Unmanned Systems Sentinel / 11 January 2016

Approved for public release; distribution is unlimited

A Comparative Evaluation of the Detection and Tracking Capability Between Novel Event-Based and Conventional Frame-Based Sensors

Traditional frame-based technology continues to suffer from motion blur, low dynamic range, speed limitations and high data storage requirements. Event-based sensors offer a potential solution to these challenges. This research centers around a comparative assessment of frame and event-based object detection and tracking. A basic frame-based algorithm is used to compare against two different event-based algorithms. First event-based pseudo-frames were parsed through standard frame-based algorithms and secondly, target tracks were constructed directly from filtered events. The findings show there is significant value in pursuing the technology further

Small UAS Detect and Avoid Requirements Necessary for Limited Beyond Visual Line of Sight (BVLOS) Operations

Potential small Unmanned Aircraft Systems (sUAS) beyond visual line of sight (BVLOS) operational scenarios/use cases and Detect And Avoid (DAA) approaches were collected through a number of industry wide data calls. Every 333 Exemption holder was solicited for this same information. Summary information from more than 5,000 exemption holders is documented, and the information received had varied level of detail but has given relevant experiential information to generalize use cases. A plan was developed and testing completed to assess Radio Line Of Sight (RLOS), a potential key limiting factors for safe BVLOS ops. Details of the equipment used, flight test area, test payload, and fixtures for testing at different altitudes is presented and the resulting comparison of a simplified mathematical model, an online modeling tool, and flight data are provided. An Operational Framework that defines the environment, conditions, constraints, and limitations under which the recommended requirements will enable sUAS operations BVLOS is presented. The framework includes strategies that can build upon Federal Aviation Administration (FAA) and industry actions that should result in an increase in BVLOS flights in the near term. Evaluating approaches to sUAS DAA was accomplished through five subtasks: literature review of pilot and ground observer see and avoid performance, survey of DAA criteria and recommended baseline performance, survey of existing/developing DAA technologies and performance, assessment of risks of selected DAA approaches, and flight testing. Pilot and ground observer see and avoid performance were evaluated through a literature review. Development of DAA criteria—the emphasis here being well clear— was accomplished through working with the Science And Research Panel (SARP) and through simulations of manned and unmanned aircraft interactions. Information regarding sUAS DAA approaches was collected through a literature review, requests for information, and direct interactions. These were analyzed through delineation of system type and definition of metrics and metric values. Risks associated with sUAS DAA systems were assessed by focusing on the Safety Risk Management (SRM) pillar of the SMS (Safety Management System) process. This effort (1) identified hazards related to the operation of sUAS in BVLOS, (2) offered a preliminary risk assessment considering existing controls, and (3) recommended additional controls and mitigations to further reduce risk to the lowest practical level. Finally, flight tests were conducted to collect preliminary data regarding well clear and DAA system hazards

Real-Time, Multiple Pan/Tilt/Zoom Computer Vision Tracking and 3D Positioning System for Unmanned Aerial System Metrology

The study of structural characteristics of Unmanned Aerial Systems (UASs) continues to be an important field of research for developing state of the art nano/micro systems. Development of a metrology system using computer vision (CV) tracking and 3D point extraction would provide an avenue for making these theoretical developments. This work provides a portable, scalable system capable of real-time tracking, zooming, and 3D position estimation of a UAS using multiple cameras. Current state-of-the-art photogrammetry systems use retro-reflective markers or single point lasers to obtain object poses and/or positions over time. Using a CV pan/tilt/zoom (PTZ) system has the potential to circumvent their limitations. The system developed in this paper exploits parallel-processing and the GPU for CV-tracking, using optical flow and known camera motion, in order to capture a moving object using two PTU cameras. The parallel-processing technique developed in this work is versatile, allowing the ability to test other CV methods with a PTZ system using known camera motion. Utilizing known camera poses, the object\u27s 3D position is estimated and focal lengths are estimated for filling the image to a desired amount. This system is tested against truth data obtained using an industrial system

Never Alone: Why the Inevitable Influx of Drones Necessitates a New Fourth Amendment Standard That Adequately Protects Reasonable Expectations of Privacy

In June 2011, North Dakota cattle rancher Rodney Brossart became the first American to be arrested with the aid of a drone (Unmanned Aircraft System(s) or UAS) operated by law enforcement. Six cows found their way onto Brossart\u27s property, and he refused to turn them over to law enforcement officials. Brossart and a few family members chased police officers off of his property at gunpoint, and police later returned with a warrant and SWAT team. A sixteen-hour standoff ensued until police called in the assistance of a UAS to pinpoint Brossart\u27s exact location. Shortly thereafter, SWAT officers rushed in, tased, then arrested Brossart on various charges including terrorizing a sheriff. A federal judge rejected a motion to dismiss the case on the ground that law enforcement officials did not have a warrant to conduct the surveillance. On January 14, 2014, Brossart was sentenced to three years in prison

Deployment and navigation of aerial drones for sensing and interacting applications

Existing research recognises the critical role played by Unmanned Aerial Vehicles (UAVs) (also referred to as drones) to numerous civilian applications. Typical drone applications include surveillance, wireless communication, agriculture, among many others. One of the biggest challenges is to determine the deployment and navigation of the drones to benefit the most for different applications. Many research questions have been raised about this topic. For example, drone-enabled wildlife monitoring has received much attention in recent years. Unfortunately, this approach results in significant disturbance to different species of wild animals. Moreover, with the capability of rapidly moving communication supply towards demand when required, the drone equipped with a base station, i.e., drone-cell, is becoming a promising solution for providing cellular networks to victims and rescue teams in disaster-affected areas. However, few studies have investigated the optimal deployments of multiple drone-cells with limited backhaul communication distances. In addition, the use of autonomous drones as flying interactors for many real-life applications has not been sufficiently discussed. With superior maneuverability, drone-enabled autonomous aerial interacting can potentially be used on shark attack prevention and animal herding. Nevertheless, previous studies of autonomous drones have not dealt with such applications in much detail. This thesis explores the solutions to all the mentioned research questions, with a particular focus on the deployment and navigation of the drones. First, we provide one of the first investigations into reducing the negative impacts of wildlife monitoring drones by navigation control. Second, we study the optimal placement of a group of drone-cells with limited backhaul communication ranges, aims to maximise the number of served users. Third, we propose a novel method named ‘drone shark shield’, which uses communicating autonomous drones to intervene and prevent shark attacks for protecting swimmers and surfers. Lastly, we introduce one of the first autonomous drone herding systems for mustering a large number of farm animals efficiently. Simulations have been conducted to verify the effectiveness of the proposed approaches. We believe that our findings in this thesis shed new light on the fundamental benefits of autonomous civilian drones

Fish and Ships: Impacts of Boat Noise on the Singing Fish, Porichthys notatus

As anthropogenic ocean noise rises, research into its impacts on marine life is intensifying. Recent studies show concerning effects of noise on a variety of taxa, including fish. However currently lacking are in situ studies: the majority of fish studies have been lab-based, which lack the natural conditions and interconnections that put results in context. Further, the dearth of baseline information on natural fish sounds, communication and behaviours, limits predictions of noise impacts. Here I investigated the highly vocal plainfin midshipman (Porichthys notatus) in its natural habitat to determine the effects of boat noise on wild fish. Porichthys notatus uses sound to communicate during courtship and aggression, and depends on paternal care to safeguard nests in intertidal zones over several months. I first described acoustic communication features of P. notatus in situ by quantifying its vocalizations from longterm audio recordings gathered via hydrophones near a nesting site. I then characterized behaviours associated with acoustic signals by analyzing audio and video data of nest-guarding P. notatus. Finally, I determined the response of P. notatus to live motor-boat noise by examining behavioural and vocal activity of P. notatus in boat noise, ambient and control conditions. In addition to the manual analysis, I used an automated approach to determine overall movement of P. notatus under boat noise, ambient and control conditions. Findings reveal that when exposed to boat noise, fewer P. notatus predators were documented in the vicinity of P. notatus nests, while P. notatus increased overall time spent moving inside nests. Thus, noise benefits P. notatus indirectly by decreasing predator pressure, yet has direct negative impacts on P. notatus by increasing stress and metabolic costs. Such results reveal fitness consequences at both species and ecosystem scales, and indicate the importance of accounting for ecological relationships when predicting noise effects

Aeronautical engineering: A continuing bibliography with indexes (supplement 304)

This bibliography lists 453 reports, articles, and other documents introduced into the NASA scientific and technical information system in May 1994. Subject coverage includes: design, construction and testing of aircraft and aircraft engines; aircraft components, equipment, and systems; ground support systems; and theoretical and applied aspects of aerodynamics and general fluid dynamics