Fire-spotting modelling in operational wildfire simulators based on Cellular Automata: A comparison study

One crucial mechanism in the spread of wildfires is the so-called fire-spotting: a random phenomenon that occurs when embers are transported over large distances. Fire-spotting speeds up the rate of spread and starts new ignitions that can jeopardise firefighting operations. Unfortunately, operational fire-spread simulators may not account for spotting events, thus overlooking the harmful consequences associated with this phenomenon. In this work, three fire spotting parametrisations are integrated in the operational wildfire simulator PROPAGATOR based on Cellular Automata (CA). RandomFront, a physics-based parametrisation of fire-spotting, is tested for the first time in the context of CA simulators. RandomFront is compared with other two parametrisations already adopted in CA based simulators, those by Alexandridis and co-authors and by Perryman and collaborators. A wildfire occurred in the summer of 2021 in the municipality of Campomarino (Molise, Italy), and where spotting effects were clearly reported, is used as a case study. This case study, featuring evident airborne transport of firebrands, paves the way for a framework for comparing parameterised spotting models used in operational scenarios. RandomFront produced a more complex burning probability pattern than the other parametrisations and it predicted a higher probability of burning in the zone mainly affected by the fire-spotting

Semantic Plug & Play - Selbstbeschreibende Hardware für modulare Robotersysteme

Moderne Robotersysteme bestehen aus einer Vielzahl unterschiedlicher Sensoren und Aktuatoren, aus deren Zusammenwirken verschiedene Fähigkeiten entstehen und nutzbar gemacht werden. So kann ein Knickarmroboter über die koordinierte Ansteuerung mehrerer Motoren Gegenstände greifen, oder ein Quadrocopter über Sensoren seine Lage und Position bestimmen. Eine besondere Ausprägung bilden modulare Robotersysteme, in denen sich Sensoren und Aktuatoren dynamisch entfernen, austauschen oder hinzufügen lassen, wodurch auch die verfügbaren Fähigkeiten beeinflusst werden. Die Flexibilität modularer Robotersysteme wird jedoch durch deren eingeschränkte Kompatibilität begrenzt. So existieren zahlreiche proprietäre Systeme, die zwar eine einfache Verwendung ermöglichen aber nur auf eine begrenzte Menge an modularen Elementen zurückgreifen können. Open-Source-Projekte mit einer breiten Unterstützung im Hardwarebereich, wie bspw. die Arduino-Plattform, oder Softwareprojekte, wie das Robot Operating System (ROS) versuchen, eine eben solch breite Kompatibilität zu bieten, erfordern allerdings eine sehr ausführliche Dokumentation der Hardware für die Integration. Das zentrale Ergebnis dieser Dissertation ist ein Technologiestack (Semantic Plug & Play) für die einfache Dokumentation und Integration modularer Hardwareelemente durch Selbstbeschreibungsmechanismen. In vielen Anwendungen befindet sich die Dokumentation üblicherweise verteilt in Textdokumenten, Onlineinhalten und Quellcodedokumentationen. In Semantic Plug & Play wird ein System basierend auf den Technologien des Semantic Web vorgestellt, das nicht nur eben solch vorhandene Dokumentationen vereinheitlicht und kollektiviert, sondern das auch durch eine maschinenlesbare Aufbereitung die Dokumentation in der Prozessdefinition verwendet werden kann. Eine in dieser Dissertation entwickelte Architektur bietet für die Prozessdefinition eine API für objektorientierte Programmiersprachen, in der abstrakte Fähigkeiten verwendet werden können. Mit einem besonderen Fokus auf zur Laufzeit rekonfigurierbare Systeme können damit Fähigkeiten über Anforderungen an aktuelle Hardwarekonfigurationen ausgedrückt werden. So ist es möglich, qualitative und quantitative Eigenschaften als Voraussetzung für Fähigkeiten zu definieren, die erst bei einem Wechsel modularer Hardwareelemente erfüllt werden. Diesem Prinzip folgend werden auch kombinierte Fähigkeiten unterstützt, die andere Fähigkeiten hardwareübergreifend für ihre intrinsische Ausführung nutzen. Für die Kapselung der Selbstbeschreibung auf einzelnen Hardwareelementen werden unterschiedliche Adapter in Semantic Plug & Play unterstützt, wie etwa Mikrocontroller oder X86- und ARM-Systeme. Semantic Plug & Play ermöglicht zudem eine Erweiterbarkeit zu ROS anhand unterschiedlicher Werkzeuge, die nicht nur eine hybride Nutzung erlauben, sondern auch die Komplexität mit modellgetriebenen Ansätzen beherrschbar machen. Die Flexibilität von Semantic Plug & Play wird in sechs Experimenten anhand unterschiedlicher Hardware illustriert. Alle Experimente adressieren dabei Problemstellungen einer übergeordneten Fallstudie, für die ein heterogener Quadrocopterschwarm in hochgradig dynamischen Szenarien eingesetzt und gezielt rekonfiguriert wird

Multispectral Remote Sensing and Spatiotemporal Mapping of the Environment and Natural Disasters Using Small UAS

This dissertation focuses on development of new methods for multispectral remote sensing, measurement, and mapping of the environment and natural disasters using small Unmanned Aircraft Systems (UAS). Small UAS equipped with multispectral cameras such as true color (RGB), near infrared (NIR), and thermal can gather important information about the environment before, during, and after a disaster without risking pilots or operators. Additionally, small UAS are generally inexpensive, easy to handle, and can detect features at small spatiotemporal scales that are not visible in manned aircraft or satellite imagery. Four important problems in UAS remote sensing and disaster data representation are focused in this dissertation. First, key considerations for the development of UAS disaster sensing systems are provided, followed by detailed descriptions of the KHawk system and representative environment and disaster data sets. Second, a new method is proposed and demonstrated for accurate mapping and measurement of grass fire evolution using multitemporal thermal orthomosaics collected by a fixed-wing UAS flying at low altitudes. Third, a low-cost and effective solution is further developed for spatiotemporal representation and measurement of grass fire evolution using time-labeled UAS NIR orthomosaics and a novel Intensity Variance Thresholding (IVT) method is proposed for grass fire front extraction to support fire spread metrics measurement of fire front location and rate of spread (ROS). A UAS grass fire observation data set is also presented including thermal and NIR orthomosaics and supporting weather and fuel data. Fourth, a new Satellite-based Cross Calibration (SCC) method is proposed for surface reflectance estimation of UAS images in digital numbers (DN) using free and open calibrated satellite reflectance data. This also serves as a solid foundation for data-enabled multiscale remote sensing and large scale environmental observations. Finally, the main conclusions and future research considerations are summarized

Investigations in multi-resolution modelling of the quadrotor micro air vehicle

Multi-resolution modelling differs from standard modelling in that it employs multiple abstractions of a system rather than just one. In describing the system at several degrees of resolution, it is possible to cover a broad range of system behaviours with variable precision. Typically, model resolution is chosen by the modeller, however the choice of resolution for a given objective is not always intuitive. A multi-resolution model provides the ability to select optimal resolution for a given objective. This has benefits in a number of engineering disciplines, particularly in autonomous systems engineering, where the behaviours and interactions of autonomous agents are of interest. To investigate both the potential benefits of multi-resolution modelling in an autonomous systems context and the effect of resolution on systems engineering objectives, a multi-resolution model family of the quadrotor micro air vehicle is developed. The model family is then employed in two case studies. First, non-linear dynamic inversion controllers are derived from a selection of the models in the model family, allowing the impact of resolution on a model-centric control strategy to be investigated. The second case study employs the model family in the optimisation of trajectories in a wireless power transmission. This allows both study of resolution impact in a multi-agent scenario and provides insight into the concept of laser-based wireless power transmission. In addition to the two primary case studies, models of the quadrotor are provided through derivation from first principles, system identification experiments and the results of a literature survey. A separate model of the quadrotor is employed in a state estimation experiment with low-fidelity sensors, permitting further discussion of both resolution impact and the benefits of multi-resolution modelling. The results of both the case studies and the remainder of the investigations highlight the primary benefit of multi-resolution modelling: striking the optimal balance between validity and efficiency in simulation. Resolution is demonstrated to have a non-negligible impact on the outcomes of both case studies. Finally, some insights in the design of a wireless power transmission are provided from the results of the second case study

Safety and Illumination of Rural and Suburban Roundabouts (Phase II)

RP19-11This project focused on establishing the relationship between the presence/absence or levels of illumination and other geometric and traffic characteristics on nighttime safety at rural and suburban roundabouts. Eighty roundabouts from thirty-seven counties across Georgia were selected to provide a wide range of conditions in terms of illumination layout, illumination levels, number of legs, number of circulating lanes, daily entering volumes, approach speeds, etc. for field measurements of illumination levels. Urban roundabouts with significant pedestrian activity were excluded. Field data collection at each site included both direct measurements of illumination levels as well as a civil site survey to verify the geometric characteristics of the roundabout and were conducted by measurement teams from Georgia Institute of Technology and Georgia Southern University. The resulting data were processed, joined, and aggregated to the individual site level and used to establish statistical relationships between observed nighttime crash rates, severity, and crash types (e.g., single vs. multiple vehicles, impaired drivers, etc.) and underlying geometric factors and measured illuminance levels. The variation in observed crash rates were modeled against known parameters of the roundabouts to develop a predictive model as to how single vehicle nighttime crash rates were impacted by illumination and other factors. As expected, multiple vehicle crashes showed no statistically significant dependence on illumination levels as the vehicles themselves, through their head- and taillights, are important contributors to nighttime visibility at the roundabout. This was not the case for single vehicle crashes. Single vehicle crashes were shown to increase for 3-leg roundabouts for illumination values less than 5 lux. No such trend was observed in either 4 or 5-leg roundabouts and these sites showed no statistically significant variation in nighttime single vehicle crash rates at any level of illumination. An overarching conclusion of the study is that there was no observed evidence of illumination values exceeding 5 lux resulting in a statistically significant reduction in nighttime crash rates for rural and suburban roundabouts. These results suggest that for rural and suburban roundabouts with no significant pedestrian volumes, illumination values significantly lower than current standards may still prove effective as a safety treatment and that, in the absence of a need to protect pedestrians or cyclists at nighttime at a particular location, a reduction in lighting levels or the use of passive retroreflective safety treatments may be a cost-effective treatment

A Computational Framework for Resilience-Informed Design

It is desirable for complex engineered systems to perform missions efficiently and economically, even when these missions' complex, variable, long-term operational profiles make it likely for hazards to arise. It is thus important to design these systems to be resilient so that they will actively prevent and recover from hazards when they occur. To most effectively design a system to be resilient, the resilience of each design alternative should be quantified and valued so that it can be incorporated in the decision-making process. However, considering resilience in early design is challenging because resilience is a dynamic and stochastic property characterizing how the system performs over time in a set of unlikely-but-salient hazardous scenarios. Quantifying these properties thus requires a model to simulate the system's dynamic behavior and performance over the set of hazardous scenarios. Thus, to be able to incorporate resilience in the design process, there is a need to develop a framework which implements and integrates these models with design exploration and decision-making. This dissertation fulfills this need by defining resilience to enable fault simulations to be incorporated in decision-making, devising and implementing a modelling framework for early assessment of system resilience attributes, and exploring optimization architectures to efficiently structure the design exploration of resilience variables. Additionally, this dissertation provides a validity testing framework to determine when the resilient design process has been effective given the uncertainties present in the design problem. When each of these parts are used together, they comprise an overall framework that can be used to consider and incorporate system resilience in the early design process

Strategic Latency Unleashed: The Role of Technology in a Revisionist Global Order and the Implications for Special Operations Forces

The article of record may be found at https://cgsr.llnl.govThis work was performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory in part under Contract W-7405-Eng-48 and in part under Contract DE-AC52-07NA27344. The views and opinions of the author expressed herein do not necessarily state or reflect those of the United States government or Lawrence Livermore National Security, LLC. ISBN-978-1-952565-07-6 LCCN-2021901137 LLNL-BOOK-818513 TID-59693This work was performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory in part under Contract W-7405-Eng-48 and in part under Contract DE-AC52-07NA27344. The views and opinions of the author expressed herein do not necessarily state or reflect those of the United States government or Lawrence Livermore National Security, LLC. ISBN-978-1-952565-07-6 LCCN-2021901137 LLNL-BOOK-818513 TID-5969

XLIII Jornadas de Automática: libro de actas: 7, 8 y 9 de septiembre de 2022, Logroño (La Rioja)

[Resumen] Las Jornadas de Automática (JA) son el evento más importante del Comité Español de Automática (CEA), entidad científico-técnica con más de cincuenta años de vida y destinada a la difusión e implantación de la Automática en la sociedad. Este año se celebra la cuadragésima tercera edición de las JA, que constituyen el punto de encuentro de la comunidad de Automática de nuestro país. La presente edición permitirá dar visibilidad a los nuevos retos y resultados del ámbito, y su uso en un gran número de aplicaciones, entre otras, las energías renovables, la bioingeniería o la robótica asistencial. Además de la componente científica, que se ve reflejada en este libro de actas, las JA son un punto de encuentro de las diferentes generaciones de profesores, investigadores y profesionales, incluyendo la componente social que es de vital importancia. Esta edición 2022 de las JA se celebra en Logroño, capital de La Rioja, región mundialmente conocida por la calidad de sus vinos de Denominación de Origen y que ha asumido el desafío de poder ganar competitividad a través de la transformación verde y digital. Pero también por ser la cuna del castellano e impulsar el Valle de la Lengua con la ayuda de las nuevas tecnologías, entre ellas la Automática Inteligente. Los organizadores de estas JA, pertenecientes al Área de Ingeniería de Sistemas y Automática del Departamento de Ingeniería Eléctrica de la Universidad de La Rioja (UR), constituyen un pilar fundamental en el apoyo a la región para el estudio, implementación y difusión de estos retos. Esta edición, la primera en formato íntegramente presencial después de la pandemia de la covid-19, cuenta con más de 200 asistentes y se celebra a caballo entre el Edificio Politécnico de la Escuela Técnica Superior de Ingeniería Industrial y el Monasterio de Yuso situado en San Millán de la Cogolla, dos marcos excepcionales para la realización de las JA. Como parte del programa científico, dos sesiones plenarias harán hincapié, respectivamente, sobre soluciones de control para afrontar los nuevos retos energéticos, y sobre la calidad de los datos para una inteligencia artificial (IA) imparcial y confiable. También, dos mesas redondas debatirán aplicaciones de la IA y la implantación de la tecnología digital en la actividad profesional. Adicionalmente, destacaremos dos clases magistrales alineadas con tecnología de última generación que serán impartidas por profesionales de la empresa. Las JA también van a albergar dos competiciones: CEABOT, con robots humanoides, y el Concurso de Ingeniería de Control, enfocado a UAVs. A todas estas actividades hay que añadir las reuniones de los grupos temáticos de CEA, las exhibiciones de pósteres con las comunicaciones presentadas a las JA y los expositores de las empresas. Por último, durante el evento se va a proceder a la entrega del “Premio Nacional de Automática” (edición 2022) y del “Premio CEA al Talento Femenino en Automática”, patrocinado por el Gobierno de La Rioja (en su primera edición), además de diversos galardones enmarcados dentro de las actividades de los grupos temáticos de CEA. Las actas de las XLIII Jornadas de Automática están formadas por un total de 143 comunicaciones, organizadas en torno a los nueve Grupos Temáticos y a las dos Líneas Estratégicas de CEA. Los trabajos seleccionados han sido sometidos a un proceso de revisión por pares

Control of a quadcopter application with devs

Embedded systems are increasingly used to control different devices ranging from toys, up to vehicles and spaceships. Each machine has special hardware designed to perform its tasks optimally, and there are constrains that emerge from the relation between hardware, embedded software and the environment. Discrete-Event Modeling of Embedded Systems (DEMES) is a formal methodology to develop software for embedded systems using a discrete event formalism to implement the system software as a model, abstracting the software from the hardware and facilitating verification and validation. The objective of this paper is to show how to use DEMES to develop controllers for a quadcopter and to deploy them on the target hardware