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https://www.readbyqxmd.com/read/28445417/ins-gnss-integration-for-aerobatic-flight-applications-and-aircraft-motion-surveying
#1
Edgar L V Hinüber, Christian Reimer, Tim Schneider, Michael Stock
This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS (inertial navigation system/global satellite navigation system) solutions based on MEMS (micro-electro-mechanical- sensor) machined sensors, being used for UAV (unmanned aerial vehicle) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature...
April 26, 2017: Sensors
https://www.readbyqxmd.com/read/28425946/robot-beacon-distributed-range-only-slam-for-resource-constrained-operation
#2
Arturo Torres-González, Jose Ramiro Martínez-de Dios, Anibal Ollero
This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations...
April 20, 2017: Sensors
https://www.readbyqxmd.com/read/28420534/adaptive-compensation-control-for-attitude-adjustment-of-quad-rotor-unmanned-aerial-vehicle
#3
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
#4
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/28405214/a-real-time-phenotyping-framework-using-machine-learning-for-plant-stress-severity-rating-in-soybean
#5
Hsiang Sing Naik, Jiaoping Zhang, Alec Lofquist, Teshale Assefa, Soumik Sarkar, David Ackerman, Arti Singh, Asheesh K Singh, Baskar Ganapathysubramanian
BACKGROUND: Phenotyping is a critical component of plant research. Accurate and precise trait collection, when integrated with genetic tools, can greatly accelerate the rate of genetic gain in crop improvement. However, efficient and automatic phenotyping of traits across large populations is a challenge; which is further exacerbated by the necessity of sampling multiple environments and growing replicated trials. A promising approach is to leverage current advances in imaging technology, data analytics and machine learning to enable automated and fast phenotyping and subsequent decision support...
2017: Plant Methods
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
#6
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/28338047/automated-detection-and-enumeration-of-marine-wildlife-using-unmanned-aircraft-systems-uas-and-thermal-imagery
#7
A C Seymour, J Dale, M Hammill, P N Halpin, D W Johnston
Estimating animal populations is critical for wildlife management. Aerial surveys are used for generating population estimates, but can be hampered by cost, logistical complexity, and human risk. Additionally, human counts of organisms in aerial imagery can be tedious and subjective. Automated approaches show promise, but can be constrained by long setup times and difficulty discriminating animals in aggregations. We combine unmanned aircraft systems (UAS), thermal imagery and computer vision to improve traditional wildlife survey methods...
March 24, 2017: Scientific Reports
https://www.readbyqxmd.com/read/28335570/an-improved-multi-sensor-fusion-navigation-algorithm-based-on-the-factor-graph
#8
Qinghua Zeng, Weina Chen, Jianye Liu, Huizhe Wang
An integrated navigation system coupled with additional sensors can be used in the Micro Unmanned Aerial Vehicle (MUAV) applications because the multi-sensor information is redundant and complementary, which can markedly improve the system accuracy. How to deal with the information gathered from different sensors efficiently is an important problem. The fact that different sensors provide measurements asynchronously may complicate the processing of these measurements. In addition, the output signals of some sensors appear to have a non-linear character...
March 21, 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
#9
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
#10
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/28245587/unmanned-aerial-vehicle-based-wireless-sensor-network-for-marine-coastal-environment-monitoring
#11
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
#12
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
#13
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/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/28178215/water-plume-temperature-measurements-by-an-unmanned-aerial-system-uas
#15
Anthony DeMario, Pete Lopez, Eli Plewka, Ryan Wix, Hai Xia, Emily Zamora, Dan Gessler, Azer P Yalin
We report on the development and testing of a proof of principle water temperature measurement system deployed on an unmanned aerial system (UAS), for field measurements of thermal discharges into water. The primary elements of the system include a quad-copter UAS to which has been integrated, for the first time, both a thermal imaging infrared (IR) camera and an immersible probe that can be dipped below the water surface to obtain vertical water temperature profiles. The IR camera is used to take images of the overall water surface to geo-locate the plume, while the immersible probe provides quantitative temperature depth profiles at specific locations...
February 7, 2017: Sensors
https://www.readbyqxmd.com/read/28178189/augmented-reality-tool-for-the-situational-awareness-improvement-of-uav-operators
#16
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/28163883/rules-to-fly-by-pigeons-navigating-horizontal-obstacles-limit-steering-by-selecting-gaps-most-aligned-to-their-flight-direction
#17
Ivo G Ros, Partha S Bhagavatula, Huai-Ti Lin, Andrew A Biewener
Flying animals must successfully contend with obstacles in their natural environments. Inspired by the robust manoeuvring abilities of flying animals, unmanned aerial systems are being developed and tested to improve flight control through cluttered environments. We previously examined steering strategies that pigeons adopt to fly through an array of vertical obstacles (VOs). Modelling VO flight guidance revealed that pigeons steer towards larger visual gaps when making fast steering decisions. In the present experiments, we recorded three-dimensional flight kinematics of pigeons as they flew through randomized arrays of horizontal obstacles (HOs)...
February 6, 2017: Interface Focus
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/28145516/thermo-magneto-electric-generator-arrays-for-active-heat-recovery-system
#19
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
https://www.readbyqxmd.com/read/28067851/detection-location-and-grasping-objects-using-a-stereo-sensor-on-uav-in-outdoor-environments
#20
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
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