ConservationBots: Autonomous Aerial Robot for Fast Robust Wildlife Tracking in Complex Terrains

Today, the most widespread, widely applicable technology for gathering data relies on experienced scientists armed with handheld radio telemetry equipment to locate low-power radio transmitters attached to wildlife from the ground. Although aerial robots can transform labor-intensive conservation tasks, the realization of autonomous systems for tackling task complexities under real-world conditions remains a challenge. We developed ConservationBots-small aerial robots for tracking multiple, dynamic, radio-tagged wildlife. The aerial robot achieves robust localization performance and fast task completion times -- significant for energy-limited aerial systems while avoiding close encounters with potential, counter-productive disturbances to wildlife. Our approach overcomes the technical and practical problems posed by combining a lightweight sensor with new concepts: i) planning to determine both trajectory and measurement actions guided by an information-theoretic objective, which allows the robot to strategically select near-instantaneous range-only measurements to achieve faster localization, and time-consuming sensor rotation actions to acquire bearing measurements and achieve robust tracking performance; ii) a bearing detector more robust to noise and iii) a tracking algorithm formulation robust to missed and false detections experienced in real-world conditions. We conducted extensive studies: simulations built upon complex signal propagation over high-resolution elevation data on diverse geographical terrains; field testing; studies with wombats (Lasiorhinus latifrons; nocturnal, vulnerable species dwelling in underground warrens) and tracking comparisons with a highly experienced biologist to validate the effectiveness of our aerial robot and demonstrate the significant advantages over the manual method.Comment: 33 pages, 21 figure

Methods for Online UAV Path Planning for Tracking Multiple Objects

Unmanned aerial vehicles (UAVs) or drones have rapidly evolved to enable carrying various sensors such as thermal sensors for vision or antennas for radio waves. Therefore, drones can be transformative for applications such as surveillance and monitoring because they have the capability to greatly reduce the time and cost associated with traditional tasking methods. Realising this potential necessitates equipping UAVs with the ability to perform missions autonomously. This dissertation considers the problems of online path planning for UAVs for the fundamental task of surveillance comprising of tracking and discovering multiple mobile objects in a scene. Tracking and discovering an unknown and time-varying number of objects is a challenging problem in itself. Objects such as people or wildlife tend to switch between various modes of movements. Measurements received by the UAV’s on-board sensors are often very noisy. In practice, the on-board sensors have a limited field of view (FoV), hence, the UAV needs to move within range of the mobile objects that are scattered throughout a scene. This is extremely challenging because neither the exact number nor locations of the objects of interest are available to the UAV. Planning the path for UAVs to effectively detect and track multi-objects in such environments poses additional challenges. Path planning techniques for tracking a single object are not applicable. Since there are multiple moving objects appearing and disappearing in the region, following only certain objects to localise them accurately implies that a UAV is likely to miss many other objects. Furthermore, online path planning for multi-UAVs remains challenging due to the exponential complexity of multi-agent coordination problems. In this dissertation, we consider the problem of online path planning for UAV-based localisation and tracking of multi-objects. First, we realised a low cost on-board radio receiver system on aUAV and demonstrated the capability of the drone-based platform for autonomously tracking and locating multiple mobile radio-tagged objects in field trials. Second, we devised a track-before-detect filter coupled with an online path planning algorithm for joint detection and tracking of radio-tagged objects to achieve better performance in noisy environments. Third, we developed a multi-objective planning algorithm for multi-agents to track and search multi-objects under the practical constraint of detection range limited on-board sensors (or FoV limited sensors). Our formulation leads to a multi-objective value function that is a monotone submodular set function. Consequently, it allows us to employ a greedy algorithm for effectively controlling multi-agents with a performance guarantee for tracking discovered objects while searching for undiscovered mobile objects under practical constraints of limited FoV sensors. Fourth, we devised a fast distributed tracking algorithm that can effectively track multi-objects for a network of stationary agents with different FoVs. This is the first such solution to this problem. The proposed method can significantly improve capabilities of a network of agents to track a large number of objects moving in and out of the limited FoV of the agents’ sensors compared to existing methods that do not consider the problem of unknown and limited FoV of sensors.Thesis (Ph.D.) -- University of Adelaide, School of Computer Science, 202

Monitoring Movement Patterns in Choughs

During soft-release reintroductions, biotelemetry devices are often used to track the movement patterns of released individuals. Very high frequency (VHF) and Global Positioning System (GPS) are commonly used telemetry methods, providing accurate locations. An alternative is dead-reckoning, providing high-resolution movement paths from heading and speed measurements, showing fine-scale changes that VHF may not identify. Errors in speed estimation can accumulate, however, producing wide error margins in flight distances and locations. I assess the utility of both techniques in relation to the release of red-billed choughs (Pyrrhocorax pyrrhocorax) on Jersey, UK. First, I use VHF locations to examine dispersal and habitat selection. I then go on to consider the potential of dead-reckoning for future monitoring, by examining the main determinants of error in flight distance and bearing in a similar-sized bird. The reintroduced choughs undertook small movements close to the release site, with individuals travelling as a flock, and dispersal distance showing no clear increase through time. Coastal grassland was the most used habitat, despite low availability, raising the possibility that dispersal may be limited by a lack of suitable habitat. The chough’s relatively short flight distances and tendency to return to a verifiable location, mean that dead-reckoning could potentially work well as a method to reconstruct their movement paths. However, drift was influenced by flight height, tailwind support and tortuosity. The effect of even low wind speeds on drift shown here suggests this would likely have an even greater influence in locations with higher wind speeds, such as Jersey. Ultimately, the use of multiple low-power telemetry systems could prove powerful, with corrected dead-reckoning providing new insight on the movement frequency, distances and paths as well as habitat selection, that could better inform conservation policy

Designing Studies of Predation Risk for Improved Inference in Carnivore-Ungulate Systems

Quantifying both the lethal and non-lethal (or “risk”) effects of predation has emerged as a major research focus in carnivore-ungulate systems. While numerous studies have examined predation risk and risk effects in recent decades, a lack of standardization in approaches has impeded progress in the field. We provide an overview of five major study design considerations involved in assessing predation risk and responses of prey in carnivoreungulate systems, highlighting how different design choices can impact the strength and scope of inference. First, we stress the importance of distinguishing measures of predation risk (probability of being killed) from measures of risk effects (costs of antipredator behaviors in response to risk). Second, we recommend explicit consideration of spatial and temporal scales using a standardized framework to facilitate cross-study comparisons. Third, ungulates use visual, auditory, and olfactory sensory pathways to evaluate predation risk. Experiments that manipulate signals of risk (e.g., auditory playbacks or application of predator scent) can be powerful approaches, but the dosages and types of cues need to be carefully considered. Fourth, ungulates usually face threats from multiple predators simultaneously, and we highlight the potential for remote cameras and structural equation modeling to help address this challenge. Fifth, emerging technologies may substantially improve our ability to assess risk. We discuss several promising technologies, such as animal-borne video, unmanned aerial vehicles, and physiological sensors. We conclude with general recommendations for study design, which may improve the utility of predation risk research for the conservation and management of carnivore-ungulate systems

Abstracts on Radio Direction Finding (1899 - 1995)

The files on this record represent the various databases that originally composed the CD-ROM issue of "Abstracts on Radio Direction Finding" database, which is now part of the Dudley Knox Library's Abstracts and Selected Full Text Documents on Radio Direction Finding (1899 - 1995) Collection. (See Calhoun record https://calhoun.nps.edu/handle/10945/57364 for further information on this collection and the bibliography). Due to issues of technological obsolescence preventing current and future audiences from accessing the bibliography, DKL exported and converted into the three files on this record the various databases contained in the CD-ROM. The contents of these files are: 1) RDFA_CompleteBibliography_xls.zip [RDFA_CompleteBibliography.xls: Metadata for the complete bibliography, in Excel 97-2003 Workbook format; RDFA_Glossary.xls: Glossary of terms, in Excel 97-2003 Workbookformat; RDFA_Biographies.xls: Biographies of leading figures, in Excel 97-2003 Workbook format]; 2) RDFA_CompleteBibliography_csv.zip [RDFA_CompleteBibliography.TXT: Metadata for the complete bibliography, in CSV format; RDFA_Glossary.TXT: Glossary of terms, in CSV format; RDFA_Biographies.TXT: Biographies of leading figures, in CSV format]; 3) RDFA_CompleteBibliography.pdf: A human readable display of the bibliographic data, as a means of double-checking any possible deviations due to conversion

2014, UMaine News Press Releases

This is a catalog of press releases put out by the University of Maine Division of Marketing and Communications between January 6, 2014 and December 31, 2014