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

DOE Office of Scientific and Technical Information (OSTI.GOV)

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

2014-12-10

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 tomore » 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.« less

Demonstrations of bio-inspired perching landing gear for UAVs

NASA Astrophysics Data System (ADS)

Tieu, Mindy; Michael, Duncan M.; Pflueger, Jeffery B.; Sethi, Manik S.; Shimazu, Kelli N.; Anthony, Tatiana M.; Lee, Christopher L.

2016-04-01

Results are presented which demonstrate the feasibility and performance of two concepts of biologically-inspired landing-gear systems that enable bird-sized, unmanned aerial vehicles (UAV's) to land, perch, and take-off from branchlike structures and/or ledges. The first concept follows the anatomy of birds that can grasp ahold of a branch and perch as tendons in their legs are tensioned. This design involves a gravity-activated, cable-driven, underactuated, graspingfoot mechanism. As the UAV lands, its weight collapses a four-bar linkage pulling a cable which curls two opposing, multi-segmented feet to grasp the landing target. Each foot is a single, compliant mechanism fabricated by simultaneouly 3D-printing a flexible thermo-plastic and a stiffer ABS plastic. The design is optimized to grasp structures over a range of shapes and sizes. Quasi-static and flight tests of this landing gear affixed to RC rotorcraft (24 cm to 550 cm in diameter) demonstrate that the aircraft can land, perch, and take-off from a tree branch, rectangular wood board, PVC pipe, metal hand rail, chair armrest, and in addition, a stone wall ledge. Stability tests show that perching is maintained under base and wind disturbances. The second design concept, inspired by roosting bats, is a two-material, 3D-printed hooking mechanism that enables the UAV to stably suspend itself from a wire or small-diameter branch. The design balances structural stiffness for support and flexibility for the perching process. A flight-test demonstrates the attaching and dis-engaging of a small, RC quadcopter from a suspended line.

Big data; sensor networks and remotely-sensed data for mapping; feature extraction from lidar

NASA Astrophysics Data System (ADS)

Tlhabano, Lorato

2018-05-01

Unmanned aerial vehicles (UAVs) can be used for mapping in the close range domain, combining aerial and terrestrial photogrammetry and now the emergence of affordable platforms to carry these technologies has opened up new opportunities for mapping and modeling cadastral boundaries. At the current state mainly low cost UAVs fitted with sensors are used in mapping projects with low budgets, the amount of data produced by the UAVs can be enormous hence the need for big data techniques' and concepts. The past couple of years have witnessed the dramatic rise of low-cost UAVs fitted with high tech Lidar sensors and as such the UAVS have now reached a level of practical reliability and professionalism which allow the use of these systems as mapping platforms. UAV based mapping provides not only the required accuracy with respect to cadastral laws and policies as well as requirements for feature extraction from the data sets and maps produced, UAVs are also competitive to other measurement technologies in terms of economic aspects. In the following an overview on how the various technologies of UAVs, big data concepts and lidar sensor technologies can work together to revolutionize cadastral mapping particularly in Africa and as a test case Botswana in particular will be used to investigate these technologies. These technologies can be combined to efficiently provide cadastral mapping in difficult to reach areas and over large areas of land similar to the Land Administration Procedures, Capacity and Systems (LAPCAS) exercise which was recently undertaken by the Botswana government, we will show how the uses of UAVS fitted with lidar sensor and utilizing big data concepts could have reduced not only costs and time for our government but also how UAVS could have provided more detailed cadastral maps.

Synthesis of the unmanned aerial vehicle remote control augmentation system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Tomczyk, Andrzej, E-mail: A.Tomczyk@prz.edu.pl

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 notmore » 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.« less

Swarming Unmanned Aerial Vehicles (UAVS): Extending Marine Aviation Ground Task Force Communications Using UAVS

DTIC Science & Technology

2015-03-02

balloons , large UAVs, and satellite communications are all employed to mitigate LOS and OTH communication on the battlefield. The Marine Corps’ fleets...Phang, N. S. (2006). Tethered operation of autonomous aerial vehicles to provide extended fields of view for autonomous ground vehicles (Master’s

The UAV take-off and landing system used for small areas of mobile vehicles

NASA Astrophysics Data System (ADS)

Ren, Tian-Yu; Duanmu, Qing-Duo; Wu, Bo-Qi

2018-03-01

In order to realize an UAV formation cluster system based on the current GPS and the fault and insufficiency of Beidou integrated navigation system in strong jamming environment. Due to the impact of the compass on the plane crash, navigation system error caused by the mobile area to help reduce the need for large landing sites and not in the small fast moving area to achieve the reality of the landing. By using Strapdown inertial and all-optical system to form Composite UAV flight control system, the photoelectric composite strapdown inertial coupling is realized, and through the laser and microwave telemetry link compound communication mechanism, using all-optical strapdown inertial and visual navigation system to solve the deviation of take-off and landing caused by electromagnetic interference, all-optical bidirectional data link realizes two-way position correction of landing site and aircraft, thus achieves the accurate recovery of UAV formation cluster in the mobile narrow area which the traditional navigation system can't realize. This system is a set of efficient unmanned aerial vehicle Group Take-off/descending system, which is suitable for many tasks, and not only realizes the reliable continuous navigation under the complex electromagnetic interference environment, moreover, the intelligent flight and Take-off and landing of unmanned aerial vehicles relative to the fast moving and small recovery sites in complex electromagnetic interference environment can not only improve the safe operation rate of unmanned aerial vehicle, but also guarantee the operation safety of the aircraft, and the more has important social value for the application foreground of the aircraft.

Unmanned Aerial Vehicles (UAVs): a new tool in counterterrorism operations?

NASA Astrophysics Data System (ADS)

Dörtbudak, Mehmet F.

2015-05-01

Terrorism is not a new phenomenon to the world, yet it remains difficult to define and counter. Countering terrorism requires several measures that must be taken simultaneously; however, counterterrorism strategies of many countries mostly depend on military measures. In the aftermath of the 2001 terrorist attack on the Twin Towers of the World Trade Center, the United States (U.S.) has started and led the campaign of Global War on Terrorism. They have invaded Afghanistan and Iraq and have encountered insurgencies run by terrorist organizations, such as al-Qaeda and its affiliates. The U.S. made the utilization of Air and Space Power very intensively during these operations. In order to implement operations; Intelligence, Surveillance, and Reconnaissance (ISR) assets were used to collect the necessary information. Before the successful insertion of a small number of U.S. Special Operation Force (SOF) teams into Afghanistan, the U.S. Air Force attacked al-Qaeda and Taliban's targets such as infrastructure, airfields, ground forces, command-control facilities etc. As soon as the U.S. troops got on the ground and started to marshal to Kabul, the Air Force supported them by attacking jointly determined targets. The Air Force continued to carry out the missions and played a significant role to achieve the objective of operation during all the time. This is not the only example of utilization of Air and Space Power in counterterrorism and counterinsurgency operations. All around the world, many countries have also made the utilization of Air Power in different missions ranging from ISR to attacking. Thinking that terrorism has a psychological dimension and losing a pilot during operations may result in decreasing the population support to operations, Unmanned Aerial Vehicles (UAVs) started to be used by practitioners and took priority over other assets. Although UAVs have been on the theatre for a long time used for ISR mission in conventional conflicts, with the advent of drones, UAVs have also started to be used for attack missions in counterterrorism operations. In this study, it is aimed to determine whether UAVs are appropriate assets that can be used in counterterrorism operations. The study starts by examining the term terrorism and counterterrorism and discusses the role of the Air and Space Power in counterterrorism operations. After proposing that UAVs are appropriate assets for counterterrorism operations, it continues by explaining types and common usage concepts of UAVs. The advantages and disadvantages of UAVs are put forward from the counterterrorism operations' perspectives. It finally examines the utilization of UAVs in counterterrorism operations. In this context, as much as obtained from open sources, countries' roadmaps, usage concepts, experience, and current structure are examined to determine whether UAVs are appropriate assets in counterterrorism operations. When the advantages of UAVs and the disadvantages of manned systems are analyzed, other findings of our survey will show us that UAVs will be increasingly used in counterterrorism operations

Remote Marker-Based Tracking for UAV Landing Using Visible-Light Camera Sensor.

PubMed

Nguyen, Phong Ha; Kim, Ki Wan; Lee, Young Won; Park, Kang Ryoung

2017-08-30

Unmanned aerial vehicles (UAVs), which are commonly known as drones, have proved to be useful not only on the battlefields where manned flight is considered too risky or difficult, but also in everyday life purposes such as surveillance, monitoring, rescue, unmanned cargo, aerial video, and photography. More advanced drones make use of global positioning system (GPS) receivers during the navigation and control loop which allows for smart GPS features of drone navigation. However, there are problems if the drones operate in heterogeneous areas with no GPS signal, so it is important to perform research into the development of UAVs with autonomous navigation and landing guidance using computer vision. In this research, we determined how to safely land a drone in the absence of GPS signals using our remote maker-based tracking algorithm based on the visible light camera sensor. The proposed method uses a unique marker designed as a tracking target during landing procedures. Experimental results show that our method significantly outperforms state-of-the-art object trackers in terms of both accuracy and processing time, and we perform test on an embedded system in various environments.

The pan-sharpening of satellite and UAV imagery for agricultural applications

NASA Astrophysics Data System (ADS)

Jenerowicz, Agnieszka; Woroszkiewicz, Malgorzata

2016-10-01

Remote sensing techniques are widely used in many different areas of interest, i.e. urban studies, environmental studies, agriculture, etc., due to fact that they provide rapid, accurate and information over large areas with optimal time, spatial and spectral resolutions. Agricultural management is one of the most common application of remote sensing methods nowadays. Monitoring of agricultural sites and creating information regarding spatial distribution and characteristics of crops are important tasks to provide data for precision agriculture, crop management and registries of agricultural lands. For monitoring of cultivated areas many different types of remote sensing data can be used- most popular are multispectral satellites imagery. Such data allow for generating land use and land cover maps, based on various methods of image processing and remote sensing methods. This paper presents fusion of satellite and unnamed aerial vehicle (UAV) imagery for agricultural applications, especially for distinguishing crop types. Authors in their article presented chosen data fusion methods for satellite images and data obtained from low altitudes. Moreover the authors described pan- sharpening approaches and applied chosen pan- sharpening methods for multiresolution image fusion of satellite and UAV imagery. For such purpose, satellite images from Landsat- 8 OLI sensor and data collected within various UAV flights (with mounted RGB camera) were used. In this article, the authors not only had shown the potential of fusion of satellite and UAV images, but also presented the application of pan- sharpening in crop identification and management.

Unmanned aerial vehicles for surveying marine fauna: assessing detection probability.

PubMed

Hodgson, Amanda; Peel, David; Kelly, Natalie

2017-06-01

Aerial surveys are conducted for various fauna to assess abundance, distribution, and habitat use over large spatial scales. They are traditionally conducted using light aircraft with observers recording sightings in real time. Unmanned Aerial Vehicles (UAVs) offer an alternative with many potential advantages, including eliminating human risk. To be effective, this emerging platform needs to provide detection rates of animals comparable to traditional methods. UAVs can also acquire new types of information, and this new data requires a reevaluation of traditional analyses used in aerial surveys; including estimating the probability of detecting animals. We conducted 17 replicate UAV surveys of humpback whales (Megaptera novaeangliae) while simultaneously obtaining a 'census' of the population from land-based observations, to assess UAV detection probability. The ScanEagle UAV, carrying a digital SLR camera, continuously captured images (with 75% overlap) along transects covering the visual range of land-based observers. We also used ScanEagle to conduct focal follows of whale pods (n = 12, mean duration = 40 min), to assess a new method of estimating availability. A comparison of the whale detections from the UAV to the land-based census provided an estimated UAV detection probability of 0.33 (CV = 0.25; incorporating both availability and perception biases), which was not affected by environmental covariates (Beaufort sea state, glare, and cloud cover). According to our focal follows, the mean availability was 0.63 (CV = 0.37), with pods including mother/calf pairs having a higher availability (0.86, CV = 0.20) than those without (0.59, CV = 0.38). The follows also revealed (and provided a potential correction for) a downward bias in group size estimates from the UAV surveys, which resulted from asynchronous diving within whale pods, and a relatively short observation window of 9 s. We have shown that UAVs are an effective alternative to traditional methods, providing a detection probability that is within the range of previous studies for our target species. We also describe a method of assessing availability bias that represents spatial and temporal characteristics of a survey, from the same perspective as the survey platform, is benign, and provides additional data on animal behavior. © 2017 by the Ecological Society of America.

Diurnal Cycles of High Resolution Land Surface Temperatures (LSTs) Determined from UAV Platforms Across a Range of Surface Types

NASA Astrophysics Data System (ADS)

McCabe, M.; Rosas Aguilar, J.; Parkes, S. D.; Aragon, B.

2017-12-01

Observation of land surface temperature (LST) has many practical uses, from studying boundary layer dynamics and land-atmosphere coupling, to investigating surface properties such as soil moisture status, heat stress and surface heat fluxes. Typically, LST is observed via satellite based sensors such as LandSat or via point measurements using IR radiometers. These measurements provide either good spatial coverage and resolution or good temporal coverage. However, neither are able to provide the needed spatial and temporal resolution for many of the research applications described above. Technological developments in the use of Unmanned Aerial Vehicles (UAVs), together with small thermal frame cameras, has enabled a capacity to overcome this spatiotemporal constraint. Utilising UAV platforms to collect LST measurements across diurnal cycles provides an opportunity to study how meteorological and surface properties vary in both space and time. Here we describe the collection of LST data from a multi-rotor UAV across a study domain that is observed multiple times throughout the day. Flights over crops of Rhodes grass and alfalfa, along with a bare desert surface, were repeated with between 8 and 11 surveys covering the period from early morning to sunset. Analysis of the collected thermal imagery shows that the constructed LST maps illustrate a strong diurnal cycle consistent with expected trends, but with considerable spatial and temporal variability observed within and between the different domains. These results offer new insights into the dynamics of land surface behavior in both dry and wet soil conditions and at spatiotemporal scales that are unable to be replicated using traditional satellite platforms.

French MALE UAV Program

DTIC Science & Technology

2003-09-02

ELEMENT NUMBER 6. AUTHOR(S) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) MoD- France 8...1French Air Force MINISTÈRE DE LA DÉFENSE 1 SIDM CONOPS 2 FAF IMAGERY ARCHITECTURE 3 FUTURE FRENCH MALE UAV PROGRAM FRENCH MALE UAV PROGRAM Report...2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE French Male UAV Program 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM

UAV-LiDAR accuracy and comparison to Structure from Motion photogrammetry

NASA Astrophysics Data System (ADS)

Kucharczyk, M.; Hugenholtz, C.; Zou, X.; Nesbit, P. R.; Barchyn, T.

2016-12-01

We compare the spatial accuracy of a UAV-LiDAR system with Structure from Motion (SfM) photogrammetry. UAV-based LiDAR remote sensing potentially offers advantages over SfM photogrammetry in vegetated terrain, particularly with respect to canopy penetration and related measurements of ground surface elevation and vegetation height; however, little quantitative evidence has been presented to date. To address this, we performed a case study at a field site in Alberta, Canada with six different land cover types: short grass, tall grass, short shrubs, tall shrubs, deciduous trees, and coniferous trees. Both UAV datasets were acquired on the same day. The SfM dataset was derived from images acquired by a senseFly eBee fixed-wing UAV equipped with a 16.1 megapixel RGB camera. The UAV-LiDAR system is a proprietary design that consists of a single-rotor helicopter (2-m rotor diameter) equipped with a Riegl VUX-1UAV laser scanner, KVH 1750 inertial measurement unit, and dual NovAtel GNSS receivers. We measured vegetation height from at least 30 samples in each land cover type and acquired check point measurements to determine horizontal and vertical accuracy. Vegetation height was measured manually for grasses and shrubs with a level staff, and with a total station for trees. Coordinates of horizontal and vertical check points were surveyed with real-time kinematic (RTK) GNSS. We followed standard methods for computing horizontal and vertical accuracies based on the 2015 guidelines from the American Society of Photogrammetry and Remote Sensing. Results will be presented at the AGU Fall Meeting.

Remote Marker-Based Tracking for UAV Landing Using Visible-Light Camera Sensor

PubMed Central

Nguyen, Phong Ha; Kim, Ki Wan; Lee, Young Won; Park, Kang Ryoung

2017-01-01

Unmanned aerial vehicles (UAVs), which are commonly known as drones, have proved to be useful not only on the battlefields where manned flight is considered too risky or difficult, but also in everyday life purposes such as surveillance, monitoring, rescue, unmanned cargo, aerial video, and photography. More advanced drones make use of global positioning system (GPS) receivers during the navigation and control loop which allows for smart GPS features of drone navigation. However, there are problems if the drones operate in heterogeneous areas with no GPS signal, so it is important to perform research into the development of UAVs with autonomous navigation and landing guidance using computer vision. In this research, we determined how to safely land a drone in the absence of GPS signals using our remote maker-based tracking algorithm based on the visible light camera sensor. The proposed method uses a unique marker designed as a tracking target during landing procedures. Experimental results show that our method significantly outperforms state-of-the-art object trackers in terms of both accuracy and processing time, and we perform test on an embedded system in various environments. PMID:28867775

Interactive Cadastral Boundary Delineation from Uav Data

NASA Astrophysics Data System (ADS)

Crommelinck, S.; Höfle, B.; Koeva, M. N.; Yang, M. Y.; Vosselman, G.

2018-05-01

Unmanned aerial vehicles (UAV) are evolving as an alternative tool to acquire land tenure data. UAVs can capture geospatial data at high quality and resolution in a cost-effective, transparent and flexible manner, from which visible land parcel boundaries, i.e., cadastral boundaries are delineable. This delineation is to no extent automated, even though physical objects automatically retrievable through image analysis methods mark a large portion of cadastral boundaries. This study proposes (i) a methodology that automatically extracts and processes candidate cadastral boundary features from UAV data, and (ii) a procedure for a subsequent interactive delineation. Part (i) consists of two state-of-the-art computer vision methods, namely gPb contour detection and SLIC superpixels, as well as a classification part assigning costs to each outline according to local boundary knowledge. Part (ii) allows a user-guided delineation by calculating least-cost paths along previously extracted and weighted lines. The approach is tested on visible road outlines in two UAV datasets from Germany. Results show that all roads can be delineated comprehensively. Compared to manual delineation, the number of clicks per 100 m is reduced by up to 86 %, while obtaining a similar localization quality. The approach shows promising results to reduce the effort of manual delineation that is currently employed for indirect (cadastral) surveying.

Remote sensing with laser spectrum radar

NASA Astrophysics Data System (ADS)

Wang, Tianhe; Zhou, Tao; Jia, Xiaodong

2016-10-01

The unmanned airborne (UAV) laser spectrum radar has played a leading role in remote sensing because the transmitter and the receiver are together at laser spectrum radar. The advantages of the integrated transceiver laser spectrum radar is that it can be used in the oil and gas pipeline leak detection patrol line which needs the non-contact reflective detection. The UAV laser spectrum radar can patrol the line and specially detect the swept the area are now in no man's land because most of the oil and gas pipelines are in no man's land. It can save labor costs compared to the manned aircraft and ensure the safety of the pilots. The UAV laser spectrum radar can be also applied in the post disaster relief which detects the gas composition before the firefighters entering the scene of the rescue.

Enabling efficient vertical takeoff/landing and forward flight of unmanned aerial vehicles: Design and control of tandem wing-tip mounted rotor mechanisms

NASA Astrophysics Data System (ADS)

Mancuso, Peter Timothy

Fixed-wing unmanned aerial vehicles (UAVs) that offer vertical takeoff and landing (VTOL) and forward flight capability suffer from sub-par performance in both flight modes. Achieving the next generation of efficient hybrid aircraft requires innovations in: (i) power management, (ii) efficient structures, and (iii) control methodologies. Existing hybrid UAVs generally utilize one of three transitioning mechanisms: an external power mechanism to tilt the rotor-propulsion pod, separate propulsion units and rotors during hover and forward flight, or tilt body craft (smaller scale). Thus, hybrid concepts require more energy compared to dedicated fixed-wing or rotorcraft UAVs. Moreover, design trade-offs to reinforce the wing structure (typically to accommodate the propulsion systems and enable hover, i.e. tilt-rotor concepts) adversely impacts the aerodynamics, controllability and efficiency of the aircraft in both hover and forward flight modes. The goal of this research is to develop more efficient VTOL/ hover and forward flight UAVs. In doing so, the transition sequence, transition mechanism, and actuator performance are heavily considered. A design and control methodology was implemented to address these issues through a series of computer simulations and prototype benchtop tests to verify the proposed solution. Finally, preliminary field testing with a first-generation prototype was conducted. The methods used in this research offer guidelines and a new dual-arm rotor UAV concept to designing more efficient hybrid UAVs in both hover and forward flight.

UAV hyperspectral and lidar data and their fusion for arid and semi-arid land vegetation monitoring

USDA-ARS?s Scientific Manuscript database

We demonstrate a unique fusion of unmanned aerial vehicle (UAV) lidar and hyperspectral imagery for individual plant species identification and 3D characterization of the earth surface at sub-meter scales in southeastern Arizona, USA. We hypothesized that the fusion of the two different data sources...

A Technology Analysis to Support Acquisition of UAVs for Gulf Coalition Forces Operations

DTIC Science & Technology

2017-06-01

their selection of the most suitable and cost-effective unmanned aerial vehicles to support detection operations. This study uses Map Aware Non ...being detected by Gulf Coalition Forces and improved time to detect them, support the use of UAVs in detection missions. Computer experimentations and...aerial vehicles to support detection operations. We use Map Aware Non - Uniform Automata, an agent-based simulation software platform, for the

Assessing the consistency of UAV-derived point clouds and images acquired at different altitudes

NASA Astrophysics Data System (ADS)

Ozcan, O.

2016-12-01

Unmanned Aerial Vehicles (UAVs) offer several advantages in terms of cost and image resolution compared to terrestrial photogrammetry and satellite remote sensing system. Nowadays, UAVs that bridge the gap between the satellite scale and field scale applications were initiated to be used in various application areas to acquire hyperspatial and high temporal resolution imageries due to working capacity and acquiring in a short span of time with regard to conventional photogrammetry methods. UAVs have been used for various fields such as for the creation of 3-D earth models, production of high resolution orthophotos, network planning, field monitoring and agricultural lands as well. Thus, geometric accuracy of orthophotos and volumetric accuracy of point clouds are of capital importance for land surveying applications. Correspondingly, Structure from Motion (SfM) photogrammetry, which is frequently used in conjunction with UAV, recently appeared in environmental sciences as an impressive tool allowing for the creation of 3-D models from unstructured imagery. In this study, it was aimed to reveal the spatial accuracy of the images acquired from integrated digital camera and the volumetric accuracy of Digital Surface Models (DSMs) which were derived from UAV flight plans at different altitudes using SfM methodology. Low-altitude multispectral overlapping aerial photography was collected at the altitudes of 30 to 100 meters and georeferenced with RTK-GPS ground control points. These altitudes allow hyperspatial imagery with the resolutions of 1-5 cm depending upon the sensor being used. Preliminary results revealed that the vertical comparison of UAV-derived point clouds with respect to GPS measurements pointed out an average distance at cm-level. Larger values are found in areas where instantaneous changes in surface are present.

Developing A Shared Service Unmanned Aerial Vehicle Capability For Regional Emergency Services

DTIC Science & Technology

2016-09-01

training institutions from actually flying UAVs, and treated these institutions as commercial UAVs that were not approved for flight.52 The CFR Part 107...Homeland Security Policy Institute Task Force has determined that regional collaboration is essential for the integration of local assets into...airspace system.106 In order to overcome the possible negative community reaction to instituting a public UAV program, the University of North Dakota

The Evaluation of GPS techniques for UAV-based Photogrammetry in Urban Area

NASA Astrophysics Data System (ADS)

Yeh, M. L.; Chou, Y. T.; Yang, L. S.

2016-06-01

The efficiency and high mobility of Unmanned Aerial Vehicle (UAV) made them essential to aerial photography assisted survey and mapping. Especially for urban land use and land cover, that they often changes, and need UAVs to obtain new terrain data and the new changes of land use. This study aims to collect image data and three dimensional ground control points in Taichung city area with Unmanned Aerial Vehicle (UAV), general camera and Real-Time Kinematic with positioning accuracy down to centimetre. The study area is an ecological park that has a low topography which support the city as a detention basin. A digital surface model was also built with Agisoft PhotoScan, and there will also be a high resolution orthophotos. There will be two conditions for this study, with or without ground control points and both were discussed and compared for the accuracy level of each of the digital surface models. According to check point deviation estimate, the model without ground control points has an average two-dimension error up to 40 centimeter, altitude error within one meter. The GCP-free RTK-airborne approach produces centimeter-level accuracy with excellent to low risk to the UAS operators. As in the case of the model with ground control points, the accuracy of x, y, z coordinates has gone up 54.62%, 49.07%, and 87.74%, and the accuracy of altitude has improved the most.

Semantic Segmentation and Unregistered Building Detection from Uav Images Using a Deconvolutional Network

NASA Astrophysics Data System (ADS)

Ham, S.; Oh, Y.; Choi, K.; Lee, I.

2018-05-01

Detecting unregistered buildings from aerial images is an important task for urban management such as inspection of illegal buildings in green belt or update of GIS database. Moreover, the data acquisition platform of photogrammetry is evolving from manned aircraft to UAVs (Unmanned Aerial Vehicles). However, it is very costly and time-consuming to detect unregistered buildings from UAV images since the interpretation of aerial images still relies on manual efforts. To overcome this problem, we propose a system which automatically detects unregistered buildings from UAV images based on deep learning methods. Specifically, we train a deconvolutional network with publicly opened geospatial data, semantically segment a given UAV image into a building probability map and compare the building map with existing GIS data. Through this procedure, we could detect unregistered buildings from UAV images automatically and efficiently. We expect that the proposed system can be applied for various urban management tasks such as monitoring illegal buildings or illegal land-use change.

Control of fixed-wing UAV at levelling phase using artificial intelligence

NASA Astrophysics Data System (ADS)

Sayfeddine, Daher

2018-03-01

The increase in the share of fly-by-wire and software controlled UAV is explained by the need to release the human-operator and the desire to reduce the degree of influence of the human factor errors that account for 26% of aircraft accidents. An important reason for the introduction of new control algorithms is also the high level of UAV failures due loss of communication channels and possible hacking. This accounts for 17% of the total number of accidents. The comparison with manned flights shows that the frequency of accidents of unmanned flights is 27,000 times higher. This means that the UAV has 1611 failures per million flight hours and only 0.06 failures at the same time for the manned flight. In view of that, this paper studies the flight autonomy of fixed-wing UAV at the levelling phase. Landing parameters of the UAV are described. They will be used to setup a control scheme for an autopilot based on fuzzy logic algorithm.

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

PubMed Central

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

2013-01-01

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

Fielding An Amphibious UAV: Development, Results, and Lessons Learned

NASA Technical Reports Server (NTRS)

Pisanich, Greg; Morris, Stephen

2002-01-01

This report summarizes the work completed on the design and flight-testing of a small, unmanned, amphibious demonstrator aircraft that flies autonomously. The aircraft named ACAT (Autonomous Cargo Amphibious Transport) is intended to be a large cargo carrying unmanned aircraft that operates from water to avoid airspace and airfield conflict issues between manned and unmanned aircraft. To demonstrate the feasibility of this concept, a demonstrator ACAT was designed, built, and flown that has a six-foot wingspan and can fly autonomously from land or water airfield. The demonstrator was designed for a 1-hour duration and 1-mile telemetry range. A sizing code was used to design the smallest demonstrator UAV to achieve these goals. The final design was a six-foot wingspan, twin hull configuration that distributes the cargo weight across the span, reducing the wing structural weight. The demonstrator airframe was constructed from balsa wood, fiberglass, and plywood. A 4-stroke model airplane engine powered by methanol fuel was mounted in a pylon above the wing and powers the ACAT UAV. Initial flight tests from land and water were conducted under manual radio control and confirmed the amphibious capability of the design. Flight avionics that were developed by MLB for production UAVs were installed in the ACAT demonstrator. The flight software was also enhanced to permit autonomous takeoff and landing from water. A complete autonomous flight from ahard runway was successfully completed on July 5, 2001 and consisted of a take-off, rectangular flight pattern, and landing under complete computer control. A completely autonomous flight that featured a water takeoff and landing was completed on October 4, 2001. This report describes these activities in detail and highlights the challenges encountered and solved during the development of the ACAT demonstrator. hard runway was successfully completed on July 5, 2001 and consisted of a take-off, rectangular flight pattern, and landing under complete computer control. A completely autonomous flight that featured a water takeoff and landing was completed on October 4, 2001. This report describes these activities in detail and highlights the challenges encountered and solved during the development of the ACAT demonstrator.

Long Corridor Survey for High Voltage Power Lines Design Using Uav

NASA Astrophysics Data System (ADS)

Skarlatos, D.; Vamvakousis, V.

2017-11-01

The term Unmanned Aerial Vehicle (UAV) is often directly associated with the armed forces due to their widely-criticized use of such vehicles on the modern battlefield. However, with the advancement of UAV technology, the acquisition and operational cost of small civilian UAV have reduced while their functionalities have increased. Therefore, a wide variety of new civilian applications have emerged. Mapping industry has been benefited as affordable UAV can partially replace traditional platforms, such as helicopters and small aircrafts, for low altitude photography acquisition. Although relatively new to the industry, the use of UAV is rapidly commercialized and they are expected to have a sizeable impact on the mapping industry in the coming years. The aim of this work was to test the use of a low-cost UAV for orthophoto production and Digital Surface Model (DSM) creation, to be used for the design of a new 23km high voltage line of Electricity Authority of Cyprus.

Three-dimensional estimates of tree canopies: Scaling from high-resolution UAV data to satellite observations

NASA Astrophysics Data System (ADS)

Sankey, T.; Donald, J.; McVay, J.

2015-12-01

High resolution remote sensing images and datasets are typically acquired at a large cost, which poses big a challenge for many scientists. Northern Arizona University recently acquired a custom-engineered, cutting-edge UAV and we can now generate our own images with the instrument. The UAV has a unique capability to carry a large payload including a hyperspectral sensor, which images the Earth surface in over 350 spectral bands at 5 cm resolution, and a lidar scanner, which images the land surface and vegetation in 3-dimensions. Both sensors represent the newest available technology with very high resolution, precision, and accuracy. Using the UAV sensors, we are monitoring the effects of regional forest restoration treatment efforts. Individual tree canopy width and height are measured in the field and via the UAV sensors. The high-resolution UAV images are then used to segment individual tree canopies and to derive 3-dimensional estimates. The UAV image-derived variables are then correlated to the field-based measurements and scaled to satellite-derived tree canopy measurements. The relationships between the field-based and UAV-derived estimates are then extrapolated to a larger area to scale the tree canopy dimensions and to estimate tree density within restored and control forest sites.

Cubesats and drones: bridging the spatio-temporal divide for enhanced earth observation

NASA Astrophysics Data System (ADS)

McCabe, M. F.; Aragon, B.; Parkes, S. D.; Mascaro, J.; Houborg, R.

2017-12-01

In just the last few years, a range of advances in remote sensing technologies have enabled an unprecedented opportunity in earth observation. Parallel developments in cubesats and unmanned aerial vehicles (UAVs) have overcome one of the outstanding challenges in observing the land surface: the provision of timely retrievals at a spatial resolution that is sufficiently detailed to make field-level decisions. Planet cubesats have revolutionized observing capacity through their objective of near daily global retrieval. These nano-satellite systems provide high resolution (approx. 3 m) retrievals in red-green-blue and near-infrared wavelengths, offering capacity to develop vegetation metrics for both hydrological and precision agricultural applications. Apart from satellite based advances, nearer to earth technology is being exploited for a range of observation needs. UAVs provide an adaptable platform from which a variety of sensing systems can be deployed. Combinations of optical, thermal, multi- and hyper-spectral systems allow for the estimation of a range of land surface variables, including vegetation structure, vegetation health, land surface temperature and evaporation. Here we explore some of these exciting developments in the context of agricultural hydrology, providing examples of cubesat and UAV imagery that has been used to inform upon crop health and water use. An investigation of the spatial and temporal advantage of these complementary systems is undertaken, with examples of multi-day high-resolution vegetation dynamics from cubesats presented alongside diurnal-cycle responses derived from multiple within-day UAV flights.

SUSI 62 A Robust and Safe Parachute Uav with Long Flight Time and Good Payload

NASA Astrophysics Data System (ADS)

Thamm, H. P.

2011-09-01

In many research areas in the geo-sciences (erosion, land use, land cover change, etc.) or applications (e.g. forest management, mining, land management etc.) there is a demand for remote sensing images of a very high spatial and temporal resolution. Due to the high costs of classic aerial photo campaigns, the use of a UAV is a promising option for obtaining the desired remote sensed information at the time it is needed. However, the UAV must be easy to operate, safe, robust and should have a high payload and long flight time. For that purpose, the parachute UAV SUSI 62 was developed. It consists of a steel frame with a powerful 62 cm3 2- stroke engine and a parachute wing. The frame can be easily disassembled for transportation or to replace parts. On the frame there is a gimbal mounted sensor carrier where different sensors, standard SLR cameras and/or multi-spectral and thermal sensors can be mounted. Due to the design of the parachute, the SUSI 62 is very easy to control. Two different parachute sizes are available for different wind speed conditions. The SUSI 62 has a payload of up to 8 kg providing options to use different sensors at the same time or to extend flight duration. The SUSI 62 needs a runway of between 10 m and 50 m, depending on the wind conditions. The maximum flight speed is approximately 50 km/h. It can be operated in a wind speed of up to 6 m/s. The design of the system utilising a parachute UAV makes it comparatively safe as a failure of the electronics or the remote control only results in the UAV coming to the ground at a slow speed. The video signal from the camera, the GPS coordinates and other flight parameters are transmitted to the ground station in real time. An autopilot is available, which guarantees that the area of investigation is covered at the desired resolution and overlap. The robustly designed SUSI 62 has been used successfully in Europe, Africa and Australia for scientific projects and also for agricultural, forestry and industrial applications.

Experiment on Uav Photogrammetry and Terrestrial Laser Scanning for Ict-Integrated Construction

NASA Astrophysics Data System (ADS)

Takahashi, N.; Wakutsu, R.; Kato, T.; Wakaizumi, T.; Ooishi, T.; Matsuoka, R.

2017-08-01

In the 2016 fiscal year the Ministry of Land, Infrastructure, Transport and Tourism of Japan started a program integrating construction and ICT in earthwork and concrete placing. The new program named "i-Construction" focusing on productivity improvement adopts such new technologies as UAV photogrammetry and TLS. We report a field experiment to investigate whether the procedures of UAV photogrammetry and TLS following the standards for "i-Construction" are feasible or not. In the experiment we measured an embankment of about 80 metres by 160 metres immediately after earthwork was done on the embankment. We used two sets of UAV and camera in the experiment. One is a larger UAV enRoute Zion QC730 and its onboard camera Sony α6000. The other is a smaller UAV DJI Phantom 4 and its dedicated onboard camera. Moreover, we used a terrestrial laser scanner FARO Focus3D X330 based on the phase shift principle. The experiment results indicate that the procedures of UAV photogrammetry using a QC730 with an α6000 and TLS using a Focus3D X330 following the standards for "i-Construction" would be feasible. Furthermore, the experiment results show that UAV photogrammetry using a lower price UAV Phantom 4 was unable to satisfy the accuracy requirement for "i-Construction." The cause of the low accuracy by Phantom 4 is under investigation. We also found that the difference of image resolution on the ground would not have a great influence on the measurement accuracy in UAV photogrammetry.

High-Fidelity Computational Aerodynamics of the Elytron 4S UAV

NASA Technical Reports Server (NTRS)

Ventura Diaz, Patricia; Yoon, Seokkwan; Theodore, Colin R.

2018-01-01

High-fidelity Computational Fluid Dynamics (CFD) have been carried out for the Elytron 4S Unmanned Aerial Vehicle (UAV), also known as the converticopter "proto12". It is the scaled wind tunnel model of the Elytron 4S, an Urban Air Mobility (UAM) concept, a tilt-wing, box-wing rotorcraft capable of Vertical Take-Off and Landing (VTOL). The three-dimensional unsteady Navier-Stokes equations are solved on overset grids employing high-order accurate schemes, dual-time stepping, and a hybrid turbulence model using NASA's CFD code OVERFLOW. The Elytron 4S UAV has been simulated in airplane mode and in helicopter mode.

Architecting Human Operator Trust in Automation to Improve System Effectiveness in Multiple Unmanned Aerial Vehicles (UAV) Control

DTIC Science & Technology

2009-03-01

like to extend our appreciation to our research sponsor Dr. Janet Miller from the Air Force Research Labs, and her colleague Dr. Cheryl Batchelor, for...for single-operator control of multiple UAVs. Drs. Brian Tsou, Lamar Warfield , Justin Estepp and Benjamin Knott , meanwhile, contributed to our

The effective use of unmanned aerial vehicles for local law enforcement

NASA Astrophysics Data System (ADS)

Gasque, Leighton

This qualitative study was done to interview local law enforcement in Murfreesboro, Tennessee to determine if unmanned aerial vehicles could increase the safety of policy officers. Many police officers face dangerous scenarios on a daily basis; however, officers must also perform non-criminal related responsibilities that could put them in hazardous situations. UAVs have multiple capabilities that can decrease the number of hazards in an emergency situation whether it is environmental, traffic related, criminal activity, or investigations. Officers were interviewed to find whether or not unmanned aerial vehicles (UAV) could be useful manpower on the police force. The study was also used to find whether or not officers foresee UAVs being used in law enforcement. The study revealed that UAVs could be used to add useful manpower to law enforcement based on the capabilities a UAV may have. Police officers cannot confirm whether or not they would be able to use a UAV until further research is conducted to examine the relation of costs to usage.

Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach

PubMed Central

Kong, Weiwei; Hu, Tianjiang; Zhang, Daibing; Shen, Lincheng; Zhang, Jianwei

2017-01-01

One of the greatest challenges for fixed-wing unmanned aircraft vehicles (UAVs) is safe landing. Hereafter, an on-ground deployed visual approach is developed in this paper. This approach is definitely suitable for landing within the global navigation satellite system (GNSS)-denied environments. As for applications, the deployed guidance system makes full use of the ground computing resource and feedbacks the aircraft’s real-time localization to its on-board autopilot. Under such circumstances, a separate long baseline stereo architecture is proposed to possess an extendable baseline and wide-angle field of view (FOV) against the traditional fixed baseline schemes. Furthermore, accuracy evaluation of the new type of architecture is conducted by theoretical modeling and computational analysis. Dataset-driven experimental results demonstrate the feasibility and effectiveness of the developed approach. PMID:28629189

Localization Framework for Real-Time UAV Autonomous Landing: An On-Ground Deployed Visual Approach.

PubMed

Kong, Weiwei; Hu, Tianjiang; Zhang, Daibing; Shen, Lincheng; Zhang, Jianwei

2017-06-19

[-5]One of the greatest challenges for fixed-wing unmanned aircraft vehicles (UAVs) is safe landing. Hereafter, an on-ground deployed visual approach is developed in this paper. This approach is definitely suitable for landing within the global navigation satellite system (GNSS)-denied environments. As for applications, the deployed guidance system makes full use of the ground computing resource and feedbacks the aircraft's real-time localization to its on-board autopilot. Under such circumstances, a separate long baseline stereo architecture is proposed to possess an extendable baseline and wide-angle field of view (FOV) against the traditional fixed baseline schemes. Furthermore, accuracy evaluation of the new type of architecture is conducted by theoretical modeling and computational analysis. Dataset-driven experimental results demonstrate the feasibility and effectiveness of the developed approach.

UAV observation of newly formed volcanic island, Nishinoshima, Japan, from a ship

NASA Astrophysics Data System (ADS)

Ohminato, T.; Kaneko, T.; Takagi, A.

2016-12-01

We conducted an aerial observation at Nishinoshima island, south of Japan, from Jun 7 to Jun 9, 2016 by using an Unmanned Aerial Vehicle (UAV), a radio controlled small helicopter. Takeoff and landing of the UAV was conducted on a ship. Nishinoshima is a small island, 130km west of Chichijima in Ogasawara Islands, Japan. New eruption started in November 2013 in a shallow sea approximately 400 m southeast of the existing Nishinoshima Island. It started from a small islet and evolved with 1-5 × 105 m3/day discharge rate (Maeno et al, 2016). In late December 2013, the islet coalesced with the existing Nishinoshima. In 16 month, the lava field reached 2.6×106 m2and covered almost all of the existing Nishinoshima. Human landing upon the newly formed part of the island has still been prohibited due to the danger of sudden eruptions. Before our mission, some pumice or rock samples had been taken from the island but their amount was not enough to conduct detailed petrological analyses. The evolution of the lava field from the central cone has been well documented by using images taken from satellites and airplanes. However, due to the limited resolution of satellite images or photos taken from distant airplanes, there still be uncertainties in detailed morphological evolution of lava flows. The purpose of our observation includes, 1) sampling of pyroclasts near the central cone in order to investigate the condition of magma chamber and magma ascent process, and 2) taking high resolution 4K images in order to clarify the characteristic morphology of the lava flow covering the island. During the three days operation, we were successfully able to sample 250g of pyroclasts and to take 1.5TB of 4K movies. Conducting UAV's takeoff and landing on a ship was not an easy task. We used a marine research ship, Keifu-Maru, operated by Japan Meteorological Agency. The ship size is 1483 tons. On the ship deck, there are several structures which can interfere with the helicopter flights. During the UAV operation, the ship kept the lowest velocity but it was always pitching, yawing and rolling. Takeoff or landing on the ship were far more difficult than those on the ground at complete rest. In the presentation, we will show the difficulty in operating the UAV on the ship and how we overcame the difficulties.

Micro-UAV tracking framework for EO exploitation

NASA Astrophysics Data System (ADS)

Browning, David; Wilhelm, Joe; Van Hook, Richard; Gallagher, John

2012-06-01

Historically, the Air Force's research into aerial platforms for sensing systems has focused on low-, mid-, and highaltitude platforms. Though these systems are likely to comprise the majority of the Air Force's assets for the foreseeable future, they have limitations. Specifically, these platforms, their sensor packages, and their data exploitation software are unsuited for close-quarter surveillance, such as in alleys and inside of buildings. Micro-UAVs have been gaining in popularity, especially non-fixed-wing platforms such as quad-rotors. These platforms are much more appropriate for confined spaces. However, the types of video exploitation techniques that can effectively be used are different from the typical nadir-looking aerial platform. This paper discusses the creation of a framework for testing existing and new video exploitation algorithms, as well as describes a sample micro-UAV-based tracker.

Energy-Efficient Systems Eliminate Icing Danger for UAVs

NASA Technical Reports Server (NTRS)

2010-01-01

Ames Research Center engineer Leonard Haslim invented an anti-icing t echnology called an electroexpulsive separation system, which uses m echanical force to shatter potentially dangerous ice buildup on an ai rcraft surface. Temecula, California-based Ice Management Systems (no w known as IMS-ESS) licensed the technology from Ames and has discov ered a niche market for the lightweight, energy-efficient technology: unmanned aerial vehicles (UAVs). IMS-ESS systems now prevent damagi ng ice accumulation on military UAVs, allowing the vehicles to carry out crucial missions year round.

Distributed UAV-Swarm Real-Time Geomatic Data Collection Under Dynamically Changing Resolution Requirements

NASA Astrophysics Data System (ADS)

Almeida, Miguel; Hildmann, Hanno; Solmaz, Gürkan

2017-08-01

Unmanned Aerial Vehicles (UAVs) have been used for reconnaissance and surveillance missions as far back as the Vietnam War, but with the recent rapid increase in autonomy, precision and performance capabilities - and due to the massive reduction in cost and size - UAVs have become pervasive products, available and affordable for the general public. The use cases for UAVs are in the areas of disaster recovery, environmental mapping & protection and increasingly also as extended eyes and ears of civil security forces such as fire-fighters and emergency response units. In this paper we present a swarm algorithm that enables a fleet of autonomous UAVs to collectively perform sensing tasks related to environmental and rescue operations and to dynamically adapt to e.g. changing resolution requirements. We discuss the hardware used to build our own drones and the settings under which we validate the proposed approach.

Land Survey from Unmaned Aerial Veichle

NASA Astrophysics Data System (ADS)

Peterman, V.; Mesarič, M.

2012-07-01

In this paper we present, how we use a quadrocopter unmanned aerial vehicle with a camera attached to it, to do low altitude photogrammetric land survey. We use the quadrocopter to take highly overlapping photos of the area of interest. A "structure from motion" algorithm is implemented to get parameters of camera orientations and to generate a sparse point cloud representation of objects in photos. Than a patch based multi view stereo algorithm is applied to generate a dense point cloud. Ground control points are used to georeference the data. Further processing is applied to generate digital orthophoto maps, digital surface models, digital terrain models and assess volumes of various types of material. Practical examples of land survey from a UAV are presented in the paper. We explain how we used our system to monitor the reconstruction of commercial building, then how our UAV was used to assess the volume of coal supply for Ljubljana heating plant. Further example shows the usefulness of low altitude photogrammetry for documentation of archaeological excavations. In the final example we present how we used our UAV to prepare an underlay map for natural gas pipeline's route planning. In the final analysis we conclude that low altitude photogrammetry can help bridge the gap between laser scanning and classic tachymetric survey, since it offers advantages of both techniques.

Multicopter Design Challenge: Design, Fly, and Learn

ERIC Educational Resources Information Center

Sutton, Kevin G.; Busby, Joe R.; Kelly, Daniel P.

2016-01-01

A great deal of the nation's attention has turned to the sky as new technologies open the door for new opportunities with unmanned aerial vehicles (UAVs). UAVs are powered aerial vehicles that do not carry an operator, use aerodynamic forces to provide vehicle lift, and can fly autonomously or be piloted remotely. As people become accustomed to…

Autonomous target tracking of UAVs based on low-power neural network hardware

NASA Astrophysics Data System (ADS)

Yang, Wei; Jin, Zhanpeng; Thiem, Clare; Wysocki, Bryant; Shen, Dan; Chen, Genshe

2014-05-01

Detecting and identifying targets in unmanned aerial vehicle (UAV) images and videos have been challenging problems due to various types of image distortion. Moreover, the significantly high processing overhead of existing image/video processing techniques and the limited computing resources available on UAVs force most of the processing tasks to be performed by the ground control station (GCS) in an off-line manner. In order to achieve fast and autonomous target identification on UAVs, it is thus imperative to investigate novel processing paradigms that can fulfill the real-time processing requirements, while fitting the size, weight, and power (SWaP) constrained environment. In this paper, we present a new autonomous target identification approach on UAVs, leveraging the emerging neuromorphic hardware which is capable of massively parallel pattern recognition processing and demands only a limited level of power consumption. A proof-of-concept prototype was developed based on a micro-UAV platform (Parrot AR Drone) and the CogniMemTMneural network chip, for processing the video data acquired from a UAV camera on the y. The aim of this study was to demonstrate the feasibility and potential of incorporating emerging neuromorphic hardware into next-generation UAVs and their superior performance and power advantages towards the real-time, autonomous target tracking.

GPS Remote Sensing Measurements Using Aerosonde UAV

NASA Technical Reports Server (NTRS)

Grant, Michael S.; Katzberg, Stephen J.; Lawrence, R. W.

2005-01-01

In February 2004, a NASA-Langley GPS Remote Sensor (GPSRS) unit was flown on an Aerosonde unmanned aerial vehicle (UAV) from the Wallops Flight Facility (WFF) in Virginia. Using direct and surface-reflected 1.575 GHz coarse acquisition (C/A) coded GPS signals, remote sensing measurements were obtained over land and portions of open water. The strength of the surface-reflected GPS signal is proportional to the amount of moisture in the surface, and is also influenced by surface roughness. Amplitude and other characteristics of the reflected signal allow an estimate of wind speed over open water. In this paper we provide a synopsis of the instrument accommodation requirements, installation procedures, and preliminary results from what is likely the first-ever flight of a GPS remote sensing instrument on a UAV. The correct operation of the GPSRS unit on this flight indicates that Aerosonde-like UAV's can serve as platforms for future GPS remote sensing science missions.

Improving Our Ability to Assess Land Management and Disturbance by Linking Traditional Ecosystem Measurements with UAV Spectral Analysis

NASA Astrophysics Data System (ADS)

Sutter, L., Jr.; Barron-Gafford, G.; Smith, W. K.; Minor, R. L.; Raub, H.; Jimenez, J. R.; Wolsiffer, S. K.; Escobedo, E. B.; Smith, J.

2017-12-01

Drylands are dynamic landscapes of mixed plant functional types that vary in their response to abiotic and biotic drivers of change. Within these regions, woody plant-herbaceous relationships have generally been viewed as negative: woody plants within these ecosystems have been shown to negatively impact herbaceous growth by taking advantage of both deeper stored water and intercepting near surface moisture after precipitation events. There has been a long-invested effort to eliminate woody plants in many areas of the world, and analyzing and assessing land management decisions has historically required high monetary and time inputs. Unfortunately, both management practices and disturbances from fire can leave a very heterogeneous landscape, making assessment of their impacts difficult to assess. This study has attempted to address the effectiveness of two commonly used treatments within woody plant invaded areas, fire and herbicide application, by linking plant physiological measurements with the emerging technology of unmanned aerial vehicle (UAV) spectral analysis. Taking advantage of a USDA-ARS sponsored herbicide treatment in 2016 and the accidental Sawmill Fire of 2017, both within the Santa Rita Experimental Range (SRER) of Southern Arizona, USA, we linked spectral data collected via UAV with ground-based photosynthetic measurements. Given the high repeatability, and both spatial and spectral resolution of low-flying UAV measurements, we found that there are a variety of spectral indices that can be derived and accurately linked with traditional ecological measurements. Results and techniques from this study can be immediately applied to land management plans as well as be improved for other ecological parameters, such as those obtained from long-term study sites containing eddy covariance towers.

Determination of Landslide and Driftwood Potentials by Fixed-wing UAV-Borne RGB and NIR images: A Case Study of Shenmu Area in Taiwan

NASA Astrophysics Data System (ADS)

Chen, Su-Chin; Hsiao, Yu-Shen; Chung, Ta-Hsien

2015-04-01

This study is aimed at determining the landslide and driftwood potentials at Shenmu area in Taiwan by Unmanned Aerial Vehicle (UAV). High-resolution orthomosaics and digital surface models (DSMs) are both obtained from several UAV practical surveys by using a red-green-blue(RGB) camera and a near-infrared(NIR) one, respectively. Couples of artificial aerial survey targets are used for ground control in photogrammtry. The algorithm for this study is based on Logistic regression. 8 main factors, which are elevations, terrain slopes, terrain aspects, terrain reliefs, terrain roughness, distances to roads, distances to rivers, land utilizations, are taken into consideration in our Logistic regression model. The related results from UAV are compared with those from traditional photogrammetry. Overall, the study is focusing on monitoring the distribution of the areas with high-risk landslide and driftwood potentials in Shenmu area by Fixed-wing UAV-Borne RGB and NIR images. We also further analyze the relationship between forests, landslides, disaster potentials and upper river areas.

Vision-Based Precision Landings of a Tailsitter UAV

DTIC Science & Technology

2010-04-01

2.2: Schematic of the controller used in simulation. The block diagram shown in Figure 2.2 shows the simulation structure used to simulate the vision...the structure of the flight facility walls, any vibration applied to the structure would potentially change the pose of the cameras. Each camera’s pose...relative to the target in Chap- ter 4, a flat earth assumption was made. In several situations the approximation that the ground over which the UAV is

Force Protection via UGV-UAV Collaboration: Development of Control Law for Vision Based Target Tracking on SUAV

DTIC Science & Technology

2007-12-01

Hardware - In - Loop , Piccolo, UAV, Unmanned Aerial Vehicle 16. PRICE CODE 17. SECURITY CLASSIFICATION OF REPORT...Maneuvering Target.......................... 35 C. HARDWARE - IN - LOOP SIMULATION............................................... 37 1. Hardware - In - Loop Setup...law as proposed in equation (23) is capable of tracking a maneuvering target. C. HARDWARE - IN - LOOP SIMULATION The intention of HIL simulation

Estimating evaporation with thermal UAV data and two-source energy balance models

NASA Astrophysics Data System (ADS)

Hoffmann, H.; Nieto, H.; Jensen, R.; Guzinski, R.; Zarco-Tejada, P.; Friborg, T.

2016-02-01

Estimating evaporation is important when managing water resources and cultivating crops. Evaporation can be estimated using land surface heat flux models and remotely sensed land surface temperatures (LST), which have recently become obtainable in very high resolution using lightweight thermal cameras and Unmanned Aerial Vehicles (UAVs). In this study a thermal camera was mounted on a UAV and applied into the field of heat fluxes and hydrology by concatenating thermal images into mosaics of LST and using these as input for the two-source energy balance (TSEB) modelling scheme. Thermal images are obtained with a fixed-wing UAV overflying a barley field in western Denmark during the growing season of 2014 and a spatial resolution of 0.20 m is obtained in final LST mosaics. Two models are used: the original TSEB model (TSEB-PT) and a dual-temperature-difference (DTD) model. In contrast to the TSEB-PT model, the DTD model accounts for the bias that is likely present in remotely sensed LST. TSEB-PT and DTD have already been well tested, however only during sunny weather conditions and with satellite images serving as thermal input. The aim of this study is to assess whether a lightweight thermal camera mounted on a UAV is able to provide data of sufficient quality to constitute as model input and thus attain accurate and high spatial and temporal resolution surface energy heat fluxes, with special focus on latent heat flux (evaporation). Furthermore, this study evaluates the performance of the TSEB scheme during cloudy and overcast weather conditions, which is feasible due to the low data retrieval altitude (due to low UAV flying altitude) compared to satellite thermal data that are only available during clear-sky conditions. TSEB-PT and DTD fluxes are compared and validated against eddy covariance measurements and the comparison shows that both TSEB-PT and DTD simulations are in good agreement with eddy covariance measurements, with DTD obtaining the best results. The DTD model provides results comparable to studies estimating evaporation with similar experimental setups, but with LST retrieved from satellites instead of a UAV. Further, systematic irrigation patterns on the barley field provide confidence in the veracity of the spatially distributed evaporation revealed by model output maps. Lastly, this study outlines and discusses the thermal UAV image processing that results in mosaics suited for model input. This study shows that the UAV platform and the lightweight thermal camera provide high spatial and temporal resolution data valid for model input and for other potential applications requiring high-resolution and consistent LST.

Comparison of a UAV-derived point-cloud to Lidar data at Haig Glacier, Alberta, Canada

NASA Astrophysics Data System (ADS)

Bash, E. A.; Moorman, B.; Montaghi, A.; Menounos, B.; Marshall, S. J.

2016-12-01

The use of unmanned aerial vehicles (UAVs) is expanding rapidly in glaciological research as a result of technological improvements that make UAVs a cost-effective solution for collecting high resolution datasets with relative ease. The cost and difficult access traditionally associated with performing fieldwork in glacial environments makes UAVs a particularly attractive tool. In the small, but growing, body of literature using UAVs in glaciology the accuracy of UAV data is tested through the comparison of a UAV-derived DEM to measured control points. A field campaign combining simultaneous lidar and UAV flights over Haig Glacier in April 2015, provided the unique opportunity to directly compare UAV data to lidar. The UAV was a six-propeller Mikrokopter carrying a Panasonic Lumix DMC-GF1 camera with a 12 Megapixel Live MOS sensor and Lumix G 20 mm lens flown at a height of 90 m, resulting in sub-centimetre ground resolution per image pixel. Lidar data collection took place April 20, while UAV flights were conducted April 20-21. A set of 65 control points were laid out and surveyed on the glacier surface on April 19 and 21 using a RTK GPS with a vertical uncertainty of 5 cm. A direct comparison of lidar points to these control points revealed a 9 cm offset between the control points and the lidar points on average, but the difference changed distinctly from points collected on April 19 versus those collected April 21 (7 cm and 12 cm). Agisoft Photoscan was used to create a point-cloud from imagery collected with the UAV and CloudCompare was used to calculate the difference between this and the lidar point cloud, revealing an average difference of less than 17 cm. This field campaign also highlighted some of the benefits and drawbacks of using a rotary UAV for glaciological research. The vertical takeoff and landing capabilities, combined with quick responsiveness and higher carrying capacity, make the rotary vehicle favourable for high-resolution photos when working in mountainous terrain. Battery life is limited, however, compared to fixed-wing vehicles, making it more difficult to cover large areas in a short time. This analysis shows that UAVs are able to fill an important role in the future of glaciological research, when research goals are balanced with instrument accuracy and UAV platform selection.

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)

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

2010-05-01

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.

Consensus-based distributed estimation in multi-agent systems with time delay

NASA Astrophysics Data System (ADS)

Abdelmawgoud, Ahmed

During the last years, research in the field of cooperative control of swarm of robots, especially Unmanned Aerial Vehicles (UAV); have been improved due to the increase of UAV applications. The ability to track targets using UAVs has a wide range of applications not only civilian but also military as well. For civilian applications, UAVs can perform tasks including, but not limited to: map an unknown area, weather forecasting, land survey, and search and rescue missions. On the other hand, for military personnel, UAV can track and locate a variety of objects, including the movement of enemy vehicles. Consensus problems arise in a number of applications including coordination of UAVs, information processing in wireless sensor networks, and distributed multi-agent optimization. We consider a widely studied consensus algorithms for processing sensed data by different sensors in wireless sensor networks of dynamic agents. Every agent involved in the network forms a weighted average of its own estimated value of some state with the values received from its neighboring agents. We introduced a novelty of consensus-based distributed estimation algorithms. We propose a new algorithm to reach a consensus given time delay constraints. The proposed algorithm performance was observed in a scenario where a swarm of UAVs measuring the location of a ground maneuvering target. We assume that each UAV computes its state prediction and shares it with its neighbors only. However, the shared information applied to different agents with variant time delays. The entire group of UAVs must reach a consensus on target state. Different scenarios were also simulated to examine the effectiveness and performance in terms of overall estimation error, disagreement between delayed and non-delayed agents, and time to reach a consensus for each parameter contributing on the proposed algorithm.

Uav for Geodata Acquisition in Agricultureal and Forestal Applications

NASA Astrophysics Data System (ADS)

Reidelstürz, P.; Schrenk, L.; Littmann, W.

2011-09-01

In the field of precision-farming research, solutions are worked out to combine ecological and economical requirements in a harmonic way. Integrating hightech in agricultural machinery, natural differences in the fields (biodiversity) can be detected and considered to economize agricultural resources and to give respect to natural ecological variability at the same time. Using precision farming resources, machining - and labour time can be economized, productivness can be improved, environmental burden can be discharged and documentation of production processes can be improved. To realize precision farming it is essential to make contemporary large scale data of the biodiversity in the field available. In the last years effectual traktor based equipment for real time precision farming applications was developed. Using remote sensing, biomass diversity of the field can be considered while applicating operating ressources economicly. Because these large scale data aquisition depends on expensive tractor based inspections, capable Unmanned Aerial Vehicles (UAVs) could complement or in special situations even replace such tractor based data aquisition needed for the realization of precision farming strategies. The specific advantages and application slots of UAVs seems to be ideal for the usage in the field of precision farming. For example the size of even large agricultural fields in germany can be managed even by smaller UAVs. Data can be captured spontaneously, promptly, in large scale, with less respect of weather conditions. In agricultural regions UAV flights can be arranged in visual range as actually the legislator requires in germany, especially because the use of autopilotsystems in fact is nessecary to assure regular area-wide data without gaps but not to fly in non-visible regions. Also a minimized risk of hazard is given, flying UAVs over deserted agricultural areas. In a first stage CIS GmbH cooperated with "Institute For Flightsystems" of the University of German Armed Forces in Neubiberg/Munich and the well-established precision farming company "Konsultationszentrum Liepen" to develop an applicable UAV for precision farming purposes. Currently Cis GmbH and Technologie Campus Freyung, with intense contact to the „flying robot"- team of DLR Oberpfaffenhofen, collaborate to optimize the existing UAV and to extend the applications from data aquisition for biomass diversity up to detect the water supply situation in agricultural fields, to support pest management systems as much as to check the possibilities to detect bark beetle attacks in european spruce in an early stage of attack (green attack phase) by constructing and integrating further payload modules with different sensors in the existing UAV airframe. Also effective data processing workflows are to be worked out. Actually in the existing UAV autopilotsystem "piccolo" (cloudcaptech) is integrated and also a replaceable payload module is available, carrying a VIS and a NIR camera to calculate maps of NDVI diversity as indicator of biomass diversity. Further modules with a 6 channel multispectral still camera and with a spectrometer are planned. The airframe's wingspan is about 3,45m weighting 4.2 kg, ready to fly. The hand launchable UAV can start from any place in agricultural regions. The wing is configured with flaps, allowing steep approaches and short landings using a „butterfly" brake configuration. In spite of the lightweight configuration the UAV yet proves its worth under windy baltic wether situations by collecting regular sharp images of fields under wind speed up to 15m/s (Beaufort 6 -7). In further projects the development of further payload modules and a user friendly flight planning tool is scheduled considering different payload - and airframe requirements for different precision farming purposes and forest applications. Data processing and workflow will be optimized. Cooperation with further partners to establish UAV systems in agricultural, forest and geodata aquisition is desired.

Visualization of Air Particle Dynamics in an Engine Inertial Particle Separator

NASA Astrophysics Data System (ADS)

Wolf, Jason; Zhang, Wei

2015-11-01

Unmanned Aerial Vehicles (UAVs) are regularly deployed around the world in support of military, civilian and humanitarian efforts. Due to their unique mission profiles, these advanced UAVs utilize various internal combustion engines, which consume large quantities of air. Operating these UAVs in areas with high concentrations of sand and dust can be hazardous to the engines, especially during takeoff and landing. In such events, engine intake filters quickly become saturated and clogged with dust particles, causing a substantial decrease in the UAVs' engine performance and service life. Development of an Engine Air Particle Separator (EAPS) with high particle separation efficiency is necessary for maintaining satisfactory performance of the UAVs. Inertial Particle Separators (IPS) have been one common effective method but they experience complex internal particle-laden flows that are challenging to understand and model. This research employs an IPS test rig to simulate dust particle separation under different flow conditions. Soda lime glass spheres with a mean diameter of 35-45 microns are used in experiments as a surrogate for airborne particulates encountered during flight. We will present measurements of turbulent flow and particle dynamics using flow visualization techniques to understand the multiphase fluid dynamics in the IPS device. This knowledge can contribute to design better performing IPS systems for UAVs. Cleveland State University, Cleveland, Ohio, 44115.

Human-Interaction Challenges in UAV-Based Autonomous Surveillance

NASA Technical Reports Server (NTRS)

Freed, Michael; Harris, Robert; Shafto, Michael G.

2004-01-01

Autonomous UAVs provide a platform for intelligent surveillance in application domains ranging from security and military operations to scientific information gathering and land management. Surveillance tasks are often long duration, requiring that any approach be adaptive to changes in the environment or user needs. We describe a decision- theoretic model of surveillance, appropriate for use on our autonomous helicopter, that provides a basis for optimizing the value of information returned by the UAV. From this approach arise a range of challenges in making this framework practical for use by human operators lacking specialized knowledge of autonomy and mathematics. This paper describes our platform and approach, then describes human-interaction challenges arising from this approach that we have identified and begun to address.

Evaluation of unmanned aerial vehicle shape, flight path and camera type for waterfowl surveys: disturbance effects and species recognition.

PubMed

McEvoy, John F; Hall, Graham P; McDonald, Paul G

2016-01-01

The use of unmanned aerial vehicles (UAVs) for ecological research has grown rapidly in recent years, but few studies have assessed the disturbance impacts of these tools on focal subjects, particularly when observing easily disturbed species such as waterfowl. In this study we assessed the level of disturbance that a range of UAV shapes and sizes had on free-living, non-breeding waterfowl surveyed in two sites in eastern Australia between March and May 2015, as well as the capability of airborne digital imaging systems to provide adequate resolution for unambiguous species identification of these taxa. We found little or no obvious disturbance effects on wild, mixed-species flocks of waterfowl when UAVs were flown at least 60m above the water level (fixed wing models) or 40m above individuals (multirotor models). Disturbance in the form of swimming away from the UAV through to leaving the water surface and flying away from the UAV was visible at lower altitudes and when fixed-wing UAVs either approached subjects directly or rapidly changed altitude and/or direction near animals. Using tangential approach flight paths that did not cause disturbance, commercially available onboard optical equipment was able to capture images of sufficient quality to identify waterfowl and even much smaller taxa such as swallows. Our results show that with proper planning of take-off and landing sites, flight paths and careful UAV model selection, UAVs can provide an excellent tool for accurately surveying wild waterfowl populations and provide archival data with fewer logistical issues than traditional methods such as manned aerial surveys.

An Optical Fiber Sensor and Its Application in UAVs for Current Measurements

PubMed Central

Delgado, Felipe S.; Carvalho, João P.; Coelho, Thiago V. N.; Dos Santos, Alexandre B.

2016-01-01

In this paper, we propose and experimentally investigate an optical sensor based on a novel combination of a long-period fiber grating (LPFG) with a permanent magnet to measure electrical current in unmanned aerial vehicles (UAVs). The proposed device uses a neodymium magnet attached to the grating structure, which suffers from an electromagnetic force produced when the current flows in the wire of the UAV engine. Therefore, it causes deformation on the sensor and thus, different shifts occur in the resonant bands of the transmission spectrum of the LPFG. Finally, the results show that it is possible to monitor electrical current throughout the entire operating range of the UAV engine from 0 A to 10 A in an effective and practical way with good linearity, reliability and response time, which are desirable characteristics in electrical current sensing. PMID:27801798

Implementation of AN Unmanned Aerial Vehicle System for Large Scale Mapping

NASA Astrophysics Data System (ADS)

Mah, S. B.; Cryderman, C. S.

2015-08-01

Unmanned Aerial Vehicles (UAVs), digital cameras, powerful personal computers, and software have made it possible for geomatics professionals to capture aerial photographs and generate digital terrain models and orthophotographs without using full scale aircraft or hiring mapping professionals. This has been made possible by the availability of miniaturized computers and sensors, and software which has been driven, in part, by the demand for this technology in consumer items such as smartphones. The other force that is in play is the increasing number of Do-It-Yourself (DIY) people who are building UAVs as a hobby or for professional use. Building a UAV system for mapping is an alternative to purchasing a turnkey system. This paper describes factors to be considered when building a UAV mapping system, the choices made, and the test results of a project using this completed system.

Human-Centered Design and Evaluation of Haptic Cueing for Teleoperation of Multiple Mobile Robots.

PubMed

Son, Hyoung Il; Franchi, Antonio; Chuang, Lewis L; Kim, Junsuk; Bulthoff, Heinrich H; Giordano, Paolo Robuffo

2013-04-01

In this paper, we investigate the effect of haptic cueing on a human operator's performance in the field of bilateral teleoperation of multiple mobile robots, particularly multiple unmanned aerial vehicles (UAVs). Two aspects of human performance are deemed important in this area, namely, the maneuverability of mobile robots and the perceptual sensitivity of the remote environment. We introduce metrics that allow us to address these aspects in two psychophysical studies, which are reported here. Three fundamental haptic cue types were evaluated. The Force cue conveys information on the proximity of the commanded trajectory to obstacles in the remote environment. The Velocity cue represents the mismatch between the commanded and actual velocities of the UAVs and can implicitly provide a rich amount of information regarding the actual behavior of the UAVs. Finally, the Velocity+Force cue is a linear combination of the two. Our experimental results show that, while maneuverability is best supported by the Force cue feedback, perceptual sensitivity is best served by the Velocity cue feedback. In addition, we show that large gains in the haptic feedbacks do not always guarantee an enhancement in the teleoperator's performance.

A Two-Echelon Cooperated Routing Problem for a Ground Vehicle and Its Carried Unmanned Aerial Vehicle.

PubMed

Luo, Zhihao; Liu, Zhong; Shi, Jianmai

2017-05-17

In this paper, a two-echelon cooperated routing problem for the ground vehicle (GV) and its carried unmanned aerial vehicle (UAV) is investigated, where the GV travels on the road network and its UAV travels in areas beyond the road to visit a number of targets unreached by the GV. In contrast to the classical two-echelon routing problem, the UAV has to launch and land on the GV frequently to change or charge its battery while the GV is moving on the road network. A new 0-1 integer programming model is developed to formulate the problem, where the constraints on the spatial and temporal cooperation of GV and UAV routes are included. Two heuristics are proposed to solve the model: the first heuristic (H1) constructs a complete tour for all targets and splits it by GV routes, while the second heuristic (H2) constructs the GV tour and assigns UAV flights to it. Random instances with six different sizes (25-200 targets, 12-80 rendezvous nodes) are used to test the algorithms. Computational results show that H1 performs slightly better than H2, while H2 uses less time and is more stable.

Capabilities Assessment and Employment Recommendations for Full Motion Video Optical Navigation Exploitation (FMV-ONE)

DTIC Science & Technology

2015-06-01

GEOINT geospatial intelligence GFC ground force commander GPS global positioning system GUI graphical user interface HA/DR humanitarian...transport stream UAS unmanned aerial system . See UAV. UAV unmanned aerial vehicle. See UAS. VM virtual machine VMU Marine Unmanned Aerial Vehicle... Unmanned Air Systems (UASs). Current programs promise to dramatically increase the number of FMV feeds in the near future. However, there are too

Evaluation of unmanned aerial vehicle shape, flight path and camera type for waterfowl surveys: disturbance effects and species recognition

PubMed Central

Hall, Graham P.; McDonald, Paul G.

2016-01-01

The use of unmanned aerial vehicles (UAVs) for ecological research has grown rapidly in recent years, but few studies have assessed the disturbance impacts of these tools on focal subjects, particularly when observing easily disturbed species such as waterfowl. In this study we assessed the level of disturbance that a range of UAV shapes and sizes had on free-living, non-breeding waterfowl surveyed in two sites in eastern Australia between March and May 2015, as well as the capability of airborne digital imaging systems to provide adequate resolution for unambiguous species identification of these taxa. We found little or no obvious disturbance effects on wild, mixed-species flocks of waterfowl when UAVs were flown at least 60m above the water level (fixed wing models) or 40m above individuals (multirotor models). Disturbance in the form of swimming away from the UAV through to leaving the water surface and flying away from the UAV was visible at lower altitudes and when fixed-wing UAVs either approached subjects directly or rapidly changed altitude and/or direction near animals. Using tangential approach flight paths that did not cause disturbance, commercially available onboard optical equipment was able to capture images of sufficient quality to identify waterfowl and even much smaller taxa such as swallows. Our results show that with proper planning of take-off and landing sites, flight paths and careful UAV model selection, UAVs can provide an excellent tool for accurately surveying wild waterfowl populations and provide archival data with fewer logistical issues than traditional methods such as manned aerial surveys. PMID:27020132

Looking Inward to the Use of Unmanned Aerial Vehicle (UAV) for Rice Production Assessment in Indonesia

NASA Astrophysics Data System (ADS)

Komaladara, A. A. S. P.; Ambarawati, I. G. A. A.; Wijaya, I. M. A. S.; Hongo, C.; Mirah Adi, A. A. A.

2015-12-01

Rice is the main source of carbohydrate for most Indonesians. Rice production has been very dynamic due to improved infrastructure, research and development, and better farm management. However, rice production is susceptible to loss caused by drought, pest and disease attack and climate change. With the growing concern on sustainable and self-reliance food production in the country, there is an urgency to encourage research and efforts to increase rice productivity. Attempts to provide spatial distribution of rice fields on high resolution optical remote sensing data have been employed to some extent, however this technology could be costly. The use of UAV has been introduced to estimate damage ratio in rice crop recently in Indonesia. This technology is one of the ways to estimate rice production quicker, cost-saving and before harvesting time. This study aims to analyze spatio temporal and damage ratio of rice crop using UAV in Indonesia. The study empirically presents the use of UAV (Phantom 2 Vision +) on rice fields to the soil condition and development of management zone map in Bali as an example. The study concludes that the use of UAV allows researchers to pin point characteristics of crop and land in a specific area of a farm. This will then allow researchers to assist farmers in implementing specific and appropriate solutions to production issues. Key words: UAV, rice production, damage ratio

Fault tolerant attitude sensing and force feedback control for unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Jagadish, Chirag

Two aspects of an unmanned aerial vehicle are studied in this work. One is fault tolerant attitude determination and the other is to provide force feedback to the joy-stick of the UAV so as to prevent faulty inputs from the pilot. Determination of attitude plays an important role in control of aerial vehicles. One way of defining the attitude is through Euler angles. These angles can be determined based on the measurements of the projections of the gravity and earth magnetic fields on the three body axes of the vehicle. Attitude determination in unmanned aerial vehicles poses additional challenges due to limitations of space, payload, power and cost. Therefore it provides for almost no room for any bulky sensors or extra sensor hardware for backup and as such leaves no room for sensor fault issues either. In the face of these limitations, this study proposes a fault tolerant computing of Euler angles by utilizing multiple different computation methods, with each method utilizing a different subset of the available sensor measurement data. Twenty-five such methods have been presented in this document. The capability of computing the Euler angles in multiple ways provides a diversified redundancy required for fault tolerance. The proposed approach can identify certain sets of sensor failures and even separate the reference fields from the disturbances. A bank-to-turn maneuver of the NASA GTM UAV is used to demonstrate the fault tolerance provided by the proposed method as well as to demonstrate the method of determining the correct Euler angles despite interferences by inertial acceleration disturbances. Attitude computation is essential for stability. But as of today most UAVs are commanded remotely by human pilots. While basic stability control is entrusted to machine or the on-board automatic controller, overall guidance is usually with humans. It is therefore the pilot who sets the command/references through a joy-stick. While this is a good compromise between complete automation and complete human control, it still poses some unique challenges. Pilots of manned aircraft are present inside the cockpit of the aircraft they fly and thus have a better feel of the flying environment and also the limitations of the flight. The same might not be true for UAV pilots stationed on the ground. A major handicap is that visual feedback is the only one available for the UAV pilot. An additional parameter like force feedback on the remote control joy-stick can help the UAV pilot to physically feel the limitation of the safe flight envelope. This can make the flying itself easier and safer. A method proposed here is to design a joy-stick assembly with an additional actuator. This actuator is controlled so as to generate a force feedback on the joy-stick. The control developed for this system is such that the actuator allows free movement for the pilot as long as the UAV is within the safe flight envelope. On the other hand, if it is outside this safe range, the actuator opposes the pilot's applied torque and prevents him/her from giving erroneous commands to the UAV.

The design space exploration and preliminary testing of a new class of tailsitting quadrotor aircraft

NASA Astrophysics Data System (ADS)

Bodlak, Eric

Within the last decade, multi-rotor aircraft have become the most prevalent form of unmanned aerial vehicle (UAV), with applications in the military, commercial, and civilian sectors. This is due primarily to advances in electronics that allow small-scale aircraft systems to be produced and controlled in an affordable manner. Such systems are maneuvered by precisely varying the thrust and torque of individual rotors to produce flight control forces, thereby eliminating much of the mechanical complexity inherent in conventional helicopter configurations. Although many UAV missions exploit the ability to hover in place, many also require the ability to quickly and efficiently dash from point to point. Rotorcraft, in general, are limited in this capacity, since rotor thrust must also be used to produce lift. Transitional aircraft represent an alternative that blends the vertical take-off and landing (VTOL) capabilities of rotorcraft with the forward flight performance of fixed-wing aircraft, but they often rely on cumbersome mechanisms, such as additional or rotating powerplants. UAVs, however, have no need to maintain cockpit orientation. Consequently, a tailsitting quadcopter concept was devised by Dr. Ron Barrett to combine quadcopter hovering performance with the high-speed flight of fixed-wing craft. This paper lays out the arguments for such an aircraft--the XQ-139 --and examines the performance of XQ-139 variants with installed power values ranging from 100 W to 10,000 kW. Battery-electric, rotary engine, turboprop, and hybrid propulsive options are considered, and the merits of each discussed. Additionally, an XQ-139 prototype was designed and constructed, and stationary test was used to compare the aircraft's installed efficiency with that of a typical quadcopter. The prototype was found to be approximately 5% more efficient in hover mode than the quadcopter to which it was compared.

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

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

2005-10-01

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 requiremore » 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.« less

Numerical simulation of unmanned aerial vehicle under centrifugal load and optimization of milling and planing

NASA Astrophysics Data System (ADS)

Chen, Yunsheng; Lu, Xinghua

2018-05-01

The mechanical parts of the fuselage surface of the UAV are easily fractured by the action of the centrifugal load. In order to improve the compressive strength of UAV and guide the milling and planing of mechanical parts, a numerical simulation method of UAV fuselage compression under centrifugal load based on discrete element analysis method is proposed. The three-dimensional discrete element method is used to establish the splitting tensile force analysis model of the UAV fuselage under centrifugal loading. The micro-contact connection parameters of the UAV fuselage are calculated, and the yield tensile model of the mechanical components is established. The dynamic and static mechanical model of the aircraft fuselage milling is analyzed by the axial amplitude vibration frequency combined method. The correlation parameters of the cutting depth on the tool wear are obtained. The centrifugal load stress spectrum of the surface of the UAV is calculated. The meshing and finite element simulation of the rotor blade of the unmanned aerial vehicle is carried out to optimize the milling process. The test results show that the accuracy of the anti - compression numerical test of the UAV is higher by adopting the method, and the anti - fatigue damage capability of the unmanned aerial vehicle body is improved through the milling and processing optimization, and the mechanical strength of the unmanned aerial vehicle can be effectively improved.

Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface

PubMed Central

Micconi, Giorgio; Caselli, Stefano; Benassi, Giacomo; Zambelli, Nicola; Bettelli, Manuele

2017-01-01

A visuo-haptic augmented reality (VHAR) interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV) equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the situation awareness of the operator. The user teleoperates the UAV using a 3DOF haptic device that provides an attractive force feedback around the location of the most intense detected radiation source. Moreover, a fixed camera on the ground observes the environment where the UAV is flying. A 3D augmented reality scene is displayed on a computer screen accessible to the operator. Multiple types of graphical overlays are shown, including sensor data acquired by the nuclear radiation detector, a virtual cursor that tracks the UAV and geographical information, such as buildings. Experiments performed in a real environment are reported using an intense nuclear source. PMID:28961198

Detection of Nuclear Sources by UAV Teleoperation Using a Visuo-Haptic Augmented Reality Interface.

PubMed

Aleotti, Jacopo; Micconi, Giorgio; Caselli, Stefano; Benassi, Giacomo; Zambelli, Nicola; Bettelli, Manuele; Zappettini, Andrea

2017-09-29

A visuo-haptic augmented reality (VHAR) interface is presented enabling an operator to teleoperate an unmanned aerial vehicle (UAV) equipped with a custom CdZnTe-based spectroscopic gamma-ray detector in outdoor environments. The task is to localize nuclear radiation sources, whose location is unknown to the user, without the close exposure of the operator. The developed detector also enables identification of the localized nuclear sources. The aim of the VHAR interface is to increase the situation awareness of the operator. The user teleoperates the UAV using a 3DOF haptic device that provides an attractive force feedback around the location of the most intense detected radiation source. Moreover, a fixed camera on the ground observes the environment where the UAV is flying. A 3D augmented reality scene is displayed on a computer screen accessible to the operator. Multiple types of graphical overlays are shown, including sensor data acquired by the nuclear radiation detector, a virtual cursor that tracks the UAV and geographical information, such as buildings. Experiments performed in a real environment are reported using an intense nuclear source.

UAV path planning using artificial potential field method updated by optimal control theory

NASA Astrophysics Data System (ADS)

Chen, Yong-bo; Luo, Guan-chen; Mei, Yue-song; Yu, Jian-qiao; Su, Xiao-long

2016-04-01

The unmanned aerial vehicle (UAV) path planning problem is an important assignment in the UAV mission planning. Based on the artificial potential field (APF) UAV path planning method, it is reconstructed into the constrained optimisation problem by introducing an additional control force. The constrained optimisation problem is translated into the unconstrained optimisation problem with the help of slack variables in this paper. The functional optimisation method is applied to reform this problem into an optimal control problem. The whole transformation process is deduced in detail, based on a discrete UAV dynamic model. Then, the path planning problem is solved with the help of the optimal control method. The path following process based on the six degrees of freedom simulation model of the quadrotor helicopters is introduced to verify the practicability of this method. Finally, the simulation results show that the improved method is more effective in planning path. In the planning space, the length of the calculated path is shorter and smoother than that using traditional APF method. In addition, the improved method can solve the dead point problem effectively.

Fault-Tolerant and Reconfigurable Control of Unmanned Aerial Vehicles (UAVs)

DTIC Science & Technology

2008-02-29

forces and moments are expressed as functions of angle of attack, sideslip angle, angular rates, and control surface deflection. L, M, and N are...invertible. As for matrix B, the control surfaces of the reusable launch vehicle are designed to control each axes angular rate of aircraft...literature as being invertible. As for matrix B, the control surfaces of the UAV are designed to control angular rate along each axis of the aircraft

Achieving an Optimal Medium Altitude UAV Force Balance in Support of COIN Operations

DTIC Science & Technology

2009-02-02

and execute operations. UAS with common data links and remote video terminals (RVTs) provide input to the common operational picture (COP) and...full-motion video (FMV) is intuitive to many tactical warfighters who have used similar sensors in manned aircraft. Modern data links allow the video ...Document (AFDD) 2-9. Intelligence, Surveillance, and Reconnaissance Operations, 17 July 2007. Baldor, Lolita C. “Increased UAV reliance evident in

High-quality observation of surface imperviousness for urban runoff modelling using UAV imagery

NASA Astrophysics Data System (ADS)

Tokarczyk, P.; Leitao, J. P.; Rieckermann, J.; Schindler, K.; Blumensaat, F.

2015-10-01

Modelling rainfall-runoff in urban areas is increasingly applied to support flood risk assessment, particularly against the background of a changing climate and an increasing urbanization. These models typically rely on high-quality data for rainfall and surface characteristics of the catchment area as model input. While recent research in urban drainage has been focusing on providing spatially detailed rainfall data, the technological advances in remote sensing that ease the acquisition of detailed land-use information are less prominently discussed within the community. The relevance of such methods increases as in many parts of the globe, accurate land-use information is generally lacking, because detailed image data are often unavailable. Modern unmanned aerial vehicles (UAVs) allow one to acquire high-resolution images on a local level at comparably lower cost, performing on-demand repetitive measurements and obtaining a degree of detail tailored for the purpose of the study. In this study, we investigate for the first time the possibility of deriving high-resolution imperviousness maps for urban areas from UAV imagery and of using this information as input for urban drainage models. To do so, an automatic processing pipeline with a modern classification method is proposed and evaluated in a state-of-the-art urban drainage modelling exercise. In a real-life case study (Lucerne, Switzerland), we compare imperviousness maps generated using a fixed-wing consumer micro-UAV and standard large-format aerial images acquired by the Swiss national mapping agency (swisstopo). After assessing their overall accuracy, we perform an end-to-end comparison, in which they are used as an input for an urban drainage model. Then, we evaluate the influence which different image data sources and their processing methods have on hydrological and hydraulic model performance. We analyse the surface runoff of the 307 individual subcatchments regarding relevant attributes, such as peak runoff and runoff volume. Finally, we evaluate the model's channel flow prediction performance through a cross-comparison with reference flow measured at the catchment outlet. We show that imperviousness maps generated from UAV images processed with modern classification methods achieve an accuracy comparable to standard, off-the-shelf aerial imagery. In the examined case study, we find that the different imperviousness maps only have a limited influence on predicted surface runoff and pipe flows, when traditional workflows are used. We expect that they will have a substantial influence when more detailed modelling approaches are employed to characterize land use and to predict surface runoff. We conclude that UAV imagery represents a valuable alternative data source for urban drainage model applications due to the possibility of flexibly acquiring up-to-date aerial images at a quality compared with off-the-shelf image products and a competitive price at the same time. We believe that in the future, urban drainage models representing a higher degree of spatial detail will fully benefit from the strengths of UAV imagery.

A Two-Echelon Cooperated Routing Problem for a Ground Vehicle and Its Carried Unmanned Aerial Vehicle

PubMed Central

Luo, Zhihao; Liu, Zhong; Shi, Jianmai

2017-01-01

In this paper, a two-echelon cooperated routing problem for the ground vehicle (GV) and its carried unmanned aerial vehicle (UAV) is investigated, where the GV travels on the road network and its UAV travels in areas beyond the road to visit a number of targets unreached by the GV. In contrast to the classical two-echelon routing problem, the UAV has to launch and land on the GV frequently to change or charge its battery while the GV is moving on the road network. A new 0–1 integer programming model is developed to formulate the problem, where the constraints on the spatial and temporal cooperation of GV and UAV routes are included. Two heuristics are proposed to solve the model: the first heuristic (H1) constructs a complete tour for all targets and splits it by GV routes, while the second heuristic (H2) constructs the GV tour and assigns UAV flights to it. Random instances with six different sizes (25–200 targets, 12–80 rendezvous nodes) are used to test the algorithms. Computational results show that H1 performs slightly better than H2, while H2 uses less time and is more stable. PMID:28513552

The economic and operational value of using drones to transport vaccines.

PubMed

Haidari, Leila A; Brown, Shawn T; Ferguson, Marie; Bancroft, Emily; Spiker, Marie; Wilcox, Allen; Ambikapathi, Ramya; Sampath, Vidya; Connor, Diana L; Lee, Bruce Y

2016-07-25

Immunization programs in low and middle income countries (LMICs) face numerous challenges in getting life-saving vaccines to the people who need them. As unmanned aerial vehicle (UAV) technology has progressed in recent years, potential use cases for UAVs have proliferated due to their ability to traverse difficult terrains, reduce labor, and replace fleets of vehicles that require costly maintenance. Using a HERMES-generated simulation model, we performed sensitivity analyses to assess the impact of using an unmanned aerial system (UAS) for routine vaccine distribution under a range of circumstances reflecting variations in geography, population, road conditions, and vaccine schedules. We also identified the UAV payload and UAS costs necessary for a UAS to be favorable over a traditional multi-tiered land transport system (TMLTS). Implementing the UAS in the baseline scenario improved vaccine availability (96% versus 94%) and produced logistics cost savings of $0.08 per dose administered as compared to the TMLTS. The UAS maintained cost savings in all sensitivity analyses, ranging from $0.05 to $0.21 per dose administered. The minimum UAV payloads necessary to achieve cost savings over the TMLTS, for the various vaccine schedules and UAS costs and lifetimes tested, were substantially smaller (up to 0.40L) than the currently assumed UAV payload of 1.5L. Similarly, the maximum UAS costs that could achieve savings over the TMLTS were greater than the currently assumed costs under realistic flight conditions. Implementing a UAS could increase vaccine availability and decrease costs in a wide range of settings and circumstances if the drones are used frequently enough to overcome the capital costs of installing and maintaining the system. Our computational model showed that major drivers of costs savings from using UAS are road speed of traditional land vehicles, the number of people needing to be vaccinated, and the distance that needs to be traveled. Copyright © 2016. Published by Elsevier Ltd.

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

NASA Astrophysics Data System (ADS)

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

2013-12-01

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.

The economic and operational value of using drones to transport vaccines

PubMed Central

Haidari, Leila A.; Brown, Shawn T.; Ferguson, Marie; Bancroft, Emily; Spiker, Marie; Wilcox, Allen; Ambikapathi, Ramya; Sampath, Vidya; Connor, Diana L.; Lee, Bruce Y.

2017-01-01

Background Immunization programs in low and middle income countries (LMICs) face numerous challenges in getting life-saving vaccines to the people who need them. As unmanned aerial vehicle (UAV) technology has progressed in recent years, potential use cases for UAVs have proliferated due to their ability to traverse difficult terrains, reduce labor, and replace fleets of vehicles that require costly maintenance. Methods Using a HERMES-generated simulation model, we performed sensitivity analyses to assess the impact of using an unmanned aerial system (UAS) for routine vaccine distribution under a range of circumstances reflecting variations in geography, population, road conditions, and vaccine schedules. We also identified the UAV payload and UAS costs necessary for a UAS to be favorable over a traditional multi-tiered land transport system (TMLTS). Results Implementing the UAS in the baseline scenario improved vaccine availability (96% versus 94%) and produced logistics cost savings of $0.08 per dose administered as compared to the TMLTS. The UAS maintained cost savings in all sensitivity analyses, ranging from $0.05 to $0.21 per dose administered. The minimum UAV payloads necessary to achieve cost savings over the TMLTS, for the various vaccine schedules and UAS costs and lifetimes tested, were substantially smaller (up to 0.40 L) than the currently assumed UAV payload of 1.5 L. Similarly, the maximum UAS costs that could achieve savings over the TMLTS were greater than the currently assumed costs under realistic flight conditions. Conclusion Implementing a UAS could increase vaccine availability and decrease costs in a wide range of settings and circumstances if the drones are used frequently enough to overcome the capital costs of installing and maintaining the system. Our computational model showed that major drivers of costs savings from using UAS are road speed of traditional land vehicles, the number of people needing to be vaccinated, and the distance that needs to be traveled. PMID:27340098

Automated Aerial Refueling Hitches a Ride on AFF

NASA Technical Reports Server (NTRS)

Hansen, Jennifer L.; Murray, James E.; Bever, Glenn; Campos, Norma V.; Schkolnik, Gerard

2007-01-01

The recent introduction of uninhabited aerial vehicles [UAVs (basically, remotely piloted or autonomous aircraft)] has spawned new developments in autonomous operation and posed new challenges. Automated aerial refueling (AAR) is a capability that will enable UAVs to travel greater distances and loiter longer over targets. NASA Dryden Flight Research Center, in cooperation with the Defense Advanced Research Projects Agency (DARPA), the Naval Air Systems Command (NAVAIR), the Naval Air Force Pacific Fleet, and the Air Force Research Laboratory, rapidly conceived and accomplished an AAR flight research project focused on collecting a unique, high-quality database on the dynamics of the hose and drogue of an aerial refueling system. This flight-derived database would be used to validate mathematical models of the dynamics in support of design and analysis of AAR systems for future UAVs. The project involved the use of two Dryden F/A-18 airplanes and an S-3 hose-drogue refueling store on loan from the Navy. In this year-long project, which was started on October 1, 2002, 583 research maneuvers were completed during 23 flights.

Development and testing of instrumentation for ship-based UAV measurements of ocean surface processes and the marine atmospheric boundary layer

NASA Astrophysics Data System (ADS)

Reineman, B. D.; Lenain, L.; Statom, N.; Melville, W. K.

2012-12-01

We have developed instrumentation packages for unmanned aerial vehicles (UAVs) to measure ocean surface processes along with momentum fluxes and latent, sensible, and radiative heat fluxes in the marine atmospheric boundary layer (MABL). The packages have been flown over land on BAE Manta C1s and over water on Boeing-Insitu ScanEagles. The low altitude required for accurate surface flux measurements (< 30 m) is below the typical safety limit of manned research aircraft; however, with advances in laser altimeters, small-aircraft flight control, and real-time kinematic differential GPS, low-altitude flight is now within the capability of small UAV platforms. Fast-response turbulence, hygrometer, and temperature probes permit turbulent flux measurements, and short- and long-wave radiometers allow the determination of net radiation, surface temperature, and albedo. Onboard laser altimetry and high-resolution visible and infrared video permit observations of surface waves and fine-scale (O(10) cm) ocean surface temperature structure. Flight tests of payloads aboard ScanEagle UAVs were conducted in April 2012 at the Naval Surface Warfare Center Dahlgren Division (Dahlgren, VA), where measurements of water vapor, heat, and momentum fluxes were made from low-altitude (31-m) UAV flights over water (Potomac River). ScanEagles are capable of ship-based launch and recovery, which can extend the reach of research vessels and enable scientific measurements out to ranges of O(10-100) km and altitudes up to 5 km. UAV-based atmospheric and surface observations can complement observations of surface and subsurface phenomena made from a research vessel and avoid the well-known problems of vessel interference in MABL measurements. We present a description of the instrumentation, summarize results from flight tests, and discuss potential applications of these UAVs for ship-based MABL studies.

Prototyping a GNSS-Based Passive Radar for UAVs: An Instrument to Classify the Water Content Feature of Lands

PubMed Central

Troglia Gamba, Micaela; Marucco, Gianluca; Pini, Marco; Ugazio, Sabrina; Falletti, Emanuela; Lo Presti, Letizia

2015-01-01

Global Navigation Satellite Systems (GNSS) broadcast signals for positioning and navigation, which can be also employed for remote sensing applications. Indeed, the satellites of any GNSS can be seen as synchronized sources of electromagnetic radiation, and specific processing of the signals reflected back from the ground can be used to estimate the geophysical properties of the Earth’s surface. Several experiments have successfully demonstrated GNSS-reflectometry (GNSS-R), whereas new applications are continuously emerging and are presently under development, either from static or dynamic platforms. GNSS-R can be implemented at a low cost, primarily if small devices are mounted on-board unmanned aerial vehicles (UAVs), which today can be equipped with several types of sensors for environmental monitoring. So far, many instruments for GNSS-R have followed the GNSS bistatic radar architecture and consisted of custom GNSS receivers, often requiring a personal computer and bulky systems to store large amounts of data. This paper presents the development of a GNSS-based sensor for UAVs and small manned aircraft, used to classify lands according to their soil water content. The paper provides details on the design of the major hardware and software components, as well as the description of the results obtained through field tests. PMID:26569242

Prototyping a GNSS-Based Passive Radar for UAVs: An Instrument to Classify the Water Content Feature of Lands.

PubMed

Gamba, Micaela Troglia; Marucco, Gianluca; Pini, Marco; Ugazio, Sabrina; Falletti, Emanuela; Lo Presti, Letizia

2015-11-10

Global Navigation Satellite Systems (GNSS) broadcast signals for positioning and navigation, which can be also employed for remote sensing applications. Indeed, the satellites of any GNSS can be seen as synchronized sources of electromagnetic radiation, and specific processing of the signals reflected back from the ground can be used to estimate the geophysical properties of the Earth's surface. Several experiments have successfully demonstrated GNSS-reflectometry (GNSS-R), whereas new applications are continuously emerging and are presently under development, either from static or dynamic platforms. GNSS-R can be implemented at a low cost, primarily if small devices are mounted on-board unmanned aerial vehicles (UAVs), which today can be equipped with several types of sensors for environmental monitoring. So far, many instruments for GNSS-R have followed the GNSS bistatic radar architecture and consisted of custom GNSS receivers, often requiring a personal computer and bulky systems to store large amounts of data. This paper presents the development of a GNSS-based sensor for UAVs and small manned aircraft, used to classify lands according to their soil water content. The paper provides details on the design of the major hardware and software components, as well as the description of the results obtained through field tests.

Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States

DTIC Science & Technology

2017-04-15

50 0 50 Singular Values Frequency (rad/s) S in g u la r V a lu e s ( d B ) controller . The non -output variables can be estimated by reliable linear...Contract # N00014-14-C-0004 Autonomous Control Modes and Optimized Path Guidance for Shipboard Landing in High Sea States Progress Report...recovery of a VTOL UAV. There is a clear need for additional levels of stability and control augmentation and, ultimately, fully autonomous landing

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

PubMed

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

2013-08-01

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.

Sense and avoid technology for Global Hawk and Predator UAVs

NASA Astrophysics Data System (ADS)

McCalmont, John F.; Utt, James; Deschenes, Michael; Taylor, Michael J.

2005-05-01

The Sensors Directorate at the Air Force Research Laboratory (AFRL) along with Defense Research Associates, Inc. (DRA) conducted a flight demonstration of technology that could potentially satisfy the Federal Aviation Administration's (FAA) requirement for Unmanned Aerial Vehicles (UAVs) to sense and avoid local air traffic sufficient to provide an "...equivalent level of safety, comparable to see-and-avoid requirements for manned aircraft". This FAA requirement must be satisfied for autonomous UAV operation within the national airspace. The real-time on-board system passively detects approaching aircraft, both cooperative and non-cooperative, using imaging sensors operating in the visible/near infrared band and a passive moving target indicator algorithm. Detection range requirements for RQ-4 and MQ-9 UAVs were determined based on analysis of flight geometries, avoidance maneuver timelines, system latencies and human pilot performance. Flight data and UAV operating parameters were provided by the system program offices, prime contractors, and flight-test personnel. Flight demonstrations were conducted using a surrogate UAV (Aero Commander) and an intruder aircraft (Beech Bonanza). The system demonstrated target detection ranges out to 3 nautical miles in nose-to-nose scenarios and marginal visual meteorological conditions. (VMC) This paper will describe the sense and avoid requirements definition process and the system concept (sensors, algorithms, processor, and flight rest results) that has demonstrated the potential to satisfy the FAA sense and avoid requirements.

A Q-Learning Approach to Flocking With UAVs in a Stochastic Environment.

PubMed

Hung, Shao-Ming; Givigi, Sidney N

2017-01-01

In the past two decades, unmanned aerial vehicles (UAVs) have demonstrated their efficacy in supporting both military and civilian applications, where tasks can be dull, dirty, dangerous, or simply too costly with conventional methods. Many of the applications contain tasks that can be executed in parallel, hence the natural progression is to deploy multiple UAVs working together as a force multiplier. However, to do so requires autonomous coordination among the UAVs, similar to swarming behaviors seen in animals and insects. This paper looks at flocking with small fixed-wing UAVs in the context of a model-free reinforcement learning problem. In particular, Peng's Q(λ) with a variable learning rate is employed by the followers to learn a control policy that facilitates flocking in a leader-follower topology. The problem is structured as a Markov decision process, where the agents are modeled as small fixed-wing UAVs that experience stochasticity due to disturbances such as winds and control noises, as well as weight and balance issues. Learned policies are compared to ones solved using stochastic optimal control (i.e., dynamic programming) by evaluating the average cost incurred during flight according to a cost function. Simulation results demonstrate the feasibility of the proposed learning approach at enabling agents to learn how to flock in a leader-follower topology, while operating in a nonstationary stochastic environment.

Quality of terrestrial data derived from UAV photogrammetry: a case study of the Hetao irrigation district in northern China

NASA Astrophysics Data System (ADS)

Zhang, Hongming; Baartman, Jantiene E. M.; Yang, Xiaomei; Gai, Lingtong; Geissen, Violette

2017-04-01

Most crops in northern China are irrigated, but the topography affects water use, soil erosion, runoff and yields,. Technologies for collecting high-resolution topographic data are essential for adequately assessing these effects. Ground surveys and techniques of light detection and ranging have good accuracy, but data acquisition can be time-consuming and expensive for large catchments. Recent rapid technological development has provided new, flexible, high-resolution methods for collecting topographic data, such as photogrammetry using unmanned aerial vehicles (UAVs). The accuracy of UAV photogrammetry for generating high-resolution digital elevation models (DEMs) and for determining the width of irrigation channels, however, has not been assessed. We used a fixed-wing UAV for collecting high-resolution (0.15 m) topographic data for the Hetao irrigation district, the third largest irrigation district in China. We surveyed 112 ground checkpoints (GCPs) using a real-time kinematic global positioning system to evaluate the accuracy of the DEMs and channel widths. A comparison of manually measured channel widths with the widths derived from the DEMs indicated that the DEM-derived widths had vertical and horizontal root mean square errors of 13.0 and 7.9 cm, respectively. UAV photogrammetric data can thus be used for land surveying, digital mapping, calculating channel capacity, monitoring crops, and predicting yields, with the advantages of economy, speed, and ease.

Scalable autonomous operations of unmanned assets

NASA Astrophysics Data System (ADS)

Jung, Sunghun

Although there have been great theoretical advances in the region of Unmanned Aerial Vehicle (UAV) autonomy, applications of those theories into real world are still hesitated due to unexpected disturbances. Most of UAVs which are currently used are mainly, strictly speaking, Remotely Piloted Vehicles (RPA) since most works related with the flight control, sensor data analysis, and decision makings are done by human operators. To increase the degree of autonomy, many researches are focused on developing Unmanned Autonomous Aerial Vehicle (UAAV) which can takeoff, fly to the interested area by avoiding unexpected obstacles, perform various missions with decision makings, come back to the base station, and land on by itself without any human operators. To improve the performance of UAVs, the accuracies of position and orientation sensors are enhanced by integrating a Unmanned Ground Vehicle (UGV) or a solar compass to a UAV; Position sensor accuracy of a GPS sensor on a UAV is improved by referencing the position of a UGV which is calculated by using three GPS sensors and Weighted Centroid Localization (WCL) method; Orientation sensor accuracy is improved as well by using Three Pixel Theorem (TPT) and integrating a solar compass which composed of nine light sensors to a magnetic compass. Also, improved health management of a UAV is fulfilled by developing a wireless autonomous charging station which uses four pairs of transmitter and receiver magnetic loops with four robotic arms. For the software aspect, I also analyze the error propagation of the proposed mission planning hierarchy to achieve the safest size of the buffer zone. In addition, among seven future research areas regarding UAV, this paper mainly focuses on developing algorithms of path planning, trajectory generation, and cooperative tactics for the operations of multiple UAVs using GA based multiple Traveling Salesman Problem (mTSP) which is solved by dividing into m number of Traveling Salesman Problems (TSP) using two region division methods such as Uniform Region Division (URD) and K-means Voronoi Region Division (KVRD). The topic of the maximum fuel efficiency is also dealt to ensure the minimum amount fuel consumption to perform surveillance on a given region using multiple UAVs. Last but not least, I present an application example of cattle roundup with two UAVs and two animals using the feedback linearization controller.

Feature-Based Approach for the Registration of Pushbroom Imagery with Existing Orthophotos

NASA Astrophysics Data System (ADS)

Xiong, Weifeng

Low-cost Unmanned Airborne Vehicles (UAVs) are rapidly becoming suitable platforms for acquiring remote sensing data for a wide range of applications. For example, a UAV-based mobile mapping system (MMS) is emerging as a novel phenotyping tool that delivers several advantages to alleviate the drawbacks of conventional manual plant trait measurements. Moreover, UAVs equipped with direct geo-referenced frame cameras and pushbroom scanners can acquire geospatial data for comprehensive high-throughput phenotyping. UAVs for mobile mapping platforms are low-cost and easy to use, can fly closer to the objects, and are filling an important gap between ground wheel-based and traditional manned-airborne platforms. However, consumer-grade UAVs are capable of carrying only equipment with a relatively light payload and their flying time is determined by a limited battery life. These restrictions of UAVs unfortunately force potential users to adopt lower-quality direct geo-referencing and imaging systems that may negatively impact the quality of the deliverables. Recent advances in sensor calibration and automated triangulation have made it feasible to obtain accurate mapping using low-cost camera systems equipped with consumer-grade GNSS/INS units. However, ortho-rectification of the data from a linear-array scanner is challenging for low-cost UAV systems, because the derived geo-location information from pushbroom sensors is quite sensitive to the performance of the implemented direct geo-referencing unit. This thesis presents a novel approach for improving the ortho-rectification of hyperspectral pushbroom scanner imagery with the aid of orthophotos generated from frame cameras through the identification of conjugate features while modeling the impact of residual artifacts in the direct geo-referencing information. The experimental results qualitatively and quantitatively proved the feasibility of the proposed methodology in improving the geo-referencing accuracy of real datasets collected over an agricultural field.

Defining Conditions for the Use of Persistent Surveillance

DTIC Science & Technology

2009-12-01

as hard as the Air Force has worked the North Dakota and Ohio delegations,’ says Colonel Charles Bartlett, head of a special Air Force task force on...UAVs…While Richard Shelby , the Republican senator from Alabama, is concerned about the impact on Redstone Arsenal, which manages much of the Army’s...UAV work, Byron Dorgan, the North Dakota Democratic senator, wants to attract more work for Grand Forks Air Force base, partly to make up for the

Performance measurements of a dual-rotor arm mechanism for efficient flight transition of fixed-wing unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

McGill, Karen Ashley Jean

Reconfigurable systems are a class of systems that can be transformed into different configurations, generally to perform unique functions or to maintain operational efficiency under distinct conditions. A UAV can be considered a reconfigurable system when coupled with various useful features such as vertical take-off and landing (VTOL), hover capability, long-range, and relatively large payload. Currently, a UAV having these capabilities is being designed by the UTSA Mechanical Engineering department. UAVs such as this one have the following potential uses: emergency response/disaster relief, hazard-critical missions, offshore oil rig/wind farm delivery, surveillance, etc. The goal of this thesis is to perform experimental thrust and power measurements for the propulsion system of this fixed-wing UAV. Focus was placed on a rotating truss arm supporting two brushless motors and rotors that will later be integrated to the ends of the UAV wing. These truss arms will rotate via a supporting shaft from 0° to 90° to transition the UAV between a vertical take-off, hover, and forward flight. To make this hover/transition possible, a relationship between thrust, arm angle, and power drawn was established by testing the performance of the arm/motor assembly at arm angles of 0°, 15°, 30°, 45°, 60°, 75°, and 90°. Universal equations for this system of thrust as a function of the arm angle were created by correlating data collected by a load cell. A Solidworks model was created and used to conduct fluid dynamics simulations of the streamlines over the arm/motor assembly.

The fusion of satellite and UAV data: simulation of high spatial resolution band

NASA Astrophysics Data System (ADS)

Jenerowicz, Agnieszka; Siok, Katarzyna; Woroszkiewicz, Malgorzata; Orych, Agata

2017-10-01

Remote sensing techniques used in the precision agriculture and farming that apply imagery data obtained with sensors mounted on UAV platforms became more popular in the last few years due to the availability of low- cost UAV platforms and low- cost sensors. Data obtained from low altitudes with low- cost sensors can be characterised by high spatial and radiometric resolution but quite low spectral resolution, therefore the application of imagery data obtained with such technology is quite limited and can be used only for the basic land cover classification. To enrich the spectral resolution of imagery data acquired with low- cost sensors from low altitudes, the authors proposed the fusion of RGB data obtained with UAV platform with multispectral satellite imagery. The fusion is based on the pansharpening process, that aims to integrate the spatial details of the high-resolution panchromatic image with the spectral information of lower resolution multispectral or hyperspectral imagery to obtain multispectral or hyperspectral images with high spatial resolution. The key of pansharpening is to properly estimate the missing spatial details of multispectral images while preserving their spectral properties. In the research, the authors presented the fusion of RGB images (with high spatial resolution) obtained with sensors mounted on low- cost UAV platforms and multispectral satellite imagery with satellite sensors, i.e. Landsat 8 OLI. To perform the fusion of UAV data with satellite imagery, the simulation of the panchromatic bands from RGB data based on the spectral channels linear combination, was conducted. Next, for simulated bands and multispectral satellite images, the Gram-Schmidt pansharpening method was applied. As a result of the fusion, the authors obtained several multispectral images with very high spatial resolution and then analysed the spatial and spectral accuracies of processed images.

High-quality observation of surface imperviousness for urban runoff modelling using UAV imagery

NASA Astrophysics Data System (ADS)

Tokarczyk, P.; Leitao, J. P.; Rieckermann, J.; Schindler, K.; Blumensaat, F.

2015-01-01

Modelling rainfall-runoff in urban areas is increasingly applied to support flood risk assessment particularly against the background of a changing climate and an increasing urbanization. These models typically rely on high-quality data for rainfall and surface characteristics of the area. While recent research in urban drainage has been focusing on providing spatially detailed rainfall data, the technological advances in remote sensing that ease the acquisition of detailed land-use information are less prominently discussed within the community. The relevance of such methods increase as in many parts of the globe, accurate land-use information is generally lacking, because detailed image data is unavailable. Modern unmanned air vehicles (UAVs) allow acquiring high-resolution images on a local level at comparably lower cost, performing on-demand repetitive measurements, and obtaining a degree of detail tailored for the purpose of the study. In this study, we investigate for the first time the possibility to derive high-resolution imperviousness maps for urban areas from UAV imagery and to use this information as input for urban drainage models. To do so, an automatic processing pipeline with a modern classification method is tested and applied in a state-of-the-art urban drainage modelling exercise. In a real-life case study in the area of Lucerne, Switzerland, we compare imperviousness maps generated from a consumer micro-UAV and standard large-format aerial images acquired by the Swiss national mapping agency (swisstopo). After assessing their correctness, we perform an end-to-end comparison, in which they are used as an input for an urban drainage model. Then, we evaluate the influence which different image data sources and their processing methods have on hydrological and hydraulic model performance. We analyze the surface runoff of the 307 individual subcatchments regarding relevant attributes, such as peak runoff and volume. Finally, we evaluate the model's channel flow prediction performance through a cross-comparison with reference flow measured at the catchment outlet. We show that imperviousness maps generated using UAV imagery processed with modern classification methods achieve accuracy comparable with standard, off-the-shelf aerial imagery. In the examined case study, we find that the different imperviousness maps only have a limited influence on modelled surface runoff and pipe flows. We conclude that UAV imagery represents a valuable alternative data source for urban drainage model applications due to the possibility to flexibly acquire up-to-date aerial images at a superior quality and a competitive price. Our analyses furthermore suggest that spatially more detailed urban drainage models can even better benefit from the full detail of UAV imagery.

Study on Vignetting Correction of Uav Images and Its Application to 2010 Ms7.0 Lushan Earthquake, China

NASA Astrophysics Data System (ADS)

Yuan, X.; Wang, X.; Dou, A.; Ding, X.

2014-12-01

As the UAV is widely used in earthquake disaster prevention and mitigation, the efficiency of UAV image processing determines the effectiveness of its application to pre-earthquake disaster prevention, post-earthquake emergency rescue, and disaster assessment. Because of bad weather conditions after destructive earthquake, the wide field cameras captured images with serious vignetting phenomenon, which can significantly affects the speed and efficiency of image mosaic, especially the extraction of pre-earthquake building and geological structure information and also the accuracy of post-earthquake quantitative damage extraction. In this paper, an improved radial gradient correction method (IRGCM) was developed to reduce the influence from random distribution of land surface objects on the images based on radial gradient correction method (RGCM, Y. Zheng, 2008; 2013). First, a mean-value image was obtained by the average of serial UAV images. It was used as calibration instead of single images to obtain the comprehensive vignetting function by using RGCM. Then each UAV image would be corrected by the comprehensive vignetting function. A case study was done to correct the UAV images sequence, which were obtained in Lushan County after Ms7.0 Lushan, Sichuan, China earthquake occurred on April 20, 2013. The results show that the comprehensive vignetting function generated by IRGCM is more robust and accurate to express the specific optical response of camera in a particular setting. Thus it is particularly useful for correction of a mass UAV images with non-uniform illuminations. Also, the correction process was simplified and it is faster than conventional methods. After correction, the images have better radial homogeneity and clearer details, to a certain extent, which reduces the difficulties of image mosaic, and provides a better result for further analysis and damage information extraction. Further test shows also that better results were obtained by taking advantage of comprehensive vignetting function to the other UAV image sequences from different regions. The research was supported by these projects, NO.2012BAK15B02 and 2013IES010106.

A new stratospheric sounding platform based on unmanned aerial vehicle (UAV) droppable from meteorological balloon

NASA Astrophysics Data System (ADS)

Efremov, Denis; Khaykin, Sergey; Lykov, Alexey; Berezhko, Yaroslav; Lunin, Aleksey

High-resolution measurements of climate-relevant trace gases and aerosols in the upper troposphere and stratosphere (UTS) have been and remain technically challenging. The high cost of measurements onboard airborne platforms or heavy stratospheric balloons results in a lack of accurate information on vertical distribution of atmospheric constituents. Whereas light-weight instruments carried by meteorological balloons are becoming progressively available, their usage is constrained by the cost of the equipment or the recovery operations. The evolving need in cost-efficient observations for UTS process studies has led to development of small airborne platforms - unmanned aerial vehicles (UAV), capable of carrying small sensors for in-situ measurements. We present a new UAV-based stratospheric sounding platform capable of carrying scientific payload of up to 2 kg. The airborne platform comprises of a latex meteorological balloon and detachable flying wing type UAV with internal measurement controller. The UAV is launched on a balloon to stratospheric altitudes up to 20 km, where it can be automatically released by autopilot or by a remote command sent from the ground control. Having been released from the balloon the UAV glides down and returns to the launch position. Autopilot using 3-axis gyro, accelerometer, barometer, compas and GPS navigation provides flight stabilization and optimal way back trajectory. Backup manual control is provided for emergencies. During the flight the onboard measurement controller stores the data into internal memory and transmits current flight parameters to the ground station via telemetry. Precise operation of the flight control systems ensures safe landing at the launch point. A series of field tests of the detachable stratospheric UAV has been conducted. The scientific payload included the following instruments involved in different flights: a) stratospheric Lyman-alpha hygrometer (FLASH); b) backscatter sonde; c) electrochemical ozone sonde; d) optical CO2 sensor; e) radioactivity sensor; f) solar radiation sensor. In addition, each payload included temperature sensor, barometric sensor and a GPS receiver. Design features of measurement systems onboard UAV and flight results are presented. Possible applications for atmospheric studies and validation of remote ground-based and space-borne observations is discussed.

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

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2004-01-01

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.

Using Unmanned Aerial Vehicle (UAV) for spatio-temporal monitoring of soil erosion and roughness in Chania, Crete, Greece

NASA Astrophysics Data System (ADS)

Alexakis, Dimitrios; Seiradakis, Kostas; Tsanis, Ioannis

2016-04-01

This article presents a remote sensing approach for spatio-temporal monitoring of both soil erosion and roughness using an Unmanned Aerial Vehicle (UAV). Soil erosion by water is commonly known as one of the main reasons for land degradation. Gully erosion causes considerable soil loss and soil degradation. Furthermore, quantification of soil roughness (irregularities of the soil surface due to soil texture) is important and affects surface storage and infiltration. Soil roughness is one of the most susceptible to variation in time and space characteristics and depends on different parameters such as cultivation practices and soil aggregation. A UAV equipped with a digital camera was employed to monitor soil in terms of erosion and roughness in two different study areas in Chania, Crete, Greece. The UAV followed predicted flight paths computed by the relevant flight planning software. The photogrammetric image processing enabled the development of sophisticated Digital Terrain Models (DTMs) and ortho-image mosaics with very high resolution on a sub-decimeter level. The DTMs were developed using photogrammetric processing of more than 500 images acquired with the UAV from different heights above the ground level. As the geomorphic formations can be observed from above using UAVs, shadowing effects do not generally occur and the generated point clouds have very homogeneous and high point densities. The DTMs generated from UAV were compared in terms of vertical absolute accuracies with a Global Navigation Satellite System (GNSS) survey. The developed data products were used for quantifying gully erosion and soil roughness in 3D as well as for the analysis of the surrounding areas. The significant elevation changes from multi-temporal UAV elevation data were used for estimating diachronically soil loss and sediment delivery without installing sediment traps. Concerning roughness, statistical indicators of surface elevation point measurements were estimated and various parameters such as standard deviation of DTM, deviation of residual and standard deviation of prominence were calculated directly from the extracted DTM. Sophisticated statistical filters and elevation indices were developed to quantify both soil erosion and roughness. The applied methodology for monitoring both soil erosion and roughness provides an optimum way of reducing the existing gap between field scale and satellite scale. Keywords : UAV, soil, erosion, roughness, DTM

Quaternion error-based optimal control applied to pinpoint landing

NASA Astrophysics Data System (ADS)

Ghiglino, Pablo

Accurate control techniques for pinpoint planetary landing - i.e., the goal of achieving landing errors in the order of 100m for unmanned missions - is a complex problem that have been tackled in different ways in the available literature. Among other challenges, this kind of control is also affected by the well known trade-off in UAV control that for complex underlying models the control is sub-optimal, while optimal control is applied to simplifed models. The goal of this research has been the development new control algorithms that would be able to tackle these challenges and the result are two novel optimal control algorithms namely: OQTAL and HEX2OQTAL. These controllers share three key properties that are thoroughly proven and shown in this thesis; stability, accuracy and adaptability. Stability is rigorously demonstrated for both controllers. Accuracy is shown in results of comparing these novel controllers with other industry standard algorithms in several different scenarios: there is a gain in accuracy of at least 15% for each controller, and in many cases much more than that. A new tuning algorithm based on swarm heuristics optimisation was developed as well as part of this research in order to tune in an online manner the standard Proportional-Integral-Derivative (PID) controllers used for benchmarking. Finally, adaptability of these controllers can be seen as a combination of four elements: mathematical model extensibility, cost matrices tuning, reduced computation time required and finally no prior knowledge of the navigation or guidance strategies needed. Further simulations in real planetary landing trajectories has shown that these controllers have the capacity of achieving landing errors in the order of pinpoint landing requirements, making them not only very precise UAV controllers, but also potential candidates for pinpoint landing unmanned missions.

Automatic detection and counting of cattle in UAV imagery based on machine vision technology (Conference Presentation)

NASA Astrophysics Data System (ADS)

Rahnemoonfar, Maryam; Foster, Jamie; Starek, Michael J.

2017-05-01

Beef production is the main agricultural industry in Texas, and livestock are managed in pasture and rangeland which are usually huge in size, and are not easily accessible by vehicles. The current research method for livestock location identification and counting is visual observation which is very time consuming and costly. For animals on large tracts of land, manned aircraft may be necessary to count animals which is noisy and disturbs the animals, and may introduce a source of error in counts. Such manual approaches are expensive, slow and labor intensive. In this paper we study the combination of small unmanned aerial vehicle (sUAV) and machine vision technology as a valuable solution to manual animal surveying. A fixed-wing UAV fitted with GPS and digital RGB camera for photogrammetry was flown at the Welder Wildlife Foundation in Sinton, TX. Over 600 acres were flown with four UAS flights and individual photographs used to develop orthomosaic imagery. To detect animals in UAV imagery, a fully automatic technique was developed based on spatial and spectral characteristics of objects. This automatic technique can even detect small animals that are partially occluded by bushes. Experimental results in comparison to ground-truth show the effectiveness of our algorithm.

Morphing unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Gomez, Juan Carlos; Garcia, Ephrahim

2011-10-01

Research on aircraft morphing has exploded in recent years. The motivation and driving force behind this has been to find new and novel ways to increase the capabilities of aircraft. Materials advancements have helped to increase possibilities with respect to actuation and, hence, a diversity of concepts and unimagined capabilities. The expanded role of unmanned aerial vehicles (UAVs) has provided an ideal platform for exploring these emergent morphing concepts since at this scale a greater amount of risk can be taken, as well as having more manageable fabrication and cost requirements. This review focuses on presenting the role UAVs have in morphing research by giving an overview of the UAV morphing concepts, designs, and technologies described in the literature. A presentation of quantitative information as well as a discussion of technical issues is given where possible to begin gaining some insight into the overall assessment and performance of these technologies.

Automated UAV-based video exploitation using service oriented architecture framework

NASA Astrophysics Data System (ADS)

Se, Stephen; Nadeau, Christian; Wood, Scott

2011-05-01

Airborne surveillance and reconnaissance are essential for successful military missions. Such capabilities are critical for troop protection, situational awareness, mission planning, damage assessment, and others. Unmanned Aerial Vehicles (UAVs) gather huge amounts of video data but it is extremely labour-intensive for operators to analyze hours and hours of received data. At MDA, we have developed a suite of tools that can process the UAV video data automatically, including mosaicking, change detection and 3D reconstruction, which have been integrated within a standard GIS framework. In addition, the mosaicking and 3D reconstruction tools have also been integrated in a Service Oriented Architecture (SOA) framework. The Visualization and Exploitation Workstation (VIEW) integrates 2D and 3D visualization, processing, and analysis capabilities developed for UAV video exploitation. Visualization capabilities are supported through a thick-client Graphical User Interface (GUI), which allows visualization of 2D imagery, video, and 3D models. The GUI interacts with the VIEW server, which provides video mosaicking and 3D reconstruction exploitation services through the SOA framework. The SOA framework allows multiple users to perform video exploitation by running a GUI client on the operator's computer and invoking the video exploitation functionalities residing on the server. This allows the exploitation services to be upgraded easily and allows the intensive video processing to run on powerful workstations. MDA provides UAV services to the Canadian and Australian forces in Afghanistan with the Heron, a Medium Altitude Long Endurance (MALE) UAV system. On-going flight operations service provides important intelligence, surveillance, and reconnaissance information to commanders and front-line soldiers.

The Extension of Wireless Mesh Networks Via Vertical Takeoff and Landing Unmanned Aerial Vehicles

DTIC Science & Technology

2007-12-01

development. When connected to Crossbow’s Stargate Processor Board (SPB400) (See Figure 19), via the standard 51-pin connector, the MNAV100CA combines with...also be connected and processed by the Stargate to support intelligent robotics applications.22 22 UAV

An Experimental Study on the aerodynamic and aeroacoustic performances of Maple-Seed-Inspired UAV Propellers

NASA Astrophysics Data System (ADS)

Hu, Hui; Ning, Zhe

2016-11-01

Due to the auto-rotating trait of maple seeds during falling down process, flow characteristics of rotating maple seeds have been studied by many researchers in recent years. In the present study, an experimental investigation was performed to explore maple-seed-inspired UAV propellers for improved aerodynamic and aeroacoustic performances. Inspired by the auto-rotating trait of maple seeds, the shape of a maple seed is leveraged for the planform design of UAV propellers. The aerodynamic and aeroacoustic performances of the maple-seed-inspired propellers are examined in great details, in comparison with a commercially available UAV propeller purchased on the market (i.e., a baseline propeller). During the experiments, in addition to measuring the aerodynamic forces generated by the maple-seed-inspired propellers and the baseline propeller, a high-resolution Particle Image Velocimetry (PIV) system was used to quantify the unsteady flow structures in the wakes of the propellers. The aeroacoustic characteristics of the propellers are also evaluated by leveraging an anechoic chamber available at the Aerospace Engineering Department of Iowa State University. The research work is supported by National Science Foundation under Award Numbers of OSIE-1064235.

Experiences of using UAVs for monitoring levee breaches

NASA Astrophysics Data System (ADS)

Brauneck, J.; Pohl, R.; Juepner, R.

2016-11-01

During floods technical protection facilities are subjected to high loads and might fail as several examples have shown in the past. During the major 2002 and 2013 floods in the catchment area of the Elbe River (Germany), some breaching levees caused large inundations in the hinterland. In such situations the emergency forces need comprehensive and reliable realtime information about the situation, especially the breach enlargement and discharge, the spatial and temporal development of the inundation and the damages. After an impressive progress meanwhile unmanned aerial vehicles (UAV) also called remotely piloted aircraft systems (RPAS) are highly capable to collect and transmit precise information from not accessible areas to the task force very quickly. Using the example of the Breitenhagen levee failure near the Saale-Elbe junction in Germany in June 2013 the processing steps will be explained that are needed to come from the visual UAV-flight information to a hydronumeric model. Modelling of the breach was implemented using photogrammetric ranging methods, such as structure from motion and dense image matching. These methods utilize conventional digital multiple view images or videos recorded by either a moving aerial platform or terrestrial photography and allow the construction of 3D point clouds, digital surface models and orthophotos. At Breitenhagen, a UAV recorded the beginning of the levee failure. Due to the dynamic character of the breach and the moving areal platform, 4 different surface models show valid data with extrapolated breach widths of 9 to 40 meters. By means of these calculations the flow rate through the breach has been determined. In addition the procedure has been tested in a physical model, whose results will be presented too.

Using remote sensing for volumetric analyses of soil degradation by erosion

NASA Astrophysics Data System (ADS)

Vlacilova, Marketa; Krasa, Josef; Kavka, Petr

2014-05-01

Soil degradation by erosion can be effectively monitored or quantified by modern tools of remote sensing with variable level of detail accessible. The presented study deals with rill erosion assessment using stereoscopic images and orthophotos obtained by UAV (unmanned aerial vehicle). Advantages of UAVs are data in high resolution (1-10 cm/pixel), flexibility of data acquisition and price in comparison with standard aerial photography. Location attacked by intensive rainfall event in the spring 2013 was selected for this study of volumetric assessment of soil degradation by erosion. After the storm, rills and ephemeral gullies in different scales were detected on several fields in the target area. The study was focused on a single parcel catchment (12.5 ha) which attach to the main ephemeral gully in the monitored field. DEM of the location was obtained from UAV stereo images and official LIDAR data. At the same time, in-situ monitoring was effected for comparison and validation of methodology. The field measurement consisted of soil sampling and taking detailed stereo photographs of erosion rills. The photographs were processed by PhotoModeler Scanner software to obtain detailed surface data (TIN) of particular rills. The model for automatic and precise volumetric assessment of single rills was developed within ArcGIS. The whole study area DEM obtained from UAV was also analysed in ArcGIS using similar methodology for computation of rill volumes. The UAV DEM detected most rill bottoms and shapes however the level of detail was too low for actual sediment transport volume estimate. Therefore the volume obtained from UAV DEM was calibrated by the detailed models of single rills acquired by field measurement. Prior the calibration the UAV DEM volume was underestimated by 40-85% based on the rill size. Afterwards the target area was split into twelve separated regions defined by intensity and form of soil degradation (orthophoto-classified rill density). Equally, at least one representative square plot in each section was created. Next, the volume of erosion rills in each square plot was calculated and corrected by referenced relation. These results were extrapolated to the whole of the study catchment. The study contains volumetric evaluation of actual soil loss by rill erosion in detailed scale and in addition, there is a model for rill volume evaluation in highly detached fields. The results illustrate that the volume of soil loss can reach extreme values in detached areas after only one intensive rainfall event. Hundreds of cubic metres of soil can be transported in rills and ephemeral gullies from a single hectare of arable land. Findings are useful for development and verification of procedures for the identification and evaluation of actual degradation of agricultural land by water erosion. The research has been supported by the project No. QJ330118 "Using Remote Sensing for Monitoring of Soil Degradation by Erosion and Erosion Effects".

Challenges in Unmanned Aerial Vehicle Photogrammetry for Archaeological Mapping at High Elevations

NASA Astrophysics Data System (ADS)

Adams, J. A.; Wernke, S.

2015-12-01

Unmanned Aerial Vehicles (UAVs), especially multi-rotor vehicles, are becoming ubiquitous and their appeal for generating photogrammetry-based maps has grown. The options are many and costs have plummeted in last five years; however, many challenges persist with their deployment. We mapped the archaeological site Maw­chu Llacta, a settlement in the southern highlands of Peru (Figure 1). Mawchu Llacta is a planned colonial town built over a major Inka-era center in the high-elevation grasslands at ~4,000m asl. The "general resettlement of Indians" was a massive forced resettlement program, for which very little local-level documentation exists. Mawachu Llacta's excellently preserved architecture includes >500 buildings and hundreds of walls spread across ~13h posed significant mapping challenges. Many environmental factors impact UAV deployment. The air pressure at 4,100 m asl is dramatically lower than at sea level. The dry season diurnal temperature differentials can vary from 7°C to 22°C daily. High and hot conditions frequently occur from late morning to early afternoon. Reaching Mawchu Llacta requires hiking 4km with 400m of vertical gain over steep and rocky terrain. There is also no on-site power or secure storage. Thus, the UAV must be packable. FAA regulations govern US UAV deployments, but regulations were less stringent in Peru. However, ITAR exemptions and Peruvian customs requirements were required. The Peruvian government has established an importation and approval process that entails leaving the UAV at customs, while obtaining the necessary government approvals, both of which can be problematic. We have deployed the Aurora Flight Sciences Skate fixed wing ßUAV, an in-house fixed wing UAV based on the Skywalker X-5 flying wing, and a tethered 9 m3 capacity latex meteorological weather balloon. Development of an autonomous blimp/balloon has been ruled-out. A 3DR Solo is being assessed for excavation mapping.

First UAV Measurements of Entrainment Layer Fluxes with Coupled Cloud Property Measurements

NASA Astrophysics Data System (ADS)

Thomas, R. M.; Praveen, P. S.; Wilcox, E. M.; Pistone, K.; Bender, F.; Ramanathan, V.

2012-12-01

This study details entrainment flux measurements made from a lightweight unmanned aerial vehicle (UAV) containing turbulent water vapor flux instrumentation (Thomas et al., 2012). The system was flown for 26 flights during the Cloud, Aerosol, Radiative forcing, Dynamics EXperiment (CARDEX) in the Maldives in March 2012 to study interrelationships between entrainment, aerosols, water budget, cloud microphysics and radiative fluxes in a trade wind cumulus cloud regime. A major advantage of using this lightweight, precision autopiloted UAV system with scientific telemetry is the ability to target small-scale features in the boundary layer, such as an entrainment layer, with minimal aircraft induced disruption. Results are presented from two UAVs flown in stacked formation: one UAV situated in-cloud measuring cloud-droplet size distribution spectra and liquid water content, and another co-located 100m above measuring turbulent properties and entrainment latent heat flux (λEE). We also show latent heat flux and turbulence measurements routinely made at the entrainment layer base and altitudes from the surface up to 4kft. Ratios of λEE to corresponding surface tower values (λES) display a bimodal frequency distribution with ranges 0.22-0.53 and 0.79-1.5, with occasional events >7. Reasons for this distribution are discussed drawing upon boundary layer and free tropospheric dynamics and meteorology, turbulence length scales, surface conditions, and cloud interactions. Latent heat flux profiles are combined with in-cloud UAV Liquid Water Content (LWC) data and surface based Liquid Water Path (LWP) and Precipitable Water Vapor (PWV) measurements to produce observationally constrained vertical water budgets, providing insights into diurnal coupling of λEE and λES. Observed λEE, λES, water budgets, and cloud microphysical responses to entrainment are then contextualized with respect to measured aerosol loading profiles and airmass history.

Wing configuration on Wind Tunnel Testing of an Unmanned Aircraft Vehicle

NASA Astrophysics Data System (ADS)

Daryanto, Yanto; Purwono, Joko; Subagyo

2018-04-01

Control surface of an Unmanned Aircraft Vehicle (UAV) consists of flap, aileron, spoiler, rudder, and elevator. Every control surface has its own special functionality. Some particular configurations in the flight mission often depend on the wing configuration. Configuration wing within flap deflection for takeoff setting deflection of flap 20° but during landing deflection of flap set on the value 40°. The aim of this research is to get the ultimate CLmax for take-off flap deflection setting. It is shown from Wind Tunnel Testing result that the 20° flap deflection gives optimum CLmax with moderate drag coefficient. The results of Wind Tunnel Testing representing by graphic plots show good performance as well as the stability of UAV.

Comparison of a Fixed-Wing and Multi-Rotor Uav for Environmental Mapping Applications: a Case Study

NASA Astrophysics Data System (ADS)

Boon, M. A.; Drijfhout, A. P.; Tesfamichael, S.

2017-08-01

The advent and evolution of Unmanned Aerial Vehicles (UAVs) and photogrammetric techniques has provided the possibility for on-demand high-resolution environmental mapping. Orthoimages and three dimensional products such as Digital Surface Models (DSMs) are derived from the UAV imagery which is amongst the most important spatial information tools for environmental planning. The two main types of UAVs in the commercial market are fixed-wing and multi-rotor. Both have their advantages and disadvantages including their suitability for certain applications. Fixed-wing UAVs normally have longer flight endurance capabilities while multi-rotors can provide for stable image capturing and easy vertical take-off and landing. Therefore, the objective of this study is to assess the performance of a fixed-wing versus a multi-rotor UAV for environmental mapping applications by conducting a specific case study. The aerial mapping of the Cors-Air model aircraft field which includes a wetland ecosystem was undertaken on the same day with a Skywalker fixed-wing UAV and a Raven X8 multi-rotor UAV equipped with similar sensor specifications (digital RGB camera) under the same weather conditions. We compared the derived datasets by applying the DTMs for basic environmental mapping purposes such as slope and contour mapping including utilising the orthoimages for identification of anthropogenic disturbances. The ground spatial resolution obtained was slightly higher for the multi-rotor probably due to a slower flight speed and more images. The results in terms of the overall precision of the data was noticeably less accurate for the fixed-wing. In contrast, orthoimages derived from the two systems showed small variations. The multi-rotor imagery provided better representation of vegetation although the fixed-wing data was sufficient for the identification of environmental factors such as anthropogenic disturbances. Differences were observed utilising the respective DTMs for the mapping of the wetland slope and contour mapping including the representation of hydrological features within the wetland. Factors such as cost, maintenance and flight time is in favour of the Skywalker fixed-wing. The multi-rotor on the other hand is more favourable in terms of data accuracy including for precision environmental planning purposes although the quality of the data of the fixed-wing is satisfactory for most environmental mapping applications.

Employing UAVs to Acquire Detailed Vegetation and Bare Ground Data for Assessing Rangeland Health

NASA Astrophysics Data System (ADS)

Rango, A.; Laliberte, A.; Herrick, J. E.; Winters, C.

2007-12-01

Because of its value as a historical record (extending back to the mid 1930s), aerial photography is an important tool used in many rangeland studies. However, these historical photos are not very useful for detailed analysis of rangeland health because of inadequate spatial resolution and scheduling limitations. These issues are now being resolved by using Unmanned Aerial Vehicles (UAVs) over rangeland study areas. Spatial resolution improvements have been rapid in the last 10 years from the QuickBird satellite through improved aerial photography to the new UAV coverage and have utilized improved sensors and the more simplistic approach of low altitude flights. Our rangeland health experiments have shown that the low altitude UAV digital photography is preferred by rangeland scientists because it allows, for the first time, their identification of vegetation and land surface patterns and patches, gap sizes, bare soil percentages, and vegetation type. This hyperspatial imagery (imagery with a resolution finer than the object of interest) is obtained at about 5cm resolution by flying at an altitude of 150m above the surface of the Jornada Experimental Range in southern New Mexico. Additionally, the UAV provides improved temporal flexibility, such as flights immediately following fires, floods, and other catastrophic disturbances, because the flight capability is located near the study area and the vehicles are under the direct control of the users, eliminating the additional steps associated with budgets and contracts. There are significant challenges to improve the data to make them useful for operational agencies, namely, image distortion with inexpensive, consumer grade digital cameras, difficulty in detecting sufficient ground control points in small scenes (152m by 114m), accuracy of exterior UAV information on X,Y, Z, roll, pitch, and heading, the sheer number of images collected, and developing reliable relationships with ground-based data across a broad range of topographies and plant communities. Our efforts are currently focused on developing a complete and efficient workflow for UAV operational missions consisting of flight planning, image acquisition, image rectification and mosaicking, and image classification. The remote sensing capability is being incorporated into existing rangeland health assessment and monitoring protocols.

A UAV-Based Fog Collector Design for Fine-Scale Aerobiological Sampling

NASA Technical Reports Server (NTRS)

Gentry, Diana; Guarro, Marcello; Demachkie, Isabella Siham; Stumfall, Isabel; Dahlgren, Robert P.

2017-01-01

Airborne microbes are found throughout the troposphere and into the stratosphere. Knowing how the activity of airborne microorganisms can alter water, carbon, and other geochemical cycles is vital to a full understanding of local and global ecosystems. Just as on the land or in the ocean, atmospheric regions vary in habitability; the underlying geochemical, climatic, and ecological dynamics must be characterized at different scales to be effectively modeled. Most aerobiological studies have focused on a high level: 'How high are airborne microbes found?' and 'How far can they travel?' Most fog and cloud water studies collect from stationary ground stations (point) or along flight transects (1D). To complement and provide context for this data, we have designed a UAV-based modified fog and cloud water collector to retrieve 4D-resolved samples for biological and chemical analysis.Our design uses a passive impacting collector hanging from a rigid rod suspended between two multi-rotor UAVs. The suspension design reduces the effect of turbulence and potential for contamination from the UAV downwash. The UAVs are currently modeled in a leader-follower configuration, taking advantage of recent advances in modular UAVs, UAV swarming, and flight planning.The collector itself is a hydrophobic mesh. Materials including Tyvek, PTFE, nylon, and polypropylene monofilament fabricated via laser cutting, CNC knife, or 3D printing were characterized for droplet collection efficiency using a benchtop atomizer and particle counter. Because the meshes can be easily and inexpensively fabricated, a set can be pre-sterilized and brought to the field for 'hot swapping' to decrease cross-contamination between flight sessions or use as negative controls.An onboard sensor and logging system records the time and location of each sample; when combined with flight tracking data, the samples can be resolved into a 4D volumetric map of the fog bank. Collected samples can be returned to the lab for a variety of analyses. Based on a review of existing flight studies, we have identified ion chromatography, metagenomic sequencing, cell staining and quantification, and ATP quantification as high-priority assays for implementation. Support for specific toxicology assays, such as methylmercury quantification, is also planned.

A UAV-Based Fog Collector Design for Fine-Scale Aerobiological Sampling

NASA Astrophysics Data System (ADS)

Gentry, D.; Guarro, M.; Demachkie, I. S.; Stumfall, I.; Dahlgren, R. P.

2016-12-01

Airborne microbes are found throughout the troposphere and into the stratosphere. Knowing how the activity of airborne microorganisms can alter water, carbon, and other geochemical cycles is vital to a full understanding of local and global ecosystems. Just as on the land or in the ocean, atmospheric regions vary in habitability; the underlying geochemical, climatic, and ecological dynamics must be characterized at different scales to be effectively modeled. Most aerobiological studies have focused on a high level: 'How high are airborne microbes found?' and 'How far can they travel?' Most fog and cloud water studies collect from stationary ground stations (point) or along flight transects (1D). To complement and provide context for this data, we have designed a UAV-based modified fog and cloud water collector to retrieve 4D-resolved samples for biological and chemical analysis. Our design uses a passive impacting collector hanging from a rigid rod suspended between two multi-rotor UAVs. The suspension design reduces the effect of turbulence and potential for contamination from the UAV downwash. The UAVs are currently modeled in a leader-follower configuration, taking advantage of recent advances in modular UAVs, UAV swarming, and flight planning. The collector itself is a hydrophobic mesh. Materials including Tyvek, PTFE, nylon, and polypropylene monofilament fabricated via laser cutting, CNC knife, or 3D printing were characterized for droplet collection efficiency using a benchtop atomizer and particle counter. Because the meshes can be easily and inexpensively fabricated, a set can be pre-sterilized and brought to the field for 'hot swapping' to decrease cross-contamination between flight sessions or use as negative controls. An onboard sensor and logging system records the time and location of each sample; when combined with flight tracking data, the samples can be resolved into a 4D volumetric map of the fog bank. Collected samples can be returned to the lab for a variety of analyses. Based on a review of existing flight studies, we have identified ion chromatography, metagenomic sequencing, cell staining and quantification, and ATP quantification as high-priority assays for implementation. Support for specific toxicology assays, such as methylmercury quantification, is also planned.

High-Fidelity Computational Aerodynamics of Multi-Rotor Unmanned Aerial Vehicles

NASA Technical Reports Server (NTRS)

Ventura Diaz, Patricia; Yoon, Seokkwan

2018-01-01

High-fidelity Computational Fluid Dynamics (CFD) simulations have been carried out for several multi-rotor Unmanned Aerial Vehicles (UAVs). Three vehicles have been studied: the classic quadcopter DJI Phantom 3, an unconventional quadcopter specialized for forward flight, the SUI Endurance, and an innovative concept for Urban Air Mobility (UAM), the Elytron 4S UAV. The three-dimensional unsteady Navier-Stokes equations are solved on overset grids using high-order accurate schemes, dual-time stepping, and a hybrid turbulence model. The DJI Phantom 3 is simulated with different rotors and with both a simplified airframe and the real airframe including landing gear and a camera. The effects of weather are studied for the DJI Phantom 3 quadcopter in hover. The SUI En- durance original design is compared in forward flight to a new configuration conceived by the authors, the hybrid configuration, which gives a large improvement in forward thrust. The Elytron 4S UAV is simulated in helicopter mode and in airplane mode. Understanding the complex flows in multi-rotor vehicles will help design quieter, safer, and more efficient future drones and UAM vehicles.

Development of autonomous controller system of high speed UAV from simulation to ready to fly condition

NASA Astrophysics Data System (ADS)

Yudhi Irwanto, Herma

2018-02-01

The development of autonomous controller system that is specially used in our high speed UAV, it’s call RKX-200EDF/TJ controlled vehicle needs to be continued as a step to mastery and to developt control system of LAPAN’s satellite launching rocket. The weakness of the existing control system in this high speed UAV needs to be repaired and replaced using the autonomous controller system. Conversion steps for ready-to-fly system involved controlling X tail fin, adjusting auto take off procedure by adding X axis sensor, procedure of way points reading and process of measuring distance and heading to the nearest way point, developing user-friendly ground station, and adding tools for safety landing. The development of this autonomous controller system also covered a real flying test in Pandanwangi, Lumajang in November 2016. Unfortunately, the flying test was not successful because the booster rocket was blown right after burning. However, the system could record the event and demonstrated that the controller system had worked according to plan.

Stereo Correspondence Using Moment Invariants

NASA Astrophysics Data System (ADS)

Premaratne, Prashan; Safaei, Farzad

Autonomous navigation is seen as a vital tool in harnessing the enormous potential of Unmanned Aerial Vehicles (UAV) and small robotic vehicles for both military and civilian use. Even though, laser based scanning solutions for Simultaneous Location And Mapping (SLAM) is considered as the most reliable for depth estimation, they are not feasible for use in UAV and land-based small vehicles due to their physical size and weight. Stereovision is considered as the best approach for any autonomous navigation solution as stereo rigs are considered to be lightweight and inexpensive. However, stereoscopy which estimates the depth information through pairs of stereo images can still be computationally expensive and unreliable. This is mainly due to some of the algorithms used in successful stereovision solutions require high computational requirements that cannot be met by small robotic vehicles. In our research, we implement a feature-based stereovision solution using moment invariants as a metric to find corresponding regions in image pairs that will reduce the computational complexity and improve the accuracy of the disparity measures that will be significant for the use in UAVs and in small robotic vehicles.

Colour-based Object Detection and Tracking for Autonomous Quadrotor UAV

NASA Astrophysics Data System (ADS)

Kadouf, Hani Hunud A.; Mohd Mustafah, Yasir

2013-12-01

With robotics becoming a fundamental aspect of modern society, further research and consequent application is ever increasing. Aerial robotics, in particular, covers applications such as surveillance in hostile military zones or search and rescue operations in disaster stricken areas, where ground navigation is impossible. The increased visual capacity of UAV's (Unmanned Air Vehicles) is also applicable in the support of ground vehicles to provide supplies for emergency assistance, for scouting purposes or to extend communication beyond insurmountable land or water barriers. The Quadrotor, which is a small UAV has its lift generated by four rotors and can be controlled by altering the speeds of its motors relative to each other. The four rotors allow for a higher payload than single or dual rotor UAVs, which makes it safer and more suitable to carry camera and transmitter equipment. An onboard camera is used to capture and transmit images of the Quadrotor's First Person View (FPV) while in flight, in real time, wirelessly to a base station. The aim of this research is to develop an autonomous quadrotor platform capable of transmitting real time video signals to a base station for processing. The result from the image analysis will be used as a feedback in the quadrotor positioning control. To validate the system, the algorithm should have the capacity to make the quadrotor identify, track or hover above stationary or moving objects.

UAV Inspection of Electrical Transmission Infrastructure with Path Conformance Autonomy and Lidar-Based Geofences NASA Report on UTM Reference Mission Flights at Southern Company Flights November 2016

NASA Technical Reports Server (NTRS)

Moore, Andrew J.; Schubert, Matthew; Rymer, Nicholas; Balachandran, Swee; Consiglio, Maria; Munoz, Cesar; Smith, Joshua; Lewis, Dexter; Schneider, Paul

2017-01-01

Flights at low altitudes in close proximity to electrical transmission infrastructure present serious navigational challenges: GPS and radio communication quality is variable and yet tight position control is needed to measure defects while avoiding collisions with ground structures. To advance unmanned aerial vehicle (UAV) navigation technology while accomplishing a task with economic and societal benefit, a high voltage electrical infrastructure inspection reference mission was designed. An integrated air-ground platform was developed for this mission and tested in two days of experimental flights to determine whether navigational augmentation was needed to successfully conduct a controlled inspection experiment. The airborne component of the platform was a multirotor UAV built from commercial off-the-shelf hardware and software, and the ground component was a commercial laptop running open source software. A compact ultraviolet sensor mounted on the UAV can locate 'hot spots' (potential failure points in the electric grid), so long as the UAV flight path adequately samples the airspace near the power grid structures. To improve navigation, the platform was supplemented with two navigation technologies: lidar-to-polyhedron preflight processing for obstacle demarcation and inspection distance planning, and trajectory management software to enforce inspection standoff distance. Both navigation technologies were essential to obtaining useful results from the hot spot sensor in this obstacle-rich, low-altitude airspace. Because the electrical grid extends into crowded airspaces, the UAV position was tracked with NASA unmanned aerial system traffic management (UTM) technology. The following results were obtained: (1) Inspection of high-voltage electrical transmission infrastructure to locate 'hot spots' of ultraviolet emission requires navigation methods that are not broadly available and are not needed at higher altitude flights above ground structures. (2) The sensing capability of a novel airborne UV detector was verified with a standard ground-based instrument. Flights with this sensor showed that UAV measurement operations and recording methods are viable. With improved sensor range, UAVs equipped with compact UV sensors could serve as the detection elements in a self-diagnosing power grid. (3) Simplification of rich lidar maps to polyhedral obstacle maps reduces data volume by orders of magnitude, so that computation with the resultant maps in real time is possible. This enables real-time obstacle avoidance autonomy. Stable navigation may be feasible in the GPS-deprived environment near transmission lines by a UAV that senses ground structures and compares them to these simplified maps. (4) A new, formally verified path conformance software system that runs onboard a UAV was demonstrated in flight for the first time. It successfully maneuvered the aircraft after a sudden lateral perturbation that models a gust of wind, and processed lidar-derived polyhedral obstacle maps in real time. (5) Tracking of the UAV in the national airspace using the NASA UTM technology was a key safety component of this reference mission, since the flights were conducted beneath the landing approach to a heavily used runway. Comparison to autopilot tracking showed that UTM tracking accurately records the UAV position throughout the flight path.

Enabling high-quality observations of surface imperviousness for water runoff modelling from unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Tokarczyk, Piotr; Leitao, Joao Paulo; Rieckermann, Jörg; Schindler, Konrad; Blumensaat, Frank

2015-04-01

Modelling rainfall-runoff in urban areas is increasingly applied to support flood risk assessment particularly against the background of a changing climate and an increasing urbanization. These models typically rely on high-quality data for rainfall and surface characteristics of the area. While recent research in urban drainage has been focusing on providing spatially detailed rainfall data, the technological advances in remote sensing that ease the acquisition of detailed land-use information are less prominently discussed within the community. The relevance of such methods increase as in many parts of the globe, accurate land-use information is generally lacking, because detailed image data is unavailable. Modern unmanned air vehicles (UAVs) allow acquiring high-resolution images on a local level at comparably lower cost, performing on-demand repetitive measurements, and obtaining a degree of detail tailored for the purpose of the study. In this study, we investigate for the first time the possibility to derive high-resolution imperviousness maps for urban areas from UAV imagery and to use this information as input for urban drainage models. To do so, an automatic processing pipeline with a modern classification method is tested and applied in a state-of-the-art urban drainage modelling exercise. In a real-life case study in the area of Lucerne, Switzerland, we compare imperviousness maps generated from a consumer micro-UAV and standard large-format aerial images acquired by the Swiss national mapping agency (swisstopo). After assessing their correctness, we perform an end-to-end comparison, in which they are used as an input for an urban drainage model. Then, we evaluate the influence which different image data sources and their processing methods have on hydrological and hydraulic model performance. We analyze the surface runoff of the 307 individual sub-catchments regarding relevant attributes, such as peak runoff and volume. Finally, we evaluate the model's channel flow prediction performance through a cross-comparison with reference flow measured at the catchment outlet. We show that imperviousness maps generated using UAV imagery processed with modern classification methods achieve accuracy comparable with standard, off-the-shelf aerial imagery. In the examined case study, we find that the different imperviousness maps only have a limited influence on modelled surface runoff and pipe flows. We conclude that UAV imagery represents a valuable alternative data source for urban drainage model applications due to the possibility to flexibly acquire up-to-date aerial images at a superior quality and a competitive price. Our analyses furthermore suggest that spatially more detailed urban drainage models can even better benefit from the full detail of UAV imagery.

Earthbound Unmanned Autonomous Vehicles (UAVS) As Planetary Science Testbeds

NASA Astrophysics Data System (ADS)

Pieri, D. C.; Bland, G.; Diaz, J. A.; Fladeland, M. M.

2014-12-01

Recent advances in the technology of unmanned vehicles have greatly expanded the range of contemplated terrestrial operational environments for their use, including aerial, surface, and submarine. The advances have been most pronounced in the areas of autonomy, miniaturization, durability, standardization, and ease of operation, most notably (especially in the popular press) for airborne vehicles. Of course, for a wide range of planetary venues, autonomy at high cost of both money and risk, has always been a requirement. Most recently, missions to Mars have also featured an unprecedented degree of mobility. Combining the traditional planetary surface deployment operational and science imperatives with emerging, very accessible, and relatively economical small UAV platforms on Earth can provide flexible, rugged, self-directed, test-bed platforms for landed instruments and strategies that will ultimately be directed elsewhere, and, in the process, provide valuable earth science data. While the most direct transfer of technology from terrestrial to planetary venues is perhaps for bodies with atmospheres (and oceans), with appropriate technology and strategy accommodations, single and networked UAVs can be designed to operate on even airless bodies, under a variety of gravities. In this presentation, we present and use results and lessons learned from our recent earth-bound UAV volcano deployments, as well as our future plans for such, to conceptualize a range of planetary and small-body missions. We gratefully acknowledge the assistance of students and colleagues at our home institutions, and the government of Costa Rica, without which our UAV deployments would not have been possible. This work was carried out, in part, at the Jet Propulsion Laboratory of the California Institute of Technology under contract to NASA.

Development of a GPS/INS/MAG navigation system and waypoint navigator for a VTOL UAV

NASA Astrophysics Data System (ADS)

Meister, Oliver; Mönikes, Ralf; Wendel, Jan; Frietsch, Natalie; Schlaile, Christian; Trommer, Gert F.

2007-04-01

Unmanned aerial vehicles (UAV) can be used for versatile surveillance and reconnaissance missions. If a UAV is capable of flying automatically on a predefined path the range of possible applications is widened significantly. This paper addresses the development of the integrated GPS/INS/MAG navigation system and a waypoint navigator for a small vertical take-off and landing (VTOL) unmanned four-rotor helicopter with a take-off weight below 1 kg. The core of the navigation system consists of low cost inertial sensors which are continuously aided with GPS, magnetometer compass, and a barometric height information. Due to the fact, that the yaw angle becomes unobservable during hovering flight, the integration with a magnetic compass is mandatory. This integration must be robust with respect to errors caused by the terrestrial magnetic field deviation and interferences from surrounding electronic devices as well as ferrite metals. The described integration concept with a Kalman filter overcomes the problem that erroneous magnetic measurements yield to an attitude error in the roll and pitch axis. The algorithm provides long-term stable navigation information even during GPS outages which is mandatory for the flight control of the UAV. In the second part of the paper the guidance algorithms are discussed in detail. These algorithms allow the UAV to operate in a semi-autonomous mode position hold as well an complete autonomous waypoint mode. In the position hold mode the helicopter maintains its position regardless of wind disturbances which ease the pilot job during hold-and-stare missions. The autonomous waypoint navigator enable the flight outside the range of vision and beyond the range of the radio link. Flight test results of the implemented modes of operation are shown.

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

PubMed

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

2014-09-01

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.

Comparison of Computational Approaches for Rapid Aerodynamic Assessment of Small UAVs

NASA Technical Reports Server (NTRS)

Shafer, Theresa C.; Lynch, C. Eric; Viken, Sally A.; Favaregh, Noah; Zeune, Cale; Williams, Nathan; Dansie, Jonathan

2014-01-01

Computational Fluid Dynamic (CFD) methods were used to determine the basic aerodynamic, performance, and stability and control characteristics of the unmanned air vehicle (UAV), Kahu. Accurate and timely prediction of the aerodynamic characteristics of small UAVs is an essential part of military system acquisition and air-worthiness evaluations. The forces and moments of the UAV were predicted using a variety of analytical methods for a range of configurations and conditions. The methods included Navier Stokes (N-S) flow solvers (USM3D, Kestrel and Cobalt) that take days to set up and hours to converge on a single solution; potential flow methods (PMARC, LSAERO, and XFLR5) that take hours to set up and minutes to compute; empirical methods (Datcom) that involve table lookups and produce a solution quickly; and handbook calculations. A preliminary aerodynamic database can be developed very efficiently by using a combination of computational tools. The database can be generated with low-order and empirical methods in linear regions, then replacing or adjusting the data as predictions from higher order methods are obtained. A comparison of results from all the data sources as well as experimental data obtained from a wind-tunnel test will be shown and the methods will be evaluated on their utility during each portion of the flight envelope.

Unmanned Air Vehicle/Remotely Piloted Vehicle Analysis for Lethal UAV/ RPV

DTIC Science & Technology

1993-09-01

taking the output power at a relatively low speed from the camshaft which is gear-driven at half the crankshaft RPM [Ref. 6]. there engine is a four...from the top of a tree , from over a steep cliff, or other perilous terrain. In addition, parachute landings invariably take their toll in vehicle damage

Land, sea, and air unmanned systems research and development at SPAWAR Systems Center Pacific

NASA Astrophysics Data System (ADS)

Nguyen, Hoa G.; Laird, Robin; Kogut, Greg; Andrews, John; Fletcher, Barbara; Webber, Todd; Arrieta, Rich; Everett, H. R.

2009-05-01

The Space and Naval Warfare (SPAWAR) Systems Center Pacific (SSC Pacific) has a long and extensive history in unmanned systems research and development, starting with undersea applications in the 1960s and expanding into ground and air systems in the 1980s. In the ground domain, we are addressing force-protection scenarios using large unmanned ground vehicles (UGVs) and fixed sensors, and simultaneously pursuing tactical and explosive ordnance disposal (EOD) operations with small man-portable robots. Technology thrusts include improving robotic intelligence and functionality, autonomous navigation and world modeling in urban environments, extended operational range of small teleoperated UGVs, enhanced human-robot interaction, and incorporation of remotely operated weapon systems. On the sea surface, we are pushing the envelope on dynamic obstacle avoidance while conforming to established nautical rules-of-the-road. In the air, we are addressing cooperative behaviors between UGVs and small vertical-takeoff- and-landing unmanned air vehicles (UAVs). Underwater applications involve very shallow water mine countermeasures, ship hull inspection, oceanographic data collection, and deep ocean access. Specific technology thrusts include fiber-optic communications, adaptive mission controllers, advanced navigation techniques, and concepts of operations (CONOPs) development. This paper provides a review of recent accomplishments and current status of a number of projects in these areas.

Multisensor Equipped Uav/ugv for Automated Exploration

NASA Astrophysics Data System (ADS)

Batzdorfer, S.; Bobbe, M.; Becker, M.; Harms, H.; Bestmann, U.

2017-08-01

The usage of unmanned systems for exploring disaster scenarios has become more and more important in recent times as a supporting system for action forces. These systems have to offer a well-balanced relationship between the quality of support and additional workload. Therefore within the joint research project ANKommEn - german acronym for Automated Navigation and Communication for Exploration - a system for exploration of disaster scenarios is build-up using multiple UAV und UGV controlled via a central ground station. The ground station serves as user interface for defining missions and tasks conducted by the unmanned systems, equipped with different environmental sensors like cameras - RGB as well as IR - or LiDAR. Depending on the exploration task results, in form of pictures, 2D stitched orthophoto or LiDAR point clouds will be transmitted via datalinks and displayed online at the ground station or will be processed in short-term after a mission, e.g. 3D photogrammetry. For mission planning and its execution, UAV/UGV monitoring and georeferencing of environmental sensor data, reliable positioning and attitude information is required. This is gathered using an integrated GNSS/IMU positioning system. In order to increase availability of positioning information in GNSS challenging scenarios, a GNSS-Multiconstellation based approach is used, amongst others. The present paper focuses on the overall system design including the ground station and sensor setups on the UAVs and UGVs, the underlying positioning techniques as well as 2D and 3D exploration based on a RGB camera mounted on board the UAV and its evaluation based on real world field tests.

UAV measurements of aerosol properties at the Cyprus institute

NASA Astrophysics Data System (ADS)

Neitola, Kimmo; Sciare, Jean; Keleshis, Christos; Pikridas, Michael; Argyrides, Marios; Vouterakos, Panagiotis; Antoniou, Panyiota; Apostolou, Apostolos; Savvides, Constantinos; Vrekoussis, Mihalis; Mihalopoulos, Nikos; Biskos, George; Gao, Ru-Shan; Murphy, Daniel; Schrod, Jann; Weber, Daniel; Bingemer, Heinz; Mocnik, Grisa

2017-04-01

Unmanned Aerial Vehicles (UAVs) provide a cost-effective and easy-to-use method to document the vertical profiles of aerosol particles and their physical and optical properties, within and above the boundary layer. These observations combined with satellite and ground data together can provide important information and model constrains regarding the impact of aerosols on the air quality and regional climate. Cyprus is a unique place to observe long-range transported pollution and dust originating from different areas (Europe, Africa, Turkey, and Middle East) and perform such aerosol profiling. The USRL team at the Cyprus Institute has recently started weekly routine flights with a newly developed UAV fleet to build a unique dataset of vertical profile observations. Instrumentation on the UAVs includes miniature Scanning Aerosol Sun Photometer (miniSASP, Murphy et al., 2015), Printed Optical Particle Spectrometer (POPS, Gao et al., 2016), Ice nuclei sampler (IN) and Dual Wavelength absorption Prototype (DWP) together with the measured meteorological parameters (P, T and RH). The UAV fleet is still expanding, as well as the instrumentation, and preliminary test flights have led to very promising results. The UAV ascend up to approximately the middle of the boundary layer, defined by LIDAR measurements at Limassol, where the UAV will fly on one altitude for several minutes ensuring stable data collection. After flying on one altitude, the UAV will continue ascending above the boundary layer, where another level flight will take place for data gathering, before descending for safe landing. The miniSASP measures the sun irradiance and sky radiance at four wavelengths (460, 550, 670 and 680nm) by doing continuous almucantar scans every 30 s. The instrument installation compensates for the pitch and roll of the UAV with 4 Hz frequency. For this reason, the flights are designed to maintain level flight conditions, to ensure proper data acquisition, and to obtain data from discrete altitudes and not only during the ascend and descend periods. The POPS measures the particle size distribution in the range of 140-3000 nm diameter within 14 size channels. The POPS was successfully compared to another OPC (MetOne, model 212 profiler) on separate flights during the same day with coinciding results. The routine flights will continue for a year, once or twice a week, targeting different air mass origins and synoptic conditions. The aim is to build a comprehensive dataset by merging atmospheric data measured both by UAVs and ground-based in situ observations obtained 1) at the Agia Marina Xyliatou remote station (500m asl) and 2) at the free troposphere Troodos altitude station (1800m asl). This project received funding from the European Union's Seventh Framework Programme (FP7) project BACCHUS under grant agreement no. 603445 and from the European Union's Horizon 2020 research and innovation programme ACTRIS-2 under grant agreement No 654109.

Determination of the Actual Land Use Pattern Using Unmanned Aerial Vehicles and Multispectral Camera

NASA Astrophysics Data System (ADS)

Dindaroğlu, T.; Gündoğan, R.; Gülci, S.

2017-11-01

The international initiatives developed in the context of combating global warming are based on the monitoring of Land Use, Land Use Changes, and Forests (LULUCEF). Determination of changes in land use patterns is used to determine the effects of greenhouse gas emissions and to reduce adverse effects in subsequent processes. This process, which requires the investigation and control of quite large areas, has undoubtedly increased the importance of technological tools and equipment. The use of carrier platforms and commercially cheaper various sensors have become widespread. In this study, multispectral camera was used to determine the land use pattern with high sensitivity. Unmanned aerial flights were carried out in the research fields of Kahramanmaras Sutcu Imam University campus area. Unmanned aerial vehicle (UAV) (multi-propeller hexacopter) was used as a carrier platform for aerial photographs. Within the scope of this study, multispectral cameras were used to determine the land use pattern with high sensitivity.

An Improved Vision-based Algorithm for Unmanned Aerial Vehicles Autonomous Landing

NASA Astrophysics Data System (ADS)

Zhao, Yunji; Pei, Hailong

In vision-based autonomous landing system of UAV, the efficiency of target detecting and tracking will directly affect the control system. The improved algorithm of SURF(Speed Up Robust Features) will resolve the problem which is the inefficiency of the SURF algorithm in the autonomous landing system. The improved algorithm is composed of three steps: first, detect the region of the target using the Camshift; second, detect the feature points in the region of the above acquired using the SURF algorithm; third, do the matching between the template target and the region of target in frame. The results of experiment and theoretical analysis testify the efficiency of the algorithm.

Development of a bio-inspired UAV perching system

NASA Astrophysics Data System (ADS)

Xie, Pu

Although technologies of unmanned aerial vehicles (UAVs) including micro air vehicles (MAVs) have been greatly advanced in the recent years, it is still very difficult for a UAV to perform some very challenging tasks such as perching to any desired spot reliably and agilely like a bird. Unlike the UAVs, the biological control mechanism of birds has been optimized through millions of year evolution and hence, they can perform many extremely maneuverability tasks, such as perching or grasping accurately and robustly. Therefore, we have good reason to learn from the nature in order to significantly improve the capabilities of UAVs. The development of a UAV perching system is becoming feasible, especially after a lot of research contributions in ornithology which involve the analysis of the bird's functionalities. Meanwhile, as technology advances in many engineering fields, such as airframes, propulsion, sensors, batteries, micro-electromechanical-system (MEMS), and UAV technology is also advancing rapidly. All of these research efforts in ornithology and the fast growing development technologies in UAV applications are motivating further interests and development in the area of UAV perching and grasping research. During the last decade, the research contributions about UAV perching and grasping were mainly based on fixed-wing, flapping-wing, and rotorcraft UAVs. However, most of the current researches in UAV systems with perching and grasping capability are focusing on either active (powered) grasping and perching or passive (unpowered) perching. Although birds do have both active and passive perching capabilities depending on their needs, there is no UAV perching system with both capabilities. In this project, we focused on filling this gap. Inspired by the anatomy analysis of bird legs and feet, a novel perching system has been developed to implement the bionics action for both active grasping and passive perching. In addition, for developing a robust and autonomous perching system, the following objectives were included for this project. The statics model was derived through both quasi-static and analytical method. The grasping stable condition and grasping target of the mechanical gripper were studied through the static analysis. Furthermore, the contact behavior between each foot and the perched object was modeled and evaluated on SimMechanics based on the contact force model derived through virtual principle. The kinematics modeling of UAV perching system was governed with Euler angles and quaternions. Also the propulsion model of the brushless motors was introduced and calibrated. In addition, the flight dynamics model of the UAV system was developed for simulation-based analysis prior to developing a hardware prototype and flight experiment. A special inertial measurement unit (IMU) was designed which has the capability of indirectly calculating the angular acceleration from the angular velocity and the linear acceleration readings. Moreover, a commercial-of-the-shelf (COTS) autopilot-APM 2.6 was selected for the autonomous flight control of the quadrotor. The APM 2.6 is a complete open source autopilot system, which allows the user to turn any fixed, rotary wing or multi-rotor vehicle into a fully autonomous vehicle and capable of performing programmed GPS missions with pre-programed waypoints. In addition, algorithms for inverted pendulum control and autonomous perching control was introduced. The proportion-integrate-differential (PID) controller was used for the simplified UAV perching with inverted pendulum model for horizontal balance. The performance of the controller was verified through both simulation and experiment. In addition, for the purpose of achieving the autonomous perching, guidance and control algorithms were developed the UAV perching system. For guidance, the desired flight trajectory was developed based on a bio-behavioral tau theory which was established from studying the natural motion patterns of animals and human arms approaching to a fixed or moving target for grasping or capturing. The autonomous flight control was also implemented through a PID controller. Autonomous flight performance was proved through simulation in SimMechanics. Finally, the prototyping of our designs were conducted in different generations of our bio-inspired UAV perching system, which include the leg prototype, gripper prototype, and system prototype. Both the machined prototype and 3D printed prototype were tried. The performance of these prototypes was tested through experiments.

UAV technologies applied for monitoring the land use in the municipality of São Brás de Alportel, Portugal

NASA Astrophysics Data System (ADS)

Pedras, Celestina Maria G.; Neto Paixão, Helena Maria; Lança, Rui; Soares, Cristina; Silva, Elisa; Granja Martins, Fernando Miguel

2015-04-01

This study aims to develop a methodology to streamline the process of data acquisition on land cover in the municipality of S. Brás de Alportel, Portugal. The collected information allows the updating of the Forestry Fire Defense Municipal Plan (PMDFCI). This plan identifies the most vulnerable areas and priorities of action, concerning the prevention. Regarding the update of the PMDFCI, the study area was characterized in 2013. As this information is dynamic, it should be updated periodically, which is challenging, given the lack of human resources and the available technology. On the other hand, the obtained data detail and accuracy are directly related to the qualification of the operator and the complexity of the study area. However, data updating is crucial for the operationally of the PMDFCI. Currently, the data update of the land's occupation and use in this municipality is primarily made through field work, followed by their update in the cartography at the office, supported by the Algarve Forest Planning Regional Plan (PROF Algarve). The use of aerial images obtained from an Unmanned Aerial Vehicle (UAV) in the Northwest area of S. Brás de Alportel and its classification with a supervised methodology, will allow the discrimination of the land cover classes in a more expeditious manner. This result when compared with the information collected through field work, will allow to verify the precision of the obtained information, aiming the use of the proposed methodology in the rest of the country.

Image processing analysis of geospatial uav orthophotos for palm oil plantation monitoring

NASA Astrophysics Data System (ADS)

Fahmi, F.; Trianda, D.; Andayani, U.; Siregar, B.

2018-03-01

Unmanned Aerial Vehicle (UAV) is one of the tools that can be used to monitor palm oil plantation remotely. With the geospatial orthophotos, it is possible to identify which part of the plantation land is fertile for planted crops, means to grow perfectly. It is also possible furthermore to identify less fertile in terms of growth but not perfect, and also part of plantation field that is not growing at all. This information can be easily known quickly with the use of UAV photos. In this study, we utilized image processing algorithm to process the orthophotos for more accurate and faster analysis. The resulting orthophotos image were processed using Matlab including classification of fertile, infertile, and dead palm oil plants by using Gray Level Co-Occurrence Matrix (GLCM) method. The GLCM method was developed based on four direction parameters with specific degrees 0°, 45°, 90°, and 135°. From the results of research conducted with 30 image samples, it was found that the accuracy of the system can be reached by using the features extracted from the matrix as parameters Contras, Correlation, Energy, and Homogeneity.

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Robert Paul Breckenridge

2007-05-01

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 themore » 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.« less

Forced Oscillation Wind Tunnel Testing for FASER Flight Research Aircraft

NASA Technical Reports Server (NTRS)

Hoe, Garrison; Owens, Donald B.; Denham, Casey

2012-01-01

As unmanned air vehicles (UAVs) continue to expand their flight envelopes into areas of high angular rate and high angle of attack, modeling the complex unsteady aerodynamics for simulation in these regimes has become more difficult using traditional methods. The goal of this experiment was to improve the current six degree-of-freedom aerodynamic model of a small UAV by replacing the analytically derived damping derivatives with experimentally derived values. The UAV is named the Free-flying Aircraft for Sub-scale Experimental Research, FASER, and was tested in the NASA Langley Research Center 12- Foot Low-Speed Tunnel. The forced oscillation wind tunnel test technique was used to measure damping in the roll and yaw axes. By imparting a variety of sinusoidal motions, the effects of non-dimensional angular rate and reduced frequency were examined over a large range of angle of attack and side-slip combinations. Tests were performed at angles of attack from -5 to 40 degrees, sideslip angles of -30 to 30 degrees, oscillation amplitudes from 5 to 30 degrees, and reduced frequencies from 0.010 to 0.133. Additionally, the effect of aileron or elevator deflection on the damping coefficients was examined. Comparisons are made of two different data reduction methods used to obtain the damping derivatives. The results show that the damping derivatives are mainly a function of angle of attack and have dependence on the non-dimensional rate and reduced frequency only in the stall/post-stall regime

Monitoring landslide dynamics using timeseries of UAV imagery

NASA Astrophysics Data System (ADS)

de Jong, S. M.; Van Beek, L. P.

2017-12-01

Landslides are worldwide occurring processes that can have large economic impact and sometimes result in fatalities. Multiple factors are important in landslide processes and can make an area prone to landslide activity. Human factors like drainage and removal of vegetation or land clearing are examples of factors that may cause a landslide. Other environmental factors such as topography and the shear strength of the slope material are more difficult to control. Triggering factors for landslides are typically heavy rainfall events or sometimes by earthquakes or under cutting processes by a river. The collection of data about existing landslides in a given area is important for predicting future landslides in that region. We have setup a monitoring program for landslide using cameras aboard Unmanned Airborne Vehicles. UAV with cameras are able to collect ultra-high resolution images and UAVs can be operated in a very flexible way, they just fit in the back of a car. Here, in this study we used Unmanned Aerial Vehicles to collect a time series of high-resolution images over landslides in France and Australia. The algorithm used to process the UAV images into OrthoMosaics and OrthoDEMs is Structure from Motion (SfM). The process generally results in centimeter precision in the horizontal and vertical direction. Such multi-temporal datasets enable the detection of landslide area, the leading edge slope, temporal patterns and volumetric changes of particular areas of the landslide. We measured and computed surface movement of the landslide using the COSI-Corr image correlation algorithm with ground validation. Our study shows the possibilities of generating accurate Digital Surface Models (DSMs) of landslides using images collected with an Unmanned Aerial Vehicle (UAV). The technique is robust and repeatable such that a substantial time series of datasets can be routinely collected. It is shown that a time-series of UAV images can be used to map landslide movements with centimeter accuracy. It also found that there can be a cyclical nature to the slope of the leading edge of the landslide, suggesting that the steepness of the slope can be used to predict the next forward surge of the leading edge.

In-Flight Technique for Acquiring Mid- And Far-Field Sonic Boom Signatures

NASA Technical Reports Server (NTRS)

Stansbery, Eugene G.; Baize, Daniel G.; Maglieri, Domenic, J.

1999-01-01

Flight test experiments have been conducted to establish the feasibility of obtaining sonic boom signature measurements below a supersonic aircraft using the NASA Portable Automatic Triggering System (PATS) mounted in the USMC Pioneer Unmanned Aerial Vehicle (UAV). This study forms a part of the NASA sonic boom minimization activities, specifically the demonstration of persistence of modified boom signatures to very large distances in a real atmosphere. The basic objective of the measurement effort was to obtain a qualitative view of the sonic boom signature in terms of its shape, number of shocks, their locations, and their relative strength. Results suggest that the technique may very well provide quantitative information relative to mid-field and far-field boom signatures. The purpose of this presentation is to describe the arrangement and operation of this in-flight system and to present the resulting sonic boom measurements. Adaption and modification of two PATS to the UAV payload section are described and include transducer location, mounting arrangement and recording system isolation. Ground static runup, takeoff and landing, and cruise flight checkouts regarding UAV propeller and flow noise on the PATS automated triggering system and recording mode are discussed. For the proof-of-concept tests, the PATS instrumented UAV was flown under radar control in steady-level flight at the altitude of 8700 feet MSL and at a cruise speed of about 60 knots. The USN F-4N sonic boom generating aircraft was vectored over the UAV on reciprocal headings at altitudes of about 1 1,000 feet MSL and 13,000 feet MSL at about Mach 1. 15. Sonic boom signatures were acquired on both PATS for all six supersonic passes. Although the UAV propeller noise is clearly evident in all the measurements, the F-4 boom signature is clearly distinguishable and is typically N-wave in character with sharply rising shock fronts and with a mid-shock associated with the inlet-wing juncture. Consideration is being given to adapting the PATS/TJAV measurements technique to the NASA Learjet to determine feasibility of acquiring in-flight boom signatures in the altitude range of 10,000 feet to 40,000 feet.

GaAs/Ge Solar Powered Aircraft

NASA Technical Reports Server (NTRS)

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

1998-01-01

Unmanned Aerial Vehicles (UAV) are being proposed for many applications for many applications including surveillance, mapping and atmospheric studies. These applications require a lightweight, low speed, medium to long duration aircraft. Due to the weight, speed, and altitude constraints imposed on such an aircraft, solar array generated electric power can be a viable alternative to air-breathing engines for certain missions. Development of such an aircraft is currently being funded under the Environmental Research Aircraft and Sensor Technology (ERAST) program. NASA Lewis Research Center (LeRC) has built 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.

Beach Volume Change Using Uav Photogrammetry Songjung Beach, Korea

NASA Astrophysics Data System (ADS)

Yoo, C. I.; Oh, T. S.

2016-06-01

Natural beach is controlled by many factors related to wave and tidal forces, wind, sediment, and initial topography. For this reason, if numerous topographic data of beach is accurately collected, coastal erosion/acceleration is able to be assessed and clarified. Generally, however, many studies on coastal erosion have limitation to analyse the whole beach, carried out of partial area as like shoreline (horizontal 2D) and beach profile (vertical 2D) on account of limitation of numerical simulation. This is an important application for prevention of coastal erosion, and UAV photogrammetry is also used to 3D topographic data. This paper analyses the use of unmanned aerial vehicles (UAV) to 3D map and beach volume change. UAV (Quadcopter) equipped with a non-metric camera was used to acquire images in Songjung beach which is located south-east Korea peninsula. The dynamics of beach topography, its geometric properties and estimates of eroded and deposited sand volumes were determined by combining elevation data with quarterly RTK-VRS measurements. To explore the new possibilities for assessment of coastal change we have developed a methodology for 3D analysis of coastal topography evolution based on existing high resolution elevation data combined with low coast, UAV and on-ground RTK-VRS surveys. DSMs were obtained by stereo-matching using Agisoft Photoscan. Using GCPs the vertical accuracy of the DSMs was found to be 10 cm or better. The resulting datasets were integrated in a local coordinates and the method proved to be a very useful fool for the detection of areas where coastal erosion occurs and for the quantification of beach change. The value of such analysis is illustrated by applications to coastal of South Korea sites that face significant management challenges.

NASA Vision

NASA Technical Reports Server (NTRS)

Fenton, Mary (Editor); Wood, Jennifer (Editor)

2003-01-01

This newsletter contains several articles, primarily on International Space Station (ISS) crewmembers and their activities, as well as the activities of NASA administrators. Other subjects covered in the articles include the investigation of the Space Shuttle Columbia accident, activities at NASA centers, Mars exploration, a collision avoidance test on a unmanned aerial vehicle (UAV). The ISS articles cover landing in a Soyuz capsule, photography from the ISS, and the Expedition Seven crew.

The DTIC Review. Unmanned Aerial Vehicles. Volume 4, Number 2

DTIC Science & Technology

1998-09-01

is likely that today’s fighter force will be retired by 2018 , the 14 F-22 will begin entering retirement in 2025, and that there will be further...Vietarn War Ends Berlin Wall Falls 300 Downsizing axi0 World Wide Recession of 2018 1500 10%0 500"- Figure 3-2. Fighter Force Projection for 2025...Reconnaisance Vehicle UAV’ Enem HQ/Control Command Post JFACC Ig 3700nrm Figure 6-2. StrikeStar C2 Architecture Former Vice Chairman of the Joint

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Robert P. Breckenridge; Maxine Dakins; Stephen Bunting

2011-09-01

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 formore » 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.« less

Remote Sensing of Arctic Environmental Conditions and Critical Infrastructure using Infra-Red (IR) Cameras and Unmanned Air Vehicles (UAVs)

NASA Astrophysics Data System (ADS)

Hatfield, M. C.; Webley, P.; Saiet, E., II

2014-12-01

Remote Sensing of Arctic Environmental Conditions and Critical Infrastructure using Infra-Red (IR) Cameras and Unmanned Air Vehicles (UAVs) Numerous scientific and logistical applications exist in Alaska and other arctic regions requiring analysis of expansive, remote areas in the near infrared (NIR) and thermal infrared (TIR) bands. These include characterization of wild land fire plumes and volcanic ejecta, detailed mapping of lava flows, and inspection of lengthy segments of critical infrastructure, such as the Alaska pipeline and railroad system. Obtaining timely, repeatable, calibrated measurements of these extensive features and infrastructure networks requires localized, taskable assets such as UAVs. The Alaska Center for Unmanned Aircraft Systems Integration (ACUASI) provides practical solutions to these problem sets by pairing various IR sensors with a combination of fixed-wing and multi-rotor air vehicles. Fixed-wing assets, such as the Insitu ScanEagle, offer long reach and extended duration capabilities to quickly access remote locations and provide enduring surveillance of the target of interest. Rotary-wing assets, such as the Aeryon Scout or the ACUASI-built Ptarmigan hexcopter, provide a precision capability for detailed horizontal mapping or vertical stratification of atmospheric phenomena. When included with other ground capabilities, we will show how they can assist in decision support and hazard assessment as well as giving those in emergency management a new ability to increase knowledge of the event at hand while reducing the risk to all involved. Here, in this presentation, we illustrate how UAV's can provide the ideal tool to map and analyze the hazardous events and critical infrastructure under extreme environmental conditions.

Integrated Processing of High Resolution Topographic Data for Soil Erosion Assessment Considering Data Acquisition Schemes and Surface Properties

NASA Astrophysics Data System (ADS)

Eltner, A.; Schneider, D.; Maas, H.-G.

2016-06-01

Soil erosion is a decisive earth surface process strongly influencing the fertility of arable land. Several options exist to detect soil erosion at the scale of large field plots (here 600 m²), which comprise different advantages and disadvantages depending on the applied method. In this study, the benefits of unmanned aerial vehicle (UAV) photogrammetry and terrestrial laser scanning (TLS) are exploited to quantify soil surface changes. Beforehand data combination, TLS data is co-registered to the DEMs generated with UAV photogrammetry. TLS data is used to detect global as well as local errors in the DEMs calculated from UAV images. Additionally, TLS data is considered for vegetation filtering. Complimentary, DEMs from UAV photogrammetry are utilised to detect systematic TLS errors and to further filter TLS point clouds in regard to unfavourable scan geometry (i.e. incidence angle and footprint) on gentle hillslopes. In addition, surface roughness is integrated as an important parameter to evaluate TLS point reliability because of the increasing footprints and thus area of signal reflection with increasing distance to the scanning device. The developed fusion tool allows for the estimation of reliable data points from each data source, considering the data acquisition geometry and surface properties, to finally merge both data sets into a single soil surface model. Data fusion is performed for three different field campaigns at a Mediterranean field plot. Successive DEM evaluation reveals continuous decrease of soil surface roughness, reappearance of former wheel tracks and local soil particle relocation patterns.

Integration of UAV and ground-based Structure from Motion with Multi-View Stereo photogrammetry and hydrological data to quantify hillslope gully erosion processes in tropical savanna

NASA Astrophysics Data System (ADS)

Koci, J.; Jarihani, B.; Sidle, R. C.; Wilkinson, S. N.; Bartley, R.

2017-12-01

Structure from Motion with Multi-View Stereo (SfM-MVS) photogrammetry provides a cost-effective method of rapidly acquiring high resolution (sub-meter) topographic data, but is rarely used in hydrogeomorphic investigations of gully erosion. This study integrates high resolution topographic and land cover data derived from an unmanned aerial vehicle (UAV) and ground-based SfM-MVS photogrammetry, with rainfall and gully discharge data, to elucidate hydrogeomorphic processes driving hillslope gully erosion. The study is located within a small (13 km2) dry-tropical savanna catchment within the Burdekin River Basin, northeast Australia, which is a major contributor sediments and nutrients to the Great Barrier Reef World Heritage Area. A pre-wet season UAV survey covered an entire hillslope gully system (0.715 km2), and is used to derive topography, ground cover and hydrological flow pathways in the gully contributing area. Ground-based surveys of a single active gully (650 m2) within the broader hillslope are compared between pre- and post-wet season conditions to quantify gully geomorphic change. Rainfall, recorded near to the head of the gully, is related to gully discharge during sporadic storm events. The study provides valuable insights into the relationships among hydrological flow pathways, ground cover, rainfall and runoff, and spatial patterns of gully morphologic change. We demonstrate how UAV and ground-based SfM-MVS photogrammetry can be used to improve hydrogeomorphic process understanding and aid in the modelling and management of hillslope gully systems.

Geometric processing workflow for vertical and oblique hyperspectral frame images collected using UAV

NASA Astrophysics Data System (ADS)

Markelin, L.; Honkavaara, E.; Näsi, R.; Nurminen, K.; Hakala, T.

2014-08-01

Remote sensing based on unmanned airborne vehicles (UAVs) is a rapidly developing field of technology. UAVs enable accurate, flexible, low-cost and multiangular measurements of 3D geometric, radiometric, and temporal properties of land and vegetation using various sensors. In this paper we present a geometric processing chain for multiangular measurement system that is designed for measuring object directional reflectance characteristics in a wavelength range of 400-900 nm. The technique is based on a novel, lightweight spectral camera designed for UAV use. The multiangular measurement is conducted by collecting vertical and oblique area-format spectral images. End products of the geometric processing are image exterior orientations, 3D point clouds and digital surface models (DSM). This data is needed for the radiometric processing chain that produces reflectance image mosaics and multiangular bidirectional reflectance factor (BRF) observations. The geometric processing workflow consists of the following three steps: (1) determining approximate image orientations using Visual Structure from Motion (VisualSFM) software, (2) calculating improved orientations and sensor calibration using a method based on self-calibrating bundle block adjustment (standard photogrammetric software) (this step is optional), and finally (3) creating dense 3D point clouds and DSMs using Photogrammetric Surface Reconstruction from Imagery (SURE) software that is based on semi-global-matching algorithm and it is capable of providing a point density corresponding to the pixel size of the image. We have tested the geometric processing workflow over various targets, including test fields, agricultural fields, lakes and complex 3D structures like forests.

Field determination of multipollutant, open area combustion source emission factors with a hexacopter unmanned aerial vehicle

NASA Astrophysics Data System (ADS)

Aurell, J.; Mitchell, W.; Chirayath, V.; Jonsson, J.; Tabor, D.; Gullett, B.

2017-10-01

An emission sensor/sampler system was coupled to a National Aeronautics and Space Administration (NASA) hexacopter unmanned aerial vehicle (UAV) to characterize gases and particles in the plumes emitted from open burning of military ordnance. The UAV/sampler was tested at two field sites with test and sampling flights spanning over 16 h of flight time. The battery-operated UAV was remotely maneuvered into the plumes at distances from the pilot of over 600 m and at altitudes of up to 122 m above ground level. While the flight duration could be affected by sampler payload (3.2-4.6 kg) and meteorological conditions, the 57 sampling flights, ranging from 4 to 12 min, were typically terminated when the plume concentrations of CO2 were diluted to near ambient levels. Two sensor/sampler systems, termed ;Kolibri,; were variously configured to measure particulate matter, metals, chloride, perchlorate, volatile organic compounds, chlorinated dioxins/furans, and nitrogen-based organics for determination of emission factors. Gas sensors were selected based on their applicable concentration range, light weight, freedom from interferents, and response/recovery times. Samplers were designed, constructed, and operated based on U.S. Environmental Protection Agency (EPA) methods and quality control criteria. Results show agreement with published emission factors and good reproducibility (e.g., 26% relative standard deviation for PM2.5). The UAV/Kolibri represents a significant advance in multipollutant emission characterization capabilities for open area sources, safely and effectively making measurements heretofore deemed too hazardous for personnel or beyond the reach of land-based samplers.

Accuracy Investigation of Creating Orthophotomaps Based on Images Obtained by Applying Trimble-UX5 UAV

NASA Astrophysics Data System (ADS)

Hlotov, Volodymyr; Hunina, Alla; Siejka, Zbigniew

2017-06-01

The main purpose of this work is to confirm the possibility of making largescale orthophotomaps applying unmanned aerial vehicle (UAV) Trimble- UX5. A planned altitude reference of the studying territory was carried out before to the aerial surveying. The studying territory has been marked with distinctive checkpoints in the form of triangles (0.5 × 0.5 × 0.2 m). The checkpoints used to precise the accuracy of orthophotomap have been marked with similar triangles. To determine marked reference point coordinates and check-points method of GNSS in real-time kinematics (RTK) measuring has been applied. Projecting of aerial surveying has been done with the help of installed Trimble Access Aerial Imaging, having been used to run out the UX5. Aerial survey out of the Trimble UX5 UAV has been done with the help of the digital camera SONY NEX-5R from 200m and 300 m altitude. These aerial surveying data have been calculated applying special photogrammetric software Pix 4D. The orthophotomap of the surveying objects has been made with its help. To determine the precise accuracy of the got results of aerial surveying the checkpoint coordinates according to the orthophotomap have been set. The average square error has been calculated according to the set coordinates applying GNSS measurements. A-priori accuracy estimation of spatial coordinates of the studying territory using the aerial surveying data have been calculated: mx=0.11 m, my=0.15 m, mz=0.23 m in the village of Remeniv and mx=0.26 m, my=0.38 m, mz=0.43 m in the town of Vynnyky. The accuracy of determining checkpoint coordinates has been investigated using images obtained out of UAV and the average square error of the reference points. Based on comparative analysis of the got results of the accuracy estimation of the made orthophotomap it can be concluded that the value the average square error does not exceed a-priori accuracy estimation. The possibility of applying Trimble UX5 UAV for making large-scale orthophotomaps has been investigated. The aerial surveying output data using UAV can be applied for monitoring potentially dangerous for people objects, the state border controlling, checking out the plots of settlements. Thus, it is important to control the accuracy the got results. Having based on the done analysis and experimental researches it can be concluded that applying UAV gives the possibility to find data more efficiently in comparison with the land surveying methods. As the result, the Trimble UX5 UAV gives the possibility to survey built-up territories with the required accuracy for making orthophotomaps with the following scales 1: 2000, 1: 1000, 1: 500.

Design and control of a vertical takeoff and landing fixed-wing unmanned aerial vehicle

NASA Astrophysics Data System (ADS)

Malang, Yasir

With the goal of extending capabilities of multi-rotor unmanned aerial vehicles (UAVs) for wetland conservation missions, a novel hybrid aircraft design consisting of four tilting rotors and a fixed wing is designed and built. The tilting rotors and nonlinear aerodynamic effects introduce a control challenge for autonomous flight, and the research focus is to develop and validate an autonomous transition flight controller. The overall controller structure consists of separate cascaded Proportional Integral Derivative (PID) controllers whose gains are scheduled according to the rotors' tilt angle. A control mechanism effectiveness factor is used to mix the multi-rotor and fixed-wing control actuators during transition. A nonlinear flight dynamics model is created and transition stability is shown through MATLAB simulations, which proves gain-scheduled control is a good fit for tilt-rotor aircraft. Experiments carried out using the prototype UAV validate simulation results for VTOL and tilted-rotor flight.

Simulation to Flight Test for a UAV Controls Testbed

NASA Technical Reports Server (NTRS)

Motter, Mark A.; Logan, Michael J.; French, Michael L.; Guerreiro, Nelson M.

2006-01-01

The NASA Flying Controls Testbed (FLiC) is a relatively small and inexpensive unmanned aerial vehicle developed specifically to test highly experimental flight control approaches. The most recent version of the FLiC is configured with 16 independent aileron segments, supports the implementation of C-coded experimental controllers, and is capable of fully autonomous flight from takeoff roll to landing, including flight test maneuvers. The test vehicle is basically a modified Army target drone, AN/FQM-117B, developed as part of a collaboration between the Aviation Applied Technology Directorate (AATD) at Fort Eustis, Virginia and NASA Langley Research Center. Several vehicles have been constructed and collectively have flown over 600 successful test flights, including a fully autonomous demonstration at the Association of Unmanned Vehicle Systems International (AUVSI) UAV Demo 2005. Simulations based on wind tunnel data are being used to further develop advanced controllers for implementation and flight test.

Formation control of VTOL UAV vehicles under switching-directed interaction topologies with disturbance rejection

NASA Astrophysics Data System (ADS)

Kabiri, Meisam; Atrianfar, Hajar; Menhaj, Mohammad B.

2018-01-01

This paper addresses the adaptive formation control of a group of vertical take-off and landing (VTOL) unmanned aerial vehicles (UAV) with switching-directed interaction topologies. In addition, to tackle the adverse effect of disturbances, a couple of smooth bounded estimators are involved in the procedure design. Exploiting an extraction algorithm, we take advantage of the fully actuated rotational dynamics, to control the translational dynamics of each vehicle. We propose a distributed control scheme such that all vehicles track a desired reference velocity signal while keeping a desired prespecified formation. In this framework, the underlying topology of the agents may switch among several directed graphs, each having a spanning tree. The stability of the overall closed-loop system is proved through Lyapunov function. Finally, simulation results are given to better highlight the effectiveness of the proposed control scheme.

Comparison of Random Forest and Support Vector Machine classifiers using UAV remote sensing imagery

NASA Astrophysics Data System (ADS)

Piragnolo, Marco; Masiero, Andrea; Pirotti, Francesco

2017-04-01

Since recent years surveying with unmanned aerial vehicles (UAV) is getting a great amount of attention due to decreasing costs, higher precision and flexibility of usage. UAVs have been applied for geomorphological investigations, forestry, precision agriculture, cultural heritage assessment and for archaeological purposes. It can be used for land use and land cover classification (LULC). In literature, there are two main types of approaches for classification of remote sensing imagery: pixel-based and object-based. On one hand, pixel-based approach mostly uses training areas to define classes and respective spectral signatures. On the other hand, object-based classification considers pixels, scale, spatial information and texture information for creating homogeneous objects. Machine learning methods have been applied successfully for classification, and their use is increasing due to the availability of faster computing capabilities. The methods learn and train the model from previous computation. Two machine learning methods which have given good results in previous investigations are Random Forest (RF) and Support Vector Machine (SVM). The goal of this work is to compare RF and SVM methods for classifying LULC using images collected with a fixed wing UAV. The processing chain regarding classification uses packages in R, an open source scripting language for data analysis, which provides all necessary algorithms. The imagery was acquired and processed in November 2015 with cameras providing information over the red, blue, green and near infrared wavelength reflectivity over a testing area in the campus of Agripolis, in Italy. Images were elaborated and ortho-rectified through Agisoft Photoscan. The ortho-rectified image is the full data set, and the test set is derived from partial sub-setting of the full data set. Different tests have been carried out, using a percentage from 2 % to 20 % of the total. Ten training sets and ten validation sets are obtained from each test set. The control dataset consist of an independent visual classification done by an expert over the whole area. The classes are (i) broadleaf, (ii) building, (iii) grass, (iv) headland access path, (v) road, (vi) sowed land, (vii) vegetable. The RF and SVM are applied to the test set. The performances of the methods are evaluated using the three following accuracy metrics: Kappa index, Classification accuracy and Classification Error. All three are calculated in three different ways: with K-fold cross validation, using the validation test set and using the full test set. The analysis indicates that SVM gets better results in terms of good scores using K-fold cross or validation test set. Using the full test set, RF achieves a better result in comparison to SVM. It also seems that SVM performs better with smaller training sets, whereas RF performs better as training sets get larger.

Design and simulation of flight control system for man-portable micro reconnaissance quadcopter

NASA Astrophysics Data System (ADS)

Yin, Xinfan; Zhang, Daibing; Fang, Qiang; Shen, Lincheng

2017-10-01

The quadcopter has been widely used in the field of aerial photography and environmental detection, because of its advantages of VTOL, simple structure, and easy-control. In the field of urban anti-terrorism or special operations, micro reconnaissance quadcpter has its unique advantages such as all-weather taking off and landing, small noise and so on, and it is very popular with special forces and riot police. This paper aims at the flight control problem of the micro quadcopter, for the purposes of attitude stabilization control and trajectory tracking control of the micro quadcopter, first, the modeling of the micro quadcopter is presented. And using the MATLAB/SIMULINK toolbox to build the flight controller of the micro quadcopter, and then simulation analysis and real flight test are given. The results of the experiment show that the designed PID controller can correct the flight attitude shift effectively and track the planned tracks well, and can achieve the goal of stable and reliable flight of the quadcopter. It can be a useful reference for the flight control system design of future special operations micro UAV.

Evaluation of low- and medium-cost IMUs for airborne gravimetry with UAVs

NASA Astrophysics Data System (ADS)

Deurloo, R. A.; Bastos, M. L.; Geng, Y.; Yan, W.

2011-12-01

The use of Unmanned Aerial Vehicles (UAVs) has increased in a large number of fields and is proving to be a good alternative to aerial surveys with traditional (manned) aircraft. In the scope of the PITVANT (Projecto de Investigação e Tecnologia em Veículos Aéreos Não-Tripulados) project, a research project funded by the Portuguese Ministry of Defence that aims at the development and demonstration of tools and technologies for UAVs, the Astronomical Observatory of the Faculty of Sciences of the University of Porto is investigating the use of UAVs for regional airborne gravimetry. The goal is to implement a so-called strapdown gravimetry system, based on the integrated use of GNSS and a low- to medium-cost IMU (Inertial Measurement Unit) that can be setup on board the UAVs developed within PITVANT. Two basic approaches exist in strapdown GNSS/IMU gravimetry: - to compute gravity disturbances directly from the combination of GNSS derived accelerations with accelerations measured by the IMU (the accelerometry approach); - to estimate the gravity disturbances as part of an inertial navigation solution using an (extended) Kalman filter (the inertial navigation approach). Because of the limitation of low- to medium-cost inertial systems the latter approach was used here. This method has proven to be effective in previous studies with this type of GNSS/IMU systems. To define the final system architecture, the performance of several different inertial systems was recently tested during an airborne survey with a regular aircraft, i.e. a CASA C212 from the Portuguese Air Force (PAF). Among the systems on board were a medium-cost Litton LN-200 and a low-cost Crossbow AHRS440, combined with a single GNSS receiver. Different Kalman filter configurations and GNSS processing options were investigated for each of the systems. The main goal was to assess the limits of the integrated GNSS/IMU systems to sense the gravity field (scalar gravimetry) and to evaluate their use and effectiveness in UAVs. The results of this analysis are presented here.

Impact of land-levelling measures on gully and soil erosion analysed by rainfall simulation and UAV remote sensing data in the Souss Basin, Morocco

NASA Astrophysics Data System (ADS)

Peter, Klaus Daniel; d'Oleire-Oltmanns, Sebastian; Ries, Johannes B.; Marzolff, Irene; Hssaine, Ali Ait

2013-04-01

Since the 16th century with the rise and fall of sugar production, the Souss basin, situated between High and Anti-Atlas, is affected by gully erosion due to the deforestation of Argan trees. Nowadays, it is one of the most intensive agricultural regions of Morocco. On its sedimentary fans and alluvial terraces, a very dynamic land use change is going on since the early 1960s with transformations of traditional agriculture into agro-industrial plantations of citrus fruits, bananas and vegetables irrigated by deep aquifer groundwater. The implementation of land use change and further expansion of plantations into former agriculturally unsuitable marginal land is accomplished today by land-levelling measures with heavy machinery. The levelling of badland areas and the infilling of existing gully systems lead to changes and disconnections of the drainage system and watersheds on the sedimentary fans. The aim of this study is the investigation of the influence of land-levelling measures and gully infilling on recent erosion rates and on both the re-activation of old and the initiation of new gully systems. An approach combining punctual process analysis through experimental rainfall simulation and gully mapping as well as volume quantification analysing on a local scale using unmanned aerial vehicle (UAV) remote sensing data was applied to relate runoff and sediment production in the gully catchment to current gully erosion rates. For conducting the rainfall simulations a small portable nozzle rainfall simulator with a rainfall intensity of 40 mm h-1 was used. We applied an autopiloted UAV for the monitoring of gullies with small-format aerial photography. Photogrammetric image processing enables the creation of Digital Terrain Models (DTMs) and ortho-image mosaics with very high (centimetre) resolution. Results of the experimental geomorphological fieldwork show a significant increase of mean runoff coefficients and mean sediment loads (1.4 and 3.5 times higher respectively) on levelled study sites compared to undisturbed sites. Consequently, the most active gullies with the highest gully erosion rates are also found on levelled test sites. For one of the test sites it can be stated that gully erosion accounts for up to 95 % of the total soil loss of the catchment. The surface area serves only as runoff source. The infilling of old gully systems is mostly done by transferring large amounts of soil material from the hillslopes into the channels. This may lower the soil surface in a gully catchment by about 10 cm on average. Runoff water often follows the old pathways. Thus, infilled gully systems tend to be re-activated very fast. The freshly provided soil material can easily be eroded. Additionally, the bulldozer furrows lead to parallel drainage network patterns in the development of new side gullies.

UAV Deployed Sensor System for Arctic Ocean Remote Sensing

NASA Astrophysics Data System (ADS)

Palo, S. E.; Lawrence, D.; Weibel, D.; LoDolce, G.; Krist, S.; Crocker, I.; Maslanik, J. A.

2012-12-01

The Marginal Ice Zone Observations and Processes Experiment (MIZOPEX), is an Arctic field project scheduled for summer 2013. The goals of the project are to understand how warming of the marginal ice zone affects sea ice melt and if this warming has been over or underestimated by satellite measurements. To achieve these goals calibrated physical measurements, both remote and in-situ, of the marginal ice zone over scales of square kilometers with a resolution of square meters is required. This will be accomplished with a suite of unmanned aerial vehicles (UAVs) equipped with both remote sensing and in-situ instruments, air deployed microbuoys, and ship deployed buoys. In this talk we will present details about the air-deployed micro-buoy (ADMB) and self-deployed surface-sonde (SDSS) components of the MIZOPEX project, developed at the University of Colorado. These systems were designed to explore the potential of low-cost, on-demand access to high-latitude areas of important scientific interest. Both the ADMB and SDSS share a common measurement suite with the capability to measure water temperature at three distinct depths and provide position information via GPS. The ADMBs are dropped from the InSitu ScanEagle UAV and expected to operate and log ocean temperatures for 14 days. The SDSS are micro UAVs that are designed to fly one-way to a region of interest and land at specified coordinates, thereafter becoming a surface sensor similar to the ADMB. A ScanEagle will periodically return to the deployment zone to gather ADMB/SDSS data via low power radio links. Design decisions based upon operational constraints and the current status of the ADMB and SDSS will be presented.

Development of Cloud-Based UAV Monitoring and Management System

PubMed Central

Itkin, Mason; Kim, Mihui; Park, Younghee

2016-01-01

Unmanned aerial vehicles (UAVs) are an emerging technology with the potential to revolutionize commercial industries and the public domain outside of the military. UAVs would be able to speed up rescue and recovery operations from natural disasters and can be used for autonomous delivery systems (e.g., Amazon Prime Air). An increase in the number of active UAV systems in dense urban areas is attributed to an influx of UAV hobbyists and commercial multi-UAV systems. As airspace for UAV flight becomes more limited, it is important to monitor and manage many UAV systems using modern collision avoidance techniques. In this paper, we propose a cloud-based web application that provides real-time flight monitoring and management for UAVs. For each connected UAV, detailed UAV sensor readings from the accelerometer, GPS sensor, ultrasonic sensor and visual position cameras are provided along with status reports from the smaller internal components of UAVs (i.e., motor and battery). The dynamic map overlay visualizes active flight paths and current UAV locations, allowing the user to monitor all aircrafts easily. Our system detects and prevents potential collisions by automatically adjusting UAV flight paths and then alerting users to the change. We develop our proposed system and demonstrate its feasibility and performances through simulation. PMID:27854267

Development of Cloud-Based UAV Monitoring and Management System.

PubMed

Itkin, Mason; Kim, Mihui; Park, Younghee

2016-11-15

Unmanned aerial vehicles (UAVs) are an emerging technology with the potential to revolutionize commercial industries and the public domain outside of the military. UAVs would be able to speed up rescue and recovery operations from natural disasters and can be used for autonomous delivery systems (e.g., Amazon Prime Air). An increase in the number of active UAV systems in dense urban areas is attributed to an influx of UAV hobbyists and commercial multi-UAV systems. As airspace for UAV flight becomes more limited, it is important to monitor and manage many UAV systems using modern collision avoidance techniques. In this paper, we propose a cloud-based web application that provides real-time flight monitoring and management for UAVs. For each connected UAV, detailed UAV sensor readings from the accelerometer, GPS sensor, ultrasonic sensor and visual position cameras are provided along with status reports from the smaller internal components of UAVs (i.e., motor and battery). The dynamic map overlay visualizes active flight paths and current UAV locations, allowing the user to monitor all aircrafts easily. Our system detects and prevents potential collisions by automatically adjusting UAV flight paths and then alerting users to the change. We develop our proposed system and demonstrate its feasibility and performances through simulation.

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

NASA Technical Reports Server (NTRS)

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

1995-01-01

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.

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

NASA Astrophysics Data System (ADS)

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

1995-03-01

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.

Sensor data fusion for automated threat recognition in manned-unmanned infantry platoons

NASA Astrophysics Data System (ADS)

Wildt, J.; Varela, M.; Ulmke, M.; Brüggermann, B.

2017-05-01

To support a dismounted infantry platoon during deployment we team it with several unmanned aerial and ground vehicles (UAV and UGV, respectively). The unmanned systems integrate seamlessly into the infantry platoon, providing automated reconnaissance during movement while keeping formation as well as conducting close range reconnaissance during halt. The sensor data each unmanned system provides is continuously analyzed in real time by specialized algorithms, detecting humans in live videos of UAV mounted infrared cameras as well as gunshot detection and bearing by acoustic sensors. All recognized threats are fused into a consistent situational picture in real time, available to platoon and squad leaders as well as higher level command and control (C2) systems. This gives friendly forces local information superiority and increased situational awareness without the need to constantly monitor the unmanned systems and sensor data.

Determination of the State of Strain of Large Floating Covers Using Unmanned Aerial Vehicle (UAV) Aided Photogrammetry

PubMed Central

Ong, Wern Hann; Chiu, Wing Kong; Kuen, Thomas; Kodikara, Jayantha

2017-01-01

Floating covers used in waste water treatment plants are one of the many structures formed with membrane materials. These structures are usually large and can spread over an area measuring 470 m × 170 m. The aim of this paper is to describe recent work to develop an innovative and effective approach for structural health monitoring (SHM) of such large membrane-like infrastructure. This paper will propose a potentially cost-effective non-contact approach for full-field strain and stress mapping using an unmanned aerial vehicle (UAV) mounted with a digital camera and a global positioning system (GPS) tracker. The aim is to use the images acquired by the UAV to define the geometry of the floating cover using photogrammetry. In this manner, any changes in the geometry of the floating cover due to forces acting beneath resulting from its deployment and usage can be determined. The time-scale for these changes is in terms of weeks and months. The change in the geometry can be implemented as input conditions to a finite element model (FEM) for stress prediction. This will facilitate the determination of the state of distress of the floating cover. This paper investigates the possibility of using data recorded from a UAV to predict the strain level and assess the health of such structures. An investigation was first conducted on a laboratory sized membrane structure instrumented with strain gauges for comparison against strains, which were computed from 3D scans of the membrane geometry. Upon validating the technique in the laboratory, it was applied to a more realistic scenario: an outdoor test membrane structure and capable UAV were constructed to see if the shape of the membrane could be computed. The membrane displacements were then used to calculate the membrane stress and strain, state demonstrating a new way to perform structural health monitoring on membrane structures. PMID:28788081

Determination of the State of Strain of Large Floating Covers Using Unmanned Aerial Vehicle (UAV) Aided Photogrammetry.

PubMed

Ong, Wern Hann; Chiu, Wing Kong; Kuen, Thomas; Kodikara, Jayantha

2017-07-28

Floating covers used in waste water treatment plants are one of the many structures formed with membrane materials. These structures are usually large and can spread over an area measuring 470 m × 170 m. The aim of this paper is to describe recent work to develop an innovative and effective approach for structural health monitoring (SHM) of such large membrane-like infrastructure. This paper will propose a potentially cost-effective non-contact approach for full-field strain and stress mapping using an unmanned aerial vehicle (UAV) mounted with a digital camera and a global positioning system (GPS) tracker. The aim is to use the images acquired by the UAV to define the geometry of the floating cover using photogrammetry. In this manner, any changes in the geometry of the floating cover due to forces acting beneath resulting from its deployment and usage can be determined. The time-scale for these changes is in terms of weeks and months. The change in the geometry can be implemented as input conditions to a finite element model (FEM) for stress prediction. This will facilitate the determination of the state of distress of the floating cover. This paper investigates the possibility of using data recorded from a UAV to predict the strain level and assess the health of such structures. An investigation was first conducted on a laboratory sized membrane structure instrumented with strain gauges for comparison against strains, which were computed from 3D scans of the membrane geometry. Upon validating the technique in the laboratory, it was applied to a more realistic scenario: an outdoor test membrane structure and capable UAV were constructed to see if the shape of the membrane could be computed. The membrane displacements were then used to calculate the membrane stress and strain, state demonstrating a new way to perform structural health monitoring on membrane structures.

The effect of aircraft control forces on pilot performance during instrument landings in a flight simulator.

PubMed

Hewson, D J; McNair, P J; Marshall, R N

2001-07-01

Pilots may have difficulty controlling aircraft at both high and low force levels due to larger variability in force production at these force levels. The aim of this study was to measure the force variability and landing performance of pilots during an instrument landing in a flight simulator. There were 12 pilots who were tested while performing 5 instrument landings in a flight simulator, each of which required different control force inputs. Pilots can produce the least force when pushing the control column to the right, therefore the force levels for the landings were set relative to each pilot's maximum aileron-right force. The force levels for the landings were 90%, 60%, and 30% of maximal aileron-right force, normal force, and 25% of normal force. Variables recorded included electromyographic activity (EMG), aircraft control forces, aircraft attitude, perceived exertion and deviation from glide slope and heading. Multivariate analysis of variance was used to test for differences between landings. Pilots were least accurate in landing performance during the landing at 90% of maximal force (p < 0.05). There was also a trend toward decreased landing performance during the landing at 25% of normal force. Pilots were more variable in force production during the landings at 60% and 90% of maximal force (p < 0.05). Pilots are less accurate at performing instrument landings when control forces are high due to the increased variability of force production. The increase in variability at high force levels is most likely associated with motor unit recruitment, rather than rate coding. Aircraft designers need to consider the reduction in pilot performance at high force levels, as well as pilot strength limits when specifying new standards.

Diverse Planning for UAV Control and Remote Sensing

PubMed Central

Tožička, Jan; Komenda, Antonín

2016-01-01

Unmanned aerial vehicles (UAVs) are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands) to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well) together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs. PMID:28009831

Diverse Planning for UAV Control and Remote Sensing.

PubMed

Tožička, Jan; Komenda, Antonín

2016-12-21

Unmanned aerial vehicles (UAVs) are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands) to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well) together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs.

Uninhabited Combat Aerial Vehicles: Airpower by the People, for the People, But Not With the People

DTIC Science & Technology

1999-06-01

Internet, April 17, 1999, available from http://www.ipcress.com/writer/ area51 /rainbow.html. 92 procurement of UAVs because of their comparatively low...www.ipcress.com/writer/ area51 /rainbow.html. “Reaching for the Stars.” Air Force News, 2 pages. On-line. Internet, March 15, 1999. Available from http://www.af.mil

UAV Cooperation Architectures for Persistent Sensing

DOE Office of Scientific and Technical Information (OSTI.GOV)

Roberts, R S; Kent, C A; Jones, E D

2003-03-20

With the number of small, inexpensive Unmanned Air Vehicles (UAVs) increasing, it is feasible to build multi-UAV sensing networks. In particular, by using UAVs in conjunction with unattended ground sensors, a degree of persistent sensing can be achieved. With proper UAV cooperation algorithms, sensing is maintained even though exceptional events, e.g., the loss of a UAV, have occurred. In this paper a cooperation technique that allows multiple UAVs to perform coordinated, persistent sensing with unattended ground sensors over a wide area is described. The technique automatically adapts the UAV paths so that on the average, the amount of time thatmore » any sensor has to wait for a UAV revisit is minimized. We also describe the Simulation, Tactical Operations and Mission Planning (STOMP) software architecture. This architecture is designed to help simulate and operate distributed sensor networks where multiple UAVs are used to collect data.« less

Flight Testing of Novel Compliant Spines for Passive Wing Morphing on Ornithopters

NASA Technical Reports Server (NTRS)

Wissa, Aimy; Guerreiro, Nelson; Grauer, Jared; Altenbuchner, Cornelia; Hubbard, James E., Jr.; Tummala, Yashwanth; Frecker, Mary; Roberts, Richard

2013-01-01

Unmanned Aerial Vehicles (UAVs) are proliferating in both the civil and military markets. Flapping wing UAVs, or ornithopters, have the potential to combine the agility and maneuverability of rotary wing aircraft with excellent performance in low Reynolds number flight regimes. The purpose of this paper is to present new free flight experimental results for an ornithopter equipped with one degree of freedom (1DOF) compliant spines that were designed and optimized in terms of mass, maximum von-Mises stress, and desired wing bending deflections. The spines were inserted in an experimental ornithopter wing spar in order to achieve a set of desired kinematics during the up and down strokes of a flapping cycle. The ornithopter was flown at Wright Patterson Air Force Base in the Air Force Research Laboratory Small Unmanned Air Systems (SUAS) indoor flight facility. Vicon motion tracking cameras were used to track the motion of the vehicle for five different wing configurations. The effect of the presence of the compliant spine on wing kinematics and leading edge spar deflection during flight is presented. Results show that the ornithopter with the compliant spine inserted in its wing reduced the body acceleration during the upstroke which translates into overall lift gains.

Optimization of processing parameters of UAV integral structural components based on yield response

NASA Astrophysics Data System (ADS)

Chen, Yunsheng

2018-05-01

In order to improve the overall strength of unmanned aerial vehicle (UAV), it is necessary to optimize the processing parameters of UAV structural components, which is affected by initial residual stress in the process of UAV structural components processing. Because machining errors are easy to occur, an optimization model for machining parameters of UAV integral structural components based on yield response is proposed. The finite element method is used to simulate the machining parameters of UAV integral structural components. The prediction model of workpiece surface machining error is established, and the influence of the path of walking knife on residual stress of UAV integral structure is studied, according to the stress of UAV integral component. The yield response of the time-varying stiffness is analyzed, and the yield response and the stress evolution mechanism of the UAV integral structure are analyzed. The simulation results show that this method is used to optimize the machining parameters of UAV integral structural components and improve the precision of UAV milling processing. The machining error is reduced, and the deformation prediction and error compensation of UAV integral structural parts are realized, thus improving the quality of machining.

Coherent Lidar Activities at NASA Langley Research Center

NASA Technical Reports Server (NTRS)

Kavaya, Michael J.; Amzajerdian, Farzin; Koch, Grady J.; Singh, Upendra N.; Yu, Jirong

2007-01-01

NASA Langley Research Center has been developing and using coherent lidar systems for many years. The current projects at LaRC are the Global Wind Observing Sounder (GWOS) mission preparation, the Laser Risk Reduction Program (LRRP), the Instrument Incubator Program (IIP) compact, rugged Doppler wind lidar project, the Autonomous precision Landing and Hazard detection and Avoidance Technology (ALHAT) project for lunar landing, and the Skywalker project to find and use thermals to extend UAV flight time. These five projects encompass coherent lidar technology development; characterization, validation, and calibration facilities; compact, rugged packaging; computer simulation; trade studies; data acquisition, processing, and display development; system demonstration; and space mission design. This paper will further discuss these activities at LaRC.

A Comparison of Four Different Beach Profiling Techniques at St Leonards, Victoria - An Example of a Collaborative Stakeholder Research Project

NASA Astrophysics Data System (ADS)

Cox, N. L.; Miner, A. S.; Wynn, N.; Turner, D.

2015-12-01

Many beaches in Australia are under attack from shoreline erosion due rising sea levels and the action of waves. St Leonard's beach, a tourist town on the Victorian coastline, is of concern from this destructive erosion and the threat to the economic stability of the town. The major cause of erosion in this area is related to waves created from strong to gale force north to north-easterly winds. This in turn produces a northerly longshore current along with sediment suspension leading to a negative sediment budget. Ongoing and systematic monitoring of the shoreline movement is important to ensure the coast is understood and effectively managed now and into the future. Coastal land managers and agencies are required to find 'cost-effective' and 'fit-for-purpose' coastal monitoring methodologies which are affordable and efficient. This project forges a collaboration of stakeholders from academia, public sector land manager, local government and the private sector to compare four different methods of obtaining beach profiles. The four methods of obtaining beach profiles used for comparison are: 1. traditional survey method along transects using a total station theodolite, 2. traditional survey method along transects using a builder's grade laser level, 3. a small multi-rotor unmanned aerial vehicle (UAV) to produce a full 3D digital surface model of the study area, and 4. an experimental stationary device to produce a limited 3D model along a designated transect using terrestrial photogrammetric approach via a small GPS enabled camera. Assessment is made by comparing the method's precision, spatial coverage, expertise and equipment requirements/costs, preparation time, field acquisition time, number of people required in the field, post-acquisition processing time, and applicability for community use. Whilst is must be very clearly stated that all methods proved to be successful, the preliminary results of the "workflow and resourcing" assessment ranked the methods in the following order from highest ranking: 1. Laser levelling, 2. Terrestrial Photogrammetry, 3. Total Station, and 4. UAV aerial survey. The outcomes of this collaboration will be of great use to coastal management organisations grappling with the effectiveness of the different types of methods which are available for measuring beach profiles.

The Development of Instrumentation and Methods for Measurement of Air-Sea Interaction and Coastal Processes from Manned and Unmanned Aircraft

NASA Astrophysics Data System (ADS)

Reineman, Benjamin D.

I present the development of instrumentation and methods for the measurement of coastal processes, ocean surface phenomena, and air-sea interaction in two parts. In the first, I discuss the development of a portable scanning lidar (light detection and ranging) system for manned aircraft and demonstrate its functionality for oceanographic and coastal measurements. Measurements of the Southern California coastline and nearshore surface wave fields from seventeen research flights between August 2007 and December 2008 are analyzed and discussed. The October 2007 landslide on Mt. Soledad in La Jolla, California was documented by two of the flights. The topography, lagoon, reef, and surrounding wave field of Lady Elliot Island in Australia's Great Barrier Reef were measured with the airborne scanning lidar system on eight research flights in April 2008. Applications of the system, including coastal topographic surveys, wave measurements, ship wake studies, and coral reef research, are presented and discussed. In the second part, I detail the development of instrumentation packages for small (18 -- 28 kg) unmanned aerial vehicles (UAVs) to measure momentum fluxes and latent, sensible, and radiative heat fluxes in the atmospheric boundary layer (ABL), and the surface topography. Fast-response turbulence, hygrometer, and temperature probes permit turbulent momentum and heat flux measurements, and short- and long-wave radiometers allow the determination of net radiation, surface temperature, and albedo. Careful design and testing of an accurate turbulence probe, as demonstrated in this thesis, are essential for the ability to measure momentum and scalar fluxes. The low altitude required for accurate flux measurements (typically assumed to be 30 m) is below the typical safety limit of manned research aircraft; however, it is now within the capability of small UAV platforms. Flight tests of two instrumented BAE Manta UAVs over land were conducted in January 2011 at McMillan Airfield (Camp Roberts, CA), and flight tests of similarly instrumented Boeing-Insitu ScanEagle UAVs were conducted in April 2012 at the Naval Surface Warfare Center, Dahlgren Division (Dahlgren, VA), where the first known direct flux measurements were made from low-altitude (down to 30 m) UAV flights over water (Potomac River). During the October 2012 Equatorial Mixing Experiment in the central Pacific aboard the R/V Roger Revelle, ship-launched and recovered ScanEagles were deployed in an effort to characterize the marine atmospheric boundary layer structure and dynamics. I present a description of the instrumentation, summarize results from flight tests, present preliminary analysis from UAV flights off of the Revelle, and discuss potential applications of these UAVs for marine atmospheric boundary layer studies.

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

PubMed

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

2009-01-01

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.

Research on UAV Intelligent Obstacle Avoidance Technology During Inspection of Transmission Line

NASA Astrophysics Data System (ADS)

Wei, Chuanhu; Zhang, Fei; Yin, Chaoyuan; Liu, Yue; Liu, Liang; Li, Zongyu; Wang, Wanguo

Autonomous obstacle avoidance of unmanned aerial vehicle (hereinafter referred to as UAV) in electric power line inspection process has important significance for operation safety and economy for UAV intelligent inspection system of transmission line as main content of UAV intelligent inspection system on transmission line. In the paper, principles of UAV inspection obstacle avoidance technology of transmission line are introduced. UAV inspection obstacle avoidance technology based on particle swarm global optimization algorithm is proposed after common obstacle avoidance technologies are studied. Stimulation comparison is implemented with traditional UAV inspection obstacle avoidance technology which adopts artificial potential field method. Results show that UAV inspection strategy of particle swarm optimization algorithm, adopted in the paper, is prominently better than UAV inspection strategy of artificial potential field method in the aspects of obstacle avoidance effect and the ability of returning to preset inspection track after passing through the obstacle. An effective method is provided for UAV inspection obstacle avoidance of transmission line.

Using crowd sourcing to combat potentially illegal or dangerous UAV operations

NASA Astrophysics Data System (ADS)

Tapsall, Brooke T.

2016-10-01

The UAV (Unmanned Aerial Vehicles) industry is growing exponentially at a pace that policy makers, individual countries and law enforcement agencies are finding difficult to keep up. The UAV market is large, as such the amount of UAVs being operated in potentially dangerous situations is prevalent and rapidly increasing. Media is continually reporting `near-miss' incidents between UAVs and commercial aircraft, UAV breaching security in sensitive areas or invading public privacy. One major challenge for law enforcement agencies is gaining tangible evidence against potentially dangerous or illegal UAV operators due to the rapidity with which UAV operators are able to enter, fly and exit a scene before authorities can arrive or before they can be located. DroneALERT, an application available via the Airport-UAV.com website, allows users to capture potentially dangerous or illegal UAV activity using their mobile device as it the incident is occurring. A short online DroneALERT Incident Report (DIR) is produced, emailed to the user and the Airport-UAV.com custodians. The DIR can be used to aid authorities in their investigations. The DIR contains details such as images and videos, location, time, date of the incident, drone model, its distance and height. By analysing information from the DIR, photos or video, there is a high potential for law enforcement authorities to use this evidence to identify the type of UAV used, triangulate the location of the potential dangerous UAV and operator, create a timeline of events, potential areas of operator exit and to determine the legalities breached. All provides crucial evidence for identifying and prosecuting a UAV operator.

Survey on the novel hybrid aquatic-aerial amphibious aircraft: Aquatic unmanned aerial vehicle (AquaUAV)

NASA Astrophysics Data System (ADS)

Yang, Xingbang; Wang, Tianmiao; Liang, Jianhong; Yao, Guocai; Liu, Miao

2015-04-01

The aquatic unmanned aerial vehicle (AquaUAV), a kind of vehicle that can operate both in the air and the water, has been regarded as a new breakthrough to broaden the application scenario of UAV. Wide application prospects in military and civil field are more than bright, therefore many institutions have focused on the development of such a vehicle. However, due to the significant difference of the physical properties between the air and the water, it is rather difficult to design a fully-featured AquaUAV. Until now, majority of partially-featured AquaUAVs have been developed and used to verify the feasibility of an aquatic-aerial vehicle. In the present work, we classify the current partially-featured AquaUAV into three categories from the scope of the whole UAV field, i.e., the seaplane UAV, the submarine-launched UAV, and the submersible UAV. Then the recent advancements and common characteristics of the three kinds of AquaUAVs are reviewed in detail respectively. Then the applications of bionics in the design of AquaUAV, the transition mode between the air and the water, the morphing wing structure for air-water adaptation, and the power source and the propulsion type are summarized and discussed. The tradeoff analyses for different transition methods between the air and the water are presented. Furthermore, it indicates that applying the bionics into the design and development of the AquaUAV will be essential and significant. Finally, the significant technical challenges for the AquaUAV to change from a conception to a practical prototype are indicated.

An UAV scheduling and planning method for post-disaster survey

NASA Astrophysics Data System (ADS)

Li, G. Q.; Zhou, X. G.; Yin, J.; Xiao, Q. Y.

2014-11-01

Annually, the extreme climate and special geological environments lead to frequent natural disasters, e.g., earthquakes, floods, etc. The disasters often bring serious casualties and enormous economic losses. Post-disaster surveying is very important for disaster relief and assessment. As the Unmanned Aerial Vehicle (UAV) remote sensing with the advantage of high efficiency, high precision, high flexibility, and low cost, it is widely used in emergency surveying in recent years. As the UAVs used in emergency surveying cannot stop and wait for the happening of the disaster, when the disaster happens the UAVs usually are working at everywhere. In order to improve the emergency surveying efficiency, it is needed to track the UAVs and assign the emergency surveying task for each selected UAV. Therefore, a UAV tracking and scheduling method for post-disaster survey is presented in this paper. In this method, Global Positioning System (GPS), and GSM network are used to track the UAVs; an emergency tracking UAV information database is built in advance by registration, the database at least includes the following information, e.g., the ID of the UAVs, the communication number of the UAVs; when catastrophe happens, the real time location of all UAVs in the database will be gotten using emergency tracking method at first, then the traffic cost time for all UAVs to the disaster region will be calculated based on the UAVs' the real time location and the road network using the nearest services analysis algorithm; the disaster region is subdivided to several emergency surveying regions based on DEM, area, and the population distribution map; the emergency surveying regions are assigned to the appropriated UAV according to shortest cost time rule. The UAVs tracking and scheduling prototype is implemented using SQLServer2008, ArcEnginge 10.1 SDK, Visual Studio 2010 C#, Android, SMS Modem, and Google Maps API.

Generation and Assessment of High Resolution Digital Surface Model by Using Unmanned Air Vehicle Based Multicopter

NASA Astrophysics Data System (ADS)

Gülci, S.; Dindaroğlu, T.; Gündoğan, R.

2017-11-01

Unmanned air vehicle systems (UAVSs), which are presently defined as effective measuring instruments, can be used for measurements and evaluation studies in fields. Furthermore, UAVs are effective tools that can produce high-precision and resolution data for use in geographic information system-based work. This study examined a multicopter (hexacopter) as an air platform to seek opportunity in generating DSM with high resolution. Flights were performed in Kahramanmaras Sutcu Imam University Campus area in Turkey. Pre-assessment of field works, mission, tests and installation were prepared by using a Laptop with an adaptive ground control station. Hand remote controller unit was also linked and activated during flight to interfere with emergency situations. Canon model IXSUS 160 was preferred as sensor. As a result of this study, as mentioned previous studies, .The orthophotos can be produced by RGB (Red-green-blue) images obtained with UAV, herewith information on terrain topography, land cover and soil erosion can be evaluated.

UAV-based Natural Hazard Management in High-Alpine Terrain - Case Studies from Austria

NASA Astrophysics Data System (ADS)

Sotier, Bernadette; Adams, Marc; Lechner, Veronika

2015-04-01

Unmanned Aerial Vehicles (UAV) have become a standard tool for geodata collection, as they allow conducting on-demand mapping missions in a flexible, cost-effective manner at an unprecedented level of detail. Easy-to-use, high-performance image matching software make it possible to process the collected aerial images to orthophotos and 3D-terrain models. Such up-to-date geodata have proven to be an important asset in natural hazard management: Processes like debris flows, avalanches, landslides, fluvial erosion and rock-fall can be detected and quantified; damages can be documented and evaluated. In the Alps, these processes mostly originate in remote areas, which are difficult and hazardous to access, thus presenting a challenging task for RPAS data collection. In particular, the problems include finding suitable landing and piloting-places, dealing with bad or no GPS-signals and the installation of ground control points (GCP) for georeferencing. At the BFW, RPAS have been used since 2012 to aid natural hazard management of various processes, of which three case studies are presented below. The first case study deals with the results from an attempt to employ UAV-based multi-spectral remote sensing to monitor the state of natural hazard protection forests. Images in the visible and near-infrared (NIR) band were collected using modified low-cost cameras, combined with different optical filters. Several UAV-flights were performed in the 72 ha large study site in 2014, which lies in the Wattental, Tyrol (Austria) between 1700 and 2050 m a.s.l., where the main tree species are stone pine and mountain pine. The matched aerial images were analysed using different UAV-specific vitality indices, evaluating both single- and dual-camera UAV-missions. To calculate the mass balance of a debris flow in the Tyrolean Halltal (Austria), an RPAS flight was conducted in autumn 2012. The extreme alpine environment was challenging for both the mission and the evaluation of the aerial images: In the upper part of the steep channel there was no GPS-signal available, because of the high surrounding rock faces, the landing area consisted of coarse gravel. Therefore, only a manual flight with a high risk of damage was possible. With the calculated RPAS-based digital surface model, created from the 600 aerial images, a chronologically resolved back-calculation of the last big debris-flow event could be performed. In a third case study, aerial images from RPAS were used for a similar investigation in Virgen, Eastern Tyrol (Austria). A debris flow in the Firschnitzbach catchment caused severe damages to the village of Virgen in August 2012. An RPAS-flight was performed, in order to refine the estimated displaced debris mass for assessment purposes. The upper catchment of the Firschnitzbach is situated above the timberline and covers an area of 6.5 ha at a height difference of 1000 m. Therefore, three separate flights were necessary to achieve a sufficient image overlap. The central part of the Firschnitzbach consists of a steep and partly dense forested canyon / gorge, so there was no flight possible for this section up to now. The evaluation of the surface model from the images showed, that only half of the estimated debris mass came from the upper part of the catchment.

A Discussion of Aerodynamic Control Effectors (ACEs) for Unmanned Air Vehicles (UAVs)

NASA Technical Reports Server (NTRS)

Wood, Richard M.

2002-01-01

A Reynolds number based, unmanned air vehicle classification structure has been developed which identifies four classes of unmanned air vehicle concepts. The four unmanned air vehicle (UAV) classes are; Micro UAV, Meso UAV, Macro UAV, and Mega UAV. In a similar fashion a labeling scheme for aerodynamic control effectors (ACE) was developed and eleven types of ACE concepts were identified. These eleven types of ACEs were laid out in a five (5) layer scheme. The final section of the paper correlated the various ACE concepts to the four UAV classes and ACE recommendations are offered for future design activities.

Cooperative UAV-Based Communications Backbone for Sensor Networks

DOE Office of Scientific and Technical Information (OSTI.GOV)

Roberts, R S

2001-10-07

The objective of this project is to investigate the use of unmanned air vehicles (UAVs) as mobile, adaptive communications backbones for ground-based sensor networks. In this type of network, the UAVs provide communication connectivity to sensors that cannot communicate with each other because of terrain, distance, or other geographical constraints. In these situations, UAVs provide a vertical communication path for the sensors, thereby mitigating geographic obstacles often imposed on networks. With the proper use of UAVs, connectivity to a widely disbursed sensor network in rugged terrain is readily achieved. Our investigation has focused on networks where multiple cooperating UAVs aremore » used to form a network backbone. The advantage of using multiple UAVs to form the network backbone is parallelization of sensor connectivity. Many widely spaced or isolated sensors can be connected to the network at once using this approach. In these networks, the UAVs logically partition the sensor network into sub-networks (subnets), with one UAV assigned per subnet. Partitioning the network into subnets allows the UAVs to service sensors in parallel thereby decreasing the sensor-to-network connectivity. A UAV services sensors in its subnet by flying a route (path) through the subnet, uplinking data collected by the sensors, and forwarding the data to a ground station. An additional advantage of using multiple UAVs in the network is that they provide redundancy in the communications backbone, so that the failure of a single UAV does not necessarily imply the loss of the network.« less

Optimal design of UAV's pod shape

NASA Astrophysics Data System (ADS)

Wei, Qun; Jia, Hong-guang

2011-08-01

In the modern war, UAV(unmanned aircraft system) plays a more and more important role in the army. UAVs always carry electrical-optical reconnaissance systems. These systems are used to accomplish the missions of observing and reconnaissance the battlefield. For traditional UAV, the shape of the pod on UAV is sphericity. In addition, the pod of UAV not only has the job of observing and reconnaissance the battlefield, but its shape also has impact on the UAV's drag when it flies in the air. In this paper, two different kinds of pod models are set up, one is the traditional sphericity model, the other is a new model. Unstructured grid is used on the flow field. Using CFD(computational fluid dynamic) method, the results of the drags of the different kinds of pod are got. The drag's relationship between the pod and the UAV is obtained by comparing the results of simulations. After analyzing the results we can get: when UAV flies at low speed(0.3Ma{0.7Ma), the drag's difference between the two kinds of pod is little, the pod's drag takes a small part of the UAV's whole drag which is only about 14%. At transonic speed(0.8Ma{1.2Ma), the drag's difference between these two kinds of pod is getting bigger and bigger along with the speed goes higher. The traditional pod's drag is 1/3 of the UAV's whole drag value, but for the new pod, it is only 1/5. At supersonic speed(1.3Ma{2.0Ma), the traditional pod's drag goes up rapidly, but the new kind of pod's drag goes up slowly. This makes the difference between the two kinds of UAVs' total drag comes greater. For example, at 2Ma, the total drag of new UAV is only 2/3 of the traditional UAV. These results show: when the UAV flies at low speed, these two kinds of pod have little difference in drag. But if it flies at supersonic speed, the pod has great impact on the UAV's total drag, so the designer of UAV's pod should pay more attention on the out shape.

Smart actuation of inlet guide vanes for small turbine engine

NASA Astrophysics Data System (ADS)

Rusovici, Razvan; Kwok Choon, Stephen T.; Sepri, Paavo; Feys, Joshuo

2011-04-01

Unmanned Aerial Vehicles (UAVs) have gained popularity over the past few years to become an indispensable part of aerial missions that include reconnaissance, surveillance, and communication [1]. As a result, advancements in small jet-engine performance are needed to increase the performance (range, payload and efficiency) of the UAV. These jet engines designed especially for UAV's are characterized by thrust force on the order of 100N and due to their size and weight limitations, may lack advanced flow control devices such as IGV [2]. The goal of the current study was to present a conceptual design of an IGV smart-material based actuation mechanism that would be simple, compact and lightweight. The compressor section of an engine increases the pressure and conditions the flow before the air enters the combustion chamber [3]. The airflow entering the compressor is often turbulent due to the high angle of incidence between engine inlet and free-stream velocity, or existing atmospheric turbulence. Actuated IGV are used to help control the relative angle of incidence of the flow that enters the engine compressor, thereby preventing flow separation, compressor stall and thus extending the compressor's operating envelope [4]. Turbine jet- engines which employ variable IGV were developed by Rolls Royce (Trent DR-900) and General Electric (J79).

Sensor Fault Diagnosis in Quadrotors Using Nonlinear Adaptive Estimators

DTIC Science & Technology

2014-10-02

Mahony, & Gre- sham, 2004; Bangura & Mahony, 2012) have aimed for higher modeling accuracy by including drag force, Coriolis effects , blade flapping... effectiveness of the pro- posed method. 1. INTRODUCTION Unmanned Aerial Vehicles (UAVs) have attracted significant attentions in recent years due to... effects etc. Accurate modeling plays an impor- tant role in quadrotor control, especially in the case of aggres- sive maneuvers, tight group formations

Maritime Pre-Positioning Force-Future: Bill Payer or Sea Basing Enabler?

DTIC Science & Technology

2008-03-25

Ship Building Plan , UAV CLASSIFICATION: Unclassified Actions at sea no longer suffice to influence world events; actions from the sea must...in amphibious ships or fall victim to an untenable Navy ship building plan . Premature consideration of cost issues hindered MPF-F program...fiscal environment and an illusory Navy ship building plan . Given the demonstrated capability and success of the current Maritime Pre-positioning

Roving UAV IED Interdiction System

DTIC Science & Technology

2011-03-01

instances, nails, ball bearings, and other similar hardware have been used to increase the potential for damage and injury to the forces. The uses of... Dragon Eye. UAS (Cat II). Nonstandard aircraft that perform special purpose operations. Operators must provide evidence of airworthiness and operator...100 (proposed) Dragon Eye, Raven (none) Nonstandard Aircraft/UAS (Cat II) 14 CFR 91, 101, 103 Class E, G, & non-joint-use Class D

Exploring Ackermann and LQR stability control of stochastic state-space model of hexacopter equipped with robotic arm

NASA Astrophysics Data System (ADS)

Ibrahim, I. N.; Akkad, M. A. Al; Abramov, I. V.

2018-05-01

This paper discusses the control of Unmanned Aerial Vehicles (UAVs) for active interaction and manipulation of objects. The manipulator motion with an unknown payload was analysed concerning force and moment disturbances, which influence the mass distribution, and the centre of gravity (CG). Therefore, a general dynamics mathematical model of a hexacopter was formulated where a stochastic state-space model was extracted in order to build anti-disturbance controllers. Based on the compound pendulum method, the disturbances model that simulates the robotic arm with a payload was inserted into the stochastic model. This study investigates two types of controllers in order to study the stability of a hexacopter. A controller based on Ackermann’s method and the other - on the linear quadratic regulator (LQR) approach - were presented. The latter constitutes a challenge for UAV control performance especially with the presence of uncertainties and disturbances.

A mathematical analysis of the Janus combat simulation weather effects models and sensitivity analysis of sky-to-ground brightness ratio on target detection

NASA Astrophysics Data System (ADS)

Shorts, Vincient F.

1994-09-01

The Janus combat simulation offers the user a wide variety of weather effects options to employ during the execution of any simulation run, which can directly influence detection of opposing forces. Realistic weather effects are required if the simulation is to accurately reproduce 'real world' results. This thesis examines the mathematics of the Janus weather effects models. A weather effect option in Janus is the sky-to-ground brightness ratio (SGR). SGR affects an optical sensor's ability to detect targets. It is a measure of the sun angle in relation to the horizon. A review of the derivation of SGR is performed and an analysis of SGR's affect on the number of optical detections and detection ranges is performed using an unmanned aerial vehicle (UAV) search scenario. For comparison, the UAV's are equipped with a combination of optical and thermal sensors.

Thrust Control Loop Design for Electric-Powered UAV

NASA Astrophysics Data System (ADS)

Byun, Heejae; Park, Sanghyuk

2018-04-01

This paper describes a process of designing a thrust control loop for an electric-powered fixed-wing unmanned aerial vehicle equipped with a propeller and a motor. In particular, the modeling method of the thrust system for thrust control is described in detail and the propeller thrust and torque force are modeled using blade element theory. A relation between current and torque of the motor is obtained using an experimental setup. Another relation between current, voltage and angular velocity is also obtained. The electric motor and the propeller dynamics are combined to model the thrust dynamics. The associated trim and linearization equations are derived. Then, the thrust dynamics are coupled with the flight dynamics to allow a proper design for the thrust loop in the flight control. The proposed method is validated by an application to a testbed UAV through simulations and flight test.

The Defense Airborne Reconnaissance Office Unmanned Aerial Vehicle (UAV) Annual Report FY 1996.

DTIC Science & Technology

1996-11-06

i>’ ’" UAV Annual Report FY1996 6 November 1996 L DEFENSE MRBOBNEiSCONNAGSAHCEC UAVANNUAL REPORT OUR SECOND UNMANNED AERIAL VEHICLE (UAV...ANNUAL REPORT provides an overview of the Defense Department’s UAV program activities for fiscal year (FY) 1996 . The Defense Airborne Reconnaissance...significant accomplishments that UAVs have achieved this past year, FY 1996 . Simply stated, UAVs are moving from words to deeds. They are being recognized in

The Goodrich 3rd generation DB-110 system: operational on tactical and unmanned aircraft

NASA Astrophysics Data System (ADS)

Iyengar, Mrinal; Lange, Davis

2006-05-01

Goodrich's DB-110 Reconnaissance Airborne Pod for TORnado (RAPTOR) and Data Link Ground Station (DLGS) have been used operationally for several years by the Royal Air Force (RAF). A variant of the RAPTOR DB-110 Sensor System is currently being used by the Japan Maritime Self Defense Force (JMSDF). Recently, the DB-110 system was flown on the Predator B Unmanned Aerial Vehicle (UAV), demonstrating the DB-110 system's utility on unmanned reconnaissance aircraft. The DB-110 is a dual-band EO and IR imaging capability for long, medium, and short standoff ranges, including oblique and over-flight imaging, in a single sensor package. The DB-110 system has also proven performance for real-time high bandwidth data link imagery transmission. Goodrich has leveraged this operational experience in building a 3rd Generation DB-110 system including new Reconnaissance Airborne Pod and Ground System, to be first used by the Polish Air Force. This 3rd Generation system maintains all the capability of the current 2nd Generation DB-110 system and adds several new features. The 3rd Generation system upgrades include an increase in resolution via new focal planes, addition of a third ("super-wide") field of view, and new avionics. This paper summarizes the Goodrich DB-110 3rd Generation System in terms of its basic design and capabilities. Recent demonstration of the DB-110 on the Predator B UAV is overviewed including sample imagery.

Spurious RF signals emitted by mini-UAVs

NASA Astrophysics Data System (ADS)

Schleijpen, Ric (H. M. A.); Voogt, Vincent; Zwamborn, Peter; van den Oever, Jaap

2016-10-01

This paper presents experimental work on the detection of spurious RF emissions of mini Unmanned Aerial Vehicles (mini-UAV). Many recent events have shown that mini-UAVs can be considered as a potential threat for civil security. For this reason the detection of mini-UAVs has become of interest to the sensor community. The detection, classification and identification chain can take advantage of different sensor technologies. Apart from the signatures used by radar and electro-optical sensor systems, the UAV also emits RF signals. These RF signatures can be split in intentional signals for communication with the operator and un-intentional RF signals emitted by the UAV. These unintentional or spurious RF emissions are very weak but could be used to discriminate potential UAV detections from false alarms. The goal of this research was to assess the potential of exploiting spurious emissions in the classification and identification chain of mini-UAVs. It was already known that spurious signals are very weak, but the focus was on the question whether the emission pattern could be correlated to the behaviour of the UAV. In this paper experimental examples of spurious RF emission for different types of mini-UAVs and their correlation with the electronic circuits in the UAVs will be shown

Seabird species vary in behavioural response to drone census.

PubMed

Brisson-Curadeau, Émile; Bird, David; Burke, Chantelle; Fifield, David A; Pace, Paul; Sherley, Richard B; Elliott, Kyle H

2017-12-20

Unmanned aerial vehicles (UAVs) provide an opportunity to rapidly census wildlife in remote areas while removing some of the hazards. However, wildlife may respond negatively to the UAVs, thereby skewing counts. We surveyed four species of Arctic cliff-nesting seabirds (glaucous gull Larus hyperboreus, Iceland gull Larus glaucoides, common murre Uria aalge and thick-billed murre Uria lomvia) using a UAV and compared censusing techniques to ground photography. An average of 8.5% of murres flew off in response to the UAV, but >99% of those birds were non-breeders. We were unable to detect any impact of the UAV on breeding success of murres, except at a site where aerial predators were abundant and several birds lost their eggs to predators following UAV flights. Furthermore, we found little evidence for habituation by murres to the UAV. Most gulls flew off in response to the UAV, but returned to the nest within five minutes. Counts of gull nests and adults were similar between UAV and ground photography, however the UAV detected up to 52.4% more chicks because chicks were camouflaged and invisible to ground observers. UAVs provide a less hazardous and potentially more accurate method for surveying wildlife. We provide some simple recommendations for their use.

Unmanned aerial vehicles (UAVs) in pest management: Progress in the development of a UAV-deployed mating disruption system for Wisconsin cranberries

USDA-ARS?s Scientific Manuscript database

Unmanned aerial vehicles (UAVs) hold significant promise for agriculture. Currently, UAVs are being employed for various reconnaissance purposes (“eyes in the sky”), but not as pest control delivery systems. Research in Wisconsin cranberries is taking UAVs in a new direction. The Steffan and Luck La...

Intification and modelling of flight characteristics for self-build shock flyer type UAV

NASA Astrophysics Data System (ADS)

Rashid., Z. A.; Dardin, A. S. F. Syed.; Azid, A. A.; Ahmad, K. A.

2018-02-01

The development of an autonomous Unmanned Aerial Vehicle (UAV) requires a fundamentals studies of the UAV's flight characteristic. The aim of this study is to identify and model the flight characteristic of a conventional fixed-wing type UAV. Subsequence to this, the mode of flight of the UAV can be investigated. One technique to identify the characteristic of a UAV is a flight test where it required specific maneuvering to be executed while measuring the attitude sensor. In this study, a simple shock flyer type UAV was used as the aircraft. The result shows that the modeled flight characteristic has a significant relation with actual values but the fitting value is rather small. It is suggested that the future study is conducted with an improvement of the physical UAV, data filtering and better system identification methods.

Unmanned aerial vehicles (UAVs) in pest management: Progress in the development of a UAV-deployed mating disruption system for Wisconsin cranberries

USDA-ARS?s Scientific Manuscript database

Unmanned aerial vehicles (UAVs) represent a powerful new tool for agriculture. Currently, UAVs are used almost exclusively as crop reconnaissance devices (“eyes in the sky”), not as pest control delivery systems. Research in Wisconsin cranberries is taking UAVs in a new direction. The Steffan and Lu...

Data Gathering and Energy Transfer Dilemma in UAV-Assisted Flying Access Network for IoT.

PubMed

Arabi, Sara; Sabir, Essaid; Elbiaze, Halima; Sadik, Mohamed

2018-05-11

Recently, Unmanned Aerial Vehicles (UAVs) have emerged as an alternative solution to assist wireless networks, thanks to numerous advantages they offer in comparison to terrestrial fixed base stations. For instance, a UAV can be used to embed a flying base station providing an on-demand nomadic access to network services. A UAV can also be used to wirelessly recharge out-of-battery ground devices. In this paper, we aim to deal with both data collection and recharging depleted ground Internet-of-Things (IoT) devices through a UAV station used as a flying base station. To extend the network lifetime, we present a novel use of UAV with energy harvesting module and wireless recharging capabilities. However, the UAV is used as an energy source to empower depleted IoT devices. On one hand, the UAV charges depleted ground IoT devices under three policies: (1) low-battery first scheme; (2) high-battery first scheme; and (3) random scheme. On the other hand, the UAV station collects data from IoT devices that have sufficient energy to transmit their packets, and in the same phase, the UAV exploits the Radio Frequency (RF) signals transmitted by IoT devices to extract and harvest energy. Furthermore, and as the UAV station has a limited coverage time due to its energy constraints, we propose and investigate an efficient trade-off between ground users recharging time and data gathering time. Furthermore, we suggest to control and optimize the UAV trajectory in order to complete its travel within a minimum time, while minimizing the energy spent and/or enhancing the network lifetime. Extensive numerical results and simulations show how the system behaves under different scenarios and using various metrics in which we examine the added value of UAV with energy harvesting module.

19 CFR 122.35 - Emergency or forced landing.

Code of Federal Regulations, 2011 CFR

2011-04-01

... 19 Customs Duties 1 2011-04-01 2011-04-01 false Emergency or forced landing. 122.35 Section 122.35... TREASURY AIR COMMERCE REGULATIONS Landing Requirements § 122.35 Emergency or forced landing. (a) Application. This section applies to emergency or forced landings made by aircraft when necessary for safety...

19 CFR 122.35 - Emergency or forced landing.

Code of Federal Regulations, 2010 CFR

2010-04-01

... 19 Customs Duties 1 2010-04-01 2010-04-01 false Emergency or forced landing. 122.35 Section 122.35... TREASURY AIR COMMERCE REGULATIONS Landing Requirements § 122.35 Emergency or forced landing. (a) Application. This section applies to emergency or forced landings made by aircraft when necessary for safety...

Characteristic analysis on UAV-MIMO channel based on normalized correlation matrix.

PubMed

Gao, Xi jun; Chen, Zi li; Hu, Yong Jiang

2014-01-01

Based on the three-dimensional GBSBCM (geometrically based double bounce cylinder model) channel model of MIMO for unmanned aerial vehicle (UAV), the simple form of UAV space-time-frequency channel correlation function which includes the LOS, SPE, and DIF components is presented. By the methods of channel matrix decomposition and coefficient normalization, the analytic formula of UAV-MIMO normalized correlation matrix is deduced. This formula can be used directly to analyze the condition number of UAV-MIMO channel matrix, the channel capacity, and other characteristic parameters. The simulation results show that this channel correlation matrix can be applied to describe the changes of UAV-MIMO channel characteristics under different parameter settings comprehensively. This analysis method provides a theoretical basis for improving the transmission performance of UAV-MIMO channel. The development of MIMO technology shows practical application value in the field of UAV communication.

Characteristic Analysis on UAV-MIMO Channel Based on Normalized Correlation Matrix

PubMed Central

Xi jun, Gao; Zi li, Chen; Yong Jiang, Hu

2014-01-01

Based on the three-dimensional GBSBCM (geometrically based double bounce cylinder model) channel model of MIMO for unmanned aerial vehicle (UAV), the simple form of UAV space-time-frequency channel correlation function which includes the LOS, SPE, and DIF components is presented. By the methods of channel matrix decomposition and coefficient normalization, the analytic formula of UAV-MIMO normalized correlation matrix is deduced. This formula can be used directly to analyze the condition number of UAV-MIMO channel matrix, the channel capacity, and other characteristic parameters. The simulation results show that this channel correlation matrix can be applied to describe the changes of UAV-MIMO channel characteristics under different parameter settings comprehensively. This analysis method provides a theoretical basis for improving the transmission performance of UAV-MIMO channel. The development of MIMO technology shows practical application value in the field of UAV communication. PMID:24977185

Wireless Sensor Buoys for Perimeter Security of Military Vessels and Seabases

DTIC Science & Technology

2015-12-01

however, additional sensors utilizing modern technology and a self -forming, as well as self - healing , network could further diminish attacks against...Space SSDF Ship’s Self -Defense Force UAV Unmanned Aerial Vehicle UGS Unattended Ground Sensor USB Universal Serial Bus USMC United States Marine...conditions may delay their reaction resulting in the attacking surface craft entering into a critically close position. The Ship’s Self -Defense

Supervisory Presentation for Research, Information, Integration and Testing (SPRINT)

DTIC Science & Technology

2015-03-29

autonomous UAVs in subsequent tests. The Vigilant Spirit Control Station ( VSCS ) is a test bed designed by the Air Force Research Laboratory for studying... VSCS has tactical situation displays (i.e., geo-spatial maps), vehicle status displays, route planning interfaces for creating vehicle flight plans...is considered one of those novel displays; Figure 2). The model builder software was integrated into the VSCS that constructs a mission model that is

Routing UAVs to Co-Optimize Mission Effectiveness and Network Performance with Dynamic Programming

DTIC Science & Technology

2011-03-01

Heuristics on Hexagonal Connected Dominating Sets to Model Routing Dissemination," in Communication Theory, Reliability, and Quality of Service (CTRQ...24] Matthew Capt. USAF Compton, Improving the Quality of Service and Security of Military Networks with a Network Tasking Order Process, 2010. [25...Wesley, 2006. [32] James Haught, "Adaptive Quality of Service Engine with Dynamic Queue Control," Air Force Institute of Technology, Wright

Review of Lead-Zinc Mining Impact on Landscape in the Tri-State Mining District using Small Unmanned Aerial Vehicles.

NASA Astrophysics Data System (ADS)

Bhakta, K. D.; Yeboah-Forson, A.

2015-12-01

The Tri-State lead and zinc mining district in SW Missouri, SE Kansas, and NE Oklahoma encompasses nearly 2,500 sq. miles of land and at its peak accounted for half of the US zinc (23,000,000 tons) production that surpassed one billion dollars in economic value. Once these lead and zinc rich ores were extracted, mining and milling sites were abandoned leaving behind a new landscape with numerous environmental challenges. Since 1970, most of the sites have been targeted for remediation and reclamation by federal and state agencies including the EPA. In order to capture the full extent of the impact of lead and zinc mining in the Tri-State area, numerous geoscientific approaches including data from small unmanned aerial vehicle (UAV) were employed to investigate the influence of mining in the study area. The study presented here is focused on observational assessment of the existing landscape using multiple commercial high-definitions data from UAVs to study different sites across areas of concern in the three states. Primary results (images) gathered and analyzed DEM and GIS data from abandoned mines showed the potential to provide a quick snapshot of successful or unsuccessful remediated areas. Although research and remediation of the Tri-State mining district are a continuous process, evidence from this geomorphic study suggest that UAVs can provide a quick overview of the remediated landscape or serve as a primary background tool for a more detail site-specific environmental study.

The relative importance among anthropogenic forcings of land use/land cover change in affecting temperature extremes

NASA Astrophysics Data System (ADS)

Chen, Liang; Dirmeyer, Paul A.

2018-05-01

Land use/land cover change (LULCC) exerts significant influence on regional climate extremes, but its relative importance compared with other anthropogenic climate forcings has not been thoroughly investigated. This study compares land use forcing with other forcing agents in explaining the simulated historical temperature extreme changes since preindustrial times in the CESM-Last Millennium Ensemble (LME) project. CESM-LME suggests that the land use forcing has caused an overall cooling in both warm and cold extremes, and has significantly decreased diurnal temperature range (DTR). Due to the competing effects of the GHG and aerosol forcings, the spatial pattern of changes in 1850-2005 climatology of temperature extremes in CESM-LME can be largely explained by the land use forcing, especially for hot extremes and DTR. The dominance of land use forcing is particularly evident over Europe, eastern China, and the central and eastern US. Temporally, the land-use cooling is relatively stable throughout the historical period, while the warming of temperature extremes is mainly influenced by the enhanced GHG forcing, which has gradually dampened the local dominance of the land use effects. Results from the suite of CMIP5 experiments partially agree with the local dominance of the land use forcing in CESM-LME, but inter-model discrepancies exist in the distribution and sign of the LULCC-induced temperature changes. Our results underline the overall importance of LULCC in historical temperature extreme changes, implying land use forcing should be highlighted in future climate projections.

Demonstration of UAV deployment and control of mobile wireless sensing networks for modal analysis of structures

NASA Astrophysics Data System (ADS)

Zhou, Hao; Hirose, Mitsuhito; Greenwood, William; Xiao, Yong; Lynch, Jerome; Zekkos, Dimitrios; Kamat, Vineet

2016-04-01

Unmanned aerial vehicles (UAVs) can serve as a powerful mobile sensing platform for assessing the health of civil infrastructure systems. To date, the majority of their uses have been dedicated to vision and laser-based spatial imaging using on-board cameras and LiDAR units, respectively. Comparatively less work has focused on integration of other sensing modalities relevant to structural monitoring applications. The overarching goal of this study is to explore the ability for UAVs to deploy a network of wireless sensors on structures for controlled vibration testing. The study develops a UAV platform with an integrated robotic gripper that can be used to install wireless sensors in structures, drop a heavy weight for the introduction of impact loads, and to uninstall wireless sensors for reinstallation elsewhere. A pose estimation algorithm is embedded in the UAV to estimate the location of the UAV during sensor placement and impact load introduction. The Martlet wireless sensor network architecture is integrated with the UAV to provide the UAV a mobile sensing capability. The UAV is programmed to command field deployed Martlets, aggregate and temporarily store data from the wireless sensor network, and to communicate data to a fixed base station on site. This study demonstrates the integrated UAV system using a simply supported beam in the lab with Martlet wireless sensors placed by the UAV and impact load testing performed. The study verifies the feasibility of the integrated UAV-wireless monitoring system architecture with accurate modal characteristics of the beam estimated by modal analysis.

Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing.

PubMed

Park, Chulwoo; Cho, Namhoon; Lee, Kyunghyun; Kim, Youdan

2015-07-17

To monitor large areas or simultaneously measure multiple points, multiple unmanned aerial vehicles (UAVs) must be flown in formation. To perform such flights, sensor information generated by each UAV should be shared via communications. Although a variety of studies have focused on the algorithms for formation flight, these studies have mainly demonstrated the performance of formation flight using numerical simulations or ground robots, which do not reflect the dynamic characteristics of UAVs. In this study, an onboard sensor information sharing system and formation flight algorithms for multiple UAVs are proposed. The communication delays of radiofrequency (RF) telemetry are analyzed to enable the implementation of the onboard sensor information sharing system. Using the sensor information sharing, the formation guidance law for multiple UAVs, which includes both a circular and close formation, is designed. The hardware system, which includes avionics and an airframe, is constructed for the proposed multi-UAV platform. A numerical simulation is performed to demonstrate the performance of the formation flight guidance and control system for multiple UAVs. Finally, a flight test is conducted to verify the proposed algorithm for the multi-UAV system.

Formation Flight of Multiple UAVs via Onboard Sensor Information Sharing

PubMed Central

Park, Chulwoo; Cho, Namhoon; Lee, Kyunghyun; Kim, Youdan

2015-01-01

To monitor large areas or simultaneously measure multiple points, multiple unmanned aerial vehicles (UAVs) must be flown in formation. To perform such flights, sensor information generated by each UAV should be shared via communications. Although a variety of studies have focused on the algorithms for formation flight, these studies have mainly demonstrated the performance of formation flight using numerical simulations or ground robots, which do not reflect the dynamic characteristics of UAVs. In this study, an onboard sensor information sharing system and formation flight algorithms for multiple UAVs are proposed. The communication delays of radiofrequency (RF) telemetry are analyzed to enable the implementation of the onboard sensor information sharing system. Using the sensor information sharing, the formation guidance law for multiple UAVs, which includes both a circular and close formation, is designed. The hardware system, which includes avionics and an airframe, is constructed for the proposed multi-UAV platform. A numerical simulation is performed to demonstrate the performance of the formation flight guidance and control system for multiple UAVs. Finally, a flight test is conducted to verify the proposed algorithm for the multi-UAV system. PMID:26193281

Simultaneous profiling of the Arctic Atmospheric Boundary Layer

NASA Astrophysics Data System (ADS)

Mayer, S.; Jonassen, M.; Reuder, J.

2009-09-01

The structure of the Arctic atmospheric boundary layer (AABL) and the heat and moisture fluxes between relatively warm water and cold air above non-sea-ice-covered water (such as fjords, leads and polynyas) are of great importance for the sensitive Arctic climate system (e.g. Andreas and Cash, 1999). So far, such processes are not sufficiently resolved in numerical weather prediction (NWP) and climate models (e.g. Tjernström et al., 2005). Especially for regions with complex topography as the Svalbard mountains and fjords the state and diurnal evolution of the AABL is not well known yet. Knowledge can be gained by novel and flexible measurement techniques such as the use of an unmanned aerial vehicle (UAV). An UAV can perform vertical profiles as well as horizontal surveys of the mean meteorological parameters: temperature, relative humidity, pressure and wind. A corresponding UAV, called Small Unmanned Meteorological Observer (SUMO), has been developed at the Geophysical Institute at the University of Bergen in cooperation with Müller Engineering (www.pfump.org) and the Paparazzi Project (http://paparazzi.enac.fr). SUMO has been used under Arctic conditions at Longyear airport, Spitsbergen in March/April 2009. Besides vertical profiles up to 1500 m and horizontal surveys at flight levels of 100 and 200 m, SUMO could measure vertical profiles for the first time simultaneously in a horizontal distance of 1 km; one over the ice and snow-covered land surface and the other one above the open water of Isfjorden. This has been the first step of future multiple UAV operations in so called "swarms” or "flocks”. With this, corresponding measurements of the diurnal evolution of the AABL can be achieved with minimum technical efforts and costs. In addition, the Advanced Research Weather Forecasting model (AR-WRF version 3.1) has been run in high resolution (grid size: 1 km). First results of a sensitivity study where ABL schemes have been tested and compared with respect to the measured SUMO profiles are presented.

32 CFR 644.516 - Clearance of Air Force lands.

Code of Federal Regulations, 2010 CFR

2010-07-01

... 32 National Defense 4 2010-07-01 2010-07-01 true Clearance of Air Force lands. 644.516 Section 644... Excess Land and Improvements § 644.516 Clearance of Air Force lands. The Chief of Engineers has no responsibility for inspecting or clearing excess Air Force land of explosives or chemical/biological contaminants...

Distributed pheromone-based swarming control of unmanned air and ground vehicles for RSTA

NASA Astrophysics Data System (ADS)

Sauter, John A.; Mathews, Robert S.; Yinger, Andrew; Robinson, Joshua S.; Moody, John; Riddle, Stephanie

2008-04-01

The use of unmanned vehicles in Reconnaissance, Surveillance, and Target Acquisition (RSTA) applications has received considerable attention recently. Cooperating land and air vehicles can support multiple sensor modalities providing pervasive and ubiquitous broad area sensor coverage. However coordination of multiple air and land vehicles serving different mission objectives in a dynamic and complex environment is a challenging problem. Swarm intelligence algorithms, inspired by the mechanisms used in natural systems to coordinate the activities of many entities provide a promising alternative to traditional command and control approaches. This paper describes recent advances in a fully distributed digital pheromone algorithm that has demonstrated its effectiveness in managing the complexity of swarming unmanned systems. The results of a recent demonstration at NASA's Wallops Island of multiple Aerosonde Unmanned Air Vehicles (UAVs) and Pioneer Unmanned Ground Vehicles (UGVs) cooperating in a coordinated RSTA application are discussed. The vehicles were autonomously controlled by the onboard digital pheromone responding to the needs of the automatic target recognition algorithms. UAVs and UGVs controlled by the same pheromone algorithm self-organized to perform total area surveillance, automatic target detection, sensor cueing, and automatic target recognition with no central processing or control and minimal operator input. Complete autonomy adds several safety and fault tolerance requirements which were integrated into the basic pheromone framework. The adaptive algorithms demonstrated the ability to handle some unplanned hardware failures during the demonstration without any human intervention. The paper describes lessons learned and the next steps for this promising technology.

Multi-UAV Collaborative Sensor Management for UAV Team Survivability

DTIC Science & Technology

2006-08-01

Multi-UAV Collaborative Sensor Management for UAV Team Survivability Craig Stoneking, Phil DiBona , and Adria Hughes Lockheed Martin Advanced...Command, Aviation Applied Technology Directorate. REFERENCES [1] DiBona , P., Belov, N., Pawlowski, A. (2006). “Plan-Driven Fusion: Shaping the

UAV magnetometry in mineral exploration and infrastructure detection

NASA Astrophysics Data System (ADS)

Braun, A.; Parvar, K.; Burns, M.

2015-12-01

Magnetic surveys are critical tools in mineral exploration and UAVs have the potential to carry magnetometers. UAV surveys can offer higher spatial resolution than traditional airborne surveys, and higher coverage than terrestrial surveys. However, the main advantage is their ability to sense the magnetic field in 3-D, while most airborne or terrestrial surveys are restricted to 2-D acquisition. This study compares UAV magnetic data from two different UAVs (JIB drone, DJI Phantom 2) and three different magnetometers (GEM GSPM35, Honeywell HMR2300, GEM GST-19). The first UAV survey was conducted using a JIB UAV with a GSPM35 flying at 10-15 m above ground. The survey's goal was to detect intrusive Rhyolite bodies for primary mineral exploration. The survey resulted in a better understanding of the validity/resolution of UAV data and led to improved knowledge about the geological structures in the area. The results further drove the design of a following terrestrial survey. Comparing the UAV data with an available airborne survey (upward continued to 250 m) reveals that the UAV data has superior spatial resolution, but exhibits a higher noise level. The magnetic anomalies related to the Rhyolite intrusions is about 109 nT and translates into an estimated depth of approximately 110 meters. The second survey was conducted using an in-house developed UAV magnetometer system equipped with a DJI Phantom 2 and a Honeywell HMR2300 fluxgate magnetometer. By flying the sensor in different altitudes, the vertical and horizontal gradients can be derived leading to full 3-D magnetic data volumes which can provide improved constraints for source depth/geometry characterization. We demonstrate that a buried steam pipeline was detectable with the UAV magnetometer system and compare the resulting data with a terrestrial survey using a GEM GST-19 Proton Precession Magnetometer.

Data Gathering and Energy Transfer Dilemma in UAV-Assisted Flying Access Network for IoT

PubMed Central

Arabi, Sara; Sadik, Mohamed

2018-01-01

Recently, Unmanned Aerial Vehicles (UAVs) have emerged as an alternative solution to assist wireless networks, thanks to numerous advantages they offer in comparison to terrestrial fixed base stations. For instance, a UAV can be used to embed a flying base station providing an on-demand nomadic access to network services. A UAV can also be used to wirelessly recharge out-of-battery ground devices. In this paper, we aim to deal with both data collection and recharging depleted ground Internet-of-Things (IoT) devices through a UAV station used as a flying base station. To extend the network lifetime, we present a novel use of UAV with energy harvesting module and wireless recharging capabilities. However, the UAV is used as an energy source to empower depleted IoT devices. On one hand, the UAV charges depleted ground IoT devices under three policies: (1) low-battery first scheme; (2) high-battery first scheme; and (3) random scheme. On the other hand, the UAV station collects data from IoT devices that have sufficient energy to transmit their packets, and in the same phase, the UAV exploits the Radio Frequency (RF) signals transmitted by IoT devices to extract and harvest energy. Furthermore, and as the UAV station has a limited coverage time due to its energy constraints, we propose and investigate an efficient trade-off between ground users recharging time and data gathering time. Furthermore, we suggest to control and optimize the UAV trajectory in order to complete its travel within a minimum time, while minimizing the energy spent and/or enhancing the network lifetime. Extensive numerical results and simulations show how the system behaves under different scenarios and using various metrics in which we examine the added value of UAV with energy harvesting module. PMID:29751662

Recording animal vocalizations from a UAV: bat echolocation during roost re-entry.

PubMed

Kloepper, Laura N; Kinniry, Morgan

2018-05-17

Unmanned aerial vehicles (UAVs) are rising in popularity for wildlife monitoring, but direct recordings of animal vocalizations have not yet been accomplished, likely due to the noise generated by the UAV. Echolocating bats, especially Tadarida brasiliensis, are good candidates for UAV recording due to their high-speed, high-altitude flight. Here, we use a UAV to record the signals of bats during morning roost re-entry. We designed a UAV to block the noise of the propellers from the receiving microphone, and report on the characteristics of bioacoustic recordings from a UAV. We report the first published characteristics of echolocation signals from bats during group flight and cave re-entry. We found changes in inter-individual time-frequency shape, suggesting that bats may use differences in call design when sensing in complex groups. Furthermore, our first documented successful recordings of animals in their natural habitat demonstrate that UAVs can be important tools for bioacoustic monitoring, and we discuss the ethical considerations for such monitoring.

Comparing and combining terrestrial laser scanning with ground-and UAV-based imaging for national-level assessment of soil erosion

NASA Astrophysics Data System (ADS)

McShane, Gareth; James, Mike R.; Quinton, John; Anderson, Karen; DeBell, Leon; Evans, Martin; Farrow, Luke; Glendell, Miriam; Jones, Lee; Kirkham, Matthew; Lark, Murray; Rawlins, Barry; Rickson, Jane; Quine, Tim; Wetherelt, Andy; Brazier, Richard

2014-05-01

3D topographic or surface models are increasingly being utilised for a wide range of applications and are established tools in geomorphological research. In this pilot study 'a cost effective framework for monitoring soil erosion in England and Wales', funded by the UK Department for Environment, Food and Rural Affairs (Defra), we compare methods of collecting topographic measurements via remote sensing for detailed studies of dynamic processes such as erosion and mass movement. The techniques assessed are terrestrial laser scanning (TLS), and unmanned aerial vehicle (UAV) photography and ground-based photography, processed using structure-from-motion (SfM) 3D reconstruction software. The methods will be applied in regions of different land use, including arable and horticultural, upland and semi natural habitats, and grassland, to quantify visible erosion pathways at the site scale. Volumetric estimates of soil loss will be quantified using the digital surface models (DSMs) provided by each technique and a modelled pre-erosion surface. Visible erosion and severity will be independently established through each technique, with their results compared and combined effectiveness assessed. A fixed delta-wing UAV (QuestUAV, http://www.questuav.com/) captures photos from a range of altitudes and angles over the study area, with automated SfM-based processing enabling rapid orthophoto production to support ground-based data acquisition. At sites with suitable scale erosion features, UAV data will also provide a DSM for volume loss measurement. Terrestrial laser scanning will provide detailed, accurate, high density measurements of the ground surface over long (100s m) distances. Ground-based photography is anticipated to be most useful for characterising small and difficult to view features. By using a consumer-grade digital camera and an SfM-based approach (using Agisoft Photoscan version 1.0.0, http://www.agisoft.ru/products/photoscan/), less expertise and fewer control measurements are required compared with traditional photogrammetry, and image processing is automated. Differential GPS data will be used to geo-reference the models to facilitate comparison. The relative advantages, limitations and cost-effectiveness of each approach will be established, and which technique, or combination of techniques, is most appropriate to monitor, model and estimate soil erosion at the national scale, determined.

Comparison of UAV and WorldView-2 imagery for mapping leaf area index of mangrove forest

NASA Astrophysics Data System (ADS)

Tian, Jinyan; Wang, Le; Li, Xiaojuan; Gong, Huili; Shi, Chen; Zhong, Ruofei; Liu, Xiaomeng

2017-09-01

Unmanned Aerial Vehicle (UAV) remote sensing has opened the door to new sources of data to effectively characterize vegetation metrics at very high spatial resolution and at flexible revisit frequencies. Successful estimation of the leaf area index (LAI) in precision agriculture with a UAV image has been reported in several studies. However, in most forests, the challenges associated with the interference from a complex background and a variety of vegetation species have hindered research using UAV images. To the best of our knowledge, very few studies have mapped the forest LAI with a UAV image. In addition, the drawbacks and advantages of estimating the forest LAI with UAV and satellite images at high spatial resolution remain a knowledge gap in existing literature. Therefore, this paper aims to map LAI in a mangrove forest with a complex background and a variety of vegetation species using a UAV image and compare it with a WorldView-2 image (WV2). In this study, three representative NDVIs, average NDVI (AvNDVI), vegetated specific NDVI (VsNDVI), and scaled NDVI (ScNDVI), were acquired with UAV and WV2 to predict the plot level (10 × 10 m) LAI. The results showed that AvNDVI achieved the highest accuracy for WV2 (R2 = 0.778, RMSE = 0.424), whereas ScNDVI obtained the optimal accuracy for UAV (R2 = 0.817, RMSE = 0.423). In addition, an overall comparison results of the WV2 and UAV derived LAIs indicated that UAV obtained a better accuracy than WV2 in the plots that were covered with homogeneous mangrove species or in the low LAI plots, which was because UAV can effectively eliminate the influence from the background and the vegetation species owing to its high spatial resolution. However, WV2 obtained a slightly higher accuracy than UAV in the plots covered with a variety of mangrove species, which was because the UAV sensor provides a negative spectral response function(SRF) than WV2 in terms of the mangrove LAI estimation.

Autonomous unmanned air vehicles (UAV) techniques

NASA Astrophysics Data System (ADS)

Hsu, Ming-Kai; Lee, Ting N.

2007-04-01

The UAVs (Unmanned Air Vehicles) have great potentials in different civilian applications, such as oil pipeline surveillance, precision farming, forest fire fighting (yearly), search and rescue, boarder patrol, etc. The related industries of UAVs can create billions of dollars for each year. However, the road block of adopting UAVs is that it is against FAA (Federal Aviation Administration) and ATC (Air Traffic Control) regulations. In this paper, we have reviewed the latest technologies and researches on UAV navigation and obstacle avoidance. We have purposed a system design of Jittering Mosaic Image Processing (JMIP) with stereo vision and optical flow to fulfill the functionalities of autonomous UAVs.

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

NASA Astrophysics Data System (ADS)

Yilmaz, Bahadır.

2013-06-01

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.

Integrating the Unmanned Aircraft System into the National Airspace System

DTIC Science & Technology

2011-06-18

Comprehensive Planning and a Results-Oriented Training Strategy are needed to Support Growing Inventories , GAO-10-331. (Washington, DC: Government...integration of manned and unmanned flight is a challenge facing bureaucratic inertia and in need of our government’s emphasis on resolution. This paper...26 Due to lack of funding in 1979, the remaining 60 UAVs in the U.S Air Force inventory were deactivated and put into storage. The following 10

Flight Dynamics and Control of a Morphing UAV: Bio inspired by Natural Fliers

DTIC Science & Technology

2017-02-17

Approved for public release: distribution unlimited. IV Modelling and Sizing Tornado Vortex Lattice Method (VLM) was used for aerodynamic prediction... Tornado is a Vortex Lattice Method software programmed in MATLAB; it was selected due to its fast solving time and ability to be controlled through...custom MATLAB scripts. Tornado VLM models the wing as thin sheet of discrete vortices and computes the pressure and force distributions around the

Research Institute for Autonomous Precision Guided Systems

DTIC Science & Technology

2007-03-08

research on agile autonomous munitions, in direct support of the Air Force Research Laboratory Munitions Directorate (AFRL/MN). The grant was awarded with a...Flight had (5) research task areas: 1. Aeroforms and Actuation for Small and Micro Agile Air Vehicles 2. Sensing for Autonomous Control and...critical barriers in AAM, but are not covered in the scope of the AVCAAF (Vision-Based Control of Agile, Autonomous Micro Air Vehicles and Small UAVs

Decentralizing Centralized Control: Reorienting a Fundamental Tenet for Resilient Air Operation

DTIC Science & Technology

2008-05-22

Forward Air Controller FBIS Foreign Broadcast Information Service FCC Functional Component Commander FM Field Manual GBU - 39 Guided Bomb Unit - 39...Diameter Bomb ( GBU - 39 ) TEG Test and Evaluation Group TST Time Sensitive Target UAV Unmanned Aerial Vehicle USAF United States Air Force USAFWS United...www.afmc.af.mil/news/story.asp?id=123017916 (accessed November 11, 2007). Recent fielding of the GBU - 39 , Small Diameter Bomb (SDB), enables a

COUNTER-UAV SOLUTIONS FOR THE JOINT FORCE

DTIC Science & Technology

2017-04-06

which include both remote controlled model aircraft and drones, have been on the commercial market for decades. However, they (specifically...Today, some of the most capable drones available on the commercial market can lift over 20lbs, remain airborne for over 40 minutes, exceed 85mph and...are controllable at a range of up to 5km. The following chart identifies some of the most common commercially available drones on the market with a

2015 USAFA Research Report: Discover Falcon Innovation

DTIC Science & Technology

2015-01-01

delivery system deployed from a canister. Their solution allows the canister to release hundreds of the sensors at the right angle and in waves so that...Computer Science at the Air Force Academy. The center develops sensors for the aircraft – it uses commercially available UAVs known as Haulers – to allow... sensors and software development, said Tim McCarthy, one of the co-founders of Aspect Robotics. During the last semester, Academy cadets in the

The Effectiveness of Drone Strikes in Counterinsurgency and Counterterrorism Campaigns

DTIC Science & Technology

2013-09-01

accurate missiles that have the ca- pacity to target individuals, automobiles , and sections of structures such as rooms in a large house. Perhaps the...unmanned aerial ve- hicles (UAVs) or remotely piloted aircraft (RPAs)—are pilotless aircraft controlled by individuals located on the ground, often some...with many of the advantages that ground forces offer in counterinsurgency operations. The fact that drones are pilotless means that their use does

Utilization of Unmanned Aerial Vehicles for Rangeland Resources Monitoring in a Changing Regulatory Environment (Invited)

NASA Astrophysics Data System (ADS)

Rango, A.; Vivoni, E. R.; Browning, D. M.; Anderson, C.; Laliberte, A. S.

2013-12-01

It is taking longer than expected to realize the immense potential of Unmanned Aerial Vehicles (UAVs)for civil applications due to the complexity of regulations being developed by the Federal Aviation Authority (FAA) that can be applied to both manned and unmanned flight in the National Airspace System (NAS). As a result, FAA has required that for all UAV flights in the NAS, an external pilot must maintain line-of-sight contact with the UAV. Properly trained observers must also be present to assist the external pilot in collision avoidance. Additionally, in order to fly in the NAS, formal approval must be requested from FAA through application for a Certificate of Authorization (COA for government applicants or a Special Airworthiness Certificate (SAC) in the experimental category for non-government applicants. Flight crews of UAVs must pass exams also required for manned airplane pilots. Although flight crews for UAVs are not required to become manned airplane pilots, UAV flight missions are much more efficient if one or two of the UAV flight crew are also manned aircraft pilots so they can serve as the UAV mission commander. Our group has performed numerous UAV flights within the Jornada Experimental Range in southern New Mexico. Two developments with Jornada UAVs can be recommended to other UAV operators that would increase flight time experience and study areas covered by UAV images. First, do not overlook the possibility of obtaining permission to fly in Restricted Military Airspace (RMA). At the Jornada, our airspace is approximately 50% NAS and 50% RMA. With experiments ongoing in both types of airspace, we can fly in both areas and continue to increase UAV flights. Second, we have developed an air- and-ground vehicle approach for long distance, continuous pilot transport that always maintains line-of-sight requirements. This allows flying several target areas on a single mission and increasing the number of acquired UAV images - over 90,000 UAV images have now been acquired at Jornada. Most of our UAV flights have taken place over rangelands or watersheds in the western U.S. These flights have been successful used for classification of vegetation cover and type, measuring gaps between vegetation patches, identifing locations of potentially erosive soil, deriving digital elevation models, and monitoring plant phenology.. These measurements can be directly compared to more costly and time-intensive traditional techniques used in rangeland health determinations. New UAVs are becoming available with increased sensor payload capacity. At Jornada we have concentrated on flying at low altitudes (~215 m) to acquire hyperspatial resolutions with digital cameras of about 5-6 cm. We also fly a six band multispectral camera with spatial resolution of ~ 13 cm. We have recently acquired a larger Bat-4 UAV to go with the Bat-3 UAV. The major improvement associated with this upgrade is an increase in sensor payload from 1.4 kg to 14 kg. We are surveying the type of sensors that we could add to best increase our information content.

Information Ubiquity in Austere Locations

DTIC Science & Technology

2011-01-01

are incompatible (e.g., GSM vs. CDMA ), or are insecure for one’s purposes. There might be satellite communi- cations, but its access might be...Ave. Latency (Unloaded) Ave. Latency (Overloaded) Std Dev. (Unloaded) Std Dev. (Overloaded) M ill is ec on ds AOI UAV UAV 1 UAV 2 UAV 3 Joseph

Applications of unmanned aerial vehicles in weed science

USDA-ARS?s Scientific Manuscript database

For most producers, unmanned aerial vehicles (UAV) are a novelty that has been little employed in their agricultural operations. An UAV will not fix every problem on the farm, but there are some practical applications for which UAVs have demonstrated value. Three examples of how UAVs have been used...

Research on performance requirements of turbofan engine used on carrier-based UAV

NASA Astrophysics Data System (ADS)

Zhao, Shufan; Li, Benwei; Zhang, Wenlong; Wu, Heng; Feng, Tang

2017-05-01

According to the mission requirements of the carrier-based unmanned aerial vehicle (UAV), a mode level flight was established to calculate the thrust requirements from altitude 9 km to 13 km. Then, the estimation method of flight profile was used to calculate the weight of UAV in each stage to get the specific fuel consumption requirements of the UAV in standby stage. The turbofan engine of carrier-based UAV should meet the thrust and specific fuel consumption requirements. Finally, the GSP software was used to verify the simulation of a small high-bypass turbofan engine. The conclusion is useful for the turbofan engine selection of carrier-based UAV.

Precision wildlife monitoring using unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Hodgson, Jarrod C.; Baylis, Shane M.; Mott, Rowan; Herrod, Ashley; Clarke, Rohan H.

2016-03-01

Unmanned aerial vehicles (UAVs) represent a new frontier in environmental research. Their use has the potential to revolutionise the field if they prove capable of improving data quality or the ease with which data are collected beyond traditional methods. We apply UAV technology to wildlife monitoring in tropical and polar environments and demonstrate that UAV-derived counts of colony nesting birds are an order of magnitude more precise than traditional ground counts. The increased count precision afforded by UAVs, along with their ability to survey hard-to-reach populations and places, will likely drive many wildlife monitoring projects that rely on population counts to transition from traditional methods to UAV technology. Careful consideration will be required to ensure the coherence of historic data sets with new UAV-derived data and we propose a method for determining the number of duplicated (concurrent UAV and ground counts) sampling points needed to achieve data compatibility.

A Programmable SDN+NFV Architecture for UAV Telemetry Monitoring

NASA Technical Reports Server (NTRS)

White, Kyle J. S.; Pezaros, Dimitrios P.; Denney, Ewen; Knudson, Matt D.

2017-01-01

With the explosive growth in UAV numbers forecast worldwide, a core concern is how to manage the ad-hoc network configuration required for mobility management. As UAVs migrate among ground control stations, associated network services, routing and operational control must also rapidly migrate to ensure a seamless transition. In this paper, we present a novel, lightweight and modular architecture which supports high mobility, resilience and flexibility through the application of SDN and NFV principles on top of the UAV infrastructure. By combining SDN programmability and Network Function Virtualization we can achieve resilient infrastructure migration of network services, such as network monitoring and anomaly detection, coupled with migrating UAVs to enable high mobility management. Our container-based monitoring and anomaly detection Network Functions (NFs) can be tuned to specific UAV models providing operators better insight during live, high-mobility deployments. We evaluate our architecture against telemetry from over 80flights from a scientific research UAV infrastructure.

Multiple Event Localization in a Sparse Acoustic Sensor Network Using UAVs as Data Mules

DTIC Science & Technology

2012-12-01

necessarily reflect the position or the policy of the Government , and no official endorsement should be inferred. Path Acoustic Sensor Communication Footprint...a Microhard radio to forward the ToAs to the mule-UAV. Two Procerus Unicorn UAVs were used with different payloads. The imaging- UAV was equipped

DOE Office of Scientific and Technical Information (OSTI.GOV)

Ryan Hruska

Currently, small Unmanned Aerial Vehicles (UAVs) are primarily used for capturing and down-linking real-time video. To date, their role as a low-cost airborne platform for capturing high-resolution, georeferenced still imagery has not been fully utilized. On-going work within the Unmanned Vehicle Systems Program at the Idaho National Laboratory (INL) is attempting to exploit this small UAV-acquired, still imagery potential. Initially, a UAV-based still imagery work flow model was developed that includes initial UAV mission planning, sensor selection, UAV/sensor integration, and imagery collection, processing, and analysis. Components to support each stage of the work flow are also being developed. Critical tomore » use of acquired still imagery is the ability to detect changes between images of the same area over time. To enhance the analysts’ change detection ability, a UAV-specific, GIS-based change detection system called SADI or System for Analyzing Differences in Imagery is under development. This paper will discuss the associated challenges and approaches to collecting still imagery with small UAVs. Additionally, specific components of the developed work flow system will be described and graphically illustrated using varied examples of small UAV-acquired still imagery.« less

UAV-guided navigation for ground robot tele-operation in a military reconnaissance environment.

PubMed

Chen, Jessie Y C

2010-08-01

A military reconnaissance environment was simulated to examine the performance of ground robotics operators who were instructed to utilise streaming video from an unmanned aerial vehicle (UAV) to navigate his/her ground robot to the locations of the targets. The effects of participants' spatial ability on their performance and workload were also investigated. Results showed that participants' overall performance (speed and accuracy) was better when she/he had access to images from larger UAVs with fixed orientations, compared with other UAV conditions (baseline- no UAV, micro air vehicle and UAV with orbiting views). Participants experienced the highest workload when the UAV was orbiting. Those individuals with higher spatial ability performed significantly better and reported less workload than those with lower spatial ability. The results of the current study will further understanding of ground robot operators' target search performance based on streaming video from UAVs. The results will also facilitate the implementation of ground/air robots in military environments and will be useful to the future military system design and training community.

Development of Open source-based automatic shooting and processing UAV imagery for Orthoimage Using Smart Camera UAV

NASA Astrophysics Data System (ADS)

Park, J. W.; Jeong, H. H.; Kim, J. S.; Choi, C. U.

2016-06-01

Recently, aerial photography with unmanned aerial vehicle (UAV) system uses UAV and remote controls through connections of ground control system using bandwidth of about 430 MHz radio Frequency (RF) modem. However, as mentioned earlier, existing method of using RF modem has limitations in long distance communication. The Smart Camera equipments's LTE (long-term evolution), Bluetooth, and Wi-Fi to implement UAV that uses developed UAV communication module system carried out the close aerial photogrammetry with the automatic shooting. Automatic shooting system is an image capturing device for the drones in the area's that needs image capturing and software for loading a smart camera and managing it. This system is composed of automatic shooting using the sensor of smart camera and shooting catalog management which manages filmed images and information. Processing UAV imagery module used Open Drone Map. This study examined the feasibility of using the Smart Camera as the payload for a photogrammetric UAV system. The open soure tools used for generating Android, OpenCV (Open Computer Vision), RTKLIB, Open Drone Map.

Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum Time

PubMed Central

Avellar, Gustavo S. C.; Pereira, Guilherme A. S.; Pimenta, Luciano C. A.; Iscold, Paulo

2015-01-01

This paper presents a solution for the problem of minimum time coverage of ground areas using a group of unmanned air vehicles (UAVs) equipped with image sensors. The solution is divided into two parts: (i) the task modeling as a graph whose vertices are geographic coordinates determined in such a way that a single UAV would cover the area in minimum time; and (ii) the solution of a mixed integer linear programming problem, formulated according to the graph variables defined in the first part, to route the team of UAVs over the area. The main contribution of the proposed methodology, when compared with the traditional vehicle routing problem’s (VRP) solutions, is the fact that our method solves some practical problems only encountered during the execution of the task with actual UAVs. In this line, one of the main contributions of the paper is that the number of UAVs used to cover the area is automatically selected by solving the optimization problem. The number of UAVs is influenced by the vehicles’ maximum flight time and by the setup time, which is the time needed to prepare and launch a UAV. To illustrate the methodology, the paper presents experimental results obtained with two hand-launched, fixed-wing UAVs. PMID:26540055

Multi-UAV Routing for Area Coverage and Remote Sensing with Minimum Time.

PubMed

Avellar, Gustavo S C; Pereira, Guilherme A S; Pimenta, Luciano C A; Iscold, Paulo

2015-11-02

This paper presents a solution for the problem of minimum time coverage of ground areas using a group of unmanned air vehicles (UAVs) equipped with image sensors. The solution is divided into two parts: (i) the task modeling as a graph whose vertices are geographic coordinates determined in such a way that a single UAV would cover the area in minimum time; and (ii) the solution of a mixed integer linear programming problem, formulated according to the graph variables defined in the first part, to route the team of UAVs over the area. The main contribution of the proposed methodology, when compared with the traditional vehicle routing problem's (VRP) solutions, is the fact that our method solves some practical problems only encountered during the execution of the task with actual UAVs. In this line, one of the main contributions of the paper is that the number of UAVs used to cover the area is automatically selected by solving the optimization problem. The number of UAVs is influenced by the vehicles' maximum flight time and by the setup time, which is the time needed to prepare and launch a UAV. To illustrate the methodology, the paper presents experimental results obtained with two hand-launched, fixed-wing UAVs.

Assessing UAVs in Monitoring Crop Evapotranspiration within a Heterogeneous Soil

NASA Astrophysics Data System (ADS)

Rouze, G.; Neely, H.; Morgan, C.; Kustas, W. P.; McKee, L.; Prueger, J. H.; Cope, D.; Yang, C.; Thomasson, A.; Jung, J.

2017-12-01

Airborne and satellite remote sensing methods have been developed to provide ET estimates across entire management fields. However, airborne-based ET is not particularly cost-effective and satellite-based ET provides insufficient spatial/temporal information. ET estimations through remote sensing are also problematic where soils are highly variable within a given management field. Unlike airborne/satellite-based ET, Unmanned Aerial Vehicle (UAV)-based ET has the potential to increase the spatial and temporal detail of these measurements, particularly within a heterogeneous soil landscape. However, it is unclear to what extent UAVs can model ET. The overall goal of this project was to assess the capability of UAVs in modeling ET across a heterogeneous landscape. Within a 20-ha irrigated cotton field in Central Texas, low-altitude UAV surveys were conducted throughout the growing season over two soil types. UAVs were equipped with thermal and multispectral cameras to obtain canopy temperature and NDVI, respectively. UAV data were supplemented simultaneously with ground-truth measurements such as Leaf Area Index (LAI) and plant height. Both remote sensing and ground-truth parameters were used to model ET using a Two-Source Energy Balance (TSEB) model. UAV-based estimations of ET and other energy balance components were validated against energy balance measurements obtained from nearby eddy covariance towers that were installed within each soil type. UAV-based ET fluxes were also compared with airborne and satellite (Landsat 8)-based ET fluxes collected near the time of the UAV survey.

Using Distance Sensors to Perform Collision Avoidance Maneuvres on Uav Applications

NASA Astrophysics Data System (ADS)

Raimundo, A.; Peres, D.; Santos, N.; Sebastião, P.; Souto, N.

2017-08-01

The Unmanned Aerial Vehicles (UAV) and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. "Sense and Avoid" algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR), to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk's flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G). Some tests were made in order to evaluate the "Sense and Avoid" algorithm's overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and "Brake" mode on a real outdoor, proving its concepts.

Development and evaluation of unmanned aerial vehicle (UAV) magnetometry systems

NASA Astrophysics Data System (ADS)

Parvar, Kiyavash

In this thesis, the procedure of conducting magnetic surveys from a UAV platform is investigated. In the process of evaluating UAVs for such surveys, magnetic sensors capable of operating on a UAV platform were tested using a terrestrial survey, as well as on a UAV-platform. Results were then compared to a model of the area generated using a proton precession magnetometer. Magnetic signature of the UAVs are discussed and impact values are calculated. For a better understanding of the magnetic fields around UAVs some micro-surveys were conducted with the help of a fluxgate magnetometer around two UAVs. Results of such surveys were used to determine a location to mount the magnetometer during the survey. A test survey over a known anomaly (a visible chromite outcrop in Oman) is conducted in order to determine the feasibility of using UAV-based magnetometry for chromite exploration. Observations were taken at two different elevations in order to generate a 3-D model of the magnetic field. Later, after applying upward continuation filters and comparing the calculated results to the real values, the reliability and uncertainty levels of such filters were investigated. Results show that magnetometery on UAV platforms is feasible. Unwanted signals can be noticeable and produce fake anomalies by the end of each line because of the swinging effect of the suspended magnetometer below the UAV. This should be reduced by hardware and software modifications i.e. applying non-linear filters and mounting the sensor on a rigid rod. Also, it was derived that the error level associated with upward continuation filters exceeds 45% and thus, using such filters instead of actual observations is not suggested in gradiometry. Moreover, 3-D magnetic gradient surveys can be beneficial for future inversion problems.

Establishing a Disruptive New Capability for NASA to Fly UAV's into Hazardous Conditions

NASA Technical Reports Server (NTRS)

Ely, Jay; Nguyen, Truong; Wilson, Jennifer; Brown, Robert; Laughter, Sean; Teets, Ed; Parker, Allen; Chan, Patrick Hon Man; Richards, Lance

2015-01-01

A 2015 NASA Aeronautics Mission "Seedling" Proposal is described for a Severe-Environment UAV (SE-UAV) that can perform in-situ measurements in hazardous atmospheric conditions like lightning, volcanic ash and radiation. Specifically, this paper describes the design of a proof-of-concept vehicle and measurement system that can survive lightning attachment during flight operations into thunderstorms. Elements from three NASA centers draw together for the SE-UAV concept. 1) The NASA KSC Genesis UAV was developed in collaboration with the DARPA Nimbus program to measure electric field and X-rays present within thunderstorms. 2) A novel NASA LaRC fiber-optic sensor uses Faraday-effect polarization rotation to measure total lightning electric current on an air vehicle fuselage. 3) NASA AFRC's state-of-the-art Fiber Optics and Systems Integration Laboratory is envisioned to transition the Faraday system to a compact, light-weight, all-fiber design. The SE-UAV will provide in-flight lightning electric-current return stroke and recoil leader data, and serve as a platform for development of emerging sensors and new missions into hazardous environments. NASA's Aeronautics and Science Missions are interested in a capability to perform in-situ volcanic plume measurements and long-endurance UAV operations in various weather conditions. (Figure 1 shows an artist concept of a SE-UAV flying near a volcano.) This paper concludes with an overview of the NASA Aeronautics Strategic Vision, Programs, and how a SE-UAV is envisioned to impact them. The SE-UAV concept leverages high-value legacy research products into a new capability for NASA to fly a pathfinder UAV into hazardous conditions, and is presented in the SPIE DSS venue to explore teaming, collaboration and advocacy opportunities outside NASA.

Establishing a disruptive new capability for NASA to fly UAV's into hazardous conditions

NASA Astrophysics Data System (ADS)

Ely, Jay; Nguyen, Truong; Wilson, Jennifer; Brown, Robert; Laughter, Sean; Teets, Ed; Parker, Allen; Chan, Hon M.; Richards, Lance

2015-05-01

A 2015 NASA Aeronautics Mission "Seedling" Proposal is described for a Severe-Environment UAV (SE-UAV) that can perform in-situ measurements in hazardous atmospheric conditions like lightning, volcanic ash and radiation. Specifically, this paper describes the design of a proof-of-concept vehicle and measurement system that can survive lightning attachment during flight operations into thunderstorms. Elements from three NASA centers draw together for the SE-UAV concept. 1) The NASA KSC Genesis UAV was developed in collaboration with the DARPA Nimbus program to measure electric field and X-rays present within thunderstorms. 2) A novel NASA LaRC fiber-optic sensor uses Faraday-effect polarization rotation to measure total lightning electric current on an air vehicle fuselage. 3) NASA AFRC's state-of-the-art Fiber Optics and Systems Integration Laboratory is envisioned to transition the Faraday system to a compact, light-weight, all-fiber design. The SE-UAV will provide in-flight lightning electric-current return stroke and recoil leader data, and serve as a platform for development of emerging sensors and new missions into hazardous environments. NASA's Aeronautics and Science Missions are interested in a capability to perform in-situ volcanic plume measurements and long-endurance UAV operations in various weather conditions. (Figure 1 shows an artist concept of a SE-UAV flying near a volcano.) This paper concludes with an overview of the NASA Aeronautics Strategic Vision, Programs, and how a SE-UAV is envisioned to impact them. The SE-UAV concept leverages high-value legacy research products into a new capability for NASA to fly a pathfinder UAV into hazardous conditions, and is presented in the SPIE DSS venue to explore teaming, collaboration and advocacy opportunities outside NASA.

Evaluating the accuracy of orthophotos and 3D models from UAV photogrammetry

NASA Astrophysics Data System (ADS)

Julge, Kalev; Ellmann, Artu

2015-04-01

Rapid development of unmanned aerial vehicles (UAV) in recent years has made their use for various applications more feasible. This contribution evaluates the accuracy and quality of different UAV remote sensing products (i.e. orthorectified image, point cloud and 3D model). Two different autonomous fixed wing UAV systems were used to collect the aerial photographs. One is a mass-produced commercial UAV system, the other is a similar state-of-the-art UAV system. Three different study areas with varying sizes and characteristics (including urban areas, forests, fields, etc.) were surveyed. The UAV point clouds, 3D models and orthophotos were generated with three different commercial and free-ware software. The performance of each of these was evaluated. The effect of flying height on the accuracy of the results was explored, as well as the optimum number and placement of ground control points. Also the achieved results, when the only georeferencing data originates from the UAV system's on-board GNSS and inertial measurement unit, are investigated. Problems regarding the alignment of certain types of aerial photos (e.g. captured over forested areas) are discussed. The quality and accuracy of UAV photogrammetry products are evaluated by comparing them with control measurements made with GNSS-measurements on the ground, as well as high-resolution airborne laser scanning data and other available orthophotos (e.g. those acquired for large scale national mapping). Vertical comparisons are made on surfaces that have remained unchanged in all campaigns, e.g. paved roads. Planar comparisons are performed by control surveys of objects that are clearly identifiable on orthophotos. The statistics of these differences are used to evaluate the accuracy of UAV remote sensing. Some recommendations are given on how to conduct UAV mapping campaigns cost-effectively and with minimal time-consumption while still ensuring the quality and accuracy of the UAV data products. Also the benefits and drawbacks of UAV remote sensing compared to more traditional methods (e.g. national mapping from airplanes or direct measurements on the ground with GNSS devices or total stations) are outlined.

Impact Forces of Plyometric Exercises Performed on Land and in Water

PubMed Central

Donoghue, Orna A.; Shimojo, Hirofumi; Takagi, Hideki

2011-01-01

Background: Aquatic plyometric programs are becoming increasingly popular because they provide a less stressful alternative to land-based programs. Buoyancy reduces the impact forces experienced in water. Purpose: To quantify the landing kinetics during a range of typical lower limb plyometric exercises performed on land and in water. Study Design: Crossover design. Methods: Eighteen male participants performed ankle hops, tuck jumps, a countermovement jump, a single-leg vertical jump, and a drop jump from 30 cm in a biomechanics laboratory and in a swimming pool. Land and underwater force plates (Kistler) were used to obtain peak impact force, impulse, rate of force development, and time to reach peak force for the landing phase of each jump. Results: Significant reductions were observed in peak impact forces (33%-54%), impulse (19%-54%), and rate of force development (33%-62%) in water compared with land for the majority of exercises in this study (P < 0.05). Conclusions: The level of force reduction varies with landing technique, water depth, and participant height and body composition. Clinical Relevance: This information can be used to reintroduce athletes to the demands of plyometric exercises after injury. PMID:23016022

Changing Sagittal-Plane Landing Styles to Modulate Impact and Tibiofemoral Force Magnitude and Directions Relative to the Tibia

PubMed Central

Shimokochi, Yohei; Ambegaonkar, Jatin P.; Meyer, Eric G.

2016-01-01

Context: Ground reaction force (GRF) and tibiofemoral force magnitudes and directions have been shown to affect anterior cruciate ligament loading during landing. However, the kinematic and kinetic factors modifying these 2 forces during landing are unknown. Objective: To clarify the intersegmental kinematic and kinetic links underlying the alteration of the GRF and tibiofemoral force vectors secondary to changes in the sagittal-plane body position during single-legged landing. Design: Crossover study. Setting: Laboratory. Patients or Other Participants: Twenty recreationally active participants (age = 23.4 ± 3.6 years, height = 171.0 ± 9.4 cm, mass = 73.3 ± 12.7 kg). Intervention(s): Participants performed single-legged landings using 3 landing styles: self-selected landing (SSL), body leaning forward and landing on the toes (LFL), and body upright with flat-footed landing (URL). Three-dimensional kinetics and kinematics were recorded. Main Outcome Measure(s): Sagittal-plane tibial inclination and knee-flexion angles, GRF magnitude and inclination angles relative to the tibia, and proximal tibial forces at peak tibial axial forces. Results: The URL resulted in less time to peak tibial axial forces, smaller knee-flexion angles, and greater magnitude and a more anteriorly inclined GRF vector relative to the tibia than did the SSL. These changes led to the greatest peak tibial axial and anterior shear forces in the URL among the 3 landing styles. Conversely, the LFL resulted in longer time to peak tibial axial forces, greater knee-flexion angles, and reduced magnitude and a more posteriorly inclined GRF vector relative to the tibia than the SSL. These changes in LFL resulted in the lowest peak tibial axial and largest posterior shear forces among the 3 landing styles. Conclusions: Sagittal-plane intersegmental kinematic and kinetic links strongly affected the magnitude and direction of GRF and tibiofemoral forces during the impact phase of single-legged landing. Therefore, improving sagittal-plane landing mechanics is important in reducing harmful magnitudes and directions of impact forces on the anterior cruciate ligament. PMID:27723362

Influence of friction forces on the motion of VTOL aircraft during landing operations on ships at sea

NASA Technical Reports Server (NTRS)

Howard, J. C.; Chin, D. O.

1981-01-01

Equations describing the friction forces generated during landing operations on ships at sea were formulated. These forces depend on the platform reaction and the coefficient of friction. The platform reaction depends on the relative sink rate and the shock absorbing capability of the landing gear. The friction coefficient varies with the surface condition of the landing platform and the angle of yaw of the aircraft relative to the landing platform. Landings by VTOL aircraft, equipped with conventional oleopneumatic landing gears are discussed. Simplifications are introduced to reduce the complexity of the mathematical description of the tire and shock strut characteristics. Approximating the actual complicated force deflection characteristic of the tire by linear relationship is adequate. The internal friction forces in the shock strut are included in the landing gear model. A set of relatively simple equations was obtained by including only those tire and shock strut characteristics that contribute significantly to the generation of landing gear forces.

UAV Research, Operations, and Flight Test at the NASA Dryden Flight Research Center

NASA Technical Reports Server (NTRS)

Cosentino, Gary B.

2009-01-01

This slide presentation reviews some of the projects that have extended NASA Dryden's capabilities in designing, testing, and using Unmanned Aerial Vehicles (UAV's). Some of the UAV's have been for Science and experimental applications, some have been for flight research and demonstration purposes, and some have been small UAV's for other customers.

The Rise of the Unmanned Aerial Vehicle and its Effect on Manned Tactical Aviation

DTIC Science & Technology

2006-06-16

changes, including the addition of greater numbers of UAVs to their inventory . 4 The UAV while providing valuable information they do so at a cost...have some form of manned and unmanned platforms. Estimates of the world’s UAV inventory include more than 600 types of UAVs in over forty countries...

Time-Critical Cooperative Path Following of Multiple UAVs: Case Studies

DTIC Science & Technology

2012-10-30

control algorithm for UAVs in 3D space. Section IV derives a strategy for time-critical cooperative path following of multiple UAVs that relies on the...UAVs in 3D space, in which a fleet of UAVs is tasked to converge to and follow a set of desired feasible paths so as to meet spatial and temporal...cooperative trajectory generation is not addressed in this paper. In fact, it is assumed that a set of desired 3D time trajectories pd,i(td) : R → R3

Thermocouple-based Temperature Sensing System for Chemical Cell Inside Micro UAV Device

NASA Astrophysics Data System (ADS)

Han, Yanhui; Feng, Yue; Lou, Haozhe; Zhang, Xinzhao

2018-03-01

Environmental temperature of UAV system is crucial for chemical cell component inside. Once the temperature of this chemical cell is over 259 °C and keeps more than 20 min, the high thermal accumulation would result in an explosion, which seriously damage the whole UAV system. Therefore, we develop a micro temperature sensing system for monitoring the temperature of chemical cell thermally influenced by UAV device deployed in a 300 °C temperature environment, which is quite useful for insensitive munitions and UAV safety enhancement technologies.

Selectable Hyperspectral Airborne Remote-sensing Kit (SHARK) on the Vision II turbine rotorcraft UAV over the Florida Keys

NASA Astrophysics Data System (ADS)

Holasek, R. E.; Nakanishi, K.; Swartz, B.; Zacaroli, R.; Hill, B.; Naungayan, J.; Herwitz, S.; Kavros, P.; English, D. C.

2013-12-01

As part of the NASA ROSES program, the NovaSol Selectable Hyperspectral Airborne Remote-sensing Kit (SHARK) was flown as the payload on the unmanned Vision II helicopter. The goal of the May 2013 data collection was to obtain high resolution visible and near-infrared (visNIR) hyperspectral data of seagrasses and coral reefs in the Florida Keys. The specifications of the SHARK hyperspectral system and the Vision II turbine rotorcraft will be described along with the process of integrating the payload to the vehicle platform. The minimal size, weight, and power (SWaP) specifications of the SHARK system is an ideal match to the Vision II helicopter and its flight parameters. One advantage of the helicopter over fixed wing platforms is its inherent ability to take off and land in a limited area and without a runway, enabling the UAV to be located in close proximity to the experiment areas and the science team. Decisions regarding integration times, waypoint selection, mission duration, and mission frequency are able to be based upon the local environmental conditions and can be modified just prior to take off. The operational procedures and coordination between the UAV pilot, payload operator, and scientist will be described. The SHARK system includes an inertial navigation system and digital elevation model (DEM) which allows image coordinates to be calculated onboard the aircraft in real-time. Examples of the geo-registered images from the data collection will be shown. SHARK mounted below VTUAV. SHARK deployed on VTUAV over water.

The driving forces of land change in the Northern Piedmont of the United States

USGS Publications Warehouse

Auch, Roger F.; Napton, Darrell E.; Kambly, Steven; Moreland, Thomas R.; Sayler, Kristi L.

2012-01-01

Driving forces facilitate or inhibit land-use/land-cover change. Human driving forces include political, economic, cultural, and social attributes that often change across time and space. Remotely sensed imagery provides regional land-change data for the Northern Piedmont, an ecoregion of the United States that continued to urbanize after 1970 through conversion of agricultural and forest land covers to developed uses. Eight major driving forces facilitated most of the land conversion; other drivers inhibited or slowed change. A synergistic web of drivers may be more important in understanding land change than individual drivers by themselves.

A 3.5 to 12 Micron Dualband Spectrometer for Generic UAVs

DTIC Science & Technology

2005-05-01

AUTHOR( S ) 5d. PROJECT NUMBER 5e. TASK NUMBER 5f. WORK UNIT NUMBER 7. PERFORMING ORGANIZATION NAME( S ) AND ADDRESS(ES) Air Force Research Laboratory...AGENCY NAME( S ) AND ADDRESS(ES) 10. SPONSOR/MONITOR’S ACRONYM( S ) 11. SPONSOR/MONITOR’S REPORT NUMBER( S ) 12. DISTRIBUTION/AVAILABILITY STATEMENT...implementation. REFERENCES [1] T. D. Maestas & P.D. LeVan (2002). Novel, Three-Octave, Infrared Hyperspectral Imaging with a Single Multi-waveband FPA

How Should the Joint Force Handle the Command and Control of Unmanned Aircraft Systems?

DTIC Science & Technology

2008-11-18

personnel, and control apparatus. Collectively these are the unmanned aircraft system (UAS). The outputs of a UAS can range from full motion video ...reconnaissance aircraft, like the pilotless Predator drone that provides real-time surveillance video to the battlefield.”55 He continued, “While...www.foxnews.com/story/0,2933,351964,00.html [accessed July 7, 2008]. Baldor, Lolita C. Associated Press. “Increased UAV Reliance Evident in 2009 Budget

Environmental Assessment: Demolish CASS Switch Stations Buildings 644, 645, 646 at Grand Forks Air Force Base

DTIC Science & Technology

2006-06-01

Per Year TSCA Toxic Substance Control Act TSI Thermal System Insulation UAV Unmanned Aerial Vehicle UHF Ultra High Frequency UPS Uninterruptible...Conservation and Recovery Act (RCRA) of 1976 [42 U.S.C. Sec. 6901, et seq.] • Toxic Substances Control Act (TSCA) of 1976 [15 U.S.C. Sec. 2601, et...Corporation (SAIC). Typical hazardous materials include reactive materials such as explosives, ignitables, toxics , and corrosives. Improper storage can

The Potential Radiative Forcing of Global Land Use and Land Cover Change Activities

NASA Astrophysics Data System (ADS)

Ward, D. S.; Mahowald, N. M.; Kloster, S.

2014-12-01

Given the expected increase in pressure on land resources over the next century, there is a need to understand the total impacts of activities associated with land use and land cover change (LULCC). Here we quantify these impacts using the radiative forcing metric, including forcings from changes in long-lived greenhouse gases, tropospheric ozone, aerosol effects, and land surface albedo. We estimate radiative forcings from the different agents for historical LULCC and for six future projections using simulations from the National Center for Atmospheric Research Community Land Model and Community Atmosphere Models and additional offline analyses. When all forcing agents are considered together we show that 45% (+30%, -20%) of the present-day (2010) anthropogenic radiative forcing can be attributed to LULCC. Changes in the emission of non-CO2 greenhouse gases and aerosols from LULCC enhance the total LULCC radiative forcing by a factor of 2 to 3 with respect to the forcing from CO2 alone. In contrast, the non-CO2 forcings from fossil fuel burning are roughly neutral, due largely to the negative (cooling) impact of aerosols from these sources. We partition the global LULCC radiative forcing into three major sources: direct modification of land cover (e.g. deforestation), agricultural activities, and fire regime changes. Contributions from deforestation and agriculture are roughly equal in the present day, while changes to wildfire activity impose a small negative forcing globally. In 2100, deforestation activities comprise the majority of the LULCC radiative forcing for all projections except one (Representative Concentration Pathway (RCP) 4.5). This suggests that realistic scenarios of future forest area change are essential for projecting the contribution of LULCC to climate change. However, the commonly used RCP land cover change projections all include decreases in global deforestation rates over the next 85 years. To place an upper bound on the potential radiative forcing from LULCC we create a 'worst-case scenario" in which all arable land is converted to agriculture by the year 2100. This scenario leads to a total radiative forcing of 4.3 Wm-2 (+/- 1 Wm-2) suggesting that well thought-out land policy is needed to minimize future increases in global anthropogenic radiative forcing.

Comparative Analysis of Uninhibited and Constrained Avian Wing Aerodynamics

NASA Astrophysics Data System (ADS)

Cox, Jordan A.

The flight of birds has intrigued and motivated man for many years. Bird flight served as the primary inspiration of flying machines developed by Leonardo Da Vinci, Otto Lilienthal, and even the Wright brothers. Avian flight has once again drawn the attention of the scientific community as unmanned aerial vehicles (UAV) are not only becoming more popular, but smaller. Birds are once again influencing the designs of aircraft. Small UAVs operating within flight conditions and low Reynolds numbers common to birds are not yet capable of the high levels of control and agility that birds display with ease. Many researchers believe the potential to improve small UAV performance can be obtained by applying features common to birds such as feathers and flapping flight to small UAVs. Although the effects of feathers on a wing have received some attention, the effects of localized transient feather motion and surface geometry on the flight performance of a wing have been largely overlooked. In this research, the effects of freely moving feathers on a preserved red tailed hawk wing were studied. A series of experiments were conducted to measure the aerodynamic forces on a hawk wing with varying levels of feather movement permitted. Angle of attack and air speed were varied within the natural flight envelope of the hawk. Subsequent identical tests were performed with the feather motion constrained through the use of externally-applied surface treatments. Additional tests involved the study of an absolutely fixed geometry mold-and-cast wing model of the original bird wing. Final tests were also performed after applying surface coatings to the cast wing. High speed videos taken during tests revealed the extent of the feather movement between wing models. Images of the microscopic surface structure of each wing model were analyzed to establish variations in surface geometry between models. Recorded aerodynamic forces were then compared to the known feather motion and surface geometry to correlate the performance to these two features. The results of this study revealed that the performance of the bird wing was directly affected by feather motion. It was also found that the motion of covert and secondary covert feathers had the greatest influence on the performance. Increased coefficients of lift and drag were found when higher frequencies of these feathers were observed. Noticeable reductions in the coefficient of drag were found to be associated with micron level variations in the depth of surface features on the wing.

DEVELOP Chesapeake Bay Watershed Hydrology - UAV Sensor Web

NASA Astrophysics Data System (ADS)

Holley, S. D.; Baruah, A.

2008-12-01

The Chesapeake Bay is the largest estuary in the United States, with a watershed extending through six states and the nation's capital. Urbanization and agriculture practices have led to an excess runoff of nutrients and sediment into the bay. Nutrients and sediment loading stimulate the growth of algal blooms associated with various problems including localized dissolved oxygen deficiencies, toxic algal blooms and death of marine life. The Chesapeake Bay Program, among other stakeholder organizations, contributes greatly to the restoration efforts of the Chesapeake Bay. These stakeholders contribute in many ways such as monitoring the water quality, leading clean-up projects, and actively restoring native habitats. The first stage of the DEVELOP Chesapeake Bay Coastal Management project, relating to water quality, contributed to the restoration efforts by introducing NASA satellite-based water quality data products to the stakeholders as a complement to their current monitoring methods. The second stage, to be initiated in the fall 2008 internship term, will focus on the impacts of land cover variability within the Chesapeake Bay Watershed. Multiple student led discussions with members of the Land Cover team at the Chesapeake Bay Program Office in the DEVELOP GSFC 2008 summer term uncovered the need for remote sensing data for hydrological mapping in the watershed. The Chesapeake Bay Program expressed in repeated discussions on Land Cover mapping that significant portions of upper river areas, streams, and the land directly interfacing those waters are not accurately depicted in the watershed model. Without such hydrological mapping correlated with land cover data the model will not be useful in depicting source areas of nutrient loading which has an ecological and economic impact in and around the Chesapeake Bay. The fall 2008 DEVELOP team will examine the use of UAV flown sensors in connection with in-situ and Earth Observation satellite data. To maximize the web of data, students will also examine the NASA's research into self organizing neural-networks to ensure the data is correlated in such a manner as to support the sensor web connections. Additionally, students will learn the operation and functionality of the Chesapeake Bay Program's watershed model to examine and determine the potential for integration of the sensor web data into the watershed model.

Using Public Network Infrastructures for UAV Remote Sensing in Civilian Security Operations

DTIC Science & Technology

2011-03-01

leveraging public wireless communication networks for UAV-based sensor networks with respect to existing constraints and user requirements...Detection with an Autonomous Micro UAV Mesh Network . In the near future police departments, fire brigades and other homeland security ...UAV-based sensor networks with respect to existing constraints and user requirements. 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION

Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind.

PubMed

Luo, He; Liang, Zhengzheng; Zhu, Moning; Hu, Xiaoxuan; Wang, Guoqiang

2018-01-01

Wind has a significant effect on the control of fixed-wing unmanned aerial vehicles (UAVs), resulting in changes in their ground speed and direction, which has an important influence on the results of integrated optimization of UAV task allocation and path planning. The objective of this integrated optimization problem changes from minimizing flight distance to minimizing flight time. In this study, the Euclidean distance between any two targets is expanded to the Dubins path length, considering the minimum turning radius of fixed-wing UAVs. According to the vector relationship between wind speed, UAV airspeed, and UAV ground speed, a method is proposed to calculate the flight time of UAV between targets. On this basis, a variable-speed Dubins path vehicle routing problem (VS-DP-VRP) model is established with the purpose of minimizing the time required for UAVs to visit all the targets and return to the starting point. By designing a crossover operator and mutation operator, the genetic algorithm is used to solve the model, the results of which show that an effective UAV task allocation and path planning solution under steady wind can be provided.

Integrated optimization of unmanned aerial vehicle task allocation and path planning under steady wind

PubMed Central

Liang, Zhengzheng; Zhu, Moning; Hu, Xiaoxuan; Wang, Guoqiang

2018-01-01

Wind has a significant effect on the control of fixed-wing unmanned aerial vehicles (UAVs), resulting in changes in their ground speed and direction, which has an important influence on the results of integrated optimization of UAV task allocation and path planning. The objective of this integrated optimization problem changes from minimizing flight distance to minimizing flight time. In this study, the Euclidean distance between any two targets is expanded to the Dubins path length, considering the minimum turning radius of fixed-wing UAVs. According to the vector relationship between wind speed, UAV airspeed, and UAV ground speed, a method is proposed to calculate the flight time of UAV between targets. On this basis, a variable-speed Dubins path vehicle routing problem (VS-DP-VRP) model is established with the purpose of minimizing the time required for UAVs to visit all the targets and return to the starting point. By designing a crossover operator and mutation operator, the genetic algorithm is used to solve the model, the results of which show that an effective UAV task allocation and path planning solution under steady wind can be provided. PMID:29561888

An Ecological Approach to the Design of UAV Ground Control Station (GCS) Status Displays

NASA Technical Reports Server (NTRS)

Dowell, Susan; Morphew, Ephimia; Shively, Jay

2003-01-01

Use of UAVs in military and commercial applications will continue to increase. However, there has been limited research devoted to UAV GCS design. The current study employed an ecological approach to interfac e design. Ecological Interface Design (EID) can be characterized as r epresenting the properties of a system, such that an operator is enco uraged to use skill-based behavior when problem solving. When more ef fortful cognitive processes become necessary due to unfamiliar situations, the application of EID philosophy supports the application of kn owledge-based behavior. With advances toward multiple UAV command and control, operators need GCS interfaces designed to support understan ding of complex systems. We hypothesized that use of EID principles f or the display of UAV status information would result in better opera tor performance and situational awareness, while decreasing workload. Pilots flew a series of missions with three UAV GCS displays of statu s information (Alphanumeric, Ecological, and Hybrid display format). Measures of task performance, Situational Awareness, and workload dem onstrated the benefits of using an ecological approach to designing U AV GCS displays. The application of ecological principles to the design of UAV GCSs is a promising area for improving UAV operations.

Commercial vs professional UAVs for mapping

NASA Astrophysics Data System (ADS)

Nikolakopoulos, Konstantinos G.; Koukouvelas, Ioannis

2017-09-01

The continuous advancements in the technology behind Unmanned Aerial Vehicles (UAVs), in accordance with the consecutive decrease to their cost and the availability of photogrammetric software, make the use of UAVs an excellent tool for large scale mapping. In addition with the use of UAVs, the problems of increased costs, time consumption and the possible terrain accessibility problems, are significantly reduced. However, despite the growing number of UAV applications there has been a little quantitative assessment of UAV performance and of the quality of the derived products (orthophotos and Digital Surface Models). Here, we present results from field experiments designed to evaluate the accuracy of photogrammetrically-derived digital surface models (DSM) developed from imagery acquired with onboard digital cameras. We also show the comparison of the high resolution vs moderate resolution imagery for largescale geomorphic mapping. The acquired data analyzed in this study comes from a small commercial and a professional UAV. The test area was mapped using the same photogrammetric grid by the two UAVs. 3D models, DSMs and orthophotos were created using special software. Those products were compared to in situ survey measurements and the results are presented in this paper.

Antagonist muscle co-contraction during a double-leg landing maneuver at two heights.

PubMed

Mokhtarzadeh, Hossein; Yeow, Chen Hua; Goh, James Cho Hong; Oetomo, Denny; Ewing, Katie; Lee, Peter Vee Sin

2017-10-01

Knee injuries are common during landing activities. Greater landing height increases peak ground reaction forces (GRFs) and loading at the knee joint. As major muscles to stabilize the knee joint, Quadriceps and Hamstring muscles provide internal forces to attenuate the excessive GRF. Despite the number of investigations on the importance of muscle function during landing, the role of landing height on these muscles forces using modeling during landing is not fully investigated. Participant-specific musculoskeletal models were developed using experimental motion analysis data consisting of anatomic joint motions and GRF from eight male participants performing double-leg drop landing from 30 and 60 cm. Muscle forces were calculated in OpenSim and their differences were analyzed at the instances of high risk during landing i.e. peak GRF for both heights. The maximum knee flexion angle and moments were found significantly higher from a double-leg landing at 60 cm compared to 30 cm. The results showed elevated GRF, and mean muscle forces during landing. At peak GRF, only quadriceps showed significantly greater forces at 60 cm. Hamstring muscle forces did not significantly change at 60 cm compared to 30 cm. Quadriceps and hamstring muscle forces changed at different heights. Since hamstring forces were similar in both landing heights, this could lead to an imbalance between the antagonist muscles, potentially placing the knee at risk of injury if combined with small flexion angles that was not observed at peak GRF in our study. Thus, enhanced neuromuscular training programs strengthening the hamstrings may be required to address this imbalance. These findings may contribute to enhance neuromuscular training programs to prevent knee injuries during landing.

Uav Photgrammetric Workflows: a best Practice Guideline

NASA Astrophysics Data System (ADS)

Federman, A.; Santana Quintero, M.; Kretz, S.; Gregg, J.; Lengies, M.; Ouimet, C.; Laliberte, J.

2017-08-01

The increasing commercialization of unmanned aerial vehicles (UAVs) has opened the possibility of performing low-cost aerial image acquisition for the documentation of cultural heritage sites through UAV photogrammetry. The flying of UAVs in Canada is regulated through Transport Canada and requires a Special Flight Operations Certificate (SFOC) in order to fly. Various image acquisition techniques have been explored in this review, as well as well software used to register the data. A general workflow procedure has been formulated based off of the literature reviewed. A case study example of using UAV photogrammetry at Prince of Wales Fort is discussed, specifically in relation to the data acquisition and processing. Some gaps in the literature reviewed highlight the need for streamlining the SFOC application process, and incorporating UAVs into cultural heritage documentation courses.

Autonomous Control of a Quadrotor UAV Using Fuzzy Logic

NASA Astrophysics Data System (ADS)

Sureshkumar, Vijaykumar

UAVs are being increasingly used today than ever before in both military and civil applications. They are heavily preferred in "dull, dirty or dangerous" mission scenarios. Increasingly, UAVs of all kinds are being used in policing, fire-fighting, inspection of structures, pipelines etc. Recently, the FAA gave its permission for UAVs to be used on film sets for motion capture and high definition video recording. The rapid development in MEMS and actuator technology has made possible a plethora of UAVs that are suited for commercial applications in an increasingly cost effective manner. An emerging popular rotary wing UAV platform is the Quadrotor A Quadrotor is a helicopter with four rotors, that make it more stable; but more complex to model and control. Characteristics that provide a clear advantage over other fixed wing UAVs are VTOL and hovering capabilities as well as a greater maneuverability. It is also simple in construction and design compared to a scaled single rotorcraft. Flying such UAVs using a traditional radio Transmitter-Receiver setup can be a daunting task especially in high stress situations. In order to make such platforms widely applicable, a certain level of autonomy is imperative to the future of such UAVs. This thesis paper presents a methodology for the autonomous control of a Quadrotor UAV using Fuzzy Logic. Fuzzy logic control has been chosen over conventional control methods as it can deal effectively with highly nonlinear systems, allows for imprecise data and is extremely modular. Modularity and adaptability are the key cornerstones of FLC. The objective of this thesis is to present the steps of designing, building and simulating an intelligent flight control module for a Quadrotor UAV. In the course of this research effort, a Quadrotor UAV is indigenously developed utilizing the resources of an online open source project called Aeroquad. System design is comprehensively dealt with. A math model for the Quadrotor is developed and a simulation environment is built in the MATLAB/Simulink framework. The Fuzzy flight controller development is discussed intensively. Validation of the math model developed is presented using actual flight data. Excellent attitude tracking is demonstrated for near hover flight regimes. The responses are analyzed and future work involving implementation is discussed.

An evaluation of the effectiveness of low-cost UAVs and structure from motion for geomorphic change detection

NASA Astrophysics Data System (ADS)

Cook, Kristen L.

2017-02-01

The measurement of topography and of topographic change is essential for the study of many geomorphic processes. In recent years, structure from motion (SfM) techniques applied to photographs taken by camera-equipped unmanned aerial vehicles (UAVs) has become a powerful new tool for the generation of high resolution topography. The variety of available UAV systems continues to increase rapidly, but it is not clear whether increased UAV sophistication translates into improved quality of the calculated topography. To evaluate the lower end of the UAV spectrum, a simple low cost UAV was deployed to calculate high resolution topography in the Daan River gorge in western Taiwan, a site with a complicated 3D morphology and a wide range of surface types, making it a challenging site for topographic measurement. Terrestrial lidar surveys were conducted in parallel with UAV surveys in both June and November 2014, enabling an assessment of the reliability of the UAV survey to detect geomorphic changes in the range of 30 cm to several meters. A further UAV survey was conducted in June 2015 in order to quantify changes resulting from the 2015 spring monsoon. To evaluate the accuracy of the UAV derived topography, it was compared to terrestrial lidar data collected during the same survey period using the cloud-to-cloud comparison algorithm M3C2. The UAV-generated point clouds match the lidar point clouds well, with RMS errors of 30-40 cm; however, the accuracy of the SfM point clouds depends strongly on the characteristics of the surface being considered, with vegetation, water, and small scale texture causing inaccuracies. The lidar and SfM data yield similar maps of change from June to November 2014, with the same areas of geomorphic change detected by both methods. The SfM-generated change map for November 2014 to June 2015 indicates that the 2015 spring monsoon caused erosion throughout the gorge and highlights the importance of event-driven erosion in the Daan River. The results suggest that even very basic UAVs can yield data suitable for measuring geomorphic change on the scale of a channel reach.

Integrating a High Resolution Optically Pumped Magnetometer with a Multi-Rotor UAV towards 3-D Magnetic Gradiometry

NASA Astrophysics Data System (ADS)

Braun, A.; Walter, C. A.; Parvar, K.

2016-12-01

The current platforms for collecting magnetic data include dense coverage, but low resolution traditional airborne surveys, and high resolution, but low coverage terrestrial surveys. Both platforms leave a critical observation gap between the ground surface and approximately 100m above ground elevation, which can be navigated efficiently by new technologies, such as Unmanned Aerial Vehicles (UAVs). Specifically, multi rotor UAV platforms provide the ability to sense the magnetic field in a full 3-D tensor, which increases the quality of data collected over other current platform types. Payload requirements and target requirements must be balanced to fully exploit the 3-D magnetic tensor. This study outlines the integration of a GEM Systems Cesium Vapour UAV Magnetometer, a Lightware SF-11 Laser Altimeter and a uBlox EVK-7P GPS module with a DJI s900 Multi Rotor UAV. The Cesium Magnetometer is suspended beneath the UAV platform by a cable of varying length. A set of surveys was carried out to optimize the sensor orientation, sensor cable length beneath the UAV and data collection methods of the GEM Systems Cesium Vapour UAV Magnetometer when mounted on the DJI s900. The target for these surveys is a 12 inch steam pipeline located approximately 2 feet below the ground surface. A systematic variation of cable length, sensor orientation and inclination was conducted. The data collected from the UAV magnetometer was compared to a terrestrial survey conducted with the GEM GST-19 Proton Procession Magnetometer at the same elevation, which also served a reference station. This allowed for a cross examination between the UAV system and a proven industry standard for magnetic field data collection. The surveys resulted in optimizing the above parameters based on minimizing instrument error and ensuring reliable data acquisition. The results demonstrate that optimizing the UAV magnetometer survey can yield to industry standard measurements.

Aerial images visual localization on a vector map using color-texture segmentation

NASA Astrophysics Data System (ADS)

Kunina, I. A.; Teplyakov, L. M.; Gladkov, A. P.; Khanipov, T. M.; Nikolaev, D. P.

2018-04-01

In this paper we study the problem of combining UAV obtained optical data and a coastal vector map in absence of satellite navigation data. The method is based on presenting the territory as a set of segments produced by color-texture image segmentation. We then find such geometric transform which gives the best match between these segments and land and water areas of the georeferenced vector map. We calculate transform consisting of an arbitrary shift relatively to the vector map and bound rotation and scaling. These parameters are estimated using the RANSAC algorithm which matches the segments contours and the contours of land and water areas of the vector map. To implement this matching we suggest computing shape descriptors robust to rotation and scaling. We performed numerical experiments demonstrating the practical applicability of the proposed method.

A method of fast mosaic for massive UAV images

NASA Astrophysics Data System (ADS)

Xiang, Ren; Sun, Min; Jiang, Cheng; Liu, Lei; Zheng, Hui; Li, Xiaodong

2014-11-01

With the development of UAV technology, UAVs are used widely in multiple fields such as agriculture, forest protection, mineral exploration, natural disaster management and surveillances of public security events. In contrast of traditional manned aerial remote sensing platforms, UAVs are cheaper and more flexible to use. So users can obtain massive image data with UAVs, but this requires a lot of time to process the image data, for example, Pix4UAV need approximately 10 hours to process 1000 images in a high performance PC. But disaster management and many other fields require quick respond which is hard to realize with massive image data. Aiming at improving the disadvantage of high time consumption and manual interaction, in this article a solution of fast UAV image stitching is raised. GPS and POS data are used to pre-process the original images from UAV, belts and relation between belts and images are recognized automatically by the program, in the same time useless images are picked out. This can boost the progress of finding match points between images. Levenberg-Marquard algorithm is improved so that parallel computing can be applied to shorten the time of global optimization notably. Besides traditional mosaic result, it can also generate superoverlay result for Google Earth, which can provide a fast and easy way to show the result data. In order to verify the feasibility of this method, a fast mosaic system of massive UAV images is developed, which is fully automated and no manual interaction is needed after original images and GPS data are provided. A test using 800 images of Kelan River in Xinjiang Province shows that this system can reduce 35%-50% time consumption in contrast of traditional methods, and increases respond speed of UAV image processing rapidly.

Distributed control systems with incomplete and uncertain information

NASA Astrophysics Data System (ADS)

Tang, Jingpeng

Scientific and engineering advances in wireless communication, sensors, propulsion, and other areas are rapidly making it possible to develop unmanned air vehicles (UAVs) with sophisticated capabilities. UAVs have come to the forefront as tools for airborne reconnaissance to search for, detect, and destroy enemy targets in relatively complex environments. They potentially reduce risk to human life, are cost effective, and are superior to manned aircraft for certain types of missions. It is desirable for UAVs to have a high level of intelligent autonomy to carry out mission tasks with little external supervision and control. This raises important issues involving tradeoffs between centralized control and the associated potential to optimize mission plans, and decentralized control with great robustness and the potential to adapt to changing conditions. UAV capabilities have been extended several ways through armament (e.g., Hellfire missiles on Predator UAVs), increased endurance and altitude (e.g., Global Hawk), and greater autonomy. Some known barriers to full-scale implementation of UAVs are increased communication and control requirements as well as increased platform and system complexity. One of the key problems is how UAV systems can handle incomplete and uncertain information in dynamic environments. Especially when the system is composed of heterogeneous and distributed UAVs, the overall system complexity is increased under such conditions. Presented through the use of published papers, this dissertation lays the groundwork for the study of methodologies for handling incomplete and uncertain information for distributed control systems. An agent-based simulation framework is built to investigate mathematical approaches (optimization) and emergent intelligence approaches. The first paper provides a mathematical approach for systems of UAVs to handle incomplete and uncertain information. The second paper describes an emergent intelligence approach for UAVs, again in handling incomplete and uncertain information. The third paper combines mathematical and emergent intelligence approaches.

Towards Innovative Geospatial Tools for Fit-For Land Rights Mapping

NASA Astrophysics Data System (ADS)

Koeva, M.; Bennett, R.; Gerke, M.; Crommelinck, S.; Stöcker, C.; Crompvoets, J.; Ho, S.; Schwering, A.; Chipofya, M.; Schultz, C.; Zein, T.; Biraro, M.; Alemie, B.; Wayumba, R.; Kundert, K.

2017-09-01

In large parts of sub Saharan Africa it remains an ongoing challenging to map millions of unrecognized land rights. Existing approaches for recognizing these rights have proven inappropriate in many cases. A new generation of tools needs to be developed to support faster, cheaper, easier, and more responsible land rights mapping. This is the main goal of its4land, an European Commission Horizon 2020 project that aims to develop innovative tools inspired by the continuum of land rights, fit-for-purpose land administration, and cadastral intelligence. its4land is using strategic collaboration between the EU and East Africa to deliver innovative, scalable, and transferrable ICT solutions. The innovation process incorporates a broad range of stakeholders and emergent geospatial technologies, including smart sketchmaps, UAVs, automated feature extraction, as well as geocloud services. The aim is to combine innovative technologies, capture the specific needs, market opportunities and readiness of end-users in the domain of land tenure information recording in Eastern Africa. The project consists of a four year work plan, € 3.9M funding, and eight consortium partners collaborating with stakeholders from six case study locations in Ethiopia, Kenya, and Rwanda. The major tasks include tool development, prototyping, and demonstration for local, national, regional, and international interest groups. The case locations cover different land uses such as: urban, peri-urban, rural smallholder, and (former) pastoralist. This paper describes the project's activities within the first 18 months and covers barriers discovered, lessons learned and results achieved.

Does foot pitch at ground contact affect parachute landing technique?

PubMed

Whitting, John W; Steele, Julie R; Jaffrey, Mark; Munro, Bridget J

2009-08-01

The Australian Defence Force Parachute Training School instructs trainees to make initial ground contact using a flat foot whereas United States paratroopers are taught to contact the ground with the ball of the foot first. This study aimed to determine whether differences in foot pitch affected parachute landing technique. Kinematic, ground reaction force and electromyographic data were analyzed for 28 parachutists who performed parachute landings (vertical descent velocity = 3.4 m x s(-1)) from a monorail apparatus. Independent t-tests were used to determine significant (p < 0.05) differences between variables characterizing foot pitch. Subjects who landed flat-footed displayed less knee and ankle flexion, sustained higher peak ground reaction forces, and took less time to reach peak force than those who landed on the balls of their feet. Although forefoot landings lowered ground reaction forces compared to landing flat-footed, further research is required to confirm whether this is a safer parachute landing strategy.

Route constraints model based on polychromatic sets

NASA Astrophysics Data System (ADS)

Yin, Xianjun; Cai, Chao; Wang, Houjun; Li, Dongwu

2018-03-01

With the development of unmanned aerial vehicle (UAV) technology, the fields of its application are constantly expanding. The mission planning of UAV is especially important, and the planning result directly influences whether the UAV can accomplish the task. In order to make the results of mission planning for unmanned aerial vehicle more realistic, it is necessary to consider not only the physical properties of the aircraft, but also the constraints among the various equipment on the UAV. However, constraints among the equipment of UAV are complex, and the equipment has strong diversity and variability, which makes these constraints difficult to be described. In order to solve the above problem, this paper, referring to the polychromatic sets theory used in the advanced manufacturing field to describe complex systems, presents a mission constraint model of UAV based on polychromatic sets.

An Application of UAV Attitude Estimation Using a Low-Cost Inertial Navigation System

NASA Technical Reports Server (NTRS)

Eure, Kenneth W.; Quach, Cuong Chi; Vazquez, Sixto L.; Hogge, Edward F.; Hill, Boyd L.

2013-01-01

Unmanned Aerial Vehicles (UAV) are playing an increasing role in aviation. Various methods exist for the computation of UAV attitude based on low cost microelectromechanical systems (MEMS) and Global Positioning System (GPS) receivers. There has been a recent increase in UAV autonomy as sensors are becoming more compact and onboard processing power has increased significantly. Correct UAV attitude estimation will play a critical role in navigation and separation assurance as UAVs share airspace with civil air traffic. This paper describes attitude estimation derived by post-processing data from a small low cost Inertial Navigation System (INS) recorded during the flight of a subscale commercial off the shelf (COTS) UAV. Two discrete time attitude estimation schemes are presented here in detail. The first is an adaptation of the Kalman Filter to accommodate nonlinear systems, the Extended Kalman Filter (EKF). The EKF returns quaternion estimates of the UAV attitude based on MEMS gyro, magnetometer, accelerometer, and pitot tube inputs. The second scheme is the complementary filter which is a simpler algorithm that splits the sensor frequency spectrum based on noise characteristics. The necessity to correct both filters for gravity measurement errors during turning maneuvers is demonstrated. It is shown that the proposed algorithms may be used to estimate UAV attitude. The effects of vibration on sensor measurements are discussed. Heuristic tuning comments pertaining to sensor filtering and gain selection to achieve acceptable performance during flight are given. Comparisons of attitude estimation performance are made between the EKF and the complementary filter.

Vibration energy harvesting for unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Anton, Steven R.; Inman, Daniel J.

2008-03-01

Unmanned aerial vehicles (UAVs) are a critical component of many military operations. Over the last few decades, the evolution of UAVs has given rise to increasingly smaller aircraft. Along with the development of smaller UAVs, termed mini UAVs, has come issues involving the endurance of the aircraft. Endurance in mini UAVs is problematic because of the limited size of the fuel systems that can be incorporated into the aircraft. A large portion of the total mass of many electric powered mini UAVs, for example, is the rechargeable battery power source. Energy harvesting is an attractive technology for mini UAVs because it offers the potential to increase their endurance without adding significant mass or the need to increase the size of the fuel system. This paper investigates the possibility of harvesting vibration and solar energy in a mini UAV. Experimentation has been carried out on a remote controlled (RC) glider aircraft with a 1.8 m wing span. This aircraft was chosen to replicate the current electric mini UAVs used by the military today. The RC glider was modified to include two piezoelectric patches placed at the roots of the wings and a cantilevered piezoelectric beam installed in the fuselage to harvest energy from wing vibrations and rigid body motions of the aircraft, as well as two thin film photovoltaic panels attached to the top of the wings to harvest energy from sunlight. Flight testing has been performed and the power output of the piezoelectric and photovoltaic devices has been examined.

Volumetric calculation using low cost unmanned aerial vehicle (UAV) approach

NASA Astrophysics Data System (ADS)

Rahman, A. A. Ab; Maulud, K. N. Abdul; Mohd, F. A.; Jaafar, O.; Tahar, K. N.

2017-12-01

Unmanned Aerial Vehicles (UAV) technology has evolved dramatically in the 21st century. It is used by both military and general public for recreational purposes and mapping work. Operating cost for UAV is much cheaper compared to that of normal aircraft and it does not require a large work space. The UAV systems have similar functions with the LIDAR and satellite images technologies. These systems require a huge cost, labour and time consumption to produce elevation and dimension data. Measurement of difficult objects such as water tank can also be done by using UAV. The purpose of this paper is to show the capability of UAV to compute the volume of water tank based on a different number of images and control points. The results were compared with the actual volume of the tank to validate the measurement. In this study, the image acquisition was done using Phantom 3 Professional, which is a low cost UAV. The analysis in this study is based on different volume computations using two and four control points with variety set of UAV images. The results show that more images will provide a better quality measurement. With 95 images and four GCP, the error percentage to the actual volume is about 5%. Four controls are enough to get good results but more images are needed, estimated about 115 until 220 images. All in all, it can be concluded that the low cost UAV has a potential to be used for volume of water and dimension measurement.

Cooperative Search by UAV Teams: A Model Predictive Approach Using Dynamic Graphs

DTIC Science & Technology

2011-10-01

decentralized processing and control architecture. SLAMEM asset models accurately represent the Unicorn UAV platforms and other standard military platforms in...IMPLEMENTATION The CGBMPS algorithm has been successfully field-tested using both Unicorn [27] and Raven [20] UAV platforms. This section describes...the hardware-software system setup and implementation used for testing with Unicorns , Toyon’s UAV test platform. We also present some results from the

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR

PubMed Central

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-01-01

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner. PMID:29439447

Coordinating UAV information for executing national security-oriented collaboration

NASA Astrophysics Data System (ADS)

Isenor, Anthony W.; Allard, Yannick; Lapinski, Anna-Liesa S.; Demers, Hugues; Radulescu, Dan

2014-10-01

Unmanned Aerial Vehicles (UAVs) are being used by numerous nations for defence-related missions. In some cases, the UAV is considered a cost-effective means to acquire data such as imagery over a location or object. Considering Canada's geographic expanse, UAVs are also being suggested as a potential platform for use in surveillance of remote areas, such as northern Canada. However, such activities are typically associated with security as opposed to defence. The use of a defence platform for security activities introduces the issue of information exchange between the defence and security communities and their software applications. This paper explores the flow of information from the system used by the UAVs employed by the Royal Canadian Navy. Multiple computers are setup, each with the information system used by the UAVs, including appropriate communication between the systems. Simulated data that may be expected from a typical maritime UAV mission is then fed into the information system. The information structures common to the Canadian security community are then used to store and transfer the simulated data. The resulting data flow from the defence-oriented UAV system to the security-oriented information structure is then displayed using an open source geospatial application. Use of the information structures and applications relevant to the security community avoids the distribution restrictions often associated with defence-specific applications.

Sensor-Oriented Path Planning for Multiregion Surveillance with a Single Lightweight UAV SAR.

PubMed

Li, Jincheng; Chen, Jie; Wang, Pengbo; Li, Chunsheng

2018-02-11

In the surveillance of interested regions by unmanned aerial vehicle (UAV), system performance relies greatly on the motion control strategy of the UAV and the operation characteristics of the onboard sensors. This paper investigates the 2D path planning problem for the lightweight UAV synthetic aperture radar (SAR) system in an environment of multiple regions of interest (ROIs), the sizes of which are comparable to the radar swath width. Taking into account the special requirements of the SAR system on the motion of the platform, we model path planning for UAV SAR as a constrained multiobjective optimization problem (MOP). Based on the fact that the UAV route can be designed in the map image, an image-based path planner is proposed in this paper. First, the neighboring ROIs are merged by the morphological operation. Then, the parts of routes for data collection of the ROIs can be located according to the geometric features of the ROIs and the observation geometry of UAV SAR. Lastly, the route segments for ROIs surveillance are connected by a path planning algorithm named the sampling-based sparse A* search (SSAS) algorithm. Simulation experiments in real scenarios demonstrate that the proposed sensor-oriented path planner can improve the reconnaissance performance of lightweight UAV SAR greatly compared with the conventional zigzag path planner.

Uav-Based 3d Urban Environment Monitoring

NASA Astrophysics Data System (ADS)

Boonpook, Wuttichai; Tan, Yumin; Liu, Huaqing; Zhao, Binbin; He, Lingfeng

2018-04-01

Unmanned Aerial Vehicle (UAV) based remote sensing can be used to make three-dimensions (3D) mapping with great flexibility, besides the ability to provide high resolution images. In this paper we propose a quick-change detection method on UAV images by combining altitude from Digital Surface Model (DSM) and texture analysis from images. Cases of UAV images with and without georeferencing are both considered. Research results show that the accuracy of change detection can be enhanced with georeferencing procedure, and the accuracy and precision of change detection on UAV images which are collected both vertically and obliquely but without georeferencing also have a good performance.

Unmanned Aerial Vehicles and Weapons of Mass Destruction: A Lethal Combination?

DTIC Science & Technology

1997-08-01

assessment ( BDA ), where they allow armed forces to avoid placing pilots at risk. They have also been used to gather nonmilitary information in... BDA purposes. In fact, the Pioneer UAV was praised as "the single most valuable intelligence collector" in the war against Iraq.6 They have proved to...carries half the weapon’s total energy. Finally, as the explosion takes on the familiar " mushroom " shape, winds suck back into the cloud, adding to the

Multi-sensor field trials for detection and tracking of multiple small unmanned aerial vehicles flying at low altitude

NASA Astrophysics Data System (ADS)

Laurenzis, Martin; Hengy, Sebastien; Hommes, Alexander; Kloeppel, Frank; Shoykhetbrod, Alex; Geibig, Thomas; Johannes, Winfried; Naz, Pierre; Christnacher, Frank

2017-05-01

Small unmanned aerial vehicles (UAV) flying at low altitude are becoming more and more a serious threat in civilian and military scenarios. In recent past, numerous incidents have been reported where small UAV were flying in security areas leading to serious danger to public safety or privacy. The detection and tracking of small UAV is a widely discussed topic. Especially, small UAV flying at low altitude in urban environment or near background structures and the detection of multiple UAV at the same time is challenging. Field trials were carried out to investigate the detection and tracking of multiple UAV flying at low altitude with state of the art detection technologies. Here, we present results which were achieved using a heterogeneous sensor network consisting of acoustic antennas, small frequency modulated continuous wave (FMCW) RADAR systems and optical sensors. While acoustics, RADAR and LiDAR were applied to monitor a wide azimuthal area (360°) and to simultaneously track multiple UAV, optical sensors were used for sequential identification with a very narrow field of view.

Cloud-Assisted UAV Data Collection for Multiple Emerging Events in Distributed WSNs.

PubMed

Cao, Huiru; Liu, Yongxin; Yue, Xuejun; Zhu, Wenjian

2017-08-07

In recent years, UAVs (Unmanned Aerial Vehicles) have been widely applied for data collection and image capture. Specifically, UAVs have been integrated with wireless sensor networks (WSNs) to create data collection platforms with high flexibility. However, most studies in this domain focus on system architecture and UAVs' flight trajectory planning while event-related factors and other important issues are neglected. To address these challenges, we propose a cloud-assisted data gathering strategy for UAV-based WSN in the light of emerging events. We also provide a cloud-assisted approach for deriving UAV's optimal flying and data acquisition sequence of a WSN cluster. We validate our approach through simulations and experiments. It has been proved that our methodology outperforms conventional approaches in terms of flying time, energy consumption, and integrity of data acquisition. We also conducted a real-world experiment using a UAV to collect data wirelessly from multiple clusters of sensor nodes for monitoring an emerging event, which are deployed in a farm. Compared against the traditional method, this proposed approach requires less than half the flying time and achieves almost perfect data integrity.

Heterogeneous CPU-GPU moving targets detection for UAV video

NASA Astrophysics Data System (ADS)

Li, Maowen; Tang, Linbo; Han, Yuqi; Yu, Chunlei; Zhang, Chao; Fu, Huiquan

2017-07-01

Moving targets detection is gaining popularity in civilian and military applications. On some monitoring platform of motion detection, some low-resolution stationary cameras are replaced by moving HD camera based on UAVs. The pixels of moving targets in the HD Video taken by UAV are always in a minority, and the background of the frame is usually moving because of the motion of UAVs. The high computational cost of the algorithm prevents running it at higher resolutions the pixels of frame. Hence, to solve the problem of moving targets detection based UAVs video, we propose a heterogeneous CPU-GPU moving target detection algorithm for UAV video. More specifically, we use background registration to eliminate the impact of the moving background and frame difference to detect small moving targets. In order to achieve the effect of real-time processing, we design the solution of heterogeneous CPU-GPU framework for our method. The experimental results show that our method can detect the main moving targets from the HD video taken by UAV, and the average process time is 52.16ms per frame which is fast enough to solve the problem.

A Natural Interaction Interface for UAVs Using Intuitive Gesture Recognition

NASA Technical Reports Server (NTRS)

Chandarana, Meghan; Trujillo, Anna; Shimada, Kenji; Allen, Danette

2016-01-01

The popularity of unmanned aerial vehicles (UAVs) is increasing as technological advancements boost their favorability for a broad range of applications. One application is science data collection. In fields like Earth and atmospheric science, researchers are seeking to use UAVs to augment their current portfolio of platforms and increase their accessibility to geographic areas of interest. By increasing the number of data collection platforms UAVs will significantly improve system robustness and allow for more sophisticated studies. Scientists would like be able to deploy an available fleet of UAVs to fly a desired flight path and collect sensor data without needing to understand the complex low-level controls required to describe and coordinate such a mission. A natural interaction interface for a Ground Control System (GCS) using gesture recognition is developed to allow non-expert users (e.g., scientists) to define a complex flight path for a UAV using intuitive hand gesture inputs from the constructed gesture library. The GCS calculates the combined trajectory on-line, verifies the trajectory with the user, and sends it to the UAV controller to be flown.

Multi-Criteria GIS Analyses with the Use of Uavs for the Needs of Spatial Planning

NASA Astrophysics Data System (ADS)

Zawieska, D.; Markiewicz, J.; Turek, A.; Bakuła, K.; Kowalczyk, M.; Kurczyński, Z.; Ostrowski, W.; Podlasiak, P.

2016-06-01

Utilization of Unmanned Aerial Systems (UAVs) in agriculture, forestry, or other environmental contexts has recently become common. However, in the case of spatial planning, the role of UAVs still seems to be underestimated. At present, sections of municipal development use UAVs mainly for promotional purposes (films, folders, brochures, etc.). The use of UAVs for spatial management provides results, first of all, in the form of savings in human resources and time; however, more frequently, it is also connected with financial savings (given the decreasing cost of UAVs and photogrammetric software). The performed research presented here relates to the possibilities of using UAVs to update planning documents, and, in particular, to update the study of conditions and directions of spatial management and preparation of local plans for physical management. Based on acquired photographs with a resolution of 3 cm, a cloud of points is generated, as well as 3D models and the true orthophotomap. These data allow multi-criteria spatial analyses. Additionally, directions of development and changes in physical management are analysed for the given area.

Estimating spatially distributed turbulent heat fluxes from high-resolution thermal imagery acquired with a UAV system

PubMed Central

Brenner, Claire; Thiem, Christina Elisabeth; Wizemann, Hans-Dieter; Bernhardt, Matthias; Schulz, Karsten

2017-01-01

ABSTRACT In this study, high-resolution thermal imagery acquired with a small unmanned aerial vehicle (UAV) is used to map evapotranspiration (ET) at a grassland site in Luxembourg. The land surface temperature (LST) information from the thermal imagery is the key input to a one-source and two-source energy balance model. While the one-source model treats the surface as a single uniform layer, the two-source model partitions the surface temperature and fluxes into soil and vegetation components. It thus explicitly accounts for the different contributions of both components to surface temperature as well as turbulent flux exchange with the atmosphere. Contrary to the two-source model, the one-source model requires an empirical adjustment parameter in order to account for the effect of the two components. Turbulent heat flux estimates of both modelling approaches are compared to eddy covariance (EC) measurements using the high-resolution input imagery UAVs provide. In this comparison, the effect of different methods for energy balance closure of the EC data on the agreement between modelled and measured fluxes is also analysed. Additionally, the sensitivity of the one-source model to the derivation of the empirical adjustment parameter is tested. Due to the very dry and hot conditions during the experiment, pronounced thermal patterns developed over the grassland site. These patterns result in spatially variable turbulent heat fluxes. The model comparison indicates that both models are able to derive ET estimates that compare well with EC measurements under these conditions. However, the two-source model, with a more complex treatment of the energy and surface temperature partitioning between the soil and vegetation, outperformed the simpler one-source model in estimating sensible and latent heat fluxes. This is consistent with findings from prior studies. For the one-source model, a time-variant expression of the adjustment parameter (to account for the difference between aerodynamic and radiometric temperature) that depends on the surface-to-air temperature gradient yielded the best agreement with EC measurements. This study showed that the applied UAV system equipped with a dual-camera set-up allows for the acquisition of thermal imagery with high spatial and temporal resolution that illustrates the small-scale heterogeneity of thermal surface properties. The UAV-based thermal imagery therefore provides the means for analysing patterns of LST and other surface properties with a high level of detail that cannot be obtained by traditional remote sensing methods. PMID:28515537

Estimating spatially distributed turbulent heat fluxes from high-resolution thermal imagery acquired with a UAV system.

PubMed

Brenner, Claire; Thiem, Christina Elisabeth; Wizemann, Hans-Dieter; Bernhardt, Matthias; Schulz, Karsten

2017-05-19

In this study, high-resolution thermal imagery acquired with a small unmanned aerial vehicle (UAV) is used to map evapotranspiration (ET) at a grassland site in Luxembourg. The land surface temperature (LST) information from the thermal imagery is the key input to a one-source and two-source energy balance model. While the one-source model treats the surface as a single uniform layer, the two-source model partitions the surface temperature and fluxes into soil and vegetation components. It thus explicitly accounts for the different contributions of both components to surface temperature as well as turbulent flux exchange with the atmosphere. Contrary to the two-source model, the one-source model requires an empirical adjustment parameter in order to account for the effect of the two components. Turbulent heat flux estimates of both modelling approaches are compared to eddy covariance (EC) measurements using the high-resolution input imagery UAVs provide. In this comparison, the effect of different methods for energy balance closure of the EC data on the agreement between modelled and measured fluxes is also analysed. Additionally, the sensitivity of the one-source model to the derivation of the empirical adjustment parameter is tested. Due to the very dry and hot conditions during the experiment, pronounced thermal patterns developed over the grassland site. These patterns result in spatially variable turbulent heat fluxes. The model comparison indicates that both models are able to derive ET estimates that compare well with EC measurements under these conditions. However, the two-source model, with a more complex treatment of the energy and surface temperature partitioning between the soil and vegetation, outperformed the simpler one-source model in estimating sensible and latent heat fluxes. This is consistent with findings from prior studies. For the one-source model, a time-variant expression of the adjustment parameter (to account for the difference between aerodynamic and radiometric temperature) that depends on the surface-to-air temperature gradient yielded the best agreement with EC measurements. This study showed that the applied UAV system equipped with a dual-camera set-up allows for the acquisition of thermal imagery with high spatial and temporal resolution that illustrates the small-scale heterogeneity of thermal surface properties. The UAV-based thermal imagery therefore provides the means for analysing patterns of LST and other surface properties with a high level of detail that cannot be obtained by traditional remote sensing methods.

Quadriceps force and anterior tibial force occur obviously later than vertical ground reaction force: a simulation study.

PubMed

Ueno, Ryo; Ishida, Tomoya; Yamanaka, Masanori; Taniguchi, Shohei; Ikuta, Ryohei; Samukawa, Mina; Saito, Hiroshi; Tohyama, Harukazu

2017-11-18

Although it is well known that quadriceps force generates anterior tibial force, it has been unclear whether quadriceps force causes great anterior tibial force during the early phase of a landing task. The purpose of the present study was to examine whether the quadriceps force induced great anterior tibial force during the early phase of a landing task. Fourteen young, healthy, female subjects performed a single-leg landing task. Muscle force and anterior tibial force were estimated from motion capture data and synchronized force data from the force plate. One-way repeated measures analysis of variance and the post hoc Bonferroni test were conducted to compare the peak time of the vertical ground reaction force, quadriceps force and anterior tibial force during the single-leg landing. In addition, we examined the contribution of vertical and posterior ground reaction force, knee flexion angle and moment to peak quadriceps force using multiple linear regression. The peak times of the estimated quadriceps force (96.0 ± 23.0 ms) and anterior tibial force (111.9 ± 18.9 ms) were significantly later than that of the vertical ground reaction force (63.5 ± 6.8 ms) during the single-leg landing. The peak quadriceps force was positively correlated with the peak anterior tibial force (R = 0.953, P < 0.001). Multiple linear regression analysis showed that the peak knee flexion moment contributed significantly to the peak quadriceps force (R 2  = 0.778, P < 0.001). The peak times of the quadriceps force and the anterior tibial force were obviously later than that of the vertical ground reaction force for the female athletes during successful single-leg landings. Studies have reported that the peak time of the vertical ground reaction force was close to the time of anterior cruciate ligament (ACL) disruption in ACL injury cases. It is possible that early contraction of the quadriceps during landing might induce ACL disruption as a result of excessive anterior tibial force in unanticipated situations in ACL injury cases.

Aircraft Survivability: UAVs and Manned Aircraft - Increasing Effectiveness and Survivability, Fall 2002

DTIC Science & Technology

2002-01-01

techniques that interface with the composite structure to attach opaque armor(s) to compos- ite aircraft structure. Over a period of four years...2002 2. REPORT TYPE 3. DATES COVERED 00-00-2002 to 00-00-2002 4. TITLE AND SUBTITLE Aircraft Survivability: UAVs and Manned Aircraft ...survivability concepts to UAV program offices and airframe manufacturers. 11 Aircraft Fire Protection Techniques—Application to UAVs by Ms. Ginger Bennett

Exploitation of Self Organization in UAV Swarms for Optimization in Combat Environments

DTIC Science & Technology

2008-03-01

behaviors and entangled hierarchy into Swarmfare [59] UAV simulation environment to include these models. • Validate this new model’s success through...Figure 4.3. The hierarchy of control emerges from the entangled hierarchy of the state relations at the simulation , swarm and rule/behaviors level...majors, major) Abstract Model Types (AMT) Figure A.1: SO Abstract Model Type Table 142 Appendix B. Simulators Comparision Name MATLAB Multi UAV MultiUAV

Technology Challenges in Small UAV Development

NASA Technical Reports Server (NTRS)

Logan, Michael J.; Vranas, Thomas L.; Motter, Mark; Shams, Qamar; Pollock, Dion S.

2005-01-01

Development of highly capable small UAVs present unique challenges for technology protagonists. Size constraints, the desire for ultra low cost and/or disposable platforms, lack of capable design and analysis tools, and unique mission requirements all add to the level of difficulty in creating state-of-the-art small UAVs. This paper presents the results of several small UAV developments, the difficulties encountered, and proposes a list of technology shortfalls that need to be addressed.

UAV State Estimation Modeling Techniques in AHRS

NASA Astrophysics Data System (ADS)

Razali, Shikin; Zhahir, Amzari

2017-11-01

Autonomous unmanned aerial vehicle (UAV) system is depending on state estimation feedback to control flight operation. Estimation on the correct state improves navigation accuracy and achieves flight mission safely. One of the sensors configuration used in UAV state is Attitude Heading and Reference System (AHRS) with application of Extended Kalman Filter (EKF) or feedback controller. The results of these two different techniques in estimating UAV states in AHRS configuration are displayed through position and attitude graphs.

An analysis of the development and application of plant protection UAV based on advanced materials

NASA Astrophysics Data System (ADS)

Huang, Yuan-hui; Wei, Neng; Quan, Zhi-cheng; Huang, Yu-rong

2018-06-01

The development and application of a number of advanced materials plant protection unmanned aerial vehicle (UAV) is an important part of the comprehensive production of agricultural modernization. The paper is taken as an example of Guangxi No. 1 agricultural service aviation science and Technology Co., Ltd. This paper introduces the internal and external environment of the research and development of the plant protection UAV for the advanced materials of the company. The external environment focuses on the role of the plant protection UAV on the development of the agricultural mechanization; the internal environment focuses on the advantages of the UAV in technology research, market promotion and application, which is imperative. Finally, according to the background of the whole industry, we put forward some suggestions for the developing opportunities and challenges faced by plant protection UAV, hoping to proving some ideas for operators, experts and scholars engaged in agricultural industry.

Implementation and Testing of Low Cost Uav Platform for Orthophoto Imaging

NASA Astrophysics Data System (ADS)

Brucas, D.; Suziedelyte-Visockiene, J.; Ragauskas, U.; Berteska, E.; Rudinskas, D.

2013-08-01

Implementation of Unmanned Aerial Vehicles for civilian applications is rapidly increasing. Technologies which were expensive and available only for military use have recently spread on civilian market. There is a vast number of low cost open source components and systems for implementation on UAVs available. Using of low cost hobby and open source components ensures considerable decrease of UAV price, though in some cases compromising its reliability. In Space Science and Technology Institute (SSTI) in collaboration with Vilnius Gediminas Technical University (VGTU) researches have been performed in field of constructing and implementation of small UAVs composed of low cost open source components (and own developments). Most obvious and simple implementation of such UAVs - orthophoto imaging with data download and processing after the flight. The construction, implementation of UAVs, flight experience, data processing and data implementation will be further covered in the paper and presentation.

Millimeter-wave micro-Doppler measurements of small UAVs

NASA Astrophysics Data System (ADS)

Rahman, Samiur; Robertson, Duncan A.

2017-05-01

This paper discusses the micro-Doppler signatures of small UAVs obtained from a millimeter-wave radar system. At first, simulation results are shown to demonstrate the theoretical concept. It is illustrated that whilst the propeller rotation rate of the small UAVs is quite high, millimeter-wave radar systems are capable of capturing the full micro-Doppler spread. Measurements of small UAVs have been performed with both CW and FMCW radars operating at 94 GHz. The CW radar was used for obtaining micro-Doppler signatures of individual propellers. The field test data of a flying small UAV was collected with the FMCW radar and was processed to extract micro-Doppler signatures. The high fidelity results clearly reveal features such as blade flashes and propeller rotation modulation lines which can be used to classify targets. This work confirms that millimeter-wave radar is suitable for the detection and classification of small UAVs at usefully long ranges.

[Small unmanned aerial vehicles for low-altitude remote sensing and its application progress in ecology.

PubMed

Sun, Zhong Yu; Chen, Yan Qiao; Yang, Long; Tang, Guang Liang; Yuan, Shao Xiong; Lin, Zhi Wen

2017-02-01

Low-altitude unmanned aerial vehicles (UAV) remote sensing system overcomes the deficiencies of space and aerial remote sensing system in resolution, revisit period, cloud cover and cost, which provides a novel method for ecological research on mesoscale. This study introduced the composition of UAV remote sensing system, reviewed its applications in species, population, community and ecosystem ecology research. Challenges and opportunities of UAV ecology were identified to direct future research. The promising research area of UAV ecology includes the establishment of species morphology and spectral characteristic data base, species automatic identification, the revelation of relationship between spectral index and plant physiological processes, three-dimension monitoring of ecosystem, and the integration of remote sensing data from multi resources and multi scales. With the development of UAV platform, data transformation and sensors, UAV remote sensing technology will have wide application in ecology research.

Enabling UAV Navigation with Sensor and Environmental Uncertainty in Cluttered and GPS-Denied Environments

PubMed Central

Vanegas, Fernando; Gonzalez, Felipe

2016-01-01

Unmanned Aerial Vehicles (UAV) can navigate with low risk in obstacle-free environments using ground control stations that plan a series of GPS waypoints as a path to follow. This GPS waypoint navigation does however become dangerous in environments where the GPS signal is faulty or is only present in some places and when the airspace is filled with obstacles. UAV navigation then becomes challenging because the UAV uses other sensors, which in turn generate uncertainty about its localisation and motion systems, especially if the UAV is a low cost platform. Additional uncertainty affects the mission when the UAV goal location is only partially known and can only be discovered by exploring and detecting a target. This navigation problem is established in this research as a Partially-Observable Markov Decision Process (POMDP), so as to produce a policy that maps a set of motion commands to belief states and observations. The policy is calculated and updated on-line while flying with a newly-developed system for UAV Uncertainty-Based Navigation (UBNAV), to navigate in cluttered and GPS-denied environments using observations and executing motion commands instead of waypoints. Experimental results in both simulation and real flight tests show that the UAV finds a path on-line to a region where it can explore and detect a target without colliding with obstacles. UBNAV provides a new method and an enabling technology for scientists to implement and test UAV navigation missions with uncertainty where targets must be detected using on-line POMDP in real flight scenarios. PMID:27171096

Smart Cruise Control: UAV sensor operator intent estimation and its application

NASA Astrophysics Data System (ADS)

Cheng, Hui; Butler, Darren; Kumar, Rakesh

2006-05-01

Due to their long endurance, superior mobility and the low risk posed to the pilot and sensor operator, UAVs have become the preferred platform for persistent ISR missions. However, currently most UAV based ISR missions are conducted through manual operation. Event the simplest tasks, such as vehicle tracking, route reconnaissance and site monitoring, need the sensor operator's undivided attention and constant adjustment of the sensor control. The lack of autonomous behaviour greatly limits of the effectiveness and the capability of UAV-based ISR, especially the use of a large number of UAVs simultaneously. Although fully autonomous UAV based ISR system is desirable, it is still a distant dream due to the complexity and diversity of combat and ISR missions. In this paper, we propose a Smart Cruise Control system that can learn UAV sensor operator's intent and use it to complete tasks automatically, such as route reconnaissance and site monitoring. Using an operator attention model, the proposed system can estimate the operator's intent from how they control the sensor (e.g. camera) and the content of the imagery that is acquired. Therefore, for example, from initially manually controlling the UAV sensor to follow a road, the system can learn not only the preferred operation, "tracking", but also the road appearance, "what to track" in real-time. Then, the learnt models of both road and the desired operation can be used to complete the task automatically. We have demonstrated the Smart Cruise Control system using real UAV videos where roads need to be tracked and buildings need to be monitored.

Comprehensive UAV agricultural remote-sensing research at Texas A M University

NASA Astrophysics Data System (ADS)

Thomasson, J. Alex; Shi, Yeyin; Olsenholler, Jeffrey; Valasek, John; Murray, Seth C.; Bishop, Michael P.

2016-05-01

Unmanned aerial vehicles (UAVs) have advantages over manned vehicles for agricultural remote sensing. Flying UAVs is less expensive, is more flexible in scheduling, enables lower altitudes, uses lower speeds, and provides better spatial resolution for imaging. The main disadvantage is that, at lower altitudes and speeds, only small areas can be imaged. However, on large farms with contiguous fields, high-quality images can be collected regularly by using UAVs with appropriate sensing technologies that enable high-quality image mosaics to be created with sufficient metadata and ground-control points. In the United States, rules governing the use of aircraft are promulgated and enforced by the Federal Aviation Administration (FAA), and rules governing UAVs are currently in flux. Operators must apply for appropriate permissions to fly UAVs. In the summer of 2015 Texas A&M University's agricultural research agency, Texas A&M AgriLife Research, embarked on a comprehensive program of remote sensing with UAVs at its 568-ha Brazos Bottom Research Farm. This farm is made up of numerous fields where various crops are grown in plots or complete fields. The crops include cotton, corn, sorghum, and wheat. After gaining FAA permission to fly at the farm, the research team used multiple fixed-wing and rotary-wing UAVs along with various sensors to collect images over all parts of the farm at least once per week. This article reports on details of flight operations and sensing and analysis protocols, and it includes some lessons learned in the process of developing a UAV remote-sensing effort of this sort.

Enabling UAV Navigation with Sensor and Environmental Uncertainty in Cluttered and GPS-Denied Environments.

PubMed

Vanegas, Fernando; Gonzalez, Felipe

2016-05-10

Unmanned Aerial Vehicles (UAV) can navigate with low risk in obstacle-free environments using ground control stations that plan a series of GPS waypoints as a path to follow. This GPS waypoint navigation does however become dangerous in environments where the GPS signal is faulty or is only present in some places and when the airspace is filled with obstacles. UAV navigation then becomes challenging because the UAV uses other sensors, which in turn generate uncertainty about its localisation and motion systems, especially if the UAV is a low cost platform. Additional uncertainty affects the mission when the UAV goal location is only partially known and can only be discovered by exploring and detecting a target. This navigation problem is established in this research as a Partially-Observable Markov Decision Process (POMDP), so as to produce a policy that maps a set of motion commands to belief states and observations. The policy is calculated and updated on-line while flying with a newly-developed system for UAV Uncertainty-Based Navigation (UBNAV), to navigate in cluttered and GPS-denied environments using observations and executing motion commands instead of waypoints. Experimental results in both simulation and real flight tests show that the UAV finds a path on-line to a region where it can explore and detect a target without colliding with obstacles. UBNAV provides a new method and an enabling technology for scientists to implement and test UAV navigation missions with uncertainty where targets must be detected using on-line POMDP in real flight scenarios.

Towards the Automatic Detection of Pre-Existing Termite Mounds through UAS and Hyperspectral Imagery.

PubMed

Sandino, Juan; Wooler, Adam; Gonzalez, Felipe

2017-09-24

The increased technological developments in Unmanned Aerial Vehicles (UAVs) combined with artificial intelligence and Machine Learning (ML) approaches have opened the possibility of remote sensing of extensive areas of arid lands. In this paper, a novel approach towards the detection of termite mounds with the use of a UAV, hyperspectral imagery, ML and digital image processing is intended. A new pipeline process is proposed to detect termite mounds automatically and to reduce, consequently, detection times. For the classification stage, several ML classification algorithms' outcomes were studied, selecting support vector machines as the best approach for their role in image classification of pre-existing termite mounds. Various test conditions were applied to the proposed algorithm, obtaining an overall accuracy of 68%. Images with satisfactory mound detection proved that the method is "resolution-dependent". These mounds were detected regardless of their rotation and position in the aerial image. However, image distortion reduced the number of detected mounds due to the inclusion of a shape analysis method in the object detection phase, and image resolution is still determinant to obtain accurate results. Hyperspectral imagery demonstrated better capabilities to classify a huge set of materials than implementing traditional segmentation methods on RGB images only.

Vulnerability mapping in kelud volcano based on village information

NASA Astrophysics Data System (ADS)

Hisbaron, D. R.; Wijayanti, H.; Iffani, M.; Winastuti, R.; Yudinugroho, M.

2018-04-01

Kelud Volcano is a basaltic andesitic stratovolcano, situated at 27 km to the east of Kediri, Indonesia. Historically, Kelud Volcano has erupted with return period of 9-75 years, had caused nearly 160,000 people living in Tulungagung, Blitar and Kediri District to be in high-risk areas. This study aims to map vulnerability towards lava flows in Kediri and Malang using detailed scale. There are four major variables, namely demography, asset, hazard, and land use variables. PGIS (Participatory Geographic Information System) is employed to collect data, while ancillary data is derived from statistics information, interpretation of high resolution satellite imagery and Unmanned Aerial Vehicles (UAVs). Data were obtained from field checks and some from high resolution satellite imagery and UAVs. The output of this research is village-based vulnerability information that becomes a valuable input for local stakeholders to improve local preparedness in areas prone to improved disaster resilience. The results indicated that the highest vulnerability to lava flood disaster in Kelud Volcano is owned by Kandangan Hamlet, Pandean Hamlet and Kacangan Hamlet, because these two hamlets are in the dominant high vulnerability position of 3 out of 4 scenarios (economic, social and equal).

Evaluation and development of unmanned aircraft (UAV) for UDOT needs.

DOT National Transportation Integrated Search

2012-05-01

This research involved the use of high-resolution aerial photography obtained from Unmanned Aerial Vehicles (UAV) to aid UDOT in monitoring and documenting State Roadway structures and associated issues. Using geo-referenced UAV high resolution aeria...

Research for new UAV capabilities

DOE Office of Scientific and Technical Information (OSTI.GOV)

Canavan, G.H.; Leadabrand, R.

1996-07-01

This paper discusses research for new Unmanned Aerial Vehicles (UAV) capabilities. Findings indicate that UAV performance could be greatly enhanced by modest research. Improved sensors and communications enhance near term cost effectiveness. Improved engines, platforms, and stealth improve long term effectiveness.

Dryden's David Bushman explains the capabilities of the Altus UAV to NASA Langley's Charles Hudgins

NASA Image and Video Library

2003-05-27

David Bushman, unmanned aerial vehicle (UAV) mission manager in NASA Dryden's Airborne Science Program, explains the capabilities of the Altus UAV to Charles Hudgins of NASA Langley's Chemistry and Dynamics Branch.

Possibilities of Use of UAVS for Technical Inspection of Buildings and Constructions

NASA Astrophysics Data System (ADS)

Banaszek, Anna; Banaszek, Sebastian; Cellmer, Anna

2017-12-01

In recent years, Unmanned Aerial Vehicles (UAVs) have been used in various sectors of the economy. This is due to the development of new technologies for acquiring and processing geospatial data. The paper presents the results of experiments using UAV, equipped with a high resolution digital camera, for a visual assessment of the technical condition of the building roof and for the inventory of energy infrastructure and its surroundings. The usefulness of digital images obtained from the UAV deck is presented in concrete examples. The use of UAV offers new opportunities in the area of technical inspection due to the detail and accuracy of the data, low operating costs and fast data acquisition.

Jump Shrug Height and Landing Forces Across Various Loads.

PubMed

Suchomel, Timothy J; Taber, Christopher B; Wright, Glenn A

2016-01-01

The purpose of this study was to examine the effect that load has on the mechanics of the jump shrug. Fifteen track and field and club/intramural athletes (age 21.7 ± 1.3 y, height 180.9 ± 6.6 cm, body mass 84.7 ± 13.2 kg, 1-repetition-maximum (1RM) hang power clean 109.1 ± 17.2 kg) performed repetitions of the jump shrug at 30%, 45%, 65%, and 80% of their 1RM hang power clean. Jump height, peak landing force, and potential energy of the system at jump-shrug apex were compared between loads using a series of 1-way repeated-measures ANOVAs. Statistical differences in jump height (P < .001), peak landing force (P = .012), and potential energy of the system (P < .001) existed; however, there were no statistically significant pairwise comparisons in peak landing force between loads (P > .05). The greatest magnitudes of jump height, peak landing force, and potential energy of the system at the apex of the jump shrug occurred at 30% 1RM hang power clean and decreased as the external load increased from 45% to 80% 1RM hang power clean. Relationships between peak landing force and potential energy of the system at jump-shrug apex indicate that the landing forces produced during the jump shrug may be due to the landing strategy used by the athletes, especially at lighter loads. Practitioners may prescribe heavier loads during the jump-shrug exercise without viewing landing force as a potential limitation.

Development of a UAV system for VNIR-TIR acquisitions in precision agriculture

NASA Astrophysics Data System (ADS)

Misopolinos, L.; Zalidis, Ch.; Liakopoulos, V.; Stavridou, D.; Katsigiannis, P.; Alexandridis, T. K.; Zalidis, G.

2015-06-01

Adoption of precision agriculture techniques requires the development of specialized tools that provide spatially distributed information. Both flying platforms and airborne sensors are being continuously evolved to cover the needs of plant and soil sensing at affordable costs. Due to restrictions in payload, flying platforms are usually limited to carry a single sensor on board. The aim of this work is to present the development of a vertical take-off and landing autonomous unmanned aerial vehicle (VTOL UAV) system for the simultaneous acquisition of high resolution vertical images at the visible, near infrared (VNIR) and thermal infrared (TIR) wavelengths. A system was developed that has the ability to trigger two cameras simultaneously with a fully automated process and no pilot intervention. A commercial unmanned hexacopter UAV platform was optimized to increase reliability, ease of operation and automation. The designed systems communication platform is based on a reduced instruction set computing (RISC) processor running Linux OS with custom developed drivers in an efficient way, while keeping the cost and weight to a minimum. Special software was also developed for the automated image capture, data processing and on board data and metadata storage. The system was tested over a kiwifruit field in northern Greece, at flying heights of 70 and 100m above the ground. The acquired images were mosaicked and geo-corrected. Images from both flying heights were of good quality and revealed unprecedented detail within the field. The normalized difference vegetation index (NDVI) was calculated along with the thermal image in order to provide information on the accurate location of stressors and other parameters related to the crop productivity. Compared to other available sources of data, this system can provide low cost, high resolution and easily repeatable information to cover the requirements of precision agriculture.

Confidential and Authenticated Communications in a Large Fixed-Wing UAV Swarm

DTIC Science & Technology

2016-12-01

either a UAV or a ground station. Asymmetric cryptography is not an option for swarm communications. It is a potential option for initially keying or...each UAV grows ten bytes for each UAV in the swarm, and a 30% overhead is added on for worst case cryptography . The resulting throughput is...analysis in Section IV, we can predict the burden that cryptography places on the ODroid computer. Given that the average unencrypted message size was

Study on the aerodynamic behavior of a UAV with an applied seeder for agricultural practices

NASA Astrophysics Data System (ADS)

Felismina, Raimundo; Silva, Miguel; Mateus, Artur; Malça, Cândida

2017-06-01

It is irrefutable that the use of Unmanned Airborne Vehicle Systems (UAVs) in agricultural tasks and on the analysis of health and vegetative conditions represents a powerful tool in modern agriculture. To contribute to the growth of the agriculture economic sector a seeder to be coupled to any type of UAV was previously developed and designed by the authors. This seeder allows for the deposition of seeds with positional accuracy, i.e., seeds are accurately deposited at pre-established distances between plants [1]. This work aims at analyzing the aerodynamic behavior of UAV/Seeder assembly to determine the suitable inclination - among 0°, 15° and 30° - for its takeoff and for its motion during the seeding operation and, in turn, to define the suitable flight plan that increases the batteries autonomy. For this the ANSYS® FLUENT computational tool was used to simulate a wind tunnel which has as principle the Navier-Stokes differential equations, that designates the fluid flow around the UAV/Seeder assembly. The aerodynamic results demonstrated that for take-off the UAV inclination of 30° is the aerodynamically most favorable position due to the lower aerodynamic drag during the climb. Concerning flying motion during the seeding procedure the UAV inclination of 0° is that which leads to lower UAV/Seeder frontal area and drag coefficient.

Formation Flying for Satellites and Unmanned Aerial Vehicles

NASA Technical Reports Server (NTRS)

Merrill, Garrick

2015-01-01

The shrinking size of satellites and unmanned aerial vehicles (UAVs) is enabling lower cost missions. As sensors and electronics continue to downsize, the next step is multiple vehicles providing different perspectives or variations for more precise measurements. While flying a single satellite or UAV autonomously is a challenge, flying multiple vehicles in a precise formation is even more challenging. The goal of this project is to develop a scalable mesh network between vehicles (satellites or UAVs) to share real-time position data and maintain formations autonomously. Newly available low-cost, commercial off-the-shelf credit card size computers will be used as the basis for this network. Mesh networking techniques will be used to provide redundant links and a flexible network. The Small Projects Rapid Integration and Test Environment Lab will be used to simulate formation flying of satellites. UAVs built by the Aero-M team will be used to demonstrate the formation flying in the West Test Area. The ability to test in flight on NASA-owned UAVs allows this technology to achieve a high Technology Readiness Level (TRL) (TRL-4 for satellites and TRL-7 for UAVs). The low cost of small UAVs and the availability of a large test range (West Test Area) dramatically reduces the expense of testing. The end goal is for this technology to be ready to use on any multiple satellite or UAV mission.

Visual signature reduction of unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Zhong, Z. W.; Ma, Z. X.; Jayawijayaningtiyas; Ngoh, J. H. H.

2016-10-01

With the emergence of unmanned aerial vehicles (UAVs) in multiple tactical defence missions, there was a need for an efficient visual signature suppression system for a more efficient stealth operation. One of our studies experimentally investigated the visual signature reduction of UAVs achieved through an active camouflage system. A prototype was constructed with newly developed operating software, Cloak, to provide active camouflage to the UAV model. The reduction of visual signature was analysed. Tests of the devices mounted on UAVs were conducted in another study. A series of experiments involved testing of the concept as well as the prototype. The experiments were conducted both in the laboratory and under normal environmental conditions. Results showed certain degrees of blending with the sky to create a camouflage effect. A mini-UAV made mostly out of transparent plastic was also designed and fabricated. Because of the transparency of the plastic material, the visibility of this UAV in the air is very small, and therefore the UAV is difficult to be detected. After re-designs and tests, eventually a practical system to reduce the visibility of UAVs viewed by human observers from the ground was developed. The system was evaluated during various outdoor tests. The scene target-to-background lightness contrast and the scene target-to-background colour contrast of the adaptive control system prototype were smaller than 10% at a stand-off viewing distance of 20-50 m.

Output feedback control of a quadrotor UAV using neural networks.

PubMed

Dierks, Travis; Jagannathan, Sarangapani

2010-01-01

In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.

Slic Superpixels for Object Delineation from Uav Data

NASA Astrophysics Data System (ADS)

Crommelinck, S.; Bennett, R.; Gerke, M.; Koeva, M. N.; Yang, M. Y.; Vosselman, G.

2017-08-01

Unmanned aerial vehicles (UAV) are increasingly investigated with regard to their potential to create and update (cadastral) maps. UAVs provide a flexible and low-cost platform for high-resolution data, from which object outlines can be accurately delineated. This delineation could be automated with image analysis methods to improve existing mapping procedures that are cost, time and labor intensive and of little reproducibility. This study investigates a superpixel approach, namely simple linear iterative clustering (SLIC), in terms of its applicability to UAV data. The approach is investigated in terms of its applicability to high-resolution UAV orthoimages and in terms of its ability to delineate object outlines of roads and roofs. Results show that the approach is applicable to UAV orthoimages of 0.05 m GSD and extents of 100 million and 400 million pixels. Further, the approach delineates the objects with the high accuracy provided by the UAV orthoimages at completeness rates of up to 64 %. The approach is not suitable as a standalone approach for object delineation. However, it shows high potential for a combination with further methods that delineate objects at higher correctness rates in exchange of a lower localization quality. This study provides a basis for future work that will focus on the incorporation of multiple methods for an interactive, comprehensive and accurate object delineation from UAV data. This aims to support numerous application fields such as topographic and cadastral mapping.

Vertical and Horizontal Impact Force Comparison During Jump Landings With and Without Rotation in NCAA Division I Male Soccer Players.

PubMed

Harry, John R; Barker, Leland A; Mercer, John A; Dufek, Janet S

2017-07-01

Harry, JR, Barker, LA, Mercer, JA, and Dufek, JS. Vertical and horizontal impact force comparison during jump landings with and without rotation in NCAA Division I male soccer players. J Strength Cond Res 31(7): 1780-1786, 2017-There is a wealth of research on impact force characteristics when landing from a jump. However, there are no data on impact forces during landing from a jump with an airborne rotation about the vertical axis. We examined impact force parameters in the vertical and horizontal axes during vertical jump (VJ) landings and VJ landings with a 180° rotation (VJR). Twenty-four Division I male soccer players performed 3 VJ and VJR landings on a dual-force platform system. Paired-samples t-tests (α = 0.05) compared differences in the first (F1) and second (F2) peak vertical ground reaction forces, times to F1 (tF1), F2 (tF2), and the end of the impact phase, vertical impulse, and anterior-posterior and medial-lateral force couples. Effect sizes (ES; large >0.8) were computed to determine the magnitude of the differences. Lower jump height (41.60 ± 4.03 cm, VJ landings; 39.40 ± 4.05 cm, VJR landings; p = 0.002; ES = 0.39), greater F2 (55.71 ± 11.95 N·kg, VJ; 68.16 ± 14.82 N·kg; p < 0.001; ES = 0.94), faster tF2 (0.057 ± 0.012 seconds, VJ; 0.047 ± 0.011 seconds, VJR; p = 0.001; ES = 0.89), greater anterior-posterior (0.06 ± 0.03 N·s·kg, VJ; 0.56 ± 0.15 N·s·kg, VJR; p < 0.001; ES = 1.83) and medial-lateral force couples (0.29 ± 0.11 N·s·kg, VJ; 0.56 ± 0.14 N·s·kg, VJR; p < 0.001; ES = 1.46) occurred during VJR landings. No other differences were identified. This kinetic analysis determined that landing from a jump with 180° airborne rotation is different than landing from a jump without an airborne rotation. Male Division I soccer players could benefit from increasing the volume of VJR landings during training to address the differences in jump height and force parameters compared with VJ landings.

LightDenseYOLO: A Fast and Accurate Marker Tracker for Autonomous UAV Landing by Visible Light Camera Sensor on Drone.

PubMed

Nguyen, Phong Ha; Arsalan, Muhammad; Koo, Ja Hyung; Naqvi, Rizwan Ali; Truong, Noi Quang; Park, Kang Ryoung

2018-05-24

Autonomous landing of an unmanned aerial vehicle or a drone is a challenging problem for the robotics research community. Previous researchers have attempted to solve this problem by combining multiple sensors such as global positioning system (GPS) receivers, inertial measurement unit, and multiple camera systems. Although these approaches successfully estimate an unmanned aerial vehicle location during landing, many calibration processes are required to achieve good detection accuracy. In addition, cases where drones operate in heterogeneous areas with no GPS signal should be considered. To overcome these problems, we determined how to safely land a drone in a GPS-denied environment using our remote-marker-based tracking algorithm based on a single visible-light-camera sensor. Instead of using hand-crafted features, our algorithm includes a convolutional neural network named lightDenseYOLO to extract trained features from an input image to predict a marker's location by visible light camera sensor on drone. Experimental results show that our method significantly outperforms state-of-the-art object trackers both using and not using convolutional neural network in terms of both accuracy and processing time.

Trait-based cue Utilization and initial skill acquisition: implications for models of the progression to expertise

PubMed Central

Wiggins, Mark W.; Brouwers, Sue; Davies, Joel; Loveday, Thomas

2014-01-01

The primary aim of this study was to examine the role of cue utilization in the initial acquisition of psycho-motor skills. Two experiments were undertaken, the first of which examined the relationship between cue utilization typologies and levels of accuracy following four simulated, power-off landing trials in a light aircraft simulator. The results indicated that higher levels of cue utilization were associated with a greater level of landing accuracy following training exposure. In the second study, participants’ levels of cue utilization were assessed prior to two 15 min periods during which they practiced take-offs and landings using a simulated unmanned aerial vehicle (UAV). Consistent with Study 1, the outcomes of Study 2 revealed a statistically significant relationship among levels of cue utilization and the number of trials to criterion on the take-off task, and the proportion of successful trials during both take-off and landing. In combination, the results suggest that the capacity for the acquisition and the subsequent utilization of cues is an important predictor of skill acquisition, particularly during the initial stages of the process. The implications for theory and applied practice are discussed. PMID:24917844

The Use of Drones in Spain: Towards a Platform for Controlling UAVs in Urban Environments.

PubMed

Chamoso, Pablo; González-Briones, Alfonso; Rivas, Alberto; Bueno De Mata, Federico; Corchado, Juan Manuel

2018-05-03

Rapid advances in technology make it necessary to prepare our society in every aspect. Some of the most significant technological developments of the last decade are the UAVs (Unnamed Aerial Vehicles) or drones. UAVs provide a wide range of new possibilities and have become a tool that we now use on a daily basis. However, if their use is not controlled, it could entail several risks, which make it necessary to legislate and monitor UAV flights to ensure, inter alia, the security and privacy of all citizens. As a result of this problem, several laws have been passed which seek to regulate their use; however, no proposals have been made with regards to the control of airspace from a technological point of view. This is exactly what we propose in this article: a platform with different modes designed to control UAVs and monitor their status. The features of the proposed platform provide multiple advantages that make the use of UAVs more secure, such as prohibiting UAVs’ access to restricted areas or avoiding collisions between vehicles. The platform has been successfully tested in Salamanca, Spain.

a Three-Dimensional Simulation and Visualization System for Uav Photogrammetry

NASA Astrophysics Data System (ADS)

Liang, Y.; Qu, Y.; Cui, T.

2017-08-01

Nowadays UAVs has been widely used for large-scale surveying and mapping. Compared with manned aircraft, UAVs are more cost-effective and responsive. However, UAVs are usually more sensitive to wind condition, which greatly influences their positions and orientations. The flight height of a UAV is relative low, and the relief of the terrain may result in serious occlusions. Moreover, the observations acquired by the Position and Orientation System (POS) are usually less accurate than those acquired in manned aerial photogrammetry. All of these factors bring in uncertainties to UAV photogrammetry. To investigate these uncertainties, a three-dimensional simulation and visualization system has been developed. The system is demonstrated with flight plan evaluation, image matching, POS-supported direct georeferencing, and ortho-mosaicing. Experimental results show that the presented system is effective for flight plan evaluation. The generated image pairs are accurate and false matches can be effectively filtered. The presented system dynamically visualizes the results of direct georeferencing in three-dimensions, which is informative and effective for real-time target tracking and positioning. The dynamically generated orthomosaic can be used in emergency applications. The presented system has also been used for teaching theories and applications of UAV photogrammetry.

Curvature Continuous and Bounded Path Planning for Fixed-Wing UAVs

PubMed Central

Jiang, Peng; Li, Deshi; Sun, Tao

2017-01-01

Unmanned Aerial Vehicles (UAVs) play an important role in applications such as data collection and target reconnaissance. An accurate and optimal path can effectively increase the mission success rate in the case of small UAVs. Although path planning for UAVs is similar to that for traditional mobile robots, the special kinematic characteristics of UAVs (such as their minimum turning radius) have not been taken into account in previous studies. In this paper, we propose a locally-adjustable, continuous-curvature, bounded path-planning algorithm for fixed-wing UAVs. To deal with the curvature discontinuity problem, an optimal interpolation algorithm and a key-point shift algorithm are proposed based on the derivation of a curvature continuity condition. To meet the upper bound for curvature and to render the curvature extrema controllable, a local replanning scheme is designed by combining arcs and Bezier curves with monotonic curvature. In particular, a path transition mechanism is built for the replanning phase using minimum curvature circles for a planning philosophy. Numerical results demonstrate that the analytical planning algorithm can effectively generate continuous-curvature paths, while satisfying the curvature upper bound constraint and allowing UAVs to pass through all predefined waypoints in the desired mission region. PMID:28925960

Curvature Continuous and Bounded Path Planning for Fixed-Wing UAVs.

PubMed

Wang, Xiaoliang; Jiang, Peng; Li, Deshi; Sun, Tao

2017-09-19

Unmanned Aerial Vehicles (UAVs) play an important role in applications such as data collection and target reconnaissance. An accurate and optimal path can effectively increase the mission success rate in the case of small UAVs. Although path planning for UAVs is similar to that for traditional mobile robots, the special kinematic characteristics of UAVs (such as their minimum turning radius) have not been taken into account in previous studies. In this paper, we propose a locally-adjustable, continuous-curvature, bounded path-planning algorithm for fixed-wing UAVs. To deal with the curvature discontinuity problem, an optimal interpolation algorithm and a key-point shift algorithm are proposed based on the derivation of a curvature continuity condition. To meet the upper bound for curvature and to render the curvature extrema controllable, a local replanning scheme is designed by combining arcs and Bezier curves with monotonic curvature. In particular, a path transition mechanism is built for the replanning phase using minimum curvature circles for a planning philosophy. Numerical results demonstrate that the analytical planning algorithm can effectively generate continuous-curvature paths, while satisfying the curvature upper bound constraint and allowing UAVs to pass through all predefined waypoints in the desired mission region.

Analyzing the threat of unmanned aerial vehicles (UAV) to nuclear facilities

DOE PAGES

Solodov, Alexander; Williams, Adam; Al Hanaei, Sara; ...

2017-04-18

Unmanned aerial vehicles (UAV) are among the major growing technologies that have many beneficial applications, yet they can also pose a significant threat. Recently, several incidents occurred with UAVs violating privacy of the public and security of sensitive facilities, including several nuclear power plants in France. The threat of UAVs to the security of nuclear facilities is of great importance and is the focus of this work. This paper presents an overview of UAV technology and classification, as well as its applications and potential threats. We show several examples of recent security incidents involving UAVs in France, USA, and Unitedmore » Arab Emirates. Further, the potential threats to nuclear facilities and measures to prevent them are evaluated. The importance of measures for detection, delay, and response (neutralization) of UAVs at nuclear facilities are discussed. An overview of existing technologies along with their strength and weaknesses are shown. Finally, the results of a gap analysis in existing approaches and technologies is presented in the form of potential technological and procedural areas for research and development. Furthermore based on this analysis, directions for future work in the field can be devised and prioritized.« less

Secure Utilization of Beacons and UAVs in Emergency Response Systems for Building Fire Hazard

PubMed Central

Seo, Seung-Hyun; Choi, Jung-In; Song, Jinseok

2017-01-01

An intelligent emergency system for hazard monitoring and building evacuation is a very important application area in Internet of Things (IoT) technology. Through the use of smart sensors, such a system can provide more vital and reliable information to first-responders and also reduce the incidents of false alarms. Several smart monitoring and warning systems do already exist, though they exhibit key weaknesses such as a limited monitoring coverage and security, which have not yet been sufficiently addressed. In this paper, we propose a monitoring and emergency response method for buildings by utilizing beacons and Unmanned Aerial Vehicles (UAVs) on an IoT security platform. In order to demonstrate the practicability of our method, we also implement a proof of concept prototype, which we call the UAV-EMOR (UAV-assisted Emergency Monitoring and Response) system. Our UAV-EMOR system provides the following novel features: (1) secure communications between UAVs, smart sensors, the control server and a smartphone app for security managers; (2) enhanced coordination between smart sensors and indoor/outdoor UAVs to expand real-time monitoring coverage; and (3) beacon-aided rescue and building evacuation. PMID:28946659

Secure Utilization of Beacons and UAVs in Emergency Response Systems for Building Fire Hazard.

PubMed

Seo, Seung-Hyun; Choi, Jung-In; Song, Jinseok

2017-09-25

An intelligent emergency system for hazard monitoring and building evacuation is a very important application area in Internet of Things (IoT) technology. Through the use of smart sensors, such a system can provide more vital and reliable information to first-responders and also reduce the incidents of false alarms. Several smart monitoring and warning systems do already exist, though they exhibit key weaknesses such as a limited monitoring coverage and security, which have not yet been sufficiently addressed. In this paper, we propose a monitoring and emergency response method for buildings by utilizing beacons and Unmanned Aerial Vehicles (UAVs) on an IoT security platform. In order to demonstrate the practicability of our method, we also implement a proof of concept prototype, which we call the UAV-EMOR (UAV-assisted Emergency Monitoring and Response) system. Our UAV-EMOR system provides the following novel features: (1) secure communications between UAVs, smart sensors, the control server and a smartphone app for security managers; (2) enhanced coordination between smart sensors and indoor/outdoor UAVs to expand real-time monitoring coverage; and (3) beacon-aided rescue and building evacuation.

The AirLand Battle Trojan Horse: The Use of Bypassed Forces to Increase Tactical Depth in the Defense,

DTIC Science & Technology

1986-11-19

ACCESSION NO NT INO.0.1 11 TTL (Infud Seurit Clssifcaton)The AirLand Battle Trojan Horse : The Use of 2 ~RS~4A AUhORS) Bypas-sedForces to Increase Tactical...operations by each of the three types of forces. The AirLand Battle Trojan Horse : The Use of Bypassed Forces to Increase Tactical Depth In The...Russell 1. Goehring Title of Monograph: The AirLand Battle Trojan Horse : The Use ,f Br- -cd Forces to Increase Tactical Depth In The Pe!’en’e

Unmanned aerial vehicles (drones) to prevent drowning.

PubMed

Seguin, Celia; Blaquière, Gilles; Loundou, Anderson; Michelet, Pierre; Markarian, Thibaut

2018-06-01

Drowning literature have highlighted the submersion time as the most powerful predictor in assessing the prognosis. Reducing the time taken to provide a flotation device and prevent submersion appears of paramount importance. Unmanned aerial vehicles (UAVs) can provide the location of the swimmer and a flotation device. The objective of this simulation study was to evaluate the efficiency of a UAV in providing a flotation device in different sea conditions, and to compare the times taken by rescue operations with and without a UAV (standard vs UAV intervention). Several comparisons were made using professional lifeguards acting as simulated victims. A specifically-shaped UAV was used to allow us to drop an inflatable life buoy into the water. During the summer of 2017, 28 tests were performed. UAV use was associated with a reduction of time it took to provide a flotation device to the simulated victim compared with standard rescue operations (p < 0.001 for all measurements) and the time was reduced even further in moderate (81 ± 39 vs 179 ± 78 s; p < 0.001) and rough sea conditions (99 ± 34 vs 198 ± 130 s; p < 0.001). The times taken for UAV to locate the simulated victim, identify them and drop the life buoy were not altered by the weather conditions. UAV can deliver a flotation device to a swimmer safely and quickly. The addition of a UAV in rescue operations could improve the quality and speed of first aid while keeping lifeguards away from dangerous sea conditions. Copyright © 2018 Elsevier B.V. All rights reserved.

Path planning and Ground Control Station simulator for UAV

NASA Astrophysics Data System (ADS)

Ajami, A.; Balmat, J.; Gauthier, J.-P.; Maillot, T.

In this paper we present a Universal and Interoperable Ground Control Station (UIGCS) simulator for fixed and rotary wing Unmanned Aerial Vehicles (UAVs), and all types of payloads. One of the major constraints is to operate and manage multiple legacy and future UAVs, taking into account the compliance with NATO Combined/Joint Services Operational Environment (STANAG 4586). Another purpose of the station is to assign the UAV a certain degree of autonomy, via autonomous planification/replanification strategies. The paper is organized as follows. In Section 2, we describe the non-linear models of the fixed and rotary wing UAVs that we use in the simulator. In Section 3, we describe the simulator architecture, which is based upon interacting modules programmed independently. This simulator is linked with an open source flight simulator, to simulate the video flow and the moving target in 3D. To conclude this part, we tackle briefly the problem of the Matlab/Simulink software connection (used to model the UAV's dynamic) with the simulation of the virtual environment. Section 5 deals with the control module of a flight path of the UAV. The control system is divided into four distinct hierarchical layers: flight path, navigation controller, autopilot and flight control surfaces controller. In the Section 6, we focus on the trajectory planification/replanification question for fixed wing UAV. Indeed, one of the goals of this work is to increase the autonomy of the UAV. We propose two types of algorithms, based upon 1) the methods of the tangent and 2) an original Lyapunov-type method. These algorithms allow either to join a fixed pattern or to track a moving target. Finally, Section 7 presents simulation results obtained on our simulator, concerning a rather complicated scenario of mission.

Development and Validation of a UAV Based System for Air Pollution Measurements

PubMed Central

Villa, Tommaso Francesco; Salimi, Farhad; Morton, Kye; Morawska, Lidia; Gonzalez, Felipe

2016-01-01

Air quality data collection near pollution sources is difficult, particularly when sites are complex, have physical barriers, or are themselves moving. Small Unmanned Aerial Vehicles (UAVs) offer new approaches to air pollution and atmospheric studies. However, there are a number of critical design decisions which need to be made to enable representative data collection, in particular the location of the air sampler or air sensor intake. The aim of this research was to establish the best mounting point for four gas sensors and a Particle Number Concentration (PNC) monitor, onboard a hexacopter, so to develop a UAV system capable of measuring point source emissions. The research included two different tests: (1) evaluate the air flow behavior of a hexacopter, its downwash and upwash effect, by measuring air speed along three axes to determine the location where the sensors should be mounted; (2) evaluate the use of gas sensors for CO2, CO, NO2 and NO, and the PNC monitor (DISCmini) to assess the efficiency and performance of the UAV based system by measuring emissions from a diesel engine. The air speed behavior map produced by test 1 shows the best mounting point for the sensors to be alongside the UAV. This position is less affected by the propeller downwash effect. Test 2 results demonstrated that the UAV propellers cause a dispersion effect shown by the decrease of gas and PN concentration measured in real time. A Linear Regression model was used to estimate how the sensor position, relative to the UAV center, affects pollutant concentration measurements when the propellers are turned on. This research establishes guidelines on how to develop a UAV system to measure point source emissions. Such research should be undertaken before any UAV system is developed for real world data collection. PMID:28009820

Development and Validation of a UAV Based System for Air Pollution Measurements.

PubMed

Villa, Tommaso Francesco; Salimi, Farhad; Morton, Kye; Morawska, Lidia; Gonzalez, Felipe

2016-12-21

Air quality data collection near pollution sources is difficult, particularly when sites are complex, have physical barriers, or are themselves moving. Small Unmanned Aerial Vehicles (UAVs) offer new approaches to air pollution and atmospheric studies. However, there are a number of critical design decisions which need to be made to enable representative data collection, in particular the location of the air sampler or air sensor intake. The aim of this research was to establish the best mounting point for four gas sensors and a Particle Number Concentration (PNC) monitor, onboard a hexacopter, so to develop a UAV system capable of measuring point source emissions. The research included two different tests: (1) evaluate the air flow behavior of a hexacopter, its downwash and upwash effect, by measuring air speed along three axes to determine the location where the sensors should be mounted; (2) evaluate the use of gas sensors for CO₂, CO, NO₂ and NO, and the PNC monitor (DISCmini) to assess the efficiency and performance of the UAV based system by measuring emissions from a diesel engine. The air speed behavior map produced by test 1 shows the best mounting point for the sensors to be alongside the UAV. This position is less affected by the propeller downwash effect. Test 2 results demonstrated that the UAV propellers cause a dispersion effect shown by the decrease of gas and PN concentration measured in real time. A Linear Regression model was used to estimate how the sensor position, relative to the UAV center, affects pollutant concentration measurements when the propellers are turned on. This research establishes guidelines on how to develop a UAV system to measure point source emissions. Such research should be undertaken before any UAV system is developed for real world data collection.

Unmanned Aerial Vehicle Remote Sensing for Field-Based Crop Phenotyping: Current Status and Perspectives.

PubMed

Yang, Guijun; Liu, Jiangang; Zhao, Chunjiang; Li, Zhenhong; Huang, Yanbo; Yu, Haiyang; Xu, Bo; Yang, Xiaodong; Zhu, Dongmei; Zhang, Xiaoyan; Zhang, Ruyang; Feng, Haikuan; Zhao, Xiaoqing; Li, Zhenhai; Li, Heli; Yang, Hao

2017-01-01

Phenotyping plays an important role in crop science research; the accurate and rapid acquisition of phenotypic information of plants or cells in different environments is helpful for exploring the inheritance and expression patterns of the genome to determine the association of genomic and phenotypic information to increase the crop yield. Traditional methods for acquiring crop traits, such as plant height, leaf color, leaf area index (LAI), chlorophyll content, biomass and yield, rely on manual sampling, which is time-consuming and laborious. Unmanned aerial vehicle remote sensing platforms (UAV-RSPs) equipped with different sensors have recently become an important approach for fast and non-destructive high throughput phenotyping and have the advantage of flexible and convenient operation, on-demand access to data and high spatial resolution. UAV-RSPs are a powerful tool for studying phenomics and genomics. As the methods and applications for field phenotyping using UAVs to users who willing to derive phenotypic parameters from large fields and tests with the minimum effort on field work and getting highly reliable results are necessary, the current status and perspectives on the topic of UAV-RSPs for field-based phenotyping were reviewed based on the literature survey of crop phenotyping using UAV-RSPs in the Web of Science™ Core Collection database and cases study by NERCITA. The reference for the selection of UAV platforms and remote sensing sensors, the commonly adopted methods and typical applications for analyzing phenotypic traits by UAV-RSPs, and the challenge for crop phenotyping by UAV-RSPs were considered. The review can provide theoretical and technical support to promote the applications of UAV-RSPs for crop phenotyping.

Unmanned Aerial Vehicle Remote Sensing for Field-Based Crop Phenotyping: Current Status and Perspectives

PubMed Central

Yang, Guijun; Liu, Jiangang; Zhao, Chunjiang; Li, Zhenhong; Huang, Yanbo; Yu, Haiyang; Xu, Bo; Yang, Xiaodong; Zhu, Dongmei; Zhang, Xiaoyan; Zhang, Ruyang; Feng, Haikuan; Zhao, Xiaoqing; Li, Zhenhai; Li, Heli; Yang, Hao

2017-01-01

Phenotyping plays an important role in crop science research; the accurate and rapid acquisition of phenotypic information of plants or cells in different environments is helpful for exploring the inheritance and expression patterns of the genome to determine the association of genomic and phenotypic information to increase the crop yield. Traditional methods for acquiring crop traits, such as plant height, leaf color, leaf area index (LAI), chlorophyll content, biomass and yield, rely on manual sampling, which is time-consuming and laborious. Unmanned aerial vehicle remote sensing platforms (UAV-RSPs) equipped with different sensors have recently become an important approach for fast and non-destructive high throughput phenotyping and have the advantage of flexible and convenient operation, on-demand access to data and high spatial resolution. UAV-RSPs are a powerful tool for studying phenomics and genomics. As the methods and applications for field phenotyping using UAVs to users who willing to derive phenotypic parameters from large fields and tests with the minimum effort on field work and getting highly reliable results are necessary, the current status and perspectives on the topic of UAV-RSPs for field-based phenotyping were reviewed based on the literature survey of crop phenotyping using UAV-RSPs in the Web of Science™ Core Collection database and cases study by NERCITA. The reference for the selection of UAV platforms and remote sensing sensors, the commonly adopted methods and typical applications for analyzing phenotypic traits by UAV-RSPs, and the challenge for crop phenotyping by UAV-RSPs were considered. The review can provide theoretical and technical support to promote the applications of UAV-RSPs for crop phenotyping. PMID:28713402

A Multi-Modality Mobility Concept for a Small Package Delivery UAV

NASA Technical Reports Server (NTRS)

Young, L. A.

2017-01-01

This paper will discuss a different approach to the typical notional small package delivery drone concept. Most delivery drone concepts employ a point-to-point aerial delivery CONOPS (Concept of Operations) from a warehouse directly to the front or back yards of a customers residence or a commercial office space. Instead, the proposed approach is somewhat analogous to current postal deliveries: a small aerial vehicle flies from a warehouse to designated neighborhood VTOL (Vertical Take-Off and Landing) landing spots where the aerial vehicle then converts to a "roadable" (ground-mobility) vehicle that then transits on sidewalks and/or bicycle paths till it arrives to the residence/office drop-off points. This concept and associated platform or vehicle will be referred in this paper as MICHAEL (Multimodal Intra-City Hauling and Aerial-Effected Logistics) concept. It is suggested that the MICHAEL concept potentially results in a more community friendly "delivery drone" approach.

Numerical RCS and micro-Doppler investigations of a consumer UAV

NASA Astrophysics Data System (ADS)

Schröder, Arne; Aulenbacher, Uwe; Renker, Matthias; Böniger, Urs; Oechslin, Roland; Murk, Axel; Wellig, Peter

2016-10-01

This contribution gives an overview of recent investigations regarding the detection of a consumer market unmanned aerial vehicles (UAV). The steadily increasing number of such drones gives rise to the threat of UAVs interfering civil air traffic. Technologies for monitoring UAVs which are flying in restricted air space, i. e. close to airports or even over airports, are desperately needed. One promising way for tracking drones is to employ radar systems. For the detection and classification of UAVs, the knowledge about their radar cross section (RCS) and micro-Doppler signature is of particular importance. We have carried out numerical and experimental studies of the RCS and the micro-Doppler of an example commercial drone in order to study its detectability with radar systems.

Snowboard jumping, Newton’s second law and the force on landing

NASA Astrophysics Data System (ADS)

O'Shea, Michael J.

2004-07-01

An application of Newton’s second law to a snowboarder dropping off a vertical ledge shows that the average normal force during landing (force exerted by the ground on the snowboarder) is determined by four factors. It is shown that the flexing of the legs, the softness of the snow, the angle of the landing surface and the forward motion of the snowboarder can contribute significantly to reducing the force on landing. A judicious choice of the geometry of the jump leads to a force on landing that is equal to the force that the snowboarder would feel if they were standing at the landing point independent of the height from which the snowboarder jumps. Thus we are able to explain with a relatively simple model why a snowboarder may jump from rather high ledges and land comfortably. The physics here is also applicable to jumps in other sports including skiing and mountain biking. The importance of knowing the limits of models is discussed and some of the limits of this model are pointed out.

Image-based tracking and sensor resource management for UAVs in an urban environment

NASA Astrophysics Data System (ADS)

Samant, Ashwin; Chang, K. C.

2010-04-01

Coordination and deployment of multiple unmanned air vehicles (UAVs) requires a lot of human resources in order to carry out a successful mission. The complexity of such a surveillance mission is significantly increased in the case of an urban environment where targets can easily escape from the UAV's field of view (FOV) due to intervening building and line-of-sight obstruction. In the proposed methodology, we focus on the control and coordination of multiple UAVs having gimbaled video sensor onboard for tracking multiple targets in an urban environment. We developed optimal path planning algorithms with emphasis on dynamic target prioritizations and persistent target updates. The command center is responsible for target prioritization and autonomous control of multiple UAVs, enabling a single operator to monitor and control a team of UAVs from a remote location. The results are obtained using extensive 3D simulations in Google Earth using Tangent plus Lyapunov vector field guidance for target tracking.

Unmanned aerial vehicles in construction and worker safety.

PubMed

Howard, John; Murashov, Vladimir; Branche, Christine M

2018-01-01

Applications of unmanned aerial vehicles (UAVs) for military, recreational, public, and commercial uses have expanded significantly in recent years. In the construction industry, UAVs are used primarily for monitoring of construction workflow and job site logistics, inspecting construction sites to assess structural integrity, and for maintenance assessments. As is the case with other emerging technologies, occupational safety assessments of UAVs lag behind technological advancements. UAVs may create new workplace hazards that need to be evaluated and managed to ensure their safe operation around human workers. At the same time, UAVs can perform dangerous tasks, thereby improving workplace safety. This paper describes the four major uses of UAVs, including their use in construction, the potential risks of their use to workers, approaches for risk mitigation, and the important role that safety and health professionals can play in ensuring safe approaches to the their use in the workplace. Published 2017. This article is a U.S. Government work and is in the public domain in the USA.

Robust all-source positioning of UAVs based on belief propagation

NASA Astrophysics Data System (ADS)

Chen, Xi; Gao, Wenyun; Wang, Jiabo

2013-12-01

For unmanned air vehicles (UAVs) to survive hostile operational environments, it is always preferable to utilize all wireless positioning sources available to fuse a robust position. While belief propagation is a well-established method for all source data fusion, it is not an easy job to handle all the mathematics therein. In this work, a comprehensive mathematical framework for belief propagation-based all-source positioning of UAVs is developed, taking wireless sources including Global Navigation Satellite Systems (GNSS) space vehicles, peer UAVs, ground control stations, and signal of opportunities. Based on the mathematical framework, a positioning algorithm named Belief propagation-based Opportunistic Positioning of UAVs (BOPU) is proposed, with an unscented particle filter for Bayesian approximation. The robustness of the proposed BOPU is evaluated by a fictitious scenario that a group of formation flying UAVs encounter GNSS countermeasures en route. Four different configurations of measurements availability are simulated. The results show that the performance of BOPU varies only slightly with different measurements availability.

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor.

PubMed

Kikutis, Ramūnas; Stankūnas, Jonas; Rudinskas, Darius; Masiulionis, Tadas

2017-09-28

Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically.

A debugging method of the Quadrotor UAV based on infrared thermal imaging

NASA Astrophysics Data System (ADS)

Cui, Guangjie; Hao, Qian; Yang, Jianguo; Chen, Lizhi; Hu, Hongkang; Zhang, Lijun

2018-01-01

High-performance UAV has been popular and in great need in recent years. The paper introduces a new method in debugging Quadrotor UAVs. Based on the infrared thermal technology and heat transfer theory, a UAV is under debugging above a hot-wire grid which is composed of 14 heated nichrome wires. And the air flow propelled by the rotating rotors has an influence on the temperature distribution of the hot-wire grid. An infrared thermal imager below observes the distribution and gets thermal images of the hot-wire grid. With the assistance of mathematic model and some experiments, the paper discusses the relationship between thermal images and the speed of rotors. By means of getting debugged UAVs into test, the standard information and thermal images can be acquired. The paper demonstrates that comparing to the standard thermal images, a UAV being debugging in the same test can draw some critical data directly or after interpolation. The results are shown in the paper and the advantages are discussed.

Adaptation of Dubins Paths for UAV Ground Obstacle Avoidance When Using a Low Cost On-Board GNSS Sensor

PubMed Central

Kikutis, Ramūnas; Stankūnas, Jonas; Rudinskas, Darius; Masiulionis, Tadas

2017-01-01

Current research on Unmanned Aerial Vehicles (UAVs) shows a lot of interest in autonomous UAV navigation. This interest is mainly driven by the necessity to meet the rules and restrictions for small UAV flights that are issued by various international and national legal organizations. In order to lower these restrictions, new levels of automation and flight safety must be reached. In this paper, a new method for ground obstacle avoidance derived by using UAV navigation based on the Dubins paths algorithm is presented. The accuracy of the proposed method has been tested, and research results have been obtained by using Software-in-the-Loop (SITL) simulation and real UAV flights, with the measurements done with a low cost Global Navigation Satellite System (GNSS) sensor. All tests were carried out in a three-dimensional space, but the height accuracy was not assessed. The GNSS navigation data for the ground obstacle avoidance algorithm is evaluated statistically. PMID:28956839

Improved Seam-Line Searching Algorithm for UAV Image Mosaic with Optical Flow.

PubMed

Zhang, Weilong; Guo, Bingxuan; Li, Ming; Liao, Xuan; Li, Wenzhuo

2018-04-16

Ghosting and seams are two major challenges in creating unmanned aerial vehicle (UAV) image mosaic. In response to these problems, this paper proposes an improved method for UAV image seam-line searching. First, an image matching algorithm is used to extract and match the features of adjacent images, so that they can be transformed into the same coordinate system. Then, the gray scale difference, the gradient minimum, and the optical flow value of pixels in adjacent image overlapped area in a neighborhood are calculated, which can be applied to creating an energy function for seam-line searching. Based on that, an improved dynamic programming algorithm is proposed to search the optimal seam-lines to complete the UAV image mosaic. This algorithm adopts a more adaptive energy aggregation and traversal strategy, which can find a more ideal splicing path for adjacent UAV images and avoid the ground objects better. The experimental results show that the proposed method can effectively solve the problems of ghosting and seams in the panoramic UAV images.

Application of Artificial Intelligence Techniques in Unmanned Aerial Vehicle Flight

NASA Technical Reports Server (NTRS)

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

2003-01-01

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.

Visual navigation of the UAVs on the basis of 3D natural landmarks

NASA Astrophysics Data System (ADS)

Karpenko, Simon; Konovalenko, Ivan; Miller, Alexander; Miller, Boris; Nikolaev, Dmitry

2015-12-01

This work considers the tracking of the UAV (unmanned aviation vehicle) on the basis of onboard observations of natural landmarks including azimuth and elevation angles. It is assumed that UAV's cameras are able to capture the angular position of reference points and to measure the angles of the sight line. Such measurements involve the real position of UAV in implicit form, and therefore some of nonlinear filters such as Extended Kalman filter (EKF) or others must be used in order to implement these measurements for UAV control. Recently it was shown that modified pseudomeasurement method may be used to control UAV on the basis of the observation of reference points assigned along the UAV path in advance. However, the use of such set of points needs the cumbersome recognition procedure with the huge volume of on-board memory. The natural landmarks serving as such reference points which may be determined on-line can significantly reduce the on-board memory and the computational difficulties. The principal difference of this work is the usage of the 3D reference points coordinates which permits to determine the position of the UAV more precisely and thereby to guide along the path with higher accuracy which is extremely important for successful performance of the autonomous missions. The article suggests the new RANSAC for ISOMETRY algorithm and the use of recently developed estimation and control algorithms for tracking of given reference path under external perturbation and noised angular measurements.

A method of intentional movement estimation of oblique small-UAV videos stabilized based on homography model

NASA Astrophysics Data System (ADS)

Guo, Shiyi; Mai, Ying; Zhao, Hongying; Gao, Pengqi

2013-05-01

The airborne video streams of small-UAVs are commonly plagued with distractive jittery and shaking motions, disorienting rotations, noisy and distorted images and other unwanted movements. These problems collectively make it very difficult for observers to obtain useful information from the video. Due to the small payload of small-UAVs, it is a priority to improve the image quality by means of electronic image stabilization. But when small-UAV makes a turn, affected by the flight characteristics of it, the video is easy to become oblique. This brings a lot of difficulties to electronic image stabilization technology. Homography model performed well in the oblique image motion estimation, while bringing great challenges to intentional motion estimation. Therefore, in this paper, we focus on solve the problem of the video stabilized when small-UAVs banking and turning. We attend to the small-UAVs fly along with an arc of a fixed turning radius. For this reason, after a series of experimental analysis on the flight characteristics and the path how small-UAVs turned, we presented a new method to estimate the intentional motion in which the path of the frame center was used to fit the video moving track. Meanwhile, the image sequences dynamic mosaic was done to make up for the limited field of view. At last, the proposed algorithm was carried out and validated by actual airborne videos. The results show that the proposed method is effective to stabilize the oblique video of small-UAVs.

Optimal trajectory planning for a UAV glider using atmospheric thermals

NASA Astrophysics Data System (ADS)

Kagabo, Wilson B.

An Unmanned Aerial Vehicle Glider (UAV glider) uses atmospheric energy in its different forms to remain aloft for extended flight durations. This UAV glider's aim is to extract atmospheric thermal energy and use it to supplement its battery energy usage and increase the mission period. Given an infrared camera identified atmospheric thermal of known strength and location; current wind speed and direction; current battery level; altitude and location of the UAV glider; and estimating the expected altitude gain from the thermal, is it possible to make an energy-efficient based motivation to fly to an atmospheric thermal so as to achieve UAV glider extended flight time? For this work, an infrared thermal camera aboard the UAV glider takes continuous forward-looking ground images of "hot spots". Through image processing a candidate atmospheric thermal strength and location is estimated. An Intelligent Decision Model incorporates this information with the current UAV glider status and weather conditions to provide an energy-based recommendation to modify the flight path of the UAV glider. Research, development, and simulation of the Intelligent Decision Model is the primary focus of this work. Three models are developed: (1) Battery Usage Model, (2) Intelligent Decision Model, and (3) Altitude Gain Model. The Battery Usage Model comes from the candidate flight trajectory, wind speed & direction and aircraft dynamic model. Intelligent Decision Model uses a fuzzy logic based approach. The Altitude Gain Model requires the strength and size of the thermal and is found a priori.

Research on fast algorithm of small UAV navigation in non-linear matrix reductionism method

NASA Astrophysics Data System (ADS)

Zhang, Xiao; Fang, Jiancheng; Sheng, Wei; Cao, Juanjuan

2008-10-01

The low Reynolds numbers of small UAV will result in unfavorable aerodynamic conditions to support controlled flight. And as operated near ground, the small UAV will be affected seriously by low-frequency interference caused by atmospheric disturbance. Therefore, the GNC system needs high frequency of attitude estimation and control to realize the steady of the UAV. In company with the dimensional of small UAV dwindling away, its GNC system is more and more taken embedded designing technology to reach the purpose of compactness, light weight and low power consumption. At the same time, the operational capability of GNC system also gets limit in a certain extent. Therefore, a kind of high speed navigation algorithm design becomes the imminence demand of GNC system. Aiming at such requirement, a kind of non-linearity matrix reduction approach is adopted in this paper to create a new high speed navigation algorithm which holds the radius of meridian circle and prime vertical circle as constant and linearizes the position matrix calculation formulae of navigation equation. Compared with normal navigation algorithm, this high speed navigation algorithm decreases 17.3% operand. Within small UAV"s mission radius (20km), the accuracy of position error is less than 0.13m. The results of semi-physical experiments and small UAV's auto pilot testing proved that this algorithm can realize high frequency attitude estimation and control. It will avoid low-frequency interference caused by atmospheric disturbance properly.

Final Environmental Assessment for Wide Area Coverage Construct Land Mobile Network Communications Infrastructure Malmstrom Air Force Base, Montana

DTIC Science & Technology

2008-02-01

FINAL ENVIRONMENTAL ASSESSMENT February 2008 Malmstrom ® AFB WIDE AREA COVERAGE CONSTRUCT LAND MOBILE NETWORK COMMUNICATIONS INFRASTRUCTURE...Wide Area Coverage Construct Land Mobile Network Communications Infrastructure Malmstrom Air Force Base, Montana 5a. CONTRACT NUMBER 5b. GRANT...SIGNIFICANT IMPACT WIDE AREA COVERAGE CONSTRUCT LAND MOBILE NETWORK COMMUNICATIONS INFRASTRUCTURE MALMSTROM AIR FORCE BASE, MONTANA The

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

NASA Technical Reports Server (NTRS)

Fredericks, William J.

2010-01-01

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.

Orthorectification, mosaicking, and analysis of sub-decimeter resolution UAV imagery for rangeland monitoring

USDA-ARS?s Scientific Manuscript database

Unmanned aerial vehicles (UAVs) offer an attractive platform for acquiring imagery for rangeland monitoring. UAVs can be deployed quickly and repeatedly, and they can obtain sub-decimeter resolution imagery at lower image acquisition costs than with piloted aircraft. Low flying heights result in ima...

DECEIVING THE ENEMY: THESE ARE THE DRONES YOU ARE LOOKING FOR

DTIC Science & Technology

2016-06-01

17 UAV Development and Capabilities UAVs have existed since the beginning of the American Civil War when an unmanned balloon carrying explosives...their survival. Control of these MW UAVs can be tethered to the manned aircraft, allowing control by an operator in the formation. Alternatively

UAVs Being Used for Environmental Surveying

ScienceCinema

Chung, Sandra

2017-12-09

UAVs, are much more sophisticated than your typical remote-controlled plane. INL robotics and remote sensing experts have added state-of-the-art imaging and wireless technology to the UAVs to create intelligent remote surveillance craft that can rapidly survey a wide area for damage and track down security threats.

Automated geographic registration and radiometric correction for UAV-based mosaics

USDA-ARS?s Scientific Manuscript database

Texas A&M University has been operating a large-scale, UAV-based, agricultural remote-sensing research project since 2015. To use UAV-based images in agricultural production, many high-resolution images must be mosaicked together to create an image of an agricultural field. Two key difficulties to s...

Rangeland resource assessment, monitoring, and management using unmanned aerial vehicle-based remote sensing

USDA-ARS?s Scientific Manuscript database

Civilian applications of Unmanned Aerial Vehicles (UAV) have rapidly been expanding recently. Thanks to military development many civil UAVs come via the defense sector. Although numerous UAVs can perform civilian tasks, the regulations imposed by FAA in the national airspace system and military e...

Current development of UAV sense and avoid system

NASA Astrophysics Data System (ADS)

Zhahir, A.; Razali, A.; Mohd Ajir, M. R.

2016-10-01

As unmanned aerial vehicles (UAVs) are now gaining high interests from civil and commercialised market, the automatic sense and avoid (SAA) system is currently one of the essential features in research spotlight of UAV. Several sensor types employed in current SAA research and technology of sensor fusion that offers a great opportunity in improving detection and tracking system are presented here. The purpose of this paper is to provide an overview of SAA system development in general, as well as the current challenges facing UAV researchers and designers.

Lessons Learned from NASA UAV Science Demonstration Program Missions

NASA Technical Reports Server (NTRS)

Wegener, Steven S.; Schoenung, Susan M.

2003-01-01

During the summer of 2002, two airborne missions were flown as part of a NASA Earth Science Enterprise program to demonstrate the use of uninhabited aerial vehicles (UAVs) to perform earth science. One mission, the Altus Cumulus Electrification Study (ACES), successfully measured lightning storms in the vicinity of Key West, Florida, during storm season using a high-altitude Altus(TM) UAV. In the other, a solar-powered UAV, the Pathfinder Plus, flew a high-resolution imaging mission over coffee fields in Kauai, Hawaii, to help guide the harvest.

UAV Control on the Basis of 3D Landmark Bearing-Only Observations.

PubMed

Karpenko, Simon; Konovalenko, Ivan; Miller, Alexander; Miller, Boris; Nikolaev, Dmitry

2015-11-27

The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks' position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations.

Real-time target tracking and locating system for UAV

NASA Astrophysics Data System (ADS)

Zhang, Chao; Tang, Linbo; Fu, Huiquan; Li, Maowen

2017-07-01

In order to achieve real-time target tracking and locating for UAV, a reliable processing system is built on the embedded platform. Firstly, the video image is acquired in real time by the photovoltaic system on the UAV. When the target information is known, KCF tracking algorithm is adopted to track the target. Then, the servo is controlled to rotate with the target, when the target is in the center of the image, the laser ranging module is opened to obtain the distance between the UAV and the target. Finally, to combine with UAV flight parameters obtained by BeiDou navigation system, through the target location algorithm to calculate the geodetic coordinates of the target. The results show that the system is stable for real-time tracking of targets and positioning.

Performance Evaluation of 3d Modeling Software for Uav Photogrammetry

NASA Astrophysics Data System (ADS)

Yanagi, H.; Chikatsu, H.

2016-06-01

UAV (Unmanned Aerial Vehicle) photogrammetry, which combines UAV and freely available internet-based 3D modeling software, is widely used as a low-cost and user-friendly photogrammetry technique in the fields such as remote sensing and geosciences. In UAV photogrammetry, only the platform used in conventional aerial photogrammetry is changed. Consequently, 3D modeling software contributes significantly to its expansion. However, the algorithms of the 3D modelling software are black box algorithms. As a result, only a few studies have been able to evaluate their accuracy using 3D coordinate check points. With this motive, Smart3DCapture and Pix4Dmapper were downloaded from the Internet and commercial software PhotoScan was also employed; investigations were performed in this paper using check points and images obtained from UAV.

Design of UAV high resolution image transmission system

NASA Astrophysics Data System (ADS)

Gao, Qiang; Ji, Ming; Pang, Lan; Jiang, Wen-tao; Fan, Pengcheng; Zhang, Xingcheng

2017-02-01

In order to solve the problem of the bandwidth limitation of the image transmission system on UAV, a scheme with image compression technology for mini UAV is proposed, based on the requirements of High-definition image transmission system of UAV. The video codec standard H.264 coding module and key technology was analyzed and studied for UAV area video communication. Based on the research of high-resolution image encoding and decoding technique and wireless transmit method, The high-resolution image transmission system was designed on architecture of Android and video codec chip; the constructed system was confirmed by experimentation in laboratory, the bit-rate could be controlled easily, QoS is stable, the low latency could meets most applied requirement not only for military use but also for industrial applications.

Cross Validation on the Equality of Uav-Based and Contour-Based Dems

NASA Astrophysics Data System (ADS)

Ma, R.; Xu, Z.; Wu, L.; Liu, S.

2018-04-01

Unmanned Aerial Vehicles (UAV) have been widely used for Digital Elevation Model (DEM) generation in geographic applications. This paper proposes a novel framework of generating DEM from UAV images. It starts with the generation of the point clouds by image matching, where the flight control data are used as reference for searching for the corresponding images, leading to a significant time saving. Besides, a set of ground control points (GCP) obtained from field surveying are used to transform the point clouds to the user's coordinate system. Following that, we use a multi-feature based supervised classification method for discriminating non-ground points from ground ones. In the end, we generate DEM by constructing triangular irregular networks and rasterization. The experiments are conducted in the east of Jilin province in China, which has been suffered from soil erosion for several years. The quality of UAV based DEM (UAV-DEM) is compared with that generated from contour interpolation (Contour-DEM). The comparison shows a higher resolution, as well as higher accuracy of UAV-DEMs, which contains more geographic information. In addition, the RMSE errors of the UAV-DEMs generated from point clouds with and without GCPs are ±0.5 m and ±20 m, respectively.

Near Real-Time Georeference of Umanned Aerial Vehicle Images for Post-Earthquake Response

NASA Astrophysics Data System (ADS)

Wang, S.; Wang, X.; Dou, A.; Yuan, X.; Ding, L.; Ding, X.

2018-04-01

The rapid collection of Unmanned Aerial Vehicle (UAV) remote sensing images plays an important role in the fast submitting disaster information and the monitored serious damaged objects after the earthquake. However, for hundreds of UAV images collected in one flight sortie, the traditional data processing methods are image stitching and three-dimensional reconstruction, which take one to several hours, and affect the speed of disaster response. If the manual searching method is employed, we will spend much more time to select the images and the find images do not have spatial reference. Therefore, a near-real-time rapid georeference method for UAV remote sensing disaster data is proposed in this paper. The UAV images are achieved georeference combined with the position and attitude data collected by UAV flight control system, and the georeferenced data is organized by means of world file which is developed by ESRI. The C # language is adopted to compile the UAV images rapid georeference software, combined with Geospatial Data Abstraction Library (GDAL). The result shows that it can realize rapid georeference of remote sensing disaster images for up to one thousand UAV images within one minute, and meets the demand of rapid disaster response, which is of great value in disaster emergency application.

Unmanned Aerial Vehicles unique cost estimating requirements

NASA Astrophysics Data System (ADS)

Malone, P.; Apgar, H.; Stukes, S.; Sterk, S.

Unmanned Aerial Vehicles (UAVs), also referred to as drones, are aerial platforms that fly without a human pilot onboard. UAVs are controlled autonomously by a computer in the vehicle or under the remote control of a pilot stationed at a fixed ground location. There are a wide variety of drone shapes, sizes, configurations, complexities, and characteristics. Use of these devices by the Department of Defense (DoD), NASA, civil and commercial organizations continues to grow. UAVs are commonly used for intelligence, surveillance, reconnaissance (ISR). They are also use for combat operations, and civil applications, such as firefighting, non-military security work, surveillance of infrastructure (e.g. pipelines, power lines and country borders). UAVs are often preferred for missions that require sustained persistence (over 4 hours in duration), or are “ too dangerous, dull or dirty” for manned aircraft. Moreover, they can offer significant acquisition and operations cost savings over traditional manned aircraft. Because of these unique characteristics and missions, UAV estimates require some unique estimating methods. This paper describes a framework for estimating UAV systems total ownership cost including hardware components, software design, and operations. The challenge of collecting data, testing the sensitivities of cost drivers, and creating cost estimating relationships (CERs) for each key work breakdown structure (WBS) element is discussed. The autonomous operation of UAVs is especially challenging from a software perspective.

Dual-Stack Single-Radio Communication Architecture for UAV Acting As a Mobile Node to Collect Data in WSNs

PubMed Central

Sayyed, Ali; Medeiros de Araújo, Gustavo; Bodanese, João Paulo; Buss Becker, Leandro

2015-01-01

The use of mobile nodes to collect data in a Wireless Sensor Network (WSN) has gained special attention over the last years. Some researchers explore the use of Unmanned Aerial Vehicles (UAVs) as mobile node for such data-collection purposes. Analyzing these works, it is apparent that mobile nodes used in such scenarios are typically equipped with at least two different radio interfaces. The present work presents a Dual-Stack Single-Radio Communication Architecture (DSSRCA), which allows a UAV to communicate in a bidirectional manner with a WSN and a Sink node. The proposed architecture was specifically designed to support different network QoS requirements, such as best-effort and more reliable communications, attending both UAV-to-WSN and UAV-to-Sink communications needs. DSSRCA was implemented and tested on a real UAV, as detailed in this paper. This paper also includes a simulation analysis that addresses bandwidth consumption in an environmental monitoring application scenario. It includes an analysis of the data gathering rate that can be achieved considering different UAV flight speeds. Obtained results show the viability of using a single radio transmitter for collecting data from the WSN and forwarding such data to the Sink node. PMID:26389911

Dual-Stack Single-Radio Communication Architecture for UAV Acting As a Mobile Node to Collect Data in WSNs.

PubMed

Sayyed, Ali; de Araújo, Gustavo Medeiros; Bodanese, João Paulo; Becker, Leandro Buss

2015-09-16

The use of mobile nodes to collect data in a Wireless Sensor Network (WSN) has gained special attention over the last years. Some researchers explore the use of Unmanned Aerial Vehicles (UAVs) as mobile node for such data-collection purposes. Analyzing these works, it is apparent that mobile nodes used in such scenarios are typically equipped with at least two different radio interfaces. The present work presents a Dual-Stack Single-Radio Communication Architecture (DSSRCA), which allows a UAV to communicate in a bidirectional manner with a WSN and a Sink node. The proposed architecture was specifically designed to support different network QoS requirements, such as best-effort and more reliable communications, attending both UAV-to-WSN and UAV-to-Sink communications needs. DSSRCA was implemented and tested on a real UAV, as detailed in this paper. This paper also includes a simulation analysis that addresses bandwidth consumption in an environmental monitoring application scenario. It includes an analysis of the data gathering rate that can be achieved considering different UAV flight speeds. Obtained results show the viability of using a single radio transmitter for collecting data from the WSN and forwarding such data to the Sink node.

Evaluating the effectiveness of low cost UAV generated topography for geomorphic change detection

NASA Astrophysics Data System (ADS)

Cook, K. L.

2014-12-01

With the recent explosion in the use and availability of unmanned aerial vehicle platforms and development of easy to use structure from motion software, UAV based photogrammetry is increasingly being adopted to produce high resolution topography for the study of surface processes. UAV systems can vary substantially in price and complexity, but the tradeoffs between these and the quality of the resulting data are not well constrained. We look at one end of this spectrum and evaluate the effectiveness of a simple low cost UAV setup for obtaining high resolution topography in a challenging field setting. Our study site is the Daan River gorge in western Taiwan, a rapidly eroding bedrock gorge that we have monitored with terrestrial Lidar since 2009. The site presents challenges for the generation and analysis of high resolution topography, including vertical gorge walls, vegetation, wide variation in surface roughness, and a complicated 3D morphology. In order to evaluate the accuracy of the UAV-derived topography, we compare it with terrestrial Lidar data collected during the same survey period. Our UAV setup combines a DJI Phantom 2 quadcopter with a 16 megapixel Canon Powershot camera for a total platform cost of less than $850. The quadcopter is flown manually, and the camera is programmed to take a photograph every 5 seconds, yielding 200-250 pictures per flight. We measured ground control points and targets for both the Lidar scans and the aerial surveys using a Leica RTK GPS with 1-2 cm accuracy. UAV derived point clouds were obtained using Agisoft Photoscan software. We conducted both Lidar and UAV surveys before and after a summer typhoon season, allowing us to evaluate the reliability of the UAV survey to detect geomorphic changes in the range of one to several meters. We find that this simple UAV setup can yield point clouds with an average accuracy on the order of 10 cm compared to the Lidar point clouds. Well-distributed and accurately located ground control points are critical, but we achieve good accuracy with even with relatively few ground control points (25) over a 150,000 sq m area. The large number of photographs taken during each flight also allows us to explore the reproducibility of the UAV-derived topography by generating point clouds from different subsets of photographs taken of the same area during a single survey.

Understanding Multifunctional Agricultural Land by Using Low Cost and Open Source Solutions to Quantify Ecosystem Function and Services

NASA Astrophysics Data System (ADS)

Forsmoo, Joel; Anderson, Karen; Brazier, Richard; Macleod, Kit; Wilkinson, Mark

2016-04-01

There is a need to advance our understanding of how the spatial structure of farmed landscapes contributes to the provision of functions and services. Agricultural land is of critical importance in NW Europe, covering large parts of NW Europe's temperate land. Moreover, these agricultural areas are primarily intensively managed, with a focus on maximizing food and fibre production. Such landscapes therefore can provide a wealth of ecosystem goods and services (ESs) including regulation of climate, erosion regulation, hydrology, water quality, nutrient cycling and biodiversity conservation. However, it has been shown they are key sources of sediment, phosphorous, nitrogen and storm runoff contributing to flooding, and therefore it is likely that most agricultural landscapes do not maximize the services or benefits that they might provide. The focus of this study is the spatio-temporal assessment of carbon sequestration (particularly through proxies such as above-ground biomass) and hydrological processes on agricultural land. Understanding and quantifying both of these is important to (a) inform payments for ecosystem services frameworks, (b) evaluate and improve carbon sequestration models, (c) manage the flood risk, (d) downstream water security and (e) water quality. Quantifying both of these ESs is dependent on data describing the fine spatial and temporal structure and function of the landscape. Common practice has been to use remote sensing techniques, e.g. satellites, providing coarse spatial resolution (around 30cm at 20° off nadir) and/or temporal resolution (around 5 days revisit time at <20° off nadir). In this paper we will explain how imaging data from lightweight and easily deployed unmanned aerial vehicles (UAVs) can be used to generate structure from motion (SFM) products describing the very fine detailed (<3 cm pixel resolution) structure of the agricultural environment. We will demonstrate how these products can be delivered using advanced free and open source post-processing alternatives and low cost sensors (digital cameras) and platforms (UAVs). We furthermore draw attention to the influence post-processing solutions have on the accuracy of the final product, the digital surface model (DSM), by using recently acquired data. Specifically, when applied in a structurally complex field site with irregular surface roughness patterns, over a land use gradient, from livestock grazing to agricultural crops. We will demonstrate the added value of using very fine detail data, highlighting important structural properties and patterns overlooked with coarser spatial resolution data.

The Skies Will Be Falling: Future Technologies and Techniques for the Disruption and Diminishment of Self-Sustainment Cycles in Tropical Cyclonic Systems

DTIC Science & Technology

2009-04-01

to try. Future generations may not forgive us if we dont . 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT SAR 18...believed would be at the level of the Internet, stealth, and UAVs in the next twenty years. He laughed saying that if he knew that he’d get out of...the Air Force and get into the stock market. After the laughter dissipated, he stated that weather was still one of the greatest obstacles to

Combined Study of Snow Depth Determination and Winter Leaf Area Index Retrieval by Unmanned Aerial Vehicle Photogrammetry

NASA Astrophysics Data System (ADS)

Lendzioch, Theodora; Langhammer, Jakub; Jenicek, Michal

2017-04-01

A rapid and robust approach using Unmanned Aerial Vehicle (UAV) digital photogrammetry was performed for evaluating snow accumulation over different small localities (e.g. disturbed forest and open area) and for indirect field measurements of Leaf Area Index (LAI) of coniferous forest within the Šumava National Park, Czech Republic. The approach was used to reveal impacts related to changes in forest and snowpack and to determine winter effective LAI for monitoring the impact of forest canopy metrics on snow accumulation. Due to the advancement of the technique, snow depth and volumetric changes of snow depth over these selected study areas were estimated at high spatial resolution (1 cm) by subtracting a snow-free digital elevation model (DEM) from a snow-covered DEM. Both, downward-looking UAV images and upward-looking digital hemispherical photography (DHP), and additional widely used LAI-2200 canopy analyser measurements were applied to determine the winter LAI, controlling interception and transmitting radiation. For the performance of downward-looking UAV images the snow background instead of the sky fraction was used. The reliability of UAV-based LAI retrieval was tested by taking an independent data set during the snow cover mapping campaigns. The results showed the potential of digital photogrammetry for snow depth mapping and LAI determination by UAV techniques. The average difference obtained between ground-based and UAV-based measurements of snow depth was 7.1 cm with higher values obtained by UAV. The SD of 22 cm for the open area seemed competitive with the typical precision of point measurements. In contrast, the average difference in disturbed forest area was 25 cm with lower values obtained by UAV and a SD of 36 cm, which is in agreement with other studies. The UAV-based LAI measurements revealed the lowest effective LAI values and the plant canopy analyser LAI-2200 the highest effective LAI values. The biggest bias of effective LAI was observed between LAI-2200 and UAV-based analyses. Since the LAI parameter is important for snowpack modelling, this method presents the potential of simplifying LAI retrieval and mapping of snow dynamics while reducing running costs and time.

UAV Trajectory Modeling Using Neural Networks

NASA Technical Reports Server (NTRS)

Xue, Min

2017-01-01

Large amount of small Unmanned Aerial Vehicles (sUAVs) are projected to operate in the near future. Potential sUAV applications include, but not limited to, search and rescue, inspection and surveillance, aerial photography and video, precision agriculture, and parcel delivery. sUAVs are expected to operate in the uncontrolled Class G airspace, which is at or below 500 feet above ground level (AGL), where many static and dynamic constraints exist, such as ground properties and terrains, restricted areas, various winds, manned helicopters, and conflict avoidance among sUAVs. How to enable safe, efficient, and massive sUAV operations at the low altitude airspace remains a great challenge. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative works on establishing infrastructure and developing policies, requirement, and rules to enable safe and efficient sUAVs' operations. To achieve this goal, it is important to gain insights of future UTM traffic operations through simulations, where the accurate trajectory model plays an extremely important role. On the other hand, like what happens in current aviation development, trajectory modeling should also serve as the foundation for any advanced concepts and tools in UTM. Accurate models of sUAV dynamics and control systems are very important considering the requirement of the meter level precision in UTM operations. The vehicle dynamics are relatively easy to derive and model, however, vehicle control systems remain unknown as they are usually kept by manufactures as a part of intellectual properties. That brings challenges to trajectory modeling for sUAVs. How to model the vehicle's trajectories with unknown control system? This work proposes to use a neural network to model a vehicle's trajectory. The neural network is first trained to learn the vehicle's responses at numerous conditions. Once being fully trained, given current vehicle states, winds, and desired future trajectory, the neural network should be able to predict the vehicle's future states at next time step. A complete 4-D trajectory are then generated step by step using the trained neural network. Experiments in this work show that the neural network can approximate the sUAV's model and predict the trajectory accurately.

Auditory decision aiding in supervisory control of multiple unmanned aerial vehicles.

PubMed

Donmez, Birsen; Cummings, M L; Graham, Hudson D

2009-10-01

This article is an investigation of the effectiveness of sonifications, which are continuous auditory alerts mapped to the state of a monitored task, in supporting unmanned aerial vehicle (UAV) supervisory control. UAV supervisory control requires monitoring a UAV across multiple tasks (e.g., course maintenance) via a predominantly visual display, which currently is supported with discrete auditory alerts. Sonification has been shown to enhance monitoring performance in domains such as anesthesiology by allowing an operator to immediately determine an entity's (e.g., patient) current and projected states, and is a promising alternative to discrete alerts in UAV control. However, minimal research compares sonification to discrete alerts, and no research assesses the effectiveness of sonification for monitoring multiple entities (e.g., multiple UAVs). The authors conducted an experiment with 39 military personnel, using a simulated setup. Participants controlled single and multiple UAVs and received sonifications or discrete alerts based on UAV course deviations and late target arrivals. Regardless of the number of UAVs supervised, the course deviation sonification resulted in reactions to course deviations that were 1.9 s faster, a 19% enhancement, compared with discrete alerts. However, course deviation sonifications interfered with the effectiveness of discrete late arrival alerts in general and with operator responses to late arrivals when supervising multiple vehicles. Sonifications can outperform discrete alerts when designed to aid operators to predict future states of monitored tasks. However, sonifications may mask other auditory alerts and interfere with other monitoring tasks that require divided attention. This research has implications for supervisory control display design.

Micro-Doppler extraction of a small UAV in a non-line-of-sight urban scenario

NASA Astrophysics Data System (ADS)

Gustavsson, Magnus; Andersson, Åsa; Johansson, Tommy; Jonsson, Rolf; Karlsson, Nils; Nilsson, Stefan

2017-05-01

The appearance of small UAVs on the commercial market poses a real threat to both civilian safety and to military operations. In open terrain a radar can detect and track even small UAVs at long distances. In an urban environment with limited line-of-sight and strong static and non-static background, this capability can be severely reduced. The radar cross section of these UAVs are normally small compared to the background. However, the rotors of the UAVs produce a characteristic micro-Doppler signature that can be exploited for detection and classification. In this paper, we investigate in an experimental set-up whether it is possible in the radar non-line-of-sight to retrieve the micro-Doppler signature of the UAV rotors. This is done by exploring up to three multipath bounces in the measured signal. The measurements were made with a semi-monostatic single receiver-transmitter radar system operating at X-band in a pulsed single frequency mode. The radar response of the UAV, with plastic and metallic rotors, was measured at several positions inside a 4 m wide corridor with metallic walls. In this paper, data from one line-of-sight and two non-line-ofsight positions are presented. Results show that we are able to detect the micro-Doppler of the rotors and to retrieve the number of revolutions per minute, for both rotor types. Free space Finite-Difference Time-Domain calculations have also been performed on a CAD-model of the UAV rotor to determine the optimal choice of polarization and the short-time Fourier transform filter length.

Applications of UAVs for Remote Sensing of Critical Infrastructure

NASA Technical Reports Server (NTRS)

Wegener, Steve; Brass, James; Schoenung, Susan

2003-01-01

The surveillance of critical facilities and national infrastructure such as waterways, roadways, pipelines and utilities requires advanced technological tools to provide timely, up to date information on structure status and integrity. Unmanned Aerial Vehicles (UAVs) are uniquely suited for these tasks, having large payload and long duration capabilities. UAVs also have the capability to fly dangerous and dull missions, orbiting for 24 hours over a particular area or facility providing around the clock surveillance with no personnel onboard. New UAV platforms and systems are becoming available for commercial use. High altitude platforms are being tested for use in communications, remote sensing, agriculture, forestry and disaster management. New payloads are being built and demonstrated onboard the UAVs in support of these applications. Smaller, lighter, lower power consumption imaging systems are currently being tested over coffee fields to determine yield and over fires to detect fire fronts and hotspots. Communication systems that relay video, meteorological and chemical data via satellite to users on the ground in real-time have also been demonstrated. Interest in this technology for infrastructure characterization and mapping has increased dramatically in the past year. Many of the UAV technological developments required for resource and disaster monitoring are being used for the infrastructure and facility mapping activity. This paper documents the unique contributions from NASA;s Environmental Research Aircraft and Sensor Technology (ERAST) program to these applications. ERAST is a UAV technology development effort by a consortium of private aeronautical companies and NASA. Details of demonstrations of UAV capabilities currently underway are also presented.

Guidance and control for an autonomous soaring UAV

NASA Technical Reports Server (NTRS)

Allen, Michael J. (Inventor)

2008-01-01

The present invention provides a practical method for UAVs to take advantage of thermals in a manner similar to piloted aircrafts and soaring birds. In general, the invention is a method for a UAV to autonomously locate a thermal and be guided to the thermal to greatly improve range and endurance of the aircraft.

Integration of Multiple UAVs for Collaborative ISR Missions in an Urban Environment

DTIC Science & Technology

2012-09-01

URBAN ENVIRONMENT UAVS .............................3  1.  Qube UAS ......................................4  2.  SQ-4...93  INITIAL DISTRIBUTION LIST ...................................97  ix LIST OF FIGURES   Qube UAS by Aerovironment. From [7...laboratory setup. From [31].....................47    Sonar sensor....................................49 Figure 25.   Reflectors on the UAV

Detection and Learning of Unexpected Behaviors of Systems of Dynamical Systems by Using the Q2 Abstractions

DTIC Science & Technology

2017-11-01

Finite State Machine ............................................... 21 9 Main Ontological Concepts for Representing Structure of a Multi -Agent...19 NetLogo Simulation of persistent surveillance of circular plume by 4 UAVs ........................36 20 Flocking Emergent Behaviors in Multi -UAV...Region) - Undesirable Group Formation ................................................................................... 40 24 Two UAVs Moving in

'Fly Like This': Natural Language Interface for UAV Mission Planning

NASA Technical Reports Server (NTRS)

Chandarana, Meghan; Meszaros, Erica L.; Trujillo, Anna; Allen, B. Danette

2017-01-01

With the increasing presence of unmanned aerial vehicles (UAVs) in everyday environments, the user base of these powerful and potentially intelligent machines is expanding beyond exclusively highly trained vehicle operators to include non-expert system users. Scientists seeking to augment costly and often inflexible methods of data collection historically used are turning towards lower cost and reconfigurable UAVs. These new users require more intuitive and natural methods for UAV mission planning. This paper explores two natural language interfaces - gesture and speech - for UAV flight path generation through individual user studies. Subjects who participated in the user studies also used a mouse-based interface for a baseline comparison. Each interface allowed the user to build flight paths from a library of twelve individual trajectory segments. Individual user studies evaluated performance, efficacy, and ease-of-use of each interface using background surveys, subjective questionnaires, and observations on time and correctness. Analysis indicates that natural language interfaces are promising alternatives to traditional interfaces. The user study data collected on the efficacy and potential of each interface will be used to inform future intuitive UAV interface design for non-expert users.

Point Cloud Analysis for Uav-Borne Laser Scanning with Horizontally and Vertically Oriented Line Scanners - Concept and First Results

NASA Astrophysics Data System (ADS)

Weinmann, M.; Müller, M. S.; Hillemann, M.; Reydel, N.; Hinz, S.; Jutzi, B.

2017-08-01

In this paper, we focus on UAV-borne laser scanning with the objective of densely sampling object surfaces in the local surrounding of the UAV. In this regard, using a line scanner which scans along the vertical direction and perpendicular to the flight direction results in a point cloud with low point density if the UAV moves fast. Using a line scanner which scans along the horizontal direction only delivers data corresponding to the altitude of the UAV and thus a low scene coverage. For these reasons, we present a concept and a system for UAV-borne laser scanning using multiple line scanners. Our system consists of a quadcopter equipped with horizontally and vertically oriented line scanners. We demonstrate the capabilities of our system by presenting first results obtained for a flight within an outdoor scene. Thereby, we use a downsampling of the original point cloud and different neighborhood types to extract fundamental geometric features which in turn can be used for scene interpretation with respect to linear, planar or volumetric structures.

Improved Seam-Line Searching Algorithm for UAV Image Mosaic with Optical Flow

PubMed Central

Zhang, Weilong; Guo, Bingxuan; Liao, Xuan; Li, Wenzhuo

2018-01-01

Ghosting and seams are two major challenges in creating unmanned aerial vehicle (UAV) image mosaic. In response to these problems, this paper proposes an improved method for UAV image seam-line searching. First, an image matching algorithm is used to extract and match the features of adjacent images, so that they can be transformed into the same coordinate system. Then, the gray scale difference, the gradient minimum, and the optical flow value of pixels in adjacent image overlapped area in a neighborhood are calculated, which can be applied to creating an energy function for seam-line searching. Based on that, an improved dynamic programming algorithm is proposed to search the optimal seam-lines to complete the UAV image mosaic. This algorithm adopts a more adaptive energy aggregation and traversal strategy, which can find a more ideal splicing path for adjacent UAV images and avoid the ground objects better. The experimental results show that the proposed method can effectively solve the problems of ghosting and seams in the panoramic UAV images. PMID:29659526

Applications of UAVs in row-crop agriculture: advantages and limitations

NASA Astrophysics Data System (ADS)

Basso, B.; Putnam, G.; Price, R.; Zhang, J.

2016-12-01

The application of Unmanned Aerial Vehicles (UAV) to monitor agricultural fields has increased over the last few years due to advances in the technology, sensors, post-processing software for image analysis, along with more favorable regulations that allowed UAVs to be flown for commercial use. UAV have several capabilities depending on the type of sensors that are mounted onboard. The most widely used application remains crop scouting to identify areas within fields where the crops underperform for various reasons (nutritional status and water stress, presence of weeds, poor stands etc). In this talk, we present the preliminary results of UAVs field based research to better understand spatial and temporal variability of crop yield. Their advantage in providing timely information is critical, but adaptive management requires a system approach to account for the interactions occurring between genetics, environment and management.

Uav Photogrammetry for Mapping and Monitoring of Northern Permafrost Landscapes

NASA Astrophysics Data System (ADS)

Fraser, R. H.; Olthof, I.; Maloley, M.; Fernandes, R.; Prevost, C.; van der Sluijs, J.

2015-08-01

Northern environments are changing in response to recent climate warming, resource development, and natural disturbances. The Arctic climate has warmed by 2-3°C since the 1950's, causing a range of cryospheric changes including declines in sea ice extent, snow cover duration, and glacier mass, and warming permafrost. The terrestrial Arctic has also undergone significant temperature-driven changes in the form of increased thermokarst, larger tundra fires, and enhanced shrub growth. Monitoring these changes to inform land managers and decision makers is challenging due to the vast spatial extents involved and difficult access. Environmental monitoring in Canada's North is often based on local-scale measurements derived from aerial reconnaissance and photography, and ecological, hydrologic, and geologic sampling and surveying. Satellite remote sensing can provide a complementary tool for more spatially comprehensive monitoring but at coarser spatial resolutions. Satellite remote sensing has been used to map Arctic landscape changes related to vegetation productivity, lake expansion and drainage, glacier retreat, thermokarst, and wildfire activity. However, a current limitation with existing satellite-based techniques is the measurement gap between field measurements and high resolution satellite imagery. Bridging this gap is important for scaling up field measurements to landscape levels, and validating and calibrating satellite-based analyses. This gap can be filled to a certain extent using helicopter or fixed-wing aerial surveys, but at a cost that is often prohibitive. Unmanned aerial vehicle (UAV) technology has only recently progressed to the point where it can provide an inexpensive and efficient means of capturing imagery at this middle scale of measurement with detail that is adequate to interpret Arctic vegetation (i.e. 1-5 cm) and coverage that can be directly related to satellite imagery (1-10 km2). Unlike satellite measurements, UAVs permit frequent surveys (e.g. for monitoring vegetation phenology, fires, and hydrology), are not constrained by repeat cycle or cloud cover, can be rapidly deployed following a significant event, and are better suited than manned aircraft for mapping small areas. UAVs are becoming more common for agriculture, law enforcement, and marketing, but their use in the Arctic is still rare and represents untapped technology for northern mapping, monitoring, and environmental research. We are conducting surveys over a range of sensitive or changing northern landscapes using a variety of UAV multicopter platforms and small sensors. Survey targets include retrogressive thaw slumps, tundra shrub vegetation, recently burned vegetation, road infrastructure, and snow. Working with scientific partners involved in northern monitoring programs (NWT CIMP, CHARS, NASA ABOVE, NRCan-GSC) we are investigating the advantages, challenges, and best practices for acquiring high resolution imagery from multicopters to create detailed orthomosaics and co-registered 3D terrain models. Colour and multispectral orthomosaics are being integrated with field measurements and satellite imagery to conduct spatial scaling of environmental parameters. Highly detailed digital terrain models derived using structure from motion (SfM) photogrammetry are being applied to measure thaw slump morphology and change, snow depth, tundra vegetation structure, and surface condition of road infrastructure. These surveys and monitoring applications demonstrate that UAV-based photogrammetry is poised to make a rapid contribution to a wide range of northern monitoring and research applications.

Integrating critical interface elements for intuitive single-display aviation control of UAVs

NASA Astrophysics Data System (ADS)

Cooper, Joseph L.; Goodrich, Michael A.

2006-05-01

Although advancing levels of technology allow UAV operators to give increasingly complex commands with expanding temporal scope, it is unlikely that the need for immediate situation awareness and local, short-term flight adjustment will ever be completely superseded. Local awareness and control are particularly important when the operator uses the UAV to perform a search or inspection task. There are many different tasks which would be facilitated by search and inspection capabilities of a camera-equipped UAV. These tasks range from bridge inspection and news reporting to wilderness search and rescue. The system should be simple, inexpensive, and intuitive for non-pilots. An appropriately designed interface should (a) provide a context for interpreting video and (b) support UAV tasking and control, all within a single display screen. In this paper, we present and analyze an interface that attempts to accomplish this goal. The interface utilizes a georeferenced terrain map rendered from publicly available altitude data and terrain imagery to create a context in which the location of the UAV and the source of the video are communicated to the operator. Rotated and transformed imagery from the UAV provides a stable frame of reference for the operator and integrates cleanly into the terrain model. Simple icons overlaid onto the main display provide intuitive control and feedback when necessary but fade to a semi-transparent state when not in use to avoid distracting the operator's attention from the video signal. With various interface elements integrated into a single display, the interface runs nicely on a small, portable, inexpensive system with a single display screen and simple input device, but is powerful enough to allow a single operator to deploy, control, and recover a small UAV when coupled with appropriate autonomy. As we present elements of the interface design, we will identify concepts that can be leveraged into a large class of UAV applications.

Research and Practice of Uav Remote Sensing in the Monitoring and Management of Construction Projects in Riparian Areas

NASA Astrophysics Data System (ADS)

Yu, J.; Gan, Z.; Zhong, L.; Deng, L.

2018-04-01

The objective of this paper is to investigate the use of UAV remote sensing in the monitoring and management of construction projects in riparian areas through the case study of embankment construction projects' monitoring in the Three Gorges Reservoir area. A three-step approach is proposed to address the problem: data acquisition with UAV, data processing, and monitoring information extraction. The results of the case study demonstrate that UAV remote sensing is capable of providing fast and accurate measurements and calculations for the needs of monitoring of riparian constructions.

Commercial UAV operations in civil airspace

NASA Astrophysics Data System (ADS)

Newcome, Laurence R.

2000-11-01

The Federal Aviation Administration is often portrayed as the major impediment to unmanned aerial vehicle expansion into civil government and commercial markets. This paper describes one company's record for successfully negotiating the FAA regulations and obtaining authorizations for several types of UAVs to fly commercial reconnaissance missions in civil airspace. The process and criteria for obtaining such authorizations are described. The mishap records of the Pioneer, Predator and Hunter UAVs are examined in regard to their impact on FAA rule making. The paper concludes with a discussion of the true impediments to UAV penetration of commercial markets to date.

UAV Control on the Basis of 3D Landmark Bearing-Only Observations

PubMed Central

Karpenko, Simon; Konovalenko, Ivan; Miller, Alexander; Miller, Boris; Nikolaev, Dmitry

2015-01-01

The article presents an approach to the control of a UAV on the basis of 3D landmark observations. The novelty of the work is the usage of the 3D RANSAC algorithm developed on the basis of the landmarks’ position prediction with the aid of a modified Kalman-type filter. Modification of the filter based on the pseudo-measurements approach permits obtaining unbiased UAV position estimation with quadratic error characteristics. Modeling of UAV flight on the basis of the suggested algorithm shows good performance, even under significant external perturbations. PMID:26633394

Application of Artificial Intelligence Techniques in Uninhabited Aerial Vehicle Flight

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2004-01-01

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.

Application of Artificial Intelligence Techniques in Uninhabitated Aerial Vehicle Flight

NASA Technical Reports Server (NTRS)

Dufrene, Warren R., Jr.

2003-01-01

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.

Land use change and its driving forces toward mutual conversion in Zhangjiakou City, a farming-pastoral ecotone in Northern China.

PubMed

Liu, Chao; Xu, Yueqing; Sun, Piling; Huang, An; Zheng, Weiran

2017-09-14

Land use/cover change (LUCC), a local environmental issue of global importance, and its driving forces have been crucial issues in geography and environmental research. Previous studies primarily focused on major driving factors in various land use types, with few explorations of differences between driving forces of mutual land use type conversions, especially in fragile eco-environments. In this study, Zhangjiakou City, in a farming-pastoral ecotone in Northern China, was taken as an example to analyze land use change between 1989 and 2015, and explore the driving forces of mutual land use type conversions using canonical correlation analysis. Satellite images and government statistics, including social-economic and natural data, were used as sources. Arable land, forestland, and grassland formed the main land use structure. From 1989 to 2015 forestland, orchard land, and construction land significantly increased, while arable land, grassland, unused land, and water areas decreased. Conversions from grassland to forestland; from arable land to orchard land, forestland and construction land; and from unused land to grassland and forestland were the primary land use changes. Among these, the conversion from grassland to forestland had the highest ranking. Average annual precipitation and per capita net income of rural residents positively affected the conversion of arable land to forestland and unused land to grassland. GDP, total population, and urbanization rate contributed most significantly to converting arable land to construction land; total retail sales of social consumer goods, average annual temperature, and GDP had important positive influences in converting arable land to orchard land.

Ankle-Dorsiflexion Range of Motion and Landing Biomechanics

PubMed Central

Fong, Chun-Man; Blackburn, J. Troy; Norcross, Marc F.; McGrath, Melanie; Padua, Darin A.

2011-01-01

Abstract Context: A smaller amount of ankle-dorsiflexion displacement during landing is associated with less knee-flexion displacement and greater ground reaction forces, and greater ground reaction forces are associated with greater knee-valgus displacement. Additionally, restricted dorsiflexion range of motion (ROM) is associated with greater knee-valgus displacement during landing and squatting tasks. Because large ground reaction forces and valgus displacement and limited knee-flexion displacement during landing are anterior cruciate ligament (ACL) injury risk factors, dorsiflexion ROM restrictions may be associated with a greater risk of ACL injury. However, it is unclear whether clinical measures of dorsiflexion ROM are associated with landing biomechanics. Objective: To evaluate relationships between dorsiflexion ROM and landing biomechanics. Design: Descriptive laboratory study. Setting: Research laboratory. Patients or Other Participants: Thirty-five healthy, physically active volunteers. Intervention(s): Passive dorsiflexion ROM was assessed under extended-knee and flexed-knee conditions. Landing biomechanics were assessed via an optical motion-capture system interfaced with a force plate. Main Outcome Measure(s): Dorsiflexion ROM was measured in degrees using goniometry. Knee-flexion and knee-valgus displacements and vertical and posterior ground reaction forces were calculated during the landing task. Simple correlations were used to evaluate relationships between dorsiflexion ROM and each biomechanical variable. Results: Significant correlations were noted between extended-knee dorsiflexion ROM and knee-flexion displacement (r  =  0.464, P  =  .029) and vertical (r  =  −0.411, P  =  .014) and posterior (r  =  −0.412, P  =  .014) ground reaction forces. All correlations for flexed-knee dorsiflexion ROM and knee-valgus displacement were nonsignificant. Conclusions: Greater dorsiflexion ROM was associated with greater knee-flexion displacement and smaller ground reaction forces during landing, thus inducing a landing posture consistent with reduced ACL injury risk and limiting the forces the lower extremity must absorb. These findings suggest that clinical techniques to increase plantar-flexor extensibility and dorsiflexion ROM may be important additions to ACL injury-prevention programs. PMID:21214345

Initial Study of an Effective Fast-Time Simulation Platform for Unmanned Aircraft System Traffic Management

NASA Technical Reports Server (NTRS)

Xue, Min; Rios, Joseph

2017-01-01

Small Unmanned Aerial Vehicles (sUAVs), typically 55 lbs and below, are envisioned to play a major role in surveilling critical assets, collecting important information, and delivering goods. Large scale small UAV operations are expected to happen in low altitude airspace in the near future. Many static and dynamic constraints exist in low altitude airspace because of manned aircraft or helicopter activities, various wind conditions, restricted airspace, terrain and man-made buildings, and conflict-avoidance among sUAVs. High sensitivity and high maneuverability are unique characteristics of sUAVs that bring challenges to effective system evaluations and mandate such a simulation platform different from existing simulations that were built for manned air traffic system and large unmanned fixed aircraft. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative focuses on enabling safe and efficient sUAV operations in the future. In order to help define requirements and policies for a safe and efficient UTM system to accommodate a large amount of sUAV operations, it is necessary to develop a fast-time simulation platform that can effectively evaluate requirements, policies, and concepts in a close-to-reality environment. This work analyzed the impacts of some key factors including aforementioned sUAV's characteristics and demonstrated the importance of these factors in a successful UTM fast-time simulation platform.

Advanced Broadband Links for TIER III UAV Data Communication

NASA Astrophysics Data System (ADS)

Griethe, Wolfgang; Gregory, Mark; Heine, Frank; Kampfner, Hartmut

2011-08-01

Unmanned Aeronautical Vehicle (UAV) are getting more and more importance because of their prominent role as national reconnaissance systems, for disaster monitoring, and environmental mapping. However, the existence of reliable and robust data links are indispensable for Unmanned Aircraft System (UAS) missions. In particular for Beyond Line-Of-Sight operations (BLOS) of Tier III UAVs, satellite data links are a key element since extensive sensor data have to be transmitted preferably in real-time or near real-time.The paper demonstrates that the continuously increasing number of UAS and the intensified use of high resolution sensors will reveal RF-bandwidth as a limitating factor in the communication chain of Tier III UAVs. The RF-bandwidth gap can be partly closed by use of high-order modulation, of course, but much more progress in terms of bandwidth allocation can be achieved by using optical transmission technology. Consequently, the paper underlines that meanwhile this technology has been sufficiently verified in space, and shows that optical links are suited as well for broadband communications of Tier III UAVs. Moreover, the advantages of LaserCom in UAV scenarios and its importance for Network Centric Warfare (NCW) as well as for Command, Control, Communications, Computers, Intelligens, Surveillance, and Reconnaissance (C4ISR) are emphasized. Numerous practical topics and design requirements, relevant for the establishment of optical links onboard of Tier III UAVs, are discussed.

Atmospheric Radiation Measurement Program facilities newsletter, January 2000

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sisterson, D.L.

2000-02-16

The subject of this newsletter is the ARM unmanned aerospace vehicle program. The ARM Program's focus is on climate research, specifically research related to solar radiation and its interaction with clouds. The SGP CART site contains highly sophisticated surface instrumentation, but even these instruments cannot gather some crucial climate data from high in the atmosphere. The Department of Energy and the Department of Defense joined together to use a high-tech, high-altitude, long-endurance class of unmanned aircraft known as the unmanned aerospace vehicle (UAV). A UAV is a small, lightweight airplane that is controlled remotely from the ground. A pilot sitsmore » in a ground-based cockpit and flies the aircraft as if he were actually on board. The UAV can also fly completely on its own through the use of preprogrammed computer flight routines. The ARM UAV is fitted with payload instruments developed to make highly accurate measurements of atmospheric flux, radiance, and clouds. Using a UAV is beneficial to climate research in many ways. The UAV puts the instrumentation within the environment being studied and gives scientists direct measurements, in contrast to indirect measurements from satellites orbiting high above Earth. The data collected by UAVs can be used to verify and calibrate measurements and calculated values from satellites, therefore making satellite data more useful and valuable to researchers.« less

Close Range Uav Accurate Recording and Modeling of St-Pierre Neo-Romanesque Church in Strasbourg (france)

NASA Astrophysics Data System (ADS)

Murtiyoso, A.; Grussenmeyer, P.; Freville, T.

2017-02-01

Close-range photogrammetry is an image-based technique which has often been used for the 3D documentation of heritage objects. Recently, advances in the field of image processing and UAVs (Unmanned Aerial Vehicles) have resulted in a renewed interest in this technique. However, commercially ready-to-use UAVs are often equipped with smaller sensors in order to minimize payload and the quality of the documentation is still an issue. In this research, two commercial UAVs (the Sensefly Albris and DJI Phantom 3 Professional) were setup to record the 19th century St-Pierre-le-Jeune church in Strasbourg, France. Several software solutions (commercial and open source) were used to compare both UAVs' images in terms of calibration, accuracy of external orientation, as well as dense matching. Results show some instability in regards to the calibration of Phantom 3, while the Albris had issues regarding its aerotriangulation results. Despite these shortcomings, both UAVs succeeded in producing dense point clouds of up to a few centimeters in accuracy, which is largely sufficient for the purposes of a city 3D GIS (Geographical Information System). The acquisition of close range images using UAVs also provides greater LoD flexibility in processing. These advantages over other methods such as the TLS (Terrestrial Laser Scanning) or terrestrial close range photogrammetry can be exploited in order for these techniques to complement each other.

Initial Study of An Effective Fast-Time Simulation Platform for Unmanned Aircraft System Traffic Management

NASA Technical Reports Server (NTRS)

Xue, Min; Rios, Joseph

2017-01-01

Small Unmanned Aerial Vehicles (sUAVs), typically 55 lbs and below, are envisioned to play a major role in surveilling critical assets, collecting important information, and delivering goods. Large scale small UAV operations are expected to happen in low altitude airspace in the near future. Many static and dynamic constraints exist in low altitude airspace because of manned aircraft or helicopter activities, various wind conditions, restricted airspace, terrain and man-made buildings, and conflict-avoidance among sUAVs. High sensitivity and high maneuverability are unique characteristics of sUAVs that bring challenges to effective system evaluations and mandate such a simulation platform different from existing simulations that were built for manned air traffic system and large unmanned fixed aircraft. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative focuses on enabling safe and efficient sUAV operations in the future. In order to help define requirements and policies for a safe and efficient UTM system to accommodate a large amount of sUAV operations, it is necessary to develop a fast-time simulation platform that can effectively evaluate requirements, policies, and concepts in a close-to-reality environment. This work analyzed the impacts of some key factors including aforementioned sUAV's characteristics and demonstrated the importance of these factors in a successful UTM fast-time simulation platform.

Force-displacement differences in the lower extremities of young healthy adults between drop jumps and drop landings.

PubMed

Hackney, James M; Clay, Rachel L; James, Meredith

2016-10-01

We measured ground reaction force and lower extremity shortening in ten healthy, young adults in order to compare five trials of drop jumps to drop landings. Our dependent variable was the percentage of displacement (shortening) between the markers on the ASIS and second metatarsal heads on each LE, relative to the maximum shortening (100% displacement) for that trial at the point of greatest ground reaction force. We defined this as "percent displacement at maximum force" (%dFmax). The sample mean %dFmax was 0.73%±0.14% for the drop jumps, and 0.47%±0.09% for the drop landings. The mean within-subject difference score was 0.26%±0.20%. Two-tailed paired t test comparing %dFmax between the drop jump and drop landing yielded P=0.002. For all participants in this study, the %dFmax was greater in drop jumps than in drop landings. This indicates that in drop jumps, the point of maximum force and of maximum shortening was nearly simultaneous, compared to drop landings, where the point of maximum shortening followed that of maximum force by a greater proportion. This difference in force to displacement behavior is explained by linear spring behavior in drop jumps, and linear damping behavior in drop landings. Copyright © 2016 Elsevier B.V. All rights reserved.

Embedded, real-time UAV control for improved, image-based 3D scene reconstruction

Treesearch

Jean Liénard; Andre Vogs; Demetrios Gatziolis; Nikolay Strigul

2016-01-01

Unmanned Aerial Vehicles (UAVs) are already broadly employed for 3D modeling of large objects such as trees and monuments via photogrammetry. The usual workflow includes two distinct steps: image acquisition with UAV and computationally demanding postflight image processing. Insufficient feature overlaps across images is a common shortcoming in post-flight image...

UAV Annual Report, FY 1996.

DTIC Science & Technology

1996-11-06

Tracor; Vector; Cl Fiberite; Hexcel; Honeywell Cannon; Tamam; IntegriNautics; Lockheed Martin; Carlyle Gp; Northrop Grumman (SAR); Hbroux; Hughes...Aerospace; Group; Teftec Inc. Northrop Grumman ; Williams Internations Developmental estimates Developmental estimates 09 31 UAV ANNUAL REPORT UAV Tier 11...Rosemount Aerospace; Northrop Grumman ; Williams International Developmental estimates 31 UAVANNUAL REPORT A U.S. Customs Service P-3 AEW and Predator

The Quality of Quantity: Mini-UAVS As An Alternative UAV Acquisition Strategy at the Army Brigade Level

DTIC Science & Technology

2002-05-24

contrast to the Exdrone is the more conventional, and more Spartan, Pointer UAV. Designed by Paul McCready, PhD., the engineer who designed the “ Gossamer ... Albatross ”, the first human powered aircraft to cross the English Channel, the Pointer UAV’s design reflects an engineering philosophy predicated on

Use of multi-temporal UAV-derived imagery for estimating individual tree growth in Pinus pinea stands

Treesearch

Juan Guerra-Hernández; Eduardo González-Ferreiro; Vicente Monleon; Sonia Faias; Margarida Tomé; Ramón Díaz-Varela

2017-01-01

High spatial resolution imagery provided by unmanned aerial vehicles (UAVs) can yield accurate and efficient estimation of tree dimensions and canopy structural variables at the local scale. We flew a low-cost, lightweight UAV over an experimental Pinus pinea L. plantation (290 trees distributed over 16 ha with different fertirrigation treatments)...

32 CFR 855.14 - Unauthorized landings.

Code of Federal Regulations, 2011 CFR

2011-07-01

... 32 National Defense 6 2011-07-01 2011-07-01 false Unauthorized landings. 855.14 Section 855.14 National Defense Department of Defense (Continued) DEPARTMENT OF THE AIR FORCE AIRCRAFT CIVIL AIRCRAFT USE OF UNITED STATES AIR FORCE AIRFIELDS Civil Aircraft Landing Permits § 855.14 Unauthorized landings...

Effects of Topography-based Subgrid Structures on Land Surface Modeling

NASA Astrophysics Data System (ADS)

Tesfa, T. K.; Ruby, L.; Brunke, M.; Thornton, P. E.; Zeng, X.; Ghan, S. J.

2017-12-01

Topography has major control on land surface processes through its influence on atmospheric forcing, soil and vegetation properties, network topology and drainage area. Consequently, accurate climate and land surface simulations in mountainous regions cannot be achieved without considering the effects of topographic spatial heterogeneity. To test a computationally less expensive hyper-resolution land surface modeling approach, we developed topography-based landunits within a hierarchical subgrid spatial structure to improve representation of land surface processes in the ACME Land Model (ALM) with minimal increase in computational demand, while improving the ability to capture the spatial heterogeneity of atmospheric forcing and land cover influenced by topography. This study focuses on evaluation of the impacts of the new spatial structures on modeling land surface processes. As a first step, we compare ALM simulations with and without subgrid topography and driven by grid cell mean atmospheric forcing to isolate the impacts of the subgrid topography on the simulated land surface states and fluxes. Recognizing that subgrid topography also has important effects on atmospheric processes that control temperature, radiation, and precipitation, methods are being developed to downscale atmospheric forcings. Hence in the second step, the impacts of the subgrid topographic structure on land surface modeling will be evaluated by including spatial downscaling of the atmospheric forcings. Preliminary results on the atmospheric downscaling and the effects of the new spatial structures on the ALM simulations will be presented.

Targeted Applications of Unmanned Aerial Vehicles (Drones) in Telemedicine.

PubMed

Bhatt, Kunj; Pourmand, Ali; Sikka, Neal

2018-02-28

Advances in technology have revolutionized the medical field and changed the way healthcare is delivered. Unmanned aerial vehicles (UAVs) are the next wave of technological advancements that have the potential to make a huge splash in clinical medicine. UAVs, originally developed for military use, are making their way into the public and private sector. Because they can be flown autonomously and can reach almost any geographical location, the significance of UAVs are becoming increasingly apparent in the medical field. We conducted a comprehensive review of the English language literature via the PubMed and Google Scholar databases using search terms "unmanned aerial vehicles," "UAVs," and "drone." Preference was given to clinical trials and review articles that addressed the keywords and clinical medicine. Potential applications of UAVs in medicine are broad. Based on articles identified, we grouped UAV application in medicine into three categories: (1) Prehospital Emergency Care; (2) Expediting Laboratory Diagnostic Testing; and (3) Surveillance. Currently, UAVs have been shown to deliver vaccines, automated external defibrillators, and hematological products. In addition, they are also being studied in the identification of mosquito habitats as well as drowning victims at beaches as a public health surveillance modality. These preliminary studies shine light on the possibility that UAVs may help to increase access to healthcare for patients who may be otherwise restricted from proper care due to cost, distance, or infrastructure. As with any emerging technology and due to the highly regulated healthcare environment, the safety and effectiveness of this technology need to be thoroughly discussed. Despite the many questions that need to be answered, the application of drones in medicine appears to be promising and can both increase the quality and accessibility of healthcare.

a Comparison of Uav and Tls Data for Soil Roughness Assessment

NASA Astrophysics Data System (ADS)

Milenković, M.; Karel, W.; Ressl, C.; Pfeifer, N.

2016-06-01

Soil roughness represents fine-scale surface geometry which figures in many geophysical models. While static photogrammetric techniques (terrestrial images and laser scanning) have been recently proposed as a new source for deriving roughness heights, there is still need to overcome acquisition scale and viewing geometry issues. By contrast to the static techniques, images taken from unmanned aerial vehicles (UAV) can maintain near-nadir looking geometry over scales of several agricultural fields. This paper presents a pilot study on high-resolution, soil roughness reconstruction and assessment from UAV images over an agricultural plot. As a reference method, terrestrial laser scanning (TLS) was applied on a 10 m x 1.5 m subplot. The UAV images were self-calibrated and oriented within a bundle adjustment, and processed further up to a dense-matched digital surface model (DSM). The analysis of the UAV- and TLS-DSMs were performed in the spatial domain based on the surface autocorrelation function and the correlation length, and in the frequency domain based on the roughness spectrum and the surface fractal dimension (spectral slope). The TLS- and UAV-DSM differences were found to be under ±1 cm, while the UAV DSM showed a systematic pattern below this scale, which was explained by weakly tied sub-blocks of the bundle block. The results also confirmed that the existing TLS methods leads to roughness assessment up to 5 mm resolution. However, for our UAV data, this was not possible to achieve, though it was shown that for spatial scales of 12 cm and larger, both methods appear to be usable. Additionally, this paper suggests a method to propagate measurement errors to the correlation length.

Comparison of Uncalibrated Rgbvi with Spectrometer-Based Ndvi Derived from Uav Sensing Systems on Field Scale

NASA Astrophysics Data System (ADS)

Bareth, G.; Bolten, A.; Gnyp, M. L.; Reusch, S.; Jasper, J.

2016-06-01

The development of UAV-based sensing systems for agronomic applications serves the improvement of crop management. The latter is in the focus of precision agriculture which intends to optimize yield, fertilizer input, and crop protection. Besides, in some cropping systems vehicle-based sensing devices are less suitable because fields cannot be entered from certain growing stages onwards. This is true for rice, maize, sorghum, and many more crops. Consequently, UAV-based sensing approaches fill a niche of very high resolution data acquisition on the field scale in space and time. While mounting RGB digital compact cameras to low-weight UAVs (< 5 kg) is well established, the miniaturization of sensors in the last years also enables hyperspectral data acquisition from those platforms. From both, RGB and hyperspectral data, vegetation indices (VIs) are computed to estimate crop growth parameters. In this contribution, we compare two different sensing approaches from a low-weight UAV platform (< 5 kg) for monitoring a nitrogen field experiment of winter wheat and a corresponding farmers' field in Western Germany. (i) A standard digital compact camera was flown to acquire RGB images which are used to compute the RGBVI and (ii) NDVI is computed from a newly modified version of the Yara N-Sensor. The latter is a well-established tractor-based hyperspectral sensor for crop management and is available on the market since a decade. It was modified for this study to fit the requirements of UAV-based data acquisition. Consequently, we focus on three objectives in this contribution: (1) to evaluate the potential of the uncalibrated RGBVI for monitoring nitrogen status in winter wheat, (2) investigate the UAV-based performance of the modified Yara N-Sensor, and (3) compare the results of the two different UAV-based sensing approaches for winter wheat.

On the prospects of cross-calibrating the Cherenkov Telescope Array with an airborne calibration platform

NASA Astrophysics Data System (ADS)

Brown, Anthony M.

2018-01-01

Recent advances in unmanned aerial vehicle (UAV) technology have made UAVs an attractive possibility as an airborne calibration platform for astronomical facilities. This is especially true for arrays of telescopes spread over a large area such as the Cherenkov Telescope Array (CTA). In this paper, the feasibility of using UAVs to calibrate CTA is investigated. Assuming a UAV at 1km altitude above CTA, operating on astronomically clear nights with stratified, low atmospheric dust content, appropriate thermal protection for the calibration light source and an onboard photodiode to monitor its absolute light intensity, inter-calibration of CTA's telescopes of the same size class is found to be achievable with a 6 - 8 % uncertainty. For cross-calibration of different telescope size classes, a systematic uncertainty of 8 - 10 % is found to be achievable. Importantly, equipping the UAV with a multi-wavelength calibration light source affords us the ability to monitor the wavelength-dependent degradation of CTA telescopes' optical system, allowing us to not only maintain this 6 - 10 % uncertainty after the first few years of telescope deployment, but also to accurately account for the effect of multi-wavelength degradation on the cross-calibration of CTA by other techniques, namely with images of air showers and local muons. A UAV-based system thus provides CTA with several independent and complementary methods of cross-calibrating the optical throughput of individual telescopes. Furthermore, housing environmental sensors on the UAV system allows us to not only minimise the systematic uncertainty associated with the atmospheric transmission of the calibration signal, it also allows us to map the dust content above CTA as well as monitor the temperature, humidity and pressure profiles of the first kilometre of atmosphere above CTA with each UAV flight.

Comparison of performance of object-based image analysis techniques available in open source software (Spring and Orfeo Toolbox/Monteverdi) considering very high spatial resolution data

NASA Astrophysics Data System (ADS)

Teodoro, Ana C.; Araujo, Ricardo

2016-01-01

The use of unmanned aerial vehicles (UAVs) for remote sensing applications is becoming more frequent. However, this type of information can result in several software problems related to the huge amount of data available. Object-based image analysis (OBIA) has proven to be superior to pixel-based analysis for very high-resolution images. The main objective of this work was to explore the potentialities of the OBIA methods available in two different open source software applications, Spring and OTB/Monteverdi, in order to generate an urban land cover map. An orthomosaic derived from UAVs was considered, 10 different regions of interest were selected, and two different approaches were followed. The first one (Spring) uses the region growing segmentation algorithm followed by the Bhattacharya classifier. The second approach (OTB/Monteverdi) uses the mean shift segmentation algorithm followed by the support vector machine (SVM) classifier. Two strategies were followed: four classes were considered using Spring and thereafter seven classes were considered for OTB/Monteverdi. The SVM classifier produces slightly better results and presents a shorter processing time. However, the poor spectral resolution of the data (only RGB bands) is an important factor that limits the performance of the classifiers applied.

Design of a new VTOL UAV by combining cycloidal blades and FanWing propellers

NASA Astrophysics Data System (ADS)

Li, Daizong

Though the propelling principles of Cycloidal Blades and FanWing propellers are totally different, their structures are similar. Therefore, it is possible to develop an aircraft which combines both types of the propulsion modes of Cyclogyro and FanWing aircrafts. For this kind of aircraft, Cycloidal Blades Mode provides capabilities of Vertical Take-Off and Landing, Instantly Alterable Vector Thrusting, and Low Noise. The FanWing Mode provides capabilities of High Efficiency, Energy-Saving, and Cannot-Stall Low-Speed Cruising. Besides, because both of these propellers are observably better than conventional screw propeller in terms of efficiency, so this type of VTOL UAV could fly with Long Endurance. Furthermore, the usage of flying-wing takes advantage of high structure utilization and high aerodynamic efficiency, eliminates the interference of fuselage and tail, and overcomes flying wing's shortcomings of pitching direction instability and difficulty of control. A new magnetic suspension track-type cycloidal propulsion system is also presented in the paper to solve problems of heavy structure, high mechanical resistance, and low reliability in the traditional cycloidal propellers. The further purpose of this design is to trying to make long-endurance VTOL aircraft and Practical Flying Cars possible in reality, and to bring a new era to the aviation industry.

A meta-analysis of human-system interfaces in unmanned aerial vehicle (UAV) swarm management.

PubMed

Hocraffer, Amy; Nam, Chang S

2017-01-01

A meta-analysis was conducted to systematically evaluate the current state of research on human-system interfaces for users controlling semi-autonomous swarms composed of groups of drones or unmanned aerial vehicles (UAVs). UAV swarms pose several human factors challenges, such as high cognitive demands, non-intuitive behavior, and serious consequences for errors. This article presents findings from a meta-analysis of 27 UAV swarm management papers focused on the human-system interface and human factors concerns, providing an overview of the advantages, challenges, and limitations of current UAV management interfaces, as well as information on how these interfaces are currently evaluated. In general allowing user and mission-specific customization to user interfaces and raising the swarm's level of autonomy to reduce operator cognitive workload are beneficial and improve situation awareness (SA). It is clear more research is needed in this rapidly evolving field. Copyright © 2016 Elsevier Ltd. All rights reserved.

IR radiation characteristics and operating range research for a quad-rotor unmanned aircraft vehicle.

PubMed

Gong, Mali; Guo, Rui; He, Sifeng; Wang, Wei

2016-11-01

The security threats caused by multi-rotor unmanned aircraft vehicles (UAVs) are serious, especially in public places. To detect and control multi-rotor UAVs, knowledge of IR characteristics is necessary. The IR characteristics of a typical commercial quad-rotor UAV are investigated in this paper through thermal imaging with an IR camera. Combining the 3D geometry and IR images of the UAV, a 3D IR characteristics model is established so that the radiant power from different views can be obtained. An estimation of operating range to detect the UAV is calculated theoretically using signal-to-noise ratio as the criterion. Field experiments are implemented with an uncooled IR camera in an environment temperature of 12°C and a uniform background. For the front view, the operating range is about 150 m, which is close to the simulation result of 170 m.

Meteorological and Remote Sensing Applications of High Altitude Unmanned Aerial Vehicles

NASA Technical Reports Server (NTRS)

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

1999-01-01

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.

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

PubMed

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

2005-01-01

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.

Optical and acoustical UAV detection

NASA Astrophysics Data System (ADS)

Christnacher, Frank; Hengy, Sébastien; Laurenzis, Martin; Matwyschuk, Alexis; Naz, Pierre; Schertzer, Stéphane; Schmitt, Gwenael

2016-10-01

Recent world events have highlighted that the proliferation of UAVs is bringing with it a new and rapidly increasing threat for national defense and security agencies. Whilst many of the reported UAV incidents seem to indicate that there was no terrorist intent behind them, it is not unreasonable to assume that it may not be long before UAV platforms are regularly employed by terrorists or other criminal organizations. The flight characteristics of many of these mini- and micro-platforms present challenges for current systems which have been optimized over time to defend against the traditional air-breathing airborne platforms. A lot of programs to identify cost-effective measures for the detection, classification, tracking and neutralization have begun in the recent past. In this paper, lSL shows how the performance of a UAV detection and tracking concept based on acousto-optical technology can be powerfully increased through active imaging.

Optimization of a Turboprop UAV for Maximum Loiter and Specific Power Using Genetic Algorithm

NASA Astrophysics Data System (ADS)

Dinc, Ali

2016-09-01

In this study, a genuine code was developed for optimization of selected parameters of a turboprop engine for an unmanned aerial vehicle (UAV) by employing elitist genetic algorithm. First, preliminary sizing of a UAV and its turboprop engine was done, by the code in a given mission profile. Secondly, single and multi-objective optimization were done for selected engine parameters to maximize loiter duration of UAV or specific power of engine or both. In single objective optimization, as first case, UAV loiter time was improved with an increase of 17.5% from baseline in given boundaries or constraints of compressor pressure ratio and burner exit temperature. In second case, specific power was enhanced by 12.3% from baseline. In multi-objective optimization case, where previous two objectives are considered together, loiter time and specific power were increased by 14.2% and 9.7% from baseline respectively, for the same constraints.

Wavelength-adaptive dehazing using histogram merging-based classification for UAV images.

PubMed

Yoon, Inhye; Jeong, Seokhwa; Jeong, Jaeheon; Seo, Doochun; Paik, Joonki

2015-03-19

Since incoming light to an unmanned aerial vehicle (UAV) platform can be scattered by haze and dust in the atmosphere, the acquired image loses the original color and brightness of the subject. Enhancement of hazy images is an important task in improving the visibility of various UAV images. This paper presents a spatially-adaptive dehazing algorithm that merges color histograms with consideration of the wavelength-dependent atmospheric turbidity. Based on the wavelength-adaptive hazy image acquisition model, the proposed dehazing algorithm consists of three steps: (i) image segmentation based on geometric classes; (ii) generation of the context-adaptive transmission map; and (iii) intensity transformation for enhancing a hazy UAV image. The major contribution of the research is a novel hazy UAV image degradation model by considering the wavelength of light sources. In addition, the proposed transmission map provides a theoretical basis to differentiate visually important regions from others based on the turbidity and merged classification results.

Tracking, aiming, and hitting the UAV with ordinary assault rifle

NASA Astrophysics Data System (ADS)

Racek, František; Baláž, Teodor; Krejčí, Jaroslav; Procházka, Stanislav; Macko, Martin

2017-10-01

The usage small-unmanned aerial vehicles (UAVs) is significantly increasing nowadays. They are being used as a carrier of military spy and reconnaissance devices (taking photos, live video streaming and so on), or as a carrier of potentially dangerous cargo (intended for destruction and killing). Both ways of utilizing the UAV cause the necessity to disable it. From the military point of view, to disable the UAV means to bring it down by a weapon of an ordinary soldier that is the assault rifle. This task can be challenging for the soldier because he needs visually detect and identify the target, track the target visually and aim on the target. The final success of the soldier's mission depends not only on the said visual tasks, but also on the properties of the weapon and ammunition. The paper deals with possible methods of prediction of probability of hitting the UAV targets.

Black carbon solar absorption suppresses turbulence in the atmospheric boundary layer.

PubMed

Wilcox, Eric M; Thomas, Rick M; Praveen, Puppala S; Pistone, Kristina; Bender, Frida A-M; Ramanathan, Veerabhadran

2016-10-18

The introduction of cloud condensation nuclei and radiative heating by sunlight-absorbing aerosols can modify the thickness and coverage of low clouds, yielding significant radiative forcing of climate. The magnitude and sign of changes in cloud coverage and depth in response to changing aerosols are impacted by turbulent dynamics of the cloudy atmosphere, but integrated measurements of aerosol solar absorption and turbulent fluxes have not been reported thus far. Here we report such integrated measurements made from unmanned aerial vehicles (UAVs) during the CARDEX (Cloud Aerosol Radiative Forcing and Dynamics Experiment) investigation conducted over the northern Indian Ocean. The UAV and surface data reveal a reduction in turbulent kinetic energy in the surface mixed layer at the base of the atmosphere concurrent with an increase in absorbing black carbon aerosols. Polluted conditions coincide with a warmer and shallower surface mixed layer because of aerosol radiative heating and reduced turbulence. The polluted surface mixed layer was also observed to be more humid with higher relative humidity. Greater humidity enhances cloud development, as evidenced by polluted clouds that penetrate higher above the top of the surface mixed layer. Reduced entrainment of dry air into the surface layer from above the inversion capping the surface mixed layer, due to weaker turbulence, may contribute to higher relative humidity in the surface layer during polluted conditions. Measurements of turbulence are important for studies of aerosol effects on clouds. Moreover, reduced turbulence can exacerbate both the human health impacts of high concentrations of fine particles and conditions favorable for low-visibility fog events.

Black carbon solar absorption suppresses turbulence in the atmospheric boundary layer

PubMed Central

Wilcox, Eric M.; Thomas, Rick M.; Praveen, Puppala S.; Pistone, Kristina; Bender, Frida A.-M.; Ramanathan, Veerabhadran

2016-01-01

The introduction of cloud condensation nuclei and radiative heating by sunlight-absorbing aerosols can modify the thickness and coverage of low clouds, yielding significant radiative forcing of climate. The magnitude and sign of changes in cloud coverage and depth in response to changing aerosols are impacted by turbulent dynamics of the cloudy atmosphere, but integrated measurements of aerosol solar absorption and turbulent fluxes have not been reported thus far. Here we report such integrated measurements made from unmanned aerial vehicles (UAVs) during the CARDEX (Cloud Aerosol Radiative Forcing and Dynamics Experiment) investigation conducted over the northern Indian Ocean. The UAV and surface data reveal a reduction in turbulent kinetic energy in the surface mixed layer at the base of the atmosphere concurrent with an increase in absorbing black carbon aerosols. Polluted conditions coincide with a warmer and shallower surface mixed layer because of aerosol radiative heating and reduced turbulence. The polluted surface mixed layer was also observed to be more humid with higher relative humidity. Greater humidity enhances cloud development, as evidenced by polluted clouds that penetrate higher above the top of the surface mixed layer. Reduced entrainment of dry air into the surface layer from above the inversion capping the surface mixed layer, due to weaker turbulence, may contribute to higher relative humidity in the surface layer during polluted conditions. Measurements of turbulence are important for studies of aerosol effects on clouds. Moreover, reduced turbulence can exacerbate both the human health impacts of high concentrations of fine particles and conditions favorable for low-visibility fog events. PMID:27702889

Smart Camera System for Aircraft and Spacecraft

NASA Technical Reports Server (NTRS)

Delgado, Frank; White, Janis; Abernathy, Michael F.

2003-01-01

This paper describes a new approach to situation awareness that combines video sensor technology and synthetic vision technology in a unique fashion to create a hybrid vision system. Our implementation of the technology, called "SmartCam3D" (SC3D) has been flight tested by both NASA and the Department of Defense with excellent results. This paper details its development and flight test results. Windshields and windows add considerable weight and risk to vehicle design, and because of this, many future vehicles will employ a windowless cockpit design. This windowless cockpit design philosophy prompted us to look at what would be required to develop a system that provides crewmembers and awareness. The system created to date provides a real-time operations personnel an appropriate level of situation 3D perspective display that can be used during all-weather and visibility conditions. While the advantages of a synthetic vision only system are considerable, the major disadvantage of such a system is that it displays the synthetic scene created using "static" data acquired by an aircraft or satellite at some point in the past. The SC3D system we are presenting in this paper is a hybrid synthetic vision system that fuses live video stream information with a computer generated synthetic scene. This hybrid system can display a dynamic, real-time scene of a region of interest, enriched by information from a synthetic environment system, see figure 1. The SC3D system has been flight tested on several X-38 flight tests performed over the last several years and on an ARMY Unmanned Aerial Vehicle (UAV) ground control station earlier this year. Additional testing using an assortment of UAV ground control stations and UAV simulators from the Army and Air Force will be conducted later this year.

The effect of leg dominance and landing height on ACL loading among female athletes.

PubMed

Mokhtarzadeh, Hossein; Ewing, Katie; Janssen, Ina; Yeow, Chen-Hua; Brown, Nicholas; Lee, Peter Vee Sin

2017-07-26

Female athletes are more prone to anterior cruciate ligament (ACL) injury. A neuromuscular imbalance called leg dominance may provide a biomechanical explanation. Therefore, the purpose of this study was to compare the side-to-side lower limb differences in movement patterns, muscle forces and ACL forces during a single-leg drop-landing task from two different heights. We hypothesized that there will be significant differences in lower limb movement patterns (kinematics), muscle forces and ACL loading between the dominant and non-dominant limbs. Further, we hypothesized that significant differences between limbs will be present when participants land from a greater drop-landing height. Eight recreational female participants performed dominant and non-dominant single-leg drop landings from 30 to 60cm. OpenSim software was used to develop participant-specific musculoskeletal models and to calculate muscle forces. We also predicted ACL loading using our previously established method. There were no significant differences between dominant and non-dominant leg landing except in ankle dorsiflexion and GMED muscle forces at peak GRF. Landing from a greater height resulted in significant differences among most kinetics and kinematics variables and ACL forces. Minimal differences in lower-limb muscle forces and ACL loading between the dominant and non-dominant legs during single-leg landing may suggest similar risk of injury across limbs in this cohort. Further research is required to confirm whether limb dominance may play an important role in the higher incidence of ACL injury in female athletes with larger and sport-specific cohorts. Copyright © 2017 Elsevier Ltd. All rights reserved.

Pressurized Structure Technology for UAVS

DTIC Science & Technology

2008-12-01

deficiencies of the UAVs just listed is to employ lighter-than-air or pressurized structure-based ( PSB ) technology. Basically, the UAV will be built such...that a considerable percentage of its weight is supported by or constructed from inflatable structures containing air or helium. PSB technology...neutral buoyancy will allow much slower flight speeds and increased maneuverability while expending little power. PSB airframes used in conjunction

Distributed subterranean exploration and mapping with teams of UAVs

NASA Astrophysics Data System (ADS)

Rogers, John G.; Sherrill, Ryan E.; Schang, Arthur; Meadows, Shava L.; Cox, Eric P.; Byrne, Brendan; Baran, David G.; Curtis, J. Willard; Brink, Kevin M.

2017-05-01

Teams of small autonomous UAVs can be used to map and explore unknown environments which are inaccessible to teams of human operators in humanitarian assistance and disaster relief efforts (HA/DR). In addition to HA/DR applications, teams of small autonomous UAVs can enhance Warfighter capabilities and provide operational stand-off for military operations such as cordon and search, counter-WMD, and other intelligence, surveillance, and reconnaissance (ISR) operations. This paper will present a hardware platform and software architecture to enable distributed teams of heterogeneous UAVs to navigate, explore, and coordinate their activities to accomplish a search task in a previously unknown environment.

Modeling and Optimization of Multiple Unmanned Aerial Vehicles System Architecture Alternatives

PubMed Central

Wang, Weiping; He, Lei

2014-01-01

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

Infrared search and track performance estimates for detection of commercial unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Nicholas, Robert; Driggers, Ronald; Shelton, David; Furxhi, Orges

2018-04-01

Unmanned aerial vehicles (UAVs) have become more readily available in the past 5 years and are proliferating rapidly. New aviation regulations are accelerating the use of UAVs in many applications. As a result, there are increasing concerns of potential air threats in situational environments including commercial airport security and drug trafficking. In this study, radiometric signatures of commercially available miniature UAVs is determined for long-wave infrared (LWIR) bands in both clear sky and partial cloudy conditions. Results are presented that compare LWIR performance estimates for the detection of commercial UAVs via infrared search and track (IRST) systems with two candidate sensors.

Positional Quality Assessment of Orthophotos Obtained from Sensors Onboard Multi-Rotor UAV Platforms

PubMed Central

Mesas-Carrascosa, Francisco Javier; Rumbao, Inmaculada Clavero; Berrocal, Juan Alberto Barrera; Porras, Alfonso García-Ferrer

2014-01-01

In this study we explored the positional quality of orthophotos obtained by an unmanned aerial vehicle (UAV). A multi-rotor UAV was used to obtain images using a vertically mounted digital camera. The flight was processed taking into account the photogrammetry workflow: perform the aerial triangulation, generate a digital surface model, orthorectify individual images and finally obtain a mosaic image or final orthophoto. The UAV orthophotos were assessed with various spatial quality tests used by national mapping agencies (NMAs). Results showed that the orthophotos satisfactorily passed the spatial quality tests and are therefore a useful tool for NMAs in their production flowchart. PMID:25587877

Solar Cell to Support Perpetual Flight of High Altitude Long Endurance UAV ITB

NASA Astrophysics Data System (ADS)

Luqmanul Hakim, Muhammad; Silitonga, Faber Y.; Rosid, Nurhayyan H.; Mochammad Agoes Moelyadi, Ing., Dr.

2018-04-01

Research on a High Altitude Long Endurance (HALE) Unmanned Aerial Vehicle (UAV) is currently being conducted at Bandung Institute of Technology to reach the flight duration needed and to get the solution of today’s challenges, minimizing pollution. Besides the good aerodynamic efficiency needed, energy resource is now becoming important. The energy resource must have a good endurance, easy to get, and of course, less pollution. Discussion in this paper is about the analysis of power needed by HALE UAV while takeoff and cruise flight conditions, and then determine the amount of solar cell and battery needed by the UAV.

Positional quality assessment of orthophotos obtained from sensors onboard multi-rotor UAV platforms.

PubMed

Mesas-Carrascosa, Francisco Javier; Rumbao, Inmaculada Clavero; Berrocal, Juan Alberto Barrera; Porras, Alfonso García-Ferrer

2014-11-26

In this study we explored the positional quality of orthophotos obtained by an unmanned aerial vehicle (UAV). A multi-rotor UAV was used to obtain images using a vertically mounted digital camera. The flight was processed taking into account the photogrammetry workflow: perform the aerial triangulation, generate a digital surface model, orthorectify individual images and finally obtain a mosaic image or final orthophoto. The UAV orthophotos were assessed with various spatial quality tests used by national mapping agencies (NMAs). Results showed that the orthophotos satisfactorily passed the spatial quality tests and are therefore a useful tool for NMAs in their production flowchart.

Brief communication: Landslide motion from cross correlation of UAV-derived morphological attributes

NASA Astrophysics Data System (ADS)

Peppa, Maria V.; Mills, Jon P.; Moore, Phil; Miller, Pauline E.; Chambers, Jonathan E.

2017-12-01

Unmanned aerial vehicles (UAVs) can provide observations of high spatio-temporal resolution to enable operational landslide monitoring. In this research, the construction of digital elevation models (DEMs) and orthomosaics from UAV imagery is achieved using structure-from-motion (SfM) photogrammetric procedures. The study examines the additional value that the morphological attribute of openness, amongst others, can provide to surface deformation analysis. Image-cross-correlation functions and DEM subtraction techniques are applied to the SfM outputs. Through the proposed integrated analysis, the automated quantification of a landslide's motion over time is demonstrated, with implications for the wider interpretation of landslide kinematics via UAV surveys.

The Use of Drones in Spain: Towards a Platform for Controlling UAVs in Urban Environments

PubMed Central

Bueno De Mata, Federico

2018-01-01

Rapid advances in technology make it necessary to prepare our society in every aspect. Some of the most significant technological developments of the last decade are the UAVs (Unnamed Aerial Vehicles) or drones. UAVs provide a wide range of new possibilities and have become a tool that we now use on a daily basis. However, if their use is not controlled, it could entail several risks, which make it necessary to legislate and monitor UAV flights to ensure, inter alia, the security and privacy of all citizens. As a result of this problem, several laws have been passed which seek to regulate their use; however, no proposals have been made with regards to the control of airspace from a technological point of view. This is exactly what we propose in this article: a platform with different modes designed to control UAVs and monitor their status. The features of the proposed platform provide multiple advantages that make the use of UAVs more secure, such as prohibiting UAVs’ access to restricted areas or avoiding collisions between vehicles. The platform has been successfully tested in Salamanca, Spain. PMID:29751554

Detection, Location and Grasping Objects Using a Stereo Sensor on UAV in Outdoor Environments.

PubMed

Ramon Soria, Pablo; Arrue, Begoña C; Ollero, Anibal

2017-01-07

The article presents a vision system for the autonomous grasping of objects with Unmanned Aerial Vehicles (UAVs) in real time. Giving UAVs the capability to manipulate objects vastly extends their applications, as they are capable of accessing places that are difficult to reach or even unreachable for human beings. This work is focused on the grasping of known objects based on feature models. The system runs in an on-board computer on a UAV equipped with a stereo camera and a robotic arm. The algorithm learns a feature-based model in an offline stage, then it is used online for detection of the targeted object and estimation of its position. This feature-based model was proved to be robust to both occlusions and the presence of outliers. The use of stereo cameras improves the learning stage, providing 3D information and helping to filter features in the online stage. An experimental system was derived using a rotary-wing UAV and a small manipulator for final proof of concept. The robotic arm is designed with three degrees of freedom and is lightweight due to payload limitations of the UAV. The system has been validated with different objects, both indoors and outdoors.

Experimental Study of Multispectral Characteristics of an Unmanned Aerial Vehicle at Different Observation Angles

PubMed Central

Zheng, Haijing; Bai, Tingzhu; Wang, Quanxi; Cao, Fengmei; Shao, Long; Sun, Zhaotian

2018-01-01

This study investigates multispectral characteristics of an unmanned aerial vehicle (UAV) at different observation angles by experiment. The UAV and its engine are tested on the ground in the cruise state. Spectral radiation intensities at different observation angles are obtained in the infrared band of 0.9–15 μm by a spectral radiometer. Meanwhile, infrared images are captured separately by long-wavelength infrared (LWIR), mid-wavelength infrared (MWIR), and short-wavelength infrared (SWIR) cameras. Additionally, orientation maps of the radiation area and radiance are obtained. The results suggest that the spectral radiation intensity of the UAV is determined by its exhaust plume and that the main infrared emission bands occur at 2.7 μm and 4.3 μm. At observation angles in the range of 0°–90°, the radiation area of the UAV in MWIR band is greatest; however, at angles greater than 90°, the radiation area in the SWIR band is greatest. In addition, the radiance of the UAV at an angle of 0° is strongest. These conclusions can guide IR stealth technique development for UAVs. PMID:29389880

On parallel hybrid-electric propulsion system for unmanned aerial vehicles

NASA Astrophysics Data System (ADS)

Hung, J. Y.; Gonzalez, L. F.

2012-05-01

This paper presents a review of existing and current developments and the analysis of Hybrid-Electric Propulsion Systems (HEPS) for small fixed-wing Unmanned Aerial Vehicles (UAVs). Efficient energy utilisation on an UAV is essential to its functioning, often to achieve the operational goals of range, endurance and other specific mission requirements. Due to the limitations of the space available and the mass budget on the UAV, it is often a delicate balance between the onboard energy available (i.e. fuel) and achieving the operational goals. One technology with potential in this area is with the use of HEPS. In this paper, information on the state-of-art technology in this field of research is provided. A description and simulation of a parallel HEPS for a small fixed-wing UAV by incorporating an Ideal Operating Line (IOL) control strategy is described. Simulation models of the components in a HEPS were designed in the MATLAB Simulink environment. An IOL analysis of an UAV piston engine was used to determine the most efficient points of operation for this engine. The results show that an UAV equipped with this HEPS configuration is capable of achieving a fuel saving of 6.5%, compared to the engine-only configuration.

UAV Deployment Exercise for Mapping Purposes: Evaluation of Emergency Response Applications.

PubMed

Boccardo, Piero; Chiabrando, Filiberto; Dutto, Furio; Tonolo, Fabio Giulio; Lingua, Andrea

2015-07-02

Exploiting the decrease of costs related to UAV technology, the humanitarian community started piloting the use of similar systems in humanitarian crises several years ago in different application fields, i.e., disaster mapping and information gathering, community capacity building, logistics and even transportation of goods. Part of the author's group, composed of researchers in the field of applied geomatics, has been piloting the use of UAVs since 2006, with a specific focus on disaster management application. In the framework of such activities, a UAV deployment exercise was jointly organized with the Regional Civil Protection authority, mainly aimed at assessing the operational procedures to deploy UAVs for mapping purposes and the usability of the acquired data in an emergency response context. In the paper the technical features of the UAV platforms will be described, comparing the main advantages/disadvantages of fixed-wing versus rotor platforms. The main phases of the adopted operational procedure will be discussed and assessed especially in terms of time required to carry out each step, highlighting potential bottlenecks and in view of the national regulation framework, which is rapidly evolving. Different methodologies for the processing of the acquired data will be described and discussed, evaluating the fitness for emergency response applications.

Shigaraki UAV-Radar Experiment (ShUREX): overview of the campaign with some preliminary results

NASA Astrophysics Data System (ADS)

Kantha, Lakshmi; Lawrence, Dale; Luce, Hubert; Hashiguchi, Hiroyuki; Tsuda, Toshitaka; Wilson, Richard; Mixa, Tyler; Yabuki, Masanori

2017-12-01

The Shigaraki unmanned aerial vehicle (UAV)-Radar Experiment (ShUREX) is an international (USA-Japan-France) observational campaign, whose overarching goal is to demonstrate the utility of small, lightweight, inexpensive, autonomous UAVs in probing and monitoring the lower troposphere and to promote synergistic use of UAVs and very high frequency (VHF) radars. The 2-week campaign lasting from June 1 to June 14, 2015, was carried out at the Middle and Upper Atmosphere (MU) Observatory in Shigaraki, Japan. During the campaign, the DataHawk UAV, developed at the University of Colorado, Boulder, and equipped with high-frequency response cold wire and pitot tube sensors (as well as an iMET radiosonde), was flown near and over the VHF-band MU radar. Measurements in the atmospheric column in the immediate vicinity of the radar were obtained. Simultaneous and continuous operation of the radar in range imaging mode enabled fine-scale structures in the atmosphere to be visualized by the radar. It also permitted the UAV to be commanded to sample interesting structures, guided in near real time by the radar images. This overview provides a description of the ShUREX campaign and some interesting but preliminary results of the very first simultaneous and intensive probing of turbulent structures by UAVs and the MU radar. The campaign demonstrated the validity and utility of the radar range imaging technique in obtaining very high vertical resolution ( 20 m) images of echo power in the atmospheric column, which display evolving fine-scale atmospheric structures in unprecedented detail. The campaign also permitted for the very first time the evaluation of the consistency of turbulent kinetic energy dissipation rates in turbulent structures inferred from the spectral broadening of the backscattered radar signal and direct, in situ measurements by the high-frequency response velocity sensor on the UAV. The data also enabled other turbulence parameters such as the temperature structure function parameter {C}_T^2 and refractive index structure function parameter {C}_n^2 to be measured by sensors on the UAV, along with radar-inferred refractive index structure function parameter {C}_{n,radar}^2 . The comprehensive dataset collected during the campaign (from the radar, the UAV, the boundary layer lidar, the ceilometer, and radiosondes) is expected to help obtain a better understanding of turbulent atmospheric structures, as well as arrive at a better interpretation of the radar data.

On the relationship between lower extremity muscles activation and peak vertical and posterior ground reaction forces during single leg drop landing.

PubMed

Mahaki, M; Mi'mar, R; Mahaki, B

2015-10-01

Anterior cruciate ligament (ACL) injury continues to be an important medical issue for athletes participating in sports. Vertical and posterior ground reaction forces have received considerable attention for their potential influence on ACL injuries. The purpose of this study was to examine the relationship between electromyographic activity of lower extremity muscles and the peak vertical and posterior ground reaction forces during single leg drop landing. Thirteen physical education male students participated in this correlation study. Electromyographic activities of gluteus medius, biceps femoris, medial gastrocnemius, soleus as well as anterior tibialis muscles along with ground reaction forces were measured. Participants performed single-leg landing from a 0.3 m height on to a force platform. Landing was divided into two phases: 100 ms preceding ground contact and 100 ms proceeding ground contact. Pearson correlation test was used to determine the relationships between these muscles activity and peak vertical and posterior ground reaction forces. The results of the study indicated that the activity of soleus and tibialis anterior in pre-landing phase were positively correlated with peak vertical ground reaction force ([P≤0.04], [P≤0.008], respectively). However, no significant correlation was found between the activities of other muscles in pre-landing phase and peak vertical as well as peak posterior ground reaction forces. Also, no significant correlation was found between the activities of muscles in post-landing phase and peak vertical as well as peak posterior ground reaction forces. Soleus loading shifts the proximal tibia posterior at the knee joint and tibialis anterior prevent hyperporonation of the ankle, a mechanisms of ACL injury. Hence, neuromuscular training promoting preparatory muscle activity in these muscles may reduce the incidence of ACL injuries.

Validation of the North American Land Data Assimilation System (NLDAS) retrospective forcing over the southern Great Plains

NASA Astrophysics Data System (ADS)

Luo, Lifeng; Robock, Alan; Mitchell, Kenneth E.; Houser, Paul R.; Wood, Eric F.; Schaake, John C.; Lohmann, Dag; Cosgrove, Brian; Wen, Fenghua; Sheffield, Justin; Duan, Qingyun; Higgins, R. Wayne; Pinker, Rachel T.; Tarpley, J. Dan

2003-11-01

Atmospheric forcing used by land surface models is a critical component of the North American Land Data Assimilation System (NLDAS) and its quality crucially affects the final product of NLDAS and our work on model improvement. A three-year (September 1996-September 1999) retrospective forcing data set was created from the Eta Data Assimilation System and observations and used to run the NLDAS land surface models for this period. We compared gridded NLDAS forcing with station observations obtained from networks including the Oklahoma Mesonet and Atmospheric Radiation Measurement/Cloud and Radiation Testbed at the southern Great Plains. Differences in all forcing variables except precipitation between the NLDAS forcing data set and station observations are small at all timescales. While precipitation data do not agree very well at an hourly timescale, they do agree better at longer timescales because of the way NLDAS precipitation forcing is generated. A small high bias in downward solar radiation and a low bias in downward longwave radiation exist in the retrospective forcing. To investigate the impact of these differences on land surface modeling we compared two sets of model simulations, one forced by the standard NLDAS product and one with station-observed meteorology. The differences in the resulting simulations of soil moisture and soil temperature for each model were small, much smaller than the differences between the models and between the models and observations. This indicates that NLDAS retrospective forcing provides an excellent state-of-the-art data set for land surface modeling, at least over the southern Great Plains region.

75 FR 44281 - Public Land Order No. 7747; Partial Revocation, Juniper Butte Range; Idaho

Federal Register 2010, 2011, 2012, 2013, 2014

2010-07-28

... affects a 5-acre parcel of land reserved on behalf of the United States Air Force in Owyhee County, Idaho... INFORMATION: The land included in this revocation was withdrawn on behalf of the United States Air Force as..., designated as ND-8, was never used by the United States Air Force, and they have determined that the...

Snowboard Jumping, Newton's Second Law and the Force on Landing

ERIC Educational Resources Information Center

O'Shea, Michael J.

2004-01-01

An application of Newton's second law to a snowboarder dropping off a vertical ledge shows that the average normal force during landing (force exerted by the ground on the snowboarder) is determined by four factors. It is shown that the flexing of the legs, the softness of the snow, the angle of the landing surface and the forward motion of the…

Quad-rotor flight path energy optimization

NASA Astrophysics Data System (ADS)

Kemper, Edward

Quad-Rotor unmanned areal vehicles (UAVs) have been a popular area of research and development in the last decade, especially with the advent of affordable microcontrollers like the MSP 430 and the Raspberry Pi. Path-Energy Optimization is an area that is well developed for linear systems. In this thesis, this idea of path-energy optimization is extended to the nonlinear model of the Quad-rotor UAV. The classical optimization technique is adapted to the nonlinear model that is derived for the problem at hand, coming up with a set of partial differential equations and boundary value conditions to solve these equations. Then, different techniques to implement energy optimization algorithms are tested using simulations in Python. First, a purely nonlinear approach is used. This method is shown to be computationally intensive, with no practical solution available in a reasonable amount of time. Second, heuristic techniques to minimize the energy of the flight path are tested, using Ziegler-Nichols' proportional integral derivative (PID) controller tuning technique. Finally, a brute force look-up table based PID controller is used. Simulation results of the heuristic method show that both reliable control of the system and path-energy optimization are achieved in a reasonable amount of time.

Experimental measurement of the aerodynamic charateristics of two-dimensional airfoils for an unmanned aerial vehicle

NASA Astrophysics Data System (ADS)

Velazquez, Luis; Nožička, Jiří; Vavřín, Jan

2012-04-01

This paper is part of the development of an airfoil for an unmanned aerial vehicle (UAV) with internal propulsion system; the investigation involves the analysis of the aerodynamic performance for the gliding condition of two-dimensional airfoil models which have been tested. This development is based on the modification of a selected airfoil from the NACA four digits family. The modification of this base airfoil was made in order to create a blowing outlet with the shape of a step on the suction surface since the UAV will have an internal propulsion system. This analysis involved obtaining the lift, drag and pitching moment coefficients experimentally for the situation where there is not flow through the blowing outlet, called the no blowing condition by means of wind tunnel tests. The methodology to obtain the forces experimentally was through an aerodynamic wire balance. Obtained results were compared with numerical results by means of computational fluid dynamics (CFD) from references and found in very good agreement. Finally, a selection of the airfoil with the best aerodynamic performance is done and proposed for further analysis including the blowing condition.

Position and attitude tracking control for a quadrotor UAV.

PubMed

Xiong, Jing-Jing; Zheng, En-Hui

2014-05-01

A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Submarine melting from repeat UAV surveys of icebergs

NASA Astrophysics Data System (ADS)

Hubbard, A., II; Ryan, J.; Smith, L. C.; Hamilton, G. S.

2017-12-01

Greenland's tidewater glaciers are a primary contributor to global sea-level rise, yet their future trajectory remains uncertain due to their non-linear response to oceanic forcing: particularly with respect to rapid submarine melting and under-cutting of their calving fronts. To improve understanding of ice-ocean interactions, we conducted repeat unmanned aerial vehicle (UAV) surveys across the terminus of Store Glacier and its adjacent fjord between May and June 2014. The derived imagery provides insight into frontal plume dynamics and the changing freeboard volume of icebergs in the fjord as they ablate. Following the methodology of Enderlin and Hamilton (2014), by differencing iceberg freeboard volume, we constrain submarine melt rates adjacent to the calving front. We find that plume and submarine melt rates are critical to mass loss variability across the calving front. Although the frontal ablation of Store Glacier is dominated by large mechanical calving events, the undercutting induced by the meltwater plume increases the frequency of calving and initiates frontal retreat. We conclude that even small increases in submarine melting due to changes in the meltwater plume duration and/or circulation patterns can have important consequences for frontal mass loss from large outlet glaciers draining the Greenland ice sheet.

Unmanned Aerial Vehicle to Estimate Nitrogen Status of Turfgrasses

PubMed Central

Corniglia, Matteo; Gaetani, Monica; Grossi, Nicola; Magni, Simone; Migliazzi, Mauro; Angelini, Luciana; Mazzoncini, Marco; Silvestri, Nicola; Fontanelli, Marco; Raffaelli, Michele; Peruzzi, Andrea; Volterrani, Marco

2016-01-01

Spectral reflectance data originating from Unmanned Aerial Vehicle (UAV) imagery is a valuable tool to monitor plant nutrition, reduce nitrogen (N) application to real needs, thus producing both economic and environmental benefits. The objectives of the trial were i) to compare the spectral reflectance of 3 turfgrasses acquired via UAV and by a ground-based instrument; ii) to test the sensitivity of the 2 data acquisition sources in detecting induced variation in N levels. N application gradients from 0 to 250 kg ha-1 were created on 3 different turfgrass species: Cynodon dactylon x transvaalensis (Cdxt) ‘Patriot’, Zoysia matrella (Zm) ‘Zeon’ and Paspalum vaginatum (Pv) ‘Salam’. Proximity and remote-sensed reflectance measurements were acquired using a GreenSeeker handheld crop sensor and a UAV with onboard a multispectral sensor, to determine Normalized Difference Vegetation Index (NDVI). Proximity-sensed NDVI is highly correlated with data acquired from UAV with r values ranging from 0.83 (Zm) to 0.97 (Cdxt). Relating NDVI-UAV with clippings N, the highest r is for Cdxt (0.95). The most reactive species to N fertilization is Cdxt with a clippings N% ranging from 1.2% to 4.1%. UAV imagery can adequately assess the N status of turfgrasses and its spatial variability within a species, so for large areas, such as golf courses, sod farms or race courses, UAV acquired data can optimize turf management. For relatively small green areas, a hand-held crop sensor can be a less expensive and more practical option. PMID:27341674

Robust drone detection for day/night counter-UAV with static VIS and SWIR cameras

NASA Astrophysics Data System (ADS)

Müller, Thomas

2017-05-01

Recent progress in the development of unmanned aerial vehicles (UAVs) has led to more and more situations in which drones like quadrocopters or octocopters pose a potential serious thread or could be used as a powerful tool for illegal activities. Therefore, counter-UAV systems are required in a lot of applications to detect approaching drones as early as possible. In this paper, an efficient and robust algorithm is presented for UAV detection using static VIS and SWIR cameras. Whereas VIS cameras with a high resolution enable to detect UAVs in the daytime in further distances, surveillance at night can be performed with a SWIR camera. First, a background estimation and structural adaptive change detection process detects movements and other changes in the observed scene. Afterwards, the local density of changes is computed used for background density learning and to build up the foreground model which are compared in order to finally get the UAV alarm result. The density model is used to filter out noise effects, on the one hand. On the other hand, moving scene parts like moving leaves in the wind or driving cars on a street can easily be learned in order to mask such areas out and suppress false alarms there. This scene learning is done automatically simply by processing without UAVs in order to capture the normal situation. The given results document the performance of the presented approach in VIS and SWIR in different situations.

Design and implementation of a remote UAV-based mobile health monitoring system

NASA Astrophysics Data System (ADS)

Li, Songwei; Wan, Yan; Fu, Shengli; Liu, Mushuang; Wu, H. Felix

2017-04-01

Unmanned aerial vehicles (UAVs) play increasing roles in structure health monitoring. With growing mobility in modern Internet-of-Things (IoT) applications, the health monitoring of mobile structures becomes an emerging application. In this paper, we develop a UAV-carried vision-based monitoring system that allows a UAV to continuously track and monitor a mobile infrastructure and transmit back the monitoring information in real- time from a remote location. The monitoring system uses a simple UAV-mounted camera and requires only a single feature located on the mobile infrastructure for target detection and tracking. The computation-effective vision-based tracking solution based on a single feature is an improvement over existing vision-based lead-follower tracking systems that either have poor tracking performance due to the use of a single feature, or have improved tracking performance at a cost of the usage of multiple features. In addition, a UAV-carried aerial networking infrastructure using directional antennas is used to enable robust real-time transmission of monitoring video streams over a long distance. Automatic heading control is used to self-align headings of directional antennas to enable robust communication in mobility. Compared to existing omni-communication systems, the directional communication solution significantly increases the operation range of remote monitoring systems. In this paper, we develop the integrated modeling framework of camera and mobile platforms, design the tracking algorithm, develop a testbed of UAVs and mobile platforms, and evaluate system performance through both simulation studies and field tests.

Evaluating the accuracy of low cost UAV generated topography and its effectiveness for geomorphic change detection

NASA Astrophysics Data System (ADS)

Cook, Kristen

2015-04-01

With the recent explosion in the use and availability of unmanned aerial vehicle platforms and development of easy to use structure from motion (SfM) software, UAV based photogrammetry is increasingly being adopted to produce high resolution topography for the study of surface processes. UAV systems can vary substantially in price and complexity, but the tradeoffs between these and the quality of the resulting data are not well constrained. We look at one end of this spectrum and evaluate the effectiveness of a simple low cost UAV setup for obtaining high resolution topography in a challenging field setting. Our study site is the Daan River gorge in western Taiwan, a rapidly eroding bedrock gorge that we have monitored with terrestrial Lidar since 2009. The site presents challenges for the generation and analysis of high resolution topography, including vertical gorge walls, vegetation, wide variation in surface roughness, and a complicated 3D morphology. In order to evaluate the accuracy of the UAV-derived topography, we compare it with terrestrial Lidar data collected during the same survey period. Our UAV setup combines a DJI Phantom 2 quadcopter with a 16 megapixel Canon Powershot camera for a total platform cost of less than 850. The quadcopter is flown manually, and the camera is programmed to take a photograph every 4 seconds, yielding 200-250 pictures per flight. We measured ground control points and targets for both the Lidar scans and the aerial surveys using a Leica RTK GPS with 1-2 cm accuracy. UAV derived point clouds were obtained using Agisoft Photoscan software. We conducted both Lidar and UAV surveys before and after the 2014 typhoon season, allowing us to evaluate the reliability of the UAV survey to detect geomorphic changes in the range of one to several meters. The accuracy of the SfM point clouds depends strongly on the characteristics of the surface being considered, with vegetation and small scale texture causing inaccuracies. However, we find that this simple UAV setup can yield point clouds with 78% of points within 20 cm and 60% within 10 cm of the Lidar point clouds, with the higher errors dominated by vegetation effects. Well-distributed and accurately located ground control points are critical, but we achieve good accuracy with even with relatively few ground control points (25) over a 150,000 sq m area. The large number of photographs taken during each flight also allows us to explore the reproducibility of the UAV-derived topography by generating point clouds from different subsets of photographs taken of the same area during a single survey. These results show the same pattern of higher errors due to vegetation, but bedrock surfaces generally have errors of less than 4 cm. These results suggest that even very basic UAV surveys can yield data suitable for measuring geomorphic change on the scale of a channel reach.

Using Natural Language to Enhance Mission Effectiveness

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Meszaros, Erica

2016-01-01

The availability of highly capable, yet relatively cheap, unmanned aerial vehicles (UAVs) is opening up new areas of use for hobbyists and for professional-related activities. The driving function of this research is allowing a non-UAV pilot, an operator, to define and manage a mission. This paper describes the preliminary usability measures of an interface that allows an operator to define the mission using speech to make inputs. An experiment was conducted to begin to enumerate the efficacy and user acceptance of using voice commands to define a multi-UAV mission and to provide high-level vehicle control commands such as "takeoff." The primary independent variable was input type - voice or mouse. The primary dependent variables consisted of the correctness of the mission parameter inputs and the time needed to make all inputs. Other dependent variables included NASA-TLX workload ratings and subjective ratings on a final questionnaire. The experiment required each subject to fill in an online form that contained comparable required information that would be needed for a package dispatcher to deliver packages. For each run, subjects typed in a simple numeric code for the package code. They then defined the initial starting position, the delivery location, and the return location using either pull-down menus or voice input. Voice input was accomplished using CMU Sphinx4-5prealpha for speech recognition. They then inputted the length of the package. These were the option fields. The subject had the system "Calculate Trajectory" and then "Takeoff" once the trajectory was calculated. Later, the subject used "Land" to finish the run. After the voice and mouse input blocked runs, subjects completed a NASA-TLX. At the conclusion of all runs, subjects completed a questionnaire asking them about their experience in inputting the mission parameters, and starting and stopping the mission using mouse and voice input. In general, the usability of voice commands is acceptable. With a relatively well-defined and simple vocabulary, the operator can input the vast majority of the mission parameters using simple, intuitive voice commands. However, voice input may be more applicable to initial mission specification rather than for critical commands such as the need to land immediately due to time and feedback constraints. It would also be convenient to retrieve relevant mission information using voice input. Therefore, further on-going research is looking at using intent from operator utterances to provide the relevant mission information to the operator. The information displayed will be inferred from the operator's utterances just before key phrases are spoken. Linguistic analysis of the context of verbal communication provides insight into the intended meaning of commonly heard phrases such as "What's it doing now?" Analyzing the semantic sphere surrounding these common phrases enables us to predict the operator's intent and supply the operator's desired information to the interface. This paper also describes preliminary investigations into the generation of the semantic space of UAV operation and the success at providing information to the interface based on the operator's utterances.

Relationship between jump landing kinematics and peak ACL force during a jump in downhill skiing: a simulation study.

PubMed

Heinrich, D; van den Bogert, A J; Nachbauer, W

2014-06-01

Recent data highlight that competitive skiers face a high risk of injuries especially during off-balance jump landing maneuvers in downhill skiing. The purpose of the present study was to develop a musculo-skeletal modeling and simulation approach to investigate the cause-and-effect relationship between a perturbed landing position, i.e., joint angles and trunk orientation, and the peak force in the anterior cruciate ligament (ACL) during jump landing. A two-dimensional musculo-skeletal model was developed and a baseline simulation was obtained reproducing measurement data of a reference landing movement. Based on the baseline simulation, a series of perturbed landing simulations (n = 1000) was generated. Multiple linear regression was performed to determine a relationship between peak ACL force and the perturbed landing posture. Increased backward lean, hip flexion, knee extension, and ankle dorsiflexion as well as an asymmetric position were related to higher peak ACL forces during jump landing. The orientation of the trunk of the skier was identified as the most important predictor accounting for 60% of the variance of the peak ACL force in the simulations. Teaching of tactical decisions and the inclusion of exercise regimens in ACL injury prevention programs to improve trunk control during landing motions in downhill skiing was concluded. © 2013 John Wiley & Sons A/S. Published by John Wiley & Sons Ltd.

Reliability of Single-Leg Balance and Landing Tests in Rugby Union; Prospect of Using Postural Control to Monitor Fatigue

PubMed Central

Troester, Jordan C.; Jasmin, Jason G.; Duffield, Rob

2018-01-01

The present study examined the inter-trial (within test) and inter-test (between test) reliability of single-leg balance and single-leg landing measures performed on a force plate in professional rugby union players using commercially available software (SpartaMARS, Menlo Park, USA). Twenty-four players undertook test – re-test measures on two occasions (7 days apart) on the first training day of two respective pre-season weeks following 48h rest and similar weekly training loads. Two 20s single-leg balance trials were performed on a force plate with eyes closed. Three single-leg landing trials were performed by jumping off two feet and landing on one foot in the middle of a force plate 1m from the starting position. Single-leg balance results demonstrated acceptable inter-trial reliability (ICC = 0.60-0.81, CV = 11-13%) for sway velocity, anterior-posterior sway velocity, and mediolateral sway velocity variables. Acceptable inter-test reliability (ICC = 0.61-0.89, CV = 7-13%) was evident for all variables except mediolateral sway velocity on the dominant leg (ICC = 0.41, CV = 15%). Single-leg landing results only demonstrated acceptable inter-trial reliability for force based measures of relative peak landing force and impulse (ICC = 0.54-0.72, CV = 9-15%). Inter-test results indicate improved reliability through the averaging of three trials with force based measures again demonstrating acceptable reliability (ICC = 0.58-0.71, CV = 7-14%). Of the variables investigated here, total sway velocity and relative landing impulse are the most reliable measures of single-leg balance and landing performance, respectively. These measures should be considered for monitoring potential changes in postural control in professional rugby union. Key points Single-leg balance demonstrated acceptable inter-trial and inter-test reliability. Single-leg landing demonstrated good inter-trial and inter-test reliability for measures of relative peak landing force and relative impulse, but not time to stabilization. Of the variables investigated, sway velocity and relative landing impulse are the most reliable measures of single-leg balance and landing respectively, and should considered for monitoring changes in postural control. PMID:29769817

Climate implications of including albedo effects in terrestrial carbon policy

NASA Astrophysics Data System (ADS)

Jones, A. D.; Collins, W.; Torn, M. S.; Calvin, K. V.

2012-12-01

Proposed strategies for managing terrestrial carbon in order to mitigate anthropogenic climate change, such as financial incentives for afforestation, soil carbon sequestration, or biofuel production, largely ignore the direct effects of land use change on climate via biophysical processes that alter surface energy and water budgets. Subsequent influences on temperature, hydrology, and atmospheric circulation at regional and global scales could potentially help or hinder climate stabilization efforts. Because these policies often rely on payments or credits expressed in units of CO2-equivalents, accounting for biophysical effects would require a metric for comparing the strength of biophysical climate perturbation from land use change to that of emitting CO2. One such candidate metric that has been suggested in the literature on land use impacts is radiative forcing, which underlies the global warming potential metric used to compare the climate effects of various greenhouse gases with one another. Expressing land use change in units of radiative forcing is possible because albedo change results in a net top-of-atmosphere radiative flux change. However, this approach has also been critiqued on theoretical grounds because not all climatic changes associated with land use change are principally radiative in nature, e.g. changes in hydrology or the vertical distribution of heat within the atmosphere, and because the spatial scale of land use change forcing differs from that of well-mixed greenhouse gases. To explore the potential magnitude of this discrepancy in the context of plausible scenarios of future land use change, we conduct three simulations with the Community Climate System Model 4 (CCSM4) utilizing a slab ocean model. Each simulation examines the effect of a stepwise change in forcing relative to a pre-industrial control simulation: 1) widespread conversion of forest land to crops resulting in approximately 1 W/m2 global-mean radiative forcing from albedo change, 2) an increase in CO2 concentrations that exactly balances the forcing from land use change at the global level, and 3) a simulation combining the first two effects, resulting in net zero global-mean forcing as would occur in an idealized carbon cap-and-trade scheme that accounts for the albedo effect of land use change. The pattern of land use change that we examine is derived from an integrated assessment model that accounts for population, demographic, technological, and policy changes over the 21st century. We find significant differences in the pattern of climate change associated with each of these forcing scenarios, demonstrating the non-additivity of radiative forcing from land-use change and greenhouse gases in the context of a hypothetical scenario of future land use change. These results have implications for the development of land use and climate policies.

Individual tree detection from Unmanned Aerial Vehicle (UAV) derived canopy height model in an open canopy mixed conifer forest

Treesearch

Midhun Mohan; Carlos Alberto Silva; Carine Klauberg; Prahlad Jat; Glenn Catts; Adrian Cardil; Andrew Thomas Hudak; Mahendra Dia

2017-01-01

Advances in Unmanned Aerial Vehicle (UAV) technology and data processing capabilities have made it feasible to obtain high-resolution imagery and three dimensional (3D) data which can be used for forest monitoring and assessing tree attributes. This study evaluates the applicability of low consumer grade cameras attached to UAVs and structure-from-motion (SfM)...

Security Engineering Project

DTIC Science & Technology

2015-01-31

from a wireless joystick console broadcasting at 2.4 GHz. Figure 6. GTRI Airborne Unmanned Sensor System As shown in Figure 7 the autopilot has a...generating wind turbines , and video reconnaissance systems on unmanned aerial vehicles (UAVs). The most basic decision problem in designing a...chosen test UAV case was the GTRI Aerial Unmanned Sensor System (GAUSS) aircraft. The GAUSS platform is a small research UAV with a widely used

Human-Robot Interaction Literature Review

DTIC Science & Technology

2012-03-01

coordination, operation of non-simulated UVs, and mixed UAV and UGV systems . Recommendations THRIL should focus on studies that look at operating non...Security, 2012). UAVs were continued to be developed in operations such as Desert Storm, where the Pioneer UAV system provided intelligence and fire... systems . One of the programs that was part of the initial fielding of UGVs in military operations was the Vehicle Teleoperation Capability (VTC). The

Impact of Prior Flight Experience on Learning Predator UAV Operator Skills

DTIC Science & Technology

2002-02-01

UAVs are becoming a mainstay of intelligence , surveillance, and reconnaissance (ISR) information gathering, with the capability of supplying, in...indicators of UAV pilot skill, namely frequency and type of videogame playing, and experience with remote-controlled hobby aircraft. Experience with...indicator, artificial horizon, heading rate indicator, and engine revolutions per minute. The right monitor displays other useful information, such as a

Path Calculation and Packet Translation for UAV Surveillance in Support of Wireless Sensor Networks

DTIC Science & Technology

2006-09-01

AND PACKET TRANSLATION FOR UAV SURVEILLANCE IN SUPPORT OF WIRELESS SENSOR NETWORKS by Stephen Schall September 2006 Thesis Advisor...Calculation and Packet Translation for UAV Surveillance in Support of Wireless Sensor Networks 6. AUTHOR(S) Stephen Schall 5. FUNDING NUMBERS 7...200 words) Wireless Sensor Networks (WSNs) are a relatively new technology with many potential applications, including military and

Drones at the Beach - Surf Zone Monitoring Using Rotary Wing Unmanned Aerial Vehicles

NASA Astrophysics Data System (ADS)

Rynne, P.; Brouwer, R.; de Schipper, M. A.; Graham, F.; Reniers, A.; MacMahan, J. H.

2014-12-01

We investigate the potential of rotary wing Unmanned Aerial Vehicles (UAVs) to monitor the surf zone. In recent years, the arrival of lightweight, high-capacity batteries, low-power electronics and compact high-definition cameras has driven the development of commercially available UAVs for hobbyists. Moreover, the low operation costs have increased their potential for scientific research as these UAVs are extremely flexible surveying platforms. The UAVs can fly for ~12 min with a mean loiter radius of 1 - 3.5 m and a mean loiter error of 0.75 - 4.5 m, depending on the environmental conditions, flying style, battery type and vehicle type. Our experiments using multiple, alternating UAVs show that it is possible to have near continuous imagery data with similar Fields Of View. The images obtained from the UAVs (Fig. 1a), and in combination with surveyed Ground Control Points (GCPs) (Fig. 1b, red squares and white circles), can be geo-rectified (Fig. 1c) to pixel resolution between 0.01 - 1 m and a reprojection error, i.e. the difference between the surveyed GPS location of a GCP and the location of the GCP obtained from the geo-rectified image, of O(1 m). These geo-rectified images provide data on a variety of coastal aspects, such as beach width (Wb(x,t)), surf zone width (Wsf(x,t)), wave breaking location (rectangle B), beach usage (circle C) and location of dune vegegation (rectangle D), amongst others. Additionally, the possibility to have consecutive, high frequency (up to 2 Hz) rectified images makes the UAVs a great data instrument for spatially and temporally variable systems, such as the surf zone. Our first observations with the UAVs reveal the potential to quickly obtain surf zone and beach characteristics in response to storms or for day to day beach information, as well as the scientific pursuits of surf zone kinematics on different spatial and temporal scales, and dispersion and advection estimates of pollutants/dye. A selection of findings from several field experiments and using multiple optical instruments will be showed at the meeting, discussing the new possibilities rotary wing UAVs can offer for surf zone research.

Power Management for Fuel Cell and Battery Hybrid Unmanned Aerial Vehicle Applications

NASA Astrophysics Data System (ADS)

Stein, Jared Robert

As electric powered unmanned aerial vehicles enter a new age of commercial viability, market opportunities in the small UAV sector are expanding. Extending UAV flight time through a combination of fuel cell and battery technologies enhance the scope of potential applications. A brief survey of UAV history provides context and examples of modern day UAVs powered by fuel cells are given. Conventional hybrid power system management employs DC-to-DC converters to control the power split between battery and fuel cell. In this study, a transistor replaces the DC-to-DC converter which lowers weight and cost. Simulation models of a lithium ion battery and a proton exchange membrane fuel cell are developed and integrated into a UAV power system model. Flight simulations demonstrate the operation of the transistor-based power management scheme and quantify the amount of hydrogen consumed by a 5.5 kg fixed wing UAV during a six hour flight. Battery power assists the fuel cell during high throttle periods but may also augment fuel cell power during cruise flight. Simulations demonstrate a 60 liter reduction in hydrogen consumption when battery power assists the fuel cell during cruise flight. Over the full duration of the flight, averaged efficiency of the power system exceeds 98%. For scenarios where inflight battery recharge is desirable, a constant current battery charger is integrated into the UAV power system. Simulation of inflight battery recharge is performed. Design of UAV hybrid power systems must consider power system weight against potential flight time. Data from the flight simulations are used to identify a simple formula that predicts flight time as a function of energy stored onboard the modeled UAV. A small selection of commercially available batteries, fuel cells, and compressed air storage tanks are listed to characterize the weight of possible systems. The formula is then used in conjunction with the weight data to generate a graph of power system weight versus potential flight times. Combinations of the listed batteries, fuel cells, and storage tanks are plotted on the graph to evaluate various hybrid power system configurations.

UAV based hydromorphological mapping of a river reach to improve hydrodynamic numerical models

NASA Astrophysics Data System (ADS)

Lükő, Gabriella; Baranya, Sándor; Rüther, Nils

2017-04-01

Unmanned Aerial Vehicles (UAVs) are increasingly used in the field of engineering surveys. In river engineering, or in general, water resources engineering, UAV based measurements have a huge potential. For instance, indirect measurements of the flow discharge using e.g. large-scale particle image velocimetry (LSPIV), particle tracking velocimetry (PTV), space-time image velocimetry (STIV) or radars became a real alternative for direct flow measurements. Besides flow detection, topographic surveys are also essential for river flow studies as the channel and floodplain geometry is the primary steering feature of the flow. UAVs can play an important role in this field, too. The widely used laser based topographic survey method (LIDAR) can be deployed on UAVs, moreover, the application of the Structure from Motion (SfM) method, which is based on images taken by UAVs, might be an even more cost-efficient alternative to reveal the geometry of distinct objects in the river or on the floodplain. The goal of this study is to demonstrate the utilization of photogrammetry and videogrammetry from airborne footage to provide geometry and flow data for a hydrodynamic numerical simulation of a 2 km long river reach in Albania. First, the geometry of the river is revealed from photogrammetry using the SfM method. Second, a more detailed view of the channel bed at low water level is taken. Using the fine resolution images, a Matlab based code, BASEGrain, developed by the ETH in Zürich, will be applied to determine the grain size characteristics of the river bed. This information will be essential to define the hydraulic roughness in the numerical model. Third, flow mapping is performed using UAV measurements and LSPIV method to quantitatively asses the flow field at the free surface and to estimate the discharge in the river. All data collection and analysis will be carried out using a simple, low-cost UAV, moreover, for all the data processing, open source, freely available software will be used leading to a cost-efficient methodology. The results of the UAV based measurements will be discussed and future research ideas will be outlined.

Groundwars Version 5.0. User’s Guide

DTIC Science & Technology

1992-08-01

model, Monte Carlo, land duel , heterogeneous forces, TANKWARS, target acquisition, combat survivability 19. ABSTRACT (Continue on reverse if necessary...land duel between two heterogeneous forces. The model simuJ.ates individual weapon systems and employs Monte Carlo probability theory as its primary...is a weapon systems effectiveness model which provides the results of a land duel between two forces. The model simulates individual weapon systems

Ground reaction forces and knee mechanics in the weight acceptance phase of a dance leap take-off and landing.

PubMed

Kulig, Kornelia; Fietzer, Abbigail L; Popovich, John M

2011-01-01

Aesthetic constraints allow dancers fewer technique modifications than other athletes to negotiate the demands of leaping. We examined vertical ground reaction force and knee mechanics during a saut de chat performed by healthy dancers. It was hypothesized that vertical ground reaction force during landing would exceed that of take-off, resulting in greater knee extensor moments and greater knee angular stiffness. Twelve dancers (six males, six females; age 18.9 ± 1.2 years, mass 59.2 ± 9.5 kg, height 1.68 ± 0.08 m, dance training 8.9 ± 5.1 years) with no history of low back pain or lower extremity pathology participated in the study. Saut de chat data were captured using an eight-camera Vicon system and AMTI force platforms. Peak ground reaction force was 26% greater during the landing phase, but did not result in increased peak knee extensor moments. Taking into account the 67% greater knee angular displacement during landing, this resulted in less knee angular stiffness during landing. In conclusion, landing was accomplished with less knee angular stiffness despite the greater peak ground reaction force. A link between decreased joint angular stiffness and increased soft tissue injury risk has been proposed elsewhere; therefore, landing from a saut de chat may be more injurious to the knee soft tissue than take-off.

Geometry correction Algorithm for UAV Remote Sensing Image Based on Improved Neural Network

NASA Astrophysics Data System (ADS)

Liu, Ruian; Liu, Nan; Zeng, Beibei; Chen, Tingting; Yin, Ninghao

2018-03-01

Aiming at the disadvantage of current geometry correction algorithm for UAV remote sensing image, a new algorithm is proposed. Adaptive genetic algorithm (AGA) and RBF neural network are introduced into this algorithm. And combined with the geometry correction principle for UAV remote sensing image, the algorithm and solving steps of AGA-RBF are presented in order to realize geometry correction for UAV remote sensing. The correction accuracy and operational efficiency is improved through optimizing the structure and connection weight of RBF neural network separately with AGA and LMS algorithm. Finally, experiments show that AGA-RBF algorithm has the advantages of high correction accuracy, high running rate and strong generalization ability.

77 FR 54608 - Public Land Order No. 7796; Partial Withdrawal Revocation and Transfer of Administrative...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-09-05

..., Kirtland Air Force Base; New Mexico AGENCY: Bureau of Land Management, Interior. ACTION: Public Land Order... connection with Kirtland Air Force Base, is hereby revoked only insofar as it affects the following described...

Effect of knee flexion angle on ground reaction forces, knee moments and muscle co-contraction during an impact-like deceleration landing: implications for the non-contact mechanism of ACL injury.

PubMed

Podraza, Jeffery T; White, Scott C

2010-08-01

Investigating landing kinetics and neuromuscular control strategies during rapid deceleration movements is a prerequisite to understanding the non-contact mechanism of ACL injury. The purpose of this study was to quantify the effect of knee flexion angle on ground reaction forces, net knee joint moments, muscle co-contraction and lower extremity muscles during an impact-like, deceleration task. Ground reaction forces and knee joint moments were determined from video and force plate records of 10 healthy male subjects performing rapid deceleration single leg landings from a 10.5 cm height with different degrees of knee flexion at landing. Muscle co-contraction was based on muscle moments calculated from an EMG-to-moment processing model. Ground reaction forces and co-contraction indices decreased while knee extensor moments increased significantly with increased degrees of knee flexion at landing (all p<0.005). Higher ground reaction forces when landing in an extended knee position suggests they are a contributing factor in non-contact ACL injuries. Increased knee extensor moments and less co-contraction with flexed knee landings suggest that quadriceps overload may not be the primary cause of non-contact ACL injuries. The results bring into question the counterbalancing role of the hamstrings during dynamic movements. The soleus may be a valuable synergist stabilizing the tibia against anterior translation at landing. Movement strategies that lessen the propagation of reaction forces up the kinetic chain may help prevent non-contact ACL injuries. The relative interaction of all involved thigh and lower leg muscles, not just the quadriceps and hamstrings should be considered when interpreting non-contact ACL injury mechanisms. Copyright 2010 Elsevier B.V. All rights reserved.

The effect of a braking device in reducing the ground impact forces inherent in plyometric training.

PubMed

Humphries, B J; Newton, R U; Wilson, G J

1995-02-01

As a consequence of performing plyometric type exercises, such as depth jumps, impact forces placed on the musculoskeletal system during landing can lead to a potential for injury. A reduction of impact forces upon landing could therefore contribute to reduce the risk of injury. Twenty subjects performed a series of loaded jumps for maximal height, with and without a brake mechanism designed to reduce impact force during landing. The braked jumps were performed on the Plyometric Power System (PPS) with its braking mechanism set at 75% of body weight during the downward phase. The non-braked condition involved jumps with no braking. Vertical ground reaction force data, sampled for 5.5 s at 550 Hz from a Kistler forceplate, were collected for each jump condition. The following parameters were then calculated: peak vertical force, time to peak force, passive impact impulse and maximum concentric force. The brake served to significantly (p < 0.01) reduce peak impact force by 155% and passive impact impulse by 200%. No significant differences were found for peak concentric force production. The braking mechanism of the PPS significantly reduced ground impact forces without impeding concentric force production. The reduction in eccentric loading, using the braking mechanism, may reduce the incidence of injury associated with landings from high intensity plyometric exercises.

Land use changes and its driving forces in hilly ecological restoration area based on gis and rs of northern china

PubMed Central

Gao, Peng; Niu, Xiang; Wang, Bing; Zheng, Yunlong

2015-01-01

Land use change is one of the important aspects of the regional ecological restoration research. With remote sensing (RS) image in 2003, 2007 and 2012, using geographic information system (GIS) technologies, the land use pattern changes in Yimeng Mountain ecological restoration area in China and its driving force factors were studied. Results showed that: (1) Cultivated land constituted the largest area during 10 years, and followed by forest land and grass land; cultivated land and unused land were reduced by 28.43% and 44.32%, whereas forest land, water area and land for water facilities and others were increased. (2) During 2003–2007, forest land change showed the largest, followed by unused land and grass land; however, during 2008–2012, water area and land for water facilities change showed the largest, followed by grass land and unused land. (3) Land use degree was above the average level, it was in the developing period during 2003–2007 and in the degenerating period during 2008–2012. (4) Ecological Restoration Projects can greatly change the micro topography, increase vegetation coverage, and then induce significant changes in the land use distribution, which were the main driving force factors of the land use pattern change in the ecological restoration area. PMID:26047160

STS 51-G Discovery lands at Edwards Air Force Base, California

NASA Technical Reports Server (NTRS)

1985-01-01

STS 51-G Discovery lands at Edwards Air Force Base, California. In these side views its main landing gear has touched down, kicking up a cloud of dirt. Its nose gear is still in the air (224); Closer view of the Discovery with its main landing gear down and its nose wheels in the air (225).

Modifying landing mat material properties may decrease peak contact forces but increase forefoot forces in gymnastics landings.

PubMed

Mills, Chris; Yeadon, Maurice R; Pain, Matthew T G

2010-09-01

This study investigated how changes in the material properties of a landing mat could minimise ground reaction forces (GRF) and internal loading on a gymnast during landing. A multi-layer model of a gymnastics competition landing mat and a subject-specific seven-link wobbling mass model of a gymnast were developed to address this aim. Landing mat properties (stiffness and damping) were optimised using a Simplex algorithm to minimise GRF and internal loading. The optimisation of the landing mat parameters was characterised by minimal changes to the mat's stiffness (<0.5%) but increased damping (272%) compared to the competition landing mat. Changes to the landing mat resulted in reduced peak vertical and horizontal GRF and reduced bone bending moments in the shank and thigh compared to a matching simulation. Peak bone bending moments within the thigh and shank were reduced by 6% from 321.5 Nm to 302.5Nm and GRF by 12% from 8626 N to 7552 N when compared to a matching simulation. The reduction in these forces may help to reduce the risk of bone fracture injury associated with a single landing and reduce the risk of a chronic injury such as a stress fracture.

Formation flight and collision avoidance for multiple UAVs based on modified tentacle algorithm in unstructured environments

PubMed Central

2017-01-01

This paper presents a method for formation flight and collision avoidance of multiple UAVs. Due to the shortcomings such as collision avoidance caused by UAV’s high-speed and unstructured environments, this paper proposes a modified tentacle algorithm to ensure the high performance of collision avoidance. Different from the conventional tentacle algorithm which uses inverse derivation, the modified tentacle algorithm rapidly matches the radius of each tentacle and the steering command, ensuring that the data calculation problem in the conventional tentacle algorithm is solved. Meanwhile, both the speed sets and tentacles in one speed set are reduced and reconstructed so as to be applied to multiple UAVs. Instead of path iterative optimization, the paper selects the best tentacle to obtain the UAV collision avoidance path quickly. The simulation results show that the method presented in the paper effectively enhances the performance of flight formation and collision avoidance for multiple high-speed UAVs in unstructured environments. PMID:28763498

Use of the RoboFlag synthetic task environment to investigate workload and stress responses in UAV operation.

PubMed

Guznov, Svyatoslav; Matthews, Gerald; Funke, Gregory; Dukes, Allen

2011-09-01

Use of unmanned aerial vehicles (UAVs) is an increasingly important element of military missions. However, controlling UAVs may impose high stress and workload on the operator. This study evaluated the use of the RoboFlag simulated environment as a means for profiling multiple dimensions of stress and workload response to a task requiring control of multiple vehicles (robots). It tested the effects of two workload manipulations, environmental uncertainty (i.e., UAV's visual view area) and maneuverability, in 64 participants. The findings confirmed that the task produced substantial workload and elevated distress. Dissociations between the stress and performance effects of the manipulations confirmed the utility of a multivariate approach to assessment. Contrary to expectations, distress and some aspects of workload were highest in the low-uncertainty condition, suggesting that overload of information may be an issue for UAV interface designers. The strengths and limitations of RoboFlag as a methodology for investigating stress and workload responses are discussed.

Real-time UAV trajectory generation using feature points matching between video image sequences

NASA Astrophysics Data System (ADS)

Byun, Younggi; Song, Jeongheon; Han, Dongyeob

2017-09-01

Unmanned aerial vehicles (UAVs), equipped with navigation systems and video capability, are currently being deployed for intelligence, reconnaissance and surveillance mission. In this paper, we present a systematic approach for the generation of UAV trajectory using a video image matching system based on SURF (Speeded up Robust Feature) and Preemptive RANSAC (Random Sample Consensus). Video image matching to find matching points is one of the most important steps for the accurate generation of UAV trajectory (sequence of poses in 3D space). We used the SURF algorithm to find the matching points between video image sequences, and removed mismatching by using the Preemptive RANSAC which divides all matching points to outliers and inliers. The inliers are only used to determine the epipolar geometry for estimating the relative pose (rotation and translation) between image sequences. Experimental results from simulated video image sequences showed that our approach has a good potential to be applied to the automatic geo-localization of the UAVs system

Wavelength-Adaptive Dehazing Using Histogram Merging-Based Classification for UAV Images

PubMed Central

Yoon, Inhye; Jeong, Seokhwa; Jeong, Jaeheon; Seo, Doochun; Paik, Joonki

2015-01-01

Since incoming light to an unmanned aerial vehicle (UAV) platform can be scattered by haze and dust in the atmosphere, the acquired image loses the original color and brightness of the subject. Enhancement of hazy images is an important task in improving the visibility of various UAV images. This paper presents a spatially-adaptive dehazing algorithm that merges color histograms with consideration of the wavelength-dependent atmospheric turbidity. Based on the wavelength-adaptive hazy image acquisition model, the proposed dehazing algorithm consists of three steps: (i) image segmentation based on geometric classes; (ii) generation of the context-adaptive transmission map; and (iii) intensity transformation for enhancing a hazy UAV image. The major contribution of the research is a novel hazy UAV image degradation model by considering the wavelength of light sources. In addition, the proposed transmission map provides a theoretical basis to differentiate visually important regions from others based on the turbidity and merged classification results. PMID:25808767

Augmented Reality Tool for the Situational Awareness Improvement of UAV Operators

PubMed Central

Ruano, Susana; Cuevas, Carlos; Gallego, Guillermo; García, Narciso

2017-01-01

Unmanned Aerial Vehicles (UAVs) are being extensively used nowadays. Therefore, pilots of traditional aerial platforms should adapt their skills to operate them from a Ground Control Station (GCS). Common GCSs provide information in separate screens: one presents the video stream while the other displays information about the mission plan and information coming from other sensors. To avoid the burden of fusing information displayed in the two screens, an Augmented Reality (AR) tool is proposed in this paper. The AR system has two functionalities for Medium-Altitude Long-Endurance (MALE) UAVs: route orientation and target identification. Route orientation allows the operator to identify the upcoming waypoints and the path that the UAV is going to follow. Target identification allows a fast target localization, even in the presence of occlusions. The AR tool is implemented following the North Atlantic Treaty Organization (NATO) standards so that it can be used in different GCSs. The experiments show how the AR tool improves significantly the situational awareness of the UAV operators. PMID:28178189

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

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bolton, W.R.

1996-11-01

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, usingmore » 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.« less

Speed Approach for UAV Collision Avoidance

NASA Astrophysics Data System (ADS)

Berdonosov, V. D.; Zivotova, A. A.; Htet Naing, Zaw; Zhuravlev, D. O.

2018-05-01

The article represents a new approach of defining potential collision of two or more UAVs in a common aviation area. UAVs trajectories are approximated by two or three trajectories’ points obtained from the ADS-B system. In the process of defining meeting points of trajectories, two cutoff values of the critical speed range, at which a UAVs collision is possible, are calculated. As calculation expressions for meeting points and cutoff values of the critical speed are represented in the analytical form, even if an on-board computer system has limited computational capacity, the time for calculation will be far less than the time of receiving data from ADS-B. For this reason, calculations can be updated at each cycle of new data receiving, and the trajectory approximation can be bounded by straight lines. Such approach allows developing the compact algorithm of collision avoidance, even for a significant amount of UAVs (more than several dozens). To proof the research adequacy, modeling was performed using a software system developed specifically for this purpose.

Computational analysis of unmanned aerial vehicle (UAV)

NASA Astrophysics Data System (ADS)

Abudarag, Sakhr; Yagoub, Rashid; Elfatih, Hassan; Filipovic, Zoran

2017-01-01

A computational analysis has been performed to verify the aerodynamics properties of Unmanned Aerial Vehicle (UAV). The UAV-SUST has been designed and fabricated at the Department of Aeronautical Engineering at Sudan University of Science and Technology in order to meet the specifications required for surveillance and reconnaissance mission. It is classified as a medium range and medium endurance UAV. A commercial CFD solver is used to simulate steady and unsteady aerodynamics characteristics of the entire UAV. In addition to Lift Coefficient (CL), Drag Coefficient (CD), Pitching Moment Coefficient (CM) and Yawing Moment Coefficient (CN), the pressure and velocity contours are illustrated. The aerodynamics parameters are represented a very good agreement with the design consideration at angle of attack ranging from zero to 26 degrees. Moreover, the visualization of the velocity field and static pressure contours is indicated a satisfactory agreement with the proposed design. The turbulence is predicted by enhancing K-ω SST turbulence model within the computational fluid dynamics code.

Augmented Reality Tool for the Situational Awareness Improvement of UAV Operators.

PubMed

Ruano, Susana; Cuevas, Carlos; Gallego, Guillermo; García, Narciso

2017-02-06

Unmanned Aerial Vehicles (UAVs) are being extensively used nowadays. Therefore, pilots of traditional aerial platforms should adapt their skills to operate them from a Ground Control Station (GCS). Common GCSs provide information in separate screens: one presents the video stream while the other displays information about the mission plan and information coming from other sensors. To avoid the burden of fusing information displayed in the two screens, an Augmented Reality (AR) tool is proposed in this paper. The AR system has two functionalities for Medium-Altitude Long-Endurance (MALE) UAVs: route orientation and target identification. Route orientation allows the operator to identify the upcoming waypoints and the path that the UAV is going to follow. Target identification allows a fast target localization, even in the presence of occlusions. The AR tool is implemented following the North Atlantic Treaty Organization (NATO) standards so that it can be used in different GCSs. The experiments show how the AR tool improves significantly the situational awareness of the UAV operators.

UAV Flight Control Using Distributed Actuation and Sensing

NASA Technical Reports Server (NTRS)

Barnwell, William G.; Heinzen, Stearns N.; Hall, Charles E., Jr.; Chokani, Ndaona; Raney, David L. (Technical Monitor)

2003-01-01

An array of effectors and sensors has been designed, tested and implemented on a Blended Wing Body Uninhabited Aerial Vehicle (UAV). This UAV is modified to serve as a flying, controls research, testbed. This effectorhensor 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.

Configuration and Specifications of AN Unmanned Aerial Vehicle for Precision Agriculture

NASA Astrophysics Data System (ADS)

Erena, M.; Montesinos, S.; Portillo, D.; Alvarez, J.; Marin, C.; Fernandez, L.; Henarejos, J. M.; Ruiz, L. A.

2016-06-01

Unmanned Aerial Vehicles (UAVs) with multispectral sensors are increasingly attractive in geosciences for data capture and map updating at high spatial and temporal resolutions. These autonomously-flying systems can be equipped with different sensors, such as a six-band multispectral camera (Tetracam mini-MCA-6), GPS Ublox M8N, and MEMS gyroscopes, and miniaturized sensor systems for navigation, positioning, and mapping purposes. These systems can be used for data collection in precision viticulture. In this study, the efficiency of a light UAV system for data collection, processing, and map updating in small areas is evaluated, generating correlations between classification maps derived from remote sensing and production maps. Based on the comparison of the indices derived from UAVs incorporating infrared sensors with those obtained by satellites (Sentinel 2A and Landsat 8), UAVs show promise for the characterization of vineyard plots with high spatial variability, despite the low vegetative coverage of these crops. Consequently, a procedure for zoning map production based on UAV/UV images could provide important information for farmers.

Calibration and Extension of a Discrete Event Operations Simulation Modeling Multiple Un-Manned Aerial Vehicles Controlled by a Single Operator

DTIC Science & Technology

2013-03-01

within systems of UAVs and between UAVs and the operators that use them. The next step for small UAVs in this direction is for one operator to be able...Team’s testing efforts, both in the planning and execution stages. The flight tests would never have taken place without the tremendous assistance...1 1.2 Unmanned Aerial Systems