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)

Aerial Robotics for Inspection and Maintenance

Aerial robots with perception, navigation, and manipulation capabilities are extending the range of applications of drones, allowing the integration of different sensor devices and robotic manipulators to perform inspection and maintenance operations on infrastructures such as power lines, bridges, viaducts, or walls, involving typically physical interactions on flight. New research and technological challenges arise from applications demanding the benefits of aerial robots, particularly in outdoor environments. This book collects eleven papers from different research groups from Spain, Croatia, Italy, Japan, the USA, the Netherlands, and Denmark, focused on the design, development, and experimental validation of methods and technologies for inspection and maintenance using aerial robots

Adaptive time-frequency analysis for cognitive source separation

This thesis introduces a framework for separating two speech sources in non-ideal, reverberant environments. The source separation architecture tries to mimic the extraordinary abilities of the human auditory system when performing source separation. A movable human dummy head residing in a normal office room is used to model the conditions humans experience when listening to complex auditory scenes. This thesis first investigates how the orthogonality of speech sources in the time-frequency domain drops with different reverberation times of the environment and shows that separation schemes based on ideal binary time-frequency-masks are suitable to perform source separation also under humanoid reverberant conditions. Prior to separating the sources, the movable human dummy head analyzes the auditory scene and estimates the positions of the sources and the fundamental frequency tracks. The source localization is implemented using an iterative approach based on the interaural time differences between the two ears and achieves a localization blur of less than three degrees in the azimuth plane. The source separation architecture implemented in this thesis extracts the orthogonal timefrequency points of the speech mixtures. It combines the positive features of the STFT with the positive features of the cochleagram representation. The overall goal of the source separation is to find the ideal STFT-mask. The core source separation process however is based on the analysis of the corresponding region in an additionally computed cochleagram, which shows more reliable Interaural Time Difference (ITD) estimations that are used for separation. Several algorithms based on the ITD and the fundamental frequency of the target source are evaluated for their source separation capabilities. To enhance the separation capabilities of the single algorithms, the results of the different algorithms are combined to compute a final estimate. In this way SIR gains of approximately 30 dB for two source scenarios are achieved. For three source scenarios SIR gains of up to 16 dB are attained. Compared to the standard binaural signal processing approaches like DUET and Fixed Beamforming the presented approach achieves up to 29 dB SIR gain.Diese Dissertation beschreibt ein Framework zur Separation zweier Quellen in nicht-idealen, echobehafteten Umgebungen. Die Architektur zur Quellenseparation orientiert sich dabei an den außergewöhnlichen Separationsfähigkeiten des menschlichen Gehörs. Um die Bedingungen eines Menschen in einer komplexen auditiven Szene zu imitieren, wird ein beweglicher, menschlicher Kunstkopf genutzt, der sich in einem üblichen Büroraum befindet. In einem ersten Schritt analysiert diese Dissertation, inwiefern die Orthogonalität von Sprachsignalen im Zeit-Frequenz-Bereich mit unterschiedlichen Nachhallzeiten abnimmt. Trotz der Orthogonalitätsabnahme sind Separationsansätze basierend auf idealen binären Masken geeignet um eine Trennung von Sprachsignalen auch unter menschlichen, echobehafteten Bedingungen zu realisieren. Bevor die Quellen getrennt werden, analysiert der bewegliche Kunstkopf die auditive Szene und schätzt die Positionen der einzelnen Quellen und den Verlauf der Grundfrequenz der Sprecher ab. Die Quellenlokalisation wird durch einen iterativen Ansatz basierend auf den Zeitunterschieden zwischen beiden Ohren verwirklicht und erreicht eine Lokalisierungsgenauigkeit von weniger als drei Grad in der Azimuth-Ebene. Die Quellenseparationsarchitektur die in dieser Arbeit implementiert wird, extrahiert die orthogonalen Zeit-Frequenz-Punkte der Sprachmixturen. Dazu werden die positiven Eigenschaften der STFT mit den positiven Eigenschaften des Cochleagrams kombiniert. Ziel ist es, die ideale STFT-Maske zu finden. Die eigentliche Quellentrennung basiert jedoch auf der Analyse der entsprechenden Region eines zusätzlich berechneten Cochleagrams. Auf diese Weise wird eine weitaus verlässlichere Auswertung der Zeitunterschiede zwischen den beiden Ohren verwirklicht. Mehrere Algorithmen basierend auf den interauralen Zeitunterschieden und der Grundfrequenz der Zielquelle werden bezüglich ihrer Separationsfähigkeiten evaluiert. Um die Trennungsmöglichkeiten der einzelnen Algorithmen zu erhöhen, werden die einzelnen Ergebnisse miteinander verknüpft um eine finale Abschätzung zu gewinnen. Auf diese Weise können SIR Gewinne von ungefähr 30 dB für Szenarien mit zwei Quellen erzielt werden. Für Szenarien mit drei Quellen werden Gewinne von bis zu 16 dB erzielt. Verglichen mit binauralen Standardverfahren zur Quellentrennung wie DUET oder Fixed Beamforming, gewinnt der vorgestellte Ansatz bis zu 29 dB SIR

A stochastic Reputation System Architecture to support the Partner Selection in Virtual Organisations

In recent business environments, collaborations among organisations raise an increased demand for swift establishment. Such collaborations are increasingly formed without prior experience of the other partner\u27s previous performance. The STochastic REputation system (STORE) is designed to provide swift, automated decision support for selecting partner organisations. STORE is based on a stochastic trust model and evaluated by means of multi agent simulations in Virtual Organisation scenarios

JTIT

kwartalni

Task Allocation in Foraging Robot Swarms:The Role of Information Sharing

Autonomous task allocation is a desirable feature of robot swarms that collect and deliver items in scenarios where congestion, caused by accumulated items or robots, can temporarily interfere with swarm behaviour. In such settings, self-regulation of workforce can prevent unnecessary energy consumption. We explore two types of self-regulation: non-social, where robots become idle upon experiencing congestion, and social, where robots broadcast information about congestion to their team mates in order to socially inhibit foraging. We show that while both types of self-regulation can lead to improved energy efficiency and increase the amount of resource collected, the speed with which information about congestion flows through a swarm affects the scalability of these algorithms