29 research outputs found
Motion Planning in Artificial and Natural Vector Fields
This dissertation advances the field of autonomous vehicle motion planning in various challenging environments, ranging from flows and planetary atmospheres to cluttered real-world scenarios. By addressing the challenge of navigating environmental flows, this work introduces the Flow-Aware Fast Marching Tree algorithm (FlowFMT*). This algorithm optimizes motion planning for unmanned vehicles, such as UAVs and AUVs, navigating in tridimensional static flows. By considering reachability constraints caused by vehicle and flow dynamics, flow-aware neighborhood sets are found and used to reduce the number of calls to the cost function. The method computes feasible and optimal trajectories from start to goal in challenging environments that may contain obstacles or prohibited regions (e.g., no-fly zones). The method is extended to generate a vector field-based policy that optimally guides the vehicle to a given goal. Numerical comparisons with state-of-the-art control solvers demonstrate the method\u27s simplicity and accuracy. In this dissertation, the proposed sampling-based approach is used to compute trajectories for an autonomous semi-buoyant solar-powered airship in the challenging Venusian atmosphere, which is characterized by super-rotation winds. A cost function that incorporates the energetic balance of the airship is proposed to find energy-efficient trajectories. This cost function combines the main forces acting on the vehicle: weight, buoyancy, aerodynamic lift and drag, and thrust. The FlowFMT* method is also extended to consider the possibility of battery depletion due to thrust or battery charging due to solar energy and tested in this Venus atmosphere scenario. Simulations showcase how the airship selects high-altitude paths to minimize energy consumption and maximize battery recharge. They also show the airship sinking down and drifting with the wind at the altitudes where it is fully buoyant. For terrestrial applications, this dissertation finally introduces the Sensor-Space Lattice (SSLAT) motion planner, a real-time obstacle avoidance algorithm for autonomous vehicles and mobile robots equipped with planar range finders. This planner uses a lattice to tessellate the area covered by the sensor and to rapidly compute collision-free paths in the robot surroundings by optimizing a cost function. The cost function guides the vehicle to follow an artificial vector field that encodes the desired vehicle path. This planner is evaluated in challenging, cluttered static environments, such as warehouses and forests, and in the presence of moving obstacles, both in simulations and real experiments. Our results show that our algorithm performs collision checking and path planning faster than baseline methods. Since the method can have sequential or parallel implementations, we also compare the two versions of SSLAT and show that the run-time for its parallel implementation, which is independent of the number and shape of the obstacles found in the environment, provides a significant speedup due to the independent collision checks
ATHENA Research Book, Volume 2
ATHENA European University is an association of nine higher education institutions with the mission of promoting excellence in research and innovation by enabling international cooperation. The acronym ATHENA stands for Association of Advanced Technologies in Higher Education. Partner institutions are from France, Germany, Greece, Italy, Lithuania, Portugal and Slovenia: University of OrlĂ©ans, University of Siegen, Hellenic Mediterranean University, NiccolĂČ Cusano University, Vilnius Gediminas Technical University, Polytechnic Institute of Porto and University of Maribor. In 2022, two institutions joined the alliance: the Maria Curie-SkĆodowska University from Poland and the University of Vigo from Spain. Also in 2022, an institution from Austria joined the alliance as an associate member: Carinthia University of Applied Sciences. This research book presents a selection of the research activities of ATHENA University's partners. It contains an overview of the research activities of individual members, a selection of the most important bibliographic works of members, peer-reviewed student theses, a descriptive list of ATHENA lectures and reports from individual working sections of the ATHENA project. The ATHENA Research Book provides a platform that encourages collaborative and interdisciplinary research projects by advanced and early career researchers
Multi-NFP utilization in the fifth generation and beyond systems
Over the past few years, wireless communication needs have experienced continuous growth.
There is now a great demand for more sophisticated infrastructure to cope with the fifth generation and beyond (5G+) systems. 5G+ systems promise to provide better real-time services,
more efficient spectrum utilization, increased energy efficiency, and enhanced coverage. 5G+
systems are expected to adopt several adaptations in their network architecture, construction,
and deployment. The integration of Network Flying Platforms (NFPs) with 5G+ capabilities
will allow much higher connectivity, lower latency, and quicker transfer of high-precision data.
This aggregation of 5G+ networks and NFPs is robust, paving the way to the introduction of
many new capabilities and improvements in wireless applications.
Resource allocation in wireless communication systems is one of the most critical issues when
it comes to utilizing systems efficiently. In 5G+ cellular technology, the main research focus is
on spectral efficiency, network throughput, and communication delays. Furthermore, this focus
will continue to the next generation cellular systems. To support the communication of various
internet of things (IoT) devices, especially unmanned aerial drones and balloons, next-generation
cellular systems (5G+) will play a vital role. However, resource allocation will be a significant
determinant in the effective use of such communications. Increasing network capacity while
minimizing interference will be a significant research challenge. A different level of Quality of
Service (QoS) for individual user levels will also need to be satisfied.
In this thesis, NFPs as aerial hubs are considered in future 5G+ networks to provide fronthaul
connectivity to small cells (SCs)/ user equipment (UE). This thesis has different objectives. The
first objective is to find the near optimal association between the NFPs and SCs to maximize
the total sum rate subject to QoS, bandwidth, and the supported number of links constraints.
The second objective is to study the association problem of SCs with NFPs in order to minimize
the system interference while taking into consideration the number of NFP links, the NFPâs
maximum bandwidth, and the target data rate. The final objective is to deploy multiple UAVs
for serving a group of UEs on the ground to maximize the total uploaded rate among all UEs by
jointly optimizing the UAVs-UEs association, the UEs transmit power, and the UAVs trajector
Circles within spirals, wheels within wheels; Body rotation facilitates critical insights into animal behavioural ecology
How animals behave is fundamental to enhancing their lifetime fitness, so defining how animals move in space and time relates to many ecological questions, including resource selection, activity budgets and animal movement networks. Historically, animal behaviour and movement has been defined by direct observation, however recent advancements in biotelemetry have revolutionised how we now assess behaviour, particularly allowing animals to be monitored when they cannot be seen. Studies now pair âconvectionalâ radio telemetries with motion sensors to facilitate more detailed investigations of animal space-use. Motion sensitive tags (containing e.g., accelerometers and magnetometers) provide precise data on body movements which characterise behaviour, and this has been exemplified in extensive studies using accelerometery data, which has been linked to space-use defined by GPS. Conversely, consideration of body rotation (particularly change in yaw) is virtually absent within the biologging literature, even though various scales of yaw rotation can reveal important patterns in behaviour and movement, with animal heading being a fundamental component characterising space-use. This thesis explores animal body angles, particularly about the yaw axis, for elucidating animal movement ecology. I used five model species (a reptile, a mammal and three birds) to demonstrate the value of assessing body rotation for investigating fine-scale movement-specific behaviours. As part of this, I advanced the âdead-reckoningâ method, where fine-scale animal movement between temporally poorly resolved GPS fixes can be deduced using heading vectors and speed. I addressed many issues with this protocol, highlighting errors and potential solutions but was able to show how this approach leads to insights into many difficult-to-study animal behaviours. These ranged from elucidating how and where lions cross supposedly impermeable man-made barriers to examining how penguins react to tidal currents and then navigate their way to their nests far from the sea in colonies enclosed within thick vegetation
Analysis of airborne measurements from paragliders to detect thermal structures in the mountain atmospheric boundary layer
A field campaign was conducted during September 2019 on Monte Avena, south-eastern Italian Alps, to assess the feasibility and quality of an innovative measurement technique for the study of thermal structures in the atmospheric boundary layer over mountains. Paragliders were equipped with non-conventional instruments for airborne measurements of meteorological variables, such as air temperature, relative humidity, atmospheric pressure, and wind intensity and direction. The work aims at testing to what extent the instrumented paraglider can represent a valid method for acquiring physical information on thermal structures.
The paraglider presents a combination of properties that make it extremely useful for the detection of thermals, compared to other flying vehicles adopted for airborne measurements such as aeroplanes and gliders.
A new method for identifying thermals, based on the engine-free property of the paraglider, is proposed and the results suggest its reliability.
Measurements have been analysed by means of vertical profiles and horizontal and vertical maps of temperature, virtual potential temperature, water vapour mixing ratio and vertical wind speed. Agreement was found between in-flight measurements and data from soundings and local surface weather stations.
Even though the adopted instruments have shown several issues in measuring the atmospheric variables, the new method of collecting atmospheric data by means of an instrumented paraglider has turned out to be promising, both for the identification and characterisation of thermal structures in the mountain boundary layer, and for the study of the basic state of the atmosphere
Dead-reckoning animal movements in R: a reappraisal using Gundog.Tracks
BackgroundFine-scale data on animal position are increasingly enabling us to understand the details of animal movement ecology and dead-reckoning, a technique integrating motion sensor-derived information on heading and speed, can be used to reconstruct fine-scale movement paths at sub-second resolution, irrespective of the environment. On its own however, the dead-reckoning process is prone to cumulative errors, so that position estimates quickly become uncoupled from true location. Periodic ground-truthing with aligned location data (e.g., from global positioning technology) can correct for this drift between Verified Positions (VPs). We present step-by-step instructions for implementing Verified Position Correction (VPC) dead-reckoning in R using the tilt-compensated compass method, accompanied by the mathematical protocols underlying the code and improvements and extensions of this technique to reduce the trade-off between VPC rate and dead-reckoning accuracy. These protocols are all built into a user-friendly, fully annotated VPC dead-reckoning R function; Gundog.Tracks, with multi-functionality to reconstruct animal movement paths across terrestrial, aquatic, and aerial systems, provided within the Additional file 4 as well as online (GitHub).ResultsThe Gundog.Tracks function is demonstrated on three contrasting model species (the African lion Panthera leo, the Magellanic penguin Spheniscus magellanicus, and the Imperial cormorant Leucocarbo atriceps) moving on land, in water and in air. We show the effect of uncorrected errors in speed estimations, heading inaccuracies and infrequent VPC rate and demonstrate how these issues can be addressed.ConclusionsThe function provided will allow anyone familiar with R to dead-reckon animal tracks readily and accurately, as the key complex issues are dealt with by Gundog.Tracks. This will help the community to consider and implement a valuable, but often overlooked method of reconstructing high-resolution animal movement paths across diverse species and systems without requiring a bespoke application
Survey of smart parking systems
The large number of vehicles constantly seeking access to congested areas in cities means that finding a public parking place is often difficult and causes problems for drivers and citizens alike. In this context, strategies that guide vehicles from one point to another, looking for the most optimal path, are needed. Most contributions in the literature are routing strategies that take into account different criteria to select the optimal route required to find a parking space. This paper aims to identify the types of smart parking systems (SPS) that are available today, as well as investigate the kinds of vehicle detection techniques (VDT) they have and the algorithms or other methods they employ, in order to analyze where the development of these systems is at today. To do this, a survey of 274 publications from January 2012 to December 2019 was conducted. The survey considered four principal features: SPS types reported in the literature, the kinds of VDT used in these SPS, the algorithms or methods they implement, and the stage of development at which they are. Based on a search and extraction of results methodology, this work was able to effectively obtain the current state of the research area. In addition, the exhaustive study of the studies analyzed allowed for a discussion to be established concerning the main difficulties, as well as the gaps and open problems detected for the SPS. The results shown in this study may provide a base for future research on the subject.Fil: Diaz OgĂĄs, Mathias Gabriel. Universidad Nacional de San Juan. Facultad de Ciencias Exactas, FĂsicas y Naturales; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; ArgentinaFil: Fabregat Gesa, Ramon. Universidad de Girona; EspañaFil: Aciar, Silvana Vanesa. Universidad Nacional de San Juan. Facultad de Ciencias Exactas, FĂsicas y Naturales; Argentina. Consejo Nacional de Investigaciones CientĂficas y TĂ©cnicas. Centro CientĂfico TecnolĂłgico Conicet - San Juan; Argentin
Unmanned Vehicle Systems & Operations on Air, Sea, Land
Unmanned Vehicle Systems & Operations On Air, Sea, Land is our fourth textbook in a series covering the world of Unmanned Aircraft Systems (UAS) and Counter Unmanned Aircraft Systems (CUAS). (Nichols R. K., 2018) (Nichols R. K., et al., 2019) (Nichols R. , et al., 2020)The authors have expanded their purview beyond UAS / CUAS systems. Our title shows our concern for growth and unique cyber security unmanned vehicle technology and operations for unmanned vehicles in all theaters: Air, Sea and Land â especially maritime cybersecurity and China proliferation issues. Topics include: Information Advances, Remote ID, and Extreme Persistence ISR; Unmanned Aerial Vehicles & How They Can Augment Mesonet Weather Tower Data Collection; Tour de Drones for the Discerning Palate; Underwater Autonomous Navigation & other UUV Advances; Autonomous Maritime Asymmetric Systems; UUV Integrated Autonomous Missions & Drone Management; Principles of Naval Architecture Applied to UUVâs; Unmanned Logistics Operating Safely and Efficiently Across Multiple Domains; Chinese Advances in Stealth UAV Penetration Path Planning in Combat Environment; UAS, the Fourth Amendment and Privacy; UV & Disinformation / Misinformation Channels; Chinese UAS Proliferation along New Silk Road Sea / Land Routes; Automaton, AI, Law, Ethics, Crossing the Machine â Human Barrier and Maritime Cybersecurity.Unmanned Vehicle Systems are an integral part of the US national critical infrastructure The authors have endeavored to bring a breadth and quality of information to the reader that is unparalleled in the unclassified sphere. Unmanned Vehicle (UV) Systems & Operations On Air, Sea, Land discusses state-of-the-art technology / issues facing U.S. UV system researchers / designers / manufacturers / testers. We trust our newest look at Unmanned Vehicles in Air, Sea, and Land will enrich our students and readers understanding of the purview of this wonderful technology we call UV.https://newprairiepress.org/ebooks/1035/thumbnail.jp