Ultralight Radar Sensor for Autonomous Operations by Mini- and Micro-UAS

In recent years the boost in operations by mini- and micro-UAS (Unmanned Aircraft Systems, also known as Remotely Piloted Aircraft Systems - RPAS - or simply drones) and the successful miniaturization of electronic components were experienced. Radar sensors demonstrated to have favorable features for these operations. However, despite their ability to provide meaningful information for navigation, sense-and-avoid, and imaging tasks, currently very few radar sensors are exploited onboard or developed for autonomous operations with mini- and micro-UAS. Exploration of indoor complex, dangerous, and not easily accessible environments represents a possible application for mini-UAS based on radar technology. In this scenario, the objective of the thesis is to develop design strategies and processing approaches for a novel ultralight radar sensor able to provide the miniaturized platform with Simultaneous Localization and Mapping (SLAM) capabilities, mainly but not exclusively indoors. Millimeter-wave Interferometric Synthetic Aperture Radar (mmw InSAR) technology has been identified as a key asset. At the same time, testing of commercial lightweight radar is carried out to assess potentialities towards autonomous navigation, sense-and-avoid, and imaging. The two main research lines can be outlined as follows: - Long-term scenario: Development of very compact and ultralight Synthetic Aperture Radar able to provide mini- or micro-UAS with very accurate 3D awareness in indoor or GPS-denied complex and harsh environments. - Short-term scenario: Assessment of true potentialities of current commercial radar sensors in a UAS-oriented scenario. Within the framework of long-term scenario, after a review of state-of-art SAR sensors, Frequency-Modulated Continuous Wave (FMCW) SAR technology has been selected as preferred candidate. Design procedure tailored to this technology and software simulator for operations have been developed in MATLAB environment. Software simulator accounts for the analysis of ambiguous areas in a three-dimensional environment, different SAR focusing algorithms, and a Ray-Tracing algorithm specifically designed for indoor operations. The simulations provided relevant information on actual feasibility of the sensor, as well as mission design characteristics. Additionally, field tests have been carried out at Fraunhofer Institute FHR with a mmw SAR. Processing approaches developed from simulations proved to be effective when dealing with field tests. A very lightweight FMCW radar sensor manifactured by IMST GmbH has been tested for short-term scenario operations. The codes for data acquisition were developed in Python language both for Windows-based and GNU/Linux-based operative systems. The radar provided information on range and angle of targets in the scene, thus being interesting for radar-aided UAS navigation. Multiple-target tracking and radar odometry algorithms have been developed and tested on actual field data. Radar-only odometry provided to be effective under specific circumstances

Reliability of Direct Georeferencing Phase 1: An Overview of the Current Approaches and Possibilities., Checking and Improving of Digital Terrain Models / Reliability of Direct Georeferencing.

After some initial hesitations, the direct georeferencing (DG) of airborne sensors by GPS/INS is now a widely accepted approach in the airborne mapping industry. Implementing DG not only speeds up the mapping process and thus increases the productivity, but also opens the door to new monitoring applications. Although the system manufactures tend to claim that DG is a well established technique and no longer a research topic, the technology users often encounter pitfalls due to undetected sensor behavior, varying data quality and consistency. One could almost clair that the reliability of DG is the Achilles'heel of this otherwise revolutionary approach in civil airborne mapping. EuroSDR has recognized this problem and would like to address it in several phases. First phase of this effort are some preliminary investigations, charting the current situation and making suggestions for further research. The investigations are divided into the following technology fields: GNSS, inertial sensors and estimation methods, integrity and communication, calibration and integrated sensor orientation. Each field describes the current situation with respect to DG and discusses additional existing possibilities. These do not claim to be complete or exhaustive; however, they claim to address the essential features, methods and processes, the combination of which could increase the reliability of DG substantially without setting large side penalties

Geomorphological mapping with a small unmanned aircraft system (sUAS): feature detection and accuracy assessment of a photogrammetrically-derived digital terrain model

Sherpa Romeo green journal. Permission to archive accepted author manuscript.Small unmanned aircraft systems (sUAS) are a relatively new type of aerial platform for acquiring high-resolution remote sensing measurements of Earth surface processes and landforms. However, despite growing application there has been little quantitative assessment of sUAS performance. Here we present results from a field experiment designed to evaluate the accuracy of a photogrammetrically-derived digital terrain model (DTM) developed from imagery acquired with a low-cost digital camera onboard an sUAS. We also show the utility of the highresolution (0.1 m) sUAS imagery for resolving small-scale biogeomorphic features. The experiment was conducted in an area with active and stabilized aeolian landforms in the southern Canadian Prairies. Images were acquired with a Hawkeye RQ-84Z Aerohawk fixed-wing sUAS. A total of 280 images were acquired along 14 flight lines, covering an area of 1.95 km2. The survey was completed in 4.5 hours, including GPS surveying, sUAS setup and flight time. Standard image processing and photogrammetric techniques were used to produce a 1 m resolution DTM and a 0.1 m resolution orthorectified image mosaic. The latter revealed previously un-mapped bioturbation features. The vertical accuracy of the DTM was evaluated with 99 Real-Time Kinematic GPS points, while 20 of these points were used to quantify horizontal accuracy. The horizontal root mean squared error (RMSE) of the orthoimage was 0.18 m, while the vertical RMSE of the DTM was 0.29 m, which is equivalent to the RMSE of a bare earth LiDAR DTM for the same site. The combined error from both datasets was used to define a threshold of the minimum elevation difference that could be reliably attributed to erosion or deposition in the seven years separating the sUAS and LiDAR datasets. Overall, our results suggest that sUAS-acquired imagery may provide a low-cost, rapid, and flexible alternative to airborne LiDAR for geomorphological mapping.Ye

Design, development and guidance of the Airborne’s quadrotor

The main goal of the Airborne project is to develop, at technology readiness level 8 (TRL8), a few selected robotic aerial technologies for quick localization of victims by avalanches by equipping drones with two forefront sensors used in SAR operations in case of avalanches, namely the ARVA and RECCO. This thesis focuses on the design, development, and guidance of the TRL8 quadrotor developed during the project. We present and describe the design method that allowed us to obtain an EMI shielded UAV capable of integrating both RECCO and ARVA sensors. Besides, is presented the avionics and power train design and building procedure in order to obtain a modular UAV frame that can be easily carried by rescuers and achieves all the performance benchmarks of the project. Additionally, in addition to the onboard algorithms, a multivariate regressive convolutional neural network whose goal is the localization of the ARVA signal is presented. On guidance, the automatic flight procedure is described, and the onboard waypoint generator algorithm is presented. The goal of this algorithm is the generation and execution of an automatic grid pattern without the need to know the map in advance and without the support of a control ground station (CGS). Moreover, we present an iterative trajectory planner that does not need pre-knowledge of the map and uses Bézier curves to address optimal, dynamically feasible, safe, and re-plannable trajectories. The goal is to develop a method that allows local and fast replannings in case of an obstacle pop up or if some waypoints change. This makes the novel planner suitable to be applied in SAR operations. The introduction of the final version of the quadrotor is supported by internal flight tests and field tests performed in real operative scenarios by the Club Alpino Italiano (CAI)

NASA Tech Briefs, September 2011

Topics covered include: Fused Reality for Enhanced Flight Test Capabilities; Thermography to Inspect Insulation of Large Cryogenic Tanks; Crush Test Abuse Stand; Test Generator for MATLAB Simulations; Dynamic Monitoring of Cleanroom Fallout Using an Air Particle Counter; Enhancement to Non-Contacting Stress Measurement of Blade Vibration Frequency; Positively Verifying Mating of Previously Unverifiable Flight Connectors; Radiation-Tolerant Intelligent Memory Stack - RTIMS; Ultra-Low-Dropout Linear Regulator; Excitation of a Parallel Plate Waveguide by an Array of Rectangular Waveguides; FPGA for Power Control of MSL Avionics; UAVSAR Active Electronically Scanned Array; Lockout/Tagout (LOTO) Simulator; Silicon Carbide Mounts for Fabry-Perot Interferometers; Measuring the In-Process Figure, Final Prescription, and System Alignment of Large; Optics and Segmented Mirrors Using Lidar Metrology; Fiber-Reinforced Reactive Nano-Epoxy Composites; Polymerization Initiated at the Sidewalls of Carbon Nanotubes; Metal-Matrix/Hollow-Ceramic-Sphere Composites; Piezoelectrically Enhanced Photocathodes; Iridium-Doped Ruthenium Oxide Catalyst for Oxygen Evolution; Improved Mo-Re VPS Alloys for High-Temperature Uses; Data Service Provider Cost Estimation Tool; Hybrid Power Management-Based Vehicle Architecture; Force Limit System; Levitated Duct Fan (LDF) Aircraft Auxiliary Generator; Compact, Two-Sided Structural Cold Plate Configuration; AN Fitting Reconditioning Tool; Active Response Gravity Offload System; Method and Apparatus for Forming Nanodroplets; Rapid Detection of the Varicella Zoster Virus in Saliva; Improved Devices for Collecting Sweat for Chemical Analysis; Phase-Controlled Magnetic Mirror for Wavefront Correction; and Frame-Transfer Gating Raman Spectroscopy for Time-Resolved Multiscalar Combustion Diagnostics

Lava flow hazard at Fogo Volcano, Cabo Verde, before and after the 2014–2015eruption

Abstract. Lava flow simulations help to better understand volcanic hazards and may assist emergency preparedness at active volcanoes. We demonstrate that at Fogo Volcano, Cabo Verde, such simulations can explain the 2014–2015 lava flow crisis and therefore provide a valuable base to better prepare for the next inevitable eruption. We conducted topographic mapping in the field and a satellite-based remote sensing analysis. We produced the first topographic model of the 2014–2015 lava flow from combined terrestrial laser scanner (TLS) and photogrammetric data. This high-resolution topographic information facilitates lava flow volume estimates of 43.7 ± 5.2 × 106 m3 from the vertical difference between pre- and posteruptive topographies. Both the pre-eruptive and updated digital elevation models (DEMs) serve as the fundamental input data for lava flow simulations using the well-established DOWNFLOW algorithm. Based on thousands of simulations, we assess the lava flow hazard before and after the 2014–2015 eruption. We find that, although the lava flow hazard has changed significantly, it remains high at the locations of two villages that were destroyed during this eruption. This result is of particular importance as villagers have already started to rebuild the settlements. We also analysed satellite radar imagery acquired by the German TerraSAR-X (TSX) satellite to map lava flow emplacement over time. We obtain the lava flow boundaries every 6 to 11 days during the eruption, which assists the interpretation and evaluation of the lava flow model performance. Our results highlight the fact that lava flow hazards change as a result of modifications of the local topography due to lava flow emplacement. This implies the need for up-to-date topographic information in order to assess lava flow hazards. We also emphasize that areas that were once overrun by lava flows are not necessarily safer, even if local lava flow thicknesses exceed the average lava flow thickness. Our observations will be important for the next eruption of Fogo Volcano and have implications for future lava flow crises and disaster response efforts at basaltic volcanoes elsewhere in the world

Processamento de imagens de veículos aéreos não tripulados para estudos da vegetação

Mestrado em Estudos AmbientaisO objetivo principal desta tese de mestrado foi avaliar as aplicações ambientais e agrícolas de imagens obtidas com veículos aéreos não-tripulados (VANT) para estudar a vegetação e para avaliar o processamento de imagens envolvido, a fim de obter informação útel e compatível com outro tipo de geo-dados. Imagens dos veículos aéreos não tripulados foram processadas em três diferentes casos de estudo individualmente descritos e analisados com uma estreita relação entre si. (1) mapeamento da cobertura vegetal em um campo de cultivo de cana de açúcar na Nicarágua mostrou a extração operacional e eficaz de geoinformação para a gestão espacial otimizada com fotografia digital simples, mas também colocou em evidência os limites dos sensores sem a banda do infravermelho próximo e a preocupação de chegar a ter uma correção geométrica precisa, em terrenos acidentado. O aspecto particular da correção geométrica, que é fundamental para garantir a ligação confiável entre os produtos derivados das imagens e informação de campo, foi assim abordada nos seguintes dois casos de estudo: (2) correções geométricas de imagens multiespectrais de uma área montanhosa nos Pirenéus espanhóis usando métodos padrão empíricos, e (3) a correção geométrica de imagens usando tecnologia de ajuste de blocos e detecção automática de pontos em imagens do Parque Natural Montseny. A conclusão geral da tese é que as imagens adquirida com VANT são uma solução eficaz para aplicações ambientais e agrícolas de sensoriamento remoto, mas exige um esforço substancial e experiência em processamento de imagens.The main goal of this master thesis was to evaluate the environmental and agricultural applications of UAV imagery for studying vegetation and to assess the image processing involved in order to retrieve useful and compatible information with other type of geo-data. Imagery from unmanned aerial vehicles was processed for three different individually described and analyzed study cases with a close relation between each other. (1) Mapping Green Vegetation Cover on a sugarcane crop field in Nicaragua showed the operational and costeffective retrieval of geoinformation for spatially-optimized management with simple standard digital photography, but also put in evidence the limits of sensors lacking near-infrared bands and the concern of reaching accurate geometric correction with UAV imagery over rugged terrain. The particular aspect of geometric correction, which is critical to ensure reliable link between products derived from the images and field information, was thus addressed in the next two study cases: (2) Geometric Corrections of Multispectral Images of a Mountainous Area in the Spanish Pyrenees using standard empirical methods, and (3) Mosaicking and geometric correction of UAV Imagery using bundle block adjustment and automatic tie point detection technology on images from Montseny Natural Park. The general conclusion of this thesis is that imagery acquired with UAV is a cost-effective solution for environmental and agricultural applications of remote sensing, but requires substantial effort and know-how on image processing

Beyond 100: The Next Century in Geodesy

This open access book contains 30 peer-reviewed papers based on presentations at the 27th General Assembly of the International Union of Geodesy and Geophysics (IUGG). The meeting was held from July 8 to 18, 2019 in Montreal, Canada, with the theme being the celebration of the centennial of the establishment of the IUGG. The centennial was also a good opportunity to look forward to the next century, as reflected in the title of this volume. The papers in this volume represent a cross-section of present activity in geodesy, and highlight the future directions in the field as we begin the second century of the IUGG. During the meeting, the International Association of Geodesy (IAG) organized one Union Symposium, 6 IAG Symposia, 7 Joint Symposia with other associations, and 20 business meetings. In addition, IAG co-sponsored 8 Union Symposia and 15 Joint Symposia. In total, 3952 participants registered, 437 of them with IAG priority. In total, there were 234 symposia and 18 Workshops with 4580 presentations, of which 469 were in IAG-associated symposia. ; This volume will publish papers based on International Association of Geodesy (IAG) -related presentations made at the International Association of Geodesy at the 27th IUGG General Assembly, Montreal, July 2019. It will include papers associated with all of the IAG and joint symposia from the meeting, which span all aspects of modern geodesy, and linkages to earth and environmental sciences. It continues the long-running IAG Symposia Series