

  1. Uav-Mapping - a User Report

    Science.gov (United States)

    Mayr, W.

    2011-09-01

    This paper reports on first hand experiences in operating an unmanned airborne system (UAS) for mapping purposes in the environment of a mapping company. Recently, a multitude of activities in UAVs is visible, and there is growing interest in the commercial, industrial, and academic mapping user communities and not only in those. As an introduction, the major components of an UAS are identified. The paper focuses on a 1.1kg UAV which is integrated and gets applied on a day-to-day basis as part of an UAS in standard aerial imaging tasks for more than two years already. We present the unmanned airborne vehicle in some detail as well as the overall system components such as autopilot, ground station, flight mission planning and control, and first level image processing. The paper continues with reporting on experiences gained in setting up constraints such a system needs to fulfill. Further on, operational aspects with emphasis on unattended flight mission mode are presented. Various examples show the applicability of UAS in geospatial tasks, proofing that UAS are capable delivering reliably e.g. orthomosaics, digital surface models and more. Some remarks on achieved accuracies give an idea on obtainable qualities. A discussion about safety features puts some light on important matters when entering unmanned flying activities and rounds up this paper. Conclusions summarize the state of the art of an operational UAS from the point of the view of the author.

  2. UAV-MAPPING – A USER REPORT

    Directory of Open Access Journals (Sweden)

    W. Mayr

    2012-09-01

    Full Text Available This paper reports on first hand experiences in operating an unmanned airborne system (UAS for mapping purposes in the environment of a mapping company. Recently, a multitude of activities in UAVs is visible, and there is growing interest in the commercial, industrial, and academic mapping user communities and not only in those. As an introduction, the major components of an UAS are identified. The paper focuses on a 1.1kg UAV which is integrated and gets applied on a day-to-day basis as part of an UAS in standard aerial imaging tasks for more than two years already. We present the unmanned airborne vehicle in some detail as well as the overall system components such as autopilot, ground station, flight mission planning and control, and first level image processing. The paper continues with reporting on experiences gained in setting up constraints such a system needs to fulfill. Further on, operational aspects with emphasis on unattended flight mission mode are presented. Various examples show the applicability of UAS in geospatial tasks, proofing that UAS are capable delivering reliably e.g. orthomosaics, digital surface models and more. Some remarks on achieved accuracies give an idea on obtainable qualities. A discussion about safety features puts some light on important matters when entering unmanned flying activities and rounds up this paper. Conclusions summarize the state of the art of an operational UAS from the point of the view of the author.

  3. 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...

  4. Output Feedback Tracking Control of an Underactuated Quad-Rotor UAV

    National Research Council Canada - National Science Library

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

    2006-01-01

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

  5. System Behaviour Charts Inform an Understanding of Biodiversity Recovery

    Directory of Open Access Journals (Sweden)

    Simon A. Black

    2015-01-01

    Full Text Available Practitioners working with species and ecosystem recovery typically deal with the complexity of, on one hand, lack of data or data uncertainties and, on the other hand, demand for critical decision-making and intervention. The control chart methods of commercial and industrial and environmental monitoring can complement an ecological understanding of wildlife systems including those situations which incorporate human activities and land use. Systems Behaviour Charts are based upon well-established control chart methods to provide conservation managers with an approach to using existing data and enable insight to aid timely planning of conservation interventions and also complement and stimulate research into wider scientific and ecological questions. When the approach is applied to existing data sets in well-known wildlife conservation cases, the subsequent Systems Behaviour Charts and associated analytical criteria demonstrate insights which would be helpful in averting problems associated with each case example.

  6. Space systems for disaster warning, response, and recovery

    CERN Document Server

    Madry, Scott

    2015-01-01

    This SpringerBrief provides a general overview of the role of satellite applications for disaster mitigation, warning, planning, recovery and response. It covers both the overall role and perspective of the emergency management community as well as the various space applications that support their work. Key insights are provided as to how satellite telecommunications, remote sensing, navigation systems, GIS, and the emerging domain of social media are utilized in the context of emergency management needs and requirements. These systems are now critical in addressing major man-made and natural disasters. International policy and treaties are covered along with various case studies from around the world. These case studies indicate vital lessons that have been learned about how to use space systems more effectively in addressing the so-called “Disaster Cycle.” This book is appropriate for practicing emergency managers, Emergency Management (EM) courses, as well as for those involved in various space applica...

  7. IEA Annex 26: Advanced Supermarket Refrigeration/Heat Recovery Systems

    Energy Technology Data Exchange (ETDEWEB)

    Baxter, VAN

    2003-05-19

    With increased concern about the impact of refrigerant leakage on global warming, a number of new supermarket refrigeration system configurations requiring significantly less refrigerant charge are being considered. In order to help promote the development of advanced systems and expand the knowledge base for energy-efficient supermarket technology, the International Energy Agency (IEA) established IEA Annex 26 (Advanced Supermarket Refrigeration/Heat Recovery Systems) under the ''IEA Implementing Agreement on Heat Pumping Technologies''. Annex 26 focuses on demonstrating and documenting the energy saving and environmental benefits of advanced systems design for food refrigeration and space heating and cooling for supermarkets. Advanced in this context means systems that use less energy, require less refrigerant and produce lower refrigerant emissions. Stated another way, the goal is to identify supermarket refrigeration and HVAC technology options that reduce the total equivalent warming impact (TEWI) of supermarkets by reducing both system energy use (increasing efficiency) and reducing total refrigerant charge. The Annex has five participating countries: Canada, Denmark, Sweden, the United Kingdom, and the United States. The working program of the Annex has involved analytical and experimental investigation of several candidate system design approaches to determine their potential to reduce refrigerant usage and energy consumption. Advanced refrigeration system types investigated include the following: distributed compressor systems--small parallel compressor racks are located in close proximity to the food display cases they serve thus significantly shortening the connecting refrigerant line lengths; secondary loop systems--one or more central chillers are used to refrigerate a secondary coolant (e.g. brine, ice slurry, or CO2) that is pumped to the food display cases on the sales floor; self-contained display cases--each food display case

  8. 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...

  9. 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

  10. 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.

  11. 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.

  12. THE APPLICABILITY OF EXISTING COMPUTER TECHNOLOGY TO AUTOMATE FUZZY SYNTHESIS OF TRAFFIC LIGHT UAV IN ADVERSE WEATHER CONDITIONS

    Directory of Open Access Journals (Sweden)

    L. N. Lysenko

    2014-01-01

    Full Text Available The results of the analysis of the applicability of known application software systems for automated synthesis of fuzzy control traffic light UAV during its flight in adverse weather conditions. The solution is based on a previously formulated and put into consideration the principle of permissible limited a priori estimation of the uncertainty of aerodynamic characteristics of UAVs.

  13. Recovery Audit Contractor medical necessity readiness: one health system's journey.

    Science.gov (United States)

    Scott, Judith A; Camden, Mindy

    2011-01-01

    To develop a sustainable approach to Recovery Audit Contractor medical necessity readiness that mitigates the regulatory and financial risks of the organization. Acute care hospitals. Utilizing the model for improvement and plan-do-study-act methodology, this health system designed and implemented a medical necessity case management program. We focused on 3 areas for improvement: medical necessity review accuracy, review timeliness, and physician adviser participation for secondary reviews. Over several months, we improved accuracy and timeliness of our medical necessity reviews while also generating additional inpatient revenue for the health system. We successfully enhanced regulatory compliance and reduced our financial risks associated with Recovery Audit Contractor medical necessity audits. A successful medical necessity case management program can not only enhance regulatory compliance and reduce the amount of payments recouped by Medicare, but also generate additional inpatient revenue for your organization. With health care reform and accountable care organizations on the horizon, hospitals must find ways to protect and enhance revenue in order to carry out their missions. This is one way for case managers to help in that cause, to advocate for the care of their patients, and to bring value to the organization.

  14. Advanced Waste Heat Recovery Systems within Hybrid Powertrains

    Directory of Open Access Journals (Sweden)

    Albert Boretti

    2018-01-01

    Full Text Available A waste heat recovery system (WHRS is very well known to provide no advantage during the cold start driving cycles, such as the New European Driving Cycle (NEDC, which are used for certification of emissions and assessment of fuel economy. Here, we propose a novel integrated WHRS using the internal combustion engine (ICE coolant passages and an exchanger on the exhaust working as pre-heater / boiler / super-heater of a Rankine cycle. The expander is connected to an electric generator unit (GU, and the pump is connected to an electric motor unit (MU. The vehicle is also fitted with an electric, kinetic energy recovery system (KERS. The expander and condenser are bypassed during the first part of the NEDC when the vehicle covers the four ECE-15 (Economic Commission for Europe - 15 - UDC (Urban Drive Cycle segments where the engine warms-up.  Only after the engine is fully warmed up, during the last part of the NEDC, the extra urban driving cycle (EUDC segment, the expander and condenser are activated to recover part of the coolant and exhaust energy.

  15. 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...

  16. 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.

  17. 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.

  18. 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

  19. Implementation Of Vision-Based Landing Target Detection For VTOL UAV Using Raspberry Pi

    Directory of Open Access Journals (Sweden)

    Ei Ei Nyein

    2017-04-01

    Full Text Available This paper presents development and implementation of a real-time vision-based landing system for VTOL UAV. We use vision for precise target detection and recognition. A UAV is equipped with the onboard raspberry pi camera to take images and raspberry pi platform to operate the image processing techniques. Today image processing is used for various applications in this paper it is used for landing target extraction. And vision system is also used for take-off and landing function in VTOL UAV. Our landing target design is used as the helipad H shape. Firstly the image is captured to detect the target by the onboard camera. Next the capture image is operated in the onboard processor. Finally the alert sound signal is sent to the remote control RC for landing VTOL UAV. The information obtained from vision system is used to navigate a safe landing. The experimental results from real tests are presented.

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

    Science.gov (United States)

    Dörtbudak, Mehmet F.

    2015-05-01

    of drones, UAVs have also started to be used for attack missions in counterterrorism operations. In this study, it is aimed to determine whether UAVs are appropriate assets that can be used in counterterrorism operations. The study starts by examining the term terrorism and counterterrorism and discusses the role of the Air and Space Power in counterterrorism operations. After proposing that UAVs are appropriate assets for counterterrorism operations, it continues by explaining types and common usage concepts of UAVs. The advantages and disadvantages of UAVs are put forward from the counterterrorism operations' perspectives. It finally examines the utilization of UAVs in counterterrorism operations. In this context, as much as obtained from open sources, countries' roadmaps, usage concepts, experience, and current structure are examined to determine whether UAVs are appropriate assets in counterterrorism operations. When the advantages of UAVs and the disadvantages of manned systems are analyzed, other findings of our survey will show us that UAVs will be increasingly used in counterterrorism operations

  1. Energy Recovery from a Non-Linear Electromagnetic System

    Directory of Open Access Journals (Sweden)

    Kęcik Krzysztof

    2018-03-01

    Full Text Available The paper presents study of a pseudo-magnetic levitation system (pseudo-maglev dedicated for energy harvesting. The idea rely on motion of a pseudo-levitating magnet in a coil’s terminal. The study based on real prototype harvester system, which in the pendulum dynamic vibration absorber is applied. For some parameters, the stability loss caused by the period doubling bifurcation is detected. The coexistence of two stable solutions, one of which is much better for energy harvesting is observed. The influence of the pseudo-maglev parameters on the recovered current and stability of the periodic solutions is presented in detail. The obtained results show, that the best energy recovery occurs for the high pseudo-maglev stiffness and close to the coil resistance. The amplitude’s excitation, the load resistances and the coupling coefficient strongly influence on the system’s response.

  2. Phronesis, a diagnosis and recovery tool for system administrators

    International Nuclear Information System (INIS)

    Haen, C; Barra, V; Bonaccorsi, E; Neufeld, N

    2014-01-01

    The LHCb experiment relies on the Online system, which includes a very large and heterogeneous computing cluster. Ensuring the proper behavior of the different tasks running on the more than 2000 servers represents a huge workload for the small operator team and is a 24/7 task. At CHEP 2012, we presented a prototype of a framework that we designed in order to support the experts. The main objective is to provide them with steadily improving diagnosis and recovery solutions in case of misbehavior of a service, without having to modify the original applications. Our framework is based on adapted principles of the Autonomic Computing model, on Reinforcement Learning algorithms, as well as innovative concepts such as Shared Experience. While the submission at CHEP 2012 showed the validity of our prototype on simulations, we here present an implementation with improved algorithms and manipulation tools, and report on the experience gained with running it in the LHCb Online system.

  3. Passive ventilation systems with heat recovery and night cooling

    DEFF Research Database (Denmark)

    Hviid, Christian Anker; Svendsen, Svend

    2008-01-01

    with little energy consumption and with satisfying indoor climate. The concept is based on using passive measures like stack and wind driven ventilation, effective night cooling and low pressure loss heat recovery using two fluid coupled water-to-air heat exchangers developed at the Technical University......In building design the requirements for energy consumption for ventilation, heating and cooling and the requirements for increasingly better indoor climate are two opposing factors. This paper presents the schematic layout and simulation results of an innovative multifunc-tional ventilation concept...... of Denmark. Through building integration in high performance offices the system is optimized to incorporate multiple functions like heating, cooling and ventilation, thus saving the expenses of separate cooling and heating systems. The simulation results are derived using the state-of-the-art building...

  4. Development of the Next Generation Type Water Recovery System

    Science.gov (United States)

    Oguchi, Mitsuo; Tachihara, Satoru; Maeda, Yoshiaki; Ueoka, Terumi; Soejima, Fujito; Teranishi, Hiromitsu

    According to NASA, an astronaut living on the International Space Station (ISS) requires approximately 7 kg of water per day. This includes 2 kg of drinking water as well as sanitary fresh water for hand washing, gargling, etc. This water is carried to the space station from the earth, so when more people are staying on the space station, or staying for a longer period of time, the cost of transporting water increases. Accordingly, water is a valuable commodity, and restrictions are applied to such activities as brushing teeth, washing hair, and washing clothes. The life of an astronaut in space is not necessarily a healthy one. JAXA has experience in the research of water recovery systems. Today, utilizing knowledge learned through experiences living on the space station and space shuttles, and taking advantage of the development of new materials for device construction, it is possible to construct a new water recovery system. Therefore, JAXA and New Medican Tech Corporation (NMT) have created a system for collaborative development. Based on the technologies of both companies, we are proceeding to develop the next generation of water recovery devices in order to contribute to safe, comfortable, and healthy daily life for astronauts in space. The goal of this development is to achieve a water purification system based on reverse osmosis (RO) membranes that can perform the following functions. • Preprocessing that removes ammonia and breaks down organic matter contained in urine. • Post-processing that adds minerals and sterilizes the water. • Online TOC measurement for monitoring water quality. • Functions for measuring harmful substances. The RO membrane is an ultra-low-pressure type membrane with a 0.0001 micron (0.1 nanometer) pore size and an operating pressure of 0.4 to 0.6 MPa. During processing with the RO membrane, nearly all of the minerals contained in the cleaned water are removed, resulting in water that is near the quality of deionized water

  5. Vacuum system of the compact Energy Recovery Linac

    Energy Technology Data Exchange (ETDEWEB)

    Honda, T., E-mail: tohru.honda@kek.jp; Tanimoto, Y.; Nogami, T.; Takai, R.; Obina, T.; Asaoka, S.; Uchiyama, T.; Nakamura, N. [High Energy Accelerator Research Organization (KEK) (1-1 Oho, Tsukuba, Ibaraki 305-0801, Japan) (Japan)

    2016-07-27

    The compact Energy Recovery Linac (cERL), a test accelerator to establish important technologies demanded for future ERL-based light sources, was constructed in late 2013 at KEK. The accelerator was successfully commissioned in early 2014, and demonstrated beam circulation with energy recovery. In the cERL vacuum system, low-impedance vacuum components are required to circulate high-intensity, low-emittance and short-bunch electron beams. We therefore developed ultra-high-vacuum (UHV)-compatible flanges that can connect beam tubes seamlessly, and employed retractable beam monitors, namely, a movable Faraday cup and screen monitors. In most parts of the accelerator, pressures below 1×10{sup −7} Pa are required to mitigate beam-gas interactions. Particularly, near the photocathode electron gun and the superconducting (SC) cavities, pressures below 1×10{sup −8} Pa are required. The beam tubes in the sections adjoining the SC cavities were coated with non-evaporable getter (NEG) materials, to reduce gas condensation on the cryo-surfaces. During the accelerator commissioning, stray magnetic fields from the permanent magnets of some cold cathode gauges (CCGs) were identified as a source of the disturbance to the beam orbit. Magnetic shielding was specially designed as a remedy for this issue.

  6. 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.

  7. ASSESSING CHANGES IN POTATO CANOPY CAUSED BY LATE BLIGHT IN ORGANIC PRODUCTION SYSTEMS THROUGH UAV-BASED PUSHBROOM IMAGING SPECTROMETER

    Directory of Open Access Journals (Sweden)

    M. H. D. Franceschini

    2017-08-01

    Full Text Available Productivity of cropping systems can be constrained simultaneously by different limiting factors and approaches allowing to indicate and identify plants under stress in field conditions can be valuable for farmers and breeders. In organic production systems, sensing solutions are not frequently studied, despite their potential for crop traits retrieval and stress assessment. In this study, spectral data in the optical domain acquired using a pushbroom spectrometer on board of a unmanned aerial vehicle is used to evaluate the potential of this information for assessment of late blight (Phytophthora infestans incidence on potato (Solanum tuberosum under organic cultivation. Vegetation indices formulations with two and three spectral bands were tested for the complete range of the spectral information acquired (i.e., from 450 to 900 nm, with 10 nm of spectral resolution. This evaluation concerned the discrimination between plots cultivated with only one resistant potato variety in contrast with plots with a variety mixture, with resistant and susceptible cultivars. Results indicated that indices based on three spectral bands performed better and optimal wavelengths (i.e., near 490, 530 and 670 nm are not only related to chlorophyll content but also to other leaf pigments like carotenoids.

  8. Assessing Changes in Potato Canopy Caused by Late Blight in Organic Production Systems Through Uav-Based Pushbroom Imaging Spectrometer

    Science.gov (United States)

    Franceschini, M. H. D.; Bartholomeus, H.; van Apeldoorn, D.; Suomalainen, J.; Kooistra, L.

    2017-08-01

    Productivity of cropping systems can be constrained simultaneously by different limiting factors and approaches allowing to indicate and identify plants under stress in field conditions can be valuable for farmers and breeders. In organic production systems, sensing solutions are not frequently studied, despite their potential for crop traits retrieval and stress assessment. In this study, spectral data in the optical domain acquired using a pushbroom spectrometer on board of a unmanned aerial vehicle is used to evaluate the potential of this information for assessment of late blight (Phytophthora infestans) incidence on potato (Solanum tuberosum) under organic cultivation. Vegetation indices formulations with two and three spectral bands were tested for the complete range of the spectral information acquired (i.e., from 450 to 900 nm, with 10 nm of spectral resolution). This evaluation concerned the discrimination between plots cultivated with only one resistant potato variety in contrast with plots with a variety mixture, with resistant and susceptible cultivars. Results indicated that indices based on three spectral bands performed better and optimal wavelengths (i.e., near 490, 530 and 670 nm) are not only related to chlorophyll content but also to other leaf pigments like carotenoids.

  9. 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 ...

  10. Remote sensing systems – Platforms and sensors: Aerial, satellites, UAVs, optical, radar, and LiDAR: Chapter 1

    Science.gov (United States)

    Panda, Sudhanshu S.; Rao, Mahesh N.; Thenkabail, Prasad S.; Fitzerald, James E.

    2015-01-01

    The American Society of Photogrammetry and Remote Sensing defined remote sensing as the measurement or acquisition of information of some property of an object or phenomenon, by a recording device that is not in physical or intimate contact with the object or phenomenon under study (Colwell et al., 1983). Environmental Systems Research Institute (ESRI) in its geographic information system (GIS) dictionary defines remote sensing as “collecting and interpreting information about the environment and the surface of the earth from a distance, primarily by sensing radiation that is naturally emitted or reflected by the earth’s surface or from the atmosphere, or by sending signals transmitted from a device and reflected back to it (ESRI, 2014).” The usual source of passive remote sensing data is the measurement of reflected or transmitted electromagnetic radiation (EMR) from the sun across the electromagnetic spectrum (EMS); this can also include acoustic or sound energy, gravity, or the magnetic field from or of the objects under consideration. In this context, the simple act of reading this text is considered remote sensing. In this case, the eye acts as a sensor and senses the light reflected from the object to obtain information about the object. It is the same technology used by a handheld camera to take a photograph of a person or a distant scenic view. Active remote sensing, however, involves sending a pulse of energy and then measuring the returned energy through a sensor (e.g., Radio Detection and Ranging [RADAR], Light Detection and Ranging [LiDAR]). Thermal sensors measure emitted energy by different objects. Thus, in general, passive remote sensing involves the measurement of solar energy reflected from the Earth’s surface, while active remote sensing involves synthetic (man-made) energy pulsed at the environment and the return signals are measured and recorded.

  11. Energy-Recovery Pressure-Reducer in District Heating System

    Directory of Open Access Journals (Sweden)

    Dariusz Borkowski

    2018-06-01

    Full Text Available Already existing man-made infrastructures that create water flow and unused pressure are interesting energy sources to which micro-hydropower plants can be applied. Apart from water supply systems (WSSs, which are widely described in the literature, significant hydropower potential can also be found in district heating systems (DHSs. In this paper, a prototype, a so-called energy-recovery pressure-reducer (ERPR, utilized for a DHS, is presented. It consisted of a pump as a turbine coupled to a permanent magnet synchronous generator (PMSG. The latter was connected to the power grid through the power electronic unit (PEU. The variable-speed operation allowed one to modify the turbine characteristics to match the substation’s hydraulic conditions. The proposed ERPR device could be installed in series to the existing classic pressure reducing valve (PRV as an independent device that reduces costs and simplifies system installation. The test results of the prototype system located in a substation of Cracow’s DHS are presented. The steady-state curves and regulation characteristics show the prototype’s operating range and efficiency. In this study, the pressure-reducer impact on the electrical and hydraulic systems, and on the environment, were analyzed. The operation tests during the annual heating season revealed an average system’s efficiency of 49%.

  12. 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.

  13. Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation

    OpenAIRE

    Mondragon, Ivan F.; Campoy, Pascual; Martinez, Carol; Olivares Mendez, Miguel Angel

    2010-01-01

    This paper presents an aircraft attitude and heading estimator using catadioptric images as a principal sensor for UAV or as a redundant system for IMU (Inertial Measure Unit) and gyro sensors. First, we explain how the unified theory for central catadioptric cameras is used for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV's attitude. Then, we use appearance images to obtain a visual co...

  14. Process options and projected mass flows for the HTGR refabrication scrap recovery system

    International Nuclear Information System (INIS)

    Tiegs, S.M.

    1979-03-01

    The two major uranium recovery processing options reviewed are (1) internal recovery of the scrap by the refabrication system and (2) transfer to and external recovery of the scrap by the head end of the reprocessing system. Each option was reviewed with respect to equipment requirements, preparatory processing, and material accountability. Because there may be a high cost factor on transfer of scrap fuel material to the reprocessing system for recovery, all of the scrap streams will be recycled internally within the refabrication system, with the exception of reject fuel elements, which will be transferred to the head end of the reprocessing system for uranium recovery. The refabrication facility will be fully remote; thus, simple recovery techniques were selected as the reference processes for scrap recovery. Crushing, burning, and leaching methods will be used to recover uranium from the HTGR refabrication scrap fuel forms, which include particles without silicon carbide coatings, particles with silicon carbide coatings, uncarbonized fuel rods, carbon furnace parts, perchloroethylene distillation bottoms, and analytical sample remnants. Mass flows through the reference scrap recovery system were calculated for the HTGR reference recycle facility operating with the highly enriched uranium fuel cycle. Output per day from the refabrication scrap recovery system is estimated to be 4.02 kg of 2355 U and 10.85 kg of 233 U. Maximum equipment capacities were determined, and future work will be directed toward the development and costing of the scrap recovery system chosen as reference

  15. Assessing nuclear power plant safety and recovery from earthquakes using a system-of-systems approach

    International Nuclear Information System (INIS)

    Ferrario, E.; Zio, E.

    2014-01-01

    We adopt a ‘system-of-systems’ framework of analysis, previously presented by the authors, to include the interdependent infrastructures which support a critical plant in the study of its safety with respect to the occurrence of an earthquake. We extend the framework to consider the recovery of the system of systems in which the plant is embedded. As a test system, we consider the impacts produced on a nuclear power plant (the critical plant) embedded in the connected power and water distribution, and transportation networks which support its operation. The Seismic Probabilistic Risk Assessment of such system of systems is carried out by Hierarchical modeling and Monte Carlo simulation. First, we perform a top-down analysis through a hierarchical model to identify the elements that at each level have most influence in restoring safety, adopting the criticality importance measure as a quantitative indicator. Then, we evaluate by Monte Carlo simulation the probability that the nuclear power plant enters in an unsafe state and the time needed to recover its safety. The results obtained allow the identification of those elements most critical for the safety and recovery of the nuclear power plant; this is relevant for determining improvements of their structural/functional responses and supporting the decision-making process on safety critical-issues. On the test system considered, under the given assumptions, the components of the external and internal water systems (i.e., pumps and pool) turn out to be the most critical for the safety and recovery of the plant. - Highlights: • We adopt a system-of-system framework to analyze the safety of a critical plant exposed to risk from external events, considering also the interdependent infrastructures that support the plant. • We develop a hierarchical modeling framework to represent the system of systems, accounting also for its recovery. • Monte Carlo simulation is used for the quantitative evaluation of the

  16. 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

  17. 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

  18. GNSS Software Receiver for UAVs

    DEFF Research Database (Denmark)

    Olesen, Daniel Madelung; Jakobsen, Jakob; von Benzon, Hans-Henrik

    2016-01-01

    This paper describes the current activities of GPS/GNSS Software receiver development at DTU Space. GNSS Software receivers have received a great deal of attention in the last two decades and numerous implementations have already been presented. DTU Space has just recently started development of ...... of our own GNSS software-receiver targeted for mini UAV applications, and we will in in this paper present our current progress and briefly discuss the benefits of Software Receivers in relation to our research interests....

  19. 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.

  20. 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.

  1. System tradeoffs in siting a solar photovoltaic material recovery infrastructure.

    Science.gov (United States)

    Goe, Michele; Gaustad, Gabrielle; Tomaszewski, Brian

    2015-09-01

    The consumption and disposal of rare and hazardous metals contained in electronics and emerging technologies such as photovoltaics increases the material complexity of the municipal waste stream. Developing effective waste policies and material recovery systems is required to inhibit landfilling of valuable and finite resources. This work developed a siting and waste infrastructure configuration model to inform the management and recovery of end-of-life photovoltaics. This model solves the siting and waste location-allocation problem for a New York State case study by combining multi-criteria decision methods with spatial tools, however this methodology is generalizable to any geographic area. For the case study, the results indicate that PV installations are spatially statistically significant (i.e., clustered). At least 9 sites, which are co-located with landfills and current MRFs, were 'highly' suitable for siting according to our criteria. After combining criteria in an average weighted sum, 86% of the study area was deemed unsuitable for siting while less than 5% is characterized as highly suitable. This method implicitly prioritized social and environmental concerns and therefore, these concerns accounted for the majority of siting decisions. As we increased the priority of economic criteria, the likelihood of siting near ecologically sensitive areas such as coastline or socially vulnerable areas such as urban centers increased. The sensitivity of infrastructure configurations to land use and waste policy are analyzed. The location allocation model results suggest current tip fees are insufficient to avoid landfilling of photovoltaics. Scenarios where tip fees were increased showed model results where facilities decide to adopt limited recycling technologies that bypass compositionally complex materials; a result with strong implications for global PV installations as well as other waste streams. We suggest a multi-pronged approach that lowers technology cost

  2. Duct burners in heat recovery system for cogeneration and captive power plants

    International Nuclear Information System (INIS)

    Majumdar, J.

    1992-01-01

    Our oil explorations both onshore and offshore have thrown open bright prospects of cogeneration by using natural gas in gas turbine power plants with heat recovery units. Both for co-gen and combined cycle systems, supplementary firing of GT exhaust gas is normally required. Hence, duct burners have significant role for effective contribution towards of efficacy of heat recovery system for gas turbine exhaust gas. This article details on various aspects of duct burners in heat recovery systems. (author)

  3. High temperature heat recovery systems; Les recuperateurs de chaleur a haute temperature

    Energy Technology Data Exchange (ETDEWEB)

    Martin, L.

    2003-07-15

    A state-of-the-art of high temperature heat recovery systems has been made to highlight the advantages of recovery in different energy cycles, and to compare the different geometries, materials and fabrication processes used by the different manufacturers. This leads to define the criteria that a heat recovery system must satisfy in gas turbine cogeneration applications. The pre-dimensioning of a recovery system has been performed in order to compare different geometries and to evaluate them with respect to the criteria defined in the bibliographic study. Finally, the new configuration of the 'Claire' loop has permitted to experimentally characterize a recovery system with an innovative technology based on an helical geometry. These tests have permitted to obtain the global data of the recovery system (efficiency, pressure drop, global exchange coefficient, friction coefficient, velocity and temperature profiles) and to position it with respect to the criteria defined in the bibliographic study. (J.S.)

  4. Lithium test module on ITER: engineering design of the tritium recovery system

    International Nuclear Information System (INIS)

    Finn, P.A.

    1988-01-01

    The design presented is an overview of the tritium recovery system for a lithium module on an ITER type reactor. The design of a tritium recovery system for larger blanket units, sectors, etc. could use the information developed in this report. A goal of this design was to ensure that a reliable, integrated performance of the tritium recovery system could be demonstrated. An equally important goal was to measure and account for the tritium in the liquid lithium blanket module and its recovery system in order to validate the operation of the blanket module

  5. 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

  6. Autonomous Chemical Vapour Detection by Micro UAV

    Directory of Open Access Journals (Sweden)

    Kent Rosser

    2015-12-01

    Full Text Available The ability to remotely detect and map chemical vapour clouds in open air environments is a topic of significant interest to both defence and civilian communities. In this study, we integrate a prototype miniature colorimetric chemical sensor developed for methyl salicylate (MeS, as a model chemical vapour, into a micro unmanned aerial vehicle (UAV, and perform flights through a raised MeS vapour cloud. Our results show that that the system is capable of detecting MeS vapours at low ppm concentration in real-time flight and rapidly sending this information to users by on-board telemetry. Further, the results also indicate that the sensor is capable of distinguishing “clean” air from “dirty”, multiple times per flight, allowing us to look towards autonomous cloud mapping and source localization applications. Further development will focus on a broader range of integrated sensors, increased autonomy of detection and improved engineering of the system.

  7. 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.

  8. 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.

  9. 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

  10. Systems analysis for the development of small resource recovery systems: system performance data. Final report

    Energy Technology Data Exchange (ETDEWEB)

    Crnkovich, P G; Helmstetter, A J

    1980-10-01

    The technologies that should be developed to make small-scale solid waste processing facilities attractive and viable for small municipalities with solid waste between 50 and 250 tons per day are identified. The resource recovery systems investigated were divided into three categories: thermal processng, mechanical separation, and biological processing. Thermal processing systems investigated are: excess-air incineration; starved-air incineration/gasification; and pyrolysis (indirect heating). Mechanical processing systems investigated are: coarse refuse derived fuel; materials separation; dust refuse derived fuel; densified refuse derived fuel; and fine refuse derived fuel. Mechanical processing components investigated include: receiving module; primary size reduction module; combustible separation module; refuse derived fuel preparation module; fuel densification; fuel storage module; ferrous separation; and building and facilities. Pretreatment processes and principle methods of bioconversion of MSW dealing with biological processing are investigated. (MCW)

  11. 40 CFR 35.928-3 - Implementation of the industrial cost recovery system.

    Science.gov (United States)

    2010-07-01

    ... 40 Protection of Environment 1 2010-07-01 2010-07-01 false Implementation of the industrial cost...-Clean Water Act § 35.928-3 Implementation of the industrial cost recovery system. (a) When a grantee's industrial cost recovery system is approved, implementation of the approved system shall become a condition...

  12. Hybrid heat recovery - flat plate Stirling engine system

    International Nuclear Information System (INIS)

    Bogdanizh, A.M.; Budin, R.; Sutlovizh, I.

    2000-01-01

    In this paper, the possibility of process condensate heat recovery for boiler water preheating as well as for combined heat and power production for chosen process in textile industry has been investigated. The garment industry requires low pressure process steam or hot water for which production expensive fossil fuel should be used. Fuel usage can be reduced by various energy conservation methods. During the process a great quantity of hot condensate or waste hot water is rejected in the sewage system. To reduce heat wastes and improve technological process this condensate could be returned to the boiler for feed water preheating. When 60% condensate is returned to the steam generator about 8 % natural gas is saved. The rest of the condensate should be used for driving low temperature flat plate Stirling motor the advantage of the flat plate Stirling engine is ability to work at low temperatures. This engine produces electrical energy which can put in motion an electrogenerator in the same plant. While Stirling engine can be used electrical power and economical effect could be much greater using such a hybrid system the process waste heat is not only converted into useful work but at the same time thermal pollution is greatly diminished. (Author)

  13. LHCb: Phronesis, a diagnosis and recovery tool for system administrators

    CERN Multimedia

    Haen, C; Bonaccorsi, E; Neufeld, N

    2013-01-01

    The backbone of the LHCb experiment is the Online system, which is a very large and heterogeneous computing center. Making sure of the proper behavior of the many different tasks running on the more than 2000 servers represents a huge workload for the small expert-operator team and is a 24/7 task. At the occasion of CHEP 2012, we presented a prototype of a framework that we designed in order to support the experts. The main objective is to provide them with always improving diagnosis and recovery solutions in case of misbehavior of a service, without having to modify the original applications. Our framework is based on adapted principles of the Autonomic Computing model, on reinforcement learning algorithms, as well as innovative concepts such as Shared Experience. While the presentation made at CHEP 2012 showed the validity of our prototype on simulations, we here present a version with improved algorithms, manipulation tools, and report on experience with running it in the LHCb Online system.

  14. 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...

  15. 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

  16. 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

  17. WASTE HEAT RECOVERY IN HEAT PUMP SYSTEMS: SOLUTION TO REDUCE GLOBAL WARMING

    Directory of Open Access Journals (Sweden)

    Y. Baradey

    2015-11-01

    Full Text Available Energy conversion technologies, where waste heat recovery systems are included, have received significant attention in recent years due to reasons that include depletion of fossil fuel, increasing oil prices, changes in climatic conditions, and global warming. For low temperature applications, there are many sources of thermal waste heat, and several recovery systems and potential useful applications have been proposed by researchers [1-4]. In addition, many types of equipment are used to recover waste thermal energy from different systems at low, medium, and high temperature applications, such as heat exchangers, waste heat recovery boiler, thermo-electric generators, and recuperators. In this paper, the focus is on waste heat recovery from air conditioners, and an efficient application of these energy resources. Integration of solar energy with heat pump technologies and major factors that affect the feasibility of heat recovery systems have been studied and reviewed as well. KEYWORDS: waste heat recovery; heat pump.

  18. Multisensor Equipped Uav/ugv for Automated Exploration

    Science.gov (United States)

    Batzdorfer, S.; Bobbe, M.; Becker, M.; Harms, H.; Bestmann, U.

    2017-08-01

    The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn - german acronym for Automated Navigation and Communication for Exploration - a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras - RGB as well as IR - or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

  19. MULTISENSOR EQUIPPED UAV/UGV FOR AUTOMATED EXPLORATION

    Directory of Open Access Journals (Sweden)

    S. Batzdorfer

    2017-08-01

    Full Text Available The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn – german acronym for Automated Navigation and Communication for Exploration – a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras – RGB as well as IR – or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

  20. 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.

  1. Robust drone detection for day/night counter-UAV with static VIS and SWIR cameras

    Science.gov (United States)

    Müller, Thomas

    2017-05-01

    Recent progress in the development of unmanned aerial vehicles (UAVs) has led to more and more situations in which drones like quadrocopters or octocopters pose a potential serious thread or could be used as a powerful tool for illegal activities. Therefore, counter-UAV systems are required in a lot of applications to detect approaching drones as early as possible. In this paper, an efficient and robust algorithm is presented for UAV detection using static VIS and SWIR cameras. Whereas VIS cameras with a high resolution enable to detect UAVs in the daytime in further distances, surveillance at night can be performed with a SWIR camera. First, a background estimation and structural adaptive change detection process detects movements and other changes in the observed scene. Afterwards, the local density of changes is computed used for background density learning and to build up the foreground model which are compared in order to finally get the UAV alarm result. The density model is used to filter out noise effects, on the one hand. On the other hand, moving scene parts like moving leaves in the wind or driving cars on a street can easily be learned in order to mask such areas out and suppress false alarms there. This scene learning is done automatically simply by processing without UAVs in order to capture the normal situation. The given results document the performance of the presented approach in VIS and SWIR in different situations.

  2. 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.

  3. 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

  4. Urban forest topographical mapping using UAV LIDAR

    Science.gov (United States)

    Putut Ash Shidiq, Iqbal; Wibowo, Adi; Kusratmoko, Eko; Indratmoko, Satria; Ardhianto, Ronni; Prasetyo Nugroho, Budi

    2017-12-01

    Topographical data is highly needed by many parties, such as government institution, mining companies and agricultural sectors. It is not just about the precision, the acquisition time and data processing are also carefully considered. In relation with forest management, a high accuracy topographic map is necessary for planning, close monitoring and evaluating forest changes. One of the solution to quickly and precisely mapped topography is using remote sensing system. In this study, we test high-resolution data using Light Detection and Ranging (LiDAR) collected from unmanned aerial vehicles (UAV) to map topography and differentiate vegetation classes based on height in urban forest area of University of Indonesia (UI). The semi-automatic and manual classifications were applied to divide point clouds into two main classes, namely ground and vegetation. There were 15,806,380 point clouds obtained during the post-process, in which 2.39% of it were detected as ground.

  5. Phronesis, a diagnosis and recovery tool for system administrators

    CERN Document Server

    Haen, Christophe; Neufeld, Niko

    The administration of a large computer infrastructure is a great challenge in many aspects and requires experts in various domains to be successful. One criterion to which the users of a data center are directly exposed is the availability of the infrastructure. A high availability comes at the cost of constant and performant monitoring solutions as well as experts ready to diagnose and solve the problems. It is unfortunately not always possible to have an expert team constantly on site. This work presents a tool which is meant to support system administrators in their tasks by diagnosing problems, offering recovery solutions, and acting as a history and knowledge database. We will first detail what large data centers are composed of and what are the various competences that are required in order to successfully administrate them. This will lead us to consider the problems that are traditionally encountered by the administrators. Those problems are at the source of this project, and we will define our goals f...

  6. 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.

  7. A Novel Low-Overhead Recovery Approach for Distributed Systems

    Directory of Open Access Journals (Sweden)

    B. Gupta

    2009-01-01

    Full Text Available We have addressed the complex problem of recovery for concurrent failures in distributed computing environment. We have proposed a new approach in which we have effectively dealt with both orphan and lost messages. The proposed checkpointing and recovery approaches enable each process to restart from its recent checkpoint and hence guarantee the least amount of recomputation after recovery. It also means that a process needs to save only its recent local checkpoint. In this regard, we have introduced two new ideas. First, the proposed value of the common checkpointing interval is such that it enables an initiator process to log the minimum number of messages sent by each application process. Second, the determination of the lost messages is always done a priori by an initiator process; besides it is done while the normal distributed application is running. This is quite meaningful because it does not delay the recovery approach in any way.

  8. Direct Georeferencing of Uav Data Based on Simple Building Structures

    Science.gov (United States)

    Tampubolon, W.; Reinhardt, W.

    2016-06-01

    Unmanned Aerial Vehicle (UAV) data acquisition is more flexible compared with the more complex traditional airborne data acquisition. This advantage puts UAV platforms in a position as an alternative acquisition method in many applications including Large Scale Topographical Mapping (LSTM). LSTM, i.e. larger or equal than 1:10.000 map scale, is one of a number of prominent priority tasks to be solved in an accelerated way especially in third world developing countries such as Indonesia. As one component of fundamental geospatial data sets, large scale topographical maps are mandatory in order to enable detailed spatial planning. However, the accuracy of the products derived from the UAV data are normally not sufficient for LSTM as it needs robust georeferencing, which requires additional costly efforts such as the incorporation of sophisticated GPS Inertial Navigation System (INS) or Inertial Measurement Unit (IMU) on the platform and/or Ground Control Point (GCP) data on the ground. To reduce the costs and the weight on the UAV alternative solutions have to be found. This paper outlines a direct georeferencing method of UAV data by providing image orientation parameters derived from simple building structures and presents results of an investigation on the achievable results in a LSTM application. In this case, the image orientation determination has been performed through sequential images without any input from INS/IMU equipment. The simple building structures play a significant role in such a way that geometrical characteristics have been considered. Some instances are the orthogonality of the building's wall/rooftop and the local knowledge of the building orientation in the field. In addition, we want to include the Structure from Motion (SfM) approach in order to reduce the number of required GCPs especially for the absolute orientation purpose. The SfM technique applied to the UAV data and simple building structures additionally presents an effective tool

  9. DIRECT GEOREFERENCING OF UAV DATA BASED ON SIMPLE BUILDING STRUCTURES

    Directory of Open Access Journals (Sweden)

    W. Tampubolon

    2016-06-01

    Full Text Available Unmanned Aerial Vehicle (UAV data acquisition is more flexible compared with the more complex traditional airborne data acquisition. This advantage puts UAV platforms in a position as an alternative acquisition method in many applications including Large Scale Topographical Mapping (LSTM. LSTM, i.e. larger or equal than 1:10.000 map scale, is one of a number of prominent priority tasks to be solved in an accelerated way especially in third world developing countries such as Indonesia. As one component of fundamental geospatial data sets, large scale topographical maps are mandatory in order to enable detailed spatial planning. However, the accuracy of the products derived from the UAV data are normally not sufficient for LSTM as it needs robust georeferencing, which requires additional costly efforts such as the incorporation of sophisticated GPS Inertial Navigation System (INS or Inertial Measurement Unit (IMU on the platform and/or Ground Control Point (GCP data on the ground. To reduce the costs and the weight on the UAV alternative solutions have to be found. This paper outlines a direct georeferencing method of UAV data by providing image orientation parameters derived from simple building structures and presents results of an investigation on the achievable results in a LSTM application. In this case, the image orientation determination has been performed through sequential images without any input from INS/IMU equipment. The simple building structures play a significant role in such a way that geometrical characteristics have been considered. Some instances are the orthogonality of the building’s wall/rooftop and the local knowledge of the building orientation in the field. In addition, we want to include the Structure from Motion (SfM approach in order to reduce the number of required GCPs especially for the absolute orientation purpose. The SfM technique applied to the UAV data and simple building structures additionally presents an

  10. Implementing forward recovery using checkpointing in distributed systems

    Science.gov (United States)

    Long, Junsheng; Fuchs, W. K.; Abraham, Jacob A.

    1991-01-01

    The paper describes the implementation of a forward recovery scheme using checkpoints and replicated tasks. The implementation is based on the concept of lookahead execution and rollback validation. In the experiment, two tasks are selected for the normal execution and one for rollback validation. It is shown that the recovery strategy has nearly error-free execution time and an average redundancy lower than TMR.

  11. Model predictive control of a waste heat recovery system for automotive diesel engines

    NARCIS (Netherlands)

    Feru, E.; Willems, F.P.T.; de Jager, A.G.; Steinbuch, M.

    2014-01-01

    In this paper, a switching Model Predictive Control strategy is designed for an automotive Waste Heat Recovery system with two parallel evaporators. The objective is to maximize Waste Heat Recovery system output power, while satisfying safe operation under highly dynamic disturbances from the

  12. Control optimizations for heat recovery from CO2 refrigeration systems in supermarket

    International Nuclear Information System (INIS)

    Ge, Y.T.; Tassou, S.A.

    2014-01-01

    Highlights: • Application of supermarket energy control system model. • Heat recovery from CO 2 refrigeration system in supermarket space conditioning. • Effect of pressure controls of CO 2 refrigeration system on heat recovery potentials. • Control optimization of CO 2 refrigeration system for heat recovery in supermarket. - Abstract: A modern supermarket energy control system has a concurrent need for electricity, food refrigeration and space heating or cooling. Approximately 10% of this energy is for conventional gas-powered heating. In recent years, the use of CO 2 as a refrigerant in supermarket systems has received considerable attention due to its negligible contribution to direct greenhouse gas emissions and excellent thermophysical and heat transfer properties. CO 2 refrigeration systems also offer more compact component designs over a conventional HFC system and heat recovery potential from compressor discharge. In this paper, the heat recovery potential of an all-CO 2 cascade refrigeration system in a supermarket has been investigated using the supermarket simulation model “SuperSim” developed by the authors. It has been shown that at UK weather conditions, the heat recovery potential of CO 2 refrigeration systems can be increased by increasing the condenser/gas cooler pressure to the point where all the heat requirements are satisfied. However, the optimum level of heat recovery will vary during the year and the control system should be able to continuously optimize this level based on the relative cost of energy, i.e., gas and electricity

  13. 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.

  14. Safe Control for Spiral Recovery of Unmanned Aerial Vehicle

    Directory of Open Access Journals (Sweden)

    Chang-Jian Ru

    2014-01-01

    Full Text Available With unmanned aerial vehicles (UAVs widely used in both military and civilian fields, many events affecting their safe flying have emerged. That UAV’s entering into the spiral is such a typical safety issue. To solve this safety problem, a novel recovery control approach is proposed. First, the factors of spiral are analyzed. Then, based on control scheduling of state variables and nonlinear dynamic inversion control laws, the spiral recovery controller is designed to accomplish guidance and control of spiral recovery. Finally, the simulation results have illustrated that the proposed control method can ensure the UAV autonomous recovery from spiral effectively.

  15. Performance investigation of a cogeneration plant with the efficient and compact heat recovery system

    KAUST Repository

    Myat, Aung; Thu, Kyaw; Kim, Young-Deuk; Choon, Ng Kim

    2011-01-01

    This paper presents the performance investigation of a cogeneration plant equipped with an efficient waste heat recovery system. The proposed cogeneration system produces four types of useful energy namely: (i) electricity, (ii) steam, (iii) cooling

  16. 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.

  17. 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....

  18. 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.

  19. 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

  20. Concrete Crack Identification Using a UAV Incorporating Hybrid Image Processing.

    Science.gov (United States)

    Kim, Hyunjun; Lee, Junhwa; Ahn, Eunjong; Cho, Soojin; Shin, Myoungsu; Sim, Sung-Han

    2017-09-07

    Crack assessment is an essential process in the maintenance of concrete structures. In general, concrete cracks are inspected by manual visual observation of the surface, which is intrinsically subjective as it depends on the experience of inspectors. Further, it is time-consuming, expensive, and often unsafe when inaccessible structural members are to be assessed. Unmanned aerial vehicle (UAV) technologies combined with digital image processing have recently been applied to crack assessment to overcome the drawbacks of manual visual inspection. However, identification of crack information in terms of width and length has not been fully explored in the UAV-based applications, because of the absence of distance measurement and tailored image processing. This paper presents a crack identification strategy that combines hybrid image processing with UAV technology. Equipped with a camera, an ultrasonic displacement sensor, and a WiFi module, the system provides the image of cracks and the associated working distance from a target structure on demand. The obtained information is subsequently processed by hybrid image binarization to estimate the crack width accurately while minimizing the loss of the crack length information. The proposed system has shown to successfully measure cracks thicker than 0.1 mm with the maximum length estimation error of 7.3%.

  1. 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.

  2. Evaluating the effectiveness of low cost UAV generated topography for geomorphic change detection

    Science.gov (United States)

    Cook, K. L.

    2014-12-01

    With the recent explosion in the use and availability of unmanned aerial vehicle platforms and development of easy to use structure from motion software, UAV based photogrammetry is increasingly being adopted to produce high resolution topography for the study of surface processes. UAV systems can vary substantially in price and complexity, but the tradeoffs between these and the quality of the resulting data are not well constrained. We look at one end of this spectrum and evaluate the effectiveness of a simple low cost UAV setup for obtaining high resolution topography in a challenging field setting. Our study site is the Daan River gorge in western Taiwan, a rapidly eroding bedrock gorge that we have monitored with terrestrial Lidar since 2009. The site presents challenges for the generation and analysis of high resolution topography, including vertical gorge walls, vegetation, wide variation in surface roughness, and a complicated 3D morphology. In order to evaluate the accuracy of the UAV-derived topography, we compare it with terrestrial Lidar data collected during the same survey period. Our UAV setup combines a DJI Phantom 2 quadcopter with a 16 megapixel Canon Powershot camera for a total platform cost of less than $850. The quadcopter is flown manually, and the camera is programmed to take a photograph every 5 seconds, yielding 200-250 pictures per flight. We measured ground control points and targets for both the Lidar scans and the aerial surveys using a Leica RTK GPS with 1-2 cm accuracy. UAV derived point clouds were obtained using Agisoft Photoscan software. We conducted both Lidar and UAV surveys before and after a summer typhoon season, allowing us to evaluate the reliability of the UAV survey to detect geomorphic changes in the range of one to several meters. We find that this simple UAV setup can yield point clouds with an average accuracy on the order of 10 cm compared to the Lidar point clouds. Well-distributed and accurately located ground

  3. The effect of short recovery period investment on least-cost generation system expansion

    International Nuclear Information System (INIS)

    Yiqun He; David, A.K.; Fernando, P.N.

    1995-01-01

    The effect of the short recovery period of private investment on least-cost generation system expansion is analysed, and a trade-off method for generation system expansion, which gives consideration to both the least-cost strategy and the short recovery period of private investment, is presented. First, the optimal mix of generation units under a standard recovery period for all units is established, and then the surcharge, due to the difference between the short recovery period and the standard recovery period, is calculated and shared between all units. The former is an optimization to make best use of natural resources, and the latter is a trade-off method to spread the surcharge throughout the system. (Author)

  4. Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments

    Directory of Open Access Journals (Sweden)

    Pablo Ramon Soria

    2017-01-01

    Full Text Available The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors.

  5. 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.

  6. Double-Shell Tanks System Maintenance and Recovery Needs Report

    International Nuclear Information System (INIS)

    SMITH, D.F.

    2002-01-01

    This report represents an initial effort to identify maintenance equipment needed to support critical components used for delivery of waste feed to the Waste Isolation and Treatment Plant (WTP). Rough estimates of cost benefits for selected maintenance capabilities are provided. A follow-on to this report should include a detailed cost analysis showing cost benefits and tradeoffs in selection and development of specific maintenance capabilities. Critical component failures during delivery of waste feed from the DSTs to the WTP have the potential to idle WTP facilities if the duration of the recovery operations are long enough to allow the WTP to exhaust a planned 60-day lag storage capacity for waste feed. If a critical component within the transfer route fails, current planning does not provide for an alternative HLW feed source. Critical components with relatively high failure frequencies and recovery times are identified, along with a summary of documentation regarding historical maintenance and recovery operations and planning. Components, such as mixer pumps and transfer pumps, are estimated to have relatively long recovery times due, in part, to the current practice of sending spare pumps, when needed, off-site to a remote location, for vendor refurbishment and testing prior to installation in a tank. No capability is provided on-site for pump ''run-in''. As neither the spare pumps in storage, installed pumps, or other critical components are subjected to periodic preventive maintenance, and these critical components are planned to be operated intermittently over a long period of time, component failures are to be expected. Recommendations are made for further analysis to identify specific equipment cost benefits, development costs, and tradeoffs in selection of alternatives. This new equipment will provide capabilities for component storage and maintenance in line with vendor recommendations, reduce the duration of recovery operations, and support personnel

  7. DEVELOPMENT OF BIOSURFACTANT-MEDIATED OIL RECOVERY IN MODEL POROUS SYSTEMS AND COMPUTER SIMULATIONS OF BIOSURFACTANT-MEDIATED OIL RECOVERY

    Energy Technology Data Exchange (ETDEWEB)

    M.J. McInerney; S.K. Maudgalya; R. Knapp; M. Folmsbee

    2004-05-31

    Current technology recovers only one-third to one-half of the oil that is originally present in an oil reservoir. Entrapment of petroleum hydrocarbons by capillary forces is a major factor that limits oil recovery (1, 3, 4). Hydrocarbon displacement can occur if interfacial tension (IFT) between the hydrocarbon and aqueous phases is reduced by several orders of magnitude. Microbially-produced biosurfactants may be an economical method to recover residual hydrocarbons since they are effective at low concentrations. Previously, we showed that substantial mobilization of residual hydrocarbon from a model porous system occurs at biosurfactant concentrations made naturally by B. mojavensis strain JF-1 if a polymer and 2,3-butanediol were present (2). In this report, we include data on oil recovery from Berea sandstone experiments along with our previous data from sand pack columns in order to relate biosurfactant concentration to the fraction of oil recovered. We also investigate the effect that the JF-2 biosurfactant has on interfacial tension (IFT). The presence of a co-surfactant, 2,3-butanediol, was shown to improve oil recoveries possibly by changing the optimal salinity concentration of the formulation. The JF-2 biosurfactant lowered IFT by nearly 2 orders of magnitude compared to typical values of 28-29 mN/m. Increasing the salinity increased the IFT with or without 2,3-butanediol present. The lowest interfacial tension observed was 0.1 mN/m. Tertiary oil recovery experiments showed that biosurfactant solutions with concentrations ranging from 10 to 60 mg/l in the presence of 0.1 mM 2,3-butanediol and 1 g/l of partially hydrolyzed polyacrylamide (PHPA) recovered 10-40% of the residual oil present in Berea sandstone cores. When PHPA was used alone, about 10% of the residual oil was recovered. Thus, about 10% of the residual oil recovered in these experiments was due to the increase in viscosity of the displacing fluid. Little or no oil was recovered at

  8. A Biologically Based Chemo-Sensing UAV for Humanitarian Demining

    Directory of Open Access Journals (Sweden)

    Paul F.M.J. Verschure

    2008-11-01

    Full Text Available Antipersonnel mines, weapons of cheap manufacture but lethal effect, have a high impact on the population even decades after the conflicts have finished. Here we investigate the use of a chemo-sensing Unmanned Aerial Vehicle (cUAV for demining tasks. We developed a blimp based UAV that is equipped with a broadly tuned metal-thin oxide chemo-sensor. A number of chemical mapping strategies were investigated including two biologically based localization strategies derived from the moth chemical search that can optimize the efficiency of the detection and localization of explosives and therefore be used in the demining process. Additionally, we developed a control layer that allows for both fully autonomous and manual controlled flight, as well as for the scheduling of a fleet of cUAVs. Our results confirm the feasibility of this technology for demining in real-world scenarios and give further support to a biologically based approach where the understanding of biological systems is used to solve difficult engineering problems.

  9. A Biologically Based Chemo-Sensing UAV for Humanitarian Demining

    Directory of Open Access Journals (Sweden)

    Sergi Bermúdez i Badia

    2007-06-01

    Full Text Available Antipersonnel mines, weapons of cheap manufacture but lethal effect, have a high impact on the population even decades after the conflicts have finished. Here we investigate the use of a chemo-sensing Unmanned Aerial Vehicle (cUAV for demining tasks. We developed a blimp based UAV that is equipped with a broadly tuned metal-thin oxide chemo-sensor. A number of chemical mapping strategies were investigated including two biologically based localization strategies derived from the moth chemical search that can optimize the efficiency of the detection and localization of explosives and therefore be used in the demining process. Additionally, we developed a control layer that allows for both fully autonomous and manual controlled flight, as well as for the scheduling of a fleet of cUAVs. Our results confirm the feasibility of this technology for demining in real-world scenarios and give further support to a biologically based approach where the understanding of biological systems is used to solve difficult engineering problems.

  10. Deep Learning Approach for Car Detection in UAV Imagery

    Directory of Open Access Journals (Sweden)

    Nassim Ammour

    2017-03-01

    Full Text Available This paper presents an automatic solution to the problem of detecting and counting cars in unmanned aerial vehicle (UAV images. This is a challenging task given the very high spatial resolution of UAV images (on the order of a few centimetres and the extremely high level of detail, which require suitable automatic analysis methods. Our proposed method begins by segmenting the input image into small homogeneous regions, which can be used as candidate locations for car detection. Next, a window is extracted around each region, and deep learning is used to mine highly descriptive features from these windows. We use a deep convolutional neural network (CNN system that is already pre-trained on huge auxiliary data as a feature extraction tool, combined with a linear support vector machine (SVM classifier to classify regions into “car” and “no-car” classes. The final step is devoted to a fine-tuning procedure which performs morphological dilation to smooth the detected regions and fill any holes. In addition, small isolated regions are analysed further using a few sliding rectangular windows to locate cars more accurately and remove false positives. To evaluate our method, experiments were conducted on a challenging set of real UAV images acquired over an urban area. The experimental results have proven that the proposed method outperforms the state-of-the-art methods, both in terms of accuracy and computational time.

  11. A NEW APPROACH TO FAST MOSAIC UAV IMAGES

    Directory of Open Access Journals (Sweden)

    Q. Liu

    2012-09-01

    Full Text Available Unmanned Aerial Vehicles (UAVs have been widely used to acquire high quality terrain images of the areas of interest, particularly when such a task could potentially risk human life or even impossible as the areas cannot be accessed easily by surveyors. Once the images have been obtained, traditional photogrammetric processing process can be used to establish a relative orientation model and then, absolute orientation model with the procedures of space resection and intersection. In many such applications, the geo- referenced images which are stitched together to represent the geospatial relationships for the feature objects are sufficient. A fast or near real-time processing approach for UAV images using GPS/INS data has being investigated for years. One beneficial application of such approach is the capability of quick production of geo-referenced images for various engineering or business activities, such as urban and road planning, the site selection of factories and bridges, etc. In this paper, we have proposed a new fast processing approach for the UAV images collected with an integrated GPS/INS/Vision system. The approach features that the corresponding points between images have been determined, and then coordinate transformation is carried out to implement image stitching. The accuracy of corresponding points normally affects the quality of stitched images, but the results of our experiments revealed that the image stitching errors were obvious even the accuracy of corresponding points was high. The stitching errors could be caused by the changes of surface elevation.

  12. Uav Positioning and Collision Avoidance Based on RSS Measurements

    Science.gov (United States)

    Masiero, A.; Fissore, F.; Guarnieri, A.; Pirotti, F.; Vettore, A.

    2015-08-01

    In recent years, Unmanned Aerial Vehicles (UAVs) are attracting more and more attention in both the research and industrial communities: indeed, the possibility to use them in a wide range of remote sensing applications makes them a very flexible and attractive solution in both civil and commercial cases (e.g. precision agriculture, security and control, monitoring of sites, exploration of areas difficult to reach). Most of the existing UAV positioning systems rely on the use of the GPS signal. Despite this can be a satisfactory solution in open environments where the GPS signal is available, there are several operating conditions of interest where it is unavailable or unreliable (e.g. close to high buildings, or mountains, in indoor environments). Consequently, a different approach has to be adopted in these cases. This paper considers the use ofWiFi measurements in order to obtain position estimations of the device of interest. More specifically, to limit the costs for the devices involved in the positioning operations, an approach based on radio signal strengths (RSS) measurements is considered. Thanks to the use of a Kalman filter, the proposed approach takes advantage of the temporal dynamic of the device of interest in order to improve the positioning results initially provided by means of maximum likelihood estimations. The considered UAVs are assumed to be provided with communication devices, which can allow them to communicate with each other in order to improve their cooperation abilities. In particular, the collision avoidance problem is examined in this work.

  13. Distributed Flight Controls for UAVs, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Two novel flight control actuation concepts for UAV applications are proposed for research and development, both of which incorporate shape memory alloy (SMA) wires...

  14. UAV Mission Planning: From Robust to Agile

    NARCIS (Netherlands)

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

    2015-01-01

    Unmanned Aerial Vehicles (UAVs) are important assets for information gathering in Intelligence Surveillance and Reconnaissance (ISR) missions. Depending on the uncertainty in the planning parameters, the complexity of the mission and its constraints and requirements, different planning methods might

  15. Standing "the Watches" with Armed UAVs

    National Research Council Canada - National Science Library

    McCulloch, Francis

    2002-01-01

    This paper addresses the additional Options available to the operational commander in charge of conducting 'presence and monitoring' missions with the introduction of an armed capability on Unmanned Aerial Vehicles (UAVs...

  16. 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.

  17. Cycloidal Propulsion for UAV VTOL Applications

    National Research Council Canada - National Science Library

    Boschma, James

    1998-01-01

    .... This propulsion concept holds significant promise for adaptation to UAV VTOL operations. Thrust levels demonstrated were substantially higher than achievable by the best screw type propellers, and approximately equal to those of high end helicopters...

  18. Application of Low-Cost Fixed-Wing UAV for Inland Lakes Shoreline Investigation

    Science.gov (United States)

    Templin, Tomasz; Popielarczyk, Dariusz; Kosecki, Rafał

    2017-10-01

    One of the most important factors that influences the performance of geomorphologic parameters on urban lakes is the water level. It fluctuates periodically, causing shoreline changes. It is especially significant for typical environmental studies like bathymetric surveys, morphometric parameters calculation, sediment depth changes, thermal structure, water quality monitoring, etc. In most reservoirs, it can be obtained from digitized historical maps or plans or directly measured using the instruments such as: geodetic total station, GNSS receivers, UAV with different sensors, satellite and aerial photos, terrestrial and airborne light detection and ranging, or others. Today one of the most popular measuring platforms, increasingly applied in many applications is UAV. Unmanned aerial system can be a cheap, easy to use, on-demand technology for gathering remote sensing data. Our study presents a reliable methodology for shallow lake shoreline investigation with the use of a low-cost fixed-wing UAV system. The research was implemented on a small, eutrophic urban inland reservoir located in the northern part of Poland—Lake Suskie. The geodetic TS, and RTK/GNSS measurements, hydroacoustic soundings and experimental aerial mapping were conducted by the authors in 2012-2015. The article specifically describes the UAV system used for experimental measurements, the obtained results and the accuracy analysis. Final conclusions demonstrate that even a low-cost fixed-wing UAV can provide an excellent tool for accurately surveying a shallow lake shoreline and generate valuable geoinformation data collected definitely faster than when traditional geodetic methods are employed.

  19. POTENTIAL OF UAV-BASED LASER SCANNER AND MULTISPECTRAL CAMERA DATA IN BUILDING INSPECTION

    Directory of Open Access Journals (Sweden)

    D. Mader

    2016-06-01

    Full Text Available Conventional building inspection of bridges, dams or large constructions in general is rather time consuming and often cost expensive due to traffic closures and the need of special heavy vehicles such as under-bridge inspection units or other large lifting platforms. In consideration that, an unmanned aerial vehicle (UAV will be more reliable and efficient as well as less expensive and simpler to operate. The utilisation of UAVs as an assisting tool in building inspections is obviously. Furthermore, light-weight special sensors such as infrared and thermal cameras as well as laser scanner are available and predestined for usage on unmanned aircraft systems. Such a flexible low-cost system is realized in the ADFEX project with the goal of time-efficient object exploration, monitoring and damage detection. For this purpose, a fleet of UAVs, equipped with several sensors for navigation, obstacle avoidance and 3D object-data acquisition, has been developed and constructed. This contribution deals with the potential of UAV-based data in building inspection. Therefore, an overview of the ADFEX project, sensor specifications and requirements of building inspections in general are given. On the basis of results achieved in practical studies, the applicability and potential of the UAV system in building inspection will be presented and discussed.

  20. A Benchmark and Simulator for UAV Tracking

    KAUST Repository

    Mueller, Matthias; Smith, Neil; Ghanem, Bernard

    2016-01-01

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

  1. A Benchmark and Simulator for UAV Tracking

    KAUST Repository

    Mueller, Matthias

    2016-09-16

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

  2. Passive ventilation systems with heat recovery and night cooling

    DEFF Research Database (Denmark)

    Hviid, Christian Anker; Svendsen, Svend

    2008-01-01

    with little energy consumption and with satisfying indoor climate. The concept is based on using passive measures like stack and wind driven ventilation, effective night cooling and low pressure loss heat recovery using two fluid coupled water-to-air heat exchangers developed at the Technical University...... simulation program ESP-r to model the heat and air flows and the results show the feasibility of the proposed ventilation concept in terms of low energy consumption and good indoor climate....

  3. 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.

  4. Feasibility analysis of a small-scale ORC energy recovery system for vehicular application

    International Nuclear Information System (INIS)

    Capata, Roberto; Toro, Claudia

    2014-01-01

    Highlights: • We analyzed the feasibility of an “on-board” ORC recovery system to power auxiliaries. • Performance of the ORC cycle has been simulated with CAMEL-Pro™. • Several relevant ORC components have been designed. • Approximate characteristics dimensions of HRSG and evaporator have been calculated and a preliminary layout provided. • The evaluation of a possible assembling of the system has been developed. - Abstract: This paper analyses the feasibility of an “on-board” innovative and patented ORC recovery system. The vehicle thermal source can be either a typical diesel engine (1400 cc) or a small gas turbine set (15–30 kW). The sensible heat recovered from the exhaust gases feeds the energy recovery system that can produce sufficient extra power to sustain the conditioning system and other auxiliaries. The concept is suitable for all types of thermally propelled vehicles, but it is studied here for automotive applications. The characteristics of the organic cycle-based recovery system are discussed, and a preliminary design of the main components, such as the heat recovery exchanger, the evaporator and the pre-heater is presented. The main challenge are the imposed size and weight limitations that require a particular design for this compact recovery system. A possible system layout is analyzed and the requirements for a prototypal application are investigated

  5. IN SITU STEAM ENHANCED RECOVERY PROCESS - HUGHES ENVIRONMENTAL SYSTEMS, INC. - INNOVATIVE TECHNOLOGY EVALUATION REPORT

    Science.gov (United States)

    This Innovative Technology Evaluation report summarizes the findings of an evaluation of the in situ Steam Enhanced Recovery Process (SERP) operated by Hughes Environmental Systems, Inc. at the Rainbow Disposal facility in Huntington Beach, California. he technology demonstration...

  6. Bypass valve and coolant flow controls for optimum temperatures in waste heat recovery systems

    Science.gov (United States)

    Meisner, Gregory P

    2013-10-08

    Implementing an optimized waste heat recovery system includes calculating a temperature and a rate of change in temperature of a heat exchanger of a waste heat recovery system, and predicting a temperature and a rate of change in temperature of a material flowing through a channel of the waste heat recovery system. Upon determining the rate of change in the temperature of the material is predicted to be higher than the rate of change in the temperature of the heat exchanger, the optimized waste heat recovery system calculates a valve position and timing for the channel that is configurable for achieving a rate of material flow that is determined to produce and maintain a defined threshold temperature of the heat exchanger, and actuates the valve according to the calculated valve position and calculated timing.

  7. Estimation of free-hydrocarbon recovery from dual-pump systems

    International Nuclear Information System (INIS)

    Charbeneau, R.J.

    1995-01-01

    Free-product hydrocarbon which floats on the water table may be recovered using single-pump and dual-pump systems. The factors that affect the long-term free-product recovery using dual-pump systems include the free-product thickness as measured in monitoring wells, the ground-water pumping rate, hydrocarbon density and viscosity, and the soil permeability. This paper presents a simple model for prediction of free-product recovery using dual-pump systems. The model predicts the long-term rather than short-term recovery rates, and lends itself to spreadsheet calculations on microcomputers. A particularly simple form arises for cases where the drawdown is small. An application for estimating recovery from a dual-pump system is presented, and limitations of the model are summarized

  8. Use of common time base for checkpointing and rollback recovery in a distributed system

    Science.gov (United States)

    Ramanathan, Parameswaran; Shin, Kang G.

    1993-01-01

    An approach to checkpointing and rollback recovery in a distributed computing system using a common time base is proposed. A common time base is established in the system using a hardware clock synchronization algorithm. This common time base is coupled with the idea of pseudo-recovery points to develop a checkpointing algorithm that has the following advantages: reduced wait for commitment for establishing recovery lines, fewer messages to be exchanged, and less memory requirement. These advantages are assessed quantitatively by developing a probabilistic model.

  9. 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

  10. Application of a power recovery system to gas turbine exhaust gases

    International Nuclear Information System (INIS)

    Baudat, N.P.; James, O.R.

    1979-01-01

    This paper discusses the application of a power recovery system to recover waste heat from the exhaust gases of gas turbines and convert this energy into shaft horsepower. Also discussed are power cycles, selection of power fluid, equipment selection, and application of the power recovery system to various gas turbines. Several charts and tables are included: process flow diagram, cycle efficiencies, curve for estimating recoverable horsepower

  11. 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

  12. 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...

  13. 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...

  14. Heat pipe heat exchangers in heat recovery systems

    Energy Technology Data Exchange (ETDEWEB)

    Stulc, P; Vasiliev, L L; Kiseljev, V G; Matvejev, Ju N

    1985-01-01

    The results of combined research and development activities of the National Research Institute for Machine Design, Prague, C.S.S.R. and the Institute for Heat and Mass Transfer, Minsk, U.S.S.R. concerning intensification heat pipes used in heat pipe heat exchangers are presented. This sort of research has been occasioned by increased interest in heat power economy trying to utilise waste heat produced by various technological processes. The developed heat pipes are deployed in construction of air-air, gas-air or gas-gas heat recovery exchangers in the field of air-engineering and air-conditioning. (author).

  15. Recovery Migration after Hurricanes Katrina and Rita: Spatial Concentration and Intensification in the Migration System

    Science.gov (United States)

    Fussell, Elizabeth; DeWaard, Jack

    2015-01-01

    Changes in the human migration systems of Hurricane Katrina- and Rita-affected Gulf of Mexico coastline counties provide an example of how climate change may affect coastal populations. Crude climate change models predict a mass migration of “climate refugees,” but an emerging literature on environmental migration suggests most migration will be short-distance and short-duration within existing migration systems, with implications for the population recovery of disaster-struck places. In this research, we derive a series of hypotheses on recovery migration predicting how the migration system of hurricane-affected coastline counties in the Gulf of Mexico was likely to have changed between the pre-disaster and the recovery periods. We test these hypotheses using data from the Internal Revenue Service on annual county-level migration flows, comparing the recovery period migration system (2007–2009) to the pre-disaster period (1999–2004). By observing county-to-county ties and flows we find that recovery migration was strong, as the migration system of the disaster-affected coastline counties became more spatially concentrated while flows within it intensified and became more urbanized. Our analysis demonstrates how migration systems are likely to be affected by the more intense and frequent storms anticipated by climate change scenarios with implications for the population recovery of disaster-affected places. PMID:26084982

  16. Recovery Migration After Hurricanes Katrina and Rita: Spatial Concentration and Intensification in the Migration System.

    Science.gov (United States)

    Curtis, Katherine J; Fussell, Elizabeth; DeWaard, Jack

    2015-08-01

    Changes in the human migration systems of the Gulf of Mexico coastline counties affected by Hurricanes Katrina and Rita provide an example of how climate change may affect coastal populations. Crude climate change models predict a mass migration of "climate refugees," but an emerging literature on environmental migration suggests that most migration will be short-distance and short-duration within existing migration systems, with implications for the population recovery of disaster-stricken places. In this research, we derive a series of hypotheses on recovery migration predicting how the migration system of hurricane-affected coastline counties in the Gulf of Mexico was likely to have changed between the pre-disaster and the recovery periods. We test these hypotheses using data from the Internal Revenue Service on annual county-level migration flows, comparing the recovery period migration system (2007-2009) with the pre-disaster period (1999-2004). By observing county-to-county ties and flows, we find that recovery migration was strong: the migration system of the disaster-affected coastline counties became more spatially concentrated, while flows within it intensified and became more urbanized. Our analysis demonstrates how migration systems are likely to be affected by the more intense and frequent storms anticipated by climate change scenarios, with implications for the population recovery of disaster-affected places.

  17. Waste heat recovery system for recapturing energy after engine aftertreatment systems

    Science.gov (United States)

    Ernst, Timothy C.; Nelson, Christopher R.

    2014-06-17

    The disclosure provides a waste heat recovery (WHR) system including a Rankine cycle (RC) subsystem for converting heat of exhaust gas from an internal combustion engine, and an internal combustion engine including the same. The WHR system includes an exhaust gas heat exchanger that is fluidly coupled downstream of an exhaust aftertreatment system and is adapted to transfer heat from the exhaust gas to a working fluid of the RC subsystem. An energy conversion device is fluidly coupled to the exhaust gas heat exchanger and is adapted to receive the vaporized working fluid and convert the energy of the transferred heat. The WHR system includes a control module adapted to control at least one parameter of the RC subsystem based on a detected aftertreatment event of a predetermined thermal management strategy of the aftertreatment system.

  18. Calculation of critical fault recovery time for nonlinear systems based on region of attraction analysis

    DEFF Research Database (Denmark)

    Tabatabaeipour, Mojtaba; Blanke, Mogens

    2014-01-01

    of a system. It must be guaranteed that the trajectory of a system subject to fault remains in the region of attraction (ROA) of the post-fault system during this time. This paper proposes a new algorithm to compute the critical fault recovery time for nonlinear systems with polynomial vector elds using sum...

  19. Research on the attitude of small UAV based on MEMS devices

    Science.gov (United States)

    Shi, Xiaojie; Lu, Libin; Jin, Guodong; Tan, Lining

    2017-05-01

    This paper mainly introduces the research principle and implementation method of the small UAV navigation attitude system based on MEMS devices. The Gauss - Newton method based on least squares is used to calibrate the MEMS accelerometer and gyroscope for calibration. Improve the accuracy of the attitude by using the modified complementary filtering to correct the attitude angle error. The experimental data show that the design of the attitude and attitude system in this paper to meet the requirements of small UAV attitude accuracy to achieve a small, low cost.

  20. Wetland Vegetation Integrity Assessment with Low Altitude Multispectral Uav Imagery

    Science.gov (United States)

    Boon, M. A.; Tesfamichael, S.

    2017-08-01

    The use of multispectral sensors on Unmanned Aerial Vehicles (UAVs) was until recently too heavy and bulky although this changed in recent times and they are now commercially available. The focus on the usage of these sensors is mostly directed towards the agricultural sector where the focus is on precision farming. Applications of these sensors for mapping of wetland ecosystems are rare. Here, we evaluate the performance of low altitude multispectral UAV imagery to determine the state of wetland vegetation in a localised spatial area. Specifically, NDVI derived from multispectral UAV imagery was used to inform the determination of the integrity of the wetland vegetation. Furthermore, we tested different software applications for the processing of the imagery. The advantages and disadvantages we experienced of these applications are also shortly presented in this paper. A JAG-M fixed-wing imaging system equipped with a MicaScene RedEdge multispectral camera were utilised for the survey. A single surveying campaign was undertaken in early autumn of a 17 ha study area at the Kameelzynkraal farm, Gauteng Province, South Africa. Structure-from-motion photogrammetry software was used to reconstruct the camera position's and terrain features to derive a high resolution orthoretified mosaic. MicaSense Atlas cloud-based data platform, Pix4D and PhotoScan were utilised for the processing. The WET-Health level one methodology was followed for the vegetation assessment, where wetland health is a measure of the deviation of a wetland's structure and function from its natural reference condition. An on-site evaluation of the vegetation integrity was first completed. Disturbance classes were then mapped using the high resolution multispectral orthoimages and NDVI. The WET-Health vegetation module completed with the aid of the multispectral UAV products indicated that the vegetation of the wetland is largely modified ("D" PES Category) and that the condition is expected to

  1. EVALUATION OF THE QUALITY OF ACTION CAMERAS WITH WIDE-ANGLE LENSES IN UAV PHOTOGRAMMETRY

    Directory of Open Access Journals (Sweden)

    H. Hastedt

    2016-06-01

    Full Text Available 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. Herewith the GoPro Hero4 is evaluated using different acquisition modes. It is investigated to which extent the standard calibration approaches in OpenCV or Agisoft PhotoScan/Lens can be applied to the evaluation processes in UAV photogrammetry. Therefore different calibration setups and processing procedures are assessed and discussed. Additionally a pre-correction of the initial distortion by GoPro Studio and its application to the photogrammetric purposes will be evaluated. An experimental setup with a set of control points and a prospective flight scenario is chosen to evaluate the processing results using Agisoft PhotoScan. Herewith it is analysed to which extent a pre-calibration and pre-correction of a GoPro Hero4 will reinforce the reliability and accuracy of a flight scenario.

  2. Evaluation of the Quality of Action Cameras with Wide-Angle Lenses in Uav Photogrammetry

    Science.gov (United States)

    Hastedt, H.; Ekkel, T.; Luhmann, T.

    2016-06-01

    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. Herewith the GoPro Hero4 is evaluated using different acquisition modes. It is investigated to which extent the standard calibration approaches in OpenCV or Agisoft PhotoScan/Lens can be applied to the evaluation processes in UAV photogrammetry. Therefore different calibration setups and processing procedures are assessed and discussed. Additionally a pre-correction of the initial distortion by GoPro Studio and its application to the photogrammetric purposes will be evaluated. An experimental setup with a set of control points and a prospective flight scenario is chosen to evaluate the processing results using Agisoft PhotoScan. Herewith it is analysed to which extent a pre-calibration and pre-correction of a GoPro Hero4 will reinforce the reliability and accuracy of a flight scenario.

  3. UAV Deployment Exercise for Mapping Purposes: Evaluation of Emergency Response Applications.

    Science.gov (United States)

    Boccardo, Piero; Chiabrando, Filiberto; Dutto, Furio; Tonolo, Fabio Giulio; Lingua, Andrea

    2015-07-02

    Exploiting the decrease of costs related to UAV technology, the humanitarian community started piloting the use of similar systems in humanitarian crises several years ago in different application fields, i.e., disaster mapping and information gathering, community capacity building, logistics and even transportation of goods. Part of the author's group, composed of researchers in the field of applied geomatics, has been piloting the use of UAVs since 2006, with a specific focus on disaster management application. In the framework of such activities, a UAV deployment exercise was jointly organized with the Regional Civil Protection authority, mainly aimed at assessing the operational procedures to deploy UAVs for mapping purposes and the usability of the acquired data in an emergency response context. In the paper the technical features of the UAV platforms will be described, comparing the main advantages/disadvantages of fixed-wing versus rotor platforms. The main phases of the adopted operational procedure will be discussed and assessed especially in terms of time required to carry out each step, highlighting potential bottlenecks and in view of the national regulation framework, which is rapidly evolving. Different methodologies for the processing of the acquired data will be described and discussed, evaluating the fitness for emergency response applications.

  4. 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.

  5. UAV Deployment Exercise for Mapping Purposes: Evaluation of Emergency Response Applications

    Directory of Open Access Journals (Sweden)

    Piero Boccardo

    2015-07-01

    Full Text Available Exploiting the decrease of costs related to UAV technology, the humanitarian community started piloting the use of similar systems in humanitarian crises several years ago in different application fields, i.e., disaster mapping and information gathering, community capacity building, logistics and even transportation of goods. Part of the author’s group, composed of researchers in the field of applied geomatics, has been piloting the use of UAVs since 2006, with a specific focus on disaster management application. In the framework of such activities, a UAV deployment exercise was jointly organized with the Regional Civil Protection authority, mainly aimed at assessing the operational procedures to deploy UAVs for mapping purposes and the usability of the acquired data in an emergency response context. In the paper the technical features of the UAV platforms will be described, comparing the main advantages/disadvantages of fixed-wing versus rotor platforms. The main phases of the adopted operational procedure will be discussed and assessed especially in terms of time required to carry out each step, highlighting potential bottlenecks and in view of the national regulation framework, which is rapidly evolving. Different methodologies for the processing of the acquired data will be described and discussed, evaluating the fitness for emergency response applications.

  6. 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...

  7. Study on a heat recovery system for the thermal power plant utilizing air cooling island

    International Nuclear Information System (INIS)

    Sun, Jian; Fu, Lin; Sun, Fangtian; Zhang, Shigang

    2014-01-01

    A new heat recovery system for CHP (combined heat and power) systems named HRU (heat recovery unit) is presented, which could recover the low grade heat of exhausted steam from the turbine at the thermal power plant directly. Heat recovery of exhausted steam is often accomplished by recovering the heat of cooling water in current systems. Therefore, two processes of heat transfer is needed at least. However, exhausted steam could be condensed in the evaporator of HRU directly, which reduce one process of heat transfer. A special evaporator is designed condense the exhausted steam directly. Simulated results are compared to experiments, which could include the calculation of heat transfer coefficients of different parts of HRU. It is found that about 25Mw of exhausted steam is recovered by this system. HRU could be promising for conventional CHP systems, which could increase the total energy efficiency obviously and enlarge the heating capacity of a built CHP system. - Highlights: • A new heat recovery system for thermal power plant is presented. • A mathematical model including heat transfer coefficients calculation is given. • This heat recovery system is experimented at a thermal power plant. • Performances of this system under different working conditions are simulated

  8. Bio-inspired UAV routing, source localization, and acoustic signature classification for persistent surveillance

    Science.gov (United States)

    Burman, Jerry; Hespanha, Joao; Madhow, Upamanyu; Pham, Tien

    2011-06-01

    A team consisting of Teledyne Scientific Company, the University of California at Santa Barbara and the Army Research Laboratory* is developing technologies in support of automated data exfiltration from heterogeneous battlefield sensor networks to enhance situational awareness for dismounts and command echelons. Unmanned aerial vehicles (UAV) provide an effective means to autonomously collect data from a sparse network of unattended ground sensors (UGSs) that cannot communicate with each other. UAVs are used to reduce the system reaction time by generating autonomous collection routes that are data-driven. Bio-inspired techniques for search provide a novel strategy to detect, capture and fuse data. A fast and accurate method has been developed to localize an event by fusing data from a sparse number of UGSs. This technique uses a bio-inspired algorithm based on chemotaxis or the motion of bacteria seeking nutrients in their environment. A unique acoustic event classification algorithm was also developed based on using swarm optimization. Additional studies addressed the problem of routing multiple UAVs, optimally placing sensors in the field and locating the source of gunfire at helicopters. A field test was conducted in November of 2009 at Camp Roberts, CA. The field test results showed that a system controlled by bio-inspired software algorithms can autonomously detect and locate the source of an acoustic event with very high accuracy and visually verify the event. In nine independent test runs of a UAV, the system autonomously located the position of an explosion nine times with an average accuracy of 3 meters. The time required to perform source localization using the UAV was on the order of a few minutes based on UAV flight times. In June 2011, additional field tests of the system will be performed and will include multiple acoustic events, optimal sensor placement based on acoustic phenomenology and the use of the International Technology Alliance (ITA

  9. 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

  10. Diverse Planning for UAV Control and Remote Sensing

    Directory of Open Access Journals (Sweden)

    Jan Tožička

    2016-12-01

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

  11. Investigation of recovery system for Am and Cm. Results in 1999

    International Nuclear Information System (INIS)

    Watanabe, Masayuki; Kamiya, Masayoshi; Tanaka, Hiroshi

    2000-07-01

    In JAPAN NUCLEAR CYCLE DEVELOPMENT INSTITUTE, the feasibility study has been carried out in order to evaluate various methods of FBR cycle technology and to propose candidate concepts of practical technology. As a part of this, we investigated material balance and a process flow diagram of SETFICS process for the recovery system of Am and Cm from high level radioactive liquid waste, and we preliminarily evaluated the equipment scale, the cost and waste generation rate of this system. As a result, it was obtained that these values are about 17,15 and 10%, respectively, of the recycle plant based on the simplified PUREX process. In addition, we investigated preliminary flowsheets of 4 recovery systems for Am and Cm, and compared each to each of them. It was evaluated that the equipment scale of any process was also equivalent. From these results, each system is applicable as the recovery system of Am and Cm. But these results suggest that the facility may be much larger than the PUREX plant, in spite of small contents of the recovery materials in each system. Therefore, whichever method is applied to the recovery system of Am and Cm, we need to develop the process in order to make the system more compact and economical. (author)

  12. Towards Autonomous Modular UAV Missions: The Detection, Geo-Location and Landing Paradigm

    Science.gov (United States)

    Kyristsis, Sarantis; Antonopoulos, Angelos; Chanialakis, Theofilos; Stefanakis, Emmanouel; Linardos, Christos; Tripolitsiotis, Achilles; Partsinevelos, Panagiotis

    2016-01-01

    Nowadays, various unmanned aerial vehicle (UAV) applications become increasingly demanding since they require real-time, autonomous and intelligent functions. Towards this end, in the present study, a fully autonomous UAV scenario is implemented, including the tasks of area scanning, target recognition, geo-location, monitoring, following and finally landing on a high speed moving platform. The underlying methodology includes AprilTag target identification through Graphics Processing Unit (GPU) parallelized processing, image processing and several optimized locations and approach algorithms employing gimbal movement, Global Navigation Satellite System (GNSS) readings and UAV navigation. For the experimentation, a commercial and a custom made quad-copter prototype were used, portraying a high and a low-computational embedded platform alternative. Among the successful targeting and follow procedures, it is shown that the landing approach can be successfully performed even under high platform speeds. PMID:27827883

  13. A Stereo Dual-Channel Dynamic Programming Algorithm for UAV Image Stitching.

    Science.gov (United States)

    Li, Ming; Chen, Ruizhi; Zhang, Weilong; Li, Deren; Liao, Xuan; Wang, Lei; Pan, Yuanjin; Zhang, Peng

    2017-09-08

    Dislocation is one of the major challenges in unmanned aerial vehicle (UAV) image stitching. In this paper, we propose a new algorithm for seamlessly stitching UAV images based on a dynamic programming approach. Our solution consists of two steps: Firstly, an image matching algorithm is used to correct the images so that they are in the same coordinate system. Secondly, a new dynamic programming algorithm is developed based on the concept of a stereo dual-channel energy accumulation. A new energy aggregation and traversal strategy is adopted in our solution, which can find a more optimal seam line for image stitching. Our algorithm overcomes the theoretical limitation of the classical Duplaquet algorithm. Experiments show that the algorithm can effectively solve the dislocation problem in UAV image stitching, especially for the cases in dense urban areas. Our solution is also direction-independent, which has better adaptability and robustness for stitching images.

  14. The Combination of Spherical Photogrammetry and UAV for 3D Modeling

    Science.gov (United States)

    Ihsanudin, T.; Affriani, A. R.

    2017-12-01

    The complete of 3D models required the object that was recorded from both side and top. If the object recorded from above, then the object from the side can not be covered, and if the objects recorded from the side, it can not be covered from the top. Recording of objects from the side using spherical photogrammetry method and from the top using UAV method. The merge of both models using a conform transformation, by bringing the spherical photogrammetry coordinates system to the UAV model. The object of this research is Ratu Boko temple, Sleman, Yogyakarta. The spherical photogrammetry recording was performed by rotating the camera in 360° angle on the entire area of the temple. The area consists of 12 stations. The UAV method uses a drone with flight attitude of 20 meters. The merge of the both models produced the completeness of the temple model from the top and side.

  15. Multiple UAV Cooperation for Wildfire Monitoring

    Science.gov (United States)

    Lin, Zhongjie

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

  16. NMR transmit-receive system with short recovery time and effective isolation

    Science.gov (United States)

    Jurga, K.; Reynhardt, E. C.; Jurga, S.

    A transmit-receive system with a short recovery time and excellent isolation has been developed. The system operates in conjunction with an ENI Model 3200L broadband amplifier and a spin-lock NMR pulse spectrometer. The system has been tested in the frequency range 5.5 to 52 MHz and seems not to generate any background noise.

  17. Integrated energy and emission management for heavy-duty diesel engines with waste heat recovery system

    NARCIS (Netherlands)

    Willems, F.P.T.; Kupper, F.; Rascanu, G.; Feru, E.

    2015-01-01

    Rankine-cycleWasteHeatRecovery (WHR)systems are promising solutions to reduce fuel consumption for trucks. Due to coupling between engine andWHR system, control of these complex systems is challenging. This study presents an integrated energy and emission management strategy for an Euro-VI Diesel

  18. Cluster as a Service for Disaster Recovery in Intercloud Systems: Design and Modeling

    OpenAIRE

    Mohammad Ali Khoshkholghi

    2014-01-01

    Nowadays, all modern IT technologies aim to create dynamic and flexible environments. For this reason, InterCloud has been designed to provide a vast and flexible virtualized environment in which many clouds can interact with one another in a dynamic way. Disaster recovery is one of the main applications of InterCloud which can be supported by Cluster as a Service. However, the previous studies addressed disaster recovery and Cluster as a Service separately. In addition, system backup and dis...

  19. Interference analysis for UAV connectivity over LTE using aerial radio measurements

    DEFF Research Database (Denmark)

    Kovacs, Istvan; Amorim, Rafhael Medeiros de; Nguyen, Huan Cong

    2017-01-01

    . In this paper, we use empirical measurements in live rural LTE networks to assess the impact of uplink and downlink radio interference on the UAV radio connectivity performance. Further, we provide a baseline analysis on the potential of interference mitigation schemes, needed to provide a reliable radio...... for these services is that the radio communication link must reliably cover a wide(er) area, when compared to the visual-line-of-sight range radio links currently used. Standardized cellular systems such as Long Term Evolution UMTS (LTE), are an obvious candidate to provide the radio communication link to UAVs...

  20. Unmanned aerial vehicles (UAVs for surveying marine fauna: a dugong case study.

    Directory of Open Access Journals (Sweden)

    Amanda Hodgson

    Full Text Available Aerial surveys of marine mammals are routinely conducted to assess and monitor species' habitat use and population status. In Australia, dugongs (Dugong dugon are regularly surveyed and long-term datasets have formed the basis for defining habitat of high conservation value and risk assessments of human impacts. Unmanned aerial vehicles (UAVs may facilitate more accurate, human-risk free, and cheaper aerial surveys. We undertook the first Australian UAV survey trial in Shark Bay, western Australia. We conducted seven flights of the ScanEagle UAV, mounted with a digital SLR camera payload. During each flight, ten transects covering a 1.3 km(2 area frequently used by dugongs, were flown at 500, 750 and 1000 ft. Image (photograph capture was controlled via the Ground Control Station and the capture rate was scheduled to achieve a prescribed 10% overlap between images along transect lines. Images were manually reviewed post hoc for animals and scored according to sun glitter, Beaufort Sea state and turbidity. We captured 6243 images, 627 containing dugongs. We also identified whales, dolphins, turtles and a range of other fauna. Of all possible dugong sightings, 95% (CI = 90%, 98% were subjectively classed as 'certain' (unmistakably dugongs. Neither our dugong sighting rate, nor our ability to identify dugongs with certainty, were affected by UAV altitude. Turbidity was the only environmental variable significantly affecting the dugong sighting rate. Our results suggest that UAV systems may not be limited by sea state conditions in the same manner as sightings from manned surveys. The overlap between images proved valuable for detecting animals that were masked by sun glitter in the corners of images, and identifying animals initially captured at awkward body angles. This initial trial of a basic camera system has successfully demonstrated that the ScanEagle UAV has great potential as a tool for marine mammal aerial surveys.

  1. Unmanned aerial vehicles (UAVs) for surveying marine fauna: a dugong case study.

    Science.gov (United States)

    Hodgson, Amanda; Kelly, Natalie; Peel, David

    2013-01-01

    Aerial surveys of marine mammals are routinely conducted to assess and monitor species' habitat use and population status. In Australia, dugongs (Dugong dugon) are regularly surveyed and long-term datasets have formed the basis for defining habitat of high conservation value and risk assessments of human impacts. Unmanned aerial vehicles (UAVs) may facilitate more accurate, human-risk free, and cheaper aerial surveys. We undertook the first Australian UAV survey trial in Shark Bay, western Australia. We conducted seven flights of the ScanEagle UAV, mounted with a digital SLR camera payload. During each flight, ten transects covering a 1.3 km(2) area frequently used by dugongs, were flown at 500, 750 and 1000 ft. Image (photograph) capture was controlled via the Ground Control Station and the capture rate was scheduled to achieve a prescribed 10% overlap between images along transect lines. Images were manually reviewed post hoc for animals and scored according to sun glitter, Beaufort Sea state and turbidity. We captured 6243 images, 627 containing dugongs. We also identified whales, dolphins, turtles and a range of other fauna. Of all possible dugong sightings, 95% (CI = 90%, 98%) were subjectively classed as 'certain' (unmistakably dugongs). Neither our dugong sighting rate, nor our ability to identify dugongs with certainty, were affected by UAV altitude. Turbidity was the only environmental variable significantly affecting the dugong sighting rate. Our results suggest that UAV systems may not be limited by sea state conditions in the same manner as sightings from manned surveys. The overlap between images proved valuable for detecting animals that were masked by sun glitter in the corners of images, and identifying animals initially captured at awkward body angles. This initial trial of a basic camera system has successfully demonstrated that the ScanEagle UAV has great potential as a tool for marine mammal aerial surveys.

  2. CO2 recovery system using solar energy; Taiyo energy wo riyoshita CO2 bunri kaishu system

    Energy Technology Data Exchange (ETDEWEB)

    Hosho, F; Naito, H; Yugami, H; Arashi, H [Tohoku University, Sendai (Japan)

    1997-11-25

    As a part of studies on chemical absorption process with MEA (monoethanolamine) for CO2 recovery from boiler waste gas in thermal power plants, use of solar heat as MEA regenerating energy was studied. An integrated stationary evacuated concentrator (ISEC) effective as collector in a medium temperature range was used to realize a regenerating temperature range of 100-120degC. ISEC is featured by vacuum insulation, use of selective absorbing membranes for an absorber, a CPC (compound parabolic concentrator)-shaped reflection mirror, and high-efficiency. An MEA regenerator is composed of an ISEC and PG(propylene glycol)-MEA heat exchanger, and circulates PG as heat medium. Heat collection experiment was also made using water instead of MEA. Both batch and continuous systems could supply a heat quantity necessary for MEA regeneration. CO2 concentration in the top of the regenerator rapidly decreased with PG circulation regenerating MEA. As mol ratios of CO2/MEA were compared between before and after regeneration, a recovery rate was estimated to be 59.4% for the batch system. 8 figs., 4 tabs.

  3. Method for controlling exhaust gas heat recovery systems in vehicles

    Science.gov (United States)

    Spohn, Brian L.; Claypole, George M.; Starr, Richard D

    2013-06-11

    A method of operating a vehicle including an engine, a transmission, an exhaust gas heat recovery (EGHR) heat exchanger, and an oil-to-water heat exchanger providing selective heat-exchange communication between the engine and transmission. The method includes controlling a two-way valve, which is configured to be set to one of an engine position and a transmission position. The engine position allows heat-exchange communication between the EGHR heat exchanger and the engine, but does not allow heat-exchange communication between the EGHR heat exchanger and the oil-to-water heat exchanger. The transmission position allows heat-exchange communication between the EGHR heat exchanger, the oil-to-water heat exchanger, and the engine. The method also includes monitoring an ambient air temperature and comparing the monitored ambient air temperature to a predetermined cold ambient temperature. If the monitored ambient air temperature is greater than the predetermined cold ambient temperature, the two-way valve is set to the transmission position.

  4. In situ microbial systems for the enhancement of oil recovery

    International Nuclear Information System (INIS)

    Moses, V.

    1991-01-01

    Microbial Enhancement of Oil Recovery (MEOR) offers important new opportunities in the quest for increased oil production. It refers not to a single technique but rather to a collection of methodologies, analogous to parallel non-microbiological methods. MEOR has relevance for many type of production and reservoir problems detailed protocols: may be tailored specifically to a range of individual reservoir conditions. Microorganisms downhole can generate a wide variety of chemical products from inexpensive feed stocks: where these are more cost-effective than oil field chemicals injected from the surface, microbial methods may win widespread acceptance. MEOR methods must be defined precisely; in any particular reservoir procedure their proposed mechanism of action must be clearly understood and criteria established for evaluating their success. The most important applications for MEOR are 1) the production f insoluble or highly viscous polymer to control coning or to plug selectively high permeability thief zones and fractures, 2) the continuous generation of the active agents for polymer-and/or surfactant floods, 3) matrix acidisation and acid fracturing in carbonate rocks stimulate flows into production wells. All these approaches are currently actively been explored; several programmes for field-testing microbial EOR methods already exist, or are being readied, and rapid progress is likely within the next few years. (author)

  5. 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.

  6. 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.

  7. Investigating the interactions of decentralized and centralized wastewater heat recovery systems.

    Science.gov (United States)

    Sitzenfrei, Robert; Hillebrand, Sebastian; Rauch, Wolfgang

    2017-03-01

    In the urban water cycle there are different sources for extracting energy. In addition to potential and chemical energy in the wastewater, thermal energy can also be recovered. Heat can be recovered from the wastewater with heat exchangers that are located decentralized and/or centralized at several locations throughout the system. It can be recovered directly at the source (e.g. in the showers and bathrooms), at building block level (e.g. warm water tanks collecting all grey water), in sewers or at the wastewater treatment plant. However, an uncoordinated installation of systems on such different levels can lead to competing technologies. To investigate these interactions, a modelling environment is set up, tested and calibrated based on continuous sewer temperature and flow measurements. With that approach different heat recovery scenarios on a household level (decentralized) and of in-sewer heat recovery (centralized) are investigated. A maximum performance drop of 40% for a centralized energy recovery system was estimated when all bathrooms are equipped with decentralized recovery systems. Therefore, the proposed modelling approach is suitable for testing different future conditions and to identify robust strategies for heat recovery systems from wastewater.

  8. Evaluation of trigeneration system using microturbine, ammonia-water absorption chiller, and a heat recovery boiler

    Energy Technology Data Exchange (ETDEWEB)

    Preter, Felipe C.; Rocha, Marcelo S.; Simoes-Moreira, Jose Roberto [SISEA - Alternative Energy Systems Lab. Dept. of Mechanical Engineering. University of Sao Paulo (EP/USP), SP (Brazil)], e-mails: felipe.preter@poli.usp.br, msrocha@poli.usp.br, jrsimoes@usp.br; Andreos, Ronaldo [COMGAS - Companhia de Gas de Sao Paulo, SP (Brazil)], e-mail: randreos@comgas.com.br

    2010-07-01

    In this work, a CCHP or tri generation system has been projected, mounted, and tested in laboratory, combining a microturbine for power generation, a heat recovery boiler for hot water production, and an ammonia water absorption chiller for chilled water production. The project was motivated by the large practical applications of this kind of energy recovery system in commerce, and industry, and, in general, more than 85% of the energy source is used as power, hot water, and cold water. In the first part, the trigeneration system theoretical model is detailed, and in the second part, experimental results are presented for different operation conditions. (author)

  9. Effects of introducing energy recovery processes to the municipal solid waste management system in Ulaanbaatar, Mongolia.

    Science.gov (United States)

    Toshiki, Kosuke; Giang, Pham Quy; Serrona, Kevin Roy B; Sekikawa, Takahiro; Yu, Jeoung-soo; Choijil, Baasandash; Kunikane, Shoichi

    2015-02-01

    Currently, most developing countries have not set up municipal solid waste management systems with a view of recovering energy from waste or reducing greenhouse gas emissions. In this article, we have studied the possible effects of introducing three energy recovery processes either as a single or combination approach, refuse derived fuel production, incineration and waste power generation, and methane gas recovery from landfill and power generation in Ulaanbaatar, Mongolia, as a case study. We concluded that incineration process is the most suitable as first introduction of energy recovery. To operate it efficiently, 3Rs strategies need to be promoted. And then, RDF production which is made of waste papers and plastics in high level of sorting may be considered as the second step of energy recovery. However, safety control and marketability of RDF will be required at that moment. Copyright © 2014. Published by Elsevier B.V.

  10. 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.

  11. Assessing the consistency of UAV-derived point clouds and images acquired at different altitudes

    Science.gov (United States)

    Ozcan, O.

    2016-12-01

    Unmanned Aerial Vehicles (UAVs) offer several advantages in terms of cost and image resolution compared to terrestrial photogrammetry and satellite remote sensing system. Nowadays, UAVs that bridge the gap between the satellite scale and field scale applications were initiated to be used in various application areas to acquire hyperspatial and high temporal resolution imageries due to working capacity and acquiring in a short span of time with regard to conventional photogrammetry methods. UAVs have been used for various fields such as for the creation of 3-D earth models, production of high resolution orthophotos, network planning, field monitoring and agricultural lands as well. Thus, geometric accuracy of orthophotos and volumetric accuracy of point clouds are of capital importance for land surveying applications. Correspondingly, Structure from Motion (SfM) photogrammetry, which is frequently used in conjunction with UAV, recently appeared in environmental sciences as an impressive tool allowing for the creation of 3-D models from unstructured imagery. In this study, it was aimed to reveal the spatial accuracy of the images acquired from integrated digital camera and the volumetric accuracy of Digital Surface Models (DSMs) which were derived from UAV flight plans at different altitudes using SfM methodology. Low-altitude multispectral overlapping aerial photography was collected at the altitudes of 30 to 100 meters and georeferenced with RTK-GPS ground control points. These altitudes allow hyperspatial imagery with the resolutions of 1-5 cm depending upon the sensor being used. Preliminary results revealed that the vertical comparison of UAV-derived point clouds with respect to GPS measurements pointed out an average distance at cm-level. Larger values are found in areas where instantaneous changes in surface are present.

  12. Optimal operation of integrated processes. Studies on heat recovery systems

    Energy Technology Data Exchange (ETDEWEB)

    Glemmestad, Bjoern

    1997-12-31

    Separators, reactors and a heat exchanger network (HEN) for heat recovery are important parts of an integrated plant. This thesis deals with the operation of HENs, in particular, optimal operation. The purpose of heat integration is to save energy, but the HEN also introduces new interactions and feedback into the overall plant. A prerequisite for optimisation is that there are extra degrees of freedom left after regulatory control is implemented. It is shown that extra degrees of freedom may not always be utilized for energy optimisation, and a quantitative expression for the degrees of freedom that can be so utilized are presented. A simplified expression that is often valid is also deduced. The thesis presents some improvements and generalisations of a structure based method that has been proposed earlier. Structural information is used to divide possible manipulations into three categories depending on how each manipulation affects the utility consumption. By means of these categories and two heuristic rules for operability, the possible manipulations are ordered in a priority table. This table is used to determine which manipulation should be preferred and which manipulation should be selected if an active manipulation is saturated. It is shown that the method may correspond to split-range control. A method that uses parametric information in addition to structural information is proposed. In this method, the optimal control structure is found through solving an integer programming problem. The thesis also proposes a method that combines the use of steady state optimisation and optimal selection of measurements. 86 refs., 46 figs., 8 tabs.

  13. 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.

  14. Development of a tritium recovery system from CANDU tritium removal facility

    International Nuclear Information System (INIS)

    Draghia, M.; Pasca, G.; Porcariu, F.

    2015-01-01

    The main purpose of the Tritium Recovery System (TRS) is to reduce to a maximum possible extent the release of tritium from the facility following a tritium release in confinement boundaries and also to have provisions to recover both elemental and vapors tritium from the purging gases during maintenance and components replacement from various systems processing tritium. This work/paper proposes a configuration of Tritium Recovery System wherein elemental tritium and water vapors are recovered in a separated, parallel manner. The proposed TRS configuration is a combination of permeators, a platinum microreactor (MR) and a trickle bed reactor (TBR) and consists of two branches: one branch for elemental tritium recovery from tritiated deuterium gas and the second one for tritium recovery from streams containing a significant amount of water vapours but a low amount, below 5%, of tritiated gas. The two branches shall work in a complementary manner in such a way that the bleed stream from the permeators shall be further processed in the MR and TBR in view of achieving the required decontamination level. A preliminary evaluation of the proposed TRS in comparison with state of the art tritium recovery system from tritium processing facilities is also discussed. (authors)

  15. Development of a tritium recovery system from CANDU tritium removal facility

    Energy Technology Data Exchange (ETDEWEB)

    Draghia, M.; Pasca, G.; Porcariu, F. [SC.IS.TECH SRL, Timisoara (Romania)

    2015-03-15

    The main purpose of the Tritium Recovery System (TRS) is to reduce to a maximum possible extent the release of tritium from the facility following a tritium release in confinement boundaries and also to have provisions to recover both elemental and vapors tritium from the purging gases during maintenance and components replacement from various systems processing tritium. This work/paper proposes a configuration of Tritium Recovery System wherein elemental tritium and water vapors are recovered in a separated, parallel manner. The proposed TRS configuration is a combination of permeators, a platinum microreactor (MR) and a trickle bed reactor (TBR) and consists of two branches: one branch for elemental tritium recovery from tritiated deuterium gas and the second one for tritium recovery from streams containing a significant amount of water vapours but a low amount, below 5%, of tritiated gas. The two branches shall work in a complementary manner in such a way that the bleed stream from the permeators shall be further processed in the MR and TBR in view of achieving the required decontamination level. A preliminary evaluation of the proposed TRS in comparison with state of the art tritium recovery system from tritium processing facilities is also discussed. (authors)

  16. Development of the automated circulating tumor cell recovery system with microcavity array.

    Science.gov (United States)

    Negishi, Ryo; Hosokawa, Masahito; Nakamura, Seita; Kanbara, Hisashige; Kanetomo, Masafumi; Kikuhara, Yoshihito; Tanaka, Tsuyoshi; Matsunaga, Tadashi; Yoshino, Tomoko

    2015-05-15

    Circulating tumor cells (CTCs) are well recognized as useful biomarker for cancer diagnosis and potential target of drug discovery for metastatic cancer. Efficient and precise recovery of extremely low concentrations of CTCs from blood has been required to increase the detection sensitivity. Here, an automated system equipped with a microcavity array (MCA) was demonstrated for highly efficient and reproducible CTC recovery. The use of MCA allows selective recovery of cancer cells from whole blood on the basis of differences in size between tumor and blood cells. Intra- and inter-assays revealed that the automated system achieved high efficiency and reproducibility equal to the assay manually performed by well-trained operator. Under optimized assay workflow, the automated system allows efficient and precise cell recovery for non-small cell lung cancer cells spiked in whole blood. The automated CTC recovery system will contribute to high-throughput analysis in the further clinical studies on large cohort of cancer patients. Copyright © 2014 Elsevier B.V. All rights reserved.

  17. Control of a waste heat recovery system with decoupled expander for improved diesel engine efficiency

    NARCIS (Netherlands)

    Feru, E.; Willems, F.P.T.; Jager, de A.G.; Steinbuch, M.

    2015-01-01

    In this paper, a switching Model Predictive Control strategy is proposed for a Waste Heat Recovery system in heavy-duty automotive application. The objective is to maximize the WHR system output power while satisfying the output constraints under highly dynamic engine variations. For control design,

  18. Hydrogen Gas Recycling for Energy Efficient Ammonia Recovery in Electrochemical Systems

    NARCIS (Netherlands)

    Kuntke, Philipp; Rodríguez Arredondo, Mariana; Widyakristi, Laksminarastri; Heijne, ter Annemiek; Sleutels, Tom H.J.A.; Hamelers, Hubertus V.M.; Buisman, Cees J.N.

    2017-01-01

    Recycling of hydrogen gas (H2) produced at the cathode to the anode in an electrochemical system allows for energy efficient TAN (Total Ammonia Nitrogen) recovery. Using a H2 recycling electrochemical system (HRES) we achieved high TAN transport rates at low energy input. At

  19. Load ratio determines the ammonia recovery and energy input of an electrochemical system

    NARCIS (Netherlands)

    Rodríguez Arredondo, Mariana; Kuntke, Philipp; Heijne, Ter Annemiek; Hamelers, Hubertus V.M.; Buisman, Cees J.N.

    2017-01-01

    Complete removal and recovery of total ammonia nitrogen (TAN) from wastewaters in (bio)electrochemical systems has proven to be a challenge. The system performance depends on several factors, such as current density, TAN loading rate and pH. The interdependence among these factors is not well

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

    Science.gov (United States)

    2013-09-01

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

  1. A Novel Online Data-Driven Algorithm for Detecting UAV Navigation Sensor Faults.

    Science.gov (United States)

    Sun, Rui; Cheng, Qi; Wang, Guanyu; Ochieng, Washington Yotto

    2017-09-29

    The use of Unmanned Aerial Vehicles (UAVs) has increased significantly in recent years. On-board integrated navigation sensors are a key component of UAVs' flight control systems and are essential for flight safety. In order to ensure flight safety, timely and effective navigation sensor fault detection capability is required. In this paper, a novel data-driven Adaptive Neuron Fuzzy Inference System (ANFIS)-based approach is presented for the detection of on-board navigation sensor faults in UAVs. Contrary to the classic UAV sensor fault detection algorithms, based on predefined or modelled faults, the proposed algorithm combines an online data training mechanism with the ANFIS-based decision system. The main advantages of this algorithm are that it allows real-time model-free residual analysis from Kalman Filter (KF) estimates and the ANFIS to build a reliable fault detection system. In addition, it allows fast and accurate detection of faults, which makes it suitable for real-time applications. Experimental results have demonstrated the effectiveness of the proposed fault detection method in terms of accuracy and misdetection rate.

  2. 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.

  3. Adaptive UAV Attitude Estimation Employing Unscented Kalman Filter, FOAM and Low-Cost MEMS Sensors

    NARCIS (Netherlands)

    Garcia de Marina Peinado, Hector; Espinosa, Felipe; Santos, Carlos

    2012-01-01

    Navigation employing low cost MicroElectroMechanical Systems (MEMS) sensors in Unmanned Aerial Vehicles (UAVs) is an uprising challenge. One important part of this navigation is the right estimation of the attitude angles. Most of the existent algorithms handle the sensor readings in a fixed way,

  4. Determination of UAV position using high accuracy navigation platform

    Directory of Open Access Journals (Sweden)

    Ireneusz Kubicki

    2016-07-01

    Full Text Available The choice of navigation system for mini UAV is very important because of its application and exploitation, particularly when the installed on it a synthetic aperture radar requires highly precise information about an object’s position. The presented exemplary solution of such a system draws attention to the possible problems associated with the use of appropriate technology, sensors, and devices or with a complete navigation system. The position and spatial orientation errors of the measurement platform influence on the obtained SAR imaging. Both, turbulences and maneuvers performed during flight cause the changes in the position of the airborne object resulting in deterioration or lack of images from SAR. Consequently, it is necessary to perform operations for reducing or eliminating the impact of the sensors’ errors on the UAV position accuracy. You need to look for compromise solutions between newer better technologies and in the field of software. Keywords: navigation systems, unmanned aerial vehicles, sensors integration

  5. Confidence Estimation of Reliability Indices of the System with Elements Duplication and Recovery

    Directory of Open Access Journals (Sweden)

    I. V. Pavlov

    2017-01-01

    Full Text Available The article considers a problem to estimate a confidence interval of the main reliability indices such as availability rate, mean time between failures, and operative availability (in the stationary state for the model of the system with duplication and independent recovery of elements.Presents a solution of the problem for a situation that often arises in practice, when there are unknown exact values of the reliability parameters of the elements, and only test data of the system or its individual parts (elements, subsystems for reliability are known. It should be noted that the problems of the confidence estimate of reliability indices of the complex systems based on the testing results of their individual elements are fairly common function in engineering practice when designing and running the various engineering systems. The available papers consider this problem, mainly, for non-recovery systems.Describes a solution of this problem for the important particular case when the system elements are duplicated by the reserved elements, and the elements that have failed in the course of system operation are recovered (regardless of the state of other elements.An approximate solution of this problem is obtained for the case of high reliability or "fast recovery" of elements on the assumption that the average recovery time of elements is small as compared to the average time between failures.

  6. Distributed Diagnosis, Prognosis and Recovery for Complex Systems, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — Complex space systems such as lunar habitats generate huge amounts of data. For example, the International Space Station (ISS) has over 250,000 individually...

  7. FLYWHEEL BASED KINETIC ENERGY RECOVERY SYSTEMS (KERS) INTEGRATED IN VEHICLES

    OpenAIRE

    THOMAS MATHEWS; NISHANTH D

    2013-01-01

    Today, many hybrid electric vehicles have been developed in order to reduce the consumption of fossil fuels; unfortunately these vehicles require electrochemical batteries to store energy, with high costs as well as poor conversion efficiencies. By integrating flywheel hybrid systems, these drawbacks can be overcome and can potentially replace battery powered hybrid vehicles cost effectively. The paper will explain the engineering, mechanics of the flywheel system and it’s working in detail. ...

  8. Simulation and Analysis of Isotope Separation System for Fusion Fuel Recovery System

    Science.gov (United States)

    Senevirathna, Bathiya; Gentile, Charles

    2011-10-01

    This paper presents results of a simulation of the Fuel Recovery System (FRS) for the Laser Inertial Fusion Engine (LIFE) reactor. The LIFE reaction will produce exhaust gases that will need to be recycled in the FRS along with xenon, the chamber's intervention gas. Solids and liquids will first be removed and then vapor traps are used to remove large gas molecules such as lead. The gas will be reacted with lithium at high temperatures to extract the hydrogen isotopes, protium, deuterium, and tritium in hydride form. The hydrogen isotopes will be recovered using a lithium blanket processing system already in place and this product will be sent to the Isotope Separation System (ISS). The ISS will be modeled in software to analyze its effectiveness. Aspen HYSYS was chosen for this purpose for its widespread use industrial gas processing systems. Reactants and corresponding chemical reactions had to be initialized in the software. The ISS primarily consists of four cryogenic distillation columns and these were modeled in HYSYS based on design requirements. Fractional compositions of the distillate and liquid products were analyzed and used to optimize the overall system.

  9. Modelling multi-rotor UAVs swarm deployment using virtual pheromones

    Science.gov (United States)

    Pujol, Mar; Rizo, Ramón; Rizo, Carlos

    2018-01-01

    In this work, a swarm behaviour for multi-rotor Unmanned Aerial Vehicles (UAVs) deployment will be presented. The main contribution of this behaviour is the use of a virtual device for quantitative sematectonic stigmergy providing more adaptable behaviours in complex environments. It is a fault tolerant highly robust behaviour that does not require prior information of the area to be covered, or to assume the existence of any kind of information signals (GPS, mobile communication networks …), taking into account the specific features of UAVs. This behaviour will be oriented towards emergency tasks. Their main goal will be to cover an area of the environment for later creating an ad-hoc communication network, that can be used to establish communications inside this zone. Although there are several papers on robotic deployment it is more difficult to find applications with UAV systems, mainly because of the existence of various problems that must be overcome including limitations in available sensory and on-board processing capabilities and low flight endurance. In addition, those behaviours designed for UAVs often have significant limitations on their ability to be used in real tasks, because they assume specific features, not easily applicable in a general way. Firstly, in this article the characteristics of the simulation environment will be presented. Secondly, a microscopic model for deployment and creation of ad-hoc networks, that implicitly includes stigmergy features, will be shown. Then, the overall swarm behaviour will be modeled, providing a macroscopic model of this behaviour. This model can accurately predict the number of agents needed to cover an area as well as the time required for the deployment process. An experimental analysis through simulation will be carried out in order to verify our models. In this analysis the influence of both the complexity of the environment and the stigmergy system will be discussed, given the data obtained in the

  10. 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.

  11. System-based strategies for p53 recovery.

    Science.gov (United States)

    Azam, Muhammad Rizwan; Fazal, Sahar; Ullah, Mukhtar; Bhatti, Aamer I

    2018-06-01

    The authors have proposed a systems theory-based novel drug design approach for the p53 pathway. The pathway is taken as a dynamic system represented by ordinary differential equations-based mathematical model. Using control engineering practices, the system analysis and subsequent controller design is performed for the re-activation of wild-type p53. p53 revival is discussed for both modes of operation, i.e. the sustained and oscillatory. To define the problem in control system paradigm, modification in the existing mathematical model is performed to incorporate the effect of Nutlin. Attractor point analysis is carried out to select the suitable domain of attraction. A two-loop negative feedback control strategy is devised to drag the system trajectories to the attractor point and to regulate cellular concentration of Nutlin, respectively. An integrated framework is constituted to incorporate the pharmacokinetic effects of Nutlin in the cancerous cells. Bifurcation analysis is also performed on the p53 model to see the conditions for p53 oscillation.

  12. New generation of human machine interfaces for controlling UAV through depth-based gesture recognition

    Science.gov (United States)

    Mantecón, Tomás.; del Blanco, Carlos Roberto; Jaureguizar, Fernando; García, Narciso

    2014-06-01

    New forms of natural interactions between human operators and UAVs (Unmanned Aerial Vehicle) are demanded by the military industry to achieve a better balance of the UAV control and the burden of the human operator. In this work, a human machine interface (HMI) based on a novel gesture recognition system using depth imagery is proposed for the control of UAVs. Hand gesture recognition based on depth imagery is a promising approach for HMIs because it is more intuitive, natural, and non-intrusive than other alternatives using complex controllers. The proposed system is based on a Support Vector Machine (SVM) classifier that uses spatio-temporal depth descriptors as input features. The designed descriptor is based on a variation of the Local Binary Pattern (LBP) technique to efficiently work with depth video sequences. Other major consideration is the especial hand sign language used for the UAV control. A tradeoff between the use of natural hand signs and the minimization of the inter-sign interference has been established. Promising results have been achieved in a depth based database of hand gestures especially developed for the validation of the proposed system.

  13. 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.

  14. Collaborate or not? : A system dynamics study on disruption recovery

    NARCIS (Netherlands)

    Zhu, Quan; Krikke, Harold; Caniels, Marjolein C. J.

    2016-01-01

    Purpose – The purpose of this paper is to investigate different combinations of collaboration strategies to deal with different types of supply chain disruptions, find the best combination, and provide targeting suggestions for investments. Design/methodology/approach – A system dynamics simulation

  15. Color Recovery Effect of Different Bleaching Systems on a ...

    African Journals Online (AJOL)

    Composite samples were immersed in coffee and turnip juice for 1 week in each. One laser activated bleaching (LB) (Biolase Laserwhite*20) and three conventional bleaching systems (Ultradent Opalescence Boost 40% (OB), Ultradent Opalescence PF 15% home bleaching (HB), Crest 3D White [Whitening Mouthwash]) ...

  16. Recovery from severe dysphagia in systemic sclerosis - myositis ...

    African Journals Online (AJOL)

    Background: Dysphagia is common in inflammatory myopathies and usually responds to corticosteroids. Severe dysphagia requiring feeding by percutaneous endoscopic gastrostomy is associated with significant morbidity and high mortality. Clinical case: A 56-year old African Black woman initially presented with systemic ...

  17. Validation of Safety-Critical Systems for Aircraft Loss-of-Control Prevention and Recovery

    Science.gov (United States)

    Belcastro, Christine M.

    2012-01-01

    Validation of technologies developed for loss of control (LOC) prevention and recovery poses significant challenges. Aircraft LOC can result from a wide spectrum of hazards, often occurring in combination, which cannot be fully replicated during evaluation. Technologies developed for LOC prevention and recovery must therefore be effective under a wide variety of hazardous and uncertain conditions, and the validation framework must provide some measure of assurance that the new vehicle safety technologies do no harm (i.e., that they themselves do not introduce new safety risks). This paper summarizes a proposed validation framework for safety-critical systems, provides an overview of validation methods and tools developed by NASA to date within the Vehicle Systems Safety Project, and develops a preliminary set of test scenarios for the validation of technologies for LOC prevention and recovery

  18. Thermal comfort analysis of a low temperature waste energy recovery system. SIECHP

    Energy Technology Data Exchange (ETDEWEB)

    Herrero Martin, R. [Departamento de Ingenieria Termica y de Fluidos, Universidad Politecnica de Cartagena, C/Dr. Fleming, s/n (Campus Muralla), 30202 Cartagena, Murcia (Spain); Rey Martinez, F.J.; Velasco Gomez, E. [Departamento de Ingenieria Energetica y Fluidomecanica, ETSII, Universidad de Valladolid, Paseo del Cauce s/n, 47011 Valladolid (Spain)

    2008-07-01

    The use of a recovery device is justified in terms of energy savings and environmental concerns. But it is clear that the use of a recovery system also has to lead to controlling indoor environmental quality, nowadays a priority concern. In this article, experimental research has been carried out whose aim is to study the thermal comfort provided by a combined recovery equipment (SIECHP), consisting of a ceramic semi-indirect evaporative cooler (SIEC) and a heat pipe device (HP) to recover energy at low temperature in air-conditioning systems. To characterize this device empirically in terms of thermal comfort (TC), Fanger's predicted mean vote (PMV), draught rate, and vertical air temperature difference were used in this study as the TC criteria. (author)

  19. The Way Ahead For Maritime UAVS

    Science.gov (United States)

    2006-10-23

    of possible contract winners including Scan Eagle, Silver Fox, Wasp, Coyote and the USMC Tier I winner Dragon Eye. Technical data for these UAVs are...Neptune’s engine and avionics are placed above the waterline and the airframe is sealed for flotation as well as providing corrosion/water intrusion

  20. 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.

  1. Exact Recovery of Chaotic Systems from Highly Corrupted Data

    Science.gov (United States)

    2016-08-01

    dimension to reconstruct a state space which preserves the topological properties of the original system. In [CM87, RS92], the authors use the singular...in high dimensional nonlinear functional spaces [Spr94, SL00, LCC04]. In this work, we bring together connections between compressed sensing, splitting... compact , connected attractor Λ and the flow admits a unique so-called “physical" measure µ with supp(µ) = Λ. An invariant probability measure µ for a flow

  2. Heat pipes and heat pipe exchangers for heat recovery systems

    Energy Technology Data Exchange (ETDEWEB)

    Vasiliev, L L; Grakovich, L P; Kiselev, V G; Kurustalev, D K; Matveev, Yu

    1984-01-01

    Heat pipes and heat pipe exchangers are of great importance in power engineering as a means of recovering waste heat of industrial enterprises, solar energy, geothermal waters and deep soil. Heat pipes are highly effective heat transfer units for transferring thermal energy over large distance (tens of meters) with low temperature drops. Their heat transfer characteristics and reliable working for more than 10-15 yr permit the design of new systems with higher heat engineering parameters.

  3. Energetic and exergetic analysis of waste heat recovery systems in the cement industry

    International Nuclear Information System (INIS)

    Karellas, S.; Leontaritis, A.-D.; Panousis, G.; Bellos, E.; Kakaras, E.

    2013-01-01

    In a typical cement producing procedure, 25% of the total energy used is electricity and 75% is thermal energy. However, the process is characterized by significant heat losses mainly by the flue gases and the ambient air stream used for cooling down the clinker (about 35%–40% of the process heat loss). Approximately 26% of the heat input to the system is lost due to dust, clinker discharge, radiation and convection losses from the kiln and the preheaters. A heat recovery system could be used to increase the efficiency of the cement plant and thus contribute to emissions decrease. The aim of this paper is to examine and compare energetically and exergetically, two different WHR (waste heat recovery) methods: a water-steam Rankine cycle, and an Organic Rankine Cycle (ORC). A parametric study proved that the water steam technology is more efficient than ORC in exhaust gases temperature higher than 310 °C. Finally a brief economic assessment of the most efficient solution was implemented. WHR installations in cement industry can contribute significantly in the reduction of the electrical consumptions operating cost thus being a very attractive investment with a payback period up to 5 years. - Highlights: • This paper presents waste heat recovery as a way to gain energy from the exhaust gases in a cement plant. • Water steam cycle and ORC has been analyzed for waste heat recovery. • The energetic and exergetic evaluation of the two waste heat recovery processes is presented and compared

  4. A Thermoelectric Waste-Heat-Recovery System for Portland Cement Rotary Kilns

    Science.gov (United States)

    Luo, Qi; Li, Peng; Cai, Lanlan; Zhou, Pingwang; Tang, Di; Zhai, Pengcheng; Zhang, Qingjie

    2015-06-01

    Portland cement is produced by one of the most energy-intensive industrial processes. Energy consumption in the manufacture of Portland cement is approximately 110-120 kWh ton-1. The cement rotary kiln is the crucial equipment used for cement production. Approximately 10-15% of the energy consumed in production of the cement clinker is directly dissipated into the atmosphere through the external surface of the rotary kiln. Innovative technology for energy conservation is urgently needed by the cement industry. In this paper we propose a novel thermoelectric waste-heat-recovery system to reduce heat losses from cement rotary kilns. This system is configured as an array of thermoelectric generation units arranged longitudinally on a secondary shell coaxial with the rotary kiln. A mathematical model was developed for estimation of the performance of waste heat recovery. Discussions mainly focus on electricity generation and energy saving, taking a Φ4.8 × 72 m cement rotary kiln as an example. Results show that the Bi2Te3-PbTe hybrid thermoelectric waste-heat-recovery system can generate approximately 211 kW electrical power while saving 3283 kW energy. Compared with the kiln without the thermoelectric recovery system, the kiln with the system can recover more than 32.85% of the energy that used to be lost as waste heat through the kiln surface.

  5. Design of a predictive control strategy for an automotive electrically-assisted waste heat recovery system with preview

    NARCIS (Netherlands)

    Seretis, M.

    2017-01-01

    This report regards the development of a predictive control strategy for an automotive electrically-assisted Waste Heat Recovery System (eWHR) with preview information. In this system, the energy recovery is decoupled from the energy supply to the engine. For such dynamical systems with energy

  6. Design, fabrication and testing of the gas analysis system for the tritium recovery experiment, TRIO-01

    International Nuclear Information System (INIS)

    Finn, P.A.; Reedy, G.T.; Homa, M.I.; Clemmer, R.G.; Pappas, G.; Slawecki, M.A.; Graczyk, D.G.; Bowers, D.L.; Clemmer, E.D.

    1983-01-01

    The tritium recovery experiment, TRIO-01, required a gas analysis system which detected the form of tritium, the amount of tritium (differential and integral), and the presence and amount of other radioactive species. The system had to handle all contingencies and function for months at a time unattended during weekend operation. The designed system, described herein, consisted of a train of components which could be grouped as desired to match tritium release behavior

  7. Damage Degree Evaluation of Earthquake Area Using UAV Aerial Image

    Directory of Open Access Journals (Sweden)

    Jinhong Chen

    2016-01-01

    Full Text Available An Unmanned Aerial Vehicle (UAV system and its aerial image analysis method are developed to evaluate the damage degree of earthquake area. Both the single-rotor and the six-rotor UAVs are used to capture the visible light image of ground targets. Five types of typical ground targets are considered for the damage degree evaluation: the building, the road, the mountain, the riverway, and the vegetation. When implementing the image analysis, first the Image Quality Evaluation Metrics (IQEMs, that is, the image contrast, the image blur, and the image noise, are used to assess the imaging definition. Second, once the image quality is qualified, the Gray Level Cooccurrence Matrix (GLCM texture feature, the Tamura texture feature, and the Gabor wavelet texture feature are computed. Third, the Support Vector Machine (SVM classifier is employed to evaluate the damage degree. Finally, a new damage degree evaluation (DDE index is defined to assess the damage intensity of earthquake. Many experiment results have verified the correctness of proposed system and method.

  8. Uavs to Assess the Evolution of Embryo Dunes

    Science.gov (United States)

    Taddia, Y.; Corbau, C.; Zambello, E.; Russo, V.; Simeoni, U.; Russo, P.; Pellegrinelli, A.

    2017-08-01

    The balance of a coastal environment is particularly complex: the continuous formation of dunes, their destruction as a result of violent storms, the growth of vegetation and the consequent growth of the dunes themselves are phenomena that significantly affect this balance. This work presents an approach to the long-term monitoring of a complex dune system by means of Unmanned Aerial Vehicles (UAVs). Four different surveys were carried out between November 2015 and November 2016. Aerial photogrammetric data were acquired during flights by a DJI Phantom 2 and a DJI Phantom 3 with cameras in a nadiral arrangement. GNSS receivers in Network Real Time Kinematic (NRTK) mode were used to frame models in the European Terrestrial Reference System. Processing of the captured images consisted in reconstruction of a three-dimensional model using the principles of Structure from Motion (SfM). Particular care was necessary due to the vegetation: filtering of the dense cloud, mainly based on slope detection, was performed to minimize this issue. Final products of the SfM approach were represented by Digital Elevation Models (DEMs) of the sandy coastal environment. Each model was validated by comparison through specially surveyed points. Other analyses were also performed, such as cross sections and computing elevation variations over time. The use of digital photogrammetry by UAVs is particularly reliable: fast acquisition of the images, reconstruction of high-density point clouds, high resolution of final elevation models, as well as flexibility, low cost and accuracy comparable with other available techniques.

  9. UAVS TO ASSESS THE EVOLUTION OF EMBRYO DUNES

    Directory of Open Access Journals (Sweden)

    Y. Taddia

    2017-08-01

    Full Text Available The balance of a coastal environment is particularly complex: the continuous formation of dunes, their destruction as a result of violent storms, the growth of vegetation and the consequent growth of the dunes themselves are phenomena that significantly affect this balance. This work presents an approach to the long-term monitoring of a complex dune system by means of Unmanned Aerial Vehicles (UAVs. Four different surveys were carried out between November 2015 and November 2016. Aerial photogrammetric data were acquired during flights by a DJI Phantom 2 and a DJI Phantom 3 with cameras in a nadiral arrangement. GNSS receivers in Network Real Time Kinematic (NRTK mode were used to frame models in the European Terrestrial Reference System. Processing of the captured images consisted in reconstruction of a three-dimensional model using the principles of Structure from Motion (SfM. Particular care was necessary due to the vegetation: filtering of the dense cloud, mainly based on slope detection, was performed to minimize this issue. Final products of the SfM approach were represented by Digital Elevation Models (DEMs of the sandy coastal environment. Each model was validated by comparison through specially surveyed points. Other analyses were also performed, such as cross sections and computing elevation variations over time. The use of digital photogrammetry by UAVs is particularly reliable: fast acquisition of the images, reconstruction of high-density point clouds, high resolution of final elevation models, as well as flexibility, low cost and accuracy comparable with other available techniques.

  10. Application of UAVs at the Savannah River Site

    International Nuclear Information System (INIS)

    Hofstetter, K.J.; Pendergast, M.M.

    1996-01-01

    Small, unmanned aerial vehicles (UAVs) equipped with sensors for physical, chemical, and radiochemical measurements of remote environments have been tested at the Savannah River Site (SRS). A miniature helicopter was used as an aerial platform for testing a variety of sensors with outputs integrated with the flight control system for real-time data acquisition and evaluation. The sensors included a precision magnetometer, two broad band infra-red radiometers, a 1-inch by 1-inch Nal(TI) scintillation detector, and an on-board color video camera. Included in the avionics package was an ultrasonic altimeter, a precision barometer, and a portable Global Positioning System. Two separate demonstration locations at SRS were flown that had been previously characterized by careful sampling and analyses and by aerial surveys at high altitudes. The Steed Pond demonstration site contains elevated levels of uranium in the soil and pond silt due to runoff from one of the site's uranium fuel and target production areas. The soil at the other site is contaminated with oil bearing materials and contains some buried objects. The results and limitations of the UAV surveys are presented and improvements for future measurements are discussed

  11. Membrane heat exchanger in HVAC energy recovery systems, systems energy analysis

    Energy Technology Data Exchange (ETDEWEB)

    Nasif, M. [School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052 (Australia); Opus International Consultants (New Zealand); AL-Waked, R. [Mechanical Engineering Department, Prince Mohammad Bin Fahd University (PMU), P.O. Box 1614, AlKhobar 31952 (Saudi Arabia); Morrison, G. [School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052 (Australia); Behnia, M. [School of Aerospace, Mechanical and Mechatronic Engineering, University of Sydney, NSW 2006 (Australia)

    2010-10-15

    The thermal performance of an enthalpy/membrane heat exchanger is experimentally investigated. The heat exchanger utilizes a 60gsm Kraft paper as the heat and moisture transfer surface for HVAC energy recovery. The heat exchanger sensible, latent and total effectiveness have been determined through temperature and moisture content measurements. The annual energy consumption of an air conditioner coupled with an enthalpy/membrane heat exchanger is also studied and compared with a conventional air conditioning cycle using in-house modified HPRate software. The heat exchanger effectiveness are used as thermal performance indicators and incorporated in the modified software. Energy analysis showed that an air conditioning system coupled with a membrane heat exchanger consumes less energy than a conventional air conditioning system in hot and humid climates where the latent load is high. It has been shown that in humid climate a saving of up to 8% in annual energy consumption can be achieved when membrane heat exchanger is used instead of a conventional HVAC system. (author)

  12. 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

  13. Evaluating the accuracy of low cost UAV generated topography and its effectiveness for geomorphic change detection

    Science.gov (United States)

    Cook, Kristen

    2015-04-01

    With the recent explosion in the use and availability of unmanned aerial vehicle platforms and development of easy to use structure from motion (SfM) software, UAV based photogrammetry is increasingly being adopted to produce high resolution topography for the study of surface processes. UAV systems can vary substantially in price and complexity, but the tradeoffs between these and the quality of the resulting data are not well constrained. We look at one end of this spectrum and evaluate the effectiveness of a simple low cost UAV setup for obtaining high resolution topography in a challenging field setting. Our study site is the Daan River gorge in western Taiwan, a rapidly eroding bedrock gorge that we have monitored with terrestrial Lidar since 2009. The site presents challenges for the generation and analysis of high resolution topography, including vertical gorge walls, vegetation, wide variation in surface roughness, and a complicated 3D morphology. In order to evaluate the accuracy of the UAV-derived topography, we compare it with terrestrial Lidar data collected during the same survey period. Our UAV setup combines a DJI Phantom 2 quadcopter with a 16 megapixel Canon Powershot camera for a total platform cost of less than 850. The quadcopter is flown manually, and the camera is programmed to take a photograph every 4 seconds, yielding 200-250 pictures per flight. We measured ground control points and targets for both the Lidar scans and the aerial surveys using a Leica RTK GPS with 1-2 cm accuracy. UAV derived point clouds were obtained using Agisoft Photoscan software. We conducted both Lidar and UAV surveys before and after the 2014 typhoon season, allowing us to evaluate the reliability of the UAV survey to detect geomorphic changes in the range of one to several meters. The accuracy of the SfM point clouds depends strongly on the characteristics of the surface being considered, with vegetation and small scale texture causing inaccuracies. However, we

  14. Recovery of gastrointestinal swine parasites in anaerobic biodigester systems.

    Science.gov (United States)

    Cañon-Franco, William Alberto; Henao-Agudelo, Ricardo Andrés; Pérez-Bedoya, José Leandro

    2012-01-01

    Solid and liquid wastes from livestock operations represent important challenges for animal production regarding their impact in the environment and public health. Parasitological tests performed on 80 samples of affluent and effluent waters from three anaerobic biodigestors with flexible structure from swine farms of Caldas - Colombia, showed the presence of Isospora suis (45%), Eimeria suis (42.5%), E. espinosa (35%), Strongyloides ransomi (28.8%), E. perminuta (12.5%), E. cerdonis (3.8%), and E. porci (2.5%). The additional finding of eggs of Taenia spp. in 10% of the samples was probably caused by a connection between the human sewage system and the biodigester. Although we observed a mean decrease of 65.6% of parasites, these levels were insufficient to meet the minimum requirement set by Engelberg's guidelines regarding water quality. This study demonstrates the serious environmental impact that an inadequately treated animal wastewater represents, and has important implications for water resources and human health.

  15. Process for radioisotope recovery and system for implementing same

    Science.gov (United States)

    Meikrantz, David H [Idaho Falls, ID; Todd, Terry A [Aberdeen, ID; Tranter, Troy J [Idaho Falls, ID; Horwitz, E Philip [Naperville, IL

    2009-10-06

    A method of recovering daughter isotopes from a radioisotope mixture. The method comprises providing a radioisotope mixture solution comprising at least one parent isotope. The at least one parent isotope is extracted into an organic phase, which comprises an extractant and a solvent. The organic phase is substantially continuously contacted with an aqueous phase to extract at least one daughter isotope into the aqueous phase. The aqueous phase is separated from the organic phase, such as by using an annular centrifugal contactor. The at least one daughter isotope is purified from the aqueous phase, such as by ion exchange chromatography or extraction chromatography. The at least one daughter isotope may include actinium-225, radium-225, bismuth-213, or mixtures thereof. A liquid-liquid extraction system for recovering at least one daughter isotope from a source material is also disclosed.

  16. Shoreline oil cleanup, recovery and treatment evaluation system (SOCRATES)

    International Nuclear Information System (INIS)

    Rusin, J.; Lunel, T.; Sommerville, M.; Tyler, A.; Marshall, I.

    1996-01-01

    A beach cleanup computer system was developed to mitigate the impact of shoreline oiling. The program, entitled SOCRATES, was meant to determine the most suitable cleanup methodologies for a range of different spill scenarios. The development, operation and capabilities of SOCRATES was described, with recent examples of successful use during the Sea Empress spill. The factors which influenced decision making and which were central to the numerical solution were: (1) the volumetric removal rate of oil, (2) area removal rate of oil, (3) length of oil slick removed per hour, (4) volumetric removal rate of oily waste, (5) area of the oil slick, (6) length of the oil slick, (7) volume of liquid emulsion, and (8) length of beach. 14 figs

  17. Heat recovery from wastewater systems; Waermerueckgewinnung aus Abwassersystemen

    Energy Technology Data Exchange (ETDEWEB)

    Wanner, O.

    2004-07-01

    Wastewater contains large amounts of heat energy which can be recovered by means of a heat pump and a heat exchanger installed in the sewer system. Practical problems, which may arise and have been investigated in this research project, are the reduction of the heat transfer efficiency due to heat exchanger fouling and the reduction of the nitrification capacity of downstream wastewater treatment plants due to lower wastewater temperatures. A mathematical model was developed by which the decrease of the wastewater temperature in the treatment plant influent can be determined as a function of the amount of heat energy gathered from the wastewater in the sewer system. By this model the variation in time and space of the wastewater temperature in a sewer pipe is calculated for given hydraulics, geometry and environmental conditions. By analysis of data from a large wastewater treatment plant and simulations with a calibrated model, the effect of lowered influent temperatures on nitrification safety, total nitrogen removal efficiency and ammonium effluent concentrations could be quantified. A procedure is suggested by which the reserve nitrification capacity of an existing treatment plant and the increase of the ammonium effluent concentration resulting from a permanent decrease of the wastewater influent temperature can be estimated. By experiments with a pilot scale heat exchanger in a small wastewater channel, the significance of parameters known to have an effect on fouling was investigated and measures to reduce fouling were tested. The measures tested included controlled variation of the wastewater flow velocity (flushing), coatings and finish of the heat exchanger surface and obstacles mounted on the surface. The best results were obtained by regular short term increases of the flow velocity. By this measure, the efficiency of the fouled heat exchanger, which on the average was 60% of the efficiency of the clean heat exchanger, could repeatedly be raised to an

  18. Development of an on-board H2 storage and recovery system based on lithium borohydride.

    Science.gov (United States)

    2014-02-28

    Alkali metal borohydrides based on sodium and lithium, NaBH4 and LiBH4, have been evaluated as a potential hydrogen storage and recovery system for on-board vehicle use. The borohydride salts could be dissolved in water, followed by a hydrolytic reac...

  19. Experimental validation of a dynamic waste heat recovery system model for control purposes

    NARCIS (Netherlands)

    Feru, E.; Kupper, F.; Rojer, C.; Seykens, X.L.J.; Scappin, F.; Willems, F.P.T.; Smits, Jeroen; Jager, de A.G.; Steinbuch, M.

    2013-01-01

    This paper presents the identification and validation of a dynamic Waste Heat Recovery (WHR) system model. Driven by upcoming CO2 emission targets and increasing fuel costs, engine exhaust gas heat utilization has recently attracted much attention to improve fuel efficiency, especially for

  20. Optimization of paper machine heat recovery system; Paperikoneen laemmoentalteenottosysteemin optimointi - PMSY 02

    Energy Technology Data Exchange (ETDEWEB)

    Pettersson, H [Valmet Oyj Pansio, Turku (Finland)

    1999-12-31

    Conventionally the energy content of paper and board machine dryer section exhaust air is recovered in the heat recovery tower. This has had a major contribution to the overall energy economy of a paper machine. Modern paper machines have already reached momentary record speeds above 1700 m/min, and speeds above 2000 m/min will be strived to. This is possible by developing new efficient drying technologies. These will require new solutions for the heat recovery systems. At the same time requirements for new heat recovery solutions come from the gradually closing of paper mill water circulation systems. In this project a discrete tool based on optimization is developed, a tool for analyzing, optimizing and dimensioning of paper machine heat recovery systems for different process conditions. Delivery of a paper machine process requires more and more transferring of process knowledge into calculation model parameters. The overall target of the tool is to decrease the energy consumption considering new drying technologies and the gradually closing of water circulation systems. (orig.)

  1. Optimization of paper machine heat recovery system; Paperikoneen laemmoentalteenottosysteemin optimointi - PMSY 02

    Energy Technology Data Exchange (ETDEWEB)

    Pettersson, H. [Valmet Oyj Pansio, Turku (Finland)

    1998-12-31

    Conventionally the energy content of paper and board machine dryer section exhaust air is recovered in the heat recovery tower. This has had a major contribution to the overall energy economy of a paper machine. Modern paper machines have already reached momentary record speeds above 1700 m/min, and speeds above 2000 m/min will be strived to. This is possible by developing new efficient drying technologies. These will require new solutions for the heat recovery systems. At the same time requirements for new heat recovery solutions come from the gradually closing of paper mill water circulation systems. In this project a discrete tool based on optimization is developed, a tool for analyzing, optimizing and dimensioning of paper machine heat recovery systems for different process conditions. Delivery of a paper machine process requires more and more transferring of process knowledge into calculation model parameters. The overall target of the tool is to decrease the energy consumption considering new drying technologies and the gradually closing of water circulation systems. (orig.)

  2. Performance of Counter Flow Heat Recovery Ventilation Systems in Dwellings Considering the Influence of Uncertainties

    NARCIS (Netherlands)

    Yang, Z.; Cauberg, J.J.M.; Tenpierik, M.J.

    2012-01-01

    Both critical and optimistic claims have been made regarding the performance of heat recovery ventilation systems (HRVS) in dwellings. Such arguments are raised partly because two key aspects are not fully clarified, i.e. the performance criteria and the influence of uncertainties. In the current

  3. Integrated Energy & Emission Management for Heavy-Duty Diesel Engines with Waste Heat Recovery System

    NARCIS (Netherlands)

    Willems, F.P.T.; Kupper, F.; Cloudt, R.P.M.

    2012-01-01

    This study presents an integrated energy and emission management strategy for an Euro-VI diesel engine with Waste Heat Recovery (WHR) system. This Integrated Powertrain Control (IPC) strategy optimizes the CO2-NOx trade-off by minimizing the operational costs associated with fuel and AdBlue

  4. Supervisory control of a heavy-duty diesel engine with an electrified waste heat recovery system

    NARCIS (Netherlands)

    Feru, E.; Murgovski, N.; de Jager, A.G.; Willems, F.P.T.

    This paper presents an integrated energy and emission management strategy, called Integrated Powertrain Control (IPC), for an Euro-VI diesel engine with an electrified waste heat recovery system. This strategy optimizes the CO2–NOxCO2–NOx trade-off by minimizing the operational costs associated with

  5. Heat exchanger modeling and identification for control of waste heat recovery systems in diesel engines

    NARCIS (Netherlands)

    Feru, E.; Willems, F.P.T.; Rojer, C.; Jager, B. de; Steinbuch, M.

    2013-01-01

    To meet future CO2 emission targets, Waste Heat Recovery systems have recently attracted much attention for automotive applications, especially for long haul trucks. This paper focuses on the development of a dynamic counter-flow heat exchanger model for control purposes. The model captures the

  6. Integrated energy and emission management for heavy-duty diesel engines with waste heat recovery system

    NARCIS (Netherlands)

    Willems, F.P.T.; Kupper, F.; Cloudt, R.P.M.

    2012-01-01

    This study presents an integrated energy and emission management strategy for an Euro-VI diesel engine with Waste Heat Recovery (WHR) system. This Integrated Powertrain Control (IPC) strategy optimizes the CO2-NOx trade-off by minimizing the operational costs associated with fuel and AdBlue

  7. Gas-permeable hydrophobic tubular membranes for ammonia recovery in bio-electrochemical systems

    NARCIS (Netherlands)

    Kuntke, P.; Zamora, P.; Saakes, M.; Buisman, C.J.N.; Hamelers, H.V.M.

    2016-01-01

    The application of a gas-permeable hydrophobic tubular membrane in bio-electrochemical systems enables efficient recovery of ammonia (NH3) from their cathode compartments. Due to a hydrogen evolution reaction at the cathode, no chemical addition was required to increase the pH for

  8. Development of a condenser for the dual catalyst water recovery system

    Science.gov (United States)

    Budinikas, P.; Rasouli, F.; Rabadi, N.

    1983-01-01

    Conceptual evaporation/condensation systems suitable for integration with the catalytic water recovery method were evaluated. The primary requirements for each concept were its capability to operate under zero-gravity conditions, condense recovered water from a vapor-noncondensable gas mixture, and integrate with the catalytic system. Specific energy requirements were estimated for concepts meeting the primary requirements, and the concept most suitable for integration with the catalytic system was proposed. A three-man rate condenser capable of integration with the proposed system, condensing water vapor in presence of noncondensables and transferring the heat of condensation to feed urine was designed, fabricated, and tested. It was treated with steam/air mixtures at atmospheric and elevated pressures and integrated with an actual catalytic water recovery system. The condenser has a condensation efficiency exceeding 90% and heat transfer rate of approximately 85% of theoretical value at coolant temperature ranging from 7 to 80 deg C.

  9. The effect of ash elements in petroleum coke on hearth furnace heat recovery system performance

    Energy Technology Data Exchange (ETDEWEB)

    Akhmetov, M M

    1981-01-01

    Difficulties encountered in the operation of the heat recovery system of a calcination plant at Krasnovodsk Refinery caused by ash element deposits blocking the fire box are described. Deposits and coke ash composition are given. The main cause of blocking was found to be the removal of sea water salt elements which get on the coke surface when the retarded coking plant is discharged with a water-jet borer. Switching over to fresh water and air-blasting of heat recovery pipes decreased blocking considerably.

  10. DEVELOPMENT AND DEMONSTRATION OF INTEGRATED CARBON RECOVERY SYSTEMS FROM FINE COAL PROCESSING WASTE

    Energy Technology Data Exchange (ETDEWEB)

    Y.P. Chugh; D. Patil; A. Patwardhan; R.Q. Honaker; B.K. Parekh; D. Tao; Latif Khan

    2000-07-01

    The project involves the development of an efficient, environmentally friendly system for the economical recovery of carbon from fine-coal refuse ponds. The project will be conducted in two phases. Phase I was involved in the development and evaluation of process equipment and techniques to be used in carbon recovery, product dewatering and reconstitution, and refuse management. Phase II will integrate the various units into a continuously operating circuit that will be demonstrated at a site selected based on the results presented in this study.

  11. Entropy Maximization as a Basis for Information Recovery in Dynamic Economic Behavioral Systems

    Directory of Open Access Journals (Sweden)

    George Judge

    2015-02-01

    Full Text Available As a basis for information recovery in open dynamic microeconomic systems, we emphasize the connection between adaptive intelligent behavior, causal entropy maximization and self-organized equilibrium seeking behavior. This entropy-based causal adaptive behavior framework permits the use of information-theoretic methods as a solution basis for the resulting pure and stochastic inverse economic-econometric problems. We cast the information recovery problem in the form of a binary network and suggest information-theoretic methods to recover estimates of the unknown binary behavioral parameters without explicitly sampling the configuration-arrangement of the sample space.

  12. The Design of Data Disaster Recovery of National Fundamental Geographic Information System

    Science.gov (United States)

    Zhai, Y.; Chen, J.; Liu, L.; Liu, J.

    2014-04-01

    With the development of information technology, data security of information system is facing more and more challenges. The geographic information of surveying and mapping is fundamental and strategic resource, which is applied in all areas of national economic, defence and social development. It is especially vital to national and social interests when such classified geographic information is directly concerning Chinese sovereignty. Several urgent problems that needs to be resolved for surveying and mapping are how to do well in mass data storage and backup, establishing and improving the disaster backup system especially after sudden natural calamity accident, and ensuring all sectors rapidly restored on information system will operate correctly. For overcoming various disaster risks, protect the security of data and reduce the impact of the disaster, it's no doubt the effective way is to analysis and research on the features of storage and management and security requirements, as well as to ensure that the design of data disaster recovery system suitable for the surveying and mapping. This article analyses the features of fundamental geographic information data and the requirements of storage management, three site disaster recovery system of DBMS plan based on the popular network, storage and backup, data replication and remote switch of application technologies. In LAN that synchronous replication between database management servers and the local storage of backup management systems, simultaneously, remote asynchronous data replication between local storage backup management systems and remote database management servers. The core of the system is resolving local disaster in the remote site, ensuring data security and business continuity of local site. This article focuses on the following points: background, the necessity of disaster recovery system, the analysis of the data achievements and data disaster recovery plan. Features of this program is to use a

  13. Optimization of Thermoelectric Components for Automobile Waste Heat Recovery Systems

    Science.gov (United States)

    Kumar, Sumeet; Heister, Stephen D.; Xu, Xianfan; Salvador, James R.

    2015-10-01

    For a typical spark ignition engine approximately 40% of available thermal energy is lost as hot exhaust gas. To improve fuel economy, researchers are currently evaluating technology which exploits exhaust stream thermal power by use of thermoelectric generators (TEGs) that operate on the basis of the Seebeck effect. A 5% improvement in fuel economy, achieved by use of TEG output power, is a stated objective for light-duty trucks and personal automobiles. System modeling of thermoelectric (TE) components requires solution of coupled thermal and electric fluxes through the n and p-type semiconductor legs, given appropriate thermal boundary conditions at the junctions. Such applications have large thermal gradients along the semiconductor legs, and material properties are highly dependent on spatially varying temperature profiles. In this work, one-dimensional heat flux and temperature variations across thermoelectric legs were solved by using an iterative numerical approach to optimize both TE module and TEG designs. Design traits were investigated by assuming use of skutterudite as a thermoelectric material with potential for automotive applications in which exhaust gas and heat exchanger temperatures typically vary from 100°C to over 600°C. Dependence of leg efficiency, thermal fluxes and electric power generation on leg geometry, fill fractions, electric current, thermal boundary conditions, etc., were studied in detail. Optimum leg geometries were computed for a variety of automotive exhaust conditions.

  14. Integrated steam generation process and system for enhanced oil recovery

    Energy Technology Data Exchange (ETDEWEB)

    Betzer-Zilevitch, M. [Ex-Tar Technologies Inc., Calgary, AB (Canada)

    2010-07-01

    A method of producing steam for the extraction of heavy bitumens was presented. The direct contact steam generation (DCSG) method is used for the direct heat transfer between combustion gas and contaminated liquid phase water to generate steam. This paper presented details of experimental and field studies conducted to demonstrate the DCSG. Results of the study demonstrated that pressure and temperature are positively correlated. As pressure increases, the flow rate of the discharged mass decreases and the steam ratio decreases. As pressure increases, the condensate and distillate flow rates increases while water vapor losses in the non-condensable gases decrease. The study indicated that for a 10 bar pressurized system producing 9.6 mt per hour of 10,000 kpa steam and 9.6 mt per hour of distillate BFW, 70 percent of the combustion energy should be recovered to generate 10,000 kpa pressure steam for EOR. Combustion energy requirements were found to decrease when pressure decreases. 11 refs., 5 tabs., 8 figs.

  15. Point Cloud Analysis for Uav-Borne Laser Scanning with Horizontally and Vertically Oriented Line Scanners - Concept and First Results

    Science.gov (United States)

    Weinmann, M.; Müller, M. S.; Hillemann, M.; Reydel, N.; Hinz, S.; Jutzi, B.

    2017-08-01

    In this paper, we focus on UAV-borne laser scanning with the objective of densely sampling object surfaces in the local surrounding of the UAV. In this regard, using a line scanner which scans along the vertical direction and perpendicular to the flight direction results in a point cloud with low point density if the UAV moves fast. Using a line scanner which scans along the horizontal direction only delivers data corresponding to the altitude of the UAV and thus a low scene coverage. For these reasons, we present a concept and a system for UAV-borne laser scanning using multiple line scanners. Our system consists of a quadcopter equipped with horizontally and vertically oriented line scanners. We demonstrate the capabilities of our system by presenting first results obtained for a flight within an outdoor scene. Thereby, we use a downsampling of the original point cloud and different neighborhood types to extract fundamental geometric features which in turn can be used for scene interpretation with respect to linear, planar or volumetric structures.

  16. Waste Heat Recovery of a PEMFC System by Using Organic Rankine Cycle

    Directory of Open Access Journals (Sweden)

    Tianqi He

    2016-04-01

    Full Text Available In this study, two systems are brought forward to recover the waste heat of a proton exchange membrane fuel cell (PEMFC, which are named the organic Rankine cycle (ORC, and heat pump (HP combined organic Rankine cycle (HPORC. The performances of both systems are simulated on the platform of MATLAB with R123, R245fa, R134a, water, and ethanol being selected as the working fluid, respectively. The results show that, for PEMFC where operating temperature is constantly kept at 60 °C, there exists an optimum working temperature for each fluid in ORC and HPORC. In ORC, the maximal net power can be achieved with R245fa being selected as the working fluid. The corresponding thermal efficiency of the recovery system is 4.03%. In HPORC, the maximal net power can be achieved with water being selected in HP and R123 in ORC. The thermal efficiency of the recovery system increases to 4.73%. Moreover, the possibility of using ORC as the cooling system of PEMFC is also studied. The heat released from PEMFC stack is assumed to be wholly recovered by the ORC or HPORC system. The results indicate that the HPORC system is much more feasible for the cooling system of a PEMFC stack, since the heat recovery ability can be promoted due to the presence of HP.

  17. Research on Overconfidence in Decision-Making for the Capacity Recovery of Damaged Power Systems

    Directory of Open Access Journals (Sweden)

    Xing Bao

    2014-01-01

    Full Text Available This paper studies the influence of two types of overconfident behavior, overestimation and overprecision, on decision of capacity recovery when power system’s critical capacity is seriously damaged. A newsvendor model is used to prove that increasing regulatory punishment for electricity shortage and providing subsidy for capacity recovery are conducive measures to calibrate insufficient service level caused by an overconfident manager. The research also finds that the manager’s overprecision behavior both negatively and positively influences the decision of capacity recovery, and a calibration method could motivate manager to recover more capacity by tuning up the ratio of punishment and subsidy. However, the effectiveness of the calibration mentioned above is inevitably weakened due to the less capacity recovery given by an overestimated manager. This research also indicates that the manager should pay close attention to the random disturbance whose distribution peak is left skewed, and correspondingly more capacity recovery should be given to improve the service level of power system during the disruption.

  18. New system for higher recovery rate of water borne Cryptosporidium oocysts and Giardia cysts

    DEFF Research Database (Denmark)

    Al-Sabi, Mohammad Nafi Solaiman; Gad, Jens; Klinting, Mette

    2012-01-01

    Background: The two most common water borne pathogenic protozoa, Cryptosporidium and Giardia, cause diarrhea worldwide. Detecting these parasites in water samples depends on effective parasite recovery from the water matrix. The reported low recovery rates of the currently used filter methods...... motivate the development of systems with higher recovery rates. Materials and methods: Five replicates of IMS purified Cryptosporidium oocysts and Giardia cysts (N=2x103) were injected into a specially coated filter unit with a carefully chosen pore size. Following filtration, sonication was performed...... were 85% were recorded when the filter was sonicated. Sonication usually affects parasite viability but could be tuned into a useful tool for enhanced backwash collection of parasites using a specially constructed filter unit and a sonication protocol. The filtration...

  19. New filtration system for efficient recovery of waterborne Cryptosporidium oocysts and Giardia cysts

    DEFF Research Database (Denmark)

    Al-Sabi, Mohammad Nafi Solaiman; Gad, J. A.; Riber, Ulla

    2015-01-01

    -)cysts (1x10(2); 10 replicates) was successfully amplified using real-time PCR.ConclusionsThe use of a metallic filter, sonication and air backwash' were key factors for creating a highly efficient system for recovery of apparently undamaged protozoa.Significance and Impact of the StudyThis reagent......AimsTo develop a filtration unit for efficient recovery of waterborne Cryptosporidium oocysts and Giardia cysts ((oo-)cysts) in drinking water.Methods and ResultsThis unit utilizes a metallic filter and an ultrasound transducer for eluting (oo-)cysts, with a fixed retentate backwash volume; approx....... 400l. Changes in the viability was evaluated by seeding wild type (oo-)cysts (1x10(4)) followed by sonication for 5, 10, 20 or 40s (five replicates for each period). Flow cytometry analysis showed negligible increase in the mortality of (oo-)cysts exposed to 5-10s of sonication. Recovery rate...

  20. Design and evaluation of fluidized bed heat recovery for diesel engine systems

    Science.gov (United States)

    Hamm, J. R.; Newby, R. A.; Vidt, E. J.; Lippert, T. E.

    1985-01-01

    The potential of utilizing fluidized bed heat exchangers in place of conventional counter-flow heat exchangers for heat recovery from adiabatic diesel engine exhaust gas streams was studied. Fluidized bed heat recovery systems were evaluated in three different heavy duty transport applications: (1) heavy duty diesel truck; (2) diesel locomotives; and (3) diesel marine pushboat. The three applications are characterized by differences in overall power output and annual utilization. For each application, the exhaust gas source is a turbocharged-adiabatic diesel core. Representative subposed exhaust gas heat utilization power cycles were selected for conceptual design efforts including design layouts and performance estimates for the fluidized bed heat recovery heat exchangers. The selected power cycles were: organic rankine with RC-1 working fluid, turbocompound power turbine with steam injection, and stirling engine. Fuel economy improvement predictions are used in conjunction with capital cost estimates and fuel price data to determine payback times for the various cases.