A framework for autonomous mission and guidance control of unmanned aerial vehicles based on computer vision techniques

A computação visual é uma área do conhecimento que estuda o desenvolvimento de sistemas artificiais capazes de detectar e desenvolver a percepção do meio ambiente através de informações de imagem ou dados multidimensionais. A percepção visual e a manipulação são combinadas em sistemas robóticos através de duas etapas "olhar"e depois "movimentar-se", gerando um laço de controle de feedback visual. Neste contexto, existe um interesse crescimente no uso dessas técnicas em veículos aéreos não tripulados (VANTs), também conhecidos como drones. Essas técnicas são aplicadas para posicionar o drone em modo de vôo autônomo, ou para realizar a detecção de regiões para vigilância aérea ou pontos de interesse. Os sistemas de computação visual geralmente tomam três passos em sua operação, que são: aquisição de dados em forma numérica, processamento de dados e análise de dados. A etapa de aquisição de dados é geralmente realizada por câmeras e sensores de proximidade. Após a aquisição de dados, o computador embarcado realiza o processamento de dados executando algoritmos com técnicas de medição (variáveis, índice e coeficientes), detecção (padrões, objetos ou áreas) ou monitoramento (pessoas, veículos ou animais). Os dados processados são analisados e convertidos em comandos de decisão para o controle para o sistema robótico autônomo Visando realizar a integração dos sistemas de computação visual com as diferentes plataformas de VANTs, este trabalho propõe o desenvolvimento de um framework para controle de missão e guiamento de VANTs baseado em visão computacional. O framework é responsável por gerenciar, codificar, decodificar e interpretar comandos trocados entre as controladoras de voo e os algoritmos de computação visual. Como estudo de caso, foram desenvolvidos dois algoritmos destinados à aplicação em agricultura de precisão. O primeiro algoritmo realiza o cálculo de um coeficiente de reflectância visando a aplicação auto-regulada e eficiente de agroquímicos, e o segundo realiza a identificação das linhas de plantas para realizar o guiamento dos VANTs sobre a plantação. O desempenho do framework e dos algoritmos propostos foi avaliado e comparado com o estado da arte, obtendo resultados satisfatórios na implementação no hardware embarcado.Cumputer Vision is an area of knowledge that studies the development of artificial systems capable of detecting and developing the perception of the environment through image information or multidimensional data. Nowadays, vision systems are widely integrated into robotic systems. Visual perception and manipulation are combined in two steps "look" and then "move", generating a visual feedback control loop. In this context, there is a growing interest in using computer vision techniques in unmanned aerial vehicles (UAVs), also known as drones. These techniques are applied to position the drone in autonomous flight mode, or to perform the detection of regions for aerial surveillance or points of interest. Computer vision systems generally take three steps to the operation, which are: data acquisition in numerical form, data processing and data analysis. The data acquisition step is usually performed by cameras or proximity sensors. After data acquisition, the embedded computer performs data processing by performing algorithms with measurement techniques (variables, index and coefficients), detection (patterns, objects or area) or monitoring (people, vehicles or animals). The resulting processed data is analyzed and then converted into decision commands that serve as control inputs for the autonomous robotic system In order to integrate the visual computing systems with the different UAVs platforms, this work proposes the development of a framework for mission control and guidance of UAVs based on computer vision. The framework is responsible for managing, encoding, decoding, and interpreting commands exchanged between flight controllers and visual computing algorithms. As a case study, two algorithms were developed to provide autonomy to UAVs intended for application in precision agriculture. The first algorithm performs the calculation of a reflectance coefficient used to perform the punctual, self-regulated and efficient application of agrochemicals. The second algorithm performs the identification of crop lines to perform the guidance of the UAVs on the plantation. The performance of the proposed framework and proposed algorithms was evaluated and compared with the state of the art, obtaining satisfactory results in the implementation of embedded hardware

Vision Sensors and Edge Detection

Vision Sensors and Edge Detection book reflects a selection of recent developments within the area of vision sensors and edge detection. There are two sections in this book. The first section presents vision sensors with applications to panoramic vision sensors, wireless vision sensors, and automated vision sensor inspection, and the second one shows image processing techniques, such as, image measurements, image transformations, filtering, and parallel computing

High flux solar simulators for concentrated solar thermal research: A review

When the availability of solar radiation is not enough to develop experimental investigation in the field of concentrating solar energy, solar simulators are a widely employed solution. They represent a source of artificial light, which can be comparable with concentrated sunlight. Besides, they provide advantages such as better parametric control of the process under study. In this work, it is presented an extensive review of the high flux solar simulators that are available in the different solar energy research centers around the world. Many of them are similarly designed and have common elements. Others are based on different concepts and their particular features are also pointed out. The main applications of solar simulators reported in literature are discussed along the work and remarked then in a specific section.The authors acknowledge the financial support provided by the FONDECYT project number 3150026 of CONICYT (Chile), the Education Ministry of Chile Grant PMI ANT 1201, as well as CONICYT/FONDAP/15110019 "Solar Energy Research Center" SERC-Chile. In addition, the first author wish to thank the University of Almeria and the Plataforma Solar de Almería for the collaboration and assistance devoted to the development of his Ph.D research

Design, control and management of renewable energy plants and technologies

Nowadays, and even more in the next decades, the availability and easy-access to energy sources represent a crucial asset for the world development and the progress of people and nations. At the same time, the depletion of natural resources, together with the increase of the anthropic activity impact on the Earth ecosystem and climate, force communities and institutions, at all levels, to discuss and actuate different approaches to achieve the social and economic growth, based on the so-called sustainable development pattern. In such a scenario, renewable energy sources, i.e. solar, wind, hydro, biomass, geothermal, etc., certainly play a key role to join progress and attention to the environmental issues. The present Ph.D. dissertation focuses on such topics investigating strategies, methods and innovative approaches for the effective design, control and management of renewable energy plants and technologies. Specifically, the energy scenario is investigated from a global point of view proposing studies and optimization models highlighting the relevance and the potential impact of the major energy sources, both renewable and conventional. Such sources represent the elements of a big puzzle, i.e. the energy mix, in which their economic and environmental strengths should be emphasized minimizing the associated negative impacts and weaknesses. Among renewable sources, solar energy is of primary importance for availability, diffusion and potential impact. The present Ph.D. dissertation particularly investigates such a source presenting models, methods and prototypes to increase its relevance in the energy mix. The fundamentals of solar energy, together with innovative approaches to estimate the solar radiation components, are provided. Furthermore, the pioneering concentrating solar sector is deeply focused presenting the design, development and preliminary field-test of a bi-axial Fresnel solar photovoltaic/thermal (PV/T) concentrating prototype. Possible solar tracking strategies and control algorithms are, then, investigated describing a customized semi-automatic motion control platform, developed in LabViewTM programming environment. Finally, the last section, proposes an effective approach for the design of a solar simulator, the most frequently adopted device in solar optic laboratory tests. In conclusion, the present Ph.D. dissertation describes effective strategies for the renewable energy spread, considering their performances and their potential impact to achieve the ambitious challenge of a sustainable living planet

Advanced manufacturing techniques for X-ray and VHE gamma-ray astronomical mirrors.

The main theme of this thesis is on the development of the technologies for the future X-ray astronomy telescopes and specifically for the New Hard X-ray Mission and eROSITA (Spectrum-RG) missions. Other important next future X-ray missions, currently under advanced study and/or manufacturing are NuSTAR (USA), ASTRO-H (Japan) and GEMS (USA). The New Hard X-ray Mission (NHXM) is being developed in Italy as an evolution of the original HEXIT-SAT project and is now the hard x-ray project of reference for the Italian high energy community. NHXM is meant to provide a real breakthrough on a number of hot astrophysical issues, by exploiting the most advanced technology in broad-band (0.2 \u2013 80 keV) high angular resolution (<20 arc seconds HEW) grazing incidence mirrors and spectroscopic detectors, together with the use of a high efficiency imaging polarimeter. Such issues can be summarized in two main headings: \u25cf making the census of the population of black holes in the Universe and probing the physics of accretion in the most diverse conditions; \u25cf investigating the particle acceleration mechanisms at work in different contexts, and the effects of radiative transfer in highly magnetized plasmas and strong gravitational fields. These topics were identified as top priority in the study commissioned by the Italian Space Agency (ASI) in 2004 to the Italian scientific community with contracts involving Thales-Alenia Space Italy (TAS-I, Turin), the Media Lario Technologies (MLT, Lecco) company and the INAF institution. NHXM benefits from the phase A study of the canceled French-Italian-German SIMBOL-X mission (2007-2008) and has been recently subjected to a scientific phase B study financed by ASI. Media Lario Technologies company received a contract from ASI in 2009 for a Technology Development Program (ASI-TDP) aiming at improving the technology readiness level with also in-house adoption of hardware for the metrology/manufacturing of the multilayer x-ray optics. Spectrum-RG is a Russian - German x-ray astrophysical observatory scheduled for lunch in 2013. German Space Agency (DLR) is responsible for the development of the key mission instrument - the x-ray grazing incident mirror telescope eROSITA. The second experiment is ART-XC - an x-ray mirror telescope with a harder response than eROSITA, which is being developed by Russia (IKI, Moscow and VNIIEF, Sarov). The name eROSITA stands for extended Roentgen Survey with an Imaging Telescope Array. The general design of the eROSITA x-ray telescope is derived from that of ABRIXAS: a bundle of 7 mirror modules with short focal lengths make up a compact telescope which is ideal for survey observations. Similar designs had been proposed for the missions DUO and ROSITA but were not realized. Compared to those, however, the effective area in the soft x-ray band has now much increased by adding 27 additional outer mirror shells to the original 27 ones of each mirror module. The requirement on the on-axis resolution has also been confined, namely to 15 arc seconds HEW. For these reasons the prefix \u201cextended\u201d to the original name \u201cROSITA\u201d had been added. The scientific motivation for this extension is founded in the ambitious goal to detect about 100000 clusters of galaxies which trace the large scale structure of the Universe in space and time. The main scientific goals are: \u25cf to detect the hot intergalactic medium of 50-100 thousand galaxy clusters and groups and hot gas in filaments between clusters to map out the large scale structure in the Universe for the study of cosmic structure evolution; \u25cf to detect systematically all obscured accreting Black Holes in nearby galaxies and many (up to 3 Million) new, distant active galactic nuclei; \u25cf to study in detail the physics of galactic x-ray source populations, like pre-main sequence stars, supernova remnants and x-ray binaries. Max-Planck-Institute f\ufcr extraterrestrische Physik (MPE) is the scientific institute responsible for the eROSITA Payload. Media Lario Technologies (MLT) is the industrial enabler for the manufacturing of the Optical Payload for eROSITA - including the flight quality mandrels, and it is currently in the C/D Phase of the project. The research activity described in this thesis has been carried out at Media Lario Technologies company and at the Brera Astronomical Observatory under the supervision of INAF-OAB researchers Dott. Giovanni Pareschi and Dott. Gianpiero Tagliaferri. The research activity of the author of this thesis is focused on the development of an advance polishing technique for the mandrels to be used as masters in the mirrors replication by electroforming. The goal is to implement a process where the mandrels can be manufactured with a high accuracy (< 6 arc seconds HEW) and low roughness (< 0.2 nm rms) within a consistent short time. In the contest of the eROSITA and NHXM (projects currently running in MLT) the author participated as technical/scientific responsible, investigating innovative mandrels manufacturing technologies (e.g. Single Point Diamond Turning, shape corrective polishing) representing an evolution of the standard approach used so far. In this frame the author has also contributed to the adoption of a customized deterministic polishing machine and a customized 3D metrology device for the mandrel geometrical characterization. An additional research activity, performed by the author at Media Lario Technologies company and at the Brera Astronomical Observatory, is focused on the development of lightweight glass mirrors manufactured via cold-slumping technique for Imaging Atmospheric Cherenkov Telescopes (IACT). Very High Energy (VHE) gamma rays, with photon energies in the TeV range, can be detected by ground based experiments. In fact, such high energy photons interact high in the upper atmosphere and generate an air shower of secondary particles. These particles emit the so-called Cherenkov light, a faint blue light. The mirror elements here developed have a sandwich-like structure where the reflecting and backing facets are composed by glass sheets with an interposed honeycomb aluminum core. This effort found application at the world\u2019s largest IACT, the 17m MAGIC II telescope (currently operating in Roque de los Muchachos - La Palma, Canary Islands), where 112 mirrors (~ 1 squared meter each), manufactured with the newly developed cold-slumping technique here described, are installed

Proof-of-concept of a single-point Time-of-Flight LiDAR system and guidelines towards integrated high-accuracy timing, advanced polarization sensing and scanning with a MEMS micromirror

Dissertação de mestrado integrado em Engenharia Física (área de especialização em Dispositivos, Microssistemas e Nanotecnologias)The core focus of the work reported herein is the fulfillment of a functional Light Detection and Ranging (LiDAR) sensor to validate the direct Time-of-Flight (ToF) ranging concept and the acquisition of critical knowledge regarding pivotal aspects jeopardizing the sensor’s performance, for forthcoming improvements aiming a realistic sensor targeted towards automotive applications. Hereupon, the ToF LiDAR system is implemented through an architecture encompassing both optical and electronical functions and is subsequently characterized under a sequence of test procedures usually applied in benchmarking of LiDAR sensors. The design employs a hybrid edge-emitting laser diode (pulsed at 6kHz, 46ns temporal FWHM, 7ns rise-time; 919nm wavelength with 5nm FWHM), a PIN photodiode to detect the back-reflected radiation, a transamplification stage and two Time-to-Digital Converters (TDCs), with leading-edge discrimination electronics to mark the transit time between emission and detection events. Furthermore, a flexible modular design is adopted using two separate Printed Circuit Boards (PCBs), comprising the transmitter (TX) and the receiver (RX), i.e. detection and signal processing. The overall output beam divergence is 0.4º×1º and an optical peak power of 60W (87% overall throughput) is realized. The sensor is tested indoors from 0.56 to 4.42 meters, and the distance is directly estimated from the pulses transit time. The precision within these working distances ranges from 4cm to 7cm, reflected in a Signal-to-Noise Ratio (SNR) between 12dB and 18dB. The design requires a calibration procedure to correct systematic errors in the range measurements, induced by two sources: the timing offset due to architecture-inherent differences in the optoelectronic paths and a supplementary bias resulting from the design, which renders an intensity dependence and is denoted time-walk. The calibrated system achieves a mean accuracy of 1cm. Two distinct target materials are used for characterization and performance evaluation: a metallic automotive paint and a diffuse material. This selection is representative of two extremes of actual LiDAR applications. The optical and electronic characterization is thoroughly detailed, including the recognition of a good agreement between empirical observations and simulations in ZEMAX, for optical design, and in a SPICE software, for the electrical subsystem. The foremost meaningful limitation of the implemented design is identified as an outcome of the leading-edge discrimination. A proposal for a Constant Fraction Discriminator addressing sub-millimetric accuracy is provided to replace the previous signal processing element. This modification is mandatory to virtually eliminate the aforementioned systematic bias in range sensing due to the intensity dependency. A further crucial addition is a scanning mechanism to supply the required Field-of-View (FOV) for automotive usage. The opto-electromechanical guidelines to interface a MEMS micromirror scanner, achieving a 46º×17º FOV, with the LiDAR sensor are furnished. Ultimately, a proof-of-principle to the use of polarization in material classification for advanced processing is carried out, aiming to complement the ToF measurements. The original design is modified to include a variable wave retarder, allowing the simultaneous detection of orthogonal linear polarization states using a single detector. The material classification with polarization sensing is tested with the previously referred materials culminating in an 87% and 11% degree of linear polarization retention from the metallic paint and the diffuse material, respectively, computed by Stokes parameters calculus. The procedure was independently validated under the same conditions with a micro-polarizer camera (92% and 13% polarization retention).O intuito primordial do trabalho reportado no presente documento é o desenvolvimento de um sensor LiDAR funcional, que permita validar o conceito de medição direta do tempo de voo de pulsos óticos para a estimativa de distância, e a aquisição de conhecimento crítico respeitante a aspetos fundamentais que prejudicam a performance do sensor, ambicionando melhorias futuras para um sensor endereçado para aplicações automóveis. Destarte, o sistema LiDAR é implementado através de uma arquitetura que engloba tanto funções óticas como eletrónicas, sendo posteriormente caracterizado através de uma sequência de testes experimentais comumente aplicáveis em benchmarking de sensores LiDAR. O design tira partido de um díodo de laser híbrido (pulsado a 6kHz, largura temporal de 46ns; comprimento de onda de pico de 919nm e largura espetral de 5nm), um fotodíodo PIN para detetar a radiação refletida, um andar de transamplificação e dois conversores tempo-digital, com discriminação temporal com threshold constante para marcar o tempo de trânsito entre emissão e receção. Ademais, um design modular flexível é adotado através de duas PCBs independentes, compondo o transmissor e o recetor (deteção e processamento de sinal). A divergência global do feixe emitido para o ambiente circundante é 0.4º×1º, apresentando uma potência ótica de pico de 60W (eficiência de 87% na transmissão). O sensor é testado em ambiente fechado, entre 0.56 e 4.42 metros. A precisão dentro das distâncias de trabalho varia entre 4cm e 7cm, o que se reflete numa razão sinal-ruído entre 12dB e 18dB. O design requer calibração para corrigir erros sistemáticos nas distâncias adquiridas devido a duas fontes: o desvio no ToF devido a diferenças nos percursos optoeletrónicos, inerentes à arquitetura, e uma dependência adicional da intensidade do sinal refletido, induzida pela técnica de discriminação implementada e denotada time-walk. A exatidão do sistema pós-calibração perfaz um valor médio de 1cm. Dois alvos distintos são utilizados durante a fase de caraterização e avaliação performativa: uma tinta metálica aplicada em revestimentos de automóveis e um material difusor. Esta seleção é representativa de dois cenários extremos em aplicações reais do LiDAR. A caraterização dos subsistemas ótico e eletrónico é minuciosamente detalhada, incluindo a constatação de uma boa concordância entre observações empíricas e simulações óticas em ZEMAX e elétricas num software SPICE. O principal elemento limitante do design implementado é identificado como sendo a técnica de discriminação adotada. Por conseguinte, é proposta a substituição do anterior bloco por uma técnica de discriminação a uma fração constante do pulso de retorno, com exatidões da ordem sub-milimétrica. Esta modificação é imperativa para eliminar o offset sistemático nas medidas de distância, decorrente da dependência da intensidade do sinal. Uma outra inclusão de extrema relevância é um mecanismo de varrimento que assegura o cumprimento dos requisitos de campo de visão para aplicações automóveis. As diretrizes para a integração de um micro-espelho no sensor concebido são providenciadas, permitindo atingir um campo de visão de 46º×17º. Conclusivamente, é feita uma prova de princípio para a utilização da polarização como complemento das medições do tempo de voo, de modo a suportar a classificação de materiais em processamento avançado. A arquitetura original é modificada para incluir uma lâmina de atraso variável, permitindo a deteção de estados de polarização ortogonais com um único fotodetetor. A classificação de materiais através da aferição do estado de polarização da luz refletida é testada para os materiais supramencionados, culminando numa retenção de polarização de 87% (tinta metálica) e 11% (difusor), calculados através dos parâmetros de Stokes. O procedimento é independentemente validado com uma câmara polarimétrica nas mesmas condições (retenção de 92% e 13%)

Advances in Sensors, Big Data and Machine Learning in Intelligent Animal Farming

Animal production (e.g., milk, meat, and eggs) provides valuable protein production for human beings and animals. However, animal production is facing several challenges worldwide such as environmental impacts and animal welfare/health concerns. In animal farming operations, accurate and efficient monitoring of animal information and behavior can help analyze the health and welfare status of animals and identify sick or abnormal individuals at an early stage to reduce economic losses and protect animal welfare. In recent years, there has been growing interest in animal welfare. At present, sensors, big data, machine learning, and artificial intelligence are used to improve management efficiency, reduce production costs, and enhance animal welfare. Although these technologies still have challenges and limitations, the application and exploration of these technologies in animal farms will greatly promote the intelligent management of farms. Therefore, this Special Issue will collect original papers with novel contributions based on technologies such as sensors, big data, machine learning, and artificial intelligence to study animal behavior monitoring and recognition, environmental monitoring, health evaluation, etc., to promote intelligent and accurate animal farm management

Engineered environments for biomedical applications: anisotropic nanotopographies and microfluidic devices

During the last two decades micro- and nano-fabrication techniques originally developed for electronic engineering have directed their attention towards life sciences. The increase of analytical power of diagnostic devices and the creation of more biomimetic scaffolds have been strongly desired by these fields, in order to have a better insight into the complexity of physiological systems, while improving the ability to model them in vitro. Technological innovations worked to fill such a gap, but the integration of these fields of science is not progressing fast enough to satisfy the expectations. In this thesis I present novel devices which exploit the unique features of the micro- and nanoscale and, at the same time, match the requirements for successful application in biomedical research. Such biochips were used for optical detection of water-dispersed nanoparticles in microchannels, for highly controlled cell-patterning in closed microreactors, and for topography-mediated regulation of cell morphology and migration. Moreover, pilot experiments on the pre-clinical translation of micropatterned scaffolds in a rat model of peripheral nerve transaction were initiated and are ongoing. Given these results, the devices presented here have the potential to achieve clinical translation in a short/medium time, contributing to the improvement of biomedical technologies

Data Acquisition Applications

Data acquisition systems have numerous applications. This book has a total of 13 chapters and is divided into three sections: Industrial applications, Medical applications and Scientific experiments. The chapters are written by experts from around the world, while the targeted audience for this book includes professionals who are designers or researchers in the field of data acquisition systems. Faculty members and graduate students could also benefit from the book

MATLAB

A well-known statement says that the PID controller is the "bread and butter" of the control engineer. This is indeed true, from a scientific standpoint. However, nowadays, in the era of computer science, when the paper and pencil have been replaced by the keyboard and the display of computers, one may equally say that MATLAB is the "bread" in the above statement. MATLAB has became a de facto tool for the modern system engineer. This book is written for both engineering students, as well as for practicing engineers. The wide range of applications in which MATLAB is the working framework, shows that it is a powerful, comprehensive and easy-to-use environment for performing technical computations. The book includes various excellent applications in which MATLAB is employed: from pure algebraic computations to data acquisition in real-life experiments, from control strategies to image processing algorithms, from graphical user interface design for educational purposes to Simulink embedded systems