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https://www.readbyqxmd.com/read/28209426/swing-attenuation-for-a-quadrotor-transporting-a-cable-suspended-payload
#1
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
#2
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-uavs-for-surveying-marine-fauna-assessing-detection-probability
#3
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 re-evaluation 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
#4
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
#5
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
#6
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
#7
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/28139207/disturbance-observer-based-hierarchical-control-of-coaxial-rotor-uav
#8
M Rida Mokhtari, Brahim Cherki, Amal Choukchou Braham
This paper propose an hierarchical controller based on a new disturbance observer with finite time convergence (FTDO) to solve the path tracking of a small coaxial-rotor-typs Unmanned Aerial Vehicles (UAVs) despite of unknown aerodynamic efforts. The hierarchical control technique is used to separate the flight control problem into an inner loop that controls attitude and an outer loop that controls the thrust force acting on the vehicle. The new disturbance observer with finite time convergence is intergated to online estimate the unknown uncertainties and disturbances and to actively compensate them in finite time...
January 27, 2017: ISA Transactions
https://www.readbyqxmd.com/read/28113698/detecting-flying-objects-using-a-single-moving-camera
#9
Artem Rozantsev, Vincent Lepetit, Pascal Fua
We propose an approach for detecting flying objects such as Unmanned Aerial Vehicles (UAVs) and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. We argue that solving such a difficult problem requires combining both appearance and motion cues. To this end we propose a regression-based approach for object-centric motion stabilization of image patches that allows us to achieve effective classification on spatio-temporal image cubes and outperform state-of-the-art techniques...
May 6, 2016: IEEE Transactions on Pattern Analysis and Machine Intelligence
https://www.readbyqxmd.com/read/28106819/modeling-aboveground-biomass-in-hulunber-grassland-ecosystem-by-using-unmanned-aerial-vehicle-discrete-lidar
#10
Dongliang Wang, Xiaoping Xin, Quanqin Shao, Matthew Brolly, Zhiliang Zhu, Jin Chen
Accurate canopy structure datasets, including canopy height and fractional cover, are required to monitor aboveground biomass as well as to provide validation data for satellite remote sensing products. In this study, the ability of an unmanned aerial vehicle (UAV) discrete light detection and ranging (lidar) was investigated for modeling both the canopy height and fractional cover in Hulunber grassland ecosystem. The extracted mean canopy height, maximum canopy height, and fractional cover were used to estimate the aboveground biomass...
January 19, 2017: Sensors
https://www.readbyqxmd.com/read/28067851/detection-location-and-grasping-objects-using-a-stereo-sensor-on-uav-in-outdoor-environments
#11
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
#12
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
#13
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/28009831/diverse-planning-for-uav-control-and-remote-sensing
#14
Jan Tožička, Antonín Komenda
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...
December 21, 2016: Sensors
https://www.readbyqxmd.com/read/28009820/development-and-validation-of-a-uav-based-system-for-air-pollution-measurements
#15
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/27999307/autonomous-aeromagnetic-surveys-using-a-fluxgate-magnetometer
#16
Douglas G Macharet, Héctor I A Perez-Imaz, Paulo A F Rezeck, Guilherme A Potje, Luiz C C Benyosef, André Wiermann, Gustavo M Freitas, Luis G U Garcia, Mario F M Campos
Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs)...
December 17, 2016: Sensors
https://www.readbyqxmd.com/read/27991431/bio-inspired-energy-harvesting-mechanisms-and-patterns-of-dynamic-soaring
#17
Duo-Neng Liu, Zhong-Xi Hou, Zheng Guo, Xi-Xiang Yang, Xian-Zhong Gao
Albatrosses can make use of the dynamic soaring technique extracting energy from the wind field to achieve large-scale movement without a flap, which stimulates interests in effortless flight with small unmanned aerial vehicles (UAVs). However, mechanisms of energy harvesting in terms of the energy transfer from the wind to the flyer (albatross or UAV) are still indeterminate and controversial when using different reference frames in previous studies. In this paper, the classical four-phase Rayleigh cycle, includes sequentially upwind climb, downwind turn, downwind dive and upwind turn, is introduced in analyses of energy gain with the albatross's equation of motions and the simulated trajectory in dynamic soaring...
December 19, 2016: Bioinspiration & Biomimetics
https://www.readbyqxmd.com/read/27958408/multi-stage-classification-method-oriented-to-aerial-image-based-on-low-rank-recovery-and-multi-feature-fusion-sparse-representation
#18
Xu Ma, Yongmei Cheng, Shuai Hao
Automatic classification of terrain surfaces from an aerial image is essential for an autonomous unmanned aerial vehicle (UAV) landing at an unprepared site by using vision. Diverse terrain surfaces may show similar spectral properties due to the illumination and noise that easily cause poor classification performance. To address this issue, a multi-stage classification algorithm based on low-rank recovery and multi-feature fusion sparse representation is proposed. First, color moments and Gabor texture feature are extracted from training data and stacked as column vectors of a dictionary...
December 10, 2016: Applied Optics
https://www.readbyqxmd.com/read/27929424/a-height-estimation-approach-for-terrain-following-flights-from-monocular-vision
#19
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
#20
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
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