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1

Autonomous controller design for unmanned aerial vehicles using multi-objective genetic programming  

E-print Network

Abstract. Autonomous navigation controllers were developed for fixed wing unmanned aerial vehicle (UAV) applications using multi-objective genetic programming (GP). Four fitness functions derived from flight simulations were designed and multi-objective GP was used to evolve controllers able to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle around the emitter. Controllers were evolved for three different kinds of radars: stationary, continuously emitting radars, stationary, intermittently emitting radars, and mobile, continuously emitting radars. In this study, realistic flight parameters and sensor inputs were selected to aid in the transference of evolved controllers to physical UAVs. 1

Gregory J. Barlow

2004-01-01

2

Unmanned Aerial Vehicles  

NSDL National Science Digital Library

Unmanned aerial vehicles (UAVs) are the subject of considerable attention in the governmental, scientific, and research communities. They are operated by onboard flight automation systems or remotely by a human pilot. Recently employed in Afghanistan and Iraq, UAVs can be used for reconnaissance, surveillance, and even combat. They also have many non-military applications. These sites illustrate the diversity of UAVs and discuss new technologies being used in their design.An article from West Virginia University (1) gives an overview of UAV research being conducted at the institution. In addition to describing the software development for UAV control, the article effectively conveys what UAVs are and how they are used. Another resource that demonstrates the multitude of UAV applications comes from a company that specializes in their design (2). The UAVs described on the site range from high-flying solar powered aircraft to tiny MicroAir Vehicles. Many of the aircraft featured on the site were developed in conjunction with NASA, and a technical paper describing the development of one of the UAVs is provided. A Congressional Research Service report (3) focuses on military acquisition and utilization of UAVs. It briefly discusses early trials dating back to World War I and later efforts by the Israeli Air Force, but the majority of the report deals with current models and the gradual phasing out of certain manned flight missions. The High-Altitude, Long-Endurance UAV Certification & Regulatory Roadmap (4) is a massive online document intended to facilitate the creation of a National Airspace System that includes UAV flight. The downloadable version is nearly 500 pages in length and addresses the integration of UAVs in civil, commercial, and military applications. The University of Sydney has a group of students and faculty that are very active in UAV research and development. The group's homepage (5) showcases four UAVs created at the university, as well as providing several research papers that explore related design issues. A report from the University of Florida (6) proposes a computer vision-based system for creating a fully autonomous Micro Air Vehicle (MAV). The authors note that while considerable progress has been made in remotely piloted MAVs, efforts to develop a MAV that can pilot itself have met with limited success. To curb this trend, the researchers created a system that uses an onboard camera for horizon detection, and the details are presented in the paper. A news article from October 2003 (7) documents a groundbreaking achievement in aviation: the first laser-powered aircraft. Developed by researchers from NASA and the University of Alabama, the UAV is the target of a ground-based laser that charges the photovoltaic cells on board the aircraft. Another news story offers some surprising comments, including the suggestion that manned fighter jets will soon be a thing of the past. Published by Wired News in November 2003, the article cites several experts in unmanned aerial vehicle development. [CL

3

Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles Using Multi-objective Genetic Programming  

E-print Network

Unmanned aerial vehicles (UAVs) have become increasingly popular for many applications, including search and rescue, surveillance, and electronic warfare, but almost all UAVs are con-trolled remotely by humans. Methods of control must be developed before UAVs can become truly autonomous. While the field of evolutionary robotics (ER) has made strides in using evo-lutionary computation (EC) to develop controllers for wheeled mobile robots, little attention has been paid to applying EC to UAV control. EC is an attractive method for developing UAV controllers because it allows the human designer to specify the set of high level goals that are to be solved by artificial evolution. In this research, autonomous navigation controllers were developed using multi-objective genetic programming (GP) for fixed wing UAV applications. Four behavioral fitness functions were derived from flight simulations. Multi-objective GP used these fitness functions to evolve controllers that were able to locate an electromagnetic energy source, to navigate the UAV to that source efficiently using on-board sensor measure-ments, and to circle around the emitter. Controllers were evolved in simulation. To narrow the gap between simulated and real controllers, the simulation environment employed noisy radar signals and a sensor model with realistic inaccuracies. All computations were performed on a

Gregory John Barlow

2004-01-01

4

Incremental Evolution of Autonomous Controllers for Unmanned Aerial Vehicles using Multi-objective Genetic Programming  

E-print Network

Autonomous navigation controllers were developed for fixed wing unmanned aerial vehicle (UAV) applications using incremental evolution with multi-objective genetic programming (GP). We designed four fitness functions derived from flight simulations and used multi-objective GP to evolve controllers able to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle closely around the emitter. We selected realistic flight parameters and sensor inputs to aid in the transference of evolved controllers to physical UAVs. We used both direct and environmental incremental evolution to evolve controllers for four types of radars: 1) continuously emitting, stationary radars, 2) continuously emitting, mobile radars, 3) intermittently emitting, stationary radars, and 4) intermittently emitting, mobile radars. The use of incremental evolution drastically increased evolution's chances of evolving a successful controller compared to direct evolution. This technique can also be used to develop a single controller capable of handling all four radar types. In the next stage of research, the best evolved controllers will be tested by using them to fly real UAVs.

Gregory J. Barlow; Choong K. Oh; Edward Grant; Edward Grant

2004-01-01

5

Obstacle and Terrain Avoidance for Miniature Aerial Vehicles  

Microsoft Academic Search

Unmanned aerial vehicles (UAVs) are playing increasingly prominent roles in defense programs and strategy around the world.\\u000a Technology advancements have enabled the development of large UAVs (e.g., Global Hawk, Predator) and the creation of smaller,\\u000a increasingly capable UAVs. The focus of this Chapter is on smaller fixed-wing miniature aerial vehicles (MAVs), which range\\u000a in size from % to 2 m

S. Griffiths; J. Saunders; A. Curtis; B. Barber; T. McLain; R. Beard

6

Delivery of Unmanned Aerial Vehicle Data  

NASA Technical Reports Server (NTRS)

To support much of NASA's Upper Atmosphere Research Program science, NASA has acquired two Global Hawk Unmanned Aerial Vehicles (UAVs). Two major missions are currently planned using the Global Hawk: the Global Hawk Pacific (GloPac) and the Genesis and Rapid Intensification Processes (GRIP) missions. This paper briefly describes GloPac and GRIP, the concept of operations and the resulting requirements and communication architectures. Also discussed are requirements for future missions that may use satellite systems and networks owned and operated by third parties.

Ivancic, William D.; Sullivan, Donald V.

2011-01-01

7

Final Technical Report for Chief Scientist for Atmospheric Radiation Measurement (ARM) Aerial Vehicle Program (AVP)  

SciTech Connect

The major responsibilities of the PI were identified as 1) the formulation of campaign plans, 2) the representation of AVP in various scientific communities inside and outside of ARM and the associated working groups, 3) the coordination and selection of the relative importance of the three different focus areas (routine observations, IOPs, instrument development program), 4) the examination and quality control of the data collected by AVP, and 5) providing field support for flight series. This report documents the accomplishments in each of these focus areas for the 3 years of funding for the grant that were provided.

Greg M. McFarquhar

2011-10-21

8

Ultralight photovoltaic modules for unmanned aerial vehicles  

SciTech Connect

New lightweight photovoltaic modules are being developed for powering high altitude unmanned aerial vehicles (UAVs). Modified low-cost terrestrial solar cell and module technologies are being applied to minimize vehicle cost. New processes were developed for assembling thin solar cells, encapsulant films, and cover films. An innovative by-pass diode mounting approach that uses a solar cell as a heat spreader was devised and tested. Materials and processes will be evaluated through accelerated environmental testing.

Nowlan, M.J.; Maglitta, J.C.; Darkazalli, G. [Spire Corp., Bedford, MA (United States); Lamp, T. [Aero Propulsion and Power Directorate, Wright-Patterson AFB, OH (United States). Wright Lab.

1997-12-31

9

Design Methodology for Unmannded Aerial Vehicle (UAV) Team Coordination  

E-print Network

1 Design Methodology for Unmannded Aerial Vehicle (UAV) Team Coordination F.B. da Silva S.D. Scott-mail: halab@mit.edu #12;2 Design Methodology for Unmannded Aerial Vehicle (UAV) Team Coordination by F.B. da Silva, S.D. Scott, and M.L. Cummings Executive Summary Unmanned Aerial Vehicle (UAV) systems, despite

Cummings, Mary "Missy"

10

Telesurgery Via Unmanned Aerial Vehicle (UAV) with a Field Deployable  

E-print Network

Telesurgery Via Unmanned Aerial Vehicle (UAV) with a Field Deployable Surgical Robot Mitchell J on an inanimate model via wireless communication through an Unmanned Aerial Vehicle (UAV). The surgical tasks were environment and to control it through an unconventional data link such as an Unmanned Aerial Vehicle (UAV

11

A survey of quadrotor Unmanned Aerial Vehicles  

Microsoft Academic Search

In the past decade Unmanned Aerial Vehicles (UAVs) have become a topic of interest in many research organizations. UAVs are finding applications in various areas ranging from military applications to traffic surveillance. This paper is a survey for a certain kind of UAV called quadrotor or quadcopter. Researchers are frequently choosing quadrotors for their research because a quadrotor can accurately

Shweta Gupte; Paul Infant Teenu Mohandas; James M. Conrad

2012-01-01

12

Model simplification of an unmanned aerial vehicle  

Microsoft Academic Search

In this paper the authors describe the process of model simplification that can be done to an Unmanned Aerial Vehicle (UAV) in straight steady flight condition. The aim of the process is to find a simple model that can approximate as good as possible the physical model of the AR.Drone quadcopter designed by Parrot. The non-linear dynamic model of this

Ioan-Radu Morar; Ioan Nascu

2012-01-01

13

Autonomous Landing of Miniature Aerial Vehicles  

Microsoft Academic Search

This paper outlines a simple algorithm for automated landing of miniature aerial vehicles (MAVs). Utilizing estimates of height above ground from barometric pressure and optic ?ow measurements, repeated landings were performed with a 1.5 m wingspan MAV. With height above ground estimated from barometric pressure measurements alone, landing errors averaged 7.6 m. When optic ?ow and barometric pressure measurements were

D. Blake; Barber Stephen; R. Gri-ths; Timothy W. McLain; Randal W. Beard

14

Novel micro aerial vehicle video segmentation algorithm  

Microsoft Academic Search

A camera mounted on a MICro Aerial Vehicle (MICAV) provides an excellent means to monitor large areas of a scene. In this paper, we present a novel approach for detecting motion regions in video sequence observed by a moving MICAV. Foreground object segmentation is done in four levels. In the first level, we use Pearson correlation coefficient (rab) to segment

R. Girisha; S. Murali

2011-01-01

15

Robust trajectory planning for unmanned aerial vehicles in uncertain environments  

E-print Network

As unmanned aerial vehicles (UAVs) take on more prominent roles in aerial missions, it becomes necessary to increase the level of autonomy available to them within the mission planner. In order to complete realistic mission ...

Luders, Brandon (Brandon Douglas)

2008-01-01

16

Reactive Collision Avoidance for Unmanned Aerial Vehicles using Doppler Radar  

E-print Network

Reactive Collision Avoidance for Unmanned Aerial Vehicles using Doppler Radar Andrew Viquerat1 vehicles has been conducted on unmanned terrestrial and mini aerial vehicles utilising active Doppler radar obstacle detection sensors. Flight tests conducted by flying a mini UAV at an obstacle have confirmed

Paris-Sud XI, Université de

17

Modeling and adaptive control of indoor unmanned aerial vehicles  

E-print Network

The operation of unmanned aerial vehicles (UAVs) in constrained indoor environments presents many unique challenges in control and planning. This thesis investigates modeling, adaptive control and trajectory optimization ...

Michini, Bernard (Bernard J.)

2009-01-01

18

Trajectory optimization for target localization using small unmanned aerial vehicles  

E-print Network

Small unmanned aerial vehicles (UAVs), equipped with navigation systems and video capability, are currently being deployed for intelligence, reconnaissance and surveillance missions. One particular mission of interest ...

Ponda, Sameera S

2008-01-01

19

Photogrammetric mapping using unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

Nowadays Unmanned Aerial Vehicle (UAV) technology has attracted attention for aerial photogrammetric mapping. The low cost and the feasibility to automatic flight along commanded waypoints can be considered as the main advantages of this technology in photogrammetric applications. Using GNSS/INS technologies the images are taken at the planned position of the exposure station and the exterior orientation parameters (position Xo, Yo, Zo and attitude ?, ?, ?) of images can be direct determined. However, common UAVs (off-the-shelf) do not replace the traditional aircraft platform. Overall, the main shortcomings are related to: difficulties to obtain the authorization to perform the flight in urban and rural areas, platform stability, safety flight, stability of the image block configuration, high number of the images and inaccuracies of the direct determination of the exterior orientation parameters of the images. In this paper are shown the obtained results from the project photogrammetric mapping using aerial images from the SIMEPAR UAV system. The PIPER J3 UAV Hydro aircraft was used. It has a micro pilot MP2128g. The system is fully integrated with 3-axis gyros/accelerometers, GPS, pressure altimeter, pressure airspeed sensors. A Sony Cyber-shot DSC-W300 was calibrated and used to get the image block. The flight height was close to 400 m, resulting GSD near to 0.10 m. The state of the art of the used technology, methodologies and the obtained results are shown and discussed. Finally advantages/shortcomings found in the study and main conclusions are presented

Graça, N.; Mitishita, E.; Gonçalves, J.

2014-11-01

20

Aerospace Industry Opportunities in Australia UNMANNED AERIAL VEHICLES (UAVs)  

E-print Network

. The significance of unmanned aircraft research as a national resource and potential export earner is illustratedAerospace Industry Opportunities in Australia UNMANNED AERIAL VEHICLES (UAVs) - Are They Ready Technology Forum Report titled "Study of the Unmanned Aerial Vehicle (UAV) Market in Australia", by Dr KC

Wong, K. C.

21

Unmanned Aerial Vehicle for Flow Control Experiments with  

E-print Network

Barrier Discharge (DBD) plasma actuators are a relatively novel type of actuators for active flow control of an Unmanned Aerial Vehicle (UAV) for flow control experiments with plasma actuators under realistic flightUnmanned Aerial Vehicle for Flow Control Experiments with Dielectric Barrier Discharge Plasma

Hoffmann, Rolf

22

Unmanned Aerial Vehicle Unmanned Aerial Vehicle, or UAV, is a game for the PC. The player controls a UAV, which  

E-print Network

Unmanned Aerial Vehicle Unmanned Aerial Vehicle, or UAV, is a game for the PC. The player controls a UAV, which the player must use to eliminate a target with a missile while maximizing the casualties player driven narrative. -Mechanics Movement is controlled by the WASD keys. In order to simulate UAV

Li, Mo

23

Natural language processing for unmanned aerial vehicle guidance interfaces  

E-print Network

In this thesis, the opportunities and challenges involved in applying natural language processing techniques to the control of unmanned aerial vehicles (UAVs) are addressed. The problem of controlling an unmanned aircraft ...

Craparo, Emily M. (Emily Marie), 1980-

2004-01-01

24

Autonomous quadrotor unmanned aerial vehicle for culvert inspection  

E-print Network

This document presents work done to lay the foundation for an Unmanned Aerial Vehicle (UAV) system for inspecting culverts. By expanding upon prior progress creating an autonomous indoor quadrotor, many basic hardware and ...

Serrano, Nathan E

2011-01-01

25

Solar-powered unmanned aerial vehicles  

SciTech Connect

An analysis was performed to determine the impact of various power system components and mission requirements on the size of solar-powered high altitude long endurance (HALE)-type aircraft. The HALE unmanned aerial vehicle (UAV) has good potential for use in many military and civil applications. The primary power system components considered in this study were photovoltaic (PV) modules for power generation and regenerative fuel cells for energy storage. The impact of relevant component performance on UAV size and capability were considered; including PV module efficiency and mass, power electronics efficiency, and fuel cell specific energy. Mission parameters such as time of year, flight altitude, flight latitude, and payload mass and power were also varied to determine impact on UAV size. The aircraft analysis method used determines the required aircraft wing aspect ratio, wing area, and total mass based on maximum endurance or minimum required power calculations. The results indicate that the capacity of the energy storage system employed, fuel cells in this analysis, greatly impacts aircraft size, whereas the impact of PV module efficiency and mass is much less important. It was concluded that an energy storage specific energy (total system) of 250--500 Whr/kg is required to enable most useful missions, and that PV cells with efficiencies greater than {approximately} 12% are suitable for use.

Reinhardt, K.C.; Lamp, T.R.; Geis, J.W. [Wright Lab., Wright Patterson AFB, OH (United States). Aero Propulsion and Power Directorate; Colozza, A.J. [NYMA Corp., Brookpark, OH (United States). Aerospace Technology Development

1996-12-31

26

Unmanned Aerial Vehicle Systems for Disaster Relief: Tornado Alley  

NASA Technical Reports Server (NTRS)

Unmanned aerial vehicle systems are currently in limited use for public service missions worldwide. Development of civil unmanned technology in the United States currently lags behind military unmanned technology development in part because of unresolved regulatory and technological issues. Civil unmanned aerial vehicle systems have potential to augment disaster relief and emergency response efforts. Optimal design of aerial systems for such applications will lead to unmanned vehicles which provide maximum potentiality for relief and emergency response while accounting for public safety concerns and regulatory requirements. A case study is presented that demonstrates application of a civil unmanned system to a disaster relief mission with the intent on saving lives. The concept utilizes unmanned aircraft to obtain advanced warning and damage assessments for tornados and severe thunderstorms. Overview of a tornado watch mission architecture as well as commentary on risk, cost, need for, and design tradeoffs for unmanned aerial systems are provided.

DeBusk, Wesley M.

2009-01-01

27

Radiation surveillance using an unmanned aerial vehicle.  

PubMed

Radiation surveillance equipment was mounted in a small unmanned aerial vehicle. The equipment consists of a commercial CsI detector for count rate measurement and a specially designed sampling unit for airborne radioactive particles. Field and flight tests were performed for the CsI detector in the area where (137)Cs fallout from the Chernobyl accident is 23-45 kBq m(-2). A 3-GBq (137)Cs point source could be detected at the altitude of 50 m using a flight speed of 70 km h(-1) and data acquisition interval of 1s. Respective response for (192)Ir point source is 1 GBq. During the flight, the detector reacts fast to ambient external dose rate rise of 0.1 microSv h(-1), which gives for the activity concentration of (131)I less than 1 kB qm(-3). Operation of the sampler equipped with different type of filters was investigated using wind-tunnel experiments and field tests with the aid of radon progeny. Air flow rate through the sampler is 0.2-0.7 m(3)h(-1) at a flight speed of 70 km h(-1) depending on the filter type in question. The tests showed that the sampler is able to collect airborne radioactive particles. Minimum detectable concentration for transuranium nuclides, such as (239)Pu, is of the order of 0.2 Bq m(-3) or less when alpha spectrometry with no radiochemical sample processing is used for activity determination immediately after the flight. When a gamma-ray spectrometer is used, minimum detectable concentrations for several fission products such as (137)Cs and (131)I are of the order of 1 Bq m(-3). PMID:19046635

Pöllänen, Roy; Toivonen, Harri; Peräjärvi, Kari; Karhunen, Tero; Ilander, Tarja; Lehtinen, Jukka; Rintala, Kimmo; Katajainen, Tuure; Niemelä, Jarkko; Juusela, Marko

2009-02-01

28

Vehicle detection in aerial surveillance using dynamic Bayesian networks.  

PubMed

We present an automatic vehicle detection system for aerial surveillance in this paper. In this system, we escape from the stereotype and existing frameworks of vehicle detection in aerial surveillance, which are either region based or sliding window based. We design a pixelwise classification method for vehicle detection. The novelty lies in the fact that, in spite of performing pixelwise classification, relations among neighboring pixels in a region are preserved in the feature extraction process. We consider features including vehicle colors and local features. For vehicle color extraction, we utilize a color transform to separate vehicle colors and nonvehicle colors effectively. For edge detection, we apply moment preserving to adjust the thresholds of the Canny edge detector automatically, which increases the adaptability and the accuracy for detection in various aerial images. Afterward, a dynamic Bayesian network (DBN) is constructed for the classification purpose. We convert regional local features into quantitative observations that can be referenced when applying pixelwise classification via DBN. Experiments were conducted on a wide variety of aerial videos. The results demonstrate flexibility and good generalization abilities of the proposed method on a challenging data set with aerial surveillance images taken at different heights and under different camera angles. PMID:22020682

Cheng, Hsu-Yung; Weng, Chih-Chia; Chen, Yi-Ying

2012-04-01

29

Digital autoland system for unmanned aerial vehicles  

E-print Network

of MASTER OF SCIENCE Approved by: Chair of Committee, John Valasek Committee Members, Thomas Strganac Reza Langari Head of Department, Helen L. Reed May 2007 Major Subject: Aerospace Engineering iii ABSTRACT Digital Autoland System for Unmanned Aerial...

Wagner, Thomas William, Jr.

2007-09-17

30

76 FR 61750 - Vehicle-Mounted Elevating and Rotating Work Platforms (Aerial Lifts); Extension of the Office of...  

Federal Register 2010, 2011, 2012, 2013

...Vehicle-Mounted Elevating and Rotating Work Platforms (Aerial Lifts); Extension...Vehicle-Mounted Elevating and Rotating Work Platforms (Aerial Lifts) (29 CFR 1910...Vehicle-Mounted Elevating and Rotating Work Platforms (Aerial Lifts) (29 CFR...

2011-10-05

31

Application of Adaptive Autopilot Designs for an Unmanned Aerial Vehicle  

NASA Technical Reports Server (NTRS)

This paper summarizes the application of two adaptive approaches to autopilot design, and presents an evaluation and comparison of the two approaches in simulation for an unmanned aerial vehicle. One approach employs two-stage dynamic inversion and the other employs feedback dynamic inversions based on a command augmentation system. Both are augmented with neural network based adaptive elements. The approaches permit adaptation to both parametric uncertainty and unmodeled dynamics, and incorporate a method that permits adaptation during periods of control saturation. Simulation results for an FQM-117B radio controlled miniature aerial vehicle are presented to illustrate the performance of the neural network based adaptation.

Shin, Yoonghyun; Calise, Anthony J.; Motter, Mark A.

2005-01-01

32

FlyAR: augmented reality supported micro aerial vehicle navigation.  

PubMed

Micro aerial vehicles equipped with high-resolution cameras can be used to create aerial reconstructions of an area of interest. In that context automatic flight path planning and autonomous flying is often applied but so far cannot fully replace the human in the loop, supervising the flight on-site to assure that there are no collisions with obstacles. Unfortunately, this workflow yields several issues, such as the need to mentally transfer the aerial vehicle?s position between 2D map positions and the physical environment, and the complicated depth perception of objects flying in the distance. Augmented Reality can address these issues by bringing the flight planning process on-site and visualizing the spatial relationship between the planned or current positions of the vehicle and the physical environment. In this paper, we present Augmented Reality supported navigation and flight planning of micro aerial vehicles by augmenting the user?s view with relevant information for flight planning and live feedback for flight supervision. Furthermore, we introduce additional depth hints supporting the user in understanding the spatial relationship of virtual waypoints in the physical world and investigate the effect of these visualization techniques on the spatial understanding. PMID:24650983

Zollmann, Stefanie; Hoppe, Christof; Langlotz, Tobias; Reitmayr, Gerhard

2014-04-01

33

Acquisition, orthorectification, and object-based classification of unmanned aerial vehicle (UAV) imagery for rangeland monitoring  

E-print Network

Acquisition, orthorectification, and object-based classification of unmanned aerial vehicle (UAV The use of unmanned aerial vehicles (UAVs) for natural resource applications has increased considerably a UAV relatively quickly and repeatedly at low altitudes. Additional advantages over piloted aircraft

34

Avionics and control system development for mid-air rendezvous of two unmanned aerial vehicles  

E-print Network

A flight control system was developed to achieve mid-air rendezvous of two unmanned aerial vehicles (UAVs) as a part of the Parent Child Unmanned Aerial Vehicle (PCUAV) project at MIT and the Draper Laboratory. A lateral ...

Park, Sanghyuk, 1973-

2004-01-01

35

Formation of a group of unmanned aerial vehicles (UAVs)  

Microsoft Academic Search

In this paper, control laws are designed to achieve desired flight formations for a group of unmanned (uninhabited) aerial vehicles (UAVs). It is proposed that the formation is led and managed by a leader UAV, which determines desired (for instance, safe and achievable) flight trajectories for a group of follower UAVs. Having the desired trajectories, control laws are designed to

T. John KOO; Shahram M. Shahruz

2001-01-01

36

The Georgia Tech Unmanned Aerial Research Vehicle: GTMax  

Microsoft Academic Search

This paper describes the design, development, and operation of a research Unmanned Aerial Vehicle (UAV) system that has been developed at the Georgia Institute of Technology, called the GTMax. This description will include the processes put in place to enable the system to be used for UAV-technology research, including effective flight testing. Research UAVs are characterized by the need for

Eric N. Johnson; Daniel P. Schrage

2003-01-01

37

Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle  

E-print Network

Combined Visual and Inertial Navigation for an Unmanned Aerial Vehicle Jonathan Kelly, Srikanth Angeles, California, USA 90089-0781 {jonathsk,srik,gaurav}@usc.edu Summary. We describe an UAV navigation system which combines stereo visual odometry with inertial measurements from an IMU. Our approach fuses

Paris-Sud XI, Université de

38

Incremental Evolution of Autonomous Controllers for Unmanned Aerial Vehicles using  

E-print Network

multi-objective GP to evolve controllers able to locate a radar source, navigate the UAV to the source for fixed wing unmanned aerial vehicle (UAV) applications using incremental evo- lution with multi flight parameters and sensor inputs to aid in the transference of evolved controllers to physi- cal UAVs

Fernandez, Thomas

39

Aggressive landing maneuvers for unmanned aerial vehicles  

E-print Network

VTOL (Vertical Take Off and Landing) vehicle landing is considered to be a critically difficult task for both land, marine, and urban operations. This thesis describes one possible control approach to enable landing of ...

Bayraktar, Selcuk

2006-01-01

40

Low Cost Surveying Using AN Unmanned Aerial Vehicle  

NASA Astrophysics Data System (ADS)

Traditional manned airborne surveys are usually expensive and the resolution of the acquired images is often limited. The main advantage of Unmanned Aerial Vehicle (UAV) system acting as a photogrammetric sensor platform over more traditional manned airborne system is the high flexibility that allows image acquisition from unconventional viewpoints, the low cost in comparison with classical aerial photogrammetry and the high resolution images obtained. Nowadays there is a necessity for surveying small areas and in these cases, it is not economical the use of normal large format aerial or metric cameras to acquire aerial photos, therefore, the use of UAV platforms can be very suitable. Also the large availability of digital cameras has strongly enhanced the capabilities of UAVs. The use of digital non metric cameras together with the UAV could be used for multiple applications such as aerial surveys, GIS, wildfire mapping, stability of landslides, crop monitoring, etc. The aim of this work was to develop a low cost and accurate methodology in the production of orthophotos and Digital Elevation Models (DEM). The study was conducted in the province of Almeria, south of Spain. The photogrammetric flight had an altitude of 50 m over ground, covering an area of 5.000 m2 approximately. The UAV used in this work was the md4-200, which is an electronic battery powered quadrocopter UAV developed by Microdrones GmbH, Germany. It had on-board a Pextax Optio A40 digital non metric camera with 12 Megapixels. It features a 3x optical zoom lens with a focal range covering angles of view equivalent to those of 37-111 mm lens in 35 mm format. The quadrocopter can be programmed to follow a route defined by several waypoints and actions and it has the ability for vertical take off and landing. Proper flight geometry during image acquisition is essential in order to minimize the number of photographs, avoid areas without a good coverage and make the overlaps homogeneous. The flight planning was done using the MdCockpit software, with the module waypoint editor. Flight route file was downloaded into the quadrocopter autonomous chip via cable. A total of twelve vertical images with a longitudinal and transversal overlapping of 60% and 50% respectively were taken. The digital camera was previously geometrically calibrated. Field control points covering the whole studied area were defined over the area of interest and their coordinates were measured by a GPS. Natural targets were used as field control points. The close range photogrammetric software Photomodeler Scanner v.7 was used in this work to calibrate the camera and to carry out the photogrammetric process. The software Golden Surfer was used to produce the DEM. The planimetric and the altimetric root mean square error (RMSE) were calculated in order to check the accuracy of the products. The RMSEx was 6 cm, the RMSEy was 4 cm and the RMSEy was 7 cm. Our preliminary results demonstrate the feasibility and accuracy of orthophotos and DEMs obtained from images captured from a quadrocopter using low cost photogrammetric software. A future work can be the comparison of the products obtained following the route used in this study where the images are taken vertically with the products obtained with an orbital route where the number of images will be diminished and the photos will be taken oblique.

Pérez, M.; Agüera, F.; Carvajal, F.

2013-08-01

41

Application of Artificial Intelligence Techniques in Unmanned Aerial Vehicle Flight  

NASA Technical Reports Server (NTRS)

This paper describes the development of an application of Artificial Intelligence for Unmanned Aerial Vehicle (UAV) control. The project was done as part of the requirements for a class in Artificial Intelligence (AI) at Nova southeastern University and as an adjunct to a project at NASA Goddard Space Flight Center's Wallops Flight Facility for a resilient, robust, and intelligent UAV flight control system. A method is outlined which allows a base level application for applying an AI method, Fuzzy Logic, to aspects of Control Logic for UAV flight. One element of UAV flight, automated altitude hold, has been implemented and preliminary results displayed. A low cost approach was taken using freeware, gnu, software, and demo programs. The focus of this research has been to outline some of the AI techniques used for UAV flight control and discuss some of the tools used to apply AI techniques. The intent is to succeed with the implementation of applying AI techniques to actually control different aspects of the flight of an UAV.

Bauer, Frank H. (Technical Monitor); Dufrene, Warren R., Jr.

2003-01-01

42

Fuzzy gain scheduling for flutter suppression in unmanned aerial vehicles  

Microsoft Academic Search

This article describes the creation of a robust fuzzy gain scheduler for flutter suppression in the open-loop response of a non-minimum phase aeroservoelastic UAV (unmanned aerial vehicle) model. Two sets of Takagi-Sugeno (TS) fuzzy rules were constructed for gain scheduling: one set for system identification of the approximate plant matrices and one for full state feedback control using interpolated gains.

Ellen Applebaum

2003-01-01

43

A Vision System for Landing an Unmanned Aerial Vehicle  

Microsoft Academic Search

We present the design ami implementation of a real-time computer vision syslem for a rotor-craft un- manned aerial vehicle to land onto a known land- ing target. This vision system consists of customized software and off-the-shelf harc!ware which perform im- age processing, segmentation, feature point extraction, camera pan\\/tilt control, and motion estimation. We introduce the design of a landing target

Courtney S. Sharp; Orriid Shakernia; S. Shankar Sastry

2001-01-01

44

Using unmanned aerial vehicles for rangelands: Current applications and future potentials  

Technology Transfer Automated Retrieval System (TEKTRAN)

High resolution aerial photographs have important rangeland applications such as monitoring vegetation change, developing grazing strategies, determining rangeland health, and assessing remediation treatment effectiveness. Acquisition of high resolution images by Unmanned Aerial Vehicles (UAVs) has...

45

Photovoltaic electric power applied to Unmanned Aerial Vehicles (UAV)  

SciTech Connect

Photovoltaic electric-powered flight is receiving a great deal of attention in the context of the United States` Unmanned Aerial Vehicle (UAV) program. This paper addresses some of the enabling technical areas and their potential solutions. Of particular interest are the long-duration, high-altitude class of UAV`s whose mission it is to achieve altitudes between 60,000 and 100,000 feet, and to remain at those altitudes for prolonged periods performing various mapping and surveillance activities. Addressed herein are studies which reveal the need for extremely light-weight and efficient solar cells, high-efficiency electric motor-driven propeller modules, and power management and distribution control elements. Since the potential payloads vary dramatically in their power consumption and duty cycles, a typical load profile has been selected to provide commonality for the propulsion power comparisons. Since missions vary widely with respect to ground coverage requirements, from repeated orbiting over a localized target to long-distance routes over irregular terrain, the authors have also averaged the power requirements for on-board guidance and control power, as well as ground control and communication link utilization. In the context of the national technology reinvestment program, wherever possible they modeled components and materials which have been qualified for space and defense applications, yet are compatible with civilian UAV activities. These include, but are not limited to, solar cell developments, electric storage technology for diurnal operation, local and ground communications, power management and distribution, and control servo design. And finally, the results of tests conducted by Wright Laboratory on ultralight, highly efficient MOCVD GaAs solar cells purchased from EPI Materials Ltd. (EML) of the UK are presented. These cells were also used for modeling the flight characteristics of UAV aircraft.

Geis, J.; Arnold, J.H. [Rockwell International Corp., Canoga Park, CA (United States)

1994-09-01

46

Photovoltaic electric power applied to Unmanned Aerial Vehicles (UAV)  

NASA Technical Reports Server (NTRS)

Photovoltaic electric-powered flight is receiving a great deal of attention in the context of the United States' Unmanned Aerial Vehicle (UAV) program. This paper addresses some of the enabling technical areas and their potential solutions. Of particular interest are the long-duration, high-altitude class of UAV's whose mission it is to achieve altitudes between 60,000 and 100,000 feet, and to remain at those altitudes for prolonged periods performing various mapping and surveillance activities. Addressed herein are studies which reveal the need for extremely light-weight and efficient solar cells, high-efficiency electric motor-driven propeller modules, and power management and distribution control elements. Since the potential payloads vary dramatically in their power consumption and duty cycles, a typical load profile has been selected to provide commonality for the propulsion power comparisons. Since missions vary widely with respect to ground coverage requirements, from repeated orbiting over a localized target to long-distance routes over irregular terrain, we have also averaged the power requirements for on-board guidance and control power, as well as ground control and communication link utilization. In the context of the national technology reinvestment program, wherever possible we modeled components and materials which have been qualified for space and defense applications, yet are compatible with civilian UAV activities. These include, but are not limited to, solar cell developments, electric storage technology for diurnal operation, local and ground communications, power management and distribution, and control servo design. And finally, the results of tests conducted by Wright Laboratory on ultralight, highly efficient MOCVD GaAs solar cells purchased from EPI Materials Ltd. (EML) of the UK are presented. These cells were also used for modeling the flight characteristics of UAV aircraft.

Geis, Jack; Arnold, Jack H.

1994-01-01

47

Photovoltaic electric power applied to Unmanned Aerial Vehicles (UAV)  

NASA Astrophysics Data System (ADS)

Photovoltaic electric-powered flight is receiving a great deal of attention in the context of the United States' Unmanned Aerial Vehicle (UAV) program. This paper addresses some of the enabling technical areas and their potential solutions. Of particular interest are the long-duration, high-altitude class of UAV's whose mission it is to achieve altitudes between 60,000 and 100,000 feet, and to remain at those altitudes for prolonged periods performing various mapping and surveillance activities. Addressed herein are studies which reveal the need for extremely light-weight and efficient solar cells, high-efficiency electric motor-driven propeller modules, and power management and distribution control elements. Since the potential payloads vary dramatically in their power consumption and duty cycles, a typical load profile has been selected to provide commonality for the propulsion power comparisons. Since missions vary widely with respect to ground coverage requirements, from repeated orbiting over a localized target to long-distance routes over irregular terrain, we have also averaged the power requirements for on-board guidance and control power, as well as ground control and communication link utilization. In the context of the national technology reinvestment program, wherever possible we modeled components and materials which have been qualified for space and defense applications, yet are compatible with civilian UAV activities. These include, but are not limited to, solar cell developments, electric storage technology for diurnal operation, local and ground communications, power management and distribution, and control servo design. And finally, the results of tests conducted by Wright Laboratory on ultralight, highly efficient MOCVD GaAs solar cells purchased from EPI Materials Ltd. (EML) of the UK are presented. These cells were also used for modeling the flight characteristics of UAV aircraft.

Geis, Jack; Arnold, Jack H.

1994-09-01

48

Infrared microsensor payload for miniature unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

Miniature unmanned aerial vehicles (UAVs) are a category of aircraft small enough to be transported, launched, operated, and retrieved by a crew of one or two. The concept is not new, having been in limited use by the U.S. military over the past fifteen years, but interest in potential applications is growing as size and cost of the vehicles come down. An application that is particularly significant to the military and law-enforcement agencies is remote reconnaissance, with one or more onboard sensors transmitting data back to the operator(s) in real time. Typically, a miniature UAV is capable of flying a pre-programmed route autonomously, with manual override as an option. At the conclusion of the mission, the vehicle returns for landing, after which it can be quickly disassembled and stowed until its next use. Thermal imaging extends the utility of miniature UAVs to operations in complete darkness and limited visibility, but historically thermal imagers have been too large and heavy for this application. That changed in 1999 with the introduction of Indigo System's AlphaTM camera, which established a new class of thermal imaging product termed the infrared "microsensor". Substantially smaller and lighter than any other infrared imaging product available at the time, AlphaTMwas the first camera that could be readily packaged into the nose of a miniature UAV. Its low power consumption was also a key enabling feature. Building upon the success of AlphaTM, Indigo then took the microsensor class a step further with its OmegaTM camera, which broke all the records established by AlphaTM for small size, weight, and power. OmegaTM has been successfully integrated into several miniature UAVs, including AeroVironment's Pointer and Raven, as well as the Snake Eye UAV manufactured by BAI Aerosystems. Aspects of the OmegaTM design that have led to its utility on these and other platforms are described, and future prospects for even smaller microsensors are discussed.

Kostrzewa, Joseph; Meyer, William H.; Laband, Stan; Terre, William A.; Petrovich, Peter; Swanson, Kyle; Sundra, Carrie; Sener, Ward; Wilmott, Jay

2003-09-01

49

Synthesis of the unmanned aerial vehicle remote control augmentation system  

NASA Astrophysics Data System (ADS)

Medium size Unmanned Aerial Vehicle (UAV) usually flies as an autonomous aircraft including automatic take-off and landing phases. However in the case of the on-board control system failure, the remote steering is using as an emergency procedure. In this reason, remote manual control of unmanned aerial vehicle is used more often during take-of and landing phases. Depends on UAV take-off mass and speed (total energy) the potential crash can be very danger for airplane and environment. So, handling qualities of UAV is important from pilot-operator point of view. In many cases the dynamic properties of remote controlling UAV are not suitable for obtaining the desired properties of the handling qualities. In this case the control augmentation system (CAS) should be applied. Because the potential failure of the on-board control system, the better solution is that the CAS algorithms are placed on the ground station computers. The method of UAV handling qualities shaping in the case of basic control system failure is presented in this paper. The main idea of this method is that UAV reaction on the operator steering signals should be similar - almost the same - as reaction of the "ideal" remote control aircraft. The model following method was used for controller parameters calculations. The numerical example concerns the medium size MP-02A UAV applied as an aerial observer system.

Tomczyk, Andrzej

2014-12-01

50

Structural design and fabrication techniques of composite unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

Popularity of unmanned aerial vehicles has grown substantially in recent years both in the private sector, as well as for government functions. This growth can be attributed largely to the increased performance of the technology that controls these vehicles, as well as decreasing cost and size of this technology. What is sometimes forgotten though, is that the research and advancement of the airframes themselves are equally as important as what is done with them. With current computer-aided design programs, the limits of design optimization can be pushed further than ever before, resulting in lighter and faster airframes that can achieve longer endurances, higher altitudes, and more complex missions. However, realization of a paper design is still limited by the physical restrictions of the real world and the structural constraints associated with it. The purpose of this paper is to not only step through current design and manufacturing processes of composite UAVs at Oklahoma State University, but to also focus on composite spars, utilizing and relating both calculated and empirical data. Most of the experience gained for this thesis was from the Cessna Longitude project. The Longitude is a 1/8 scale, flying demonstrator Oklahoma State University constructed for Cessna. For the project, Cessna required dynamic flight data for their design process in order to make their 2017 release date. Oklahoma State University was privileged enough to assist Cessna with the mission of supporting the validation of design of their largest business jet to date. This paper will detail the steps of the fabrication process used in construction of the Longitude, as well as several other projects, beginning with structural design, machining, molding, skin layup, and ending with final assembly. Also, attention will be paid specifically towards spar design and testing in effort to ease the design phase. This document is intended to act not only as a further development of current practices, but also as a step-by-step manual for those who aspire to make composite airframes, predominantly the Oklahoma State University MAE students who either are, or will be using these techniques on a daily basis.

Hunt, Daniel Stephen

51

Fuel cells: a real option for Unmanned Aerial Vehicles propulsion.  

PubMed

The possibility of implementing fuel cell technology in Unmanned Aerial Vehicle (UAV) propulsion systems is considered. Potential advantages of the Proton Exchange Membrane or Polymer Electrolyte Membrane (PEMFC) and Direct Methanol Fuel Cells (DMFC), their fuels (hydrogen and methanol), and their storage systems are revised from technical and environmental standpoints. Some operating commercial applications are described. Main constraints for these kinds of fuel cells are analyzed in order to elucidate the viability of future developments. Since the low power density is the main problem of fuel cells, hybridization with electric batteries, necessary in most cases, is also explored. PMID:24600326

González-Espasandín, Óscar; Leo, Teresa J; Navarro-Arévalo, Emilio

2014-01-01

52

Application of Artificial Intelligence Techniques in Uninhabitated Aerial Vehicle Flight  

NASA Technical Reports Server (NTRS)

This paper describes the development of an application of Artificial Intelligence (AI) for Unmanned Aerial Vehicle (UAV) control. The project was done as part of the requirements for a class in AI at NOVA southeastern University and a beginning project at NASA Wallops Flight Facility for a resilient, robust, and intelligent UAV flight control system. A method is outlined which allows a base level application for applying an Artificial Intelligence method, Fuzzy Logic, to aspects of Control Logic for UAV flight. One element of UAV flight, automated altitude hold, has been implemented and preliminary results displayed.

Dufrene, Warren R., Jr.

2003-01-01

53

Application of Artificial Intelligence Techniques in Uninhabited Aerial Vehicle Flight  

NASA Technical Reports Server (NTRS)

This paper describes the development of an application of Artificial Intelligence (AI) for Unmanned Aerial Vehicle (UAV) control. The project was done as part of the requirements for a class in AI at NOVA Southeastearn University and a beginning project at NASA Wallops Flight Facility for a resilient, robust, and intelligent UAV flight control system. A method is outlined which allows a base level application for applying an Artificial Intelligence method, Fuzzy Logic, to aspects of Control Logic for UAV flight. One element of UAV flight, automated altitude hold, has been implemented and preliminary results displayed.

Dufrene, Warren R., Jr.

2004-01-01

54

Toward autonomous avian-inspired grasping for micro aerial vehicles.  

PubMed

Micro aerial vehicles, particularly quadrotors, have been used in a wide range of applications. However, the literature on aerial manipulation and grasping is limited and the work is based on quasi-static models. In this paper, we draw inspiration from agile, fast-moving birds such as raptors, that are able to capture moving prey on the ground or in water, and develop similar capabilities for quadrotors. We address dynamic grasping, an approach to prehensile grasping in which the dynamics of the robot and its gripper are significant and must be explicitly modeled and controlled for successful execution. Dynamic grasping is relevant for fast pick-and-place operations, transportation and delivery of objects, and placing or retrieving sensors. We show how this capability can be realized (a) using a motion capture system and (b) without external sensors relying only on onboard sensors. In both cases we describe the dynamic model, and trajectory planning and control algorithms. In particular, we present a methodology for flying and grasping a cylindrical object using feedback from a monocular camera and an inertial measurement unit onboard the aerial robot. This is accomplished by mapping the dynamics of the quadrotor to a level virtual image plane, which in turn enables dynamically-feasible trajectory planning for image features in the image space, and a vision-based controller with guaranteed convergence properties. We also present experimental results obtained with a quadrotor equipped with an articulated gripper to illustrate both approaches. PMID:24852023

Thomas, Justin; Loianno, Giuseppe; Polin, Joseph; Sreenath, Koushil; Kumar, Vijay

2014-06-01

55

THE USE OF UNMANNED AERIAL VEHICLES AND WIRELESS SENSOR NETWORK IN AGRICULTURAL APPLICATIONS  

E-print Network

THE USE OF UNMANNED AERIAL VEHICLES AND WIRELESS SENSOR NETWORK IN AGRICULTURAL APPLICATIONS Fausto- ing the chemicals is controlled by means of the feedback ob- tained from the wireless sensor network. INTRODUCTION Unmanned aerial vehicles have become cheaper because many control functions can be implemented

Braun, Torsten

56

Modeling and Control of Bisymmetric Aerial Vehicles Subjected to Drag and Lift  

E-print Network

Modeling and Control of Bisymmetric Aerial Vehicles Subjected to Drag and Lift Daniele Pucci1 Tarek- propelled aerial vehicles subjected to lift and drag aerodynamic forces is addressed. Assuming a rotational to drag only for which nonlinear feedback controllers endowed with strong stability and convergence

Paris-Sud XI, Université de

57

Development of Unmanned Aerial Vehicles for Site-Specific Crop Production Management  

Technology Transfer Automated Retrieval System (TEKTRAN)

Unmanned Aerial Vehicles (UAV) have been developed and applied to support the practice of precision agriculture. Compared to piloted aircrafts, an Unmanned Aerial Vehicle can focus on much smaller crop fields with much lower flight altitude than regular airplanes to perform site-specific management ...

58

A MINI UNMANNED AERIAL VEHICLE (UAV): SYSTEM OVERVIEW AND IMAGE ACQUISITION  

Microsoft Academic Search

In the last years UAV (Unmanned Aerial Vehicle)-systems became relevant for applications in precision farming and in infrastructure maintenance, like road maintenance and dam surveillance. This paper gives an overview about UAV (Unmanned Aerial Vehicle) systems and their application for photogrammetric recording and documentation of cultural heritage. First the historical development of UAV systems and the definition of UAV-helicopte rs

Henri Eisenbeiss

2004-01-01

59

Development and prospect of unmanned aerial vehicles for agricultural production management  

Technology Transfer Automated Retrieval System (TEKTRAN)

Unmanned aerial vehicles have been developed and applied to support agricultural production management. Compared to piloted aircrafts, an Unmanned Aerial Vehicle (UAV) can focus on small crop fields in lower flight altitude than regular airplanes to perform site-specific management with high precisi...

60

Simbeeotic: A Simulator and Testbed for Micro-Aerial Vehicle Swarm Experiments  

E-print Network

Simbeeotic: A Simulator and Testbed for Micro-Aerial Vehicle Swarm Experiments Bryan Kate Jason Seattle, WA, USA kar@eecs.harvard.edu mdw@mdw.la ABSTRACT Micro-aerial vehicle (MAV) swarms are an emerging class of mo- bile sensing systems. Simulation and staged deployment to proto- type testbeds

Chen, Yiling

61

Wind-Energy based Path Planning For Unmanned Aerial Vehicles Using Markov Decision Processes  

E-print Network

Wind-Energy based Path Planning For Unmanned Aerial Vehicles Using Markov Decision Processes Wesam H. Al-Sabban, Luis F. Gonzalez and Ryan N. Smith Abstract-- Exploiting wind-energy is one possible way to extend the flight duration of an Unmanned Aerial Vehicle. Wind-energy can also be used

Smith, Ryan N.

62

Wind Gust Alerting for Supervisory Control of a Micro Aerial Vehicle  

E-print Network

Wind Gust Alerting for Supervisory Control of a Micro Aerial Vehicle Manal Habib Aeronautics- uational awareness of a minimally trained operator control- ling a Micro Aerial Vehicle (MAV). Our method conditions such as wind gusts. Most MAVs can self-stabilize and hold a commanded position by using control

Cummings, Mary "Missy"

63

Development of an unmanned aerial vehicle-based remote sensing system for site-specific management in precision agriculture  

Technology Transfer Automated Retrieval System (TEKTRAN)

An Unmanned Aerial Vehicle (UAV) can be remotely controlled or fly autonomously based on pre-programmed flight plans or more complex dynamic automation systems. In agriculture, UAVs have been used for pest control and remote sensing. The objective of this research was to develop a UAV system to en...

64

Vehicle change detection from aerial imagery using detection response maps  

NASA Astrophysics Data System (ADS)

Image change detection has long been used to detect significant events in aerial imagery, such as the arrival or departure of vehicles. Usually only the underlying structural changes are of interest, particularly for movable objects, and the challenge is to differentiate the changes of intelligence value (change detections) from incidental appearance changes (false detections). However, existing methods for automated change detection continue to be challenged by nuisance variations in operating conditions such as sensor (camera exposure, camera viewpoints), targets (occlusions, type), and the environment (illumination, shadows, weather, seasons). To overcome these problems, we propose a novel vehicle change detection method based on the detection response maps (DRM). The detector serves as an advanced filter that normalizes the images being compared specifically for object level change detection (OLCD). In contrast to current methods that compare pixel intensities, the proposed DRM-OLCD method is more robust to nuisance changes and variations in image appearance. We demonstrate object-level change detection for vehicle appearing and disappearing in electro-optical (EO) visual imagery.

Sun, Zhaohui H.; Leotta, Mathew; Hoogs, Anthony; Blue, Rusty; Neuroth, Robert; Vasquez, Juan; Perera, Amitha; Turek, Matthew; Blasch, Erik

2014-06-01

65

Aerial networking communication solutions using Micro Air Vehicle (MAV)  

NASA Astrophysics Data System (ADS)

The application of a Micro Air Vehicle (MAV) for wireless networking is slowly gaining significance in the field of network robotics. Aerial transport of data requires efficient network protocols along with accurate positional adjustment of the MAV to minimize transaction times. In our proof of concept, we develop an Aerial networking protocol for data transfer using the technology of Disruption Tolerant Networks (DTN), a store-and-forward approach for environments that deals with disrupted connectivity. Our results show that close interaction between networking and flight behavior helps in efficient data exchange. Potential applications are in areas where network infrastructure is minimal or unavailable and distances may be large. For example, forwarding video recordings during search and rescue, agriculture, swarm communication, among several others. A practical implementation and validation, as described in this paper, presents the complex dynamics of wireless environments and poses new challenges that are not addressed in earlier work on this topic. Several tests are evaluated in a practical setup to display the networking MAV behavior during such an operation.

Balasubramanian, Shyam; de Graaf, Maurits; Hoekstra, Gerard; Corporaal, Henk; Wijtvliet, Mark; Cuadros Linde, Javier

2014-10-01

66

Mission control of multiple unmanned aerial vehicles: a workload analysis.  

PubMed

With unmanned aerial vehicles (UAVs), 36 licensed pilots flew both single-UAV and dual-UAV simulated military missions. Pilots were required to navigate each UAV through a series of mission legs in one of the following three conditions: a baseline condition, an auditory autoalert condition, and an autopilot condition. Pilots were responsible for (a) mission completion, (b) target search, and (c) systems monitoring. Results revealed that both the autoalert and the autopilot automation improved overall performance by reducing task interference and alleviating workload. The autoalert system benefited performance both in the automated task and mission completion task, whereas the autopilot system benefited performance in the automated task, the mission completion task, and the target search task. Practical implications for the study include the suggestion that reliable automation can help alleviate task interference and reduce workload, thereby allowing pilots to better handle concurrent tasks during single- and multiple-UAV flight control. PMID:16435690

Dixon, Stephen R; Wickens, Christopher D; Chang, Dervon

2005-01-01

67

Acoustic atmospheric tomography using multiple unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

This paper presents a method for tomographically reconstructing atmospheric temperature profiles and wind velocity fields based on acoustic travel time measurements between two or more Unmanned Aerial Vehicles (UAVs). The technique offers mobility and the capacity to monitor hazardous atmospheric environments, otherwise not justifiable on the basis of cost or risk. Simulations, in which the parametric fields of the atmosphere are modelled as a weighted sum of Radial Basis Functions, demonstrate the technique's potential performance envelope. The approach also allows local meteorological measurements made at the UAVs to supplement any time delay observations. This increases the accuracy of the technique, which has potential for practical applications in boundary layer meteorology, the theory of atmospheric turbulence, and wave propagation through a turbulent atmosphere.

Finn, Anthony; Rogers, Kevin; Meade, Joshua; Franklin, Stephen

2014-10-01

68

Mapping infectious disease landscapes: unmanned aerial vehicles and epidemiology.  

PubMed

The potential applications of unmanned aerial vehicles (UAVs), or drones, have generated intense interest across many fields. UAVs offer the potential to collect detailed spatial information in real time at relatively low cost and are being used increasingly in conservation and ecological research. Within infectious disease epidemiology and public health research, UAVs can provide spatially and temporally accurate data critical to understanding the linkages between disease transmission and environmental factors. Using UAVs avoids many of the limitations associated with satellite data (e.g., long repeat times, cloud contamination, low spatial resolution). However, the practicalities of using UAVs for field research limit their use to specific applications and settings. UAVs fill a niche but do not replace existing remote-sensing methods. PMID:25443854

Fornace, Kimberly M; Drakeley, Chris J; William, Timothy; Espino, Fe; Cox, Jonathan

2014-11-01

69

Distributed Actuation and Sensing on an Uninhabited Aerial Vehicle  

NASA Technical Reports Server (NTRS)

An array of effectors and sensors has been designed, tested and implemented on a Blended Wing Body Uninhabited Aerial Vehicle (UAV). The UAV is modified to serve as a flying, controls research, testbed. This effector/sensor array provides for the dynamic vehicle testing of controller designs and the study of decentralized control techniques. Each wing of the UAV is equipped with 12 distributed effectors that comprise a segmented array of independently actuated, contoured control surfaces. A single pressure sensor is installed near the base of each effector to provide a measure of deflections of the effectors. The UAV wings were tested in the North Carolina State University Subsonic Wind Tunnel and the pressure distribution that result from the deflections of the effectors are characterized. The results of the experiments are used to develop a simple, but accurate, prediction method, such that for any arrangement of the effector array the corresponding pressure distribution can be determined. Numerical analysis using the panel code CMARC verifies this prediction method.

Barnwell, William Garrard

2003-01-01

70

Barlow, Gregory John. Design of Autonomous Navigation Controllers for Unmanned Aerial Vehicles Using Multi-objective Genetic Programming. (under the direction of Edward Grant.)  

E-print Network

that were able to handle all of the radar types. Evolved UAV controllers were successfully transferred vehicles (UAVs) have become increasingly popular for many applications, including search and rescue, surveillance, and electronic warfare, but almost all UAVs are con- trolled remotely by humans. Methods

Fernandez, Thomas

71

Teleoperated Visual Inspection and Surveillance with Unmanned Ground and Aerial Vehicles  

Microsoft Academic Search

This paper introduces our robotic system named UGAV (Unmanned Ground-Air Vehicle) consisting of two semi-autonomous robot platforms, an Unmanned Ground Vehicle (UGV) and an Unmanned Aerial Vehicles (UAV). The paper focuses on three topics of the inspection with the combined UGV and UAV: (A) teleoperated control by means of cell or smart phones with a new concept of automatic configuration

Hartmut Surmann; Dirk Holz; Sebastian Blumental; Thorsten Linder; Peter Molitor; Viatcheslav Tretyakov

2008-01-01

72

An Onboard Monocular Vision System for Autonomous Takeoff, Hovering and Landing of a Micro Aerial Vehicle  

E-print Network

An Onboard Monocular Vision System for Autonomous Takeoff, Hovering and Landing of a Micro Aerial monocular vision system for autonomous takeoff, hovering and landing of a Micro Aerial Vehicle (MAV). Since for environment perception and are usually lightweight. Thus, many UAVs rely on vision systems for autonomous

Zell, Andreas

73

Human-RRT collaboration in Unmanned Aerial Vehicle mission path planning  

E-print Network

Unmanned Aerial Vehicles (UAVs) are used for a variety of military and commercial purposes, including surveillance, combat, and search and rescue. Current research is looking into combining automation with human supervision ...

Griner, Alina

2012-01-01

74

Effect of auditory peripheral displays on unmanned aerial vehicle operator performance  

E-print Network

With advanced autonomy, Unmanned Aerial Vehicle (UAV) operations will likely be conducted by single operators controlling multiple UAVs. As operator attention is divided across multiple supervisory tasks, there is a need ...

Graham, Hudson D

2008-01-01

75

An optimal routing policy for unmanned aerial vehicles (analytical and cross-entropy simulation approach)  

Microsoft Academic Search

We consider a real-world problem of military intelligence unit equipped with identical unmanned aerial vehicles producing\\u000a real-time imagery and responsible for heterogeneous regions (with requests of real-time jobs) required to be under nonstop\\u000a surveillance. Under certain assumptions these real-time systems can be treated as queueing networks.\\u000a \\u000a The use of the system involving unmanned aerial vehicles relies on the principle of

Edward Ianovsky; Joseph Kreimer

76

Thermal soaring flight of birds and unmanned aerial vehicles.  

PubMed

Thermal soaring saves much energy, but flying large distances in this form represents a great challenge for birds, people and unmanned aerial vehicles (UAVs). The solution is to make use of the so-called thermals, which are localized, warmer regions in the atmosphere moving upward with a speed exceeding the descent rate of birds and planes. Saving energy by exploiting the environment more efficiently is an important possibility for autonomous UAVs as well. Successful control strategies have been developed recently for UAVs in simulations and in real applications. This paper first presents an overview of our knowledge of the soaring flight and strategy of birds, followed by a discussion of control strategies that have been developed for soaring UAVs both in simulations and applications on real platforms. To improve the accuracy of the simulation of thermal exploitation strategies we propose a method to take into account the effect of turbulence. Finally, we propose a new GPS-independent control strategy for exploiting thermal updrafts. PMID:21098957

Akos, Zsuzsa; Nagy, Máté; Leven, Severin; Vicsek, Tamás

2010-12-01

77

Lightweight photovoltaic module development for unmanned aerial vehicles  

SciTech Connect

Lightweight photovoltaic modules are being developed for powering high altitude unmanned aerial vehicles (UAVs). Terrestrial crystalline silicon solar cell and module technologies are being applied to minimize module cost, with modifications to improve module specific power (W/kg) and power density (W/m{sup 2}). New module processes are being developed for assembling standard thickness (320 mm) and thin (125 mm) solar cells, thin (50 to 100 mm) encapsulant films, and thin (25 mm) cover films. In comparison, typical terrestrial modules use 300 to 400 mm thick solar cells, 460 mm thick encapsulants, and 3.2 mm thick glass covers. The use of thin, lightweight materials allows the fabrication of modules with specific powers ranging from 120 to 200 W/kg, depending on cell thickness and efficiency, compared to 15 W/kg or less for conventional terrestrial modules. High efficiency designs based on ultra-thin (5 mm) GaAs cells have also been developed, with the potential for achieving substantially higher specific powers. Initial design, development, and module assembly work is completed. Prototype modules were fabricated in sizes up to 45 cm x 99 cm. Module materials and processes are being evaluated through accelerated environmental testing, including thermal cycling, humidity-freeze cycling, mechanical cycling, and exposure to UV and visible light.

Nowlan, M.J.; Maglitta, J.C.; Lamp, T.R.

1998-07-01

78

RF sensor solutions for small lightweight unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

A need exists for greater situational awareness at the lower echelons of the Army. Radar Frequency (RF) sensors on small, lightweight Unmanned Aerial Vehicles (UAV) could provide lower echelon commanders with all-weather reconnaissance, early warning, and target acquisition; however, the designs of these RF sensors are limited by the projected size and weight restrictions on the payload for a class II UAV. Consequently, these designs may favor combining simple RF sensor hardware with digital-signal processing (DSP) solutions over more sophisticated radar hardware. In this paper, we show the potential of simple, low cost RF sensors with hemispherical antenna coverage to overcome these limitations. The proposed RF sensor system used DSP and pre-defined UAV flight pattern to detect and track moving targets from range and Doppler information. Our objective is to conceive and model a suite of software options that, by combining UAV flight patterns and processing algorithms, will be able to detect and track moving targets. In order to accomplish this, we are building a simulation that uses sensor models, target models, and battlefield dynamics to predict the targeting capabilities of the RF sensor system. We will use this simulation (1) to determine the tradeoffs between sensor complexity (and cost) and the military significance of the information gathered, and (2) to describe sensor error budgets for endgame lethality models

Innocenti, Roberto

2005-05-01

79

Uncooled infrared development for small unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

The US Army Aviation and Missile Research, Development, and Engineering Center (AMRDEC) is developing a micro-uncooled infrared (IR) capability for small unmanned aerial systems (SUAS). In 2007, AMRDEC procured several uncooled microbolometers for lab and field test evaluations, and static tower tests involving specific target sets confirmed initial modeling and simulation predictions. With these promising results, AMRDEC procured two captive flight test (CFT) vehicles and, in 2008, completed numerous captive flights to capture imagery with the micro-uncooled infrared sensors. Several test configurations were used to build a comprehensive data set. These configurations included variations in look-down angles, fields of view (FOV), environments, altitudes, and target scenarios. Data collected during these field tests is also being used to develop human tracking algorithms and image stabilization software by other AMRDEC personnel. Details of these ongoing efforts will be presented in this paper and will include: 1) onboard digital data recording capabilities; 2) analog data links for visual verification of imagery; 3) sensor packaging and design; which include both infrared and visible cameras; 4) field test and data collection results; 5) future plans; 6) potential applications. Finally, AMRDEC has recently acquired a 17 ?m pitch detector array. The paper will include plans to test both 17 ?m and 25 ?m microbolometer technologies simultaneously in a side-by-side captive flight comparison.

Pitt, Timothy S.; Wood, Sam B.; Waddle, Caleb E.; Edwards, William D.; Yeske, Ben S.

2010-04-01

80

The remote characterization of vegetation using Unmanned Aerial Vehicle photography  

NASA Astrophysics Data System (ADS)

Unmanned Aerial Vehicles (UAVs) can fly in place of piloted aircraft to gather remote sensing information on vegetation characteristics. The type of sensors flown depends on the instrument payload capacity available, so that, depending on the specific UAV, it is possible to obtain video, aerial photographic, multispectral and hyperspectral radiometric, LIDAR, and radar data. The characteristics of several small UAVs less than 55lbs (25kg)) along with some payload instruments will be reviewed. Common types of remote sensing coverage available from a small, limited-payload UAV are video and hyperspatial, digital photography. From evaluation of these simple types of remote sensing data, we conclude that UAVs can play an important role in measuring and monitoring vegetation health and structure of the vegetation/soil complex in rangelands. If we fly our MLB Bat-3 at an altitude of 700ft (213m), we can obtain a digital photographic resolution of 6cm. The digital images acquired cover an area of approximately 29,350sq m. Video imaging is usually only useful for monitoring the flight path of the UAV in real time. In our experiments with the 6cm resolution data, we have been able to measure vegetation patch size, crown width, gap sizes between vegetation, percent vegetation and bare soil cover, and type of vegetation. The UAV system is also being tested to acquire height of the vegetation canopy using shadow measurements and a digital elevation model obtained with stereo images. Evaluation of combining the UAV digital photography with LIDAR data of the Jornada Experimental Range in south central New Mexico is ongoing. The use of UAVs is increasing and is becoming a very promising tool for vegetation assessment and change, but there are several operational components to flying UAVs that users need to consider. These include cost, a whole set of, as yet, undefined regulations regarding flying in the National Air Space(NAS), procedures to gain approval for flying in the NAS(FAA Certificate of Authorization), and training(remote control piloting, UAV-specific instruction, FAA ground school and testing, FAA observer procedures, FAA medical Class 2 exam, and a private pilot's license). The relevance and need of all these to developing a UAV capability will be explained. While working through the necessary requirements above, we have also learned that we need to know how to handle extremely large and easily acquired data sets as well as to develop tools to orthorectify and mosaic individual UAV images for analysis.

Rango, A.; Laliberte, A.; Winters, C.; Maxwell, C.; Steele, C.

2008-12-01

81

Measurements from an Aerial Vehicle: A New Tool for Planetary Exploration  

NASA Technical Reports Server (NTRS)

Aerial vehicles fill a unique planetary science measurement gap, that of regional-scale, near-surface observation, while providing a fresh perspective for potential discovery. Aerial vehicles used in planetary exploration bridge the scale and resolution measurement gaps between orbiters (global perspective with limited spatial resolution) and landers (local perspective with high spatial resolution) thus complementing and extending orbital and landed measurements. Planetary aerial vehicles can also survey scientifically interesting terrain that is inaccessible or hazardous to landed missions. The use of aerial assets for performing observations on Mars, Titan, or Venus will enable direct measurements and direct follow-ons to recent discoveries. Aerial vehicles can be used for remote sensing of the interior, surface and atmosphere of Mars, Venus and Titan. Types of aerial vehicles considered are airplane "heavier than air" and airships and balloons "lighter than air". Interdependencies between the science measurements, science goals and objectives, and platform implementation illustrate how the proper balance of science, engineering, and cost, can be achieved to allow for a successful mission. Classification of measurement types along with how those measurements resolve science questions and how these instruments are accommodated within the mission context are discussed.

Wright, Henry S.; Levine, Joel S.; Croom, Mark A.; Edwards, William C.; Qualls, Garry D.; Gasbarre, Joseph F.

2004-01-01

82

Evaluation of Bare Ground on Rangelands using Unmanned Aerial Vehicles  

SciTech Connect

Attention is currently being given to methods that assess the ecological condition of rangelands throughout the United States. There are a number of different indicators that assess ecological condition of rangelands. Bare Ground is being considered by a number of agencies and resource specialists as a lead indicator that can be evaluated over a broad area. Traditional methods of measuring bare ground rely on field technicians collecting data along a line transect or from a plot. Unmanned aerial vehicles (UAVs) provide an alternative to collecting field data, can monitor a large area in a relative short period of time, and in many cases can enhance safety and time required to collect data. In this study, both fixed wing and helicopter UAVs were used to measure bare ground in a sagebrush steppe ecosystem. The data were collected with digital imagery and read using the image analysis software SamplePoint. The approach was tested over seven different plots and compared against traditional field methods to evaluate accuracy for assessing bare ground. The field plots were located on the Idaho National Laboratory (INL) site west of Idaho Falls, Idaho in locations where there is very little disturbance by humans and the area is grazed only by wildlife. The comparison of fixed-wing and helicopter UAV technology against field estimates shows good agreement for the measurement of bare ground. This study shows that if a high degree of detail and data accuracy is desired, then a helicopter UAV may be a good platform. If the data collection objective is to assess broad-scale landscape level changes, then the collection of imagery with a fixed-wing system is probably more appropriate.

Robert P. Breckenridge; Maxine Dakins

2011-01-01

83

Decentralized linear time-varying model predictive control of a formation of unmanned aerial vehicles  

Microsoft Academic Search

This paper proposes a hierarchical MPC approach to stabilization and autonomous navigation of a formation of unmanned aerial vehicles (UAVs), under constraints on motor thrusts, angles and positions, and under collision avoidance constraints. Each vehicle is of quadcopter type and is stabilized by a local linear time-invariant (LTI) MPC controller at the lower level of the control hierarchy around commanded

Alberto Bemporad; Claudio Rocchi

2011-01-01

84

Modeling a Prototype Optical Collision Avoidance Sensor For Unmanned Aerial Vehicles  

E-print Network

Modeling a Prototype Optical Collision Avoidance Sensor For Unmanned Aerial Vehicles Cyrus Minwalla - NRC, Ottawa, ON. Canada Abstract--Sense and avoid systems for civilian unmanned air vehicles (UAVs in uncontrolled airspace, such aircraft should be able to autonomously "sense and react" to avoid other aircraft

Hornsey, Richard

85

Development of Birdlike Micro Aerial Vehicle with Flapping and Feathering Wing Motions  

Microsoft Academic Search

To investigate the feasibility of a highly efficient flapping system capable of avian maneuvers, such as rapid takeoff, hover and gliding, a full scale bird-like (ornithopter) flapping-wing micro aerial vehicle (MAV) shaped and patterned after a typical pigeon (Columba livia) has been designed and constructed. Both numerical and experimental methods have been used in the development of this vehicle. This

Jonathan Maglasang; Norihiro Goto; Koji Isogai

2008-01-01

86

Wind-Energy based Path Planning For Electric Unmanned Aerial Vehicles Using Markov Decision Processes  

E-print Network

Wind-Energy based Path Planning For Electric Unmanned Aerial Vehicles Using Markov Decision wind-energy is one possible way to ex- tend flight duration for Unmanned Arial Vehicles. Wind-energy sources of wind energy available to exploit for this problem [5]: 1) Vertical air motion, such as thermal

Smith, Ryan N.

87

Design of a GaAs/Ge Solar Array for Unmanned Aerial Vehicles  

NASA Technical Reports Server (NTRS)

Unmanned Aerial Vehicles (UAV) are being proposed for many applications including surveillance, mapping and atmospheric studies. These applications require a lightweight, low speed, medium to long duration airplane. Due to the weight, speed, and altitude constraints imposed on such aircraft, solar array generated electric power is a viable alternative to air-breathing engines. Development of such aircraft is currently being funded under the Environmental Research Aircraft and Sensor Technology (ERAST) program. NASA Lewis Research Center (LeRC) is currently building a Solar Electric Airplane to demonstrate UAV technology. This aircraft utilizes high efficiency Applied Solar Energy Corporation (ASEC) GaAs/Ge space solar cells. The cells have been provided by the Air Force through the ManTech Office. Expected completion of the plane is early 1995, with the airplane currently undergoing flight testing using battery power.

Scheiman, David A.; Brinker, David J.; Bents, David J.; Colozza, Anthony J.

1995-01-01

88

Design of a GaAs/Ge solar array for unmanned aerial vehicles  

SciTech Connect

Unmanned Aerial Vehicles (UAV) are being proposed for many applications including surveillance, mapping and atmospheric studies. These applications require a lightweight, low speed, medium to long duration airplane. Due to the weight, speed, and altitude constraints imposed on such aircraft, solar array generated electric power is a viable alternative to air-breathing engines. Development of such aircraft is currently being funded under the Environmental Research Aircraft and Sensor Technology (ERAST) program. NASA Lewis Research Center (LeRC) is currently building a Solar Electric Airplane to demonstrate UAV technology. This aircraft utilizes high efficiency Applied Solar Energy Corporation (ASEC) GaAs/Ge space solar cells. The cells have been provided by the Air Force through the ManTech Office. Expected completion of the plane is early 1995, with the airplane currently undergoing flight testing using battery power.

Scheiman, D.A.; Brinker, D.J.; Bents, D.J.; Colozza, A.J.

1995-03-01

89

Design of a GaAs/Ge solar array for unmanned aerial vehicles  

SciTech Connect

Unmanned Aerial Vehicles (UAV) are being proposed for many applications including surveillance, mapping and atmospheric studies. These applications require a lightweight, low speed, medium to long duration airplane. Due to the weight, speed, and altitude constraints imposed on such aircraft, solar array generated electric power is a viable alternative to air-breathing engines. Development of such aircraft is currently being funded under the Environmental Research Aircraft and Sensor Technology (ERAST) program. NASA Lewis Research Center (LeRC) is currently building a Solar Electric Airplane to demonstrate UAV technology. This aircraft utilizes high efficiency Applied Solar Energy Corporation (ASEC) GaAs/Ge space solar cells. The cells have been provided by the Air Force through the ManTech Office. Expected completion of the plane is early 1995, with the airplane currently undergoing flight testing using battery power.

Scheiman, D.A.; Colozza, A.J. [NYMA Setar Inc., Brookpark, OH (United States); Brinker, D.J.; Bents, D.J. [National Aeronautics and Space Administration, Cleveland, OH (United States). Lewis Research Center

1994-12-31

90

Meteorological and Remote Sensing Applications of High Altitude Unmanned Aerial Vehicles  

NASA Technical Reports Server (NTRS)

Unmanned aerial vehicles (UAVs) are maturing in performance and becoming available for routine use in environmental applications including weather reconnaissance and remote sensing. This paper presents a discussion of UAV characteristics and unique features compared with other measurement platforms. A summary of potential remote sensing applications is provided, along with details for four types of tropical cyclone missions. Capabilities of platforms developed under NASA's Environmental Research Aircraft and Sensor Technology (ERAST) program are reviewed, including the Altus, Perseus, and solar- powered Pathfinder, all of which have flown to over 57,000 ft (17 km). In many scientific missions, the science objectives drive the experimental design, thus defining the sensor payload, aircraft performance, and operational requirements. Some examples of science missions and the requisite UAV / payload system are given. A discussion of technology developments needed to fully mature UAV systems for routine operational use is included, along with remarks on future science and commercial UAV business opportunities.

Schoenung, S. M.; Wegener, S. S.

1999-01-01

91

The development of an autonomous gust insensitive unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

The study of a small Unmanned Aerial Vehicle (UAV) that is designed towards eventual operation in harsh storm-like conditions is presented. Investigation of the aircraft equations of motion shows that the selection of certain aerodynamic derivatives has a significant effect on the gust response of a small unmanned aircraft. Analytical comparison of this newly formulated Autonomous Gust Insensitive Aircraft (AGIA) to a conventionally designed aircraft shows a significant reduction in undesirable roll motion caused by gusts. A simulation is presented showing that the AGIA is capable of operating in more extreme environments than a conventional aircraft, and puts less strain on the control system components in both extreme and calm environments. The role that aircraft size plays in gust response is also studied. Pilot instinct dictates that smaller aircraft are more difficult to fly in windy environments than larger ones. This phenomenon is investigated using an analytic approach, providing insight into why smaller aircraft are indeed more difficult to fly in more challenging environments. As an aircraft gets smaller, its natural aerodynamic modes and response get faster. In an ideal system, this does not limit small aircraft to poor performance (in fact it will be shown that idealized small aircraft theoretically perform better than their larger counterparts). A more realistic system is presented that includes not only aerodynamics, but also realistic sensor and actuator dynamics. It is shown that these additional dynamics become a limiting factor in control system performance, and thus limit the closed-loop flight performance of small aircraft in turbulent environments. It is shown that the AGIA design approach plays a more significant role the as an aircraft gets smaller. To provide experimental validation of the gust insensitive theory presented herein, a representative small conventional aircraft was built alongside a similar aircraft that incorporated the AGIA design characteristics. These two aircraft were flown simultaneously and autonomously using the autopilot developed by the Author. Data from this experiment strongly supports the hypothesis that the AGIA is less sensitive to gusts than its conventional counterpart, and that flight of the AGIA puts less strain on the control system components in flight.

Pisano, William James

92

Terrain mapping and control of unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

In this thesis, methods for terrain mapping and control of unmanned aerial vehicles (UAVs) are proposed. First, robust obstacle detection and tracking algorithm are introduced to eliminate the clutter noise uncorrelated with the real obstacle. This is an important problem since most types of sensor measurements are vulnerable to noise. In order to eliminate such noise, a Kalman filter-based interacting multiple model (IMM) algorithm is employed to effectively detect obstacles and estimate their positions precisely. Using the outcome of the IMM-based obstacle detection algorithm, a new method of building a probabilistic occupancy grid map is proposed based on Bayes rule in probability theory. Since the proposed map update law uses the outputs of the IMM-based obstacle detection algorithm, simultaneous tracking of moving targets and mapping of stationary obstacles are possible. This can be helpful especially in a noisy outdoor environment where different types of obstacles exist. Another feature of the algorithm is its capability to eliminate clutter noise as well as measurement noise. The proposed algorithm is simulated in Matlab using realistic sensor models. The results show close agreement with the layout of real obstacles. An efficient method called "quadtree" is used to process massive geographical information in a convenient manner. The algorithm is evaluated in a realistic simulation environment called RIPTIDE, which the NASA Ames Research Center developed to access the performance of complicated software for UAVs. Supposing that a UAV is equipped with abovementioned obstacle detection and mapping algorithm, the control problem of a small fixed-wing UAV is studied. A Nonlinear Model Predictive Control (NMPC is designed as a high level controller for the fixed-wing UAV using a kinematic model of the UAV. The kinematic model is employed because of the assumption that there exist low level controls on the UAV. The UAV dynamics are nonlinear with input constraints which is the main challenge explored in this thesis. The control objective of the NMPC is determined to track a desired line, and the analysis of the designed NMPC's stability is followed to find the conditions that can assure stability. Then, the control objective is extended to track adjoined multiple line segments with obstacle avoidance capability. In simulation, the performance of the NMPC is superb with fast convergence and small overshoot. The computation time is not a burden for a fixed-wing UAV controller with a Pentium level on-board computer that provides a reasonable control update rate.

Kang, Yeonsik

93

Hardware Implementation of COTS Avionics System on Unmanned Aerial Vehicle Platforms  

NASA Technical Reports Server (NTRS)

Unmanned Aerial Vehicles (UAVs) can serve as low cost and low risk platforms for flight testing in Aeronautics research. The NASA Exploration Aerial Vehicle (EAV) and Experimental Sensor-Controlled Aerial Vehicle (X-SCAV) UAVs were developed in support of control systems research at NASA Ames Research Center. The avionics hardware for both systems has been redesigned and updated, and the structure of the EAV has been further strengthened. Preliminary tests show the avionics operate properly in the new configuration. A linear model for the EAV also was estimated from flight data, and was verified in simulation. These modifications and results prepare the EAV and X-SCAV to be used in a wide variety of flight research projects.

Yeh, Yoo-Hsiu; Kumar, Parth; Ishihara, Abraham; Ippolito, Corey

2010-01-01

94

On the Effect of Winglets on the Performance of Micro-Aerial-Vehicles Dr. Helen L. Reed  

E-print Network

vehicles. The smallest airplanes in use at that time were the Unmanned Aerial Vehicles (UAV) that had-design problem [8-9]. The size limitation is caused by the requirement that an MAV should be invisible to radar

95

Autonomous Orbit Coordination for Two Unmanned Aerial Vehicles  

E-print Network

. Guidance algorithms are investigated to track a commanded phase angle between vehicles. A planar- kinematic the ability to coordinate the vehicles in orbit. This is accomplished with the aid of a planar kinematic

Lum, Christopher

96

Using iFMI spectral registration for video stabilization and motion detection by an Unmanned Aerial Vehicle (UAV)  

Microsoft Academic Search

Unmanned Aerial Vehicles (UAV), especially in the form of Micro Aerial Vehicles (MAV) are useful tools for reconnaissance, surveillance, and general situation assessment in safety, security, and rescue missions. Many UAV have meanwhile good autonomous flight capabilities, especially by tracking pre-planned routes via GPS or for station-keeping. Here it is shown how the video stream from an UAV can be

Soren Schwertfeger; Andreas Birk; Heiko Bulow

2011-01-01

97

Vehicle Management Driver Safety Program  

E-print Network

Vehicle Management and Driver Safety Program Manual Facilities & Operations / Finance & Administration Version 2 April 2012 #12;© 2012 University of Alberta. #12;The Vehicle Management and Driver of employment. Driver Acknowledgement I have received the University of Alberta, Vehicle Management and Driver

Machel, Hans

98

AVIATR - Aerial Vehicle for In-situ and Airborne Titan Reconnaissance A Titan Airplane Mission Concept  

NASA Technical Reports Server (NTRS)

We describe a mission concept for a stand-alone Titan airplane mission: Aerial Vehicle for In-situ and Airborne Titan Reconnaissance (AVIATR). With independent delivery and direct-to-Earth communications, AVIATR could contribute to Titan science either alone or as part of a sustained Titan Exploration Program. As a focused mission, AVIATR as we have envisioned it would concentrate on the science that an airplane can do best: exploration of Titan's global diversity. We focus on surface geology/hydrology and lower-atmospheric structure and dynamics. With a carefully chosen set of seven instruments-2 near-IR cameras, 1 near-IR spectrometer, a RADAR altimeter, an atmospheric structure suite, a haze sensor, and a raindrop detector-AVIATR could accomplish a significant subset of the scientific objectives of the aerial element of flagship studies. The AVIATR spacecraft stack is composed of a Space Vehicle (SV) for cruise, an Entry Vehicle (EV) for entry and descent, and the Air Vehicle (AV) to fly in Titan's atmosphere. Using an Earth-Jupiter gravity assist trajectory delivers the spacecraft to Titan in 7.5 years, after which the AVIATR AV would operate for a 1-Earth-year nominal mission. We propose a novel 'gravity battery' climb-then-glide strategy to store energy for optimal use during telecommunications sessions. We would optimize our science by using the flexibility of the airplane platform, generating context data and stereo pairs by flying and banking the AV instead of using gimbaled cameras. AVIATR would climb up to 14 km altitude and descend down to 3.5 km altitude once per Earth day, allowing for repeated atmospheric structure and wind measurements all over the globe. An initial Team-X run at JPL priced the AVIATR mission at FY10 $715M based on the rules stipulated in the recent Discovery announcement of opportunity. Hence we find that a standalone Titan airplane mission can achieve important science building on Cassini's discoveries and can likely do so within a New Frontiers budget.

Barnes, Jason W.; Lemke, Lawrence; Foch, Rick; McKay, Christopher P.; Beyer, Ross A.; Radebaugh, Jani; Atkinson, David H.; Lorenz, Ralph D.; LeMouelic, Stephane; Rodriguez, Sebastien; Gundlach, Jay; Giannini, Francesco; Bain, Sean; Flasar, F. Michael; Hurford, Terry; Anderson, Carrie M.; Merrison, Jon; Adamkovics, Mate; Kattenhorn, Simon A.; Mitchell, Jonathan; Burr, Devon M.; Colaprete, Anthony; Schaller, Emily; Friedson, A. James; Edgett, Kenneth S.; Coradini, Angioletta; Adriani, Alberto; Sayanagi, Kunio M.; Malaska, Michael J.; Morabito, David; Reh, Kim

2011-01-01

99

Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles  

NASA Technical Reports Server (NTRS)

Micro aerial vehicles have limited sensor suites and computational power. For reconnaissance tasks and to conserve energy, these systems need the ability to autonomously land at vantage points or enter buildings (ingress). But for autonomous navigation, information is needed to identify and guide the vehicle to the target. Vision algorithms can provide egomotion estimation and target detection using input from cameras that are easy to include in miniature systems.

Brockers, Roland; Ma, Jeremy C.; Matthies, Larry H.; Bouffard, Patrick

2012-01-01

100

Cross Layer Design for Mobile Ad-Hoc Unmanned Aerial Vehicle Communication Networks  

E-print Network

Cross Layer Design for Mobile Ad-Hoc Unmanned Aerial Vehicle Communication Networks Abdel Ilah of wireless network that is formed by a collection of mobile nodes. Each node in such network has the coverage area and reduce the number of hops. Meanwhile, we designed a new Medium Access Control (MAC

Dong, Liang

101

Neural Adaptive Flight Control Testing on an Unmanned Experimental Aerial Vehicle  

Microsoft Academic Search

Unmanned Aerial Vehicles have demonstrated potential as being effective platforms for supporting scientific and exploratory missions. They are capable of performing long endurance flights, and reaching remote areas that may be too dangerous for humans. As their role and types of missions expand, challenges are presented which require onboard systems to have increasingly higher levels of intelligence and adaptability. Missions

Corey Ippolito; Yoo-Hsiu Yeh

102

On-board multi-objective mission planning for Unmanned Aerial Vehicles  

Microsoft Academic Search

A system for automated mission planning is presented with a view to operate unmanned aerial vehicles (UAVs) in the National Airspace System (NAS). This paper describes methods for modelling decision variables, for enroute flight planning under visual flight rules (VFR). For demonstration purposes, the task of delivering a medical package to a remote location was chosen. Decision variables include fuel

Paul Pao-Yen Wu; Duncan Campbell; Torsten Merz

2009-01-01

103

Balancing search and target response in cooperative unmanned aerial vehicle (UAV) teams  

Microsoft Academic Search

This paper considers a heterogeneous team of cooperating unmanned aerial vehicles (UAVs) drawn from several distinct classes and engaged in a search and action mission over a spatially extended battlefield with targets of several types. During the mission, the UAVs seek to confirm and verifiably destroy suspected targets and discover, confirm, and verifiably destroy unknown targets. The locations of some

Yan Jin; Yan Liao; Ali A. Minai; Marios M. Polycarpou

2006-01-01

104

Texture and scale in object-based analysis of subdecimeter resolution unmanned aerial vehicle (UAV) imagery  

Technology Transfer Automated Retrieval System (TEKTRAN)

Imagery acquired with unmanned aerial vehicles (UAVs) has great potential for incorporation into natural resource monitoring protocols due to their ability to be deployed quickly and repeatedly and to fly at low altitudes. While the imagery may have high spatial resolution, the spectral resolution i...

105

ANALYSIS OF A FEASIBLE PULSED-POWER SUPPLY SYSTEM FOR AN UNMANNED AERIAL VEHICLE  

Microsoft Academic Search

More Electric Aircraft technology enables the power supply of electric energy weapons such as high-power microwave and laser weapons. Aspects of electric power generation, energy storage, distribution and pulse-conditioning systems for the power supply of directed energy weapons in Unmanned Aerial Vehicle are addressed in this paper. A trend in aircraft design is to electrify more parts of the aircraft

L. Austrin; M. Torabzadeh-Tari; A. Larsson

106

Obstacle Detection for Low Flying Unmanned Aerial Vehicles Using Stereoscopic Imaging  

Microsoft Academic Search

This paper describes a stereoscopic imaging algorithm that is modified for obstacle detection in low flying unmanned aerial vehicles (UAVs). In this type of flight, obstacle detection must be carried out quickly for the system to be effective in real time. Additionally, since the aircraft is close to the ground, the horizon is usually at the top of the field

E. Hannal; P. Straznicky; R. Goubran

2008-01-01

107

Cyber security threat analysis and modeling of an unmanned aerial vehicle system  

Microsoft Academic Search

Advances in technology for miniature electronic military equipment and systems have led to the emergence of unmanned aerial vehicles (UAVs) as the new weapons of war and tools used in various other areas. UAVs can easily be controlled from a remote location. They are being used for critical operations, including offensive, reconnaissance, surveillance and other civilian missions. The need to

Ahmad Yazdan Javaid; Weiqing Sun

2012-01-01

108

Application of high resolution images from unmanned aerial vehicles for hydrology and range science  

Technology Transfer Automated Retrieval System (TEKTRAN)

A common problem in many natural resource disciplines is the lack of high-enough spatial resolution images that can be used for monitoring and modeling purposes. Advances have been made in the utilization of Unmanned Aerial Vehicles (UAVs) in hydrology and rangeland science. By utilizing low fligh...

109

Fusion of Unmanned Aerial Vehicle Range and Vision Sensors Using Fuzzy Logic and Particles  

E-print Network

Fusion of Unmanned Aerial Vehicle Range and Vision Sensors Using Fuzzy Logic and Particles Gregory area. Fuzzy logic is used to detect red barrels in camera images. The world location of a target Paper No. 2009-2008 Seattle, WA, April, 2009 #12;Subscripts ABC Aircraft-body coordinates k Time index

110

Enabling persistent presence? Performing the embodied geopolitics of the Unmanned Aerial Vehicle assemblage  

Microsoft Academic Search

Military Unmanned Aerial Vehicles (UAVs) are being increasingly used to provide surveillance and attack capabilities within war zones. At the heart of much of the rhetoric about these aircraft is their supposed ability to enable persistent presence across the battlespace. They are also unique in that they actively distance the aircrew from the aircraft. This paper seeks to question whether

Alison J. Williams

2011-01-01

111

Fixed Frequency, Variable Amplitude (FiFVA) actuation systems for Micro Aerial Vehicles  

Microsoft Academic Search

Micro Aerial Vehicles (MAVs) have gained a sig- nificant amount of research lately, with a number of universities and industry sponsors paving the way with micro flying robots to perform Intelligence, Surveillance and Reconnaissance (ISR) Missions. However, much of the work done in flapping wing MAVs till date has not shown performance improvements over their Vertical Take Off and Landing

Jayant Ratti; Emanuel Jones; George Vachtsevanos

2011-01-01

112

FIRE DETECTION USING AUTONOMOUS AERIAL VEHICLES WITH INFRARED AND VISUAL CAMERAS  

Microsoft Academic Search

The paper presents a system for automatic fire detection based on the use of autonomous aerial vehicles. Particularly, the application of a helicopter with infrared and visual cameras is described. The paper presents the techniques used for fire segmentation in visual and infrared cameras, and the procedures to fuse the data obtained from both of them. Furthermore the paper presents

J. Ramiro Martínez-de Dios; Luis Merino; Aníbal Ollero

113

Trajectory Planning and Re-planning Strategies Applied to a Quadrotor Unmanned Aerial Vehicle  

E-print Network

Trajectory Planning and Re-planning Strategies Applied to a Quadrotor Unmanned Aerial Vehicle Abbas Defense Research and Development Canada, Valcartier, Quebec, Canada G3J 1X5 Didier Theilliol4 Nancy] for a non-linear model of a quadrotor helicopter. In [3], adaptive path planning algorithms are developed

Paris-Sud XI, Université de

114

Autonomous Controller Design for Unmanned Aerial Vehicles using Multi-objective Genetic  

E-print Network

simulations and used multi- objective GP to evolve controllers able to locate a radar source, navigate the UAV-- Autonomous navigation controllers were developed for fixed wing unmanned aerial vehicle (UAV) applications were evolved for three different kinds of radars: stationary, continuously emitting radars, stationary

Fernandez, Thomas

115

Incremental Evolution of Autonomous Controllers for Unmanned Aerial Vehicles using Multi-objective  

E-print Network

controllers were developed for fixed wing unmanned aerial vehicle (UAV) applications using incremental flight simulations and used multi-objective GP to evolve controllers able to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle closely around

Fernandez, Thomas

116

Assessment of Photogrammetric Mapping Accuracy Based on Variation Flying Altitude Using Unmanned Aerial Vehicle  

NASA Astrophysics Data System (ADS)

Photogrammetry is the earliest technique used to collect data for topographic mapping. The recent development in aerial photogrammetry is the used of large format digital aerial camera for producing topographic map. The aerial photograph can be in the form of metric or non-metric imagery. The cost of mapping using aerial photogrammetry is very expensive. In certain application, there is a need to map small area with limited budget. Due to the development of technology, small format aerial photogrammetry technology has been introduced and offers many advantages. Currently, digital map can be extracted from digital aerial imagery of small format camera mounted on light weight platform such as unmanned aerial vehicle (UAV). This study utilizes UAV system for large scale stream mapping. The first objective of this study is to investigate the use of light weight rotary-wing UAV for stream mapping based on different flying height. Aerial photograph were acquired at 60% forward lap and 30% sidelap specifications. Ground control points and check points were established using Total Station technique. The digital camera attached to the UAV was calibrated and the recovered camera calibration parameters were then used in the digital images processing. The second objective is to determine the accuracy of the photogrammetric output. In this study, the photogrammetric output such as stereomodel in three dimensional (3D), contour lines, digital elevation model (DEM) and orthophoto were produced from a small stream of 200m long and 10m width. The research output is evaluated for planimetry and vertical accuracy using root mean square error (RMSE). Based on the finding, sub-meter accuracy is achieved and the RMSE value decreases as the flying height increases. The difference is relatively small. Finally, this study shows that UAV is very useful platform for obtaining aerial photograph and subsequently used for photogrammetric mapping and other applications.

Udin, W. S.; Ahmad, A.

2014-02-01

117

Design and characterization of Hover Nano Aerial Vehicle (HNAV) propulsion system  

E-print Network

On October 4th 2005, DARPA released a request for proposals for a Nano-Air Vehicle (NAV) program. The program sought to develop an advanced urban reconnaissance vehicle. According the requirement imposed by DARPA, the NAV ...

Sato, Sho, Ph. D. Massachusetts Institute of Technology

2008-01-01

118

Use of unmanned aerial vehicles (UAV) for urban tree inventories  

NASA Astrophysics Data System (ADS)

In contrast to standard aerial imagery, unmanned aerial systems (UAS) utilize recent technological advances to provide an affordable alternative for imagery acquisition. Increased value can be realized through clarity and detail providing higher resolution (2-5 cm) over traditional products. Many natural resource disciplines such as urban forestry will benefit from UAS. Tree inventories for risk assessment, biodiversity, planning, and design can be efficiently achieved with the UAS. Recent advances in photogrammetric processing have proved automated methods for three dimensional rendering of aerial imagery. Point clouds can be generated from images providing additional benefits. Association of spatial locational information within the point cloud can be used to produce elevation models i.e. digital elevation, digital terrain and digital surface. Taking advantage of this point cloud data, additional information such as tree heights can be obtained. Several software applications have been developed for LiDAR data which can be adapted to utilize UAS point clouds. This study examines solutions to provide tree inventory and heights from UAS imagery. Imagery taken with a micro-UAS was processed to produce a seamless orthorectified image. This image provided an accurate way to obtain a tree inventory within the study boundary. Utilizing several methods, tree height models were developed with variations in spatial accuracy. Model parameters were modified to offset spatial inconsistencies providing statistical equality of means. Statistical results (p = 0.756) with a level of significance (? = 0.01) between measured and modeled tree height means resulted with 82% of tree species obtaining accurate tree heights. Within this study, the UAS has proven to be an efficient tool for urban forestry providing a cost effective and reliable system to obtain remotely sensed data.

Ritter, Brian A.

119

Aerial Vehicle Surveys of other Planetary Atmospheres and Surfaces: Imaging, Remote-sensing, and Autonomy Technology Requirements  

NASA Technical Reports Server (NTRS)

The objective of this paper is to review the anticipated imaging and remote-sensing technology requirements for aerial vehicle survey missions to other planetary bodies in our Solar system that can support in-atmosphere flight. In the not too distant future such planetary aerial vehicle (a.k.a. aerial explorers) exploration missions will become feasible. Imaging and remote-sensing observations will be a key objective for these missions. Accordingly, it is imperative that optimal solutions in terms of imaging acquisition and real-time autonomous analysis of image data sets be developed for such vehicles.

Young, Larry A.; Pisanich, Gregory; Ippolito, Corey; Alena, Rick

2005-01-01

120

Formation Control of a Group of Micro Aerial Vehicles (MAVs)  

E-print Network

approaches to the group coordination problem such as behavior based, leader follower, graph theory vehicle are produced by using projected distances between the quadrotors. Several coordinated task and virtual structure [7], [8]. Convenience of these approaches are highly application specific. In behavior

Yanikoglu, Berrin

121

Development of Bird-like Micro Aerial Vehicle with Flapping and Feathering Wing Motions  

NASA Astrophysics Data System (ADS)

To investigate the feasibility of a highly efficient flapping system capable of avian maneuvers, such as rapid takeoff, hover and gliding, a full scale bird-like (ornithopter) flapping-wing micro aerial vehicle (MAV) shaped and patterned after a typical pigeon (Columba livia) has been designed and constructed. Both numerical and experimental methods have been used in the development of this vehicle. This flapping-wing micro aerial vehicle utilizes both the flapping and feathering motions of an avian wing by employing a novel flapping-feathering mechanism, which has been synthesized and constructed so as to best describe the properly coordinated flapping and feathering wing motions at phase angle difference of 90° in a horizontal steady level flight condition. This design allows high flapping and feathering amplitudes and is configurable for asymmetric wing motions which are desirable in high-speed flapping flight and maneuvering. The preliminary results indicate its viability as a practical and an efficient flapping-wing micro aerial vehicle.

Maglasang, Jonathan; Goto, Norihiro; Isogai, Koji

122

Simulation and Flight Control of an Aeroelastic Fixed Wing Micro Aerial Vehicle  

NASA Technical Reports Server (NTRS)

Micro aerial vehicles have been the subject of continued interest and development over the last several years. The majority of current vehicle concepts rely on rigid fixed wings or rotors. An alternate design based on an aeroelastic membrane wing has also been developed that exhibits desired characteristics in flight test demonstrations, competition, and in prior aerodynamics studies. This paper presents a simulation model and an assessment of flight control characteristics of the vehicle. Linear state space models of the vehicle associated with typical trimmed level flight conditions and which are suitable for control system design are presented as well. The simulation is used as the basis for the design of a measurement based nonlinear dynamic inversion control system and outer loop guidance system. The vehicle/controller system is the subject of ongoing investigations of autonomous and collaborative control schemes. The results indicate that the design represents a good basis for further development of the micro aerial vehicle for autonomous and collaborative controls research.

Waszak, Martin; Davidson, John B.; Ifju, Peter G.

2002-01-01

123

Monitoring agricultural crops using a light-weight hyperspectral mapping system for unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

Remote sensing has been identified as a key technology to allow near real-time detection and diagnosis of crop status at the field level. Although satellite based remote sensing techniques have already proven to be relevant for many requirements of crop inventory and monitoring, they might lack flexibility to support anomaly detection at specific moments over the growing season. Imagery taken from unmanned aerial vehicles (UAV) are shown to be an effective alternative platform for crop monitoring, given their potential of high spatial and temporal resolution, and their high flexibility in image acquisition programming. In addition, several studies have shown that an increased spectral resolution as available from hyperspectral systems provide the opportunity to estimate biophysical properties like leaf-area-index (LAI), chlorophyll and leaf water content with improved accuracies. To investigate the opportunities of unmanned aerial vehicles (UAV) in operational crop monitoring, we have developed a light-weight hyperspectral mapping system (< 2 kg) suitable to be mounted on small UAVs. Its composed of an octocopter UAV-platform with a pushbroom spectrometer consisting of a spectrograph, an industrial camera functioning as frame grabber, storage device, and computer, a separate INS and finally a photogrammetric camera. The system is able to produce georeferenced and georectified hyperspectral data cubes in the 400-1000 nm spectral range at 10-50 cm resolution. The system is tested in a fertilization experiment for a potato crop on a 12 ha experimental field in the South of the Netherlands. In the experiment UAV-based hyperspectral images were acquired on a weekly basis together with field data on chlorophyll as indicator for the nitrogen situation of the crop and leaf area index (LAI) as indicator for biomass status. Initially, the quality aspects of the developed light-weight hyperspectral mapping system will presented with regard to its radiometric and geometric quality. Next we would like to present the relations between sensor derived spectral measurements and crop status variables for a time-series of measurements over the growing season. In addition, the spatial variation of crop characteristics within the field can be adopted for variable rate application of fertilizers within the field. The outcome of the experiments should guide the operational use of UAV based systems in precision agriculture systems.

Kooistra, Lammert; Suomalainen, Juha; Franke, Jappe; Bartholomeus, Harm; Mücher, Sander; Becker, Rolf

2014-05-01

124

An Examination of Drag Reduction Mechanisms in Marine Animals, with Potential Applications to Uninhabited Aerial Vehicles  

NASA Technical Reports Server (NTRS)

Previous engineering research and development has documented the plausibility of applying biomimetic approaches to aerospace engineering. Past cooperation between the Virginia Institute of Marine Science (VIMS) and NASA focused on the drag reduction qualities of the microscale dermal denticles of shark skin. This technology has subsequently been applied to submarines and aircraft. The present study aims to identify and document the three-dimensional geometry of additional macroscale morphologies that potentially confer drag reducing hydrodynamic qualities upon marine animals and which could be applied to enhance the range and endurance of Uninhabited Aerial Vehicles (UAVs). Such morphologies have evolved over eons to maximize organismal energetic efficiency by reducing the energetic input required to maintain cruising speeds in the viscous marine environment. These drag reduction qualities are manifested in several groups of active marine animals commonly encountered by ongoing VIMS research programs: namely sharks, bony fishes such as tunas, and sea turtles. Through spatial data acquired by molding and digital imagery analysis of marine specimens provided by VIMS, NASA aims to construct scale models of these features and to test these potential drag reduction morphologies for application to aircraft design. This report addresses the efforts of VIMS and NASA personnel on this project between January and November 2001.

Musick, John A.; Patterson, Mark R.; Dowd, Wesley W.

2002-01-01

125

Mobile Stereo-Mapper a Portable Kit for Unmanned Aerial Vehicles  

NASA Astrophysics Data System (ADS)

A low-cost portable light-weight mobile stereo-mapping system (MSMS) is under development in the GeoICT Lab, Geomatics Engineering program at York University. The MSMS is designed for remote operation on board unmanned aerial vehicles (UAV) for navigation and rapid collection of 3D spatial data. Pose estimation of the camera sensors is based on single frequency RTK-GPS, loosely coupled in a Kalman filter with MEMS-based IMU. The attitude and heading reference system (AHRS) calculates orientation from the gyro data, aided by accelerometer and magnetometer data to compensate for gyro drift. Two low-cost consumer digital cameras are calibrated and time-synchronized with the GPS/IMU to provide direct georeferenced stereo vision, while a video camera is used for navigation. Object coordinates are determined using rigorous photogrammetric solutions supported by direct georefencing algorithms for accurate pose estimation of the camera sensors. Before the MSMS is considered operational its sensor components and the integrated system itself has to undergo a rigorous calibration process to determine systematic errors and biases and to determine the relative geometry of the sensors. In this paper, the methods and results for system calibration, including camera, boresight and leverarm calibrations are presented. An overall accuracy assessment of the calibrated system is given using a 3D test field.

Li-Chee-Ming, J.; Armenakis, C.; Lee, R.

2011-09-01

126

Design of a nonlinear robust controller for a complete unmanned aerial vehicle mission  

NASA Astrophysics Data System (ADS)

Unmanned Aerial Vehicle (UAV) flight control systems must be capable of delivering the required performance while handling nonlinearities and uncertainties in the vehicle model, the atmosphere, and ambient wind. These factors necessitate the development of nonlinear flight control system design methods that can handle large nonlinearities and uncertainties. Variable approaches to the linear control of UAVs have been discussed in the recent literature. However, the development of a nonlinear robust autopilot has not been addressed to any significant degree. The development of a nonlinear autopilot based on robust control methods will be discussed in this dissertation. In this design technique, the nonlinear UAV model is not linearized. The control law is designed using the Hinfinity technique. This dissertation presents the results of an exploratory study to examine robust autopilot nonlinear design methods for the UAV and compare this new approach with existing PID, LQR, and linear Hinfinity techniques. Since the method must then be verified, its flight simulation will be done using MATLAB/SIMULINK. Verification, validation and robustness tests are documented at the end of this dissertation. The airplane examined is called the Hawkeye. It was designed and built by KU students in the fall of 2004. It is a small, 14 foot wingspan, remotely controlled airplane made from composite materials with a maximum takeoff weight of 90 lbs. It will be used in the future as a small UAV for research programs at KU. The mission includes take-off, climb, cruise, a one and a half circle accomplished in a level turn, and a return back to its original airfield accomplished by cruising back, descending, and completing an approach and landing. After take-off, the airplane is required to climb to 1,000 ft altitude, and then it travels 5,000 ft over the ground into the target area. It will then take some photos of that target using its camera. The complete mission for the UAV lasts about 180 seconds.

Sadraey, Mohammad Hashem

127

Line Following and Ground Vehicle Tracking by an Autonomous Aerial Blimp  

Microsoft Academic Search

In this paper we introduce an autonomous aerial blimp testbed. The robot has onboard vision and computation capabilities, based on a digital signal processor. We also present the realistic hardware-in-the- loop simulator developed over USARSim. This development environment enabled fast prototyping and implementation of navigation primitives for the blimp, namely vision-based line following and ground vehicle tracking. Results of the

David Jerónimo; Ricardo Alcácer; F. C. Alegria; Pedro U. Lima

128

Human Systems Integration and Automation Issues in Small Unmanned Aerial Vehicles  

NASA Technical Reports Server (NTRS)

The goal of this report is to identify Human System Integration (HSI) and automation issues that contribute to improved effectiveness and efficiency in the operation of U.S. military Small Unmanned Aerial Vehicles (SUAVs). HSI issues relevant to SUAV operations are reviewed and observations from field trials are summarized. Short-term improvements are suggested research issues are identified and an overview is provided of automation technologies applicable to future SUAV design.

McCauley, Michael E.; Matsangas, Panagiotis

2004-01-01

129

US Army remotely piloted vehicle supporting technology program  

NASA Technical Reports Server (NTRS)

Essential technology programs that lead to the full scale engineering development of the Aquila Remotely Piloted Vehicle system for U.S. Army are described. The Aquila system uses a small recoverable and reusable RPV to provide target acquisition, designation, and aerial reconnaissance mission support for artillery and smart munitions. Developments that will provide growth capabilities to the Aquila RPV system, as well as future RPV mission concepts being considered by the U.S. Army are presented.

Gossett, T. D.

1981-01-01

130

Reusable launch vehicle technology program  

NASA Astrophysics Data System (ADS)

Industry/NASA reusable launch vehicle (RLV) technology program efforts are underway to design, test, and develop technologies and concepts for viable commercial launch systems that also satisfy national needs at acceptable recurring costs. Significant progress has been made in understanding the technical challenges of fully reusable launch systems and the accompanying management and operational approaches for achieving a low-cost program. This paper reviews the current status of the RLV technology program including the DC-XA, X-33 and X-34 flight systems and associated technology programs. It addresses the specific technologies being tested that address the technical and operability challenges of reusable launch systems including reusable cryogenic propellant tanks, composite structures, thermal protection systems, improved propulsion, and subsystem operability enhancements. The recently concluded DC-XA test program demonstrated some of these technologies in ground and flight tests. Contracts were awarded recently for both the X-33 and X-34 flight demonstrator systems. The Orbital Sciences Corporation X-34 flight test vehicle will demonstrate an air-launched reusable vehicle capable of flight to speeds of Mach 8. The Lockheed-Martin X-33 flight test vehicle will expand the test envelope for critical technologies to flight speeds of Mach 15. A propulsion program to test the X-33 linear aerospike rocket engine using a NASA SR-71 high speed aircraft as a test bed is also discussed. The paper also describes the management and operational approaches that address the challenge of new cost-effective, reusable launch vehicle systems.

Freeman, Delma C.; Talay, Theodore A.; Austin, R. Eugene

131

Feature and Pose Constrained Visual Aided Inertial Navigation for Computationally Constrained Aerial Vehicles  

NASA Technical Reports Server (NTRS)

A Feature and Pose Constrained Extended Kalman Filter (FPC-EKF) is developed for highly dynamic computationally constrained micro aerial vehicles. Vehicle localization is achieved using only a low performance inertial measurement unit and a single camera. The FPC-EKF framework augments the vehicle's state with both previous vehicle poses and critical environmental features, including vertical edges. This filter framework efficiently incorporates measurements from hundreds of opportunistic visual features to constrain the motion estimate, while allowing navigating and sustained tracking with respect to a few persistent features. In addition, vertical features in the environment are opportunistically used to provide global attitude references. Accurate pose estimation is demonstrated on a sequence including fast traversing, where visual features enter and exit the field-of-view quickly, as well as hover and ingress maneuvers where drift free navigation is achieved with respect to the environment.

Williams, Brian; Hudson, Nicolas; Tweddle, Brent; Brockers, Roland; Matthies, Larry

2011-01-01

132

Electric Vehicle Site Operator Program  

NASA Astrophysics Data System (ADS)

Kansas State University, with funding support from federal, state, public, and private companies, is participating in the Department of Energy's Electric Vehicle Site Operator Program. Through participation is this program, Kansas State is demonstrating, testing, and evaluating electric or hybrid vehicle technology. This participation will provide organizations the opportunity to examine the latest EHV prototypes under actual operating conditions. KSU proposes to purchase one electric or hybrid van and four electric cars during the first two years of this five year program. KSU has purchased one G-Van built by Conceptor Industries, Toronto, Canada and has initiated a procurement order to purchase two Soleq 1992 Ford EVcort stationwagons.

1992-05-01

133

Robust vehicle detection in aerial images based on salient region selection and superpixel classification  

NASA Astrophysics Data System (ADS)

For detecting vehicles in large scale aerial images we first used a non-parametric method proposed recently by Rosin to define the regions of interest, where the vehicles appear with dense edges. The saliency map is a sum of distance transforms (DT) of a set of edges maps, which are obtained by a threshold decomposition of the gradient image with a set of thresholds. A binary mask for highlighting the regions of interest is then obtained by a moment-preserving thresholding of the normalized saliency map. Secondly, the regions of interest were over-segmented by the SLIC superpixels proposed recently by Achanta et al. to cluster pixels into the color constancy sub-regions. In the aerial images of 11.2 cm/pixel resolution, the vehicles in general do not exceed 20 x 40 pixels. We introduced a size constraint to guarantee no superpixels exceed the size of a vehicle. The superpixels were then classified to vehicle or non-vehicle by the Support Vector Machine (SVM), in which the Scale Invariant Feature Transform (SIFT) features and the Linear Binary Pattern (LBP) texture features were used. Both features were extracted at two scales with two size patches. The small patches capture local structures and the larger patches include the neighborhood information. Preliminary results show a significant gain in the detection. The vehicles were detected with a dense concentration of the vehicle-class superpixels. Even dark color cars were successfully detected. A validation process will follow to reduce the presence of isolated false alarms in the background.

Sahli, Samir; Duval, Pierre-Luc; Sheng, Yunlong; Lavigne, Daniel A.

2011-05-01

134

Fault detection and multiclassifier fusion for unmanned aerial vehicles (UAVs)  

NASA Astrophysics Data System (ADS)

UAVs demand more accurate fault accommodation for their mission manager and vehicle control system in order to achieve a reliability level that is comparable to that of a pilot aircraft. This paper attempts to apply multi-classifier fusion techniques to achieve the necessary performance of the fault detection function for the Lockheed Martin Skunk Works (LMSW) UAV Mission Manager. Three different classifiers that meet the design requirements of the fault detection of the UAAV are employed. The binary decision outputs from the classifiers are then aggregated using three different classifier fusion schemes, namely, majority vote, weighted majority vote, and Naieve Bayes combination. All of the three schemes are simple and need no retraining. The three fusion schemes (except the majority vote that gives an average performance of the three classifiers) show the classification performance that is better than or equal to that of the best individual. The unavoidable correlation between the classifiers with binary outputs is observed in this study. We conclude that it is the correlation between the classifiers that limits the fusion schemes to achieve an even better performance.

Yan, Weizhong

2001-03-01

135

Determination of the effectiveness of commercial-off-the-shelf radar in the cuing of unmanned aerial vehicle pan-tilt-zoom camera systems  

Microsoft Academic Search

This study examined the use of low-cost commercial-off-the-shelf (COTS) radar in support of the cuing of pan-tilt-zoom (PTZ) optical payload systems. Cancellation of the U.S. Navy's vertical take off and landing (VTOL) unmanned aerial vehicle (VTUAV) program left the Navy without a UAV with radar sensor capability. Using a UAV PTZ optical payload and a COTS radar, this study collected

Patrick Joseph Ford

2003-01-01

136

Using an Unmanned Aerial Vehicle (UAV) to capture micro-topography of Antarctic moss beds  

NASA Astrophysics Data System (ADS)

Mosses, the dominant flora of East Antarctica, show evidence of drying in recent decades, likely due to the regional effects of climate change. Given the relatively small area that such moss beds occupy, new tools are needed to map and monitor these fragile ecosystems in sufficient detail. In this study, we collected low altitude aerial photography with a small multi-rotor Unmanned Aerial Vehicle (UAV). Structure from Motion (SfM) computer vision techniques were applied to derive ultra-high resolution 3D models from multi-view aerial photography. A 2 cm digital surface model (DSM) and 1 cm orthophoto mosaic were derived from the 3D model and aerial photographs, respectively. The geometric accuracy of the orthophoto and DSM was 4 cm. A weighted contributing upstream area was derived with the D-infinity algorithm, based on the DSM and a snow cover map derived from the orthophoto. The contributing upstream area was used as a proxy for water availability from snowmelt, one of the key environmental drivers of moss health. A Monte Carlo simulation with 300 realisations was implemented to model the impact of error in the DSM on runoff direction. Significant correlations were found between these simulated water availability values and field measurements of moss health and water content. In the future ultra-high spatial resolution DSMs acquired with a UAV could thus be used to determine the impact of changing snow cover on the health and spatial distribution of polar vegetation non-destructively.

Lucieer, Arko; Turner, Darren; King, Diana H.; Robinson, Sharon A.

2014-04-01

137

Small unmanned aerial vehicles for aeromagnetic surveys and their flights in the South Shetland Islands, Antarctica  

NASA Astrophysics Data System (ADS)

We developed small computer-controlled unmanned aerial vehicles (UAVs, Ant-Plane) using parts and technology designed for model airplanes. These UAVs have a maximum flight range of 300-500 km. We planned aeromagnetic and aerial photographic surveys using the UAVs around Bransfield Basin, Antarctica, beginning from King George Island. However, we were unable to complete these flights due to unsuitable weather conditions and flight restrictions. Successful flights were subsequently conducted from Livingston Island to Deception Island in December 2011. This flight covered 302.4 km in 3:07:08, providing aeromagnetic and aerial photographic data from an altitude of 780 m over an area of 9 × 18 km around the northern region of Deception Island. The resulting magnetic anomaly map of Deception Island displayed higher resolution than the marine anomaly maps published already. The flight to South Bay in Livingston Island successfully captured aerial photographs that could be used for assessment of glacial and sea-ice conditions. It is unclear whether the cost-effectiveness of the airborne survey by UAV is superior to that of manned flight. Nonetheless, Ant-Plane 6-3 proved to be highly cost-effective for the Deception Island flight, considering the long downtime of the airplane in the Antarctic storm zone.

Funaki, Minoru; Higashino, Shin-Ichiro; Sakanaka, Shinya; Iwata, Naoyoshi; Nakamura, Norihiro; Hirasawa, Naohiko; Obara, Noriaki; Kuwabara, Mikio

2014-12-01

138

An intelligent algorithm for unmanned aerial vehicle surveillance  

NASA Astrophysics Data System (ADS)

An intelligent swarm-based guidance and path planning algorithm for the Unmanned Arial Vehicles (UAV) provides the ability to efficiently carry out grid surveillance, taking into account specific UAV constraints such as maximum speed, maximum flight time and battery re-charging intervals to allow for continuous surveillance. The swarm-based flight planning is based on enhancements of distributed computing concepts that have been developed for NASA's launch danger zone protection. The algorithm is a modified version of an ant colony optimization theory describing ant food foraging. Ants initially follow random paths from the nest, but if food is found, the ant deposits a pheromone (modifying the local environment), which influences other ants to travel the same path. Once the food source is exhausted, the pheromone decays naturally, which causes the trail to disappear. When an ant is on an established trail, it may at any time decide to follow a new random path, allowing for new exploration. Using these concepts, in our system for UAV, we use two units, the Rendezvous unit and the Patrol unit. The Rendezvous units will act as pheromone deposit sites keeping a record of trails of interest (extra pheromone that decays over time), and obstacles (no pheromone). The search area is divided into a grid of areas. Each area unit is assigned a pheromone weight. The patrol unit picks an area unit based on a probabilistic formula consisting of parameters like the relative weight of trail intensity, area visibility to the unit, the distance of the patrol unit from the area, and the pheromone decay factor. Simulation of a UAV surveillance system based on the above algorithm showed that it has the ability to perform independently and reliably without human intervention, and the emergent nature of the algorithm has the ability to incorporate important aspects of unmanned surveillance.

Bhargave, Ashish; Ambrose, Barry; Lin, Freddie; Kazantzidis, Manthos

2007-04-01

139

Visualization of ground target designation from an unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

The common ground station (CGS) receives data from the joint surveillance and target attack radar system aircraft and from other airborne platforms. High-resolution imagery such as that provided by an unmanned airborne vehicle (UAV) carrying an IR and/or synthetic aperture radar (SAR) sensor will be incorporated into an advanced imagery CGS operation. While this level of integration provides a wealth of valuable information, it also increase the complexity of planning, assessment and exploitation which in turn dictates flexible simulation tools for mission rehearsal and operator training. MITRE has developed a ModSAF-driven model for a UAV equipped with a moving target indicator (MTI) radar for wide-area surveillance, and a battlefield combat identification system for positive identification of friendly forces. The imaging functions are performed by integrating the UAV model with visualization software in order to render the sensor's view in real-time. This model forms the basis for a multisensor CGS simulation controls imaging task assignments which taken place when an MTI track is selected for imaging by means of a mouse click entry on an active MTI display. At that time, the UAV is commanded to fly an automatically determined trajectory in order to align MTI display. At that time, the UAV is commanded to fly an automatically determined trajectory in order to align itself for the imaging task. A beam footprint whose position, size and shape is determined by the sensor position, attitude, and field-of-view appears on the display as an indication of the relationship of the image display to the terrain in the operational scenario. A 3D visualization of the designated target area then takes place on a separate display.

Violette Pierce, Deborah J.; Santapietro, John J.

1998-08-01

140

Visualization of ground target designation from an unmanned aerial vehicle  

E-print Network

The Common Ground Station (CGS) receives data from the Joint Surveillance and Target Attack Radar System (Joint STARS) aircraft and from other airborne platforms. High-resolution imagery such as that provided by an unmanned airborne vehicle (UAV) carrying an infrared (IR) and/or synthetic aperture radar (SAR) sensor will be incorporated into an Advanced Imagery CGS (AI CGS) operation. While this level of integration provides a wealth of valuable information, it also increases the complexity of planning, assessment and exploitation which in turn dictates flexible simulation tools for mission rehearsal and operator training. MITRE has developed a ModSAF-driven model for a UAV equipped with a moving target indicator (MTI) radar for wide-area surveillance, and a Battlefield Combat Identification System (BCIS) for positive identification of friendly forces. The imaging functions are performed by integrating the UAV model with visualization software in order to render the sensor’s view in real-time. This model forms the basis for a multisensor CGS simulation (MSCGS) which consists of the multisensor UAV combined with a UAV Control Station (UAV CS). The UAV CS controls imaging task assignments which take place when an MTI track is selected for imaging by means of a mouse click entry on an active MTI display. At that time, the UAV is commanded to fly an automatically determined trajectory in order to align itself for the imaging task. A beam footprint whose position, size and shape is determined by the sensor position, attitude, and field-of-view appears on the display as an indication of the relationship of the image display to the terrain in the operational scenario. A three-dimensional visualization of the designated target area then takes place on a separate display.

Deborah J. Violette Pierce; John J. Santapietro

1998-01-01

141

Experimental aerodynamic and static elastic deformation characterization of low aspect ratio flexible fixed wings applied to micro aerial vehicles  

Microsoft Academic Search

The concept of micro aerial vehicles (MAVs) is for a small, inexpensive and sometimes expendable platform, flying by remote pilot, in the field or autonomously. Because of the requirement to be flown either by almost inexperienced pilots or by autonomous control, they need to have very reliable and benevolent flying characteristics drive the design guidelines. A class of vehicles designed

Roberto Albertani

2005-01-01

142

Tracking ground targets with measurements obtained from a single monocular camera mounted on an unmanned aerial vehicle  

Microsoft Academic Search

In this paper, a novel method is presented for tracking ground targets from an unmanned aerial vehicle (UAV) outfitted with a single monocular camera. The loss of observability resulting from the use of a single monocular camera is dealt with by constraining the target vehicle to follow ground terrain. An unscented Kalman filter (UKF) provides a simultaneous localization and mapping

Dustin Deneault; Dale Schinstock; Christopher Lewis

2008-01-01

143

Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles  

NASA Technical Reports Server (NTRS)

The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

Ippolito, Corey; Plice, Laura; Pisanich, Greg

2003-01-01

144

Comparison of Unmanned Aerial Vehicle Platforms for Assessing Vegetation Cover in Sagebrush Steppe Ecosystems  

SciTech Connect

In this study, the use of unmanned aerial vehicles (UAVs) as a quick and safe method for monitoring biotic resources was evaluated. Vegetation cover and the amount of bare ground are important factors in understanding the sustainability of many ecosystems and assessment of rangeland health. Methods that improve speed and cost efficiency could greatly improve how biotic resources are monitored on western lands. Sagebrush steppe ecosystems provide important habitat for a variety of species (including sage grouse and pygmy rabbit). Improved methods are needed to support monitoring these habitats because there are not enough resource specialists or funds available for comprehensive ground evaluations. In this project, two UAV platforms, fixed wing and helicopter, were used to collect still-frame imagery to assess vegetation cover in sagebrush steppe ecosystems. This paper discusses the process for collecting and analyzing imagery from the UAVs to (1) estimate percent cover for six different vegetation types (shrub, dead shrub, grass, forb, litter, and bare ground) and (2) locate sage grouse using representative decoys. The field plots were located on the Idaho National Engineering (INL) site west of Idaho Falls, Idaho, in areas with varying amounts and types of vegetation cover. A software program called SamplePoint was used along with visual inspection to evaluate percent cover for the six cover types. Results were compared against standard field measurements to assess accuracy. The comparison of fixed-wing and helicopter UAV technology against field estimates shows good agreement for the measurement of bare ground. This study shows that if a high degree of detail and data accuracy is desired, then a helicopter UAV may be a good platform to use. If the data collection objective is to assess broad-scale landscape level changes, then the collection of imagery with a fixed-wing system is probably more appropriate.

Robert P. Breckenridge; Maxine Dakins; Stephen Bunting; Jerry Harbour; Sera White

2011-09-01

145

Using Unmanned Aerial Vehicles to Assess Vegetative Cover in Sagebrush Steppe Ecosytstems  

SciTech Connect

The Idaho National Laboratory (INL), in conjunction with the University of Idaho, is evaluating novel approaches for using unmanned aerial vehicles (UAVs) as a quicker and safer method for monitoring biotic resources. Evaluating vegetative cover is an important factor in understanding the sustainability of many ecosystems. In assessing vegetative cover, methods that improve accuracy and cost efficiency could revolutionize how biotic resources are monitored on western federal lands. Sagebrush steppe ecosystems provide important habitat for a variety of species, some of which are important indicator species (e.g., sage grouse). Improved methods are needed to support monitoring these habitats because there are not enough resource specialists or funds available for comprehensive ground evaluation of these ecosystems. In this project, two types of UAV platforms (fixed wing and helicopter) were used to collect still-frame imagery to assess cover in sagebrush steppe ecosystems. This paper discusses the process for collecting and analyzing imagery from the UAVs to (1) estimate total percent cover, (2) estimate percent cover for six different types of vegetation, and (3) locate sage grouse based on representative decoys. The field plots were located on the INL site west of Idaho Falls, Idaho, in areas with varying amounts and types of vegetative cover. A software program called SamplePoint developed by the U.S. Department of Agriculture, Agricultural Research Service (USDA-ARS) was used to evaluate the imagery for percent cover for the six vegetation types (bare ground, litter, shrubs, dead shrubs, grasses, and forbs). Results were compared against standard field measurements to assess accuracy.

Robert P. Breckenridge

2005-09-01

146

Digital Camera Calibration Using Images Taken from AN Unmanned Aerial Vehicle  

NASA Astrophysics Data System (ADS)

For calibrating the camera, an accurate determination of the interior orientation parameters is needed. For more accurate results, the calibration images should be taken under conditions that are similar to the field samples. The aim of this work is the establishment of an efficient and accurate digital camera calibration method to be used in particular working conditions, as it can be found with our UAV (Unmanned Aerial Vehicle) photogrammetric projects. The UAV used in this work was md4-200 modelled by Microdrones. The microdrone is also equipped with a standard digital non- metric camera, the Pentax Optio A40 camera. To find out the interior orientation parameters of the digital camera, two calibration methods were done. A lab calibration based on a flat pattern and a field calibration were fulfilled. To carry out the calibration, Photomodeler Scanner software was used in both cases. The lab calibration process was completely automatic using a calibration grid. The focal length was fixed at widest angle and the network included a total of twelve images with± 90º roll angles. In order to develop the field calibration, a flight plan was programmed including a total of twelve images. In the same way as in the lab calibration, the focal length was fixed at widest angle. The field test used in the study was a flat surface located on the University of Almería campus and a set of 67 target points were placed. The calibration field area was 25 × 25 m approximately and the altitude flight over ground was 50 m. After the software processing, the camera calibration parameter values were obtained. The paper presents the process, the results and the accuracy of these calibration methods. The field calibration method reduced the final total error obtained in the previous lab calibration. Furthermore the overall RMSs obtained from both methods are similar. Therefore we will apply the field calibration results to all our photogrammetric projects in which the flight high will be close to 50 m.

Pérez, M.; Agüera, F.; Carvajal, F.

2011-09-01

147

Unmanned Aerial Vehicle (UAV) associated DTM quality evaluation and hazard assessment  

NASA Astrophysics Data System (ADS)

Taiwan, due to the high seismicity and high annual rainfall, numerous landslides triggered every year and severe impacts affect the island. Concerning to the catastrophic landslides, the key information of landslide, including range of landslide, volume estimation and the subsequent evolution are important when analyzing the triggering mechanism, hazard assessment and mitigation. Thus, the morphological analysis gives a general overview for the landslides and been considered as one of the most fundamental information. We try to integrate several technologies, especially by Unmanned Aerial Vehicle (UAV) and multi-spectral camera, to decipher the consequence and the potential hazard, and the social impact. In recent years, the remote sensing technology improves rapidly, providing a wide range of image, essential and precious information. Benefited of the advancing of informatics, remote-sensing and electric technologies, the Unmanned Aerial Vehicle (UAV) photogrammetry mas been improve significantly. The study tries to integrate several methods, including, 1) Remote-sensing images gathered by Unmanned Aerial Vehicle (UAV) and by aerial photos taken in different periods; 2) field in-situ geologic investigation; 3) Differential GPS, RTK GPS and Ground LiDAR field in-site geoinfomatics measurements; 4) Construct the DTMs before and after landslide, as well as the subsequent periods using UAV and aerial photos; 5) Discrete element method should be applied to understand the geomaterial composing the slope failure, for predicting earthquake-induced and rainfall-induced landslides displacement. First at all, we evaluate the Microdrones MD4-1000 UAV airphotos derived Digital Terrain Model (DTM). The ground resolution of the DSM point cloud of could be as high as 10 cm. By integrated 4 ground control point within an area of 56 hectares, compared with LiDAR DSM and filed RTK-GPS surveying, the mean error is as low as 6cm with a standard deviation of 17cm. The quality of the UAV DSM could be as good as LiDAR data, and is ready for other applications. The quality of the data set provides not only geoinfomatics and GIS dataset of the hazards, but also for essential geomorphologic information for other study, and for hazard mitigation and planning, as well.

Huang, Mei-Jen; Chen, Shao-Der; Chao, Yu-Jui; Chiang, Yi-Lin; Chang, Kuo-Jen

2014-05-01

148

Moments of Inertia: Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID)  

NASA Technical Reports Server (NTRS)

The objective of this research effort is to determine the most appropriate, cost efficient, and effective method to utilize for finding moments of inertia for the Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID). A moment is a measure of the body's tendency to turn about its center of gravity (CG) and inertia is the resistance of a body to changes in its momentum. Therefore, the moment of inertia (MOI) is a body's resistance to change in rotation about its CG. The inertial characteristics of an UAV have direct consequences on aerodynamics, propulsion, structures, and control. Therefore, it is imperative to determine the precise inertial characteristics of the DROID.

Haro, Helida C.

2010-01-01

149

Modeling and optimization of multiple unmanned aerial vehicles system architecture alternatives.  

PubMed

Unmanned aerial vehicle (UAV) systems have already been used in civilian activities, although very limitedly. Confronted different types of tasks, multi UAVs usually need to be coordinated. This can be extracted as a multi UAVs system architecture problem. Based on the general system architecture problem, a specific description of the multi UAVs system architecture problem is presented. Then the corresponding optimization problem and an efficient genetic algorithm with a refined crossover operator (GA-RX) is proposed to accomplish the architecting process iteratively in the rest of this paper. The availability and effectiveness of overall method is validated using 2 simulations based on 2 different scenarios. PMID:25140328

Qin, Dongliang; Li, Zhifei; Yang, Feng; Wang, Weiping; He, Lei

2014-01-01

150

Moments of Inertia - Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID)  

NASA Technical Reports Server (NTRS)

The objective of this research effort is to determine the most appropriate, cost efficient, and effective method to utilize for finding moments of inertia for the Uninhabited Aerial Vehicle (UAV) Dryden Remotely Operated Integrated Drone (DROID). A moment is a measure of the body's tendency to turn about its center of gravity (CG) and inertia is the resistance of a body to changes in its momentum. Therefore, the moment of inertia (MOI) is a body's resistance to change in rotation about its CG. The inertial characteristics of an UAV have direct consequences on aerodynamics, propulsion, structures, and control. Therefore, it is imperative to determine the precise inertial characteristics of the DROID.

Haro, Helida C.

2010-01-01

151

On Board Data Acquisition System with Intelligent Transducers for Unmanned Aerial Vehicles  

NASA Astrophysics Data System (ADS)

This report presents conclusions from research project no. ON50900363 conducted at the Mechatronics Department, Military University of Technology in the years 2007-2010. As the main object of the study involved the preparation of a concept and the implementation of an avionics data acquisition system intended for research during flight of unmanned aerial vehicles of the mini class, this article presents a design of an avionics system and describes equipment solutions of a distributed measurement system intended for data acquisition consisting of intelligent transducers. The data collected during a flight controlled by an operator confirmed proper operation of the individual components of the data acquisition system.

Rochala, Zdzis?aw

2012-02-01

152

Brief Communication: The use of an unmanned aerial vehicle in a rockfall emergency scenario  

NASA Astrophysics Data System (ADS)

In recent years, the use of unmanned aerial vehicles (UAVs) in civilian/commercial contexts are becoming increasingly common, as well as for applications concerning anthropic and natural disasters. In this paper, we present the first results of a research project aimed at defining a possible methodology for the use of micro-UAVs in emergency scenarios relevant to rockfall phenomena. To develop and support the method presented herein, the results relevant to a rockfall emergency occurred on 7 March 2014 in the San Germano municipality (north-western Italy) are presented and discussed.

Giordan, D.; Manconi, A.; Facello, A.; Baldo, M.; dell'Anese, F.; Allasia, P.; Dutto, F.

2015-01-01

153

An Analysis of Fuel Cell Options for an All-electric Unmanned Aerial Vehicle  

NASA Technical Reports Server (NTRS)

A study was conducted to assess the performance characteristics of both PEM and SOFC-based fuel cell systems for an all-electric high altitude, long endurance Unmanned Aerial Vehicle (UAV). Primary and hybrid systems were considered. Fuel options include methane, hydrogen, and jet fuel. Excel-based models were used to calculate component mass as a function of power level and mission duration. Total system mass and stored volume as a function of mission duration for an aircraft operating at 65 kft altitude were determined and compared.

Kohout, Lisa L.; Schmitz, Paul C.

2007-01-01

154

Heavy Vehicle Propulsion Materials Program  

SciTech Connect

The objective of the Heavy Vehicle Propulsion Materials Program is to develop the enabling materials technology for the clean, high-efficiency diesel truck engines of the future. The development of cleaner, higher-efficiency diesel engines imposes greater mechanical, thermal, and tribological demands on materials of construction. Often the enabling technology for a new engine component is the material from which the part can be made. The Heavy Vehicle Propulsion Materials Program is a partnership between the Department of Energy (DOE), and the diesel engine companies in the United States, materials suppliers, national laboratories, and universities. A comprehensive research and development program has been developed to meet the enabling materials requirements for the diesel engines of the future. Advanced materials, including high-temperature metal alloys, intermetallics, cermets, ceramics, amorphous materials, metal- and ceramic-matrix composites, and coatings, are investigated for critical engine applications.

Sidney Diamond; D. Ray Johnson

1999-04-26

155

Conceptual Design of a Vertical Takeoff and Landing Unmanned Aerial Vehicle with 24-HR Endurance  

NASA Technical Reports Server (NTRS)

This paper describes a conceptual design study for a vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) that is able to carry a 25-lb science payload for 24 hr and is able to land and take off at elevations as high as 15,000 ft without human intervention. In addition to the science payload, this vehicle must be able to carry a satellite communication system, and the vehicle must be able to be transported in a standard full-size pickup truck and assembled by only two operators. This project started with a brainstorming phase to devise possible vehicle configurations that might satisfy the requirements. A down select was performed to select a near-term solution and two advanced vehicle concepts that are better suited to the intent of the mission. Sensitivity analyses were also performed on the requirements and the technology levels to obtain a better understanding of the design space. This study found that within the study assumptions the mission is feasible; the selected concepts are recommended for further development.

Fredericks, William J.

2010-01-01

156

Mapping of a river using close range photogrammetry technique and unmanned aerial vehicle system  

NASA Astrophysics Data System (ADS)

Photogrammetry is a technique that can be used to record the information of any feature without direct contact. Nowadays, a combination of photogrammetry and Unmanned Aerial Vehicle (UAV) systems is widely used for various applications, especially for large scale mapping. UAV systems offer several advantages in terms of cost and image resolution compared to terrestrial photogrammetry and remote sensing system. Therefore, a combination of photogrammetry and UAV created a new term which is UAV photogrammetry. The aim of this study is to investigate the ability of a UAV system to map a river at very close distance. A digital camera is attached to the Hexacopter UAV and it is flown at 2 m above the ground surface to produce aerial photos. Then, the aerial photos are processed to create two photogrammetric products as output. These are mosaicked orthophoto and digital image. Both products are assessed (RSME). The RSME of X and Y coordinates are ±0.009 m and ±0.033 m respectively. As a conclusion, photogrammetry and the UAV system offer a reliable accuracy for mapping a river model and advantages in term of cost-efficient, high ground resolution and rapid data acquisition.

Room, M. H. M.; Ahmad, A.

2014-02-01

157

Surveying a Landslide in a Road Embankment Using Unmanned Aerial Vehicle Photogrammetry  

NASA Astrophysics Data System (ADS)

Most of the works of civil engineering, and some others applications, need to be designed using a basic cartography with a suitable scale to the accuracy and extension of the plot.The Unmanned Aerial Vehicle (UAV) Photogrammetry covers the gap between classical manned aerial photogrammetry and hand- made surveying techniques because it works in the close-range domain, combining aerial and terrestrial photogrammetry, but also introduces low-cost alternatives. The aim of this work is developing of an accurate and low-cost method to characterize landslides located on the size of a road. It was applied at the kilometric point 339 belonging to the A92 dual carriageway, in the Abla municipal term, province of Almeria, Spain. A photogrammetric project was carried out from a set of images taken from an md4-200 Microdrones with an on-board calibrated camera 12 Megapixels Pentax Optio A40. The flight was previously planned to cover the whole extension of the embankment with three passes composed of 18 photos each one. All the images were taken with the vertical axe and it was registered 85% and 60% longitudinal and transversal overlaps respectively. The accuracy of the products, with planimetric and altimetric errors of 0.049 and 0.108m repectively, lets to take measurements of the landslide and projecting preventive and palliative actuations.

Carvajal, F.; Agüera, F.; Pérez, M.

2011-09-01

158

Catalytic pressurization of liquid hydrogen fuel tanks for unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

As the use and applications of Unmanned Aerial Vehicles (UAV) expand, the need for a lighter weight fuel allowing for longer duration flights has become the primary limiting factor in the advancement of these vehicles. To extend the operational envelope of UAV, onboard condensed hydrogen storage for missions exceeding one week is necessary. Currently, large spherical liquid hydrogen tanks that are pressurized with external helium tanks or electronic heating elements are utilized for this purpose. However, the mass, size, and power consumption of the fuel storage tank and fuel pressurization system significantly limit the flight envelope of UAV. In an effort to alleviate these issues, this paper investigates the technological feasibility of orthohydrogen-parahydrogen catalysis as a method of fuel pressurization. Typical pressurization requirements for takeoff, cruise, and landing are reviewed. Calculations of the catalyst system mass and response time are presented.

Leachman, Jacob; Street, Melissa Jean; Graham, Teira

2012-06-01

159

Transition aerodynamics for 20-percent-scale VTOL unmanned aerial vehicle  

NASA Technical Reports Server (NTRS)

An investigation was conducted in the Langley 14- by 22-Foot Subsonic Tunnel to establish a transition data base for an unmanned aerial vehicle utilizing a powered-lift ejector system and to evaluate alterations to the ejector system for improved vehicle performance. The model used in this investigation was a 20-percent-scale, blended-body, arrow-wing configuration with integrated twin rectangular ejectors. The test was conducted from hover through transition conditions with variations in angle of attack, angle of sideslip, free-stream dynamic pressure, nozzle pressure ratio, and model ground height. Force and moment data along with extensive surface pressure data were obtained. A laser velocimeter technique for measuring inlet flow velocities was demonstrated at a single flow condition, and also a low order panel method was successfully used to numerically simulate the ejector inlet flow.

Kjerstad, Kevin J.; Paulson, John W., Jr.

1993-01-01

160

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

PubMed

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. PMID:24223967

Hodgson, Amanda; Kelly, Natalie; Peel, David

2013-01-01

161

Unmanned Aerial Vehicles (UAVs) for Surveying Marine Fauna: A Dugong Case Study  

PubMed Central

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 km2 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. PMID:24223967

Hodgson, Amanda; Kelly, Natalie; Peel, David

2013-01-01

162

Utility vehicle safety Operator training program  

E-print Network

;Operator procedure & performance Off Road Operation: When Utility Vehicles are operated off of roadwaysUtility vehicle safety Operator training program #12;Permissible use Utility Vehicles may only Utility Vehicle operator · When equipped with the "Required Equipment" · On public roadways within

Minnesota, University of

163

Validation of Vehicle Candidate Areas in Aerial Images Using Color Co-Occurrence Histograms  

NASA Astrophysics Data System (ADS)

Traffic monitoring plays an important role in transportation management. In addition, airborne acquisition enables a flexible and realtime mapping for special traffic situations e.g. mass events and disasters. Also the automatic extraction of vehicles from aerial imagery is a common application. However, many approaches focus on the target object only. As an extension to previously developed car detection techniques, a validation scheme is presented. The focus is on exploiting the background of the vehicle candidates as well as their color properties in the HSV color space. Therefore, texture of the vehicle background is described by color co-occurrence histograms. From all resulting histograms a likelihood function is calculated giving a quantity value to indicate whether the vehicle candidate is correctly classified. Only a few robust parameters have to be determined. Finally, the strategy is tested with a dataset of dense urban areas from the inner city of Munich, Germany. First results show that certain regions which are often responsible for false positive detections, such as vegetation or road markings, can be excluded successfully.

Leister, W.; Tuermer, S.; Reinartz, P.; Hoffmann, K. H.; Stilla, U.

2013-10-01

164

An Uninhabited Aerial Vehicle (UAV) Concept for Low-Altitude Geophysical Exploration in Antarctica  

NASA Astrophysics Data System (ADS)

A concept for a small, agile UAV platform for conducting geophysical mapping in the IPY and beyond has been explored. We have developed a framework concept for community input and feedback based on a low-cost, autonomous vehicle with onboard high-precision inertial navigation that performs vertical take-off and landing (VTOL). The vehicle we have focused on is the GoldenEye-100, developed by Aurora Flight Sciences Corp. (www.aurora.aero), which can carry a lightweight payload and achieve a range of 300-500 km (roundtrip). The VTOL capability would potentially allow flights to be launched from the helicopter deck of an icebreaker, and would remove the logistical burden of ensuring a hazard-free runway on the ice. Vehicle operations are controlled using a portable ground station. A payload concept has also been developed, indicating that the vehicle could easily carry a lightweight, compact magnetometer, camera and laser altimeter. Instruments developed for space missions exist that would enable a high performance system to be carried within the ~10 kg payload envelope. A gravity measurement system and radar sounder are also considered. A capable UAV platform for geophysical mapping would complement the existing aerial research platforms in Antarctica and has the potential to accelerate the exploration and monitoring of critical but remote areas in a cost-effective manner.

Raymond, C. A.; Behar, A. E.

2004-05-01

165

Abstract--Recent successes in micro-aerial vehicles (< 15cm length, wingspan, height), have highlighted the lack of real-time  

E-print Network

Abstract--Recent successes in micro-aerial vehicles (--analog VLSI, smart sensor, autonomous flight control, micro-aerial vehicles. I. INTRODUCTION nmanned micro that receives a transmitted color video-feed from the airplane [5]. We have devised a similar algorithm

Horiuchi, Timothy K.

166

Multi-disciplinary design optimization of subsonic fixed-wing unmanned aerial vehicles projected through 2025  

NASA Astrophysics Data System (ADS)

Through this research, a robust aircraft design methodology is developed for analysis and optimization of the Air Vehicle (AV) segment of Unmanned Aerial Vehicle (UAV) systems. The analysis functionality of the AV design is integrated with a Genetic Algorithm (GA) to form an integrated Multi-disciplinary Design Optimization (MDO) methodology for optimal AV design synthesis. This research fills the gap in integrated subsonic fixed-wing UAV AV MDO methods. No known single methodology captures all of the phenomena of interest over the wide range of UAV families considered here. Key advancements include: (1) parametric Low Reynolds Number (LRN) airfoil aerodynamics formulation, (2) UAV systems mass properties definition, (3) wing structural weight methods, (4) self-optimizing flight performance model, (5) automated geometry algorithms, and (6) optimizer integration. Multiple methods are provided for many disciplines to enable flexibility in functionality, level of detail, computational expediency, and accuracy. The AV design methods are calibrated against the High-Altitude Long-Endurance (HALE) Global Hawk, Medium-Altitude Endurance (MAE) Predator, and Tactical Shadow 200 classes, which exhibit significant variations in mission performance requirements and scale from one another. All three UAV families show significant design gross weight reductions as technology improves. The overall technology synergy experienced 10--11 years after the initial technology year is 6.68% for Global Hawk, 7.09% for Predator, and 4.22% for the Shadow 200, which means that the technology trends interact favorably in all cases. The Global Hawk and Shadow 200 families exhibited niche behavior, where some vehicles attained higher aerodynamic performance while others attained lower structural mass fractions. The high aerodynamic performance Global Hawk vehicles had high aspect ratio wings with sweep, while the low structural mass fraction vehicles had straight, relatively low aspect ratios and smaller wing spans. The high aerodynamic performance Shadow 200 vehicles had relatively low wing loadings and large wing spans, while the lower structural mass fraction counterparts sought to minimize physical size. (Abstract shortened by UMI.)

Gundlach, John Frederick, IV

167

Sensor-driven area coverage for an autonomous fixed-wing unmanned aerial vehicle.  

PubMed

Area coverage with an onboard sensor is an important task for an unmanned aerial vehicle (UAV) with many applications. Autonomous fixed-wing UAVs are more appropriate for larger scale area surveying since they can cover ground more quickly. However, their non-holonomic dynamics and susceptibility to disturbances make sensor coverage a challenging task. Most previous approaches to area coverage planning are offline and assume that the UAV can follow the planned trajectory exactly. In this paper, this restriction is removed as the aircraft maintains a coverage map based on its actual pose trajectory and makes control decisions based on that map. The aircraft is able to plan paths in situ based on sensor data and an accurate model of the on-board camera used for coverage. An information theoretic approach is used that selects desired headings that maximize the expected information gain over the coverage map. In addition, the branch entropy concept previously developed for autonomous underwater vehicles is extended to UAVs and ensures that the vehicle is able to achieve its global coverage mission. The coverage map over the workspace uses the projective camera model and compares the expected area of the target on the ground and the actual area covered on the ground by each pixel in the image. The camera is mounted on a two-axis gimbal and can either be stabilized or optimized for maximal coverage. Hardware-in-the-loop simulation results and real hardware implementation on a fixed-wing UAV show the effectiveness of the approach. By including the already developed automatic takeoff and landing capabilities, we now have a fully automated and robust platform for performing aerial imagery surveys. PMID:25137689

Paull, Liam; Thibault, Carl; Nagaty, Amr; Seto, Mae; Li, Howard

2014-09-01

168

A Possibility of the Aeromagnetic Survey by a Small Unmanned Aerial Vehicles, Ant-Plane  

NASA Astrophysics Data System (ADS)

Magnetic surveys by helicopters and airplanes are a useful technique to estimate the geological structure under the ice sheets in Antarctica. However, it is not easy to employ this due to the transportation of the planes, logistic supports, security, and financial problems. Members of Ant-Plane Project have investigated the unmanned aerial vehicles (UAV, Ant-Plane) for the solution of the problems. Recently the aeromagnetic survey is verified by a model airplane navigated by GPS and a magneto-resistant (MR) magnetometer. The airplane (Ant-Plane) consists of 2m wing length, 2-cycles and 2-cylinder 85cc gasoline engine, GPS navigation system by microcomputer and radio telemeter system. The total weight is 15kg including 2 litter fuels, the MR magnetometer, a video camera and an emergency parachute. The speed is 130 km/h and maximum height is 2000m. The magnetometer system consists of a 3- component MR magnetometer, GPS and data logger. Three components of magnetic field, latitude, longitude, altitude, number of satellite and time are recorded in every second during 3 hours. The sensitivity of the magnetometer is 7 nT and we use a total magnetic field intensity for magnetic analysis due to unknown heading of the plane. November 2003 we succeeded the magnetic survey by the Ant-Plane at the slope of Sakurajima Volcano, Kyushu, Japan. The plane rotated 9 times along the programmed route of about 4x1 km, total flight distance of 80 km, keeping the altitude of 700 m. Consequently we obtained almost similar field variation on the route. The maximum deviation of each course was less than 100 m. Therefore, we concluded that the aeromagnetic survey in the relatively large anomaly areas can be performed by Ant-Plane with the MR magnetometer system. Finally the plane flew up 1400m with a video camera to take the photo of active volcano Sakurajima (1117m). It succeeded to take photos of craters through steam from the volcano.

Funaki, M.

2004-12-01

169

AVIATR—Aerial Vehicle for In-situ and Airborne Titan Reconnaissance. A Titan airplane mission concept  

NASA Astrophysics Data System (ADS)

We describe a mission concept for a stand-alone Titan airplane mission: Aerial Vehicle for In-situ and Airborne Titan Reconnaissance (AVIATR). With independent delivery and direct-to-Earth communications, AVIATR could contribute to Titan science either alone or as part of a sustained Titan Exploration Program. As a focused mission, AVIATR as we have envisioned it would concentrate on the science that an airplane can do best: exploration of Titan's global diversity. We focus on surface geology/hydrology and lower-atmospheric structure and dynamics. With a carefully chosen set of seven instruments—2 near-IR cameras, 1 near-IR spectrometer, a RADAR altimeter, an atmospheric structure suite, a haze sensor, and a raindrop detector—AVIATR could accomplish a significant subset of the scientific objectives of the aerial element of flagship studies. The AVIATR spacecraft stack is composed of a Space Vehicle (SV) for cruise, an Entry Vehicle (EV) for entry and descent, and the Air Vehicle (AV) to fly in Titan's atmosphere. Using an Earth-Jupiter gravity assist trajectory delivers the spacecraft to Titan in 7.5 years, after which the AVIATR AV would operate for a 1-Earth-year nominal mission. We propose a novel `gravity battery' climb-then-glide strategy to store energy for optimal use during telecommunications sessions. We would optimize our science by using the flexibility of the airplane platform, generating context data and stereo pairs by flying and banking the AV instead of using gimbaled cameras. AVIATR would climb up to 14 km altitude and descend down to 3.5 km altitude once per Earth day, allowing for repeated atmospheric structure and wind measurements all over the globe. An initial Team-X run at JPL priced the AVIATR mission at FY10 715M based on the rules stipulated in the recent Discovery announcement of opportunity. Hence we find that a standalone Titan airplane mission can achieve important science building on Cassini's discoveries and can likely do so within a New Frontiers budget.

Barnes, Jason W.; Lemke, Lawrence; Foch, Rick; McKay, Christopher P.; Beyer, Ross A.; Radebaugh, Jani; Atkinson, David H.; Lorenz, Ralph D.; Le Mouélic, Stéphane; Rodriguez, Sebastien; Gundlach, Jay; Giannini, Francesco; Bain, Sean; Flasar, F. Michael; Hurford, Terry; Anderson, Carrie M.; Merrison, Jon; Ádámkovics, Máté; Kattenhorn, Simon A.; Mitchell, Jonathan; Burr, Devon M.; Colaprete, Anthony; Schaller, Emily; Friedson, A. James; Edgett, Kenneth S.; Coradini, Angioletta; Adriani, Alberto; Sayanagi, Kunio M.; Malaska, Michael J.; Morabito, David; Reh, Kim

2012-03-01

170

Fuzzy Logic Based Approach to Design of Flight Control and Navigation Tasks for Autonomous Unmanned Aerial Vehicles  

Microsoft Academic Search

This paper proposes a fuzzy logic based autonomous navigation controller for UAVs (unmanned aerial vehicles). Three fuzzy\\u000a logic modules are developed under the main navigation system for the control of the altitude, the speed, and the heading,\\u000a through which the global position (latitude–longitude) of the air vehicle is controlled. A SID (Standard Instrument Departure)\\u000a and TACAN (Tactical Air Navigation) approach

Sefer Kurnaz; Omer Cetin; Okyay Kaynak

171

Fuzzy Logic Based Approach to Design of Flight Control and Navigation Tasks for Autonomous Unmanned Aerial Vehicles  

Microsoft Academic Search

This paper proposes a fuzzy logic based autonomous navigation controller for UAVs (unmanned aerial vehicles). Three fuzzy\\u000a logic modules are developed under the main navigation system for the control of the altitude, the speed, and the heading,\\u000a through which the global position (latitude–longitude) of the air vehicle is controlled. A SID (Standard Instrument Departure)\\u000a and TACAN (Tactical Air Navigation) approach

Sefer Kurnaz; Omer Cetin; Okyay Kaynak

2009-01-01

172

Atmospheric Mining in the Outer Solar System:. [Aerial Vehicle Reconnaissance and Exploration Options  

NASA Technical Reports Server (NTRS)

Atmospheric mining in the outer solar system has been investigated as a means of fuel production for high energy propulsion and power. Fusion fuels such as Helium 3 (3He) and hydrogen can be wrested from the atmospheres of Uranus and Neptune and either returned to Earth or used in-situ for energy production. Helium 3 and hydrogen (deuterium, etc.) were the primary gases of interest with hydrogen being the primary propellant for nuclear thermal solid core and gas core rocket-based atmospheric flight. A series of analyses were undertaken to investigate resource capturing aspects of atmospheric mining in the outer solar system. This included the gas capturing rate, storage options, and different methods of direct use of the captured gases. Additional supporting analyses were conducted to illuminate vehicle sizing and orbital transportation issues. While capturing 3He, large amounts of hydrogen and 4He are produced. With these two additional gases, the potential for fueling small and large fleets of additional exploration and exploitation vehicles exists. Additional aerospacecraft or other aerial vehicles (UAVs, balloons, rockets, etc.) could fly through the outer planet atmospheres, for global weather observations, localized storm or other disturbance investigations, wind speed measurements, polar observations, etc. Deep-diving aircraft (built with the strength to withstand many atmospheres of pressure) powered by the excess hydrogen or helium 4 may be designed to probe the higher density regions of the gas giants. Outer planet atmospheric properties, atmospheric storm data, and mission planning for future outer planet UAVs are presented.

Palaszewski, Bryan A.

2014-01-01

173

Fiber Bragg Grating Sensor/Systems for In-Flight Wing Shape Monitoring of Unmanned Aerial Vehicles (UAVs)  

NASA Technical Reports Server (NTRS)

A viewgraph presentation describing an in-flight wing shape measurement system based on fiber bragg grating sensors for use in Unmanned Aerial Vehicles (UAV) is shown. The topics include: 1) MOtivation; 2) Objective; 3) Background; 4) System Design; 5) Ground Testing; 6) Future Work; and 7) Conclusions

Parker, Allen; Richards, Lance; Ko, William; Piazza, Anthony; Tran, Van

2006-01-01

174

Weed Mapping in Early-Season Maize Fields Using Object-Based Analysis of Unmanned Aerial Vehicle (UAV)  

E-print Network

(UAV) Images José Manuel Peña1* , Jorge Torres-Sánchez1 , Ana Isabel de Castro1 , Maggi Kelly2 of remote imagery captured by unmanned aerial vehicles (UAV) has tremendous potential for designing detailed) procedure was developed on a series of UAV images using a six-band multispectral camera (visible and near

Kelly, Maggi

175

The object recognition and adaptive threshold selection in the vision system for landing an Unmanned Aerial Vehicle  

Microsoft Academic Search

We present the design and implementation of a vision system for landing an Unmanned Aerial Vehicle (UAV). This vision system consists of the vision detection software and the self-made onboard camera platform. After accomplishing its mission, the UAV would return to the helipad and land on it autonomously and accurately. To achieve more, the head of the UAV must point

Zeng Fucen; Shi Haiqing; Wang Hong

2009-01-01

176

Autonomous Hovering and Landing of a Quad-rotor Micro Aerial Vehicle by Means of on Ground Stereo Vision System  

Microsoft Academic Search

On ground stereo vision system is used for autonomous hovering and landing of a quadrotor Micro Aerial Vehicle (MAV). This kind of system has an advantage to support embedded vision system for autonomous hovering and landing, since an embedded vision system occasionally gives inaccurate distance calculation due to either vibration problem or unknown geometry of the landing target. Color based

Dwi Pebrianti; Farid Kendoul; Syaril Azrad; Wei Wang; Kenzo Nonami

2010-01-01

177

Forward-backward time varying forgetting factor Kalman filter based DOA estimation algorithm for UAV (Unmanned Aerial Vehicle) autolanding  

Microsoft Academic Search

This paper discusses a DOA algorithm for UAV(Unmanned Aerial Vehicle) auto landing. In UAV auto landing with radar system, ground multi path effect and time varying DOA make it difficult to estimate angle information of UAV. This paper proposed a new algorithm based on forward-backward Kalman filter with time varying forgetting factor. This algorithm effectively handles the multipath effect and

Jun-seok Lim; Junil Song; Koeng-Mo Sung

2002-01-01

178

An evolutionary algorithm for multiple waypoints planning with B-spline trajectory generation for Unmanned Aerial Vehicles (UAVs)  

Microsoft Academic Search

In this work, we focus on multiple waypoints planning that take into account the stealthiness of autonomous UAVs; generating stealthy waypoints through a region laden with enemy radars. The important goal of waypoint planning for Unmanned Aerial Vehicles (UAVs) is to generate an optimal path for UAVs to visit all of the specified waypoints. We use the Traveling Salesman Problems

Kan Ee May; Ho Jiun Sien; Yeo Swee Ping; Shao Zhen Hai

2010-01-01

179

Hyperspectral imaging from a light-weight (up to 75 kg) unmanned aerial vehicle platform  

NASA Astrophysics Data System (ADS)

Since 2009 the Idaho National Lab (INL) has been developing advanced remote sensing capabilities that combine increasingly sophisticated miniaturized sensors with relatively affordable, light weight (under 75 kg) unmanned aerial vehicles (UAVs). UAV-based hyperspectral sensing capabilities have been routinely refined via flight tests conducted at INL's UAV Runway Research Park in southeastern Idaho, and at the Orchard Training Area in central Idaho. Idaho State University (ISU) Boise Center Aerospace Lab (BCAL) has provided field data collection and image processing support to target ground versus aerial data comparisons, assess spectral and geometric data accuracy and determine classification algorithms appropriate for vegetation management applications. We report instrumentation, sensor and image validation results, optimal flight parameters, and methods for improving the geometric accuracies of the datasets. We also assess the accuracy of narrowband vegetation indices and shrub cover estimates derived from the imagery. Preliminary results indicate that the UAV-based hyperspectral imaging system has potential to bridge the gap between costly in-situ data collections, coarse resolution satellite data collections, or infrequent and costly manned hyperspectral data collections. Furthermore, new areas of research may be possible with this UAV platform by providing an affordable, on-demand platform that can rapidly collect transect data and stay on station for hours.

Mitchell, J.; Hruska, R.; Anderson, M.; Glenn, N. F.

2011-12-01

180

Actions, Observations, and Decision-Making: Biologically Inspired Strategies for Autonomous Aerial Vehicles  

NASA Technical Reports Server (NTRS)

This paper details the development and demonstration of an autonomous aerial vehicle embodying search and find mission planning and execution srrategies inspired by foraging behaviors found in biology. It begins by describing key characteristics required by an aeria! explorer to support science and planetary exploration goals, and illustrates these through a hypothetical mission profile. It next outlines a conceptual bio- inspired search and find autonomy architecture that implements observations, decisions, and actions through an "ecology" of producer, consumer, and decomposer agents. Moving from concepts to development activities, it then presents the results of mission representative UAV aerial surveys at a Mars analog site. It next describes hardware and software enhancements made to a commercial small fixed-wing UAV system, which inc!nde a ncw dpvelopnent architecture that also provides hardware in the loop simulation capability. After presenting the results of simulated and actual flights of bioinspired flight algorithms, it concludes with a discussion of future development to include an expansion of system capabilities and field science support.

Pisanich, Greg; Ippolito, Corey; Plice, Laura; Young, Larry A.; Lau, Benton

2003-01-01

181

Demonstration of a multimode longwave infrared imaging system on an unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

The RISTA II sensor was integrated into the Altus Unmanned Aerial Vehicle (UAV) and flown over Camp Roberts and Ft. Hunter Ligget, CA in July 1998. The RISTA II demonstration system consisted of a long-wave IR imager, a digital data link, and a ground processing facility (GPF) containing an aided target recognizer, data storage devices, and operator workstations. Imagery was compressed on the UAV and sent on the GPF over a 10.71 Mbit per second digital data link. Selected image frames from the GPF were sent near real-time over a T1 link to observers in Rosslyn, VA. The sensor operated in a variety of scanning and framing modes. Both manual and automatic sensor pointing were demonstrated. Seven flights were performed at altitudes up to 7500m and range sup to 60 km from the GPF. Applicability to numerous military and civilian scenarios was demonstrated.

Jones, Terry L.; Romanski, John G.; Buckley, John J.; Girata, Anthony J.

1999-07-01

182

Design of a radiation surveillance unit for an unmanned aerial vehicle.  

PubMed

This paper describes a prototype of a compact environmental radiation surveillance instrument designed for a Ranger unmanned aerial vehicle. The instrument, which can be used for tracking a radioactive plume, mapping fallout and searching for point sources, consists of three different detector types (GM, NaI(Tl) and CZT) and an air sampling unit. In addition to the standard electronics for data acquisition, the system contains an onboard computer, a GPS receiver and environmental sensors, all enclosed in a single housing manufactured of fiberglass-reinforced composite material. The data collected during the flight is transmitted in real-time to the ground station via a TETRA radio network. The radiation surveillance unit is an independent module and as such can be used in, for example, airplanes, helicopters and cars. PMID:15748656

Kurvinen, K; Smolander, P; Pöllänen, R; Kuukankorpi, S; Kettunen, M; Lyytinen, J

2005-01-01

183

Mathematical model of unmanned aerial vehicle used for endurance autonomous monitoring  

NASA Astrophysics Data System (ADS)

The paper purpose is to present some aspects regarding the control system of unmanned aerial vehicle - UAV, used to local observations, surveillance and monitoring interest area. The calculus methodology allows a numerical simulation of UAV evolution in bad atmospheric conditions by using nonlinear model, as well as a linear one for obtaining guidance command. The UAV model which will be presented has six DOF (degrees of freedom), and autonomous control system. This theoretical development allows us to build stability matrix, command matrix and control matrix and finally to analyse the stability of autonomous UAV flight. A robust guidance system, based on uncoupled state will be evaluated for different fly conditions and the results will be presented. The flight parameters and guidance will be analysed.

Chelaru, Teodor-Viorel; Chelaru, Adrian

2014-12-01

184

Design and test of a situation-augmented display for an unmanned aerial vehicle monitoring task.  

PubMed

In this study, a situation-augmented display for unmanned aerial vehicle (UAV) monitoring was designed, and its effects on operator performance and mental workload were examined. The display design was augmented with the knowledge that there is an invariant flight trajectory (formed by the relationship between altitude and velocity) for every flight, from takeoff to landing. 56 participants were randomly assigned to the situation-augmented display or a conventional display condition to work on 4 (number of abnormalities) x 2 (noise level) UAV monitoring tasks three times. Results showed that the effects of situation-augmented display on flight completion time and time to detect abnormalities were robust under various workload conditions, but error rate and perceived mental workload were unaffected by the display type. Results suggest that the UAV monitoring task is extremely difficult, and that display devices providing high-level situation-awareness may improve operator monitoring performance. PMID:24422345

Lu, Jen-Li; Horng, Ruey-Yun; Chao, Chin-Jung

2013-08-01

185

Implementation of an Onboard Visual Tracking System with Small Unmanned Aerial Vehicle (UAV)  

E-print Network

This paper presents a visual tracking system that is capable or running real time on-board a small UAV (Unmanned Aerial Vehicle). The tracking system is computationally efficient and invariant to lighting changes and rotation of the object or the camera. Detection and tracking is autonomously carried out on the payload computer and there are two different methods for creation of the image patches. The first method starts detecting and tracking using a stored image patch created prior to flight with previous flight data. The second method allows the operator on the ground to select the interest object for the UAV to track. The tracking system is capable of re-detecting the object of interest in the events of tracking failure. Performance of the tracking system was verified both in the lab and during actual flights of the UAV. Results show that the system can run on-board and track a diverse set of objects in real time.

Qadir, Ashraf; Neubert, Jeremiah

2012-01-01

186

Radiometric and Geometric Analysis of Hyperspectral Imagery Acquired from an Unmanned Aerial Vehicle  

SciTech Connect

In the summer of 2010, an Unmanned Aerial Vehicle (UAV) hyperspectral in-flight calibration and characterization experiment of the Resonon PIKA II imaging spectrometer was conducted at the U.S. Department of Energy’s Idaho National Laboratory (INL) UAV Research Park. The purpose of the experiment was to validate the radiometric calibration of the spectrometer and determine the georegistration accuracy achievable from the on-board global positioning system (GPS) and inertial navigation sensors (INS) under operational conditions. In order for low-cost hyperspectral systems to compete with larger systems flown on manned aircraft, they must be able to collect data suitable for quantitative scientific analysis. The results of the in-flight calibration experiment indicate an absolute average agreement of 96.3%, 93.7% and 85.7% for calibration tarps of 56%, 24%, and 2.5% reflectivity, respectively. The achieved planimetric accuracy was 4.6 meters (based on RMSE).

Ryan C. Hruska; Jessica J. Mitchell; Matthew O. Anderson; Nancy F. Glenn

2012-09-01

187

Design of an air sampler for a small unmanned aerial vehicle.  

PubMed

In the aftermath of a nuclear accident or malevolent act, it is of paramount importance to have the capability to monitor airborne radioactive substances by collecting air samples. For potentially dangerous missions, the Radiation and Nuclear Safety Authority of Finland (STUK) has developed an air sampler to be used on a small unmanned aerial vehicle. When a Petrianov or Fluoropore filter is used in the sampler and the air velocity is 71 km h(-1), the air flow rate through the filter is 0.73 m(3) h(-1) or 0.23 m(3) h(-1), respectively. The present article introduces the developed air sampler using fluid dynamic simulations and wind tunnel data. The operation of the system was validated by collecting airborne radioactive aerosols from air. PMID:19091809

Peräjärvi, K; Lehtinen, J; Pöllänen, R; Toivonen, H

2008-01-01

188

The development of a mini unmanned aerial vehicle for target tracking  

NASA Astrophysics Data System (ADS)

This paper describes a mini UAV (Unmanned Aerial Vehicle) system for target tracking. The mini UAV system can be divided into two parts: the onboard system and the GCS (Ground Control Station). The former implements the algorithm of autonomous flight. The latter monitors the flight conditions of the mini UAV and displays the video taken from the onboard opto-electronic detector. Accurate heading and trajectory control is needed when tracking the ground targets with the mini UAV, which equipped with roll-only opto-electronic detector. The precision of control is greatly affected by wind. The kinestate of the mini UAV in circular tracking is modeled and analyzed, and the flight control laws are designed and simulated. The simulation results show that the control strategy is easy to be realized and the precision of tracking is satisfying.

Yang, Guoliang; Liu, Wei

2008-10-01

189

Simulation study of unmanned aerial vehicle communication networks addressing bandwidth disruptions  

NASA Astrophysics Data System (ADS)

To date, Unmanned Aerial Vehicles (UAVs) have been widely used for numerous applications. UAVs can directly connect to ground stations or satellites to transfer data. Multiple UAVs can communicate and cooperate with each other and then construct an ad-hoc network. Multi-UAV systems have the potential to provide reliable and timely services for end users in addition to satellite networks. In this paper, we conduct a simulation study for evaluating the network performance of multi-UAV systems and satellite networks using the ns-2 networking simulation tool. Our simulation results show that UAV communication networks can achieve better network performance than satellite networks and with a lower cost and increased timeliness. We also investigate security resiliency of UAV networks. As a case study, we simulate false data injection attacks against UAV communication networks in ns-2 and demonstrate the impact of false data injection attacks on network performance.

Wei, Sixiao; Ge, Linqiang; Yu, Wei; Chen, Genshe; Pham, Khanh; Blasch, Erik; Shen, Dan; Lu, Chao

2014-06-01

190

Observing Entrainment Processes Using a Small Unmanned Aerial Vehicle: A Feasibility Study  

NASA Astrophysics Data System (ADS)

Measurement flights with the meteorological mini aerial vehicle (MAV) were performed in spring 2011 to assess the capability of an unmanned aerial vehicle (UAV) to measure the structure of the transition zone between the convective boundary layer and the stably stratified free atmosphere. The campaign took place at the Meteorological Observatory Lindenberg/Richard-Aßmann-Observatory of the German Meteorological Service. Besides the MAV flights, observations were made from a 12-m and a 99-m tower, a sodar, two ceilometers, radiosondes, and a tethered balloon with sensor packages at six different levels. MAV measurements were intentionally combined with remote sensing systems. The height range of the entrainment zone as well as its diurnal cycle were provided by the remote sensing instruments. The UAV provided the high-resolution in situ data of temperature and wind for the study of turbulent processes. It is shown that the MAV is able to maintain constant altitude with very small deviations—a pre-requisite to study processes inside the often quite thin entrainment zone and that MAV high-resolution wind and temperature measurements allow for very detailed studies of the fine structure of the atmosphere and thus for the identification of quite local and/or short-duration processes such as overshooting thermals or downward intrusions of warm air. Spatial series measured by the MAV during horizontal flights show turbulent exchange of heat in short turbulent bursts at heights close to and within the entrainment zone. Scaled vertical profiles of vertical velocity, potential temperature variance, and sensible heat flux confirm the general shape found by previous measurements and numerical studies.

Martin, Sabrina; Beyrich, Frank; Bange, Jens

2014-03-01

191

Flexible Wing Base Micro Aerial Vehicles: Micro Air Vehicles (MAVs) for Surveillance and Remote Sensor Delivery  

NASA Technical Reports Server (NTRS)

Micro Air Vehicles (MAVs) will be developed for tracking individuals, locating terrorist threats, and delivering remote sensors, for surveillance and chemical/biological agent detection. The tasks are: (1) Develop robust MAV platform capable of carrying sensor payload. (2) Develop fully autonomous capabilities for delivery of sensors to remote and distant locations. The current capabilities and accomplishments are: (1) Operational electric (inaudible) 6-inch MAVs with novel flexible wing, providing superior aerodynamic efficiency and control. (2) Vision-based flight stability and control (from on-board cameras).

Ifju, Peter

2002-01-01

192

Integrated reliability program for Scout research vehicle.  

NASA Technical Reports Server (NTRS)

Integrated reliability program for Scout launch vehicle in terms of design specification, review functions, malfunction reporting, failed parts analysis, quality control, standardization and certification

Morris, B. V.; Welch, R. C.

1967-01-01

193

MOTOR VEHICLE USE PROGRAM DRIVER SAFETY TIPS  

E-print Network

MOTOR VEHICLE USE PROGRAM DRIVER SAFETY TIPS Observe Speed Limits and Traffic Laws ­ Allow - Employees who drive Institute or privately owned vehicles on Institute business must possess and carry person. Insurance - Employees who operate their privately owned vehicles on Institute business shall

194

Think City Electric Vehicle Demonstration Program  

SciTech Connect

The THINK city Electric Vehicle (EV) Demonstration Program Project, initiated late 2001, has been successfully completed as of April 2005. US. Partners include Federal, State and Municipal agencies as well as commercial partners. Phase I, consisting of placement of the vehicles in demonstration programs, was completed in 2002. Phase II, the monitoring of these programs was completed in 2004. Phase III, the decommissioning and/or exporting of vehicles concluded in 2005. Phase I--the Program successfully assigned 192 EV's with customers (including Hertz) in the state of California, 109 in New York (including loaner and demo vehicles), 16 in Georgia, 7 to customers outside of the US and 52 in Ford's internal operations in Dearborn Michigan for a total of 376 vehicles. The Program was the largest operating Urban EV Demonstration Project in the United States. Phase II--the monitoring of the operational fleet was ongoing and completed in 2004, and all vehicles were returned throughout 2004 and 2005. The Department of Energy (DOE) was involved with the monitoring of the New York Power Authority/THINK Clean Commute Program units through partnership with Electric Transportation Engineering Corporation (ETEC), which filed separate reports to DOE. The remainder of the field fleet was monitored through Ford's internal operations. Vehicles were retired from lease operation throughout the program for various operator reasons. Some of the vehicles were involved in re-leasing operations. At the end of the program, 376 vehicles had been involved, 372 of which were available for customer use while 4 were engineering prototype and study vehicles. Phase III--decommissioning and/or export of vehicles. In accordance with the NHTSA requirement, City vehicles could not remain in the United States past their three-year allowed program timeframe. At the end of leases, City vehicles have been decommissioned and/or exported to KamKorp in Norway.

Ford Motor Company

2005-03-01

195

Cooperative navigation for heterogeneous autonomous vehicles via approximate dynamic programming  

Microsoft Academic Search

Unmanned ground and aerial vehicles are becoming crucial to many applications because of their ability to assist humans in carrying out dangerous missions. These vehicles can be viewed as networks of heterogeneous unmanned robotic sensors with the goal of exploring complex environments, to search for and, possibly, pursue moving targets. The robotic vehicle performance can be greatly enhanced by implementing

Silvia Ferrari; Michael Anderson; Rafael Fierro; Wenjie Lu

2011-01-01

196

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation  

NASA Technical Reports Server (NTRS)

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

Dufrene, Warren R., Jr.

2004-01-01

197

Balancing search and target response in cooperative unmanned aerial vehicle (UAV) teams.  

PubMed

This paper considers a heterogeneous team of cooperating unmanned aerial vehicles (UAVs) drawn from several distinct classes and engaged in a search and action mission over a spatially extended battlefield with targets of several types. During the mission, the UAVs seek to confirm and verifiably destroy suspected targets and discover, confirm, and verifiably destroy unknown targets. The locations of some (or all) targets are unknown a priori, requiring them to be located using cooperative search. In addition, the tasks to be performed at each target location by the team of cooperative UAVs need to be coordinated. The tasks must, therefore, be allocated to UAVs in real time as they arise, while ensuring that appropriate vehicles are assigned to each task. Each class of UAVs has its own sensing and attack capabilities, so the need for appropriate assignment is paramount. In this paper, an extensive dynamic model that captures the stochastic nature of the cooperative search and task assignment problems is developed, and algorithms for achieving a high level of performance are designed. The paper focuses on investigating the value of predictive task assignment as a function of the number of unknown targets and number of UAVs. In particular, it is shown that there is a tradeoff between search and task response in the context of prediction. Based on the results, a hybrid algorithm for switching the use of prediction is proposed, which balances the search and task response. The performance of the proposed algorithms is evaluated through Monte Carlo simulations. PMID:16761811

Jin, Yan; Liao, Yan; Minai, Ali A; Polycarpou, Marios M

2006-06-01

198

Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation  

NASA Technical Reports Server (NTRS)

This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation thru the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The application of many different types of AI techniques for flight will be explored during this research effort. The research concentration will be directed to the application of different AI methods within the UAV arena. By evaluating AI approaches, which will include Expert Systems, Neural Networks, Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI techniques applied to achieving true autonomous operation of these systems thus providing new intellectual merit to this research field. The major area of discussion will be limited to the UAV. The systems of interest include small aircraft, insects, and miniature aircraft. Although flight systems will be explored, the benefits should apply to many Unmanned Vehicles such as: Rovers, Ocean Explorers, Robots, and autonomous operation systems. The flight system will be broken down into control agents that will represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework of applying a Security Overseer will be added in an attempt to address errors, emergencies, failures, damage, or over dynamic environment. The chosen control problem was the landing phase of UAV operation. The initial results from simulation in FlightGear are presented.

Dufrene, Warren R., Jr.

2004-01-01

199

Cost and effectiveness analysis on unmanned aerial vehicle (UAV) use at border security  

NASA Astrophysics Data System (ADS)

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.

Yilmaz, Bahad?r.

2013-06-01

200

Outline of a small unmanned aerial vehicle (Ant-Plane) designed for Antarctic research  

NASA Astrophysics Data System (ADS)

As part of the Ant-Plane project for summertime scientific research and logistics in the coastal region of Antarctica, we developed six types of small autonomous UAVs (unmanned aerial vehicles, similar to drones; we term these vehicles ‘Ant-Planes’) based on four types of airframe. In test flights, Ant-Plane 2 cruised within 20 m accuracy along a straight course during calm weather at Sakurajima Volcano, Kyushu, Japan. During a period of strong winds (22 m/s) at Mt. Chokai, Akita Prefecture, Japan, Ant-Plane 2 maintained its course during a straight flight but deviated when turning leeward. An onboard 3-axis magneto-resistant magnetometer (400 g) recorded variations in the magnetic field to an accuracy of 10 nT during periods of calm wind, but strong magnetic noise was observed during high winds, especially head winds. Ant-Plane 4-1 achieved a continuous flight of 500 km, with a maximum flight altitude of 5690 m. The Ant-Plane can be used for various types of Antarctic research as a basic platform for airborne surveys, but further development of the techniques employed in takeoff and landing are required, as well as ready adjustment of the engine and the development of small onboard instruments with greater reliability.

Funaki, Minoru; Hirasawa, Naohiko; the Ant-Plane Group

201

Configuration and specifications of an Unmanned Aerial Vehicle (UAV) for early site specific weed management.  

PubMed

A new aerial platform has risen recently for image acquisition, the Unmanned Aerial Vehicle (UAV). This article describes the technical specifications and configuration of a UAV used to capture remote images for early season site- specific weed management (ESSWM). Image spatial and spectral properties required for weed seedling discrimination were also evaluated. Two different sensors, a still visible camera and a six-band multispectral camera, and three flight altitudes (30, 60 and 100 m) were tested over a naturally infested sunflower field. The main phases of the UAV workflow were the following: 1) mission planning, 2) UAV flight and image acquisition, and 3) image pre-processing. Three different aspects were needed to plan the route: flight area, camera specifications and UAV tasks. The pre-processing phase included the correct alignment of the six bands of the multispectral imagery and the orthorectification and mosaicking of the individual images captured in each flight. The image pixel size, area covered by each image and flight timing were very sensitive to flight altitude. At a lower altitude, the UAV captured images of finer spatial resolution, although the number of images needed to cover the whole field may be a limiting factor due to the energy required for a greater flight length and computational requirements for the further mosaicking process. Spectral differences between weeds, crop and bare soil were significant in the vegetation indices studied (Excess Green Index, Normalised Green-Red Difference Index and Normalised Difference Vegetation Index), mainly at a 30 m altitude. However, greater spectral separability was obtained between vegetation and bare soil with the index NDVI. These results suggest that an agreement among spectral and spatial resolutions is needed to optimise the flight mission according to every agronomical objective as affected by the size of the smaller object to be discriminated (weed plants or weed patches). PMID:23483997

Torres-Sánchez, Jorge; López-Granados, Francisca; De Castro, Ana Isabel; Peña-Barragán, José Manuel

2013-01-01

202

Configuration and Specifications of an Unmanned Aerial Vehicle (UAV) for Early Site Specific Weed Management  

PubMed Central

A new aerial platform has risen recently for image acquisition, the Unmanned Aerial Vehicle (UAV). This article describes the technical specifications and configuration of a UAV used to capture remote images for early season site- specific weed management (ESSWM). Image spatial and spectral properties required for weed seedling discrimination were also evaluated. Two different sensors, a still visible camera and a six-band multispectral camera, and three flight altitudes (30, 60 and 100 m) were tested over a naturally infested sunflower field. The main phases of the UAV workflow were the following: 1) mission planning, 2) UAV flight and image acquisition, and 3) image pre-processing. Three different aspects were needed to plan the route: flight area, camera specifications and UAV tasks. The pre-processing phase included the correct alignment of the six bands of the multispectral imagery and the orthorectification and mosaicking of the individual images captured in each flight. The image pixel size, area covered by each image and flight timing were very sensitive to flight altitude. At a lower altitude, the UAV captured images of finer spatial resolution, although the number of images needed to cover the whole field may be a limiting factor due to the energy required for a greater flight length and computational requirements for the further mosaicking process. Spectral differences between weeds, crop and bare soil were significant in the vegetation indices studied (Excess Green Index, Normalised Green-Red Difference Index and Normalised Difference Vegetation Index), mainly at a 30 m altitude. However, greater spectral separability was obtained between vegetation and bare soil with the index NDVI. These results suggest that an agreement among spectral and spatial resolutions is needed to optimise the flight mission according to every agronomical objective as affected by the size of the smaller object to be discriminated (weed plants or weed patches). PMID:23483997

Torres-Sánchez, Jorge; López-Granados, Francisca; De Castro, Ana Isabel; Peña-Barragán, José Manuel

2013-01-01

203

A study of large scale gust generation in a small scale atmospheric wind tunnel with applications to Micro Aerial Vehicles  

NASA Astrophysics Data System (ADS)

Modern technology operating in the atmospheric boundary layer can always benefit from more accurate wind tunnel testing. While scaled atmospheric boundary layer tunnels have been well developed, tunnels replicating portions of the atmospheric boundary layer turbulence at full scale are a comparatively new concept. Testing at full-scale Reynolds numbers with full-scale turbulence in an "atmospheric wind tunnel" is sought. Many programs could utilize such a tool including Micro Aerial Vehicle(MAV) development, the wind energy industry, fuel efficient vehicle design, and the study of bird and insect flight, to name just a few. The small scale of MAVs provide the somewhat unique capability of full scale Reynolds number testing in a wind tunnel. However, that same small scale creates interactions under real world flight conditions, atmospheric gusts for example, that lead to a need for testing under more complex flows than the standard uniform flow found in most wind tunnels. It is for these reasons that MAVs are used as the initial testing application for the atmospheric gust tunnel. An analytical model for both discrete gusts and a continuous spectrum of gusts is examined. Then, methods for generating gusts in agreement with that model are investigated. Previously used methods are reviewed and a gust generation apparatus is designed. Expected turbulence and gust characteristics of this apparatus are compared with atmospheric data. The construction of an active "gust generator" for a new atmospheric tunnel is reviewed and the turbulence it generates is measured utilizing single and cross hot wires. Results from this grid are compared to atmospheric turbulence and it is shown that various gust strengths can be produced corresponding to weather ranging from calm to quite gusty. An initial test is performed in the atmospheric wind tunnel whereby the effects of various turbulence conditions on transition and separation on the upper surface of a MAV wing is investigated using the surface oil flow visualization technique.

Roadman, Jason Markos

204

Data Acquisition (DAQ) system dedicated for remote sensing applications on Unmanned Aerial Vehicles (UAV)  

NASA Astrophysics Data System (ADS)

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-Y?O?OMH/NEK?/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 on an UAV.

Keleshis, C.; Ioannou, S.; Vrekoussis, M.; Levin, Z.; Lange, M. A.

2014-08-01

205

Cultivated land information extraction from high-resolution unmanned aerial vehicle imagery data  

NASA Astrophysics Data System (ADS)

The development of precision agriculture demands high accuracy and efficiency of cultivated land information extraction. Simultaneously, unmanned aerial vehicles (UAVs) have been increasingly used for natural resource applications in recent years as a result of their greater availability, the miniaturization of sensors, and the ability to deploy UAVs relatively quickly and repeatedly at low altitudes. We examine the potential of utilizing a small UAV for the characterization, assessment, and monitoring of cultivated land. Because most UAV images lack spectral information, we propose a novel cultivated land information extraction method based on a triangulation for cultivated land information extraction (TCLE) method. Thus, the information on more spatial properties of a region is incorporated into the classification process. The TCLE comprises three main steps: image segmentation, triangulation construction, and triangulation clustering using AUTOCLUST. Experiments were conducted on three UAV images in Deyang, China, using TCLE and eCognition for cultivated land information extraction (ECLE). Experimental results show that TCLE, which does not require training samples and has a much higher level of automation, can obtain accuracies equivalent to ECLE. Comparing with ECLE, TCLE also extracts coherent cultivated land with much less noise. As such, cultivated land information extraction based on high-resolution UAV images can be effectively and efficiently conducted using the proposed method.

Ma, Lei; Cheng, Liang; Han, Wenquan; Zhong, Lishan; Li, Manchun

2014-01-01

206

Simultaneous observations of aerosol-cloud-albedo interactions with three stacked unmanned aerial vehicles.  

PubMed

Aerosol impacts on climate change are still poorly understood, in part, because the few observations and methods for detecting their effects are not well established. For the first time, the enhancement in cloud albedo is directly measured on a cloud-by-cloud basis and linked to increasing aerosol concentrations by using multiple autonomous unmanned aerial vehicles to simultaneously observe the cloud microphysics, vertical aerosol distribution, and associated solar radiative fluxes. In the presence of long-range transport of dust and anthropogenic pollution, the trade cumuli have higher droplet concentrations and are on average brighter. Our observations suggest a higher sensitivity of radiative forcing by trade cumuli to increases in cloud droplet concentrations than previously reported owing to a constrained droplet radius such that increases in droplet concentrations also increase cloud liquid water content. This aerosol-cloud forcing efficiency is as much as -60 W m(-2) per 100% percent cloud fraction for a doubling of droplet concentrations and associated increase of liquid water content. Finally, we develop a strategy for detecting aerosol-cloud interactions based on a nondimensional scaling analysis that relates the contribution of single clouds to albedo measurements and illustrates the significance of characterizing cloud morphology in resolving radiometric measurements. This study demonstrates that aerosol-cloud-albedo interactions can be directly observed by simultaneous observations below, in, and above the clouds. PMID:18499803

Roberts, G C; Ramana, M V; Corrigan, C; Kim, D; Ramanathan, V

2008-05-27

207

Telesurgery via Unmanned Aerial Vehicle (UAV) with a field deployable surgical robot.  

PubMed

Robotically assisted surgery stands to further revolutionize the medical field and provide patients with more effective healthcare. Most robotically assisted surgeries are teleoperated from the surgeon console to the patient where both ends of the system are located in the operating room. The challenge of surgical teleoperation across a long distance was already demonstrated through a wired communication network in 2001. New development has shifted towards deploying a surgical robot system in mobile settings and/or extreme environments such as the battlefield or natural disaster areas with surgeons operating wirelessly. As a collaborator in the HAPs/MRT (High Altitude Platform/Mobile Robotic Telesurgery) project, The University of Washington surgical robot was deployed in the desert of Simi Valley, CA for telesurgery experiments on an inanimate model via wireless communication through an Unmanned Aerial Vehicle (UAV). The surgical tasks were performed telerobotically with a maximum time delay between the surgeon's console (master) and the surgical robot (slave) of 20 ms for the robotic control signals and 200 ms for the video stream. This was our first experiment in the area of Mobile Robotic Telesurgery (MRT). The creation and initial testing of a deployable surgical robot system will facilitate growth in this area eventually leading to future systems saving human lives in disaster areas, on the battlefield or in other remote environments. PMID:17377292

Lum, Mitchell J H; Rosen, Jacob; King, Hawkeye; Friedman, Diana C W; Donlin, Gina; Sankaranarayanan, Ganesh; Harnett, Brett; Huffman, Lynn; Doarn, Charles; Broderick, Timothy; Hannaford, Blake

2007-01-01

208

Design of a reconfigurable liquid hydrogen fuel tank for use in the Genii unmanned aerial vehicle  

SciTech Connect

Long endurance flight, on the order of days, is a leading flight performance characteristic for Unmanned Aerial Vehicles (UAVs). Liquid hydrogen (LH2) is well suited to providing multi-day flight times with a specific energy 2.8 times that of conventional kerosene based fuels. However, no such system of LH2 storage, delivery, and use is currently available for commercial UAVs. In this paper, we develop a light weight LH2 dewar for integration and testing in the proton exchange membrane (PEM) fuel cell powered, student designed and constructed, Genii UAV. The fuel tank design is general for scaling to suit various UAV platforms. A cylindrical vacuum-jacketed design with removable end caps was chosen to incorporate various fuel level gauging, pressurizing, and slosh mitigation systems. Heat and mechanical loadings were modeled to compare with experimental results. Mass performance of the fuel tank is characterized by the fraction of liquid hydrogen to full tank mass, and the insulation performance was characterized by effective thermal conductivity and boil-off rate.

Adam, Patrick; Leachman, Jacob [HYdrogen Properties for Energy Research (HYPER) Laboratory, Washington State University, Pullman, WA 99164-2920 (United States)

2014-01-29

209

Internal air flow analysis of a bladeless micro aerial vehicle hemisphere body using computational fluid dynamic  

NASA Astrophysics Data System (ADS)

This paper explain the analysis of internal air flow velocity of a bladeless vertical takeoff and landing (VTOL) Micro Aerial Vehicle (MAV) hemisphere body. In mechanical design, before produce a prototype model, several analyses should be done to ensure the product's effectiveness and efficiency. There are two types of analysis method can be done in mechanical design; mathematical modeling and computational fluid dynamic. In this analysis, I used computational fluid dynamic (CFD) by using SolidWorks Flow Simulation software. The idea came through to overcome the problem of ordinary quadrotor UAV which has larger size due to using four rotors and the propellers are exposed to environment. The bladeless MAV body is designed to protect all electronic parts, which means it can be used in rainy condition. It also has been made to increase the thrust produced by the ducted propeller compare to exposed propeller. From the analysis result, the air flow velocity at the ducted area increased to twice the inlet air. This means that the duct contribute to the increasing of air velocity.

Othman, M. N. K.; Zuradzman, M. Razlan; Hazry, D.; Khairunizam, Wan; Shahriman, A. B.; Yaacob, S.; Ahmed, S. Faiz; Hussain, Abadalsalam T.

2014-12-01

210

A Water Vapor Differential Absorption LIDAR Design for Unpiloted Aerial Vehicles  

NASA Technical Reports Server (NTRS)

This system study proposes the deployment of a water vapor Differential Absorption LIDAR (DIAL) system on an Altair unmanned aerial vehicle (UAV) platform. The Altair offers improved payload weight and volume performance, and longer total flight time as compared to other commercial UAV's. This study has generated a preliminary design for an Altair based water vapor DIAL system. The design includes a proposed DIAL schematic, a review of mechanical challenges such as temperature and humidity stresses on UAV deployed DIAL systems, an assessment of the available capacity for additional instrumentation (based on the proposed design), and an overview of possible weight and volume improvements associated with the use of customized electronic and computer hardware, and through the integration of advanced fiber-optic and laser products. The results of the study show that less than 17% of the available weight, less than 19% of the volume capacity, and approximately 11% of the electrical capacity is utilized by the proposed water vapor DIAL system on the Altair UAV.

DeYoung, Russell J.; Mead, Patricia F.

2004-01-01

211

Assessment of Unmanned Aerial Vehicles Imagery for Quantitative Monitoring of Wheat Crop in Small Plots  

PubMed Central

This paper outlines how light Unmanned Aerial Vehicles (UAV) can be used in remote sensing for precision farming. It focuses on the combination of simple digital photographic cameras with spectral filters, designed to provide multispectral images in the visible and near-infrared domains. In 2005, these instruments were fitted to powered glider and parachute, and flown at six dates staggered over the crop season. We monitored ten varieties of wheat, grown in trial micro-plots in the South-West of France. For each date, we acquired multiple views in four spectral bands corresponding to blue, green, red, and near-infrared. We then performed accurate corrections of image vignetting, geometric distortions, and radiometric bidirectional effects. Afterwards, we derived for each experimental micro-plot several vegetation indexes relevant for vegetation analyses. Finally, we sought relationships between these indexes and field-measured biophysical parameters, both generic and date-specific. Therefore, we established a robust and stable generic relationship between, in one hand, leaf area index and NDVI and, in the other hand, nitrogen uptake and GNDVI. Due to a high amount of noise in the data, it was not possible to obtain a more accurate model for each date independently. A validation protocol showed that we could expect a precision level of 15% in the biophysical parameters estimation while using these relationships.

Lelong, Camille C. D.; Burger, Philippe; Jubelin, Guillaume; Roux, Bruno; Labbé, Sylvain; Baret, Frédéric

2008-01-01

212

Factors influencing efficiency of laser wireless power transmission system for micro unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

Micro unmanned aerial vehicle, mostly powered by electricity, plays an important role in many military and civil applications, e.g. military detection, communication relay et al. But restricted endurance ability severely limits its applications. To solve the problem, laser wireless power transmission system is proposed. However, overall efficiency of the system is quite low. This paper describes basic structure of laser wireless power transmission system and its working process. The system consists of two major modules: a high power laser source transmitting energy and a photovoltaic receiver converting optical energy into electricity. Then factors influencing efficiency of the system are analyzed. It suggests that electro-optical efficiency of laser, atmospheric impact on laser beam and photo-electric efficiency of photovoltaic receiver play significant role in overall efficiency of the system. Atmospheric impact on laser beam mostly derived from refraction, absorption, scattering and turbulence effects, leads to drop in energy and quality of laser beam. Efficiency of photovoltaic receiver is affected by photovoltaic materials. In addition, matching degree between intensity distribution of laser beam and layout of photovoltaic receiver also obviously influence efficiency of photovoltaic receiver. Experiment results suggest that under non-uniform laser beam illumination, efficiency of photovoltaic receiver mostly depends on layout of photovoltaic receiver. Through optimizing the layout of photovoltaic receiver based on intensity distribution of laser beam, output power is significantly improved. The analysis may help to take corresponding measures to alleviate negative effects of these factors and improve performance of laser wireless power transmission system.

Liu, Xiaoguang; Hua, Wenshen; Liu, Xun

2014-12-01

213

Self-Contained Avionics Sensing and Flight Control System for Small Unmanned Aerial Vehicle  

NASA Technical Reports Server (NTRS)

A self-contained avionics sensing and flight control system is provided for an unmanned aerial vehicle (UAV). The system includes sensors for sensing flight control parameters and surveillance parameters, and a Global Positioning System (GPS) receiver. Flight control parameters and location signals are processed to generate flight control signals. A Field Programmable Gate Array (FPGA) is configured to provide a look-up table storing sets of values with each set being associated with a servo mechanism mounted on the UAV and with each value in each set indicating a unique duty cycle for the servo mechanism associated therewith. Each value in each set is further indexed to a bit position indicative of a unique percentage of a maximum duty cycle for the servo mechanism associated therewith. The FPGA is further configured to provide a plurality of pulse width modulation (PWM) generators coupled to the look-up table. Each PWM generator is associated with and adapted to be coupled to one of the servo mechanisms.

Shams, Qamar A. (Inventor); Logan, Michael J. (Inventor); Fox, Robert L. (Inventor); Fox, legal representative, Christopher L. (Inventor); Fox, legal representative, Melanie L. (Inventor); Ingham, John C. (Inventor); Laughter, Sean A. (Inventor); Kuhn, III, Theodore R. (Inventor); Adams, James K. (Inventor); Babel, III, Walter C. (Inventor)

2011-01-01

214

Real-Time Monitoring System Using Unmanned Aerial Vehicle Integrated with Sensor Observation Service  

NASA Astrophysics Data System (ADS)

The Unmanned Aerial Vehicle (UAV) is an emerging technology being adapted for a wide range of applications. Real-time monitoring is essential to enhance the effectiveness of UAV applications. Sensor networks are networks constructed from various sensor nodes. International standard such as OGC's SOS (Sensor Observation Service) makes it possible to share sensor data with other systems as well as to provide accessibility to globally distributed users. In this paper, we propose a system combining UAV technology and sensor network technology to use an UAV as a mobile node of sensor network so that the sensor data from UAV is published and shared real-time. A UAV can extend the observation range of a sensor network to remote areas where it is usually difficult to access such as disaster area. We constructed a UAV system using remote-controlled helicopter and various sensors such as GPS, gyrocompass, laser range finder, Digital camera and Thermometer. Furthermore, we extended the Sensor Observation Service (SOS) and Sensor Service Grid (SSG) to support mobile sensor nodes. Then, we conducted experiments of flying the helicopter over an area of the interest. During the flight, the system measured environmental data using its sensors and captured images of the ground. The data was sent to a SOS node as the ground station via Wi-Fi which was published using SSG to give real- time access to globally distributed users.

Witayangkurn, A.; Nagai, M.; Honda, K.; Dailey, M.; Shibasaki, R.

2011-09-01

215

Thermal Analysis on Cryogenic Liquid Hydrogen Tank on an Unmanned Aerial Vehicle System  

NASA Technical Reports Server (NTRS)

Thermal analyses are performed on the liquid hydrogen (LH2) tank designed for an unmanned aerial vehicle (UAV) powered by solar arrays and a regenerative proton-exchange membrane (PEM) fuel cell. A 14-day cruise mission at a 65,000 ft altitude is considered. Thermal analysis provides the thermal loads on the tank system and the boiling-off rates of LH2. Different approaches are being considered to minimize the boiling-off rates of the LH2. It includes an evacuated multilayer insulation (MLI) versus aerogel insulation on the LH2 tank and aluminum versus stainless steel spacer rings between the inner and outer tank. The resulting boil-off rates of LH2 provided by the one-dimensional model and three-dimensional finite element analysis (FEA) on the tank system are presented and compared to validate the results of the three-dimensional FEA. It concludes that heat flux through penetrations by conduction is as significant as that through insulation around the tank. The tank system with MLI insulation and stainless steel spacer rings result in the lowest boiling-off rate of LH2.

Wang, Xiao-Yen; Harpster, George; Hunter, James

2007-01-01

216

Design of a reconfigurable liquid hydrogen fuel tank for use in the Genii unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

Long endurance flight, on the order of days, is a leading flight performance characteristic for Unmanned Aerial Vehicles (UAVs). Liquid hydrogen (LH2) is well suited to providing multi-day flight times with a specific energy 2.8 times that of conventional kerosene based fuels. However, no such system of LH2 storage, delivery, and use is currently available for commercial UAVs. In this paper, we develop a light weight LH2 dewar for integration and testing in the proton exchange membrane (PEM) fuel cell powered, student designed and constructed, Genii UAV. The fuel tank design is general for scaling to suit various UAV platforms. A cylindrical vacuum-jacketed design with removable end caps was chosen to incorporate various fuel level gauging, pressurizing, and slosh mitigation systems. Heat and mechanical loadings were modeled to compare with experimental results. Mass performance of the fuel tank is characterized by the fraction of liquid hydrogen to full tank mass, and the insulation performance was characterized by effective thermal conductivity and boil-off rate.

Adam, Patrick; Leachman, Jacob

2014-01-01

217

Detecting pruning of individual stems using Airborne Laser Scanning data captured from an Unmanned Aerial Vehicle  

NASA Astrophysics Data System (ADS)

Modern forest management involves implementing optimal pruning regimes. These regimes aim to achieve the highest quality timber in the shortest possible rotation period. Although a valuable addition to forest management activities, tracking the application of these treatments in the field to ensure best practice management is not economically viable. This paper describes the use of Airborne Laser Scanner (ALS) data to track the rate of pruning in a Eucalyptus globulus stand. Data is obtained from an Unmanned Aerial Vehicle (UAV) and we describe automated processing routines that provide a cost-effective alternative to field sampling. We manually prune a 500 m2 plot to 2.5 m above the ground at rates of between 160 and 660 stems/ha. Utilising the high density ALS data, we first derived crown base height (CBH) with an RMSE of 0.60 m at each stage of pruning. Variability in the measurement of CBH resulted in both false positive (mean rate of 11%) and false negative detection (3.5%), however, detected rates of pruning of between 96% and 125% of the actual rate of pruning were achieved. The successful automated detection of pruning within this study highlights the suitability of UAV laser scanning as a cost-effective tool for monitoring forest management activities.

Wallace, Luke; Watson, Christopher; Lucieer, Arko

2014-08-01

218

Development of a small unmanned aerial vehicle for thermodynamic and trace gas concentration measurement  

NASA Astrophysics Data System (ADS)

This study will demonstrate novel measurements of in-situ trace gas concentrations and thermodynamics sampled on-board an instrumented Skywalker Unmanned Aerial Vehicle (UAV). Remotely piloted flights were conducted at in Manchester, UK, with the Skywalker equipped with an adapted Vaisala electrochemical cell ozonesonde measuring O3 concentrations at 0.5 Hz, and a RS92-KE radiosonde measuring pressure, temperature and humidity. Small local and temporal 3D gradients were observed corresponding to changes attributable to micrometeorology and local chemistry with changes to airmass background noted by back trajectory analysis. The ability to sample subtle variability over a localised 3D frame, such as enabled by the techniques demonstrated in this study, highlights the important and novel capabilities of UAVs to rapidly characterise local area micrometeorology and chemistry, as well as area-emissions, and fence-line inputs. By comparing to ground-based in situ measurement, and taking into account local meteorological conditions, it was found that the UAV measured concentrations were a reliable indicator of background concentrations at the urban scale whilst revealing additional local variability important for air quality monitoring and related policy obligations.

Illingworth, Samuel; Allen, Grant; Percival, Carl; Gallagher, Martin; Ricketts, Hugo; Hollingsworth, Peter; Hayes, Harry; Roberts, Gareth; Ladosz, Pawel; Crawley, David

2014-05-01

219

Portable ammonia-borane-based H2 power-pack for unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

An advanced ammonia borane (AB)-based H2 power-pack is designed to continually drive an unmanned aerial vehicle (UAV) for 57 min using a 200-We polymer electrolyte membrane fuel cell (PEMFC). In a flight test with the UAV platform integrated with the developed power-pack, pure hydrogen with an average flow rate of 3.8 L(H2) min-1 is generated by autothermal H2-release from AB with tetraethylene glycol dimethylether (T4EGDE) as a promoter. During take-off, a hybridized power management system (PMS) consisting of the fuel cell and an auxiliary lithium-ion battery supplies 500 We at full power simultaneously, while the fuel cell alone provides 150-200 We and further recharges the auxiliary battery upon cruising. Gaseous byproducts identified by in situ Fourier transform infrared (FT-IR) spectroscopy during AB dehydrogenation are sequestrated using a mixed absorbent in an H2 purification system. In addition, a real-time monitoring system is employed to determine the remaining filter capacity of the purifier at a ground control system for rapidly responding unpredictable circumstances during flight. Separate experiments are conducted to screen potential materials and methods for enhancing filter capacity in the current H2 refining system. A prospective reactor concept for long-term fuel cell applications is proposed based on the results.

Seo, Jung-Eun; Kim, Yujong; Kim, Yongmin; Kim, Kibeom; Lee, Jin Hee; Lee, Dae Hyung; Kim, Yeongcheon; Shin, Seock Jae; Kim, Dong-Min; Kim, Sung-Yug; Kim, Taegyu; Yoon, Chang Won; Nam, Suk Woo

2014-05-01

220

Scaling forest phenology from trees to the landscape using an unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

Vegetation phenology monitoring has yielded a decades-long archive documenting the impacts of global change on the biosphere. However, the coarse spatial resolution of remote sensing obscures the organismic level processes driving phenology, while point measurements on the ground limit the extent of observation. Unmanned aerial vehicles (UAVs) enable low altitude remote sensing at higher spatial and temporal resolution than available from space borne platforms, and have the potential to elucidate the links between organism scale processes and landscape scale analyses of terrestrial phenology. This project demonstrates the use of a low cost multirotor UAV, equipped with a consumer grade digital camera, for observation of deciduous forest phenology and comparison to ground- and tower-based data as well as remote sensing. The UAV was flown approximately every five days during the spring green-up period in 2013, to obtain aerial photography over an area encompassing a 250m resolution MODIS (Moderate Resolution Imaging Spectroradiometer) pixel at Harvard Forest in central Massachusetts, USA. The imagery was georeferenced and tree crowns were identified using a detailed species map of the study area. Image processing routines were used to extract canopy 'greenness' time series, which were used to calculate phenology transition dates corresponding to early, middle, and late stages of spring green-up for the dominant canopy trees. Aggregated species level phenology estimates from the UAV data, including the mean and variance of phenology transition dates within species in the study area, were compared to model predictions based on visual assessment of a smaller sample size of individual trees, indicating the extent to which limited ground observations represent the larger landscape. At an intermediate scale, the UAV data was compared to data from repeat digital photography, integrating over larger portions of canopy within and near the study area, as a validation step and to see how well tower-based approaches characterize the surrounding landscape. Finally, UAV data was compared to MODIS data to determine how tree crowns within a remote sensing pixel combine to create the aggregate landscape phenology measured by remote sensing, using an area weighted average of the phenology of all dominant crowns.

Klosterman, S.; Melaas, E. K.; Martinez, A.; Richardson, A. D.

2013-12-01

221

Commercial Vehicle Driving. Florida Vocational Program Guide.  

ERIC Educational Resources Information Center

This guide identifies considerations in the organization, operation, and evaluation of secondary and postsecondary vocational education programs. It contains both a vocational program guide and Career Merit Achievement Plan (Career MAP) for commercial vehicle driving. The guide contains the following sections: occupational description; program

University of South Florida, Tampa. Dept. of Adult and Vocational Education.

222

First Experiences Using Small Unmanned Aerial Vehicles for Volcano Observation in the Visible Range  

NASA Astrophysics Data System (ADS)

Many of the most active volcanoes in the world are located in Middle and South America. While permanently installed sensors for seismicity give reliable supervision of volcanic activities, they lack the possibility to determine occurrence and extent of surface activities. Both from the point of science and civil protection, visible documentation of activities is of great interest. While satellites and manned aircraft already offer many possibilities, they also have disadvantages like delayed or poor image data availability or high costs. The Institute of Aerospace Systems of the Technical University of Braunschweig, in collaboration with the spin-off company Mavionics, developed a family of extremely small and lightweight Unmanned Aerial Vehicles (UAV), with the smallest aircraft weighting only 550~g (19~ounces) at a wing span of 50 cm (20~inch). These aircraft are operating completely automatically, controlled by a highly miniaturized autopilot system. Flight mission is defined by a list of GPS waypoints using a conventional notebook. While in radio range, current position and status of the aircraft is displayed on the notebook and waypoints can easily be changed by the user. However, when radio connection is not available, the aircraft operates on its on, completing the flight mission automatically. This greatly increases the operating range of the system. Especially for the purpose of volcano observation in South America, the aircraft Carolo~P330 was developed, weighting 5~kg (11~pounds) at a wing span of 3.3~m ( 11~ft). The whole system can be easily carried by car and the electric propulsion system avoids handling of flammable liquids. The batteries can be recharged in the field. Carolo~P330 has an endurance of up to 90~minutes at a flight speed of 25~m/s, giving it a maximum range of 67 km (41~miles). It was especially designed to operate under harsh conditions. The payload is a digital still camera, which delivers aerial images with a resolution of up to 8~megapixel. On a field campaign in 2005, the performance of the system was evaluated at the two active Ecuadorian volcanoes Cotopaxi and El~Reventador. After hand-launch at Mt. Cotopaxi, the autopilot brought the aircraft up to 7,000~m above sea level (starting from a plateau on 4,500~m a.s.l.), with temperatures around the freezing point. At El~Reventador active lava flows were documented in the tropical montane rain forest. Since the position and attitude of the aircraft is recorded within the autopilot system, the single aerial images can be referenced automatically after the flight to form a mosaic of images. The whole processing chain from mission planning to image mosaic takes less than half a day. Besides the technical details of this cost-effective remote sensing system, the results of the measurement campaign in 2005 will be presented. An outlook will discuss the installation of other payload for thermal imaging or air sampling.

Buschmann, M.; Krüger, L.; Bange, J.

2007-05-01

223

Transference of evolved unmanned aerial vehicle controllers to a wheeled mobile robot  

E-print Network

Abstract — Transference of controllers evolved in simulation to real vehicles is an important issue in evolutionary robotics (ER). We have previously evolved autonomous navigation controllers for fixed wing UAV applications using multiobjective genetic programming (GP). Controllers were evolved to locate a radar source, navigate the UAV to the source efficiently using on-board sensor measurements, and circle around the emitter. We successfully tested an evolved UAV controller on a wheeled mobile robot. A passive sonar system on the robot was used in place of the radar sensor, and a speaker emitting a tone was used as the target in place of a radar. Using the evolved navigation controller, the mobile robot moved to the speaker and circled around it. The results from this experiment demonstrate that our evolved controllers are capable of transference to real vehicles. Future research will include testing the best evolved controllers by using them to fly real UAVs. I.

Gregory J. Barlow; Leonardo S. Mattos; Edward Grant

2004-01-01

224

Miniature hexaferrite axial-mode helical antenna for unmanned aerial vehicle applications  

NASA Astrophysics Data System (ADS)

Hexaferrite, axial-mode helical antenna is proposed to provide reliable communication for unmanned aerial vehicle (UAV) applications. The conventional axial-mode helical antenna uses an air core or low dielectric material, resulting in large antenna size. To increase the miniaturization factor, n = (microrepsilonr0.5, a Co2Z hexaferrite-glass composite was used as an antenna core. The material properties of ferrite and antenna design were studied to yield the best antenna performance. Axial-mode helical antennas were designed and simulated as well as experimentally fabricated. The 3-dimensional finite element method (FEM) simulation was performed to design a hexaferrite helical antenna and confirm the axial-mode operation at 2.44 GHz with gain of 2.0 dBi. The designed hexaferrite helical antenna showed 82% volume reduction and good impedance matching compared to the air-core antenna. The axial-mode hexaferrite antenna was fabricated based on the designed structure and characterized in an anechoic chamber. The maximum gain of 0.541 dBi was measured with a pitch angle of 10° at 2.39 GHz. Finally, a two-element axial-mode antenna array was designed based on the miniature hexaferrite antenna to further improve antenna gain. Maximum gain of 4.5 dBi at 2.43 GHz was simulated for the antenna array. Therefore, high gain and a miniature antenna can be achieved with the combination of Co2Z hexaferrite-glass composite and antenna design technology.

Neveu, Nicholas James

225

Aerodynamic analysis and simulation of a twin-tail tilt-duct unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

The tilt-duct vertical takeoff and landing (VTOL) concept has been around since the early 1960s; however, to date the design has never passed the research phase and development phase. Nearly 50 years later, American Dynamics Flight Systems (ADFS) is developing the AD-150, a 2,250lb weight class unmanned aerial vehicle (UAV) configured with rotating ducts on each wingtip. Unlike its predecessor, the Doak VZ-4, the AD-150 features a V tail and wing sweep -- both of which affect the aerodynamic behavior of the aircraft. Because no aircraft of this type has been built and tested, vital aerodynamic research was conducted on the bare airframe behavior (without wingtip ducts). Two weeks of static and dynamic testing were performed on a 3/10th scale model at the University of Maryland's 7' x 10' low speed wind tunnel to facilitate the construction of a nonlinear flight simulator. A total of 70 dynamic tests were performed to obtain damping parameter estimates using the ordinary least squares methodology. Validation, based on agreement between static and dynamic estimates of the pitch and yaw stiffness terms, showed an average percent error of 14.0% and 39.6%, respectively. These inconsistencies were attributed to: large dynamic displacements not encountered during static testing, regressor collinearity, and, while not conclusively proven, differences in static and dynamic boundary layer development. Overall, the damping estimates were consistent and repeatable, with low scatter over a 95% confidence interval. Finally, a basic open loop simulation was executed to demonstrate the instability of the aircraft. As a result, it is recommended that future work be performed to determine trim points and linear models for controls development.

Abdollahi, Cyrus

226

Fusing Unmanned Aerial Vehicle Imagery with High Resolution Hydrologic Modeling (Invited)  

NASA Astrophysics Data System (ADS)

After decades of development and applications, high resolution hydrologic models are now common tools in research and increasingly used in practice. More recently, high resolution imagery from unmanned aerial vehicles (UAVs) that provide information on land surface properties have become available for civilian applications. Fusing the two approaches promises to significantly advance the state-of-the-art in terms of hydrologic modeling capabilities. This combination will also challenge assumptions on model processes, parameterizations and scale as land surface characteristics (~0.1 to 1 m) may now surpass traditional model resolutions (~10 to 100 m). Ultimately, predictions from high resolution hydrologic models need to be consistent with the observational data that can be collected from UAVs. This talk will describe our efforts to develop, utilize and test the impact of UAV-derived topographic and vegetation fields on the simulation of two small watersheds in the Sonoran and Chihuahuan Deserts at the Santa Rita Experimental Range (Green Valley, AZ) and the Jornada Experimental Range (Las Cruces, NM). High resolution digital terrain models, image orthomosaics and vegetation species classification were obtained from a fixed wing airplane and a rotary wing helicopter, and compared to coarser analyses and products, including Light Detection and Ranging (LiDAR). We focus the discussion on the relative improvements achieved with UAV-derived fields in terms of terrain-hydrologic-vegetation analyses and summer season simulations using the TIN-based Real-time Integrated Basin Simulator (tRIBS) model. Model simulations are evaluated at each site with respect to a high-resolution sensor network consisting of six rain gauges, forty soil moisture and temperature profiles, four channel runoff flumes, a cosmic-ray soil moisture sensor and an eddy covariance tower over multiple summer periods. We also discuss prospects for the fusion of high resolution models with novel observations from UAVs, including synthetic aperture radar and multispectral imagery.

Vivoni, E. R.; Pierini, N.; Schreiner-McGraw, A.; Anderson, C.; Saripalli, S.; Rango, A.

2013-12-01

227

Measurement of turbulent water vapor fluxes using a lightweight unmanned aerial vehicle system  

NASA Astrophysics Data System (ADS)

We present here the first application of a lightweight unmanned aerial vehicle (UAV) system designed to measure turbulent properties and vertical latent heat fluxes (?E). Such measurements are crucial to improve our understanding of linkages between surface moisture supply and boundary layer clouds and phenomena such as atmospheric rivers. The application of UAVs allows for measurements on spatial scales complimentary to satellite, aircraft, and tower derived fluxes. Key system components are: a turbulent gust probe; a fast response water vapor sensor; an inertial navigation system (INS) coupled to global positioning system (GPS); and a 100 Hz data logging system. We present measurements made in the continental boundary layer at the National Aeronautics and Space Administration (NASA) Dryden Research Flight Facility located in the Mojave Desert. Two flights consisting of several horizontal straight flux run legs up to ten kilometers in length and between 330 and 930 m above ground level (m a.g.l.) are compared to measurement from a surface tower. Surface measured ?E ranged from -53 W m-2 to 41 W m-2, and the application of a Butterworth High Pass Filter (HPF) to the datasets improved agreement to within +/-12 W m-2 for 86% of flux runs, by removing improperly sampled low frequency flux contributions. This result, along with power and co-spectral comparisons and consideration of the differing spatial scales indicates the system is able to resolve vertical fluxes for the measurement conditions encountered. Challenges remain, and the outcome of these measurements will be used to inform future sampling strategies and further system development.

Thomas, R. M.; Lehmann, K.; Nguyen, H.; Jackson, D. L.; Wolfe, D.; Ramanathan, V.

2012-01-01

228

Measurement of turbulent water vapor fluxes using a lightweight unmanned aerial vehicle system  

NASA Astrophysics Data System (ADS)

We present here the first application of a lightweight unmanned aerial vehicle (UAV) system designed to measure turbulent properties and vertical latent heat fluxes (?E). Such measurements are crucial to improve our understanding of linkages between surface moisture supply and boundary layer clouds and phenomena such as atmospheric rivers. The application of UAVs allows for measurements on spatial scales complimentary to satellite, aircraft, and tower derived fluxes. Key system components are: a turbulent gust probe; a fast response water vapor sensor; an inertial navigation system (INS) coupled to global positioning system (GPS); and a 100 Hz data logging system. We present measurements made in the continental boundary layer at the National Aeronautics and Space Administration (NASA) Dryden Research Flight Facility located in the Mojave Desert. Two flights consisting of several horizontal straight flux run legs up to ten kilometers in length and between 330 and 930 m above ground level (m a.g.l.) are compared to measurement from a surface tower. Surface measured ?E ranged from -53 W m-2 to 41 W m-2, and the application of a Butterworth High Pass Filter (HPF) to the datasets improved agreement to within ± 12 W m-2 for 86 % of flux runs, by removing improperly sampled low frequency flux contributions. This result, along with power and co-spectral comparisons and consideration of the differing spatial scales indicates the system is able to resolve vertical fluxes for the measurement conditions encountered. Challenges remain, and the outcome of these measurements will be used to inform future sampling strategies and further system development.

Thomas, R. M.; Lehmann, K.; Nguyen, H.; Jackson, D. L.; Wolfe, D.; Ramanathan, V.

2011-08-01

229

A Precise Position and Attitude Determination System for Lightweight Unmanned Aerial Vehicles  

NASA Astrophysics Data System (ADS)

In many unmanned aerial vehicle (UAV) applications a direct georeferencing is required. The reason can be that the UAV flies autonomous and must be navigated precisely, or that the UAV performs a remote sensing operation, where the position of the camera has to be known at the moment of the recording. In our application, a project called Mapping on Demand, we are motivated by both of these reasons. The goal of this project is to develop a lightweight autonomously flying UAV that is able to identify and measure inaccessible three-dimensional objects by use of visual information. Due to payload and space limitations, precise position and attitude determination of micro- and mini-sized UAVs is very challenging. The limitations do not only affect the onboard computing capacity, but they are also noticeable when choosing the georeferencing sensors. In this article, we will present a new developed onboard direct georeferencing system which is real-time capable, applicable for lightweight UAVs and provides very precise results (position accuracy ? < 5 cm and attitude accuracy ? < 0.5 deg). In this system GPS, inertial sensors, magnetic field sensors, a barometer as well as stereo video cameras are used as georeferencing sensors. We will describe the hardware development and will go into details of the implemented software. In this context especially the RTK-GPS software and the concept of the attitude determination by use of inertial sensors, magnetic field sensors as well as an onboard GPS baseline will be highlighted. Finally, results of first field tests as well as an outlook on further developments will conclude this contribution.

Eling, C.; Klingbeil, L.; Wieland, M.; Kuhlmann, H.

2013-08-01

230

Three-dimensional imaging applications in Earth Sciences using video data acquired from an unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

For three dimensional (3D) aerial images, unmanned aerial vehicles (UAVs) are cheaper to operate and easier to fly than the typical manned craft mounted with a laser scanner. This project explores the feasibility of using 2D video images acquired with a UAV and transforming them into 3D point clouds. The Aeryon Scout -- a quad-copter micro UAV -- flew two missions: the first at York University Keele campus and the second at the Canadian Wollastonite Mine Property. Neptec's ViDAR software was used to extract 3D information from the 2D video using structure from motion. The resulting point clouds were sparsely populated, yet captured vegetation well. They were used successfully to measure fracture orientation in rock walls. Any improvement in the video resolution would cascade through the processing and improve the overall results.

McLeod, Tara

231

Using Unmanned Aerial Vehicles to Assess Vegetative Cover and Identify Biotic Resources in Sagebrush Steppe Ecosystems: Preliminary Evaluation  

SciTech Connect

The Idaho National Laboratory (INL), in conjunction with the University of Idaho, is evaluating novel approaches for using unmanned aerial vehicles (UAVs) as a quicker and safer method for monitoring biotic resources. Evaluating vegetative cover is an important factor in understanding the sustainability of many ecosystems. In assessing vegetative cover, methods that improve accuracy and cost efficiency could revolutionize how biotic resources are monitored on western federal lands. Sagebrush steppe ecosystems provide important habitat for a variety of species, some of which are important indicator species (e.g., sage grouse). Improved methods are needed to support monitoring these habitats because there are not enough resource specialists or funds available for comprehensive ground evaluation of these ecosystems. In this project, two types of UAV platforms (fixed wing and helicopter) were used to collect still-frame imagery to assess cover in sagebrush steppe ecosystems. This paper discusses the process for collecting and analyzing imagery from the UAVs to (1) estimate total percent cover, (2) estimate percent cover for six different types of vegetation, and (3) locate sage grouse based on representative decoys. The field plots were located on the INL site west of Idaho Falls, Idaho, in areas with varying amounts and types of vegetative cover. A software program called SamplePoint developed by the U.S. Department of Agriculture, Agricultural Research Service was used to evaluate the imagery for percent cover for the six vegetation types (bare ground, litter, shrubs, dead shrubs, grasses, and forbs). Results were compared against standard field measurements to assess accuracy.

Robert P. Breckenridge

2006-04-01

232

Application of active flow control technology in an unmanned aerial vehicle  

E-print Network

A low speed wind tunnel experimental investigation was conducted to determine the effectiveness of the leading edge pulsed blowing and the trailing edge jet blowing/ Gurney flap on the improvement of aerodynamic performance of an unmanned aerial...

Gaurav,

2009-05-15

233

The control of a parallel hybrid-electric propulsion system for a small unmanned aerial vehicle using a CMAC neural network.  

PubMed

A Simulink model, a propulsion energy optimization algorithm, and a CMAC controller were developed for a small parallel hybrid-electric unmanned aerial vehicle (UAV). The hybrid-electric UAV is intended for military, homeland security, and disaster-monitoring missions involving intelligence, surveillance, and reconnaissance (ISR). The Simulink model is a forward-facing simulation program used to test different control strategies. The flexible energy optimization algorithm for the propulsion system allows relative importance to be assigned between the use of gasoline, electricity, and recharging. A cerebellar model arithmetic computer (CMAC) neural network approximates the energy optimization results and is used to control the parallel hybrid-electric propulsion system. The hybrid-electric UAV with the CMAC controller uses 67.3% less energy than a two-stroke gasoline-powered UAV during a 1-h ISR mission and 37.8% less energy during a longer 3-h ISR mission. PMID:16112553

Harmon, Frederick G; Frank, Andrew A; Joshi, Sanjay S

2005-01-01

234

Point cloud generation from aerial image data acquired by a quadrocopter type micro unmanned aerial vehicle and a digital still camera.  

PubMed

The objective of this investigation was to develop and investigate methods for point cloud generation by image matching using aerial image data collected by quadrocopter type micro unmanned aerial vehicle (UAV) imaging systems. Automatic generation of high-quality, dense point clouds from digital images by image matching is a recent, cutting-edge step forward in digital photogrammetric technology. The major components of the system for point cloud generation are a UAV imaging system, an image data collection process using high image overlaps, and post-processing with image orientation and point cloud generation. Two post-processing approaches were developed: one of the methods is based on Bae Systems' SOCET SET classical commercial photogrammetric software and another is built using Microsoft(®)'s Photosynth™ service available in the Internet. Empirical testing was carried out in two test areas. Photosynth processing showed that it is possible to orient the images and generate point clouds fully automatically without any a priori orientation information or interactive work. The photogrammetric processing line provided dense and accurate point clouds that followed the theoretical principles of photogrammetry, but also some artifacts were detected. The point clouds from the Photosynth processing were sparser and noisier, which is to a large extent due to the fact that the method is not optimized for dense point cloud generation. Careful photogrammetric processing with self-calibration is required to achieve the highest accuracy. Our results demonstrate the high performance potential of the approach and that with rigorous processing it is possible to reach results that are consistent with theory. We also point out several further research topics. Based on theoretical and empirical results, we give recommendations for properties of imaging sensor, data collection and processing of UAV image data to ensure accurate point cloud generation. PMID:22368479

Rosnell, Tomi; Honkavaara, Eija

2012-01-01

235

Point Cloud Generation from Aerial Image Data Acquired by a Quadrocopter Type Micro Unmanned Aerial Vehicle and a Digital Still Camera  

PubMed Central

The objective of this investigation was to develop and investigate methods for point cloud generation by image matching using aerial image data collected by quadrocopter type micro unmanned aerial vehicle (UAV) imaging systems. Automatic generation of high-quality, dense point clouds from digital images by image matching is a recent, cutting-edge step forward in digital photogrammetric technology. The major components of the system for point cloud generation are a UAV imaging system, an image data collection process using high image overlaps, and post-processing with image orientation and point cloud generation. Two post-processing approaches were developed: one of the methods is based on Bae Systems’ SOCET SET classical commercial photogrammetric software and another is built using Microsoft®’s Photosynth™ service available in the Internet. Empirical testing was carried out in two test areas. Photosynth processing showed that it is possible to orient the images and generate point clouds fully automatically without any a priori orientation information or interactive work. The photogrammetric processing line provided dense and accurate point clouds that followed the theoretical principles of photogrammetry, but also some artifacts were detected. The point clouds from the Photosynth processing were sparser and noisier, which is to a large extent due to the fact that the method is not optimized for dense point cloud generation. Careful photogrammetric processing with self-calibration is required to achieve the highest accuracy. Our results demonstrate the high performance potential of the approach and that with rigorous processing it is possible to reach results that are consistent with theory. We also point out several further research topics. Based on theoretical and empirical results, we give recommendations for properties of imaging sensor, data collection and processing of UAV image data to ensure accurate point cloud generation. PMID:22368479

Rosnell, Tomi; Honkavaara, Eija

2012-01-01

236

State estimation for autopilot control of small unmanned aerial vehicles in windy conditions  

NASA Astrophysics Data System (ADS)

The use of small unmanned aerial vehicles (UAVs) both in the military and civil realms is growing. This is largely due to the proliferation of inexpensive sensors and the increase in capability of small computers that has stemmed from the personal electronic device market. Methods for performing accurate state estimation for large scale aircraft have been well known and understood for decades, which usually involve a complex array of expensive high accuracy sensors. Performing accurate state estimation for small unmanned aircraft is a newer area of study and often involves adapting known state estimation methods to small UAVs. State estimation for small UAVs can be more difficult than state estimation for larger UAVs due to small UAVs employing limited sensor suites due to cost, and the fact that small UAVs are more susceptible to wind than large aircraft. The purpose of this research is to evaluate the ability of existing methods of state estimation for small UAVs to accurately capture the states of the aircraft that are necessary for autopilot control of the aircraft in a Dryden wind field. The research begins by showing which aircraft states are necessary for autopilot control in Dryden wind. Then two state estimation methods that employ only accelerometer, gyro, and GPS measurements are introduced. The first method uses assumptions on aircraft motion to directly solve for attitude information and smooth GPS data, while the second method integrates sensor data to propagate estimates between GPS measurements and then corrects those estimates with GPS information. The performance of both methods is analyzed with and without Dryden wind, in straight and level flight, in a coordinated turn, and in a wings level ascent. It is shown that in zero wind, the first method produces significant steady state attitude errors in both a coordinated turn and in a wings level ascent. In Dryden wind, it produces large noise on the estimates for its attitude states, and has a non-zero mean error that increases when gyro bias is increased. The second method is shown to not exhibit any steady state error in the tested scenarios that is inherent to its design. The second method can correct for attitude errors that arise from both integration error and gyro bias states, but it suffers from lack of attitude error observability. The attitude errors are shown to be more observable in wind, but increased integration error in wind outweighs the increase in attitude corrections that such increased observability brings, resulting in larger attitude errors in wind. Overall, this work highlights many technical deficiencies of both of these methods of state estimation that could be improved upon in the future to enhance state estimation for small UAVs in windy conditions.

Poorman, David Paul

237

Closing Scale Gaps in Ecological Research using Unmanned Aerial Vehicles: a meta-data synthesis  

NASA Astrophysics Data System (ADS)

The use of remote sensing for ecological purposes leaves a growing consensus that a spatial and temporal ';gap' exists between field studies and conventional remote sensing techniques. Field studies bring a sharper resolution than remote sensing techniques, but without overwhelming manpower cannot hope to cover the same amount of area. In addition, while remote sensing techniques cover large amounts of land, remote sensing contains a tradeoff between resolution and regularity, as frequent updates are possible only at coarse spatial resolution. The rapid improvement in UAV (Unmanned Aerial Vehicle) technology offers the potential to fill this ';gap' in data collection, and thereby provide new ecological insights. UAVs offer the ability to collect data at both higher spatial and temporal resolutions than satellites or manned aircraft (and at a much cheaper cost), while covering much larger areas more frequently than the field ecologist. We identify this gap by examining the spatial and temporal resolutions and coverages of a representative sample of recent remote sensing and field-based ecological studies. We randomly sampled the titles of 200 studies published during the last 3 years from 20 high-impact ecology journals, and extracted resolution and extent information from their Methods sections. Of these studies, slightly over 100 provide adequate information for our analysis. We analyze the gap in two-dimensional space. Along the X-axis, we define the temporal components as a vector where the temporal frequency of the study defines the minimum X value for each observation (study), and the temporal duration defines the maximum value. On the Y-axis, the study spatial resolution defines the minimum value while the total spatial extent defines the maximum value. In the manner, each study is represented as an irregular two-dimensional polygon. We divide the plot area into discrete grid cells and sum the number of polygons intersecting each cell, representing field studies in red and remote sensing studies in blue. The gap consists of the dark areas of the domain, and we define its boundaries as the contour where coverage is <5% of sampled studies. We then plot, in green, the spatial and temporal scales of several recently published and unpublished UAV studies over the completed graph. This determines how effectively UAVs can close the gap, based on their ability to regularly collect higher resolution data than remote sensing, and in their ability to collect continuous data over larger plots of land than conventional field work. Since the use of this technology is still in its earliest stages in ecology, the possibilities to use UAVs to collect data at higher frequency, over longer time scales, and over greater extent will grow as costs falls, and ecologists adopt the technology.

Grossman, R. H.; Guan, K.; Estes, L. D.; Caylor, K. K.; Dandois, J. P.

2013-12-01

238

Improving Rangeland Monitoring and Assessment: Integrating Remote Sensing, GIS, and Unmanned Aerial Vehicle Systems  

SciTech Connect

Creeping environmental changes are impacting some of the largest remaining intact parcels of sagebrush steppe ecosystems in the western United States, creating major problems for land managers. The Idaho National Laboratory (INL), located in southeastern Idaho, is part of the sagebrush steppe ecosystem, one of the largest ecosystems on the continent. Scientists at the INL and the University of Idaho have integrated existing field and remotely sensed data with geographic information systems technology to analyze how recent fires on the INL have influenced the current distribution of terrestrial vegetation. Three vegetation mapping and classification systems were used to evaluate the changes in vegetation caused by fires between 1994 and 2003. Approximately 24% of the sagebrush steppe community on the INL was altered by fire, mostly over a 5-year period. There were notable differences between methods, especially for juniper woodland and grasslands. The Anderson system (Anderson et al. 1996) was superior for representing the landscape because it includes playa/bare ground/disturbed area and sagebrush steppe on lava as vegetation categories. This study found that assessing existing data sets is useful for quantifying fire impacts and should be helpful in future fire and land use planning. The evaluation identified that data from remote sensing technologies is not currently of sufficient quality to assess the percentage of cover. To fill this need, an approach was designed using both helicopter and fixed wing unmanned aerial vehicles (UAVs) and image processing software to evaluate six cover types on field plots located on the INL. The helicopter UAV provided the best system compared against field sampling, but is more dangerous and has spatial coverage limitations. It was reasonably accurate for dead shrubs and was very good in assessing percentage of bare ground, litter and grasses; accuracy for litter and shrubs is questionable. The fixed wing system proved to be feasible and can collect imagery for very large areas in a short period of time. It was accurate for bare ground and grasses. Both UAV systems have limitations, but these will be reduced as the technology advances. In both cases, the UAV systems collected data at a much faster rate than possible on the ground. The study concluded that improvements in automating the image processing efforts would greatly improve use of the technology. In the near future, UAV technology may revolutionize rangeland monitoring in the same way Global Positioning Systems have affected navigation while conducting field activities.

Robert Paul Breckenridge

2007-05-01

239

Detection and classification of channel bedforms observed using the visual-light camera mounted to the unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

High-resolution aerial photographs and the resulting orthophoto images, obtained using unmanned aerial vehicles (UAVs), may offer spatial resolution of 3 cm/px, exceeding the available resolution of remote sensing satellites. Such an unprecedentedly small size of the grid is very useful in fluvial geomorphology, in particular in investigations of small or moderate bedforms. These underwater landforms form spatially complex patterns which are difficult to observe and detect in the field, especially in the considerably long river channels. Since November 2012 we have performed a series of the UAV flights targeted at four rivers in the K?odzko County (SW Poland). These rivers are: Nysa K?odzka, Bia?a L?decka, Bystrzyca Dusznicka and ?cinawka. We have limited our research flights to small fragments of these rivers, and we have gathered aerial photographs taken using the visual-light camera during all seasons. Although visual-light cameras have a limited ability to penetrate underwater features, we have found that at certain environmental conditions (e.g. autumn, low flow, highly transparent water, low albedo), it is possible to record a significant signal of the underwater channel bedforms. Such orthophoto images have been processed to numerically detect and classify the aforementioned landforms. The work serves as a feasibility study, the aim of which is to present that UAV-acquired photographs, even taken using the visual-light cameras, may be used to infer the spatial setting of channel bedforms.

?lopek, Jacek; Wieczorek, Ma?gorzata; Migo?, Piotr; Kasprzak, Marek; Jeziorska, Justyna; Witek, Matylda; Spallek, Waldemar; Niedzielski, Tomasz

2014-05-01

240

Methods for In-Flight Wing Shape Predictions of Highly Flexible Unmanned Aerial Vehicles: Formulation of Ko Displacement Theory  

NASA Technical Reports Server (NTRS)

The Ko displacement theory is formulated for a cantilever tubular wing spar under bending, torsion, and combined bending and torsion loading. The Ko displacement equations are expressed in terms of strains measured at multiple sensing stations equally spaced on the surface of the wing spar. The bending and distortion strain data can then be input to the displacement equations to calculate slopes, deflections, and cross-sectional twist angles of the wing spar at the strain-sensing stations for generating the deformed shapes of flexible aircraft wing spars. The displacement equations have been successfully validated for accuracy by finite-element analysis. The Ko displacement theory that has been formulated could also be applied to calculate the deformed shape of simple and tapered beams, plates, and tapered cantilever wing boxes. The Ko displacement theory and associated strain-sensing system (such as fiber optic sensors) form a powerful tool for in-flight deformation monitoring of flexible wings and tails, such as those often employed on unmanned aerial vehicles. Ultimately, the calculated displacement data can be visually displayed in real time to the ground-based pilot for monitoring the deformed shape of unmanned aerial vehicles during flight.

Ko, William L.; Fleischer, Van Tran

2010-01-01

241

Aerial image simulation for partial coherent system with programming development in MATLAB  

NASA Astrophysics Data System (ADS)

Aerial image can be calculated by either Abbe's method or sum of coherent system decomposition (SOCS) method for partial coherent system. This paper introduces a programming with Matlab code that changes the analytical representation of Abbe's method to the matrix form, which has advantages for both Abbe's method and SOCS since matrix calculation is easier than double integration over object plane or pupil plane. First a singular matrix P is derived from a pupil function and effective light source in the spatial frequency domain. By applying Singular Value Decomposition (SVD) to the matrix P, eigenvalues and eigenfunctions are obtained. The aerial image can then be computed by the eigenvalues and eigenfunctions without calculation of Transmission Cross Coefficient (TCC). The aerial final image is almost identical as an original cross mask and the intensity distribution on image plane shows that it is almost uniform across the linewidth of the mask.

Hasan, Md. Nazmul; Rahman, Md. Momtazur; Udoy, Ariful Banna

2014-10-01

242

VEEP - Vehicle Economy, Emissions, and Performance program  

NASA Technical Reports Server (NTRS)

VEEP is a general-purpose discrete event simulation program being developed to study the performance, fuel economy, and exhaust emissions of a vehicle modeled as a collection of its separate components. It is written in SIMSCRIPT II.5. The purpose of this paper is to present the design methodology, describe the simulation model and its components, and summarize the preliminary results. Topics include chief programmer team concepts, the SDDL design language, program portability, user-oriented design, the program's user command syntax, the simulation procedure, and model validation.

Heimburger, D. A.; Metcalfe, M. A.

1977-01-01

243

A Study of the Effects of Large Scale Gust Generation in a Small Scale Atmospheric Wind Tunnel: Application to Micro Aerial Vehicles  

NASA Astrophysics Data System (ADS)

Modern technology operating in the atmospheric boundary layer could benefit from more accurate wind tunnel testing. While scaled atmospheric boundary layer tunnels have been well developed, tunnels replicating portions of the turbulence of the atmospheric boundary layer at full scale are a comparatively new concept. Testing at full-scale Reynolds numbers with full-scale turbulence in an ``atmospheric wind tunnel'' is sought. Many programs could utilize such a tool including that of Micro Aerial Vehicles (MAVs) and other unmanned aircraft, the wind energy industry, fuel efficient vehicles, and the study of bird and insect fight. The construction of an active ``gust generator'' for a new atmospheric tunnel is reviewed and the turbulence it generates is measured utilizing single and cross hot wires. Results from this grid are compared to atmospheric turbulence and it is shown that various gust strengths can be produced corresponding to days ranging from calm to quite gusty. An initial test is performed in the atmospheric wind tunnel whereby the effects of various turbulence conditions on transition and separation on the upper surface of a MAV wing is investigated using oil flow visualization.

Roadman, Jason; Mohseni, Kamran

2009-11-01

244

DEPENDENCE OF NITRIC OXIDE EMISSIONS ON VEHICLE LOAD: RESULTS FROM THE GTRP INSTRUMENTED VEHICLE PROGRAM  

EPA Science Inventory

The presentation discussed the dependence of nitric oxide (NO) emissions on vehicle load, bases on results from an instrumented-vehicle program. The accuracy and feasibility of modal emissions models depend on algorithms to allocate vehicle emissions based on a vehicle operation...

245

Abstract--The unmanned aerial vehicle can be an efficient and economical solution to real-time surveillance of highway traffic.  

E-print Network

. The researches on UAV have been active in many areas, for example, UAV navigation [1], UAV controller design [2 when using the public wireless network for UAV video relay. II. DATA COMMUNICATION SCHEMES The dataAbstract-- The unmanned aerial vehicle can be an efficient and economical solution to real

Dong, Liang

246

Developing a Control Architecture for Multiple Unmanned Aerial Vehicles to Search and Localize RF Time-Varying Mobile Targets: Part I  

Microsoft Academic Search

In this paper, we present a control architecture that allows multiple Unmanned Aerial Vehicles (UAVs) to cooperatively detect mobile RF (Radio Frequency) emitting ground targets. The architecture is developed under the premise that UAVs are controlled as a distributed system. The distributed system-based technique maximizes the search and detection capabilities of multiple UAVs. We use a hybrid approach that combines

Daniel J. Pack; George W. P. York

2005-01-01

247

Development and integration of a solar powered unmanned aerial vehicle and a wireless sensor network to monitor greenhouse gases.  

PubMed

Measuring gases for environmental monitoring is a demanding task that requires long periods of observation and large numbers of sensors. Wireless Sensor Networks (WSNs) and Unmanned Aerial Vehicles (UAVs) currently represent the best alternative to monitor large, remote, and difficult access areas, as these technologies have the possibility of carrying specialized gas sensing systems. This paper presents the development and integration of a WSN and an UAV powered by solar energy in order to enhance their functionality and broader their applications. A gas sensing system implementing nanostructured metal oxide (MOX) and non-dispersive infrared sensors was developed to measure concentrations of CH4 and CO2. Laboratory, bench and field testing results demonstrate the capability of UAV to capture, analyze and geo-locate a gas sample during flight operations. The field testing integrated ground sensor nodes and the UAV to measure CO2 concentration at ground and low aerial altitudes, simultaneously. Data collected during the mission was transmitted in real time to a central node for analysis and 3D mapping of the target gas. The results highlights the accomplishment of the first flight mission of a solar powered UAV equipped with a CO2 sensing system integrated with a WSN. The system provides an effective 3D monitoring and can be used in a wide range of environmental applications such as agriculture, bushfires, mining studies, zoology and botanical studies using a ubiquitous low cost technology. PMID:25679312

Malaver, Alexander; Motta, Nunzio; Corke, Peter; Gonzalez, Felipe

2015-01-01

248

Object-based spatiotemporal analysis of vine canopy vigor using an inexpensive unmanned aerial vehicle remote sensing system  

NASA Astrophysics Data System (ADS)

Remotely sensed imagery provides a rapid assessment of spatial variability in grapevine canopy vigor that correlates with crop performance. Unmanned aerial vehicles (UAVs) provide a low-cost image acquisition platform with high spatial and temporal resolutions. Using a UAV and digital cameras, aerial images of a Texas vineyard were captured at postflowering, veraison, and harvest. Imagery was processed to generate orthophotos in units of reflectance, which were then segmented to extract per-vine estimates of canopy area (planimetric extent) and normalized difference vegetation index (NDVI)-based canopy density. Derived canopy area and density values were compared to the harvest variables of number of clusters, cluster size, and yield to explore correlations. Planimetrically derived canopy area yielded significant, positive relationships, whereas NDVI-based canopy density exhibited no significant relationships due to sensor-related radiometric inaccuracy. A vine performance index was calculated to map spatial variation in canopy vigor for the entire growing season. Future management zones were delineated using spatial grouping analysis.

Mathews, Adam J.

2014-01-01

249

Swarm Control in Unmanned Aerial Vehicles Henry Hexmoor, Brian McLaughlan, and Matt Baker  

E-print Network

multiple UAVs must locate and track multiple ground vehicles. Once located, a ground vehicle must, Fayetteville AR 72701 {hexmoor, bpm02, mmb05} @uark.edu Phone: 479 575 2420 Fax: 479 575 5339 Abstract Swarm control is an open problem. We are taking steps for systematic flight control of large numbers of UAVs

Hexmoor, Henry

250

Modeling and inverse controller design for an unmanned aerial vehicle based on the self-organizing map.  

PubMed

The next generation of aircraft will have dynamics that vary considerably over the operating regime. A single controller will have difficulty to meet the design specifications. In this paper, a self-organizing map (SOM)-based local linear modeling scheme of an unmanned aerial vehicle (UAV) is developed to design a set of inverse controllers. The SOM selects the operating regime depending only on the embedded output space information and avoids normalization of the input data. Each local linear model is associated with a linear controller, which is easy to design. Switching of the controllers is done synchronously with the active local linear model that tracks the different operating conditions. The proposed multiple modeling and control strategy has been successfully tested in a simulator that models the LoFLYTE UAV. PMID:16566471

Cho, Jeongho; Principe, Jose C; Erdogmus, Deniz; Motter, Mark A

2006-03-01

251

Nonlinear automatic landing control of unmanned aerial vehicles on moving platforms via a 3D laser radar  

NASA Astrophysics Data System (ADS)

This paper presents a motion tracking and control system for automatically landing Unmanned Aerial Vehicles (UAVs) on an oscillating platform using Laser Radar (LADAR) observations. The system itself is assumed to be mounted on a ship deck. A full nonlinear mathematical model is first introduced for the UAV. The ship motion is characterized by a Fourier transform based method which includes a realistic characterization of the sea waves. LADAR observation models are introduced and an algorithm to process those observations for yielding the relative state between the vessel and the UAV is presented, from which the UAV's state relative to an inertial frame can be obtained and used for feedback purposes. A sliding mode control algorithm is derived for tracking a landing trajectory defined by a set of desired waypoints. An extended Kalman filter (EKF) is proposed to account for process and observation noises in the design of a state estimator. The effectiveness of the control algorithm is illustrated through a simulation example.

Hervas, Jaime Rubio; Reyhanoglu, Mahmut; Tang, Hui

2014-12-01

252

Development and Implementation of a Hardware In-the-Loop Test Bed for Unmanned Aerial Vehicle Control Algorithms  

NASA Technical Reports Server (NTRS)

Successful prediction and management of battery life using prognostic algorithms through ground and flight tests is important for performance evaluation of electrical systems. This paper details the design of test beds suitable for replicating loading profiles that would be encountered in deployed electrical systems. The test bed data will be used to develop and validate prognostic algorithms for predicting battery discharge time and battery failure time. Online battery prognostic algorithms will enable health management strategies. The platform used for algorithm demonstration is the EDGE 540T electric unmanned aerial vehicle (UAV). The fully designed test beds developed and detailed in this paper can be used to conduct battery life tests by controlling current and recording voltage and temperature to develop a model that makes a prediction of end-of-charge and end-of-life of the system based on rapid state of health (SOH) assessment.

Nyangweso, Emmanuel; Bole, Brian

2014-01-01

253

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

PubMed

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. PMID:22400008

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

2009-01-01

254

An Improved Artificial Bee Colony Algorithm Based on Balance-Evolution Strategy for Unmanned Combat Aerial Vehicle Path Planning  

PubMed Central

Unmanned combat aerial vehicles (UCAVs) have been of great interest to military organizations throughout the world due to their outstanding capabilities to operate in dangerous or hazardous environments. UCAV path planning aims to obtain an optimal flight route with the threats and constraints in the combat field well considered. In this work, a novel artificial bee colony (ABC) algorithm improved by a balance-evolution strategy (BES) is applied in this optimization scheme. In this new algorithm, convergence information during the iteration is fully utilized to manipulate the exploration/exploitation accuracy and to pursue a balance between local exploitation and global exploration capabilities. Simulation results confirm that BE-ABC algorithm is more competent for the UCAV path planning scheme than the conventional ABC algorithm and two other state-of-the-art modified ABC algorithms. PMID:24790555

Gong, Li-gang; Yang, Wen-lun

2014-01-01

255

Piezo-stack vortex generators for boundary layer control of a delta wing micro-aerial vehicle  

NASA Astrophysics Data System (ADS)

This paper presents an idea for the control of flow separation over solid surfaces by piezo-stack vortex generators. The vortex generators are small vibrating plates attached to the delta wing surface. A model of the micro-aerial vehicle (MAV) controlled by vortex piezo-generators is presented. The vortex generators are applied to produce the appropriate aerodynamical forces and moments controlling the flight of the aircraft. The efficiency of the vortex generators is proved by the wind tunnel test results. The oscillatory added lift and drag coefficients versus angle of attack are presented. The optimal vortex generator amplitude and frequency are investigated. Boundary layer control (BLC) for delta wing micro-aircraft increases the manoeuvrability and performance of the MAV.

Mystkowski, Arkadiusz

2013-11-01

256

Modeling and Inverse Controller Design for an Unmanned Aerial Vehicle Based on the Self-Organizing Map  

NASA Technical Reports Server (NTRS)

The next generation of aircraft will have dynamics that vary considerably over the operating regime. A single controller will have difficulty to meet the design specifications. In this paper, a SOM-based local linear modeling scheme of an unmanned aerial vehicle (UAV) is developed to design a set of inverse controllers. The SOM selects the operating regime depending only on the embedded output space information and avoids normalization of the input data. Each local linear model is associated with a linear controller, which is easy to design. Switching of the controllers is done synchronously with the active local linear model that tracks the different operating conditions. The proposed multiple modeling and control strategy has been successfully tested in a simulator that models the LoFLYTE UAV.

Cho, Jeongho; Principe, Jose C.; Erdogmus, Deniz; Motter, Mark A.

2005-01-01

257

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

PubMed Central

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. PMID:22400008

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

2009-01-01

258

Space Technology Research Vehicle (STRV)-1 program  

Microsoft Academic Search

The Space Technology Research Vehicle (STRV) -1 program, initiated by the UK Ministry of Defence and the US Ballistic Missile Defense Organization under terms of an agreement originally signed by President Reagan and Prime Minister Thatcher, has resulted in new opportunities for researchers to acquire low-cost on-orbit data. The STRV-1 a\\/b satellites were launched into a geotransfer orbit (GTO) on

John Stubstad; Richard J. Blott; James Shoemaker

2000-01-01

259

Next Generation Natural Gas Vehicle (NGNGV) Program Brochure  

SciTech Connect

The Department of Energy's Office of Transportation Technologies is initiating the Next Generation Natural Gas Vehicle (NGNGV) Program to develop commercially viable medium- and heavy-duty natural gas vehicles. These new vehicles will incorporate advanced alternative fuel vehicle technologies that were developed by DOE and others.

Elling, J.

2000-10-26

260

The ARM unpiloted aerospace vehicle (UAV) program  

SciTech Connect

Unmanned aerospace vehicles (UAVs) are an important complement to the DOE`s Atmospheric Radiation Measurement (ARM) Program. ARM is primarily a ground-based program designed to extensively quantify the radiometric and meteorological properties of an atmospheric column. There is a need for airborne measurements of radiative profiles, especially flux at the tropopause, cloud properties, and upper troposphere water vapor. There is also a need for multi-day measurements at the tropopause; for example, in the tropics, at 20 km for over 24 hours. UAVs offer the greatest potential for long endurance at high altitudes and may be less expensive than piloted flights. 2 figs.

Sowle, D. [Mission Research Corporation, Santa Barbara, CA (United States)

1995-09-01

261

System design of an unmanned aerial vehicle (UAV) for marine environmental sensing  

E-print Network

Technological improvements over the past decade have led to the widespread use of autonomous surface and underwater vehicles for data collection in marine environmental sensing and modeling in coastal environments. However, ...

Leighton, Joshua (Joshua C.)

2013-01-01

262

PSU TOYOTA ELECTRIC VEHICLE PROGRAM POLICY JULY 2010  

E-print Network

PSU ­ TOYOTA ELECTRIC VEHICLE PROGRAM POLICY JULY 2010 Purpose: The University State University ­ Toyota Electric Vehicle Program under which Toyota Motor Sales, U.S.A., Inc. (Toyota) will license to University certain Toyota brand plug in Prius motor vehicles as described in Exhibit

Bertini, Robert L.

263

Determination of the effectiveness of commercial-off-the-shelf radar in the cuing of unmanned aerial vehicle pan-tilt-zoom camera systems  

NASA Astrophysics Data System (ADS)

This study examined the use of low-cost commercial-off-the-shelf (COTS) radar in support of the cuing of pan-tilt-zoom (PTZ) optical payload systems. Cancellation of the U.S. Navy's vertical take off and landing (VTOL) unmanned aerial vehicle (VTUAV) program left the Navy without a UAV with radar sensor capability. Using a UAV PTZ optical payload and a COTS radar, this study collected specific time difference measurements between PTZ optical payload searches without radar cuing and searches with radar cuing. In every test run conducted, searches with radar cuing reduced PTZ optical payload detection time. The study showed that a low-cost COTS radar mounted on a small UAV can meet some of the radar requirements lost with cancellation of the VTUAV program. The study results could have a direct impact on myriad of U.S. Navy and other U.S. government surveillance requirements, especially the monitoring of U.S. coastal waters in support of homeland security goals and objectives.

Ford, Patrick Joseph

264

Use of 3D laser radar for navigation of unmanned aerial and ground vehicles in urban and indoor environments  

NASA Astrophysics Data System (ADS)

This paper discusses the integration of Inertial measurements with measurements from a three-dimensional (3D) imaging sensor for position and attitude determination of unmanned aerial vehicles (UAV) and autonomous ground vehicles (AGV) in urban or indoor environments. To enable operation of UAVs and AGVs at any time in any environment a Precision Navigation, Attitude, and Time (PNAT) capability is required that is robust and not solely dependent on the Global Positioning System (GPS). In urban and indoor environments a GPS position capability may not only be unavailable due to shadowing, significant signal attenuation or multipath, but also due to intentional denial or deception. Although deep integration of GPS and Inertial Measurement Unit (IMU) data may prove to be a viable solution an alternative method is being discussed in this paper. The alternative solution is based on 3D imaging sensor technologies such as Flash Ladar (Laser Radar). Flash Ladar technology consists of a modulated laser emitter coupled with a focal plane array detector and the required optics. Like a conventional camera this sensor creates an "image" of the environment, but producing a 2D image where each pixel has associated intensity vales the flash Ladar generates an image where each pixel has an associated range and intensity value. Integration of flash Ladar with the attitude from the IMU allows creation of a 3-D scene. Current low-cost Flash Ladar technology is capable of greater than 100 x 100 pixel resolution with 5 mm depth resolution at a 30 Hz frame rate. The proposed algorithm first converts the 3D imaging sensor measurements to a point cloud of the 3D, next, significant environmental features such as planar features (walls), line features or point features (corners) are extracted and associated from one 3D imaging sensor frame to the next. Finally, characteristics of these features such as the normal or direction vectors are used to compute the platform position and attitude changes. These "delta" position and attitudes are then used calibrate the IMU. Note, that the IMU is not only required to form the point cloud of the environment expressed in the navigation frame, but also to perform association of the features from one flash Ladar frame to the next. This paper will discuss the performance of the proposed 3D imaging sensor feature extraction, position change estimator and attitude change estimator using both simulator data and data collected from a moving platform in an indoor environment. The former consists of data from a simulated IMU and flash Ladar installed on an aerial vehicle for various trajectories through an urban environment. The latter consists of measurements from a CSEM Swissranger 3D imaging sensor and a MicroStrain low-cost IMU. Data was collected on a manually operated aerial vehicle inside the Ohio University School of Electrical Engineering and Computer Science building.

Uijt de Haag, Maarten; Venable, Don; Smearcheck, Mark

2007-04-01

265

An algorithm of real-time vehicle detection with low altitude aerial video  

NASA Astrophysics Data System (ADS)

Currently, the conflict between vehicle and road is becoming increasingly serious, how to implement advanced technology to obtain traffic information fast and accurately becomes a key point to upgrade the level of transportation management and services. It is an important expansion of conventional technology that the dynamic traffic information is obtained rapidly by the low-altitude aircraft. It is low cost and suitable for collecting a wide range of traffic information. This paper use low-altitude airship as the platform, and several sensors(such as GPS,CCD, video encoder and COFDM wireless transmission equipment) are integrated into the aircraft compose a low altitude remote sensing platform to obtain the high-definition traffic video data. This paper aim at the video proposed a vehicle detection method in the complex and varying background. This method is capable of detecting moving and static vehicles accurately on the road in real time without any supplementary information.

Wang, Wenlong; Tang, Luliang; Li, Qingquan

2009-09-01

266

An algorithm of real-time vehicle detection with low altitude aerial video  

NASA Astrophysics Data System (ADS)

Currently, the conflict between vehicle and road is becoming increasingly serious, how to implement advanced technology to obtain traffic information fast and accurately becomes a key point to upgrade the level of transportation management and services. It is an important expansion of conventional technology that the dynamic traffic information is obtained rapidly by the low-altitude aircraft. It is low cost and suitable for collecting a wide range of traffic information. This paper use low-altitude airship as the platform, and several sensors(such as GPS,CCD, video encoder and COFDM wireless transmission equipment) are integrated into the aircraft compose a low altitude remote sensing platform to obtain the high-definition traffic video data. This paper aim at the video proposed a vehicle detection method in the complex and varying background. This method is capable of detecting moving and static vehicles accurately on the road in real time without any supplementary information.

Wang, Wenlong; Tang, Luliang; Li, Qingquan

2010-11-01

267

Terminal configured vehicle program: Test facilities guide  

NASA Technical Reports Server (NTRS)

The terminal configured vehicle (TCV) program was established to conduct research and to develop and evaluate aircraft and flight management system technology concepts that will benefit conventional take off and landing operations in the terminal area. Emphasis is placed on the development of operating methods for the highly automated environment anticipated in the future. The program involves analyses, simulation, and flight experiments. Flight experiments are conducted using a modified Boeing 737 airplane equipped with highly flexible display and control equipment and an aft flight deck for research purposes. The experimental systems of the Boeing 737 are described including the flight control computer systems, the navigation/guidance system, the control and command panel, and the electronic display system. The ground based facilities used in the program are described including the visual motion simulator, the fixed base simulator, the verification and validation laboratory, and the radio frequency anechoic facility.

1980-01-01

268

Aerial robotic data acquisition system  

SciTech Connect

A small, unmanned aerial vehicle (UAV), equipped with sensors for physical and chemical measurements of remote environments, is described. A miniature helicopter airframe is used as a platform for sensor testing and development. The sensor output is integrated with the flight control system for real-time, interactive, data acquisition and analysis. Pre-programmed flight missions will be flown with several sensors to demonstrate the cost-effective surveillance capabilities of this new technology.

Hofstetter, K.J.; Hayes, D.W.; Pendergast, M.M. [Westinghouse Savannah River Co., Aiken, SC (United States); Corban, J.E. [Guided Systems Technologies, Atlanta, GA (United States)

1993-12-31

269

The reusable launch vehicle technology program  

NASA Astrophysics Data System (ADS)

Today's launch systems have major shortcomings that will increase in significance in the future, and thus are principal drivers for seeking major improvements in space transportation. They are too costly; insufficiently reliable, safe, and operable; and increasingly losing market share to international competition. For the United States to continue its leadership in the human exploration and wide ranging utilization of space, the first order of business must be to achieve low cost, reliable transportatin to Earth orbit. NASA's Access to Space Study, in 1993, recommended the development of a fully reusable single-stage-to-orbit (SSTO) rocket vehicle as an Agency goal. The goal of the Reusable Launch Vehicle (RLV) technology program is to mature the technologies essential for a next-generation reusable launch system capable of reliably serving National space transportation needs at substantially reduced costs. The primary objectives of the RLV technology program are to (1) mature the technologies required for the next-generation system, (2) demonstrate the capability to achieve low development and operational cost, and rapid launch turnaround times and (3) reduce business and technical risks to encourage significant private investment in the commercial development and operation of the next-generation system. Developing and demonstrating the technologies required for a Single Stage to Orbit (SSTO) rocket is a focus of the program becuase past studies indicate that it has the best potential for achieving the lowest space access cost while acting as an RLV technology driver (since it also encompasses the technology requirements of reusable rocket vehicles in general).

Cook, S.

270

Measuring Sunflower Nitrogen Status from AN Unmanned Aerial Vehicle-Based System and AN on the Ground Device  

NASA Astrophysics Data System (ADS)

Precision agriculture recognizes the inherent spatial variability associated with soil characteristics, land morphology and crop growth, and uses this information to prescribe the most appropriate management strategy on a site-specific basis. To reach this task, the most important information related with crop growth is nutrient status, weed infestation, disease and pet affectation and water management. The application of fertilizer nitrogen to field crops is of critical importance because it determines plant's gro wth, vigour, colour and yield. Furthermore, nitrogen has been observed as a nutrient with high spatial variability in a single field, related to its high mobility. Some previous works have shown that is possible to measure crop nitrogen status with optical instruments. Since most leaf nitrogen is contained in chlorophyll molecules, there is a strong relationship between leaf nitrogen and leaf chlorophyll content, which is the basis for predicting crop nitrogen status by measuring leaf reflectance. So, sensors that can easily monitor crop nitrogen amount throughout the growing season at a high resolution to allow producers to reach their production goals, will give useful information to prescribe a crop management on a site-specific basis. Sunflower is a crop which is taking importance again because it can be used both for food and biofuel purposes, and it is widely cultivated in the South of Spain and other European countries.The aim of this work was to compare an index related with sunflower nitrogen status, deduced from multispectral images taken from an Unmanned Aerial Vehicle (UAV), with optical data collected with a ground-based platform.An ADC Lite Tetracam digital cam was mounted on a md4-200 Microdrones to take pictures of a sunflower field during the crop season. ADC Lite Tetracam is a single sensor digital camera designed for capture of visible light wavelength longer than 520 nm and near-infrared wavelength up to 920 nm. The md4-200 Microdrones is an UAV which can be programmed to follow a route defined by several way-points and actions. The ground-based device was a Pacific Vision, Inc. multispectral radiometer. Four images with both systems were taken during the crop season and an index related with nitrogen crop status was calculated from them and compared in a sunflower field that had four irrigation treatments and eight nitrogen application rates, resulting in 32 plots of 7 m by 3.4 m, with a plant density of 7.1 plants m-2. Calculated Normalized Difference Vegetation Index (NDVI) from both measurement systems was a good indicator of nitrogen applied, but the UAV-based system provided a better estimate than ground-based system because in the first system was possible to eliminate the soil and shadows for calculating the index..

Agüera, F.; Carvajal, F.; Pérez, M.

2011-09-01

271

Visually Guided Micro-aerial Vehicle: Automatic Take Off, Terrain Following, Landing and Wind Reaction  

Microsoft Academic Search

We have developed a visually based autopilot which is able to make a Micro Air Vehicle (MAV) automatically take off, cruise and land, while reacting adequately to wind disturbances. We built a proof-of-concept, tethered rotorcraft that can travel indoors over an environment composed of contrasting features randomly arranged on the floor. Here we show the feasibility of a visuomotor control

Franck Ruffier; Nicolas H. Franceschini

2004-01-01

272

Multiresolution On-Line Path Planning for Small Unmanned Aerial Vehicles  

E-print Network

in the literature. In a typical mission of a UAV, various sensors (e.g., cameras, radars, laser scanners, satellite algorithm for a small unmanned air vehicle (UAV) with limited on-board computational resources. The proposed approach assumes that the UAV has detailed information of the environment only in the vicinity of its

Tsiotras, Panagiotis

273

Unmanned aerial vehicle-based remote sensing for rangeland assessment, monitoring, and management  

E-print Network

in the early 1970s. Radar and TV were flown on UAVs in 1941 in the United States, but only for guidance Vehicles (UAVs) have great potential for rangeland management. UAVs have several advantages over satellites an off-the-shelf mini-UAV, is directly applicable to operational agency needs for measuring

274

Experimental observation and assessment of ice conditions with a fixed-wing unmanned aerial vehicle over Yellow River, China  

NASA Astrophysics Data System (ADS)

Due to its unique geographical location and regional climate, the Yellow River and its tributaries are prone to ice jams almost every spring. Ice jams can cause levees to burst, leading to severe flooding, property damage, and human casualties. Hence, there is an urgent need to carry out observations of ice conditions and make risk assessments of ice jam occurrence. Field observation is the most reliable technique, but it is usually too expensive and time-consuming, which has led to the evaluation of applied remote sensing for data capture and analysis. Owing to the factors of timeliness, image resolution, human safety, and cost, satellite or manned aerial remote sensing cannot fully meet the requirements of ice condition observation. An unmanned aerial vehicle (UAV) remote sensing system is proposed for the collection of river ice imagery, providing the benefits of low cost, flexible launch and landing logistics, safety, and appropriate hyperspatial image resolution. One Inner Mongolian segment of the Yellow River was chosen as a test area to demonstrate key technologies and specific procedures of observation and assessment of ice conditions using the UAV system. The specific UAV remote sensing system and its components are introduced along with the procedures of UAV operation and imagery acquisition. Image preprocessing techniques and ice information extraction are described in detail followed by analysis and risk assessment of the ice conditions based on the resulting panoramic imagery. Results prove the feasibility and effectiveness of applying the fixed-wing UAV system to rapid observation and risk assessment of ice jam formation over the Yellow River under harsh weather conditions including low temperatures and strong winds.

Lin, Jiayuan; Shu, Li; Zuo, Hang; Zhang, Baosen

2012-01-01

275

Vehicle systems and payload requirements evaluation. [computer programs for identifying launch vehicle system requirements  

NASA Technical Reports Server (NTRS)

Techniques developed for identifying launch vehicle system requirements for NASA automated space missions are discussed. Emphasis is placed on development of computer programs and investigation of astrionics for OSS missions and Scout. The Earth Orbit Mission Program - 1 which performs linear error analysis of launch vehicle dispersions for both vehicle and navigation system factors is described along with the Interactive Graphic Orbit Selection program which allows the user to select orbits which satisfy mission requirements and to evaluate the necessary injection accuracy.

Rea, F. G.; Pittenger, J. L.; Conlon, R. J.; Allen, J. D.

1975-01-01

276

Lightweight aerial vehicles for monitoring, assessment and mapping of radiation anomalies.  

PubMed

The Fukushima Daiichi nuclear power plant (FDNPP) incident released a significant mass of radioactive material into the atmosphere. An estimated 22% of this material fell out over land following the incident. Immediately following the disaster, there was a severe lack of information not only pertaining to the identity of the radioactive material released, but also its distribution as fallout in the surrounding regions. Indeed, emergency aid groups including the UN did not have sufficient location specific radiation data to accurately assign exclusion and evacuation zones surrounding the plant in the days and weeks following the incident. A newly developed instrument to provide rapid and high spatial resolution assessment of radionuclide contamination in the environment is presented. The device consists of a low cost, lightweight, unmanned aerial platform with a microcontroller and integrated gamma spectrometer, GPS and LIDAR. We demonstrate that with this instrument it is possible to rapidly and remotely detect ground-based radiation anomalies with a high spatial resolution (<1 m). Critically, as the device is remotely operated, the user is removed from any unnecessary or unforeseen exposure to elevated levels of radiation. PMID:24949582

MacFarlane, J W; Payton, O D; Keatley, A C; Scott, G P T; Pullin, H; Crane, R A; Smilion, M; Popescu, I; Curlea, V; Scott, T B

2014-10-01

277

GreenHouse Observations of the Stratosphere and Troposphere (GHOST): a novel shortwave infrared spectrometer developed for the Global Hawk unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

The tropospheric distribution of greenhouse gases (GHGs) depends on surface flux variations, atmospheric chemistry and transport processes over a range of spatial and temporal scales. Accurate and precise atmospheric concentration observations of GHGs can be used to infer surface flux estimates, though their interpretation relies on unbiased atmospheric transport models. GHOST is a novel, compact shortwave infrared spectrometer which will observe tropospheric columns of CO2, CO, CH4 and H2O (along with the HDO/H2O ratio) during deployment on board the NASA Global Hawk unmanned aerial vehicle. The primary science objectives of GHOST are to: 1) test atmospheric transport models; 2) evaluate satellite observations of GHG column observations over oceans; and 3) complement in-situ tropopause transition layer observations from other Global Hawk instruments. GHOST comprises a target acquisition module (TAM), a fibre slicer and feed system, and a multiple order spectrograph. The TAM is programmed to direct solar radiation reflected by the ocean surface into a fibre optic bundle. Incoming light is then split into four spectral bands, selected to optimise remote observations of GHGs. The design uses a single grating and detector for all four spectral bands. We summarise the GHOST concept and its objectives, and describe the instrument design and proposed deployment aboard the Global Hawk platform.

Humpage, Neil; Bösch, Hartmut; Palmer, Paul I.; Parr-Burman, Phil M.; Vick, Andrew J. A.; Bezawada, Naidu N.; Black, Martin; Born, Andrew J.; Pearson, David; Strachan, Jonathan; Wells, Martyn

2014-10-01

278

Experimental aerodynamic and static elastic deformation characterization of low aspect ratio flexible fixed wings applied to micro aerial vehicles  

NASA Astrophysics Data System (ADS)

The concept of micro aerial vehicles (MAVs) is for a small, inexpensive and sometimes expendable platform, flying by remote pilot, in the field or autonomously. Because of the requirement to be flown either by almost inexperienced pilots or by autonomous control, they need to have very reliable and benevolent flying characteristics drive the design guidelines. A class of vehicles designed by the University of Florida adopts a flexible-wing concept, featuring a carbon fiber skeleton and a thin extensible latex membrane skin. Another typical feature of MAVs is a wingspan to propeller diameter ratio of two or less, generating a substantial influence on the vehicle aerodynamics. The main objectives of this research are to elucidate and document the static elastic flow-structure interactions in terms of measurements of the aerodynamic coefficients and wings' deformation as well as to substantiate the proposed inferences regarding the influence of the wings' structural flexibility on their performance; furthermore the research will provide experimental data to support the validation of CFD and FEA numerical models. A unique facility was developed at the University of Florida to implement a combination of a low speed wind tunnel and a visual image correlation system. The models tested in the wind tunnel were fabricated at the University MAV lab and consisted of a series of ten models with an identical geometry but differing in levels of structural flexibility and deformation characteristics. Results in terms of full-field displacements and aerodynamic coefficients from wind tunnel tests for various wind velocities and angles of attack are presented to demonstrate the deformation of the wing under steady aerodynamic load. The steady state effects of the propeller slipstream on the flexible wing's shape and its performance are also investigated. Analytical models of the aerodynamic and propulsion characteristics are proposed based on a multi dimensional linear regression analysis of non-linear functions. Conclusions are presented regarding the effects of the wing flexibility on some of the aerodynamic characteristics, including the effects of the propeller on the vehicle characteristics. Recommendations for future work will conclude this work.

Albertani, Roberto

279

Electric and Hybrid Vehicle Program; Site Operator Program  

SciTech Connect

Activities during the first quarter centered around integrating the new participants into the program. A meeting of the Site Operators, in conjunction with the first meeting of the Electric Vehicle Users Task Force, was held in October. A second meeting of the Task Force was held in December. During these meetings the new contractual requirements were explained to the participants. The Site Operator Data Base was distributed and explained. The Site Operators will begin using the data base in December 1991 and will supply the operating and maintenance data to the INEL on a monthly basis. The Operators requested that they be able to have access to the data of the other Operators and it was agreed that they would be provided this on floppy disk monthly from the INEL. Presentations were made to the DOE sponsored Automotive Technology Development-Contractors Coordination Meeting in October. An overview of the program was given by EG G. Representatives from Arizona Public Service, Texas A M University, and York Technical College provided details of their programs and the results and future goals. Work was begun on commercializing the Versatile Data Acquisition System (VDAS). A Scope of Work has been written for a Cooperative Research and Development Agreement (CRADA) to be submitted to the USABC. If implemented, the CRADA will provide funds for the development and commercialization of the VDAS. Participants in the Site Operator Program will test prototypes of the system within their fleets, making the data available to the USABC and other interested organizations. The USABC will provide recommendations on the data to be collected. Major activities by the majority of the Operators were involved with the continued operation and demonstration of existing vehicles. In addition, several of the operators were involved in identifying and locating vehicles to be added to their fleets. A list of the vehicles in each Site Operator fleet is included as Appendix A to this report.

Warren, J.F.

1992-01-01

280

Forward-Backward Time Varying Forgetting Factor Kalman Filter Based Landing Angle Estimation Algorithm for UAV (Unmanned Aerial Vehicle) Autolanding Modelling  

Microsoft Academic Search

\\u000a This paper discusses a landing angle estimation algorithm in UAV (Unmanned Aerial Vehicle) autolanding simulation. In UAV\\u000a autolanding with radar system, the ground multipath effect and the time varying landing angle make it difficult to estimate\\u000a landing angle information of UAV. This paper proposed a new algorithm based on forward-backward Kalman filter with time varying\\u000a forgetting factor. This algorithm effectively

Seokrim Choi; Jun-seok Lim; Sugjoon Yoon

2004-01-01

281

Aerial vehicle with paint for detection of radiological and chemical warfare agents  

DOEpatents

A paint that warns of radiological or chemical substances comprising a paint operatively connected to the surface, an indicator material carried by the paint that provides an indication of the radiological or chemical substances, and a thermo-activation material carried by the paint. In one embodiment, a method of warning of radiological or chemical substances comprising the steps of painting a surface with an indicator material, and monitoring the surface for indications of the radiological or chemical substances. In another embodiment, a paint is operatively connected to a vehicle and an indicator material is carried by the paint that provides an indication of the radiological or chemical substances.

Farmer, Joseph C.; Brunk, James L.; Day, S. Daniel

2013-04-02

282

Monitoring the Invasion of Spartina alterniflora Using Very High Resolution Unmanned Aerial Vehicle Imagery in Beihai, Guangxi (China)  

PubMed Central

Spartina alterniflora was introduced to Beihai, Guangxi (China), for ecological engineering purposes in 1979. However, the exceptional adaptability and reproductive ability of this species have led to its extensive dispersal into other habitats, where it has had a negative impact on native species and threatens the local mangrove and mudflat ecosystems. To obtain the distribution and spread of Spartina alterniflora, we collected HJ-1 CCD imagery from 2009 and 2011 and very high resolution (VHR) imagery from the unmanned aerial vehicle (UAV). The invasion area of Spartina alterniflora was 357.2?ha in 2011, which increased by 19.07% compared with the area in 2009. A field survey was conducted for verification and the total accuracy was 94.0%. The results of this paper show that VHR imagery can provide details on distribution, progress, and early detection of Spartina alterniflora invasion. OBIA, object based image analysis for remote sensing (RS) detection method, can enable control measures to be more effective, accurate, and less expensive than a field survey of the invasive population. PMID:24892066

Wan, Huawei; Wang, Qiao; Jiang, Dong; Yang, Yipeng; Liu, Xiaoman

2014-01-01

283

Monitoring the invasion of Spartina alterniflora using very high resolution unmanned aerial vehicle imagery in Beihai, Guangxi (China).  

PubMed

Spartina alterniflora was introduced to Beihai, Guangxi (China), for ecological engineering purposes in 1979. However, the exceptional adaptability and reproductive ability of this species have led to its extensive dispersal into other habitats, where it has had a negative impact on native species and threatens the local mangrove and mudflat ecosystems. To obtain the distribution and spread of Spartina alterniflora, we collected HJ-1 CCD imagery from 2009 and 2011 and very high resolution (VHR) imagery from the unmanned aerial vehicle (UAV). The invasion area of Spartina alterniflora was 357.2 ha in 2011, which increased by 19.07% compared with the area in 2009. A field survey was conducted for verification and the total accuracy was 94.0%. The results of this paper show that VHR imagery can provide details on distribution, progress, and early detection of Spartina alterniflora invasion. OBIA, object based image analysis for remote sensing (RS) detection method, can enable control measures to be more effective, accurate, and less expensive than a field survey of the invasive population. PMID:24892066

Wan, Huawei; Wang, Qiao; Jiang, Dong; Fu, Jingying; Yang, Yipeng; Liu, Xiaoman

2014-01-01

284

Land Surface Reflectance Retrieval from Hyperspectral Data Collected by an Unmanned Aerial Vehicle over the Baotou Test Site  

PubMed Central

To evaluate the in-flight performance of a new hyperspectral sensor onboard an unmanned aerial vehicle (UAV-HYPER), a comprehensive field campaign was conducted over the Baotou test site in China on 3 September 2011. Several portable reference reflectance targets were deployed across the test site. The radiometric performance of the UAV-HYPER sensor was assessed in terms of signal-to-noise ratio (SNR) and the calibration accuracy. The SNR of the different bands of the UAV-HYPER sensor was estimated to be between approximately 5 and 120 over the homogeneous targets, and the linear response of the apparent reflectance ranged from approximately 0.05 to 0.45. The uniform and non-uniform Lambertian land surface reflectance was retrieved and validated using in situ measurements, with root mean square error (RMSE) of approximately 0.01–0.07 and relative RMSE of approximately 5%–12%. There were small discrepancies between the retrieved uniform and non-uniform Lambertian land surface reflectance over the homogeneous targets and under low aerosol optical depth (AOD) conditions (AOD?=?0.18). However, these discrepancies must be taken into account when adjacent pixels had large land surface reflectance contrast and under high AOD conditions (e.g. AOD?=?1.0). PMID:23785513

Duan, Si-Bo; Li, Zhao-Liang; Tang, Bo-Hui; Wu, Hua; Ma, Lingling; Zhao, Enyu; Li, Chuanrong

2013-01-01

285

The payload bay in the nose of NASA's Altair unmanned aerial vehicle (UAV) will be able to carry up  

NASA Technical Reports Server (NTRS)

The payload bay in the nose of NASA's Altair unmanned aerial vehicle (UAV), shown here during final construction at General Atomics Aeronautical Systems, Inc., (GA-ASI) facility at Adelanto, Calif., will be able to carry up to 700 lbs. of sensors, imaging equipment and other instruments for Earth science missions. General Atomics Aeronautical Systems, Inc., is developing the Altair version of its Predator B unmanned reconnaissance aircraft under NASA's Environmental Research Aircraft and Sensor Technology (ERAST) project. NASA plans to use the Altair as a technology demonstrator to validate a variety of command and control technologies for UAVs, as well as demonstrate the capability to perform a variety of Earth science missions. The Altair is designed to carry an 700-lb. payload of scientific instruments and imaging equipment for as long as 32 hours at up to 52,000 feet altitude. Eleven-foot extensions have been added to each wing, giving the Altair an overall wingspan of 86 feet with an aspect ratio of 23. It is powered by a 700-hp. rear-mounted TPE-331-10 turboprop engine, driving a three-blade propeller. Altair is scheduled to begin flight tests in the fourth quarter of 2002, and be acquired by NASA following successful completion of basic airworthiness tests in early 2003 for evaluation of over-the-horizon control, detect, see and avoid and other technologies required to allow UAVs to operate safely with other aircraft in the national airspace.

2002-01-01

286

Land surface reflectance retrieval from hyperspectral data collected by an unmanned aerial vehicle over the Baotou test site.  

PubMed

To evaluate the in-flight performance of a new hyperspectral sensor onboard an unmanned aerial vehicle (UAV-HYPER), a comprehensive field campaign was conducted over the Baotou test site in China on 3 September 2011. Several portable reference reflectance targets were deployed across the test site. The radiometric performance of the UAV-HYPER sensor was assessed in terms of signal-to-noise ratio (SNR) and the calibration accuracy. The SNR of the different bands of the UAV-HYPER sensor was estimated to be between approximately 5 and 120 over the homogeneous targets, and the linear response of the apparent reflectance ranged from approximately 0.05 to 0.45. The uniform and non-uniform Lambertian land surface reflectance was retrieved and validated using in situ measurements, with root mean square error (RMSE) of approximately 0.01-0.07 and relative RMSE of approximately 5%-12%. There were small discrepancies between the retrieved uniform and non-uniform Lambertian land surface reflectance over the homogeneous targets and under low aerosol optical depth (AOD) conditions (AOD?=?0.18). However, these discrepancies must be taken into account when adjacent pixels had large land surface reflectance contrast and under high AOD conditions (e.g. AOD?=?1.0). PMID:23785513

Duan, Si-Bo; Li, Zhao-Liang; Tang, Bo-Hui; Wu, Hua; Ma, Lingling; Zhao, Enyu; Li, Chuanrong

2013-01-01

287

The left wing of NASA's Altair unmanned aerial vehicle (UAV) rests in a jig during construction at G  

NASA Technical Reports Server (NTRS)

The left wing of NASA's Altair unmanned aerial vehicle (UAV) rests in a jig during construction at General Atomics Aeronautical Systems, Inc., (GA-ASI) facility at Adelanto, Calif. General Atomics Aeronautical Systems, Inc., is developing the Altair version of its Predator B unmanned reconnaissance aircraft under NASA's Environmental Research Aircraft and Sensor Technology (ERAST) project. NASA plans to use the Altair as a technology demonstrator to validate a variety of command and control technologies for UAVs, as well as demonstrate the capability to perform a variety of Earth science missions. The Altair is designed to carry an 700-lb. payload of scientific instruments and imaging equipment for as long as 32 hours at up to 52,000 feet altitude. Eleven-foot extensions have been added to each wing, giving the Altair an overall wingspan of 86 feet with an aspect ratio of 23. It is powered by a 700-hp. rear-mounted TPE-331-10 turboprop engine, driving a three-blade propeller. Altair is scheduled to begin flight tests in the fourth quarter of 2002, and be acquired by NASA following successful completion of basic airworthiness tests in early 2003 for evaluation of over-the-horizon control, detect, see and avoid and other technologies required to allow UAVs to operate safely with other aircraft in the national airspace.

2002-01-01

288

Nonlinear wavelet compression of ion mobility spectra from ion mobility spectrometers mounted in an unmanned aerial vehicle.  

PubMed

Linear and nonlinear wavelet compression of ion mobility spectrometry (IMS) data are compared and evaluated. IMS provides low detection limits and rapid response for many compounds. Nonlinear wavelet compression of ion mobility spectra reduced the data to 4-5% of its original size, while eliminating artifacts in the reconstructed spectra that occur with linear compression, and the root-mean-square reconstruction error was 0.17-0.20% of the maximum intensity of the uncompressed spectra. Furthermore, nonlinear wavelet compression precisely preserves the peak location (i.e., drift time). Small variations in peak location may occur in the reconstructed spectra that were linearly compressed. A method was developed and evaluated for optimizing the compression. The compression method was evaluated with in-flight data recorded from ion mobility spectrometers mounted in an unmanned aerial vehicle (UAV). Plumes of dimethyl methylphosphonate were disseminated for interrogation by the UAV-mounted IMS system. The daublet 8 wavelet filter exhibited the best performance for these evaluations. PMID:14961740

Cao, Libo; Harrington, Peter de B; Harden, Charles S; McHugh, Vincent M; Thomas, Martin A

2004-02-15

289

Reflectance Data Processing of High Resolution Multispectral Data Acquired with an Autonomous Unmanned Aerial Vehicle AggieairTM  

NASA Astrophysics Data System (ADS)

In this study, the performance and accuracy of a method for converting airborne multispectral data to reflectance data are characterized. Spectral reflectance is the ratio of reflected to incident radiant flux and it may have values only in the interval 0-1, inclusive. Reflectance is a key physical property of a surface and is empirically derived from on-ground observations. The paper presents a method for processing multispectral data acquired by an unmanned aerial vehicle (UAV) platform, called AggieAirTM, and a process for converting raw digital numbers to calibrated reflectance values. Imagery is acquired by two identical sets of cameras. One set is aboard the UAV and the other is over a barium sulfate reference panel. The cameras have identical settings. The major steps for producing the reflectance data involve the calibration of the reference panel, calibration of the multispectral UAV cameras, zenith angle calculations and image processing. The method converts airborne multispectral data by calculating the ratio of linearly-interpolated reference values from the pre- and post-flight reference panel readings. The flight interval is typically approximately 30 minutes and the imagery is acquired around local solar noon. The UAV is typically flown at low altitudes to reduce atmospheric effects to a negligible level. Data acquired over wetlands near Great Salt Lake, Utah is used to illustrate ground data and processed imagery. The spectral resolution of the multispectral data is 25 cms. The paper discusses the accuracy issues and errors associated with the proposed method.

Zaman, B.; Jensen, A.; McKee, M.

2012-12-01

290

Electric and hybrid vehicle program; Site Operator Program  

NASA Astrophysics Data System (ADS)

Activities during the second quarter included the second meeting of the Site Operators in Phoenix, AZ in late April. The meeting was held in conjunction with the Solar and Electric 500 Race activities. Delivery of vehicles ordered previously has begun, although two of the operators are experiencing some delays in receiving their vehicles. Public demonstration activities continue, with an apparent increasing level of awareness and interest being displayed by the public. Initial problems with the Site Operator Database have been corrected and revised copies of the program have been supplied to the program participants. Operating and Maintenance data is being supplied and submitted to INEL on a monthly basis. Interest in the Site Operator Program is being reflected in requests for information from several organizations from across the country, representing a wide diversity of interests. These organizations have been referred to existing Site Operators with the explanation that the program will not be adding new participants, but that most of the existing organizations are willing to work with other groups. The exception to this was the addition of Potomac Electric Power Company (PEPCO) to the program. PEPCO has been awarded a subcontract to operate and maintain the DOE owned G-Van and Escort located in Washington, DC. They will provide data on these vehicles, as well as a Solectria Force which PEPCO has purchased. The Task Force intends to be actively involved in the infrastructure development in a wide range of areas. These include, among others, personnel development, safety, charging, and servicing. Work continues in these areas. York Technical College (YORK) has completed the draft outline for the EV Technician course. This is being circulated to organizations around the country for comments. Kansas State University (KSU) is working with a private sector company to develop a energy dispensing meter for opportunity charging in public areas.

Warren, J. F.

1992-05-01

291

Electric and hybrid vehicle program; Site Operator Program  

SciTech Connect

Activities during the second quarter included the second meeting of the Site Operators in Phoenix, AZ in late April. The meeting was held in conjunction with the Solar and Electric 500 Race activities. Delivery of vehicles ordered previously has begun, although two of the operators are experiencing some delays in receiving their vehicles. Public demonstration activities continue, with an apparent increasing level of awareness and interest being displayed by the public. Initial problems with the Site Operator Database have been corrected and revised copies of the program have been supplied to the Program participants. Operating and Maintenance data is being supplied and submitted to INEL on a monthly basis. Interest in the Site Operator Program is being reflected in requests for information from several organizations from across the country, representing a wide diversity of interests. These organizations have been referred to existing Site Operators with the explanation that the program will not be adding new participants, but that most of the existing organizations are willing to work with other groups. The exception to this was the addition of Potomac Electric Power Company (PEPCO) to the program. PEPCO has been awarded a subcontract to operate and maintain the DOE owned G-Van and Escort located in Washington, DC. They will provide data on these vehicles, as well as a Solectria Force which PEPCO has purchased. The Task Force intends to be actively involved in the infrastructure development in a wide range of areas. These include, among others, personnel development, safety, charging, and servicing. Work continues in these areas. York Technical College (YORK) has completed the draft outline for the EV Technician course. This is being circulated to organizations around the country for comments. Kansas State University (KSU) is working with a private sector company to develop a energy dispensing meter for opportunity charging in public areas.

Warren, J.F.

1992-05-01

292

The China New Energy Vehicles Program - Challenges and Opportunities  

NSDL National Science Digital Library

In this report funded by the World Bank and carried out by the firm PRTM, Chinaâs New Energy Program and 10 Cities 1000 Vehicles program are evaluated. China is on the forefront of electric vehicle (EV) and hybrid electric vehicle (HEV) development leading the world in funding of new energy vehicles (100 billion RMB investments by 2021). Leading the development of new energy technologies is faced with challenges such as policy, grid solutions, standards, new business models, new technologies, and customer acceptance. This report reviews Chinaâs current energy programs and predicts future government and commercial changes to come due to new energy technologies.

Prtm

293

40 CFR 86.448-2006 - What provisions apply to vehicles certified under the Recreational-vehicle program?  

Code of Federal Regulations, 2013 CFR

...2013-07-01 false What provisions apply to vehicles certified under the Recreational-vehicle program? 86.448-2006 Section 86...OF EMISSIONS FROM NEW AND IN-USE HIGHWAY VEHICLES AND ENGINES Emission Regulations for...

2013-07-01

294

40 CFR 86.448-2006 - What provisions apply to vehicles certified under the Recreational-vehicle program?  

...2014-07-01 false What provisions apply to vehicles certified under the Recreational-vehicle program? 86.448-2006 Section 86...OF EMISSIONS FROM NEW AND IN-USE HIGHWAY VEHICLES AND ENGINES Emission Regulations for...

2014-07-01

295

40 CFR 1051.610 - What provisions apply to vehicles already certified under the motor vehicle program?  

Code of Federal Regulations, 2010 CFR

...2010-07-01 false What provisions apply to vehicles already certified under the motor vehicle program? 1051.610 Section 1051.610...OF EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Compliance Provisions § 1051.610...

2010-07-01

296

40 CFR 1051.610 - What provisions apply to vehicles already certified under the motor vehicle program?  

Code of Federal Regulations, 2013 CFR

...2013-07-01 false What provisions apply to vehicles already certified under the motor vehicle program? 1051.610 Section 1051.610...OF EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Compliance Provisions § 1051.610...

2013-07-01

297

40 CFR 86.448-2006 - What provisions apply to vehicles certified under the Recreational-vehicle program?  

Code of Federal Regulations, 2012 CFR

...2012-07-01 false What provisions apply to vehicles certified under the Recreational-vehicle program? 86.448-2006 Section 86...OF EMISSIONS FROM NEW AND IN-USE HIGHWAY VEHICLES AND ENGINES Emission Regulations for...

2012-07-01

298

40 CFR 1051.610 - What provisions apply to vehicles already certified under the motor vehicle program?  

...2014-07-01 false What provisions apply to vehicles already certified under the motor vehicle program? 1051.610 Section 1051.610...OF EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Compliance Provisions § 1051.610...

2014-07-01

299

40 CFR 86.448-2006 - What provisions apply to vehicles certified under the Recreational-vehicle program?  

Code of Federal Regulations, 2011 CFR

...2011-07-01 false What provisions apply to vehicles certified under the Recreational-vehicle program? 86.448-2006 Section 86...OF EMISSIONS FROM NEW AND IN-USE HIGHWAY VEHICLES AND ENGINES Emission Regulations for...

2011-07-01

300

40 CFR 1051.610 - What provisions apply to vehicles already certified under the motor vehicle program?  

Code of Federal Regulations, 2011 CFR

...2011-07-01 false What provisions apply to vehicles already certified under the motor vehicle program? 1051.610 Section 1051.610...OF EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Compliance Provisions § 1051.610...

2011-07-01

301

40 CFR 1051.610 - What provisions apply to vehicles already certified under the motor vehicle program?  

Code of Federal Regulations, 2012 CFR

...2012-07-01 false What provisions apply to vehicles already certified under the motor vehicle program? 1051.610 Section 1051.610...OF EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Compliance Provisions § 1051.610...

2012-07-01

302

Transference of Evolved Unmanned Aerial Vehicle Controllers to a Wheeled Mobile Robot  

E-print Network

). Controllers were evolved to locate a radar source, navigate the UAV to the source efficiently using on to locate a radar, navigate the UAV to the source efficiently using sensor measurements, and circle around navigation controllers for fixed wing UAV applications using multi- objective genetic programming (GP

Fernandez, Thomas

303

EDIN0613P weight estimating program. [for launch vehicles  

NASA Technical Reports Server (NTRS)

The weight estimating relationships and program developed for space power system simulation are described. The program was developed to size a two-stage launch vehicle for the space power system. The program is actually part of an overall simulation technique called EDIN (Engineering Design and Integration) system. The program sizes the overall vehicle, generates major component weights and derives a large amount of overall vehicle geometry. The program is written in FORTRAN V and is designed for use on the Univac Exec 8 (1110). By utilizing the flexibility of this program while remaining cognizant of the limits imposed upon output depth and accuracy by utilization of generalized input, this program concept can be a useful tool for estimating purposes at the conceptual design stage of a launch vehicle.

Hirsch, G. N.

1976-01-01

304

Space Technology Research Vehicle (STRV)-1 program  

NASA Astrophysics Data System (ADS)

The Space Technology Research Vehicle (STRV)-1 program, initiated by the UK Ministry of Defence and the US Ballistic Missile Defense Organization under terms of an agreement originally signed by President Reagan and Prime Minister Thatcher, has resulted in new opportunities for researchers to acquire low-cost on-orbit data. The STRV-1 a/b satellites were launched into a geotransfer orbit (GTO) on June 1994, and continued operation until the mission was terminated in September, 1998. Data returned from the on-board experiments has provided new insights into the nature of the terrestrial radiation belts and the effects of this radiation on critical spacecraft materials and components. The flexibility of the on-board computer also enabled successful demonstration of new space communication protocol standards. Transfer of day-to-day satellite operations from the Defence Evaluation and Research Agency to the University of Colorado clearly showed that spacecraft conforming to CCSDS standard protocols can be rapidly cross- supported across an international boundary. The next satellites in the STRV-1 program, STRV-1 c/d, will carry 21 hardware experiments sponsored by the US, UK, Canada, and ESA, and will provide on-board computing capability for conducting three software experiments. Launch into GTO in the latter part of 2000 will result in exposure of all satellite systems and experiments to increasing solar activity and its resulting influence on Van Allen belt radiation fluence.

Stubstad, John; Blott, Richard J.; Shoemaker, James

2000-11-01

305

VEEP: A Vehicle Economy, Emissions, and Performance simulation program  

NASA Technical Reports Server (NTRS)

The purpose of the VEEP simulation program was to: (1) predict vehicle fuel economy and relative emissions over any specified driving cycle; (2) calculate various measures of vehicle performance (acceleration, passing manuevers, gradeability, top speed), and (3) give information on the various categories of energy dissipation (rolling friction, aerodynamics, accessories, inertial effects, component inefficiences, etc.). The vehicle is described based on detailed subsystem information and numerical parameters characterizing the components of a wide variety of self-propelled vehicles. Conventionally arranged heat engine powered automobiles were emphasized, but with consideration in the design toward the requirement of other types of vehicles.

Klose, G. J.

1978-01-01

306

Weed mapping in early-season maize fields using object-based analysis of unmanned aerial vehicle (UAV) images.  

PubMed

The use of remote imagery captured by unmanned aerial vehicles (UAV) has tremendous potential for designing detailed site-specific weed control treatments in early post-emergence, which have not possible previously with conventional airborne or satellite images. A robust and entirely automatic object-based image analysis (OBIA) procedure was developed on a series of UAV images using a six-band multispectral camera (visible and near-infrared range) with the ultimate objective of generating a weed map in an experimental maize field in Spain. The OBIA procedure combines several contextual, hierarchical and object-based features and consists of three consecutive phases: 1) classification of crop rows by application of a dynamic and auto-adaptive classification approach, 2) discrimination of crops and weeds on the basis of their relative positions with reference to the crop rows, and 3) generation of a weed infestation map in a grid structure. The estimation of weed coverage from the image analysis yielded satisfactory results. The relationship of estimated versus observed weed densities had a coefficient of determination of r(2)=0.89 and a root mean square error of 0.02. A map of three categories of weed coverage was produced with 86% of overall accuracy. In the experimental field, the area free of weeds was 23%, and the area with low weed coverage (<5% weeds) was 47%, which indicated a high potential for reducing herbicide application or other weed operations. The OBIA procedure computes multiple data and statistics derived from the classification outputs, which permits calculation of herbicide requirements and estimation of the overall cost of weed management operations in advance. PMID:24146963

Peña, José Manuel; Torres-Sánchez, Jorge; de Castro, Ana Isabel; Kelly, Maggi; López-Granados, Francisca

2013-01-01

307

Weed Mapping in Early-Season Maize Fields Using Object-Based Analysis of Unmanned Aerial Vehicle (UAV) Images  

PubMed Central

The use of remote imagery captured by unmanned aerial vehicles (UAV) has tremendous potential for designing detailed site-specific weed control treatments in early post-emergence, which have not possible previously with conventional airborne or satellite images. A robust and entirely automatic object-based image analysis (OBIA) procedure was developed on a series of UAV images using a six-band multispectral camera (visible and near-infrared range) with the ultimate objective of generating a weed map in an experimental maize field in Spain. The OBIA procedure combines several contextual, hierarchical and object-based features and consists of three consecutive phases: 1) classification of crop rows by application of a dynamic and auto-adaptive classification approach, 2) discrimination of crops and weeds on the basis of their relative positions with reference to the crop rows, and 3) generation of a weed infestation map in a grid structure. The estimation of weed coverage from the image analysis yielded satisfactory results. The relationship of estimated versus observed weed densities had a coefficient of determination of r2=0.89 and a root mean square error of 0.02. A map of three categories of weed coverage was produced with 86% of overall accuracy. In the experimental field, the area free of weeds was 23%, and the area with low weed coverage (<5% weeds) was 47%, which indicated a high potential for reducing herbicide application or other weed operations. The OBIA procedure computes multiple data and statistics derived from the classification outputs, which permits calculation of herbicide requirements and estimation of the overall cost of weed management operations in advance. PMID:24146963

Peña, José Manuel; Torres-Sánchez, Jorge; de Castro, Ana Isabel; Kelly, Maggi; López-Granados, Francisca

2013-01-01

308

Space-time computational analysis of bio-inspired flapping-wing aerodynamics of a micro aerial vehicle  

NASA Astrophysics Data System (ADS)

We present a detailed computational analysis of bio-inspired flapping-wing aerodynamics of a micro aerial vehicle (MAV). The computational techniques used include the Deforming-Spatial-Domain/Stabilized Space-Time (DSD/SST) formulation, which serves as the core computational technique. The DSD/SST formulation is a moving-mesh technique, and in the computations reported here we use the space-time version of the residual-based variational multiscale (VMS) method, which is called "DSD/ SST-VMST." The motion and deformation of the wings are based on data extracted from the high-speed, multi-camera video recordings of a locust in a wind tunnel. A set of special space-time techniques are also used in the computations in conjunction with the DSD/SST method. The special techniques are based on using, in the space-time flow computations, NURBS basis functions for the temporal representation of the motion and deformation of the wings and for the mesh moving and remeshing. The computational analysis starts with the computation of the base case, and includes computations with increased temporal and spatial resolutions compared to the base case. In increasing the temporal resolution, we separately test increasing the temporal order, the number of temporal subdivisions, and the frequency of remeshing. In terms of the spatial resolution, we separately test increasing the wing-mesh refinement in the normal and tangential directions and changing the way node connectivities are handled at the wingtips. The computational analysis also includes using different combinations of wing configurations for the MAV and investigating the beneficial and disruptive interactions between the wings and the role of wing camber and twist.

Takizawa, Kenji; Kostov, Nikolay; Puntel, Anthony; Henicke, Bradley; Tezduyar, Tayfun E.

2012-12-01

309

Seasonal associations and atmospheric transport distances of Fusarium collected with unmanned aerial vehicles and ground-based sampling devices  

NASA Astrophysics Data System (ADS)

Spores of fungi in the genus Fusarium may be transported through the atmosphere over long distances. Members of this genus are important pathogens and mycotoxin producers. New information is needed to characterize seasonal trends in atmospheric loads of Fusarium and to pinpoint the source(s) of inoculum at both local (farm) and regional (state or country) scales. Spores of Fusarium were collected from the atmosphere in an agricultural ecosystem in Blacksburg, VA, USA using a Burkard volumetric sampler (BVS) 1 m above ground level and autonomous unmanned aerial vehicles (UAVs) 100 m above ground level. More than 2,200 colony forming units (CFUs) of Fusarium were collected during 104 BVS sampling periods and 180 UAV sampling periods over four calendar years (2009-2012). Spore concentrations ranged from 0 to 13 and 0 to 23 spores m-3 for the BVS and the UAVs, respectively. Spore concentrations were generally higher in the fall, spring, and summer, and lower in the winter. Spore concentrations from the BVS were generally higher than those from the UAVs for both seasonal and hourly collections. Some of the species of Fusarium identified from our collections have not been previously reported in the state of Virginia. A Gaussian plume transport model was used to estimate distances to the potential inoculum source(s) by season. This work extends previous studies showing an association between atmospheric transport barriers (Lagrangian coherent structures or LCSs) and the movement of Fusarium in the lower atmosphere. An increased understanding of the aerobiology of Fusarium may contribute to new and improved control strategies for diseases causes by fusaria in the future.

Schmale, David; Ross, Shane; Lin, Binbin

2014-05-01

310

Aerial Explorers and Robotic Ecosystems  

NASA Technical Reports Server (NTRS)

A unique bio-inspired approach to autonomous aerial vehicle, a.k.a. aerial explorer technology is discussed. The work is focused on defining and studying aerial explorer mission concepts, both as an individual robotic system and as a member of a small robotic "ecosystem." Members of this robotic ecosystem include the aerial explorer, air-deployed sensors and robotic symbiotes, and other assets such as rovers, landers, and orbiters.

Young, Larry A.; Pisanich, Greg

2004-01-01

311

Aerial spraying of fenitrothion in forest programs: some problems and some solutions.  

PubMed

Annually, large tracts of forest in eastern Canada are sprayed aerially with insecticides (fenitrothion, aminocarb) in attempts to control an epidemic infestation by an indigenous forest pest, the spruce budworm (Choristoneura fumiferana, Clemens). The massive size of the spraying programs, the anecdotal reports of human exposure, and the potential for hazard to human health have led one province. New Brunswick, to initiate and fund specific environmental and laboratory studies which will provide adequate data upon which the government can base realistic legislation to protect both the forests and the population. These studies have included some unique field analyses of aerial spray drift conducted by a research group from the National Research Council; comparative subchronic studies in rats of fenitrothion and a new formulation; a nose-only inhalation study of this formulation in rats; field testing of the formulation for drift characteristics. Ongoing research involves the subchronic testing of the emulsifying agents being used routinely in the new formulation and studies of a low-drift additive which will stabilize the particle size of the spray. On the basis of the results to date, the government has been able to modify spraying techniques and to establish realistic buffer zones around human habitation. PMID:7127208

Ecobichon, D J

1982-07-01

312

Kansas State University electric vehicle site operator program  

SciTech Connect

K-State is presently working with Grumman Allied and Unique Mobility to establish a working agreement for the research and development of a pure electric postal vehicle. K-State has worked on the design of this vehicle for the past year and is working to establish the appropriate consortium to bring this vehicle to commercial realization. K-State is working to establish infrastructure support for electric vehicles. Presently, a Kansas company is working with K-State to bring its patented low-cost vehicle metering product to market. An anticipated second year DOE project would provide 100 electric metering stations to Southern California for a large scale electric vehicle infrastructure demonstration project. This project would allow a parking lot(s) to be made EV ready. K-State's Site Operator Program continues to get the word-out'' about electric vehicles. From a personal visit by Senator Bob Dole, to Corporate Board of Director Meetings, to school classrooms, to shopping mall demonstrations; K-State Employees are increasing public access and awareness about the electric vehicle industry. As has been shown in this report, K-State's G-Van has logged an average eighteen miles per day while maintaining a full schedule of public relations tours within the state of Kansas and Missouri. K-State has now been contacted by companies in Nebraska and Iowa requesting information and involvement in this program. Kansas and Kansas State will continue its work to contribute to the Site Operator Program effort. With the purchase of two additional electric vehicles and the pending request to purchase two more electric vehicles during the next contractual year, K-states's program will grow. When vehicle development plans and infrastructure requirements are solidified, K-State's program will be ready to participate and be a major contributor to the development and introduction of this technology.

Hague, J.R.; Steinert, R.A.; Nissen-Pfrang, T.

1991-01-01

313

Application of aerial photography to water-related programs in Michigan  

NASA Technical Reports Server (NTRS)

Aerial photography and information system technology were used to generate information required for the effective operation of three water-related programs in Michigan. Potential mosquito breeding sites were identified from specially acquired low altitude 70 mm color photography for the city of Lansing; the inventory identified 35% more surface water areas than indicated on existing field maps. A comprehensive inventory of surface water sources and potential access sites was prepared to assist fire departments in Antrim County with fire truck water-recharge operations. Remotely-sensed land cover/use data for Windsor Township, Eaton County, were integrated with other resource data into a computer-based information system for regional water quality studies. Eleven thematic maps focusing on landscape features affecting non-point water pollution and waste disposal were generated from analyses of a four-hectare grid-based data file containing land cover/use, soils, topographic and geologic (well-log) data.

Enslin, W. R.; Hill-Rowley, R.; Tilmann, S. E.

1977-01-01

314

Application of aerial photography to water-related programs in Michigan  

NASA Technical Reports Server (NTRS)

The paper describes the use of aerial photography and information system technology in the provision of information required for the effective operation of three water-related programs in Michigan. Potential mosquito breeding sites were identified from specially acquired low altitude 70 mm color photography for the City of Lansing Vector Control Area. A comprehensive inventory of surface water sources and potential access sites was prepared to assist fire departments in Antrim County with fire truck water-recharge operations. Remotely-sensed land cover/use data for Windsor Township, Eaton County were integrated with other resource data into a computer-based information system for regional water quality studies. Eleven thematic maps specifically focussed on landscape features affecting non-point water pollution and waste disposal were generated from analyses of a four-hectare grid-based data file containing land cover/use, soils, topographic and geologic (well-log) data.

Enslin, W. R.; Hill-Rowley, R.; Tilmann, S. E.

1977-01-01

315

Manned Orbital Transfer Vehicle (MOTV). Volume 3: Program requirements documents  

NASA Technical Reports Server (NTRS)

The requirements for geosynchronous orbit capability using the manned orbit transfer vehicle (MOTV) are defined. The program requirements, the mission requirements, and the system and subsystem requirements for the MOTV are discussed. The mission requirements include a geosynchronous Earth orbit vehicle for the construction, servicing, repair and operation of communications, solar power, and Earth observation satellites.

Boyland, R. E.; Sherman, S. W.; Morfin, H. W.

1979-01-01

316

Training Program for Operation of Emergency Vehicles. Trainee Study Guide.  

ERIC Educational Resources Information Center

A two-part trainee study guide for use in the classroom phase of the Emergency Vehicle Operation (EVO) training program is provided. Part 1, to be taken by all trainees, contains seven units organized into various subunits and includes the following: (1) introduction to the course; (2) some legal aspects of emergency vehicle operation (state…

INNOVATRIX, Inc., Ingomar, PA.

317

Navy Omni-Directional Vehicle (ODV) development program  

NASA Technical Reports Server (NTRS)

The Omni-Directional Vehicle (ODV) development program sponsored by the Office of Naval Research at the Coastal Systems Station has investigated the application of ODV technology for use in the Navy shipboard environment. ODV technology as originally received by the Navy in the form of the Cadillac-Gage Side Mover Vehicle was applicable to the shipboard environment with the potential to overcome conditions of reduced traction, ship motion, decks heeled at high angles, obstacles, and confined spaces. Under the Navy program, ODV technology was investigated and a series of experimental vehicles were built and successfully tested under extremely demanding conditions. The ODV drive system has been found to be applicable to autonomous, remotely, or manually operated vehicles. Potential commercial applications include multi-directional forklift trucks, automatic guided vehicles employed in manufacturing environments, and remotely controlled platforms used in nuclear facilities or for hazardous waste clean up tasks.

Mcgowen, Hillery

1994-01-01

318

41 CFR 101-26.501-9 - Centralized motor vehicle leasing program.  

Code of Federal Regulations, 2010 CFR

...2010-07-01 true Centralized motor vehicle leasing program. ...101-26.501-9 Centralized motor vehicle leasing program. ...provide an additional source of motor vehicle support to...contiguous States and Washington, DC. However, agencies...

2010-07-01

319

Electric vehicle/photovoltaic test and evaluation program. Final report  

SciTech Connect

The University of South Florida (USF) in collaboration with Florida utilities and other organizations have executed a research and development program for the test and evaluation of Electric Vehicles. Its activity as one of 13 US Department of Energy (DOE) Electric Vehicle Test Site Operators was funded by DOE and the Florida Energy Office (FEO). The purpose of this program was to determine the efficiency of electric vehicles under commuter and fleet conditions in Florida. An additional feature of this program was the development of a utility interconnected photovoltaic (PV) system for charging electric vehicles with solar energy. USF developed an effective and economical automated on board Mobile Data Acquisition System (MDAS) that records vehicle operating data with minimum operator interface. Computer programs were written by the USF team to achieve processing and analysis of the vehicles` MDAS data, again minimizing human involvement, human effort and human error. A large number of passenger cars, vans and pickup trucks were studied. Procedures for monitoring them were developed to a point where the equipment is commercially available and its operation has become routine. The nations first PV solar powered electric vehicle charging station and test facility was designed, developed and put into operation under this program. The charging station is capable of direct DC-DC (PV to battery) or AC-DC (power grid to battery) charging and it routes unused PV power to the University`s power grid for other use. The DC-DC charging system is more efficient, more dependable and safer than DC-AC-DC and traditional methods of DC-DC charging. A fortuitous correlation was observed between battery charging demand and solar power availability in commuter application of electric vehicles.

NONE

1997-06-01

320

PROGRAM OPPORTUNITY NOTICE Alternative and Renewable Fuel and Vehicle  

E-print Network

Alternative Fuel Readiness Plans PON-13-603 http://www.energy.ca.gov/contracts State of California California Energy Commission August 12, 2013 #12;8-9-13 Page i PON-13-603 Alternative Fuel Readiness Plans TablePROGRAM OPPORTUNITY NOTICE Alternative and Renewable Fuel and Vehicle Technology Program

321

Geometric and photometric image stabilization for detection of significant events in video from a low flying Unmanned Aerial Vehicles  

Microsoft Academic Search

Abstract: Analysis and interpretation of the information present in a video stream from aerial surveys isdemanding and time-consuming even for experts. On-line video sequences acquired by cameras onboard of a small surveillance plane are very unstable. The brightness and contrast of the images arerapidly changing due to fast changes in illumination and the content of the scene. The movementof the

Jir ´ i Matas; Pavel Krsek; Martin Urban; Stepan Obdrzalek; Jir ´ i Nohyl

322

40 CFR 86.448-2006 - What provisions apply to vehicles certified under the Recreational-vehicle program?  

Code of Federal Regulations, 2010 CFR

...under the Recreational-vehicle program? 86.448-2006 Section 86.448-2006 Protection of Environment ENVIRONMENTAL PROTECTION...New Motorcycles, General Provisions § 86.448-2006 What provisions apply to vehicles certified...

2010-07-01

323

Near-term electric vehicle program: Phase I, final report  

Microsoft Academic Search

A final report is given for an Energy Research and Development Administration effort aimed at a preliminary design of an energy-efficient electric commuter car. An electric-powered passenger vehicle using a regenerative power system was designed to meet the near-term ERDA electric automobile goals. The program objectives were to (1) study the parameters that affect vehicle performance, range, and cost; (2)

B. H. Rowlett; R. Murry

1977-01-01

324

Greenhouse Observations of the Stratosphere and Troposphere (GHOST): a novel shortwave infrared spectrometer developed for the Global Hawk unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

The tropospheric distribution of greenhouse gases (GHGs) is dependent on surface flux variations, atmospheric chemistry and transport processes over a wide range of spatial and temporal scales. Errors in assumed atmospheric transport can adversely affect surface flux estimates inferred from surface, aircraft or satellite observations of greenhouse gas concentrations using inverse models. We present a novel, compact shortwave infrared spectrometer (GHOST) for installation on the NASA Global Hawk unmanned aerial vehicle to provide tropospheric column observations of CO2, CO, CH4, H2O and HDO over the ocean to address the need for large-scale, simultaneous, finely resolved measurements of key GHGs. These species cover a range of lifetimes and source processes, and measurements of their tropospheric columns will reflect the vertically integrated signal of their vertical and horizontal transport within the troposphere. The primary science objectives of GHOST are to: 1) provide observations which can be used to test atmospheric transport models; 2) validate satellite observations of GHG column observations over oceans, thus filling a critical gap in current validation capabilities; and 3) complement in-situ tropopause transition layer tracer observations from other instrumentation on board the Global Hawk to provide a link between upper and lower troposphere concentration measurements. The GHOST spectrometer system comprises a target acquisition module (TAM), a fibre slicer and feed system, and a multiple order spectrograph. The TAM design utilises a gimbal behind an optical dome, which is programmed to direct solar radiation reflected by the ocean surface into a fibre optic bundle. The fibre slicer and feed system then splits the light into the four spectral bands using order sorting filters. The fibres corresponding to each band are arranged with a small sideways offset to correctly centre each spectrum on the detector array. The spectrograph design is unique in that a single grating and detector is used for all four spectral bands. The whole instrument is housed within a liquid nitrogen cooled cryostat to ensure thermal stability. We summarise the GHOST project and its objectives, and will provide a detailed overview of the instrument concept, development, and proposed deployment on board the Global Hawk.

Humpage, Neil; Boesch, Hartmut; Palmer, Paul; Parr-Burman, Phil; Vick, Andy; Bezawada, Naidu; Black, Martin; Born, Andy; Pearson, David; Strachan, Jonathan; Wells, Martyn

2014-05-01

325

41 CFR 101-26.501-9 - Centralized motor vehicle leasing program.  

Code of Federal Regulations, 2011 CFR

...2007-07-01 true Centralized motor vehicle leasing program. 101-26.501-9 Section 101-26...101-26.501-9 Centralized motor vehicle leasing program. GSA has a centralized leasing program to provide an additional...

2011-07-01

326

41 CFR 101-26.501-9 - Centralized motor vehicle leasing program.  

Code of Federal Regulations, 2013 CFR

...2012-07-01 true Centralized motor vehicle leasing program. 101-26.501-9 Section 101-26...101-26.501-9 Centralized motor vehicle leasing program. GSA has a centralized leasing program to provide an additional...

2013-07-01

327

41 CFR 101-26.501-9 - Centralized motor vehicle leasing program.  

...2012-07-01 true Centralized motor vehicle leasing program. 101-26.501-9 Section 101-26...101-26.501-9 Centralized motor vehicle leasing program. GSA has a centralized leasing program to provide an additional...

2014-07-01

328

41 CFR 101-26.501-9 - Centralized motor vehicle leasing program.  

Code of Federal Regulations, 2012 CFR

...2012-07-01 false Centralized motor vehicle leasing program. 101-26.501-9 Section 101-26...101-26.501-9 Centralized motor vehicle leasing program. GSA has a centralized leasing program to provide an additional...

2012-07-01

329

Electric and hybrid vehicle program; Site Operator Program  

Microsoft Academic Search

Activities during the second quarter included the second meeting of the Site Operators in Phoenix, AZ in late April. The meeting was held in conjunction with the Solar and Electric 500 Race activities. Delivery of vehicles ordered previously has begun, although two of the operators are experiencing some delays in receiving their vehicles. Public demonstration activities continue, with an apparent

J. F. Warren

1992-01-01

330

Electric and hybrid vehicle program site operator program. Quarterly progress report, January 1995--March 1995  

SciTech Connect

The Site Operator Program was initially established by the Department of Energy (DOE) to incorporate the electric vehicle activities dictated by the Electric and Hybrid Vehicle Research, Development and Demonstration Act of 1976. In the ensuing years, the Program has evolved in response to new legislation and interests. The Program currently includes twelve sites located in diverse geographic, metrologic, and metropolitan areas across the United States. Information is shared reciprocally with a thirteenth site, not under Program contract. The vehicles are operator-owned. The Mission Statement of the Site Operator Program includes three major activities: (1) Advancement of electric vehicle technologies; (2) Development of infrastructure elements necessary to support significant electric vehicle use; and (3) Increasing the awareness and acceptance of electric vehicles (EVs) by the public. The current participants in the Site Operator Program are shown. Table 1 indicates the EVs in each of the Site Operator fleets. Table 2 provides baseline information on several EVs currently in use by the Site Operators, or which have evolved to the point that they may be introduced in the near future. The Program is currently managed by personnel of the Electric and Hybrid Vehicle Program at the Idaho National Engineering Laboratory (INEL). The current principal management functions include: Coordination of Site Operator efforts in the areas of public awareness and infrastructure development (program-related meetings, and educational presentations).

Kiser, D.M.; Brown, H.L.

1995-08-01

331

Program For Simulating Dynamics Of Aerospace Vehicles  

NASA Technical Reports Server (NTRS)

SORT (Simulation and Optimization of Rocket Trajectories) is general-purpose three-degree-of-freedom with three axis static moment balance simulation of flight dynamics of arbitrary aerospace vehicle. Modular structure facilitates application to variety of trajectory-analysis problems. Contains math model of aerodynamics completely generalized. Computes both longitudinal and lateral forces and moments. In addition to fore-body coefficients, computes longitudinal base effect aerodynamic forces and moments. Simplified ballistic-coefficient model also available for analysis of ballistic entry. Written using ANSI FORTRAN 77.

Berning, M. J.; Sagis, K. D.

1995-01-01

332

Kansas State University Electric Vehicle Site Operator Program  

SciTech Connect

During the past fifteen years Kansas State's faculty has been involved in research of alternative fuel vehicles. From formulation of fuels and automotive fuel storage to development of electronic controls, K-State's faculty research has been ongoing. With the increased awareness of what is occurring to the world's environment, the catalyst -- to ensure applied results from faculty research will occur -- has been activated. The Department of Energy's Electric Vehicle Site Operator Program is the platform being used to demonstrate international efforts to bring a more acceptable daily mode of transportation to our highways. The first new electrical vehicle procured at K-State in the last ten years, a G-Van, is a technological dinosaur. It does not incorporate leading edge control or drive systems nor does it provide the type of vehicle frame and body to meet a majority of the daily commuter needs required by the American market. Yet, this vehicle represents initial efforts to bring a federally crash certified vehicle to the commercial automotive market. As such, it is an evolutionary step in the mass production of electric vehicle products.

Hague, J.R.; Steinert, R.A.; Nissen-Pfrang, T.

1991-01-01

333

International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol. XXXVIII-1/C22 UAV-g 2011, Conference on Unmanned Aerial Vehicle in Geomatics, Zurich, Switzerland  

E-print Network

. XXXVIII-1/C22 UAV-g 2011, Conference on Unmanned Aerial Vehicle in Geomatics, Zurich, Switzerland DIRECT GEOREFERENCING OF UAVS M. Bláha *, H. Eisenbeiss, D. Grimm, P. Limpach Institute of Geodesy and Photogrammetry.limpach)@geod.baug.ethz.ch and mblaha@student.ethz.ch Commission VI, WG VI/4 KEY WORDS: UAV, Falcon 8, direct georeferencing, GPS

Schindler, Konrad

334

Vehicle technologies heavy vehicle program : FY 2008 benefits analysis, methodology and results --- final report.  

SciTech Connect

This report describes the approach to estimating the benefits and analysis results for the Heavy Vehicle Technologies activities of the Vehicle Technologies (VT) Program of EERE. The scope of the effort includes: (1) Characterizing baseline and advanced technology vehicles for Class 3-6 and Class 7 and 8 trucks, (2) Identifying technology goals associated with the DOE EERE programs, (3) Estimating the market potential of technologies that improve fuel efficiency and/or use alternative fuels, and (4) Determining the petroleum and greenhouse gas emissions reductions associated with the advanced technologies. In FY 08 the Heavy Vehicles program continued its involvement with various sources of energy loss as compared to focusing more narrowly on engine efficiency and alternative fuels. These changes are the result of a planning effort that first occurred during FY 04 and was updated in the past year. (Ref. 1) This narrative describes characteristics of the heavy truck market as they relate to the analysis, a description of the analysis methodology (including a discussion of the models used to estimate market potential and benefits), and a presentation of the benefits estimated as a result of the adoption of the advanced technologies. The market penetrations are used as part of the EERE-wide integrated analysis to provide final benefit estimates reported in the FY08 Budget Request. The energy savings models are utilized by the VT program for internal project management purposes.

Singh, M.; Energy Systems; TA Engineering

2008-02-29

335

Electric and Hybrid Vehicle Program: Site Operation Program. Quarterly progress report, July--September 1995  

SciTech Connect

The Site Operator Program has evolved substantially since its inception in response to the Electric Vehicle Research and Demonstration Act of 1976. In its original form, a commercialization effort was intended but this was not feasible for lack of vehicle suppliers and infrastructure. Nonetheless, with DOE sponsorship and technical participation, a few results (primarily operating experience and data) were forthcoming. The current Program comprises eleven sites and over 200 vehicles, of which about 50 are latest generation vehicles. DOE partially funds the Program participant expenditures and the INEL receives operating and maintenance data for the DOE-owned, and participant-owned or monitored vehicles, as well as Program reports. As noted elsewhere in this report, participants represent several widely differing categories: electric utilities, academic institutions, and federal agencies. While both the utilities and the academic institutions tend to establish beneficial relationships with the industrial community.

Francfort, J.; Bassett, R.R.; Briasco, S. [and others

1995-12-01

336

Modular Electric Vehicle Program (MEVP). Final technical report  

SciTech Connect

The Modular Electric Vehicle Program (MEVP) was an EV propulsion system development program in which the technical effort was contracted by DOE to Ford Motor Company. The General Electric Company was a major subcontractor to Ford for the development of the electric subsystem. Sundstrand Power Systems was also a subcontractor to Ford, providing a modified gas turbine engine APU for emissions and performance testing as well as a preliminary design and producibility study for a Gas Turbine-APU for potential use in hybrid/electric vehicles. The four-year research and development effort was cost-shared between Ford, General Electric, Sundstrand Power Systems and DOE. The contract was awarded in response to Ford`s unsolicited proposal. The program objective was to bring electric vehicle propulsion system technology closer to commercialization by developing subsystem components which can be produced from a common design and accommodate a wide range of vehicles; i.e., modularize the components. This concept would enable industry to introduce electric vehicles into the marketplace sooner than would be accomplished via traditional designs in that the economies of mass production could be realized across a spectrum of product offerings. This would eliminate the need to dedicate the design and capital investment to a limited volume product offering which would increase consumer cost and/or lengthen the time required to realize a return on the investment.

NONE

1994-03-01

337

The DARPA/USAF Falcon Program Small Launch Vehicles  

NASA Technical Reports Server (NTRS)

Earlier in this decade, the U.S. Air Force Space Command and the Defense Advanced Research Projects Agency (DARPA), in recognizing the need for low-cost responsive small launch vehicles, decided to partner in addressing this national shortcoming. Later, the National Aeronautics and Space Administration (NASA) joined in supporting this effort, dubbed the Falcon Program. The objectives of the Small Launch Vehicle (SLV) element of the DARPA/USAF Falcon Program include the development of a low-cost small launch vehicle(s) that demonstrates responsive launch and has the potential for achieving a per mission cost of less than $5M when based on 20 launches per year for 10 years. This vehicle class can lift 1000 to 2000 lbm payloads to a reference low earth orbit. Responsive operations include launching the rocket within 48 hours of call up. A history of the program and the current status will be discussed with an emphasis on the potential impact on small satellites.

Weeks, David J.; Walker, Steven H.; Thompson, Tim L.; Sackheim, Robert; London, John R., III

2006-01-01

338

Development of a biologically inspired multi-modal wing model for aerial-aquatic robotic vehicles through empirical and numerical modelling of the common guillemot, Uria aalge.  

PubMed

The common guillemot, Uria aalge, a member of the auk family of seabirds, exhibits locomotive capabilities in both aerial and aquatic substrates. Simplistic forms of this ability have yet to be achieved by robotic vehicle designs and offer significant potential as inspiration for future concept designs. In this investigation, we initially investigate the power requirements of the guillemot associated with different modes of locomotion, empirically determining the saving associated with the retraction of the wing during aquatic operations. A numerical model of a morphing wing is then created to allow power requirements to be determined for different wing orientations, taking into account the complex kinematic and inertial dynamics associated with the motion. Validation of the numerical model is achieved by comparisons with the actual behaviour of the guillemot, which is done by considering specific mission tasks, where by the optimal solutions are found utilizing an evolutionary algorithm, which are found to be in close agreement with the biological case. PMID:21057174

Lock, Richard J; Vaidyanathan, Ravi; Burgess, Stuart C; Loveless, John

2010-12-01

339

Space Technology Research Vehicle (STRV)-2 program  

Microsoft Academic Search

The STRV-2 program is the second in a series of three collaborative flight test programs between the U.S. Ballistic Missile Defense Organization (BMDO) and the United Kingdom (UK) Minstry of Defence (MoD). The STRV-2 Experiment Module contains five major experiments to provide proof-of-concept data on system design, data on the mid-earth orbit (MEO) space environment, and data on durability of

James Shoemaker; Paul Brooks; Eric J. Korevaar; Graham S. Arnold; Alok Das; John Stubstad; R. G. Hay

2000-01-01

340

Electric vehicles: Likely consequences of US and other nations` programs and policies  

SciTech Connect

This report examines international electric vehicle development and commercialization programs. The study encompassed a review of current barriers to widespread electric vehicle implementation, field visits in seven nations and the United States to examine electric vehicle programs and policies, and analyses of electric vehicle effects on economics, energy, and the environment.

Chan, Kwai-Cheung

1994-12-30

341

High spatial resolution three-dimensional mapping of vegetation spectral dynamics using computer vision and hobbyist unmanned aerial vehicles  

NASA Astrophysics Data System (ADS)

High spatial resolution three-dimensional (3D) measurements of vegetation by remote sensing are advancing ecological research and environmental management. However, substantial economic and logistical costs limit this application, especially for observing phenological dynamics in ecosystem structure and spectral traits. Here we demonstrate a new aerial remote sensing system enabling routine and inexpensive aerial 3D measurements of canopy structure and spectral attributes, with properties similar to those of LIDAR, but with RGB (red-green-blue) spectral attributes for each point, enabling high frequency observations within a single growing season. This 'Ecosynth' methodology applies photogrammetric ''Structure from Motion'' computer vision algorithms to large sets of highly overlapping low altitude (< 130 m) aerial photographs acquired using off-the-shelf digital cameras mounted on an inexpensive (< USD$4000), lightweight (< 2 kg), hobbyist-grade unmanned aerial system (UAS). Ecosynth 3D point clouds with densities of 30 - 67 points m-2 were produced using commercial computer vision software from digital photographs acquired repeatedly by UAS over three 6.25 ha (250 m x 250 m) Temperate Deciduous forest sites in Maryland USA. Ecosynth canopy height maps (CHMs) were strong predictors of field-measured tree heights (R2 0.63 to 0.84) and were highly correlated with a LIDAR CHM (R 0.87) acquired 4 days earlier, though Ecosynth-based estimates of aboveground biomass densities included significant errors (31 - 36% of field-based estimates). Repeated scanning of a 0.25 ha forested area at six different times across a 16 month period revealed ecologically significant dynamics in canopy color at different heights and a structural shift upward in canopy density, as demonstrated by changes in vertical height profiles of point density and relative RGB brightness. Changes in canopy relative greenness were highly correlated (R2 = 0.88) with MODIS NDVI time series for the same area and vertical differences in canopy color revealed the early green up of the dominant canopy species, Liriodendron tulipifera, strong evidence that Ecosynth time series measurements capture vegetation structural and spectral dynamics at the spatial scale of individual trees. Observing canopy phenology in 3D at high temporal resolutions represents a breakthrough in forest ecology. Inexpensive user-deployed technologies for multispectral 3D scanning of vegetation at landscape scales (< 1 km2) heralds a new era of participatory remote sensing by field ecologists, community foresters and the interested public.

Dandois, J. P.; Ellis, E. C.

2013-12-01

342

Tribal motor vehicle injury prevention programs for reducing disparities in motor vehicle-related injuries.  

PubMed

A previous analysis of National Vital Statistics System data for 2003-2007 that examined disparities in rates of motor vehicle-related death by race/ethnicity and sex found that death rates for American Indians/Alaska Natives were two to four times the rates of other races/ethnicities. To address the disparity in motor vehicle-related injuries and deaths among American Indians/Alaska Natives, CDC funded four American Indian tribes during 2004-2009 to tailor, implement, and evaluate evidence-based road safety interventions. During the implementation of these four motor vehicle-related injury prevention pilot programs, seat belt and child safety seat use increased and alcohol-impaired driving decreased. Four American Indian/Alaska Native tribal communities-the Tohono O'odham Nation, the Ho-Chunk Nation, the White Mountain Apache Tribe, and the San Carlos Apache Tribe-implemented evidence-based road safety interventions to reduce motor vehicle-related injuries and deaths. Each community selected interventions from the Guide to Community Preventive Services and implemented them during 2004-2009. Furthermore, each community took a multifaceted approach by incorporating several strategies, such as school and community education programs, media campaigns, and collaborations with law enforcement officers into their programs. Police data and direct observational surveys were the main data sources used to assess results of the programs. Results included increased use of seat belts and child safety seats, increased enforcement of alcohol-impaired driving laws, and decreased motor vehicle crashes involving injuries or deaths. CDC's Office of Minority Health and Health Equity selected the intervention analysis and discussion as an example of a program that might be effective for reducing motor vehicle-related injury disparities in the United States. The Guide to Community Preventive Services recognizes these selected interventions as effective; this report examines the feasibility and transferability for implementing the interventions in American Indian/Alaska Native tribal communities. The findings in this report underscore the effectiveness of community interventions to reduce motor vehicle crashes among selected American Indian/Alaska Native communities. PMID:24743664

West, Bethany A; Naumann, Rebecca B

2014-04-18

343

Space Technology Research Vehicle (STRV)-2 program  

NASA Astrophysics Data System (ADS)

The STRV-2 program is the second in a series of three collaborative flight test programs between the U.S. Ballistic Missile Defense Organization (BMDO) and the United Kingdom (UK) Minstry of Defence (MoD). The STRV-2 Experiment Module contains five major experiments to provide proof-of-concept data on system design, data on the mid-earth orbit (MEO) space environment, and data on durability of materials and components operating in the MEO environment. The UK Defence Evaluation and Research Agency (DERA) has provided a mid- wavelength infrared (MWIF) imager to evaluate passive detection of aircraft from space. BMDO, in conjunction with the US Air Force Research Laboratory (AFRL) and the National Aeronautics and Space Administration (NASA), have provided experiments to evaluate use of adaptive structures for vibration suppression, to investigate the use of high bandwidth laser communications to transmit data from space to ground or airborne receivers, to study the durability of materials and components in the MEO space environment, and to measure radiation and micrometeoroid/debris fluence. These experiments are mounted on all- composite structure. This structure provides a significant reduction in weight and cost over comparable aluminum designs while maintaining the high stiffness required by optical payloads. In 1994, STRV-2 was manifested for launch by the DOD Space Test Program. STRV-2, the primary payload on the Tri-Service eXperiment (TSX)-5 spacecraft, was successfully launched on 7 June 2000 on a Pegasus XL from Vandenbery AFB, CA. The STRV-2 program, like the companion STRV-1 program, validates the viability of multi-national, multi-agency collaborations to provide cost effective acquisition of space test data. The experimental data to be obtained will reduce future satellite risk and provide guidelines for further system development.

Shoemaker, James; Brooks, Paul; Korevaar, Eric J.; Arnold, Graham S.; Das, Alok; Stubstad, John; Hay, R. G.

2000-11-01

344

77 FR 3386 - Approval and Promulgation of Air Quality Implementation Plans; Pennsylvania; Clean Vehicles Program  

Federal Register 2010, 2011, 2012, 2013

...Promulgation of Air Quality Implementation Plans; Pennsylvania; Clean Vehicles Program AGENCY: Environmental...revision submitted by the Commonwealth of Pennsylvania. This SIP revision contains Pennsylvania's Clean Vehicle Program, which...

2012-01-24

345

Field Operations Program - Neighborhood Electric Vehicle Fleet Use  

SciTech Connect

This report summarizes a study of 15 automotive fleets that operate neighborhood electric vehicles (NEVs) in the United States. The information was obtained to help Field Operations Program personnel understand how NEVs are being used, how many miles they are being driven, and if they are being used to replace other types of fleet vehicles or as additions to fleets. (The Field Operations Program is a U.S. Department of Energy Program within the DOE Office of Energy Efficiency and Renewable Energy, Transportation Technologies). The NEVs contribution to petroleum avoidance and cleaner air can be estimated based on the miles driven and by assuming gasoline use and air emissions values for the vehicles being replaced. Gasoline and emissions data for a Honda Civic are used as the Civic has the best fuel use for a gasoline-powered vehicle and very clean emissions. Based on these conservation assumptions, the 348 NEVs are being driven a total of about 1.2 million miles per year. This equates to an average of 3,409 miles per NEV annually or 9 miles per day. It is estimated that 29,195 gallons of petroleum use is avoided annually by the 348 NEVs. This equates to 87 gallons of petroleum use avoided per NEV, per year. Using the 348 NEVs avoids the generation of at least 775 pounds of smog-forming emissions annually.

Francfort, J. E.; Carroll, M. R.

2001-07-02

346

Field Operations Program Neighborhood Electric Vehicles - Fleet Survey  

SciTech Connect

This report summarizes a study of 15 automotive fleets that operate neighborhood electric vehicles(NEVs) in the United States. The information was obtained to help Field Operations Program personnel understand how NEVs are being used, how many miles they are being driven, and if they are being used to replace other types of fleet vehicles or as additions to fleets. (The Field Operations Program is a U.S. Department of Energy Program within the DOE Office of Energy Efficiency and Renewable Energy, Transportation Technologies). The NEVs contribution to petroleum avoidance and cleaner air can be estimated based on the miles driven and by assuming gasoline use and air emissions values for the vehicles being replaced. Gasoline and emissions data for a Honda Civic are used as the Civic has the best fuel use for a gasoline-powered vehicle and very clean emissions. Based on these conservation assumptions, the 348 NEVs are being driven a total of about 1.2 million miles per year. This equates to an average of 3,409 miles per NEV annually or 9 miles per day. It is estimated that 29,195 gallons of petroleum use is avoided annually by the 348 NEVs. This equates to 87 gallons of petroleum use avoided per NEV, per year. Using the 348 NEVs avoids the generation of at least 775 pounds of smog- forming emissions annually.

Francfort, James Edward; Carroll, M.

2001-07-01

347

Electric and Hybrid Vehicle Program, Site Operator Program. Quarterly progress report, January--March 1996  

SciTech Connect

Goals of the site operator program include field evaluation of electric vehicles (EVs) in real-world applications and environments, advancement of electric vehicle technologies, development of infrastructure elements necessary to support significant EV use, and increasing the awareness and acceptance of EVs by the public. The site operator program currently consists of 11 participants under contract and two other organizations with data-sharing agreements with the program. The participants (electric utilities, academic institutions, Federal agencies) are geographically dispersed within US and their vehicles see a broad spectrum of service conditions. Current EV inventories of the site operators exceeds 250 vehicles. Several national organizations have joined DOE to further the introduction and awareness of EVs, including: (1) EVAmerica (a utility program) and DOE conduct performance and evaluation tests to support market development for EVs; (2) DOE, DOT, the Electric Transportation Coalition, and the Electric Vehicle Association of the Americas are conducting a series of workshops to encourage urban groups in Clean Cities (a DOE program) to initiate the policies and infrastructure development necessary to support large-scale demonstrations, and ultimately the mass market use, of EVs. Current focus of the program is collection and dissemination of EV operations and performance data to aid in the evaluation of real- world EV use. This report contains several sections with vehicle evaluation as a focus: EV testing results, energy economics of EVs, and site operators activities.

Francfort, J.E. [Lockheed Martin Idaho Technologies Co., Idaho Falls, ID (United States); Bassett, R.R. [Sandia National Labs., Albuquerque, NM (United States); Briasco, S. [Los Angeles City Dept. of Water and Power, CA (United States)] [and others

1996-08-01

348

Towed-body trajectory tracking in aerial recovery of micro air vehicle in the presence of wind  

Microsoft Academic Search

This paper presents a method for recovering Micro Air Vehicles (MAVs) in flight using a mothership and towed drogue, in which the mothership executes an orbit that places the drogue in a stable, slower orbit that can be tracked by a MAV. This paper is particularly challenging in the presence of wind. The equations of motion of the cable using

Liang Sun; Randal W. Beard

2011-01-01

349

Unmanned Aerial Vehicle (UAV) Dynamic-Tracking Directional Wireless Antennas for Low Powered Applications that Require Reliable Extended Range Operations in Time Critical Scenarios  

SciTech Connect

The proven value of DOD Unmanned Aerial Vehicles (UAVs) will ultimately transition to National and Homeland Security missions that require real-time aerial surveillance, situation awareness, force protection, and sensor placement. Public services first responders who routinely risk personal safety to assess and report a situation for emergency actions will likely be the first to benefit from these new unmanned technologies. ‘Packable’ or ‘Portable’ small class UAVs will be particularly useful to the first responder. They require the least amount of training, no fixed infrastructure, and are capable of being launched and recovered from the point of emergency. All UAVs require wireless communication technologies for real- time applications. Typically on a small UAV, a low bandwidth telemetry link is required for command and control (C2), and systems health monitoring. If the UAV is equipped with a real-time Electro-Optical or Infrared (EO/Ir) video camera payload, a dedicated high bandwidth analog/digital link is usually required for reliable high-resolution imagery. In most cases, both the wireless telemetry and real-time video links will be integrated into the UAV with unity gain omni-directional antennas. With limited on-board power and payload capacity, a small UAV will be limited with the amount of radio-frequency (RF) energy it transmits to the users. Therefore, ‘packable’ and ‘portable’ UAVs will have limited useful operational ranges for first responders. This paper will discuss the limitations of small UAV wireless communications. The discussion will present an approach of utilizing a dynamic ground based real-time tracking high gain directional antenna to provide extend range stand-off operation, potential RF channel reuse, and assured telemetry and data communications from low-powered UAV deployed wireless assets.

Scott G. Bauer; Matthew O. Anderson; James R. Hanneman

2005-10-01

350

Unmanned Aerial Vehicle - A Tool for Acquiring Spatial Data for Research and Commercial Purposes. New Course in the Geography and Cartography Curriculum in Higher Education  

NASA Astrophysics Data System (ADS)

This paper describes the syllabus for the innovative course "Unmanned aerial observations of Terrain" introduced to the curriculum by the Department of Geoinformatics and Cartography of the University of Wroclaw (Poland). It indicates the objectives of the new subject, its didactic purpose, methods used in the teaching process, specifications of teaching materials, and the knowledge and skills that students are expected to acquire. Finally, it presents the content of the course and description of lesson units. The subject will be obligatory for graduate students majoring in Geography, who are participants in the Geoinformatics and Cartography Master's program. Thirty-eight hours in a summer semester has been earmarked for the course. That includes 30 hours of instructor-guided laboratory and fieldtrip work, and 8 hours of individual work. The course aims to prepare future geographers to conduct a multi-step process that includes defining the purpose of using UAV in light of the chosen research problem, preparation of the mission, flight execution; geoprocessing of acquired aerial imagery; generation of cartomertic final products, and analysis of outcomes in order to answer the initially asked research question. This comprehensive approach will allow students, future experts in the field of geoinformatics and cartography, to gain the skills needed to acquire spatial data using an UAV, process them, and apply the results of their analysis in practice.

Jeziorska, J.

2014-04-01

351

UAVs in climate research: The ARM Unmanned Aerospace Vehicle Program  

SciTech Connect

In the last year, a Department of Energy/Strategic Environmental Research and Development Program project known as ``ARM-UAV`` has made important progress in developing and demonstrating the utility of unmanned aerospace vehicles as platforms for scientific measurements. Recent accomplishments include a series of flights using an atmospheric research payload carried by a General Atomics Gnat UAV at Edwards AFB, California, and over ground instruments located in north-central Oklahoma. The reminder of this discussion will provide background on the program and describe the recent flights.

Bolton, W.R.

1994-05-01

352

40 CFR 1051.605 - What provisions apply to engines already certified under the motor vehicle program or the Large...  

Code of Federal Regulations, 2013 CFR

...engines already certified under the motor vehicle program or the Large Spark-ignition...EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Compliance Provisions § 1051.605...engines already certified under the motor vehicle program or the Large...

2013-07-01

353

40 CFR 1051.605 - What provisions apply to engines already certified under the motor vehicle program or the Large...  

Code of Federal Regulations, 2011 CFR

...engines already certified under the motor vehicle program or the Large Spark-ignition...EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Compliance Provisions § 1051.605...engines already certified under the motor vehicle program or the Large...

2011-07-01

354

40 CFR 1051.605 - What provisions apply to engines already certified under the motor vehicle program or the Large...  

Code of Federal Regulations, 2012 CFR

...engines already certified under the motor vehicle program or the Large Spark-ignition...EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Compliance Provisions § 1051.605...engines already certified under the motor vehicle program or the Large...

2012-07-01

355

40 CFR 1051.605 - What provisions apply to engines already certified under the motor vehicle program or the Large...  

...engines already certified under the motor vehicle program or the Large Spark-ignition...EMISSIONS FROM RECREATIONAL ENGINES AND VEHICLES Compliance Provisions § 1051.605...engines already certified under the motor vehicle program or the Large...

2014-07-01

356

Automatic identification of agricultural terraces through object-oriented analysis of very high resolution DSMs and multispectral imagery obtained from an unmanned aerial vehicle.  

PubMed

Agricultural terraces are features that provide a number of ecosystem services. As a result, their maintenance is supported by measures established by the European Common Agricultural Policy (CAP). In the framework of CAP implementation and monitoring, there is a current and future need for the development of robust, repeatable and cost-effective methodologies for the automatic identification and monitoring of these features at farm scale. This is a complex task, particularly when terraces are associated to complex vegetation cover patterns, as happens with permanent crops (e.g. olive trees). In this study we present a novel methodology for automatic and cost-efficient identification of terraces using only imagery from commercial off-the-shelf (COTS) cameras on board unmanned aerial vehicles (UAVs). Using state-of-the-art computer vision techniques, we generated orthoimagery and digital surface models (DSMs) at 11 cm spatial resolution with low user intervention. In a second stage, these data were used to identify terraces using a multi-scale object-oriented classification method. Results show the potential of this method even in highly complex agricultural areas, both regarding DSM reconstruction and image classification. The UAV-derived DSM had a root mean square error (RMSE) lower than 0.5 m when the height of the terraces was assessed against field GPS data. The subsequent automated terrace classification yielded an overall accuracy of 90% based exclusively on spectral and elevation data derived from the UAV imagery. PMID:24473345

Diaz-Varela, R A; Zarco-Tejada, P J; Angileri, V; Loudjani, P

2014-02-15

357

Using virtual instruments to develop an actuator-based hardware-in-the-loop simulation test-bed for autopilot of unmanned aerial vehicle  

NASA Astrophysics Data System (ADS)

Since the unmanned aerial vehicles (UAVs) bring forth many innovative applications in scientific, civilian, and military fields, the development of UAVs is rapidly growing every year. The on-board autopilot that reliably performs attitude and guidance control is a vital part for out-of-sight flights. However, the control law in autopilot is designed according to a simplified plant model in which the dynamics of real hardware are usually not taken into consideration. It is a necessity to develop a test-bed including real servos to make real-time control experiments for prototype autopilots, so called hardware-in-the-loop (HIL) simulation. In this paper on the basis of the graphical application software LabVIEW, the real-time HIL simulation system is realized efficiently by the virtual instrumentation approach. The proportional-integral-derivative (PID) controller in autopilot for the pitch angle control loop is experimentally determined by the classical Ziegler-Nichols tuning rule and exhibits good transient and steady-state response in real-time HIL simulation. From the results the differences between numerical simulation and real-time HIL simulation are also clearly presented. The effectiveness of HIL simulation for UAV autopilot design is definitely confirmed

Sun, Yun-Ping; Ju, Jiun-Yan; Liang, Yen-Chu

2008-12-01

358

Inversion of the PROSAIL model to estimate leaf area index of maize, potato, and sunflower fields from unmanned aerial vehicle hyperspectral data  

NASA Astrophysics Data System (ADS)

Leaf area index (LAI) is a key variable for modeling energy and mass exchange between the land surface and the atmosphere. Inversion of physically based radiative transfer models is the most established technique for estimating LAI from remotely sensed data. This study aims to evaluate the suitability of the PROSAIL model for LAI estimation of three typical row crops (maize, potato, and sunflower) from unmanned aerial vehicle (UAV) hyperspectral data. LAI was estimated using a look-up table (LUT) based on the inversion of the PROSAIL model. The estimated LAI was evaluated against in situ LAI measurements. The results indicated that the LUT-based inversion of the PROSAIL model was suitable for LAI estimation of these three crops, with a root mean square error (RMSE) of approximately 0.62 m2 m-2, and a relative RMSE (RRMSE) of approximately 15.5%. Dual-angle observations were also used to estimate LAI and proved to be more accurate than single-angle observations, with an RMSE of approximately 0.55 m2 m-2 and an RRMSE of approximately 13.6%. The results demonstrate that additional directional information improves the performance of LAI estimation.

Duan, Si-Bo; Li, Zhao-Liang; Wu, Hua; Tang, Bo-Hui; Ma, Lingling; Zhao, Enyu; Li, Chuanrong

2014-02-01

359

City of Las Vegas Plug-in Hybrid Electric Vehicle Demonstration Program  

SciTech Connect

The City of Las Vegas was awarded Department of Energy (DOE) project funding in 2009, for the City of Las Vegas Plug-in Hybrid Electric Vehicle Demonstration Program. This project allowed the City of Las Vegas to purchase electric and plug-in hybrid electric vehicles and associated electric vehicle charging infrastructure. The City anticipated the electric vehicles having lower overall operating costs and emissions similar to traditional and hybrid vehicles.

None

2013-12-31

360

Keeping America's RVs on the Road: How the Recreation Vehicle Industry Created a National Training Program.  

ERIC Educational Resources Information Center

The National Recreational Vehicle Technical Institute offers a 35-credit-hour service technician training program at 12 national sites. Recreational vehicle manufacturers, suppliers, and dealers donate equipment and advise schools on course development. (SK)

Reiber, William B.

1992-01-01

361

40 CFR 1048.605 - What provisions apply to engines certified under the motor vehicle program?  

Code of Federal Regulations, 2010 CFR

...2010-07-01 false What provisions apply to engines certified under the motor vehicle program...NEW, LARGE NONROAD SPARK-IGNITION ENGINES Compliance Provisions § 1048.605 What provisions apply to engines certified under the motor vehicle...

2010-07-01

362

Overview of integrated programs for aerospace-vehicle design (IPAD)  

NASA Technical Reports Server (NTRS)

An overview of a joint industry/government project, denoted Integrated Programs for Aerospace-Vehicle Design (IPAD), which focuses on development of technology and associated software for integrated company-wide management of engineering information is presented. Results to date are summarized and include an in-depth documentation of a representative design process for a large engineering project, the definition and design of computer-aided design software needed to support that process, and the release of prototype software to integrated selected design functions.

Fulton, R. E.

1980-01-01

363

Aerial Shepherds: Coordination among UAVs and Swarms of Robots  

Microsoft Academic Search

We address the problem of deploying groups of tens or hundreds of unmanned ground vehicles (UGVs) in urban environments where a group of aerial vehicles (UAVs) can be used to coordinate the ground vehicles. We envision a hi- erarchy in which UAVs with aerial cameras can be used to monitor and command a swarm of UGVs, controlling the splitting and

Luiz Chaimowicz; Vijay Kumar

2004-01-01

364

Los Angeles Department of Water and Power Electric and Hybrid Vehicle Program site operator program  

SciTech Connect

During the term of the above mentioned agreement, the Los Angeles Department of Water and Power (LADWP), a municipal utility serving the citizens of Los Angeles, marked its tenth year of involvement in testing and promoting electric vehicles as part of Los Angeles` overall air quality improvement program, and as a means of improving the regions` economic competitiveness through the creation of new industries. LADWP maintained and operated twenty electric vehicles (EVs) during the test period. These vehicles consisted of six G-Vans, four Chrysler TEVans, five U.S. Electricar pickup trucks, and five U.S. Electricar Prizms. LADWP`s electric transportation program also included infrastructure, public transit development, public and awareness, and legislative and regulatory activities.

NONE

1998-02-01

365

Online trajectory planning for UAVs using mixed integer linear programming  

E-print Network

This thesis presents a improved path planner using mixed-integer linear programming (MILP) to solve a receding horizon optimization problem for unmanned aerial vehicles (UAV's). Using MILP, hard constraints for obstacle ...

Culligan, Kieran Forbes

2006-01-01

366

Analysis of material entrainment with an unmanned aerial vehicle (UAV) and simulation of the debris-flow event at the Sattelbach torrent - Austria, 2013.  

NASA Astrophysics Data System (ADS)

In summer 2013, a disastrous debris-flow destroyed several houses and infrastructure facilities on the fan of the Sattelbach catchment located in the district of St. Johann im Pongau, Salzburg (Austria). Fortunately, no damage to persons could be registered. The debris flow was triggered by shallow landslides within the upper catchment, mobilizing in total approximately 4,000 m3 of debris. However, the volume of the debris-flow event at the fan was documented with 12,000 m3, whereas a maximum discharge of 380 m3/s was estimated near the fan apex. Witnesses reported only one big wave passing the fan area, which seems to be out of character for a typical Alpine debris-flow event showing such high discharge. For the later, one would suppose multiple smaller waves. Due to the fact of evolving material entrainment resulted in one big wave, the debris-flow event at the Sattelbach catchment was chosen as case study to analyze mass bulking. For this reason, an unmanned aerial vehicle (UAV) was used to establish a digital terrain model (DTM) of the whole reach after the event. This terrain model was then compared to a LiDAR DTM, showing the topographical situation before the event. Based on the analyzed mass bulking along the whole reach, numerical simulations were performed using the DAN3D (Dynamic Analysis of Landslides in Three Dimensions) code. The DAN3D model allows selection between different rheologies as well as the implementation of entrainment. The study will show the applicability of UAV's in small and steep catchments and will test DAN 3D a debris-flow simulation tool with an implemented mass-bulking model.

Scheidl, Christian; Schraml, Klaus; Moser, Markus; Hübl, Johannes

2014-05-01

367

Putting Technology to Work in Science - How to Select Unmanned Aerial Vehicles (UAV) and their Instrumentation for Atmospheric and Earth Surface Observations  

NASA Astrophysics Data System (ADS)

The Autonomous Flying Platforms for Atmospheric and Earth Surface Observations project (APAESO) of the Energy, Environment and Water Research Center (EEWRC) at the Cyprus Institute is aimed at the dual purpose of carrying out atmospheric and earth-surface observations in the Mediterranean. The APAESO platforms will offer the unique potential to determine physical, chemical and radiative atmospheric properties, aerosol and dust concentrations, atmospheric dynamics, surface morphology, vegetation and land use patterns as well as ocean surface properties (biology, waves, currents) and to carry out archaeological site reconnaissance and contaminant detection at high spatial resolution. The first phase of APAESO was dedicated to the preliminary design and the selection of an Unmanned Aerial Vehicle (UAV) as the backbone of the APAESO infrastructure. Selection of a UAV suitable for the many research objectives as outlined above is challenging because the UAV technology is new and rapidly evolving. This notwithstanding, a very large number of systems, mostly utilized for defense purposes, are currently available. The major challenge in the selection process lies in considering the trade-off between different platform characteristics (e.g. payload weight, endurance, max. altitude for operation and price) and in optimizing the potential performance of the UAV. Based on the required characteristics for the UAV platform, a survey of possible UAVs and suitable sensors was prepared based on various data sources. We used an elimination process in order to consider only a few models for the final selection process out of about 1000 commercially available UAV models that were initially investigated. The presentation will discuss the main scientific objectives that determine the specification of the UAV platform, major considerations in selecting best available technology for our needs and will briefly describe the next phases of the project.

Teller, Amit; Lange, Manfred; Ioannou, Stelios; Keleshis, Christos

2010-05-01

368

Seasonal associations and atmospheric transport distances of fungi in the genus Fusarium collected with unmanned aerial vehicles and ground-based sampling devices  

NASA Astrophysics Data System (ADS)

Spores of fungi in the genus Fusarium may be transported through the atmosphere over long distances. New information is needed to characterize seasonal trends in atmospheric loads of Fusarium and to pinpoint the source(s) of inoculum at both local (farm) and regional (state or country) scales. We hypothesized that (1) atmospheric concentrations of Fusarium spores in an agricultural ecosystem vary with height and season and (2) transport distances from potential inoculum source(s) vary with season. To test these hypotheses, spores of Fusarium were collected from the atmosphere in an agricultural ecosystem in Blacksburg, VA, USA using a Burkard volumetric sampler (BVS) 1 m above ground level and autonomous unmanned aerial vehicles (UAVs) 100 m above ground level. More than 2200 colony forming units (CFUs) of Fusarium were collected during 104 BVS sampling periods and 180 UAV sampling periods over four calendar years (2009-2012). Spore concentrations ranged from 0 to 13 and 0 to 23 spores m-3 for the BVS and the UAVs, respectively. Spore concentrations were generally higher in the fall, spring, and summer, and lower in the winter. Spore concentrations from the BVS were generally higher than those from the UAVs for both seasonal and hourly collections. A Gaussian plume transport model was used to estimate distances to the potential inoculum source(s) by season, and produced mean transport distances of 1.4 km for the spring, 1.7 km for the summer, 1.2 km for the fall, and 4.1 km for the winter. Environmental signatures that predict atmospheric loads of Fusarium could inform disease spread, air pollution, and climate change.

Lin, Binbin; Ross, Shane D.; Prussin, Aaron J.; Schmale, David G.

2014-09-01

369

Small Whiskbroom Imager for atmospheric compositioN monitorinG (SWING) from an Unmanned Aerial Vehicle (UAV): status and perspectives  

NASA Astrophysics Data System (ADS)

The Small Whiskbroom Imager for atmospheric compositioN monitorinG (SWING) is a recently developed instrument dedicated to trace gas measurements from Unmanned Aerial Vehicles (UAVs). The payload is based on a compact ultra-violet visible spectrometer and a scanning mirror. Its weight, size, and power consumption are respectively 920 g, 27x12x12 cm3, and 6 W. The custom-built UAV is an electrically powered flying wing and can reach an altitude of 3 km at a mean airspeed of 100 km/h. The whole flight can be preprogrammed and controlled by an autopilot. The spectra are analyzed using Differential Optical Absorption Spectroscopy (DOAS). One major objective is the mapping of NO2 columns at high spatial resolution allowing to subsample satellite measurements within the extent of a typical ground pixel. We present the preliminary results of two test flights of the SWING-UAV observation system in the vicinity of Galati, Romania (45.45°N, 28.05°E), performed on 11 May 2013 and 20 September 2013. Several atmospheric species are identified in the spectral range covered by the spectrometer (300-600 nm): NO2, water vapor, O4, and O3. From the measurements, the detection limit for NO2 is estimated to lie around 2 ppb. We investigate: (1) the georeferencing issues and the effective spatial resolution achievable with SWING-UAV from the instantaneous field of view and the plane dynamics (2) the main parameters influencing the air mass factors, and (3) the reproducibility of NO2 measurements over the same area during the second flight which included repeated transects. We also present the near-future (2014-2015) campaigns planned for the SWING-UAV observation system.

Merlaud, Alexis; Tack, Frederik; Constantin, Daniel-Eduard; Fayt, Caroline; Maes, Jeroen; Mingireanu, Florin; Mocanu, Ionut; Georgescu, Lucian; Van Roozendael, Michel

2014-05-01

370

Aerial Imagery  

NSDL National Science Digital Library

This activity (on page 2 of the PDF) is a full inquiry investigation into aerial imagery. Learners will use the internet to gather free aerial imagery of nearby points of interest (or use laminated images prepped by educator). Then, they will imagine they are traveling in a spaceship to visit Earth for the first time and explore how their view changes as they approach Earthâs surface. Relates to linked video, DragonflyTV GPS: Earthquakes.

Twin Cities Public Television, Inc.

2006-01-01

371

Zero Emission Vehicle Program Changes In 1990, California embarked on a plan to reduce vehicle emissions to zero through the gradual introduction of  

E-print Network

12/10/01 Zero Emission Vehicle Program Changes In 1990, California embarked on a plan to reduce vehicle emissions to zero through the gradual introduction of zero emission vehicles (ZEVs). Specifically, and in 1998 to allow partial ZEV (PZEV) credits for extremely clean vehicles that were not pure ZEVs

Gille, Sarah T.

372

Project Information Form Project Title Program for Vehicle Regulatory Reform: Assessing Life Cycle-Based  

E-print Network

Project Information Form Project Title Program for Vehicle Regulatory Reform: Assessing Life Cycle vehicle production emissions and other life cycle emissions. Non- operation emissions are more dominant the need, effectiveness, and policy strategies for capturing life cycle vehicle emissions in LDV GHG

California at Davis, University of

373

Development of integrated programs for Aerospace-vehicle Design (IPAD): Product program management systems  

NASA Technical Reports Server (NTRS)

The Integrated Programs for Aerospace Vehicle Design (IPAD) is a computing system to support company-wide design information processing. This document presents a brief description of the management system used to direct and control a product-oriented program. This document, together with the reference design process (CR 2981) and the manufacture interactions with the design process (CR 2982), comprises the reference information that forms the basis for specifying IPAD system requirements.

Isenberg, J. M.; Southall, J. W.

1979-01-01

374

Electric and hybrid vehicle self-certification and verification procedures: Market Demonstration Program  

SciTech Connect

The process by which a manufacturer of an electric or hybrid vehicle certifies that his vehicle meets the DOE Performance Standards for Demonstration is described. Such certification is required for any vehicles to be purchased under the Market Demonstration Program. It also explains the verification testing process followed by DOE for testing to verify compliance. Finally, the document outlines manufacturer responsibilities and presents procedures for recertification of vehicles that have failed verification testing.

None

1980-03-01

375

40 CFR 80.500 - What are the implementation dates for the motor vehicle diesel fuel sulfur control program?  

...the implementation dates for the motor vehicle diesel fuel sulfur control program...REGULATION OF FUELS AND FUEL ADDITIVES Motor Vehicle Diesel Fuel; Nonroad, Locomotive...the implementation dates for the motor vehicle diesel fuel sulfur control...

2014-07-01

376

Use of the Aerosonde Unihabited Aerial Vehicle (UAV) in the Fourth Convection and Moisture Experiment (CAMEX 4)  

NASA Technical Reports Server (NTRS)

The Fourth Convection and Moisture Experiment (CAMEX 4) was a scientific field experiment based in Florida in summer 2001 focused on the study of hurricanes off the east coast of the United States. Sponsored by the National Aeronautics and Space Administration's Office of Earth Science, and conducted in collaboration with the National Oceanic and Atmospheric Administration's annual hurricane research program, CAMEX 4 utilized aircraft, ground-based and satellite instrumentation to obtain unprecedented, three dimensional characterizations of these important storms. The Aerosonde UAV was selected by NASA to participate in CAMEX 4 because it provided a unique capability to obtain measurements in the atmospheric boundary layer in and around the storms, unattainable by other platforms or measurement capabilities. This talk focuses on the NASA review process that was followed to coordinate the UAV activity with the conventional aircraft operations, as well as with the other participating agencies and the FAA. We will discuss how Aerosonde addressed the issues of safety, coordination and communication and summarize the lessons learned.

Hipskind, R. Stephen; Curry, Judy; Holland, Greg

2001-01-01

377

Space Vehicle Powerdown Philosophies Derived from the Space Shuttle Program  

NASA Technical Reports Server (NTRS)

In spaceflight, electrical power is a vital but limited resource. Almost every spacecraft system, from avionics to life support systems, relies on electrical power. Since power can be limited by the generation system s performance, available consumables, solar array shading, or heat rejection capability, vehicle power management is a critical consideration in spacecraft design, mission planning, and real-time operations. The purpose of this paper is to capture the powerdown philosophies used during the Space Shuttle Program. This paper will discuss how electrical equipment is managed real-time to adjust the overall vehicle power level to ensure that systems and consumables will support changing mission objectives, as well as how electrical equipment is managed following system anomalies. We will focus on the power related impacts of anomalies in the generation systems, air and liquid cooling systems, and significant environmental events such as a fire, decrease in cabin pressure, or micrometeoroid debris strike. Additionally, considerations for executing powerdowns by crew action or by ground commands from Mission Control will be presented. General lessons learned from nearly 30 years of Space Shuttle powerdowns will be discussed, including an in depth case-study of STS-117. During this International Space Station (ISS) assembly mission, a failure of computers controlling the ISS guidance, navigation, and control system required that the Space Shuttle s maneuvering system be used to maintain attitude control. A powerdown was performed to save power generation consumables, thus extending the docked mission duration and allowing more time to resolve the issue.

Willsey, Mark; Bailey, Brad

2011-01-01

378

Atmospheric radiation measurement unmanned aerospace vehicle (ARM-UAV) program  

SciTech Connect

ARM-UAV is part of the multi-agency U.S. Global Change Research Program and is addressing the largest source of uncertainty in predicting climatic response: the interaction of clouds and the sun`s energy in the Earth`s atmosphere. An important aspect of the program is the use of unmanned aerospace vehicles (UAVs) as the primary airborne platform. The ARM-UAV Program has completed two major flight series: The first series conducted in April, 1994, using an existing UAV (the General Atomics Gnat 750) consisted of eight highly successful flights at the DOE climate site in Oklahoma. The second series conducted in September/October, 1995, using two piloted aircraft (Egrett and Twin Otter), featured simultaneous measurements above and below clouds and in clear sky. Additional flight series are planned to continue study of the cloudy and clear sky energy budget in the Spring and Fall of 1996 over the DOE climate site in Oklahoma. 3 refs., 4 figs., 1 tab.

Bolton, W.R. [Sandia National Laboratories, Livermore, CA (United States)

1996-11-01

379

Multiyear Program Plan: Reducing Friction and Wear in Heavy Vehicles  

SciTech Connect

As described in its multiyear program plan for 1998-2000, the Office of Heavy Vehicle Technologies (OHVT) envisions the development of a fuel-flexible, energy-efficient, near-zero-emissions, heavy-duty U.S. diesel engine technology devolving into all truck classes as a real and viable strategy for reducing energy requirements for commercial transport services and the rapidly growing multipurpose vehicle market (pickups, vans, and sport utility vehicles). Implementation of the OHVT program plan will have significant national benefits in energy savings, cleaner air, more jobs, and increased gross domestic product (GDP). Successful implementation will reduce the petroleum consumption of Class 1-8 trucks by 1.4 million barrels of oil per day by 2020 and over 1.8 million by 2030, amounting to a reduction in highway petroleum consumption of 13.2% and 18.6%, respectively. All types of regulated emissions will be reduced, that is, 20% drop in PM10 emissions (41,000 metric tons per year) by 203 0, 17% reduction in CO2 greenhouse gases (205 million metric tons per year), 7% reduction in NOx, 20% reduction in NMHC, and 30% reduction in CO. An increase of 15,000 jobs by 2020 is expected, as is an increase of $24 billion in GDP. The strategy of OHVT is to focus primarily on the diesel engine since it has numerous advantages. It has the highest efficiency of any engine today, 45% versus 30% for production gasoline engines; and it can be made more efficient at least to 55% and possibly up to 63%. It is the engine of choice for heavy vehicles (trucks), because it offers power, efficiency, durability, and reliability and is used extensively in rail, marine, and off-road applications. Its emission can be ultra-low to near zero, and the production infrastructure is already in place. The primary goals of OHVT are as follows: (1) Develop by 2002 the diesel-engine enabling technologies to support large-scale industry dieselization of light trucks, achieving a 35% fuel efficiency improvement over equivalent gasoline-fueled trucks. (2) Develop by 2004 the enabling technology for a Class 7-8 truck with a fuel efficiency of 10 mpg (at 65 mph) that will meet prevailing emission standards, using either diesel or a liquid alternative fuel. (3) Develop by 2006 diesel engines with fuel flexibility and a thermal efficiency of 55% with liquid alternative fuels, and a thermal efficiency of 55% with dedicated gaseous fuels. (4) Develop a methodology for analyzing and evaluating the operation of a heavy vehicle as an integrated system, considering such factors as engine efficiency; emissions; rolling resistance; aerodynamic drag; friction, wear, and lubrication effects; auxiliary power units; material substitutions for reducing weight; and other sources of parasitic energy losses. Overarching these considerations is the need to preserve system functionality, cost, competitiveness, reliability, durability, and safety.

R.R. Fessler; G.R. Fenske

1999-12-13

380

Design of an agile unmanned combat vehicle: a product of the DARPA UGCV program  

Microsoft Academic Search

The unmanned ground compat vehicle (UGCV) design evolved by the SAIC team on the DARPA UGCV Program is summarized in this paper. This UGCV design provides exceptional performance against all of the program metrics and incorporates key attributes essential for high performance robotic combat vehicles. This performance includes protection against 7.62 mm threats, C130 and CH47 transportability, and the ability

Lindsey D. Thornhill; Alan Walls; Ronald C. Arkin; Joseph H. Beno; Chuck Bergh; Don Bresie; Anthony Giovannetti; Benny M. Gothard; Larry H. Matthies; Porfirio Nogueiro; Jim Scanlon; Ron Scott; Miguel Simon; Wilford Smith; Kenneth J. Waldron

2003-01-01

381

System for interactive management of aerial imaging campaigns  

NASA Astrophysics Data System (ADS)

We present a system to enable real time management of interchangeable imaging platforms aboard commodity unmanned aerial vehicles (UAVs) to improve interactivity during aerial imaging campaigns. We argue that this improvement in interactivity enables powerful immediate-mode inspection by the ground operator, and implements a more intuitive, flexible, and ultimately useful control interface to aerial imaging systems.

Wypych, Tom; Kuester, Falko

382

The DOE/NREL Next Generation Natural Gas Vehicle Program - An Overview  

SciTech Connect

This paper summarizes the Next Generation Natural Gas Vehicle (NG-NGV) Program that is led by the U.S. Department Of Energy's (DOE's) Office of Heavy Vehicle Technologies (OHVT) through the National Renewable Energy Laboratory (NREL). The goal of this program is to develop and implement one Class 3-6 compressed natural gas (CNG) prototype vehicle and one Class 7-8 liquefied natural gas (LNG) prototype vehicle in the 2004 to 2007 timeframe. OHVT intends for these vehicles to have 0.5 g/bhp-hr or lower emissions of oxides of nitrogen (NOx) by 2004 and 0.2 g/bhp-hr or lower NOx by 2007. These vehicles will also have particulate matter (PM) emissions of 0.01 g/bhp-hr or lower by 2004. In addition to ambitious emissions goals, these vehicles will target life-cycle economics that are compatible with their conventionally fueled counterparts.

Kevin Walkowicz; Denny Stephens; Kevin Stork

2001-05-14

383

Support to X-33/Resusable Launch Vehicle Technology Program  

NASA Technical Reports Server (NTRS)

The X-33 Guidance, Navigation, and Control (GN&C) Peer Review Team (PRT) was formed to assess the integrated X-33 vehicle GN&C system in order to identify any areas of disproportionate risk for initial flight. The eventual scope of the PRT assessment encompasses the GN&C algorithms, software, avionics, control effectors, applicable models, and testing. The initial (phase 1) focus of the PRT was on the GN&C algorithms and the Flight Control Actuation Subsystem (FCAS). The PRT held meetings during its phase 1 assessment at X-33 assembly facilities in Palmdale, California on May 17-18, 2000 and at Honeywell facilities in Tempe, Arizona on June 7, 2000. The purpose of these meetings was for the PRT members to get background briefings on the X-33 vehicle and for the PRT team to be briefed on the design basis and current status of the X-33 GN&C algorithms as well as the FCAS. The following material is covered in this PRT phase 1 final report. Some significant GN&C-related accomplishments by the X-33 development team are noted. Some topics are identified that were found during phase 1 to require fuller consideration when the PRT reconvenes in the future. Some new recommendations by the PRT to the X-33 program will likely result from a thorough assessment of these subjects. An initial list of recommendations from the PRT to the X-33 program is provided. These recommendations stem from topics that received adequate review by the PRT in phase 1. Significant technical observations by the PRT members as a result of the phase 1 meetings are detailed. (These are covered in an appendix.) There were many X-33 development team members who contributed to the technical information used by the PRT during the phase 1 assessment, who supported presentations to the PRT, and who helped to address the many questions posed by the PRT members at and after the phase 1 meetings. In all instances the interaction between the PRT and the X-33 development team members was cordial and very professional. The members of the PRT are grateful for the time and effort applied by all of these individuals and hope that the contents of this report will help to make the X-33 program a success.

2000-01-01

384

Aviation Insights: Unmanned Aerial Vehicles  

ERIC Educational Resources Information Center

Aviation as people know it today is a mature but very young technology as time goes. Considering that the 100th anniversary of flight was celebrated just a few years ago in 2003, millions of people fly from city to city or from nation to nation and across the oceans and around the world effortlessly and economically. Additionally, they have space…

Deal, Walter F., III

2005-01-01

385

Electric and Hybrid Vehicle Program; Site Operator Program. Quarterly progress report, October--December 1991  

SciTech Connect

Activities during the first quarter centered around integrating the new participants into the program. A meeting of the Site Operators, in conjunction with the first meeting of the Electric Vehicle Users Task Force, was held in October. A second meeting of the Task Force was held in December. During these meetings the new contractual requirements were explained to the participants. The Site Operator Data Base was distributed and explained. The Site Operators will begin using the data base in December 1991 and will supply the operating and maintenance data to the INEL on a monthly basis. The Operators requested that they be able to have access to the data of the other Operators and it was agreed that they would be provided this on floppy disk monthly from the INEL. Presentations were made to the DOE sponsored Automotive Technology Development-Contractors Coordination Meeting in October. An overview of the program was given by EG&G. Representatives from Arizona Public Service, Texas A&M University, and York Technical College provided details of their programs and the results and future goals. Work was begun on commercializing the Versatile Data Acquisition System (VDAS). A Scope of Work has been written for a Cooperative Research and Development Agreement (CRADA) to be submitted to the USABC. If implemented, the CRADA will provide funds for the development and commercialization of the VDAS. Participants in the Site Operator Program will test prototypes of the system within their fleets, making the data available to the USABC and other interested organizations. The USABC will provide recommendations on the data to be collected. Major activities by the majority of the Operators were involved with the continued operation and demonstration of existing vehicles. In addition, several of the operators were involved in identifying and locating vehicles to be added to their fleets. A list of the vehicles in each Site Operator fleet is included as Appendix A to this report.

Warren, J.F.

1992-01-01

386

Aerial Photography  

NASA Technical Reports Server (NTRS)

John Hill, a pilot and commercial aerial photographer, needed an information base. He consulted NERAC and requested a search of the latest developments in camera optics. NERAC provided information; Hill contacted the manufacturers of camera equipment and reduced his photographic costs significantly.

1985-01-01

387

Support to X-33/Reusable Launch Vehicle Technology Program  

NASA Technical Reports Server (NTRS)

The Primary activities of Lee & Associates for the referenced Purchase Order has been in direct support of the X-33/Reusable Launch Vehicle Technology Program. An independent review to evaluate the X-33 liquid hydrogen fuel tank failure, which recently occurred after-test of the starboard tank has been provided. The purpose of the Investigation team was to assess the tank design modifications, provide an assessment of the testing approach used by MSFC (Marshall Space Flight Center) in determining the flight worthiness of the tank, assessing the structural integrity, and determining the cause of the failure of the tank. The approach taken to satisfy the objectives has been for Lee & Associates to provide the expertise of Mr. Frank Key and Mr. Wayne Burton who have relevant experience from past programs and a strong background of experience in the fields critical to the success of the program. Mr. Key and Mr. Burton participated in the NASA established Failure Investigation Review Team to review the development and process data and to identify any design, testing or manufacturing weaknesses and potential problem areas. This approach worked well in satisfying the objectives and providing the Review Team with valuable information including the development of a Fault Tree. The detailed inputs were made orally in real time in the Review Team daily meetings. The results of the investigation were presented to the MSFC Center Director by the team on February 15, 2000. Attached are four charts taken from that presentation which includes 1) An executive summary, 2) The most probable cause, 3) Technology assessment, and 4) Technology Recommendations for Cryogenic tanks.

2000-01-01

388

Object tracking and classification in aerial videos  

NASA Astrophysics Data System (ADS)

In the intelligence community, aerial video has become one of the fastest growing data sources and it has been extensively used in intelligence, surveillance, reconnaissance, tactical and security applications. This paper presents a tracking approach to detect moving vehicles and person in such videos taken from aerial platform. In our approach, we combine the layer segmentation approach with background stabilization and post-tracking refinement to reliably detect small moving objects at the relatively low processing speed. For each individual moving object, a corresponding layer is created to maintain an independent appearance and motion model during the tracking process. After the online tracking process, we apply a post-tracking refinement process to link the track fragments into a long consistent track ID to further reduce false alarm and increase detection rate. Furthermore, a vehicle and person classifier is also integrated into the approach to identify the moving object categories. The classifier is based on image histogram of gradient (HOG), which is more reliable to illumination variation or camera automatic gain change. Finally, we report the results of our algorithms on a large scale of EO and IR data set collected from VIVID program, and the results show that our approach achieved a good and stable tracking performance on the data set that is more than eight hours.

Xiao, Jiangjian; Cheng, Hui; Feng, Han; Yang, Changjiang

2008-04-01

389

Freedom car and vehicle technologies heavy vehicle program : FY 2007 benefits analysis, methodology and results -- final report.  

SciTech Connect

This report describes the approach to estimating the benefits and analysis results for the Heavy Vehicle Technologies activities of the FreedomCar and Vehicle Technologies (FCVT) Program of EERE. The scope of the effort includes: (1) Characterizing baseline and advanced technology vehicles for Class 3-6 and Class 7 and 8 trucks, (2) Identifying technology goals associated with the DOE EERE programs, (3) Estimating the market potential of technologies that improve fuel efficiency and/or use alternative fuels, (4) Determining the petroleum and greenhouse gas emissions reductions associated with the advanced technologies. In FY 05 the Heavy Vehicles program activity expanded its technical involvement to more broadly address various sources of energy loss as compared to focusing more narrowly on engine efficiency and alternative fuels. This broadening of focus has continued in subsequent activities. These changes are the result of a planning effort that occurred during FY 04 and 05. (Ref. 1) This narrative describes characteristics of the heavy truck market as they relate to the analysis, a description of the analysis methodology (including a discussion of the models used to estimate market potential and benefits), and a presentation of the benefits estimated as a result of the adoption of the advanced technologies. The market penetrations are used as part of the EERE-wide integrated analysis to provide final benefit estimates reported in the FY07 Budget Request. The energy savings models are utilized by the FCVT program for internal project management purposes.

SIngh, M.; Energy Systems; TA Engineering

2008-02-29

390

Kansas State University electric vehicle site operator program  

Microsoft Academic Search

K-State is presently working with Grumman Allied and Unique Mobility to establish a working agreement for the research and development of a pure electric postal vehicle. K-State has worked on the design of this vehicle for the past year and is working to establish the appropriate consortium to bring this vehicle to commercial realization. K-State is working to establish infrastructure

J. R. Hague; R. A. Steinert; T. Nissen-Pfrang

1991-01-01

391

Venturestar{trademark} single stage to orbit reusable launch vehicle program overview  

SciTech Connect

Lockheed Martin is developing the VentureStar{trademark} Single Stage To Orbit Reusable Launch Vehicle system. The VentureStar{trademark} launch system will drastically reduce the cost to place payloads in orbit. This paper describes the VentureStar{trademark} Single Stage To Orbit Reusable Launch Vehicle Program, system and technology. The technology to achieve VentureStar{trademark} will be demonstrated in the National Aeronautics and Space Administration X-33 Phase II Advanced Technology Demonstration Program. The X-33 program, vehicle, and technology are described herein. {copyright} {ital 1997 American Institute of Physics.}

Baumgartner, R.I. [Lockheed Martin Skunk Works 1011 Lockheed Way Palmdale, California93599-7241 (United States)

1997-01-01

392

Field Operations Program, Toyota PRIUS Hybrid Electric Vehicle Performance Characterization Report  

SciTech Connect

The U.S. Department of Energy’s Field Operations Program evaluates advanced technology vehicles in real-world applications and environments. Advanced technology vehicles include pure electric, hybrid electric, hydrogen, and other vehicles that use emerging technologies such as fuel cells. Information generated by the Program is targeted to fleet managers and others considering the deployment of advanced technology vehicles. As part of the above activities, the Field Operations Program has initiated the testing of the Toyota Prius hybrid electric vehicle (HEV), a technology increasingly being considered for use in fleet applications. This report describes the Pomona Loop testing of the Prius, providing not only initial operational and performance information, but also a better understanding of HEV testing issues. The Pomona Loop testing includes both Urban and Freeway drive cycles, each conducted at four operating scenarios that mix minimum and maximum payloads with different auxiliary (e.g., lights, air conditioning) load levels.

Francfort, James Edward; Nguyen, N.; Phung, J.; Smith, J.; Wehrey, M.

2001-12-01

393

FreedomCAR and vehicle technologies heavy vehicle program FY 2006. Benefits analysis : methodology and results - final report.  

SciTech Connect

This report describes the approach to estimating benefits and the analysis results for the Heavy Vehicle Technologies activities of the Freedom Car and Vehicle Technologies (FCVT) Program of EERE. The scope of the effort includes: (1) Characterizing baseline and advanced technology vehicles for Class 3-6 and Class 7 and 8 trucks, (2) Identification of technology goals associated with the DOE EERE programs, (3) Estimating the market potential of technologies that improve fuel efficiency and/or use alternative fuels, (4) Determining the petroleum and greenhouse gas emissions reductions associated with the advanced technologies. In FY 05 the Heavy Vehicles program activity expanded its technical involvement to more broadly address various sources of energy loss as compared to focusing more narrowly on engine efficiency and alternative fuels. This broadening of focus has continued in the activities planned for FY 06. These changes are the result of a planning effort that occurred during FY 04 and 05. (Ref. 1) This narrative describes characteristics of the heavy truck market as they relate to the analysis, a description of the analysis methodology (including a discussion of the models used to estimate market potential and benefits), and a presentation of the benefits estimated as a result of the adoption of the advanced technologies. These benefits estimates, along with market penetrations and other results, are then modeled as part of the EERE-wide integrated analysis to provide final benefit estimates reported in the FY06 Budget Request.

Singh, M.; Energy Systems; TA Engineering, Inc.

2006-01-31

394

Near term hybrid passenger vehicle development program, phase 1  

NASA Technical Reports Server (NTRS)

Missions for hybrid vehicles that promise to yield high petroleum impact were identified and a preliminary design, was developed that satisfies the mission requirements and performance specifications. Technologies that are critical to successful vehicle design, development and fabrication were determined. Trade-off studies to maximize fuel savings were used to develop initial design specifications of the near term hybrid vehicle. Various designs were "driven" through detailed computer simulations which calculate the petroleum consumption in standard driving cycles, the petroleum and electricity consumptions over the specified missions, and the vehicle's life cycle costs over a 10 year vehicle lifetime. Particular attention was given to the selection of the electric motor, heat engine, drivetrain, battery pack and control system. The preliminary design reflects a modified current compact car powered by a currently available turbocharged diesel engine and a 24 kW (peak) compound dc electric motor.

1980-01-01

395

Spatial and temporal distribution of airborne Bacillus thuringiensis var. kurstaki during an aerial spray program for gypsy moth eradication.  

PubMed Central

We measured airborne exposures to the biological insecticide Bacillus thuringiensis var. kurstaki (Btk) during an aerial spray program to eradicate gypsy moths on the west coast of Canada. We aimed to determine whether staying indoors during spraying reduced exposures, to determine the rate of temporal decay of airborne concentrations, and to determine whether drift occurred outside the spray zone. During spraying, the average culturable airborne Btk concentration measured outdoors within the spray zone was 739 colony-forming units (CFU)/m3 of air. Outdoor air concentrations decreased over time, quickly in an initial phase with a half time of 3.3 hr, and then more slowly over the following 9 days, with an overall half-time of about 2.4 days. Inside residences during spraying, average concentrations were initially 2-5 times lower than outdoors, but at 5-6 hr after spraying began, indoor concentrations exceeded those outdoors, with an average of 244 CFU/m3 vs. 77 CFU/m3 outdoors, suggesting that the initial benefits of remaining indoors during spraying may not persist as outside air moves indoors with normal daily activities. There was drift of culturable Btk throughout a 125- to 1,000-meter band outside the spray zone where measurements were made, a consequence of the fine aerosol sizes that remained airborne (count median diameters of 4.3 to 7.2 microm). Btk concentrations outside the spray zone were related to wind speed and direction, but not to distance from the spray zone. PMID:11171524

Teschke, K; Chow, Y; Bartlett, K; Ross, A; van Netten, C

2001-01-01

396

Space transfer vehicle concepts and requirements. Volume 3: Program cost estimates  

NASA Technical Reports Server (NTRS)

The Space Transfer Vehicle (STV) Concepts and Requirements Study has been an eighteen-month study effort to develop and analyze concepts for a family of vehicles to evolve from an initial STV system into a Lunar Transportation System (LTS) for use with the Heavy Lift Launch Vehicle (HLLV). The study defined vehicle configurations, facility concepts, and ground and flight operations concepts. This volume reports the program cost estimates results for this portion of the study. The STV Reference Concept described within this document provides a complete LTS system that performs both cargo and piloted Lunar missions.

1991-01-01

397

77 FR 73458 - Vehicle Technologies Program; Request for Information  

Federal Register 2010, 2011, 2012, 2013

...alternative fuels such as electricity, ethanol, natural gas, or biodiesel. This tool has a basic widget version, which allows users...each focus on a specific type of alternative fuel vehicle (biodiesel, compressed natural gas, E85, and electric drive)....

2012-12-10

398

Phase I of the Near Term Hybrid Passenger Vehicle Development Program. Final report  

SciTech Connect

The results of Phase I of the Near-Term Hybrid Vehicle Program are summarized. This phase of the program ws a study leading to the preliminary design of a 5-passenger hybrid vehicle utilizing two energy sources (electricity and gasoline/diesel fuel) to minimize petroleum usage on a fleet basis. This report presents the following: overall summary of the Phase I activity; summary of the individual tasks; summary of the hybrid vehicle design; summary of the alternative design options; summary of the computer simulations; summary of the economic analysis; summary of the maintenance and reliability considerations; summary of the design for crash safety; and bibliography.

Not Available

1980-10-01

399

Mississippi Curriculum Framework for Vehicle and Mobile Equipment Mechanics (Program CIP: 47.0699--Vehicle and Mobile Equipment Mech.). Secondary Programs.  

ERIC Educational Resources Information Center

This document, which reflects Mississippi's statutory requirement that instructional programs be based on core curricula and performance-based assessment, contains outlines of the instructional units required in local instructional management plans and daily lesson plans for vehicle and mobile equipment mechanics I and II. Presented first are a…

Mississippi Research and Curriculum Unit for Vocational and Technical Education, State College.

400

The vehicle design evaluation program - A computer-aided design procedure for transport aircraft  

NASA Technical Reports Server (NTRS)

The vehicle design evaluation program is described. This program is a computer-aided design procedure that provides a vehicle synthesis capability for vehicle sizing, external load analysis, structural analysis, and cost evaluation. The vehicle sizing subprogram provides geometry, weight, and balance data for aircraft using JP, hydrogen, or methane fuels. The structural synthesis subprogram uses a multistation analysis for aerodynamic surfaces and fuselages to develop theoretical weights and geometric dimensions. The parts definition subprogram uses the geometric data from the structural analysis and develops the predicted fabrication dimensions, parts material raw stock buy requirements, and predicted actual weights. The cost analysis subprogram uses detail part data in conjunction with standard hours, realization factors, labor rates, and material data to develop the manufacturing costs. The program is used to evaluate overall design effects on subsonic commercial type aircraft due to parameter variations.

Oman, B. H.; Kruse, G. S.; Schrader, O. E.

1977-01-01

401

Advanced Technology Vehicle Program of the Maryland Department of Transportation and Metropolitan Washington Council of Governments  

SciTech Connect

A multi-year Clean Alternative program is designed to integrate low-emission advanced technology vehicles into high mileage/high-fuel-use public and private fleets, which are major contributors to high pollution levels. The primary goal of the program is reduced emissions of nitrogen oxides (NO{sub x}) from on-road vehicles in the Maryland counties surrounding Washington, DC. The program is targeted at fleets operating in Calvert, Charles, Frederick, Montgomery and Prince George's counties. Eligible types of vehicle applications include taxicabs, shuttles, buses, and delivery vans and trucks. Other types may qualify if they meet certain annual fuel-use or mileage criteria. Minimum requirements have been established for participating companies, including size of fleet and age of firm. The first vehicles under this program were placed in service in 1999. The Clean Alternative provides financial incentives to selected qualified firms that purchase original equipment manufacturer (OEM) vehicles or heavy-duty engines that have been certified to Low Emission Vehicle (LEV) emission levels or lower. This program is intended to be flexible and to evolve over time. For instance, in coming years the standards for acceptable emission levels may be tightened. The level of financial incentive will be determined on a case-by-case basis and other types of incentives may be provided in some cases. The range of counties included may be extended in the future or criteria for participation changed to help meet the air quality goals of the region.

Freudberg, Stuart A.

2001-03-31

402

The near-term hybrid vehicle program, phase 1  

NASA Technical Reports Server (NTRS)

Performance specifications were determined for a hybrid vehicle designed to achieve the greatest reduction in fuel consumption. Based on the results of systems level studies, a baseline vehicle was constructed with the following basic paramaters: a heat engine power peak of 53 kW (VW gasoline engine); a traction motor power peak of 30 kW (Siemens 1GV1, separately excited); a heat engine fraction of 0.64; a vehicle curb weight of 2080 kg; a lead acid battery (35 kg weight); and a battery weight fraction of 0.17. The heat engine and the traction motor are coupled together with their combined output driving a 3 speed automatic transmission with lockup torque converter. The heat engine is equipped withe a clutch which allows it to be decoupled from the system.

1979-01-01

403

Electric and hybrid vehicles program. 5th annual report to Congress for Fiscal Year 1981  

SciTech Connect

This fifth annual report on the implementation of the Electric and Hybrid Vehicle Research, Development and Demonstration Act of 1976 (Public Law 94-413, as amended by Public Law 95-238, referred to as the Act) complies with the reporting requirements established in Section 14 of the Act. In addition to informing the Congress of the progress and plans of the Department of Energy Electric and Hybrid Vehicles Program, this report is intended to serve as a communication link between the Department and all of the public and private interests involved in making the program a success. The Annual Report represents the major summary of the Electric and Hybrid Vehicles Program activities; since July 1981, DOE has ceased publication of the EHV Quarterly Reports with Congressional approval. The fourth quarter activities for FY 1981 are included in this report. During FY 1981, significant progress was made toward implementing the policies established by Congress in the Act. There has been a noticeable increase in interest shown by both the automobile manufacturing and the supply sectors of our economy in electric and hybrid vehicles. This year, the emphasis in the Electric and Hybrid Vehicles Program shifted from vehicle demonstration and preparation for production readiness to research, development, test, and evaluation of advanced technologies to achieve the attributes necessary to make electric and hybrid vehicles a practical transportation alternative. Research and development efforts in batteries and propulsion components, as well as total vehicle systems, continue to reveal significant progress toward providing industry with technology options that will result in vehicles with greater public acceptance.

None

1982-03-01

404

Cooperative Navigation for Heterogeneous Autonomous Vehicles via Approximate Dynamic Programming  

E-print Network

by coordinating and implementing future sensor actions intelligently, based both on prior knowledge targets. The robotic vehicle performance can be greatly enhanced by implementing future sensor actions intelligently, based both on prior knowl- edge and on the information obtained by the sensors on line

Ferrari, Silvia

405

77 FR 53199 - California State Motor Vehicle Pollution Control Standards; Advanced Clean Car Program; Request...  

Federal Register 2010, 2011, 2012, 2013

...Advanced Clean Car program (ACC) which combines the control of smog and soot causing pollutants and greenhouse gas (GHG) emissions...amendments to its low emission vehicle (LEV) program to address both smog forming pollutants and greenhouse gases, and amendments to...

2012-08-31

406

Review of the Research Program of the Partnership for a New Generation of Vehicles: Sixth Report  

NSDL National Science Digital Library

The National Academy Press's book about the cooperative research and development project between the US government and the US Council for Automotive Research (USCAR) is available free online. The Partnership for a New Generation of Vehicles (PNGV) program was instigated by President Clinton in 1993 with the aim of increasing fuel efficiency of autos and enhancing the US automobile industry's competitiveness and efficiency. Contents of the book include the development of vehicle subsystems, systems analysis, and concept vehicles. The text is presented in HTML format with a tool allowing users to jump to desired pages.

National Research Council (U.S.). Transportation Research Board.

2000-01-01

407

Aerodynamics of Small Vehicles  

Microsoft Academic Search

In this review we describe the aerodynamic problems that must be addressed in order to design a successful small aerial vehicle. The effects of Reynolds number and aspect ratio (AR) on the design and performance of fixed-wing vehicles are described. The boundary-layer behavior on airfoils is especially important in the design of vehicles in this flight regime. The results of

Thomas J. Mueller

2003-01-01

408

MicroProbe Small Unmanned Aerial System  

NASA Technical Reports Server (NTRS)

The MicroProbe unmanned aerial system (UAS) concept incorporates twin electric motors mounted on the vehicle wing, thus enabling an aerodynamically and environmentally clean nose area for atmospheric sensors. A payload bay is also incorporated in the fuselage to accommodate remote sensing instruments. A key feature of this concept is lightweight construction combined with low flying speeds to minimize kinetic energy and associated hazards, as well as maximizing spatial resolution. This type of aerial platform is needed for Earth science research and environmental monitoring. There were no vehicles of this type known to exist previously.

Bland, Geoffrey; Miles, Ted

2012-01-01

409

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments  

PubMed Central

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints. PMID:25412217

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-01-01

410

Aerial Video Imaging  

NASA Technical Reports Server (NTRS)

When Michael Henry wanted to start an aerial video service, he turned to Johnson Space Center for assistance. Two NASA engineers - one had designed and developed TV systems in Apollo, Skylab, Apollo- Soyuz and Space Shuttle programs - designed a wing-mounted fiberglass camera pod. Camera head and angles are adjustable, and the pod is shaped to reduce vibration. The controls are located so a solo pilot can operate the system. A microprocessor displays latitude, longitude, and bearing, and a GPS receiver provides position data for possible legal references. The service has been successfully utilized by railroads, oil companies, real estate companies, etc.

1991-01-01

411

Development of Integrated Programs for Aerospace-vehicle design (IPAD): Integrated information processing requirements  

NASA Technical Reports Server (NTRS)

The engineering-specified requirements for integrated information processing by means of the Integrated Programs for Aerospace-Vehicle Design (IPAD) system are presented. A data model is described and is based on the design process of a typical aerospace vehicle. General data management requirements are specified for data storage, retrieval, generation, communication, and maintenance. Information management requirements are specified for a two-component data model. In the general portion, data sets are managed as entities, and in the specific portion, data elements and the relationships between elements are managed by the system, allowing user access to individual elements for the purpose of query. Computer program management requirements are specified for support of a computer program library, control of computer programs, and installation of computer programs into IPAD.

Southall, J. W.

1979-01-01

412

SUAAVE: Combining Aerial Robots and Wireless Networking Stephen Camerono  

E-print Network

the WINES wireless networking initiative to consider issues of multiple aerial vehicles communicating has four main scientific themes: (i) wireless networking as applied in a controllable free-space transSUAAVE: Combining Aerial Robots and Wireless Networking Stephen Camerono Stephen Hailesl Simon

Martin, Ralph R.

413

Electric and hybrid vehicle program, site operator program quarterly progress report for April through June 1996 (third quarter of fiscal year 1996)  

SciTech Connect

The US Department of Energy (DOE) Site Operator Program was initially established to meet the requirements of the Electric and Hybrid Vehicle Research, Development, and Demonstration Act of 1976. The Program has since evolved in response to new legislation and interests. The goals of the Site Operator Program include the field evaluation of electric vehicles (EVs) in real-world applications and environments; the advancement of electric vehicle technologies; the development of infrastructure elements necessary to support significant electric vehicle use; and increasing the awareness and acceptance of EVs by the public. The Site Operator Program currently consists of eleven participants under contract and two other organizations that have data-sharing agreements with the Program (Table ES-1). Several national organizations have joined DOE to further the introduction and awareness of electric vehicles, including: (1) EVAmerica (a utility program) and DOE conduct performance and evaluation tests to support market development for electric vehicles; and (2) DOE, the Department of Transportation, the Electric Transportation Coalition, and the Electric Vehicle Association of the Americas are conducting a series of workshops to encourage urban groups in Clean Cities (a DOE program) to initiate the policies and infrastructure development necessary to support large-scale demonstrations, and ultimately the mass market use, of electric vehicles. The current focus of the Program is the collection and dissemination of EV operations and performance data to aid in the evaluation of real-world EV use. This report contains several sections with vehicle evaluation as a focus.

Francfort, J. [Lockheed Idaho Technologies Co., Idaho Falls, ID (United States); Bassett, R.R. [Sandia National Labs., Albuquerque, NM (United States); Briasco, S. [Los Angeles Dept. of Water and Power, CA (United States)] [and others

1997-01-01

414

Electric and hybrid vehicle site operators program: Thinking of the future  

NASA Astrophysics Data System (ADS)

Kansas State University, with support from federal, state, public, and private companies, is participating in the Department of Energy's Electric Vehicle Site Operator Program. Through participation in this program, Kansas State is displaying, testing, and evaluating electric or hybrid vehicle technology. This participation will provide organizations the opportunity to examine the latest EHV prototypes under actual operating conditions. KSU proposes to purchase one electric or hybrid van and two electric cars during the first two years of this five-year program. KSU has purchased one G-Van built by Conceptor Industries, Toronto, Canada and has initiated a procurement order to purchase two Soleq 1993 Ford EVcort station wagons. The G-Van has been signed in order for the public to be aware that this is an electric drive vehicle. Financial participants' names have been stenciled on the back door of the van. This vehicle is available for short term loan to interested utilities and companies. When other vehicles are obtained, the G-Van will be maintained on K-State's campus.

415

Design of an agile unmanned combat vehicle: a product of the DARPA UGCV program  

NASA Astrophysics Data System (ADS)

The unmanned ground compat vehicle (UGCV) design evolved by the SAIC team on the DARPA UGCV Program is summarized in this paper. This UGCV design provides exceptional performance against all of the program metrics and incorporates key attributes essential for high performance robotic combat vehicles. This performance includes protection against 7.62 mm threats, C130 and CH47 transportability, and the ability to accept several relevant weapons payloads, as well as advanced sensors and perception algorithms evolving from the PerceptOR program. The UGCV design incorporates a combination of technologies and design features, carefully selected through detailed trade studies, which provide optimum performance against mobility, payload, and endurance goals without sacrificing transportability, survivability, or life cycle cost. The design was optimized to maximize performance against all Category I metrics. In each case, the performance of this design was validated with detailed simulations, indicating that the vehicle exceeded the Category I metrics. Mobility metrics were analyzed using high fidelity VisualNastran vehicle models, which incorporate the suspension control algorithms and controller cycle times. DADS/Easy 5 3-D models and ADAMS simulations were also used to validate vehicle dynamics and control algorithms during obstacle negotiation.

Thornhill, Lindsey D.; Walls, Alan; Arkin, Ronald C.; Beno, Joseph H.; Bergh, Chuck; Bresie, Don; Giovannetti, Anthony; Gothard, Benny M.; Matthies, Larry H.; Nogueiro, Porfirio; Scanlon, Jim; Scott, Ron; Simon, Miguel; Smith, Wilford; Waldron, Kenneth J.

2003-09-01

416

Trajectory Control of a Class of Articulated Aerial Marin Kobilarov  

E-print Network

structures. A related problem is balancing an inverted rigid mass [4]. Equipping aerial vehicles with more]. Under such assumption our proposed methodology is applicable to any helicopter-type or any other multi-rotor

Kobilarov, Marin

417

Alternative fuels for vehicles fleet demonstration program final report. Volume 1: Summary  

SciTech Connect

The Alternative Fuels for Vehicles Fleet Demonstration Program (AFV-FDP) was a multiyear effort to collect technical data for use in determining the costs and benefits of alternative-fuel vehicles in typical applications in New York State. During 3 years of collecting data, 7.3 million miles of driving were accumulated, 1,003 chassis-dynamometer emissions tests were performed, 862,000 gallons of conventional fuel were saved, and unique information was developed about garage safety recommendations, vehicle performance, and other topics. Findings are organized by vehicle and fuel type. For light-duty compressed natural gas (CNG) vehicles, technology has evolved rapidly and closed-loop, electronically-controlled fuel systems provide performance and emissions advantages over open-loop, mechanical systems. The best CNG technology produces consistently low tailpipe emissions versus gasoline, and can eliminate evaporative emissions. Reduced driving range remains the largest physical drawback. Fuel cost is low ($/Btu) but capital costs are high, indicating that economics are best with vehicles that are used intensively. Propane produces impacts similar to CNG and is less expensive to implement, but fuel cost is higher than gasoline and safety codes limit use in urban areas. Light-duty methanol/ethanol vehicles provide performance and emissions benefits over gasoline with little impact on capital costs, but fuel costs are high. Heavy-duty CNG engines are evolving rapidly and provide large reductions in emissions versus diesel. Capital costs are high for CNG buses and fuel efficiency is reduced, but the fuel is less expensive and overall operating costs are about equal to those of diesel buses. Methanol buses provide performance and emissions benefits versus diesel, but fuel costs are high. Other emerging technologies were also evaluated, including electric vehicles, hybrid-electric vehicles, and fuel cells.

NONE

1997-03-01

418

A Vocational Program for Recreational Vehicle Maintenance/Repair. A Report, 1977-78.  

ERIC Educational Resources Information Center

This report contains a secondary school curriculum guide designed to be used by vocational teachers in a one- or two-year recreational vehicle maintenance/repair program. In the preliminary pages, a description is given of the project that developed the curriculum, outlining its objectives and procedures in formulating the model interdisciplinary…

1978

419

Using Constraint Programming and Local Search Methods to Solve Vehicle Routing Problems  

Microsoft Academic Search

We use a local search method we term Large Neighbourhood Search (LNS) for solving vehicle routing problems. LNS meshes well with constraint programming technology and is analogous to the shuffling technique of job-shop scheduling. The technique explores a large neighbourhood of the current solution by selecting a number of customer visits to remove from the routing plan, and re-inserting these

Paul Shaw

1998-01-01

420

Alternative and Renewable fuels and Vehicle Technology Program Subject Area: Biofuels production Facilities  

E-print Network

production plant, with a lower carbon footprint, while creating jobs, improving air quality, and improvingAlternative and Renewable fuels and Vehicle Technology Program Subject Area: Biofuels production for stormwater runoff. These upgrades are complimentary to process improvements that validate production

421

Updated: March 22, 2011 Alternative and Renewable Fuel and Vehicle Technologies Program  

E-print Network

Updated: March 22, 2011 Alternative and Renewable Fuel and Vehicle Technologies Program FY 2011 Fuels Alliance Will Coleman ­ Mohr Davidow Ventures Peter Cooper ­ California Labor Federation Daniel ­ California Electric Transportation Coalition Justin Ward ­ California Fuel Cell Partnership (courtesy

422

Electric and Hybrid Vehicle Program, Site Operator Program. Quarterly progress report, October--December 1995 (first quarter of fiscal year 1996)  

SciTech Connect

This is the Site Operator Program quarterly report for USDOE electric and hybrid vehicle research. Its mission now includes the three major activity categories of advancement of electric vehicle (EV) technologies, development of infrastructure elements needed to support significant EV use and increasing public awareness and acceptance of EVs. The 11 Site Operator Program participants, their geographic locations, and the principal thrusts of their efforts are identified. The EV inventories of the site operators totals about 250 vehicles. The individual fleets are summarized.

Francfort, J.E. [Lockheed Idaho Technologies Co., Idaho Falls, ID (United States); Bassett, R.R. [Sandia National Labs., Albuquerque, NM (United States); Briasco, S. [Los Angeles Dept. of Water and Power, CA (United States)] [and others

1996-03-01

423

Reducing Motor Vehicle Trauma through Health Promotion Programming.  

ERIC Educational Resources Information Center

This article suggests programs and educational approaches in which safety belt and child restraint use are promoted as preventive health practices. Health educators are encouraged to view these protective behaviors as part of a healthy life-style and promote occupant protection as a life-style behavior. (Author/CT)

Sleet, David A.

1984-01-01

424

Fuzzy neural network control of underwater vehicles based on desired state programming  

NASA Astrophysics Data System (ADS)

Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was presented, which used the technique of fuzzy neural network. The structure of fuzzy neural network was constructed according to the moving characters and the back propagation algorithm was deduced. Simulation experiments were conducted on general detection remotely operated vehicle. The results show that there is a great improvement in response and precision over traditional control, and good robustness to the model’s uncertainty and external disturbance, which has theoretical and practical value.

Liang, Xiao; Li, Ye; Xu, Yu-Ru; Wan, Lei; Qin, Zai-Bai

2006-09-01

425

Orbital transfer vehicle concept definition and system analysis study, 1985. Volume 3: System and program trades  

NASA Technical Reports Server (NTRS)

The key system and program trade studies performed to arrive at a preferred Orbital Transfer Vehicle (OTV) system concept and evolutionary approach to the acquisition of the requisite capabilites is documented. These efforts were expanded to encompass a Space Transportation Architecture Study (STAS) mission model and recommended unmanned cargo vehicle. The most important factors affecting the results presented are the mission model requirements and selection criteria. The reason for conducting the OTV concept definition and system analyses study is to select a concept and acquisition approach that meets a delivery requirement reflected by the mission model.

Nelson, James H.; Mohrman, Gordon W.; Callan, Daniel R.

1986-01-01

426

Heavy vehicle propulsion system materials program semiannual progress report for April 1998 thru September 1998  

SciTech Connect

The purpose of the Heavy Vehicle Propulsion System Materials Program is the development of materials: ceramics, intermetallics, metal alloys, and metal and ceramic coatings, to support the dieselization of class 1--3 trucks to realize a 35{percent} fuel-economy improvement over current gasoline-fueled trucks and to support commercialization of fuel-flexible LE-55 low-emissions, high-efficiency diesel engines for class 7--8 trucks. The Office of Transportation Technologies, Office of Heavy Vehicle Technologies (OTT OHVT) has an active program to develop the technology for advanced LE-55 diesel engines with 55{percent} efficiency and low emissions levels of 2.0 g/bhp-h NO{sub x} and 0.05 g/bhp-h particulates. The goal is also for the LE-55 engine to run on natural gas with efficiency approaching that of diesel fuel. The LE-55 program is being completed in FY 1997 and, after approximately 10 years of effort, has largely met the program goals of 55{percent} efficiency and low emissions. However, the commercialization of the LE-55 technology requires more durable materials than those that have been used to demonstrate the goals. Heavy Vehicle Propulsion System Materials will, in concert with the heavy-duty diesel engine companies, develop the durable materials required to commercialize the LE-55 technologies.

Johnson, D.R.

1999-01-01

427

Preliminary Performance Analyses of the Constellation Program ARES 1 Crew Launch Vehicle  

NASA Technical Reports Server (NTRS)

By the time NASA's Exploration Systems Architecture Study (ESAS) report had been released to the public in December 2005, engineers at NASA's Marshall Space Flight Center had already initiated the first of a series of detailed design analysis cycles (DACs) for the Constellation Program Crew Launch Vehicle (CLV), which has been given the name Ares I. As a major component of the Constellation Architecture, the CLV's initial role will be to deliver crew and cargo aboard the newly conceived Crew Exploration Vehicle (CEV) to a staging orbit for eventual rendezvous with the International Space Station (ISS). However, the long-term goal and design focus of the CLV will be to provide launch services for a crewed CEV in support of lunar exploration missions. Key to the success of the CLV design effort and an integral part of each DAC is a detailed performance analysis tailored to assess nominal and dispersed performance of the vehicle, to determine performance sensitivities, and to generate design-driving dispersed trajectories. Results of these analyses provide valuable design information to the program for the current design as well as provide feedback to engineers on how to adjust the current design in order to maintain program goals. This paper presents a condensed subset of the CLV performance analyses performed during the CLV DAC-1 cycle. Deterministic studies include development of the CLV DAC-1 reference trajectories, identification of vehicle stage impact footprints, an assessment of launch window impacts to payload performance, and the computation of select CLV payload partials. Dispersion studies include definition of input uncertainties, Monte Carlo analysis of trajectory performance parameters based on input dispersions, assessment of CLV flight performance reserve (FPR), assessment of orbital insertion accuracy, and an assessment of bending load indicators due to dispersions in vehicle angle of attack and side slip angle. A short discussion of the various customers for the dispersion results, along with results and ramifications of each study, are also provided.

Phillips, Mark; Hanson, John; Shmitt, Terri; Dukemand, Greg; Hays, Jim; Hill, Ashley; Garcia, Jessica

2007-01-01

428

Kansas State University electric vehicle site operator program. Year 1, second quarter report, October 1, 1991--December 30, 1991  

SciTech Connect

K-State is presently working with Grumman Allied and Unique Mobility to establish a working agreement for the research and development of a pure electric postal vehicle. K-State has worked on the design of this vehicle for the past year and is working to establish the appropriate consortium to bring this vehicle to commercial realization. K-State is working to establish infrastructure support for electric vehicles. Presently, a Kansas company is working with K-State to bring its patented low-cost vehicle metering product to market. An anticipated second year DOE project would provide 100 electric metering stations to Southern California for a large scale electric vehicle infrastructure demonstration project. This project would allow a parking lot(s) to be made EV ready. K-State`s Site Operator Program continues to get the ``word-out`` about electric vehicles. From a personal visit by Senator Bob Dole, to Corporate Board of Director Meetings, to school classrooms, to shopping mall demonstrations; K-State Employees are increasing public access and awareness about the electric vehicle industry. As has been shown in this report, K-State`s G-Van has logged an average eighteen miles per day while maintaining a full schedule of public relations tours within the state of Kansas and Missouri. K-State has now been contacted by companies in Nebraska and Iowa requesting information and involvement in this program. Kansas and Kansas State will continue its work to contribute to the Site Operator Program effort. With the purchase of two additional electric vehicles and the pending request to purchase two more electric vehicles during the next contractual year, K-states`s program will grow. When vehicle development plans and infrastructure requirements are solidified, K-State`s program will be ready to participate and be a major contributor to the development and introduction of this technology.

Hague, J.R.; Steinert, R.A.; Nissen-Pfrang, T.

1991-12-31

429

Aerial Robotic System for Transportation and Logistics  

NASA Astrophysics Data System (ADS)

The status quo of a research on a novel aerial robotic system for transportation and logistics is presented. Under a new concept for an aerial robotic transportation system, three-Dimensional Transportation Robots (3DTR) were constructed with twin turbojet engines equipped by high performance noise reduction system and a flexibly jointed delta wing controlled by 2-axis actuators. This vehicle is also stable in the air due to its pendulum structure. The first flight was successfully conducted on November 22, 2005. Flight examination of 3DTR indicates its short take-off and landing (STOL) capability.

Iwata, Kakuya; Hashimoto, Naohisa; Komoriya, Kiyoshi

430

SIMPLEV: A simple electric vehicle simulation program, Version 1.0  

SciTech Connect

An electric vehicle simulation code which can be used with any IBM compatible personal computer was written. This general purpose simulation program is useful for performing parametric studies of electric vehicle performance on user input driving cycles. The program is run interactively and guides the user through all of the necessary inputs. Driveline components and the traction battery are described and defined by ASCII files which may be customized by the user. Scaling of these components is also possible. Detailed simulation results are plotted on the PC monitor and may also be printed on a printer attached to the PC. This report serves as a users` manual and documents the mathematical relationships used in the simulation.

Cole, G.H.

1991-06-01

431

Enhancing the NASA Expendable Launch Vehicle Payload Safety Review Process Through Program Activities  

NASA Technical Reports Server (NTRS)

The safety review process for NASA spacecraft flown on Expendable Launch Vehicles (ELVs) has been guided by NASA-STD 8719.8, Expendable Launch Vehicle Payload Safety Review Process Standard. The standard focused primarily on the safety approval required to begin pre-launch processing at the launch site. Subsequent changes in the contractual, technical, and operational aspects of payload processing, combined with lessons-learned supported a need for the reassessment of the standard. This has resulted in the formation of a NASA ELV Payload Safety Program. This program has been working to address the programmatic issues that will enhance and supplement the existing process, while continuing to ensure the safety of ELV payload activities.

Palo, Thomas E.

2007-01-01

432

Heavy vehicle propulsion system materials program semiannual progress report for April 1999 through September 1999  

SciTech Connect

The purpose of the Heavy Vehicle Propulsion System Materials Program is the development of materials: ceramics, intermetallics, metal alloys, and metal and ceramic coatings, to support the dieselization of class 1-3 trucks to realize a 35% fuel-economy improvement over current gasoline-fueled trucks and to support commercialization of fuel-flexible LE-55 low-emissions, high-efficiency diesel engines for class 7-8 trucks.

Johnson, D.R.

2000-01-01

433

Development of Integrated Programs for Aerospace-Vehicle Design (IPAD) - IPAD user requirements  

NASA Technical Reports Server (NTRS)

Results of a requirements analysis task for Integrated Programs for Aerospace Vehicle Design (IPAD) are presented. User requirements which, in part, will shape the IPAD system design are given. Requirements considered were: generation, modification, storage, retrieval, communication, reporting, and protection of information. Data manipulation and controls on the system and the information were also considered. Specific needs relative to the product design process are also discussed.

Anderton, G. L.

1979-01-01

434

Department of Energy electric and hybrid vehicle site operator program at Pacific Gas and Electric Company. Final report  

SciTech Connect

Pacific Gas & Electric Company continues to expand an EV program that addresses the following: vehicle development and demonstration; vehicle technology assessment; infrastructure evaluation; participation in EV organizations; and meetings and events. This report highlights PG & E`s activities in each of these areas.

NONE

1997-10-01

435

Heavy Vehicle Propulsion System Materials Program Semiannual Progress Report for October 1998 Through March 1999  

SciTech Connect

The purpose of the Heavy Vehicle Propulsion System Materials Program is the development of materials: ceramics, intermetallics, metal alloys, and metal and ceramic coatings, to support the dieselization of class 1-3 trucks to realize a 35% fuel-economy improvement over current gasoline-fueled trucks and to support commercialization of fuel-flexible LE-55 low-emissions, high-efficiency diesel engines for class 7-8 trucks. The Office of Transportation Technologies, Office of Heavy Vehicle Technologies (OIT OHVT) has an active program to develop the technology for advanced LE-55 diesel engines with 55% efficiency and low emissions levels of 2.0 g/bhp-h NOX and 0.05 g/bhp-h particulate. The goal is also for the LE-55 engine to run on natural gas with efficiency approaching that of diesel fuel. The LE-55 program is being completed in FY 1997 and, after approximately 10 years of effort, has largely met the program goals of 55% efficiency and low emissions. However, the commercialization of the LE-55 technology requires more durable materials than those that have been used to demonstrate the goals. Heavy Vehicle Propulsion System Materials will, in concert with the heavy duty diesel engine companies, develop the durable materials required to commercialize the LE-55 technologies. OIT OHVT also recognizes a significant opportunity for reduction in petroleum consumption by dieselization of pickup trucks, vans, and sport utility vehicles. Application of the diesel engine to class 1,2, and 3 trucks is expected to yield a 35% increase in fuel economy per vehicle. The foremost barrier to diesel use in this market is emission control. Once an engine is made certifiable, subsequent challenges will be in cost; noise, vibration, and harshness (NVH); and performance. The design of advanced components for high-efficiency diesel engines has, in some cases, pushed the performance envelope for materials of construction past the point of reliable operation. Higher mechanical and tribological stresses and higher temperatures of advanced designs limit the engine designer; advanced materials allow the design of components that may operate reliably at higher stresses and temperatures, thus enabling more efficient engine designs. Advanced materials also offer the opportunity to improve the emissions, NVH, and performance of diesel engines for pickup trucks, vans, and sport utility vehicles. The principal areas of research are: (1) Cost Effective High Performance Materials and Processing; (2) Advanced Manufacturing Technology; (3)Testing and Characterization; and (4) Materials and Testing Standards.

Johnson, R.D.

1999-06-01

436

Decentralized Cooperative Aerial Surveillance Using Fixed-Wing Miniature UAVs  

Microsoft Academic Search

Numerous applications require aerial surveillance. Civilian applications include monitoring forest fires, oil fields, and pipelines and tracking wildlife. Applications to homeland security include border patrol and monitoring the perimeter of nuclear power plants. Military applications are numerous. The current approach to these applications is to use a single manned vehicle for surveillance. However, manned vehicles are typically large and expensive.

Randal W. Beard; Timothy W. McLain; Derek B. Nelson; Derek Kingston; David Johanson

2006-01-01

437

Electric and Hybrid Vehicles Program. Sixteenth annual report to Congress for fiscal year 1992  

SciTech Connect

This report describes the progress achieved in developing electric and hybrid vehicle technologies, beginning with highlights of recent accomplishments in FY 1992. Detailed descriptions are provided of program activities during FY 1992 in the areas of battery, fuel cell, and propulsion system development, and testing and evaluation of new technology in fleet site operations and in laboratories. This Annual Report also contains a status report on incentives and use of foreign components, as well as a list of publications resulting from the DOE program.

Not Available

1993-08-01

438

DUKSUP: A Computer Program for High Thrust Launch Vehicle Trajectory Design and Optimization  

NASA Technical Reports Server (NTRS)

From the late 1960's through 1997, the leadership of NASA's Intermediate and Large class unmanned expendable launch vehicle projects resided at the NASA Lewis (now Glenn) Research Center (LeRC). One of LeRC's primary responsibilities --- trajectory design and performance analysis --- was accomplished by an internally-developed analytic three dimensional computer program called DUKSUP. Because of its Calculus of Variations-based optimization routine, this code was generally more capable of finding optimal solutions than its contemporaries. A derivation of optimal control using the Calculus of Variations is summarized including transversality, intermediate, and final conditions. The two point boundary value problem is explained. A brief summary of the code's operation is provided, including iteration via the Newton-Raphson scheme and integration of variational and motion equations via a 4th order Runge-Kutta scheme. Main subroutines are discussed. The history of the LeRC trajectory design efforts in the early 1960's is explained within the context of supporting the Centaur upper stage program. How the code was constructed based on the operation of the Atlas/Centaur launch vehicle, the limits of the computers of that era, the limits of the computer programming<