Um modelo de otimização para planejamento dinâmico de voo para grupos de drones por meio de sistema multiagente e leilões recursivos

Orientador: Eduardo TodtTese (doutorado) - Universidade Federal do Paraná, Setor de Ciências Exatas, Programa de Pós-Graduação em Informática. Defesa : Curitiba, 03/07/2020Inclui referênciasÁrea de concentração: Ciência da ComputaçãoResumo: Este trabalho apresenta um modelo aplicado de cooperacao para otimizar voos de veiculos aereos nao tripulados do tipo quadricoptero, tambem conhecidos como Drones, com aplicacao na agricultura de precisao. O modelo utiliza Sistema Multiagente para permitir a abertura, que e a propriedade de inserir e retirar elementos do modelo a qualquer momento. Para garantir a dinamicidade, que e a caracteristica que o modelo tem de se recuperar de eventos adversos ou falhas, agentes cognitivos com BDI foram utilizados. Para garantir a troca de mensagens independente da quantidade de elementos no modelo, foi utilizado o protocolo FIPA Contract-NET. Um algoritmo distribuido de otimizacao utilizando leiloes recursivos tambem foi desenvolvido, o qual visa otimizar o tempo de voo, assim como o uso da bateria dos Drones, sendo a bateria a grande limitacao destes e inibindo sua utilizacao na agricultura de precisao. Esse algoritmo foi testado em seu modelo original e, posteriormente, refinado a partir de heuristicas e metodologias visando diminuir o numero de leiloes recursivos, assim como o tempo de processamento, em comparacao ao modelo original. Este modelo, apos aplicacao das heuristicas e metodologias, foi testado. Em cenarios contendo multiplos Drones, o desempenho foi 30% superior ao algoritmo dinamico encontrado na literatura que tambem pode ser aplicado em ambientes dinamicos. Do ponto de vista de abertura e dinamicidade, o modelo foi testado no simulador MultiDrone Simulator, permitindo gerar novos planos de voo, mesmo com eventos adversos. Os resultados dos testes em simulacao realizados sustentam que o modelo proposto apresenta comportamento como esperado, mostrando-se como uma plataforma promissora de pesquisa para uso de Drones em cenarios da agricultura de precisao, uma vez que este modelo permite a utilizacao de multiplos Drones em ambientes dinamicos e abertos, garantindo a otimizacao do tempo de voo, o que garante economia da bateria dos Drones. Palavras-chave: Drones, Sistema Multiagente, BDI, Leilao RecursivoAbstract: This work presents an applied model of cooperation to optimize flights of unmanned aerial vehicles like quadcopters, also known as Drones, involved in precision agriculture. This model uses a Multiagent System to allow up the opening, which is the property of inserting and removing elements from the model at any time. To allow dynamism, which is the characteristic that the model has to recover from adverse events or failures, cognitive agents with BDI structure were used. To guarantee the exchange of messages in dynamic number of elements, the FIPA Contract-NET protocol were used. A distributed optimization algorithm using recursive auctions was also developed, which aims to optimize the number of points covered by Drones. This model aims to optimize the flight time, which directly reflects the optimization of the Drone's battery use. This is a great limitation of this kind of aerial vehicle and which inhibits its use in precision agriculture. This algorithm was tested as original proposed and, later, refined from heuristics and methodologies in order to decrease the number of auctions, as well as the processing time. This model, after applying the heuristics and methodologies, was tested, and in scenarios containing multiple Drones, the performance was 30 % higher than the dynamic algorithm found in the literature that can also be applied in dynamic environments. From the point of view of openness and dynamics, the model was tested in the MultiDrone Simulator, allowing to generate new flight plans, even with the simulated adverse events. The results of the simulation tests carried out maintain that the proposed model behaves as expected, showing itself as a promising research platform for the use of drones in precision agriculture scenarios, since this model allows the use of multiple Drones in environments dynamic and open, guaranteeing the flight optimization, which ensures battery saving for Drones. Keywords: Drones, Multiagent System, BDI, Recursive Auction

Correlation of rock quality designation and resistivity using unmanned aerial vehicle and two-dimensional electrical resistivity tomography

Rock Quality Designation (RQD) is a widely applied rock mass classification system for quantifying rock mass quality because it is simple and easily obtained compared to other rock mass classification systems. The rock mass quality using RQD can be identified from drill cores and scanline surveys. However, the calculation of RQD from core samples is expensive and directional-dependent. On the other hand, the scanline survey of obtaining RQD, provides point base information, is time-consuming, and is not practicable in large areas. In addition, the information by scanline survey is limited to the rock outcrop only, and subsurface rock mass quality remains unidentified. For subsurface investigation of rock mass conditions, 2D Electrical Resistivity Tomography (2D ERT) has been extensively applied; however, no comprehensive and detailed correlation of RQD and resistivity values exists to date. This study utilised an integrated Unmanned Aerial Vehicle survey (UAV) and 2D ERT survey at two sites with similar geological formations and aims to establish the correlation between resistivity and RQD indexes. The UAV survey enables the reconstruction of 3D point cloud that calculates the RQD on the surface indirectly from 1 m × 1 m block utilizing Volumetric Joint Count (Jv). This was achieved in ShapeMetrix (SMX) software. At the same time, the 2D ERT survey allows extracting the corresponding resistivity values for each RQD indexes from the same block using ZonRes2D software. A series of Linear Regression (LR) analysis and k-Nearest Neighbour (k-NN) algorithm were performed in Python to obtain continuous projections of RQD and rock resistivity and assigned resistivity values to respective RQD indexes. Two hundred twenty-three data points were obtained representing RQD and corresponding resistivity values. These data points successfully provide a continuous projection of RQD with resistivity using LR analyses, and it was confirmed that the resistivity of rock mass increases 30 Om for each unit increase in RQD index. Whereas the k-NN efficiently assigned resistivity values to various RQD indexes, the very poor rock shows a resistivity value of less than 350 Om; for poor rock, it ranges from 350-1150 Om. While for fair rock, the resistivity varies between 1150 to 1850 Om, for good rock, the resistivity ranges from 1850 to 2500 Om, and excellent rock has a resistivity value greater than 2400 Om. The established correlation of RQD obtained via k-NN characterize the surface and subsurface rock mass quality along the slope in RQD mapping. It was found that the subsurface rock mass quality was at higher quality compared to the surface at both sites. It can be concluded that the integrated UAV and 2D ERT have been successfully applied in this study. In addition, the established correlation will help in obtaining the RQD values using expeditious, inexpensive, and environmental non-destructive approach

Feature Papers of Drones - Volume II

[EN] The present book is divided into two volumes (Volume I: articles 1–23, and Volume II: articles 24–54) which compile the articles and communications submitted to the Topical Collection ”Feature Papers of Drones” during the years 2020 to 2022 describing novel or new cutting-edge designs, developments, and/or applications of unmanned vehicles (drones). Articles 24–41 are focused on drone applications, but emphasize two types: firstly, those related to agriculture and forestry (articles 24–35) where the number of applications of drones dominates all other possible applications. These articles review the latest research and future directions for precision agriculture, vegetation monitoring, change monitoring, forestry management, and forest fires. Secondly, articles 36–41 addresses the water and marine application of drones for ecological and conservation-related applications with emphasis on the monitoring of water resources and habitat monitoring. Finally, articles 42–54 looks at just a few of the huge variety of potential applications of civil drones from different points of view, including the following: the social acceptance of drone operations in urban areas or their influential factors; 3D reconstruction applications; sensor technologies to either improve the performance of existing applications or to open up new working areas; and machine and deep learning development

Proceedings of the European Conference on Agricultural Engineering AgEng2021

This proceedings book results from the AgEng2021 Agricultural Engineering Conference under auspices of the European Society of Agricultural Engineers, held in an online format based on the University of Évora, Portugal, from 4 to 8 July 2021. This book contains the full papers of a selection of abstracts that were the base for the oral presentations and posters presented at the conference. Presentations were distributed in eleven thematic areas: Artificial Intelligence, data processing and management; Automation, robotics and sensor technology; Circular Economy; Education and Rural development; Energy and bioenergy; Integrated and sustainable Farming systems; New application technologies and mechanisation; Post-harvest technologies; Smart farming / Precision agriculture; Soil, land and water engineering; Sustainable production in Farm buildings

Aeronautical Engineering: A continuing bibliography with indexes (supplement 161)

This bibliography lists 375 reports, articles and other documents introduced into the NASA scientific and technical information system in April 1983

Concepts and Approaches for Mars Exploration

Abstracts describe missions, mission elements or experiments for consideration in the 2005-2020 time frame. Also the technologies and the support necessary to achieve the results are discussed.NASA Headquarters; Lunar and Planetary Institutehosted by Lunar and Planetary Institute ; sponsored by NASA Headquarters, Lunar and Planetary Institute ; convener Scott Hubbard

Comparison of the vocabularies of the Gregg shorthand dictionary and Horn-Peterson's basic vocabulary of business letters

This study is a comparative analysis of the vocabularies of Horn and Peterson's The Basic Vocabulary of Business Letters1 and the Gregg Shorthand Dictionary.2 Both books purport to present a list of words most frequently encountered by stenographers and students of shorthand. The, Basic Vocabulary of Business Letters, published "in answer to repeated requests for data on the words appearing most frequently in business letters,"3 is a frequency list specific to business writing. Although the book carries the copyright date of 1943, the vocabulary was compiled much earlier. The listings constitute a part of the data used in the preparation of the 10,000 words making up the ranked frequency list compiled by Ernest Horn and staff and published in 1926 under the title of A Basic Writing Vocabulary: 10,000 Words Lost Commonly Used in Writing. The introduction to that publication gives credit to Miss Cora Crowder for the contribution of her Master's study at the University of Minnesota concerning words found in business writing. With additional data from supplementary sources, the complete listing represents twenty-six classes of business, as follows 1. Miscellaneous 2. Florists 3. Automobile manufacturers and sales companie

Energy: A continuing bibliography with indexes

This bibliography lists 1920 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System from July 1, 1980 through September 30, 1980

Dipterocarps protected by Jering local wisdom in Jering Menduyung Nature Recreational Park, Bangka Island, Indonesia

Apart of the oil palm plantation expansion, the Jering Menduyung Nature Recreational Park has relatively diverse plants. The 3,538 ha park is located at the north west of Bangka Island, Indonesia. The minimum species-area curve was 0.82 ha which is just below Dalil conservation forest that is 1.2 ha, but it is much higher than measurements of several secondary forests in the Island that are 0.2 ha. The plot is inhabited by more than 50 plant species. Of 22 tree species, there are 40 individual poles with the average diameter of 15.3 cm, and 64 individual trees with the average diameter of 48.9 cm. The density of Dipterocarpus grandiflorus (Blanco) Blanco or kruing, is 20.7 individual/ha with the diameter ranges of 12.1 – 212.7 cm or with the average diameter of 69.0 cm. The relatively intact park is supported by the local wisdom of Jering tribe, one of indigenous tribes in the island. People has regulated in cutting trees especially in the cape. The conservation agency designates the park as one of the kruing propagules sources in the province. The growing oil palm plantation and the less adoption of local wisdom among the youth is a challenge to forest conservation in the province where tin mining activities have been the economic driver for decades. More socialization from the conservation agency and the involvement of university students in raising environmental awareness is important to be done

The Rise of Metallurgy in Eurasia

"The Rise of Metallurgy in Eurasia is a landmark study in the origins of metallurgy. The project aimed to trace the invention and innovation of metallurgy in the Balkans. It combined targeted excavations and surveys with extensive scientific analyses at two Neolithic-Chalcolithic copper production and consumption sites, Belovode and Pločnik, in Serbia. At Belovode, the project revealed chronologically and contextually secure evidence for copper smelting in the 49th century BC. This confirms the earlier interpretation of c. 7000-year-old metallurgy at the site, making it the earliest record of fully developed metallurgical activity in the world. However, far from being a rare and elite practice, metallurgy at both Belovode and Pločnik is demonstrated to have been a common and communal craft activity. This monograph reviews the pre-existing scholarship on early metallurgy in the Balkans. It subsequently presents detailed results from the excavations, surveys and scientific analyses conducted at Belovode and Pločnik. These are followed by new and up-to-date regional syntheses by leading specialists on the Neolithic-Chalcolithic material culture, technologies, settlement and subsistence practices in the Central Balkans. Finally, the monograph places the project results in the context of major debates surrounding early metallurgy in Eurasia before proposing a new agenda for global early metallurgy studies.