Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion

Optimización de operaciones y comunicaciones de red para sistemas de monitorización oceanográfica

[ES] Esta tesis se centra en los sistemas de monitoreo oceanográfico y la optimización de sus operaciones, especialmente sus comunicaciones de red. Se han desarrollado tres cuestiones de investigación, centrándolas en el proyecto Mission-oriented autonomous systems with small satellites for maritime sensing, surveillance and communication (MASSIVE). Se han aplicado herramientas de ingeniería de sistemas para comprender los componentes del sistema y sus interfaces. Específicamente, desarrollo de escenarios, análisis N-squared y Documento de Control de Interfaz. Además, se ha destacado el papel de una Interfaz de Usuario en sistemas operativos y se han desarrollado los requisitos de la Interfaz de Usuario para el sistema analizado, así como su primera iteración con Django.[EN] This thesis is concerned about oceanographic monitoring systems and the optimization of their operations, especially their network communications. Three research questions have been discussed, focusing them on the Mission-oriented autonomous systems with small satellites for maritime sensing, surveillance and communication (MASSIVE) system. Systems Engineering tools have been applied to shed an understanding of the system’s constituents and their interfaces. Specifically, scenario development, N-squared analysis, and Interface Control Document. Also, the important role of a User Interface in operational systems has been highlighted and the development of the User Interface requirements as well as the first iteration using Django.Carcelén Ferragut, S. (2020). Optimización de operaciones y comunicaciones de red para sistemas de monitorización oceanográfica. Universitat Politècnica de València. http://hdl.handle.net/10251/161633TFG

Earth Observations and the Role of UAVs: A Capabilities Assessment

This document provides an assessment of the civil UAV missions and technologies and is intended to parallel the Office of the Secretary of Defense UAV Roadmap. The intent of this document is four-fold: 1. Determine and document desired future missions of Earth observation UAVs based on user-defined needs 2. Determine and document the technologies necessary to support those missions 3. Discuss the present state of the platform capabilities and required technologies, identifying those in progress, those planned, and those for which no current plans exist 4. Provide the foundations for development of a comprehensive civil UAV roadmap to complement the Department of Defense (DoD) effort (http://www.acq.osd.mil/uas/). Two aspects of the President's Management Agenda (refer to the document located at: www.whitehouse.gov/omb/budget/fy2002/mgmt.pdf ) are supported by this undertaking. First, it is one that will engage multiple Agencies in the effort as stakeholders and benefactors of the systems. In that sense, the market will be driven by the user requirements and applications. The second aspect is one of supporting economic development in the commercial sector. Market forecasts for the civil use of UAVs have indicated an infant market stage at present with a sustained forecasted growth. There is some difficulty in quantifying the value of the market since the typical estimate excludes system components other than the aerial platforms. Section 2.4 addresses the civil UAV market forecast and lists several independent forecasts. One conclusion that can be drawn from these forecasts is that all show a sustained growth for the duration of each long-term forecast

Earth Observations and the Role of UAVs: A Capabilities Assessment

This three-volume document, based on the draft document located on the website given on page 6, presents the findings of a NASA-led capabilities assessment of Uninhabited Aerial Vehicles (UAVs) for civil (defined as non-DoD) use in Earth observations. Volume 1 is the report that presents the overall assessment and summarizes the data. The second volume contains the appendices and references to address the technologies and capabilities required for viable UAV missions. The third volume is the living portion of this effort and contains the outputs from each of the Technology Working Groups (TWGs) along with the reviews conducted by the Universities Space Research Association (USRA). The focus of this report, intended to complement the Office of the Secretary of Defense UAV Roadmap, is four-fold: 1) To determine and document desired future Earth observation missions for all UAVs based on user-defined needs; 2) To determine and document the technologies necessary to support those missions; 3) To discuss the present state of the art platform capabilities and required technologies, including identifying those in progress, those planned, and those for which no current plans exist; 4) Provide the foundations for development of a comprehensive civil UAV roadmap. It is expected that the content of this report will be updated periodically and used to assess the feasibility of future missions. In addition, this report will provide the foundation to help influence funding decisions to develop those technologies that are considered enabling or necessary but are not contained within approved funding plans. This document is written such that each section will be supported by an Appendix that will give the reader a more detailed discussion of that section's topical materials

Coastal Eye: Monitoring Coastal Environments Using Lightweight Drones

Monitoring coastal environments is a challenging task. This is because of both the logistical demands involved with in-situ data collection and the dynamic nature of the coastal zone, where multiple processes operate over varying spatial and temporal scales. Remote sensing products derived from spaceborne and airborne platforms have proven highly useful in the monitoring of coastal ecosystems, but often they fail to capture fine scale processes and there remains a lack of cost-effective and flexible methods for coastal monitoring at these scales. Proximal sensing technology such as lightweight drones and kites has greatly improved the ability to capture fine spatial resolution data at user-dictated visit times. These approaches are democratising, allowing researchers and managers to collect data in locations and at defined times themselves. In this thesis I develop our scientific understanding of the application of proximal sensing within coastal environments. The two critical review pieces consolidate disparate information on the application of kites as a proximal sensing platform, and the often overlooked hurdles of conducting drone operations in challenging environments. The empirical work presented then tests the use of this technology in three different coastal environments spanning the land-sea interface. Firstly, I use kite aerial photography and uncertainty-assessed structure-from-motion multi-view stereo (SfM-MVS) processing to track changes in coastal dunes over time. I report that sub-decimetre changes (both erosion and accretion) can be detected with this methodology. Secondly, I used lightweight drones to capture fine spatial resolution optical data of intertidal seagrass meadows. I found that estimations of plant cover were more similar to in-situ measures in sparsely populated than densely populated meadows. Lastly, I developed a novel technique utilising lightweight drones and SfM-MVS to measure benthic structural complexity in tropical coral reefs. I found that structural complexity measures were obtainable from SfM-MVS derived point clouds, but that the technique was influenced by glint type artefacts in the image data. Collectively, this work advances the knowledge of proximal sensing in the coastal zone, identifying both the strengths and weaknesses of its application across several ecosystems.Natural Environment Research Council (NERC

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

An augmented reality interface for multi-robot tele-operation and control

This thesis presents a seamlessly controlled human multi-robot system comprised of ground and aerial robots of semi-autonomous nature for source localization tasks. The system combines augmented reality interfaces capabilities with human supervisor\u27s ability to control multiple robots. It used advanced path planning algorithms to ensure obstacles are avoided and that the operators are free for higher-level tasks. A sensor data fused AR view is displayed which helped the users pin point source information or help the operator with the goals of the mission. The paper studies a preliminary Human Factors evaluation of this system in which several interface conditions are tested for source detection tasks

Autonomous Collision avoidance for Unmanned aerial systems

Unmanned Aerial System (UAS) applications are growing day by day and this will lead Unmanned Aerial Vehicle (UAV) in the close future to share the same airspace of manned aircraft.This implies the need for UAS to define precise safety standards compatible with operations standards for manned aviation. Among these standards the need for a Sense And Avoid (S&A) system to support and, when necessary, sub¬stitute the pilot in the detection and avoidance of hazardous situations (e.g. midair collision, controlled flight into terrain, flight path obstacles, and clouds). This thesis presents the work come out in the development of a S&A system taking into account collision risks scenarios with multiple moving and fixed threats. The conflict prediction is based on a straight projection of the threats state in the future. The approximations introduced by this approach have the advantage of high update frequency (1 Hz) of the estimated conflict geometry. This solution allows the algorithm to capture the trajectory changes of the threat or ownship. The resolution manoeuvre evaluation is based on a optimisation approach considering step command applied to the heading and altitude autopilots. The optimisation problem takes into account the UAV performances and aims to keep a predefined minimum separation distance between UAV and threats during the resolution manouvre. The Human-Machine Interface (HMI) of this algorithm is then embedded in a partial Ground Control Station (GCS) mock-up with some original concepts for the indication of the flight condition parameters and the indication of the resolution manoeuvre constraints. Simulations of the S&A algorithm in different critical scenarios are moreover in-cluded to show the algorithm capabilities. Finally, methodology and results of the tests and interviews with pilots regarding the proposed GCS partial layout are covered

New frontiers in ocean exploration: the E/V Nautilus, NOAA Ship Okeanos Explorer, and R/V Falkor 2019 field season

© The Author(s), 2020. This article is distributed under the terms of the Creative Commons Attribution License. The definitive version was published in Raineault, N.A., and J. Flanders, eds. (2020). New frontiers in ocean exploration: The E/V Nautilus, NOAA Ship Okeanos Explorer, and R/V Falkor 2019 field season. Oceanography 33(1), supplement, 122 pp., https://doi.org/10.5670/oceanog.2020.supplement.01.New Frontiers in Ocean Exploration: The E/V Nautilus, NOAA Ship Okeanos Explorer, and R/V Falkor 2019 Field Season is the tenth consecutive supplement on ocean exploration to accompany Oceanography. These booklets provide details about the innovative technologies deployed to investigate the seafloor and water column and explain how telepresence can both convey the excitement of ocean exploration to global audiences and allow scientists as well as the public on shore to participate in expeditions in real time. The supplements also describe the variety of educational programs the Ocean Exploration Trust, the NOAA Office of Ocean Exploration and Research, and the Schmidt Ocean Institute support in conjunction with schools, museums, visitors centers, and aquariums, as well as internships that bring high school students, undergraduates, graduate students, teachers, and artists on board ships. Through these supplements, we have explored the geology, chemistry, biology, and archaeology of parts of the global ocean and seas. We hope you enjoy this booklet and share it widely.Support for this publication is provided by the Ocean Exploration Trust, the NOAA Office of Ocean Exploration and Research, the National Marine Sanctuary Foundation, and the Schmidt Ocean Institute