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https://www.readbyqxmd.com/read/28420534/adaptive-compensation-control-for-attitude-adjustment-of-quad-rotor-unmanned-aerial-vehicle
#1
Zhankui Song, Kaibiao Sun
A compensation control strategy based on adaptive back-stepping technique is presented to address the problem of attitude adjustment for a quad-rotor unmanned aerial vehicle (QR- UAV) with inertia parameter uncertainties, the limited airflow disturbance and the partial loss of rotation speed effectiveness. In the design process of control system, adaptive estimation technique is introduced into the closed loop system in order to compensate the lumped disturbance term. More specifically, the designed controller utilizes "prescribed performance bounds" method, and therefore guarantees the transient performance of tracking errors, even in the presence of the lumped disturbance...
April 15, 2017: ISA Transactions
https://www.readbyqxmd.com/read/28420214/multi-mode-estimation-for-small-fixed-wing-unmanned-aerial-vehicle-localization-based-on-a-linear-matrix-inequality-approach
#2
Mostafa Elzoghby, Fu Li, Ibrahim I Arafa, Usman Arif
Information fusion from multiple sensors ensures the accuracy and robustness of a navigation system, especially in the absence of global positioning system (GPS) data which gets degraded in many cases. A way to deal with multi-mode estimation for a small fixed wing unmanned aerial vehicle (UAV) localization framework is proposed, which depends on utilizing a Luenberger observer-based linear matrix inequality (LMI) approach. The proposed estimation technique relies on the interaction between multiple measurement modes and a continuous observer...
April 18, 2017: Sensors
https://www.readbyqxmd.com/read/28410747/robust-guaranteed-cost-tracking-control-of-quadrotor-uav-with-uncertainties
#3
Zhiwei Xu, Xiaohong Nian, Haibo Wang, Yinsheng Chen
In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level...
April 12, 2017: ISA Transactions
https://www.readbyqxmd.com/read/28400784/high-throughput-phenotyping-of-sorghum-plant-height-using-an-unmanned-aerial-vehicle-and-its-application-to-genomic-prediction-modeling
#4
Kakeru Watanabe, Wei Guo, Keigo Arai, Hideki Takanashi, Hiromi Kajiya-Kanegae, Masaaki Kobayashi, Kentaro Yano, Tsuyoshi Tokunaga, Toru Fujiwara, Nobuhiro Tsutsumi, Hiroyoshi Iwata
Genomics-assisted breeding methods have been rapidly developed with novel technologies such as next-generation sequencing, genomic selection and genome-wide association study. However, phenotyping is still time consuming and is a serious bottleneck in genomics-assisted breeding. In this study, we established a high-throughput phenotyping system for sorghum plant height and its response to nitrogen availability; this system relies on the use of unmanned aerial vehicle (UAV) remote sensing with either an RGB or near-infrared, green and blue (NIR-GB) camera...
2017: Frontiers in Plant Science
https://www.readbyqxmd.com/read/28397775/coastal-areas-division-and-coverage-with-multiple-uavs-for-remote-sensing
#5
Fotios Balampanis, Iván Maza, Aníbal Ollero
This paper tackles the problems of exact cell decomposition and partitioning of a coastal region for a team of heterogeneous Unmanned Aerial Vehicles (UAVs) with an approach that takes into account the field of view or sensing radius of the sensors on-board. An initial sensor-based exact cell decomposition of the area aids in the partitioning process, which is performed in two steps. In the first step, a growing regions algorithm performs an isotropic partitioning of the area based on the initial locations of the UAVs and their relative capabilities...
April 9, 2017: Sensors
https://www.readbyqxmd.com/read/28273845/a-novel-system-for-correction-of-relative-angular-displacement-between-airborne-platform-and-uav-in-target-localization
#6
Chenglong Liu, Jinghong Liu, Yueming Song, Huaidan Liang
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...
March 4, 2017: Sensors
https://www.readbyqxmd.com/read/28273815/development-of-an-unmanned-aerial-vehicle-borne-crop-growth-monitoring-system
#7
Jun Ni, Lili Yao, Jingchao Zhang, Weixing Cao, Yan Zhu, Xiuxiang Tai
In view of the demand for a low-cost, high-throughput method for the continuous acquisition of crop growth information, this study describes a crop-growth monitoring system which uses an unmanned aerial vehicle (UAV) as an operating platform. The system is capable of real-time online acquisition of various major indexes, e.g., the normalized difference vegetation index (NDVI) of the crop canopy, ratio vegetation index (RVI), leaf nitrogen accumulation (LNA), leaf area index (LAI), and leaf dry weight (LDW)...
March 3, 2017: Sensors
https://www.readbyqxmd.com/read/28264425/coordinated-target-tracking-via-a-hybrid-optimization-approach
#8
Yin Wang, Yan Cao
Recent advances in computer science and electronics have greatly expanded the capabilities of unmanned aerial vehicles (UAV) in both defense and civil applications, such as moving ground object tracking. Due to the uncertainties of the application environments and objects' motion, it is difficult to maintain the tracked object always within the sensor coverage area by using a single UAV. Hence, it is necessary to deploy a group of UAVs to improve the robustness of the tracking. This paper investigates the problem of tracking ground moving objects with a group of UAVs using gimbaled sensors under flight dynamic and collision-free constraints...
February 27, 2017: Sensors
https://www.readbyqxmd.com/read/28245587/unmanned-aerial-vehicle-based-wireless-sensor-network-for-marine-coastal-environment-monitoring
#9
Carlos A Trasviña-Moreno, Rubén Blasco, Álvaro Marco, Roberto Casas, Armando Trasviña-Castro
Marine environments are delicate ecosystems which directly influence local climates, flora, fauna, and human activities. Their monitorization plays a key role in their preservation, which is most commonly done through the use of environmental sensing buoy networks. These devices transmit data by means of satellite communications or close-range base stations, which present several limitations and elevated infrastructure costs. Unmanned Aerial Vehicles (UAV) are another alternative for remote environmental monitoring which provide new types of data and ease of use...
February 24, 2017: Sensors
https://www.readbyqxmd.com/read/28241479/unmanned-aerial-vehicle-systems-for-remote-estimation-of-flooded-areas-based-on-complex-image-processing
#10
Dan Popescu, Loretta Ichim, Florin Stoican
Floods are natural disasters which cause the most economic damage at the global level. Therefore, flood monitoring and damage estimation are very important for the population, authorities and insurance companies. The paper proposes an original solution, based on a hybrid network and complex image processing, to this problem. As first novelty, a multilevel system, with two components, terrestrial and aerial, was proposed and designed by the authors as support for image acquisition from a delimited region. The terrestrial component contains a Ground Control Station, as a coordinator at distance, which communicates via the internet with more Ground Data Terminals, as a fixed nodes network for data acquisition and communication...
February 23, 2017: Sensors
https://www.readbyqxmd.com/read/28230727/analyzing-the-effects-of-uav-mobility-patterns-on-data-collection-in-wireless-sensor-networks
#11
Sarmad Rashed, Mujdat Soyturk
Sensor nodes in a Wireless Sensor Network (WSN) can be dispersed over a remote sensing area (e.g., the regions that are hardly accessed by human beings). In such kinds of networks, datacollectionbecomesoneofthemajorissues. Getting connected to each sensor node and retrieving the information in time introduces new challenges. Mobile sink usage-especially Unmanned Aerial Vehicles (UAVs)-is the most convenient approach to covering the area and accessing each sensor node in such a large-scale WSN. However, the operation of the UAV depends on some parameters, such as endurance time, altitude, speed, radio type in use, and the path...
February 20, 2017: Sensors
https://www.readbyqxmd.com/read/28218699/gimbal-influence-on-the-stability-of-exterior-orientation-parameters-of-uav-acquired-images
#12
Mateo Gašparović, Luka Jurjević
In this paper, results from the analysis of the gimbal impact on the determination of the camera exterior orientation parameters of an Unmanned Aerial Vehicle (UAV) are presented and interpreted. Additionally, a new approach and methodology for testing the influence of gimbals on the exterior orientation parameters of UAV acquired images is presented. The main motive of this study is to examine the possibility of obtaining better geometry and favorable spatial bundles of rays of images in UAV photogrammetric surveying...
February 18, 2017: Sensors
https://www.readbyqxmd.com/read/28216557/a-methodology-to-monitor-airborne-pm10-dust-particles-using-a-small-unmanned-aerial-vehicle
#13
Miguel Alvarado, Felipe Gonzalez, Peter Erskine, David Cliff, Darlene Heuff
Throughout the process of coal extraction from surface mines, gases and particles are emitted in the form of fugitive emissions by activities such as hauling, blasting and transportation. As these emissions are diffuse in nature, estimations based upon emission factors and dispersion/advection equations need to be measured directly from the atmosphere. This paper expands upon previous research undertaken to develop a relative methodology to monitor PM10 dust particles produced by mining activities making use of small unmanned aerial vehicles (UAVs)...
February 14, 2017: Sensors
https://www.readbyqxmd.com/read/28209426/swing-attenuation-for-a-quadrotor-transporting-a-cable-suspended-payload
#14
M Eusebia Guerrero-Sánchez, D Alberto Mercado-Ravell, Rogelio Lozano, C Daniel García-Beltrán
This paper presents the problem of safe and fast transportation of packages by an Unmanned Aerial Vehicle (UAV) kind quadrotor. A mathematical model and a control strategy for a special class of underactuated mechanical systems, composed of a quadrotor transporting a cable-suspended payload, are proposed. The Euler-Lagrange formulation is used to obtain the dynamic model of the system, where the integrated dynamics of the quadrotor, cable and payload are considered. An Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) is chosen because of its inherent robustness against parametric uncertainty and unmodeled dynamics...
February 13, 2017: ISA Transactions
https://www.readbyqxmd.com/read/28202268/three-dimensional-investigation-of-ozone-pollution-in-the-lower-troposphere-using-an-unmanned-aerial-vehicle-platform
#15
Xiao-Bing Li, Dong-Sheng Wang, Qing-Chang Lu, Zhong-Ren Peng, Si-Jia Lu, Bai Li, Chao Li
Potential utilities of instrumented lightweight unmanned aerial vehicles (UAVs) to quickly characterize tropospheric ozone pollution and meteorological factors including air temperature and relative humidity at three-dimensional scales are highlighted in this study. Both vertical and horizontal variations of ozone within the 1000 m lower troposphere at a local area of 4 × 4 km(2) are investigated during summer and autumn times. Results from field measurements show that the UAV platform has a sufficient reliability and precision in capturing spatiotemporal variations of ozone and meteorological factors...
February 12, 2017: Environmental Pollution
https://www.readbyqxmd.com/read/28178755/unmanned-aerial-vehicles-for-surveying-marine-fauna-assessing-detection-probability
#16
Amanda Hodgson, David Peel, Natalie Kelly
Aerial surveys are conducted for various fauna to assess abundance, distribution, and habitat use over large spatial scales. They are traditionally conducted using light aircraft with observers recording sightings in real time. Unmanned Aerial Vehicles (UAVs) offer an alternative with many potential advantages, including eliminating human risk. To be effective, this emerging platform needs to provide detection rates of animals comparable to traditional methods. UAVs can also acquire new types of information, and this new data requires a reevaluation of traditional analyses used in aerial surveys; including estimating the probability of detecting animals...
February 8, 2017: Ecological Applications: a Publication of the Ecological Society of America
https://www.readbyqxmd.com/read/28178189/augmented-reality-tool-for-the-situational-awareness-improvement-of-uav-operators
#17
Susana Ruano, Carlos Cuevas, Guillermo Gallego, Narciso García
Unmanned Aerial Vehicles (UAVs) are being extensively used nowadays. Therefore, pilots of traditional aerial platforms should adapt their skills to operate them from a Ground Control Station (GCS). Common GCSs provide information in separate screens: one presents the video stream while the other displays information about the mission plan and information coming from other sensors. To avoid the burden of fusing information displayed in the two screens, an Augmented Reality (AR) tool is proposed in this paper...
February 6, 2017: Sensors
https://www.readbyqxmd.com/read/28157904/detection-of-unmanned-aerial-vehicles-using-a-visible-camera-system
#18
Shuowen Hu, Geoffrey H Goldman, Christoph C Borel-Donohue
Unmanned aerial vehicles (UAVs) flown by adversaries are an emerging asymmetric threat to homeland security and the military. To help address this threat, we developed and tested a computationally efficient UAV detection algorithm consisting of horizon finding, motion feature extraction, blob analysis, and coherence analysis. We compare the performance of this algorithm against two variants, one using the difference image intensity as the motion features and another using higher-order moments. The proposed algorithm and its variants are tested using field test data of a group 3 UAV acquired with a panoramic video camera in the visible spectrum...
January 20, 2017: Applied Optics
https://www.readbyqxmd.com/read/28146671/the-neuroergonomics-of-vigilance
#19
Matthew E Funke, Joel S Warm, Gerald Matthews, Gregory J Funke, Peter Y Chiu, Tyler H Shaw, Eric T Greenlee
OBJECTIVE: The aim of this study was to examine the effects of uncertainty about where in the field of view critical signals for detection appear during a vigilance task (spatial uncertainty) on cerebral blood flow velocity (CBFV) and oculomotor fatigue. BACKGROUND: Neuroergonomics is a dimension of human factors founded by Raja Parasuraman that studies brain functions underlying performance at work. Neuroergonomic studies have shown that observers in vigilance tasks lose information-processing resources over time and experience oculomotor fatigue as indexed by a temporal decline in CBFV and elevation in eye closure as reflected in the PERCLOS metric...
February 2017: Human Factors
https://www.readbyqxmd.com/read/28145516/thermo-magneto-electric-generator-arrays-for-active-heat-recovery-system
#20
Jinsung Chun, Hyun-Cheol Song, Min-Gyu Kang, Han Byul Kang, Ravi Anant Kishore, Shashank Priya
Continued emphasis on development of thermal cooling systems is being placed that can cycle low grade heat. Examples include solar powered unmanned aerial vehicles (UAVs) and data storage servers. The power efficiency of solar module degrades at elevated temperature, thereby, necessitating the need for heat extraction system. Similarly, data centres in wireless computing system are facing increasing efficiency challenges due to high power consumption associated with managing the waste heat. We provide breakthrough in addressing these problems by developing thermo-magneto-electric generator (TMEG) arrays, composed of soft magnet and piezoelectric polyvinylidene difluoride (PVDF) cantilever...
February 1, 2017: Scientific Reports
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