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https://www.readbyqxmd.com/read/28067851/detection-location-and-grasping-objects-using-a-stereo-sensor-on-uav-in-outdoor-environments
#1
Pablo Ramon Soria, Begoña C Arrue, Anibal Ollero
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...
January 7, 2017: Sensors
https://www.readbyqxmd.com/read/28067814/two-uav-intersection-localization-system-based-on-the-airborne-optoelectronic-platform
#2
Guanbing Bai, Jinghong Liu, Yueming Song, Yujia Zuo
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...
January 6, 2017: Sensors
https://www.readbyqxmd.com/read/28029145/real-time-multi-target-localization-from-unmanned-aerial-vehicles
#3
Xuan Wang, Jinghong Liu, Qianfei Zhou
In order to improve the reconnaissance efficiency of unmanned aerial vehicle (UAV) electro-optical stabilized imaging systems, a real-time multi-target localization scheme based on an UAV electro-optical stabilized imaging system is proposed. First, a target location model is studied. Then, the geodetic coordinates of multi-targets are calculated using the homogeneous coordinate transformation. On the basis of this, two methods which can improve the accuracy of the multi-target localization are proposed: (1) the real-time zoom lens distortion correction method; (2) a recursive least squares (RLS) filtering method based on UAV dead reckoning...
December 25, 2016: Sensors
https://www.readbyqxmd.com/read/28025531/small-uas-based-wind-feature-identification-system-part-1-integration-and-validation
#4
Leopoldo Rodriguez Salazar, Jose A Cobano, Anibal Ollero
This paper presents a system for identification of wind features, such as gusts and wind shear. These are of particular interest in the context of energy-efficient navigation of Small Unmanned Aerial Systems (UAS). The proposed system generates real-time wind vector estimates and a novel algorithm to generate wind field predictions. Estimations are based on the integration of an off-the-shelf navigation system and airspeed readings in a so-called direct approach. Wind predictions use atmospheric models to characterize the wind field with different statistical analyses...
December 23, 2016: Sensors
https://www.readbyqxmd.com/read/28009820/development-and-validation-of-a-uav-based-system-for-air-pollution-measurements
#5
Tommaso Francesco Villa, Farhad Salimi, Kye Morton, Lidia Morawska, Felipe Gonzalez
Air quality data collection near pollution sources is difficult, particularly when sites are complex, have physical barriers, or are themselves moving. Small Unmanned Aerial Vehicles (UAVs) offer new approaches to air pollution and atmospheric studies. However, there are a number of critical design decisions which need to be made to enable representative data collection, in particular the location of the air sampler or air sensor intake. The aim of this research was to establish the best mounting point for four gas sensors and a Particle Number Concentration (PNC) monitor, onboard a hexacopter, so to develop a UAV system capable of measuring point source emissions...
December 21, 2016: Sensors
https://www.readbyqxmd.com/read/27929424/a-height-estimation-approach-for-terrain-following-flights-from-monocular-vision
#6
Igor S G Campos, Erickson R Nascimento, Gustavo M Freitas, Luiz Chaimowicz
In this paper, we present a monocular vision-based height estimation algorithm for terrain following flights. The impressive growth of Unmanned Aerial Vehicle (UAV) usage, notably in mapping applications, will soon require the creation of new technologies to enable these systems to better perceive their surroundings. Specifically, we chose to tackle the terrain following problem, as it is still unresolved for consumer available systems. Virtually every mapping aircraft carries a camera; therefore, we chose to exploit this in order to use presently available hardware to extract the height information toward performing terrain following flights...
December 6, 2016: Sensors
https://www.readbyqxmd.com/read/27918594/real-time-reliability-verification-for-uav-flight-control-system-supporting-airworthiness-certification
#7
Haiyang Xu, Ping Wang
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...
2016: PloS One
https://www.readbyqxmd.com/read/27889134/neural-adaptive-observer-based-sensor-and-actuator-fault-detection-in-nonlinear-systems-application-in-uav
#8
Alireza Abbaspour, Payam Aboutalebi, Kang K Yen, Arman Sargolzaei
A new online detection strategy is developed to detect faults in sensors and actuators of unmanned aerial vehicle (UAV) systems. In this design, the weighting parameters of the Neural Network (NN) are updated by using the Extended Kalman Filter (EKF). Online adaptation of these weighting parameters helps to detect abrupt, intermittent, and incipient faults accurately. We apply the proposed fault detection system to a nonlinear dynamic model of the WVU YF-22 unmanned aircraft for its evaluation. The simulation results show that the new method has better performance in comparison with conventional recurrent neural network-based fault detection strategies...
November 24, 2016: ISA Transactions
https://www.readbyqxmd.com/read/27861967/drone-transportation-of-blood-products
#9
Timothy Amukele, Paul M Ness, Aaron A R Tobian, Joan Boyd, Jeff Street
BACKGROUND: Small civilian unmanned aerial vehicles (drones) are a novel way to transport small goods. To the best of our knowledge there are no studies examining the impact of drone transport on blood products, describing approaches to maintaining temperature control, or component physical characteristics during drone transport. STUDY DESIGN AND METHODS: Six leukoreduced red blood cell (RBC) and six apheresis platelet (PLT) units were split using sterile techniques...
November 11, 2016: Transfusion
https://www.readbyqxmd.com/read/27854267/development-of-cloud-based-uav-monitoring-and-management-system
#10
Mason Itkin, Mihui Kim, Younghee Park
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...
November 15, 2016: Sensors
https://www.readbyqxmd.com/read/27835670/robust-satisficing-decision-making-for-unmanned-aerial-vehicle-complex-missions-under-severe-uncertainty
#11
Xiaoting Ji, Yifeng Niu, Lincheng Shen
This paper presents a robust satisficing decision-making method for Unmanned Aerial Vehicles (UAVs) executing complex missions in an uncertain environment. Motivated by the info-gap decision theory, we formulate this problem as a novel robust satisficing optimization problem, of which the objective is to maximize the robustness while satisfying some desired mission requirements. Specifically, a new info-gap based Markov Decision Process (IMDP) is constructed to abstract the uncertain UAV system and specify the complex mission requirements with the Linear Temporal Logic (LTL)...
2016: PloS One
https://www.readbyqxmd.com/read/27827883/towards-autonomous-modular-uav-missions-the-detection-geo-location-and-landing-paradigm
#12
Sarantis Kyristsis, Angelos Antonopoulos, Theofilos Chanialakis, Emmanouel Stefanakis, Christos Linardos, Achilles Tripolitsiotis, Panagiotis Partsinevelos
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...
November 3, 2016: Sensors
https://www.readbyqxmd.com/read/27792156/a-camera-based-target-detection-and-positioning-uav-system-for-search-and-rescue-sar-purposes
#13
Jingxuan Sun, Boyang Li, Yifan Jiang, Chih-Yung Wen
Wilderness search and rescue entails performing a wide-range of work in complex environments and large regions. Given the concerns inherent in large regions due to limited rescue distribution, unmanned aerial vehicle (UAV)-based frameworks are a promising platform for providing aerial imaging. In recent years, technological advances in areas such as micro-technology, sensors and navigation have influenced the various applications of UAVs. In this study, an all-in-one camera-based target detection and positioning system is developed and integrated into a fully autonomous fixed-wing UAV...
October 25, 2016: Sensors
https://www.readbyqxmd.com/read/27754369/development-and-testing-of-a-two-uav-communication-relay-system
#14
Boyang Li, Yifan Jiang, Jingxuan Sun, Lingfeng Cai, Chih-Yung Wen
In the development of beyond-line-of-sight (BLOS) Unmanned Aerial Vehicle (UAV) systems, communication between the UAVs and the ground control station (GCS) is of critical importance. The commonly used economical wireless modules are restricted by the short communication range and are easily blocked by obstacles. The use of a communication relay system provides a practical way to solve these problems, improving the performance of UAV communication in BLOS and cross-obstacle operations. In this study, a communication relay system, in which a quadrotor was used to relay radio communication for another quadrotor was developed and tested...
October 13, 2016: Sensors
https://www.readbyqxmd.com/read/27744213/temporal-variation-of-dose-rate-distribution-around-the-fukushima-daiichi-nuclear-power-station-using-unmanned-helicopter
#15
Yukihisa Sanada, Tadashi Orita, Tatsuo Torii
Aerial radiological survey using an unmanned aerial vehicle (UAV) was applied to measurement surface contamination around the Fukushima Daiichi nuclear power station (FDNPS). An unmanned helicopter monitoring system (UHMS) was developed to survey the environmental effect of radioactive cesium scattered as a result of the FDNPS accident. The UHMS was used to monitor the area surrounding the FDNPS six times from 2012 to 2015. Quantitative changes in the radioactivity distribution trend were revealed from the results of these monitoring runs...
December 2016: Applied Radiation and Isotopes
https://www.readbyqxmd.com/read/27729058/unmanned-aerial-vehicles-drones-in-out-of-hospital-cardiac-arrest
#16
A Claesson, D Fredman, L Svensson, M Ringh, J Hollenberg, P Nordberg, M Rosenqvist, T Djarv, S Österberg, J Lennartsson, Y Ban
BACKGROUND: The use of an automated external defibrillator (AED) prior to EMS arrival can increase 30-day survival in out-of-hospital cardiac arrest (OHCA) significantly. Drones or unmanned aerial vehicles (UAV) can fly with high velocity and potentially transport devices such as AEDs to the site of OHCAs. The aim of this explorative study was to investigate the feasibility of a drone system in decreasing response time and delivering an AED. METHODS: Data of Global Positioning System (GPS) coordinates from historical OHCA in Stockholm County was used in a model using a Geographic Information System (GIS) to find suitable placements and visualize response times for the use of an AED equipped drone...
October 12, 2016: Scandinavian Journal of Trauma, Resuscitation and Emergency Medicine
https://www.readbyqxmd.com/read/27642549/ros-based-ground-stereo-vision-detection-implementation-and-experiments
#17
Tianjiang Hu, Boxin Zhao, Dengqing Tang, Daibing Zhang, Weiwei Kong, Lincheng Shen
This article concentrates on open-source implementation on flying object detection in cluttered scenes. It is of significance for ground stereo-aided autonomous landing of unmanned aerial vehicles. The ground stereo vision guidance system is presented with details on system architecture and workflow. The Chan-Vese detection algorithm is further considered and implemented in the robot operating systems (ROS) environment. A data-driven interactive scheme is developed to collect datasets for parameter tuning and performance evaluating...
2016: Robotics and Biomimetics
https://www.readbyqxmd.com/read/27633199/a-meta-analysis-of-human-system-interfaces-in-unmanned-aerial-vehicle-uav-swarm-management
#18
REVIEW
Amy Hocraffer, Chang S Nam
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...
January 2017: Applied Ergonomics
https://www.readbyqxmd.com/read/27607298/design-of-a-holographic-tracking-module-for-long-range-retroreflector-free-space-systems
#19
C Quintana, G Erry, A Gomez, Y Thueux, G E Faulkner, D C O'Brien
Weight reduction and low power consumption are key requirements in the next generation of unmanned aerial vehicles (UAVs). To communicate with an operator, a secured link between the UAV and a ground-based station is desirable. To realize these links, retroreflecting free-space optics is potentially attractive as it offers light weight and low complexity at the UAV. However, the base station requires a high-performance tracking module to enable a steady illumination of the UAV retroreflector. In this paper, we present the design and implementation of a tracking system, which consists of coarse tracking and holographic fine tracking modules working cooperatively...
September 1, 2016: Applied Optics
https://www.readbyqxmd.com/read/27548174/airborne-optical-and-thermal-remote-sensing-for-wildfire-detection-and-monitoring
#20
REVIEW
Robert S Allison, Joshua M Johnston, Gregory Craig, Sion Jennings
For decades detection and monitoring of forest and other wildland fires has relied heavily on aircraft (and satellites). Technical advances and improved affordability of both sensors and sensor platforms promise to revolutionize the way aircraft detect, monitor and help suppress wildfires. Sensor systems like hyperspectral cameras, image intensifiers and thermal cameras that have previously been limited in use due to cost or technology considerations are now becoming widely available and affordable. Similarly, new airborne sensor platforms, particularly small, unmanned aircraft or drones, are enabling new applications for airborne fire sensing...
2016: Sensors
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