71 research outputs found
3D GEOSPATIAL INDOOR NAVIGATION FOR DISASTER RISK REDUCTION AND RESPONSE IN URBAN ENVIRONMENT
Disaster management for urban environments with complex structures requires 3D extensions of indoor applications to support better risk reduction and response strategies. The paper highlights the need for assessment and explores the role of 3D geospatial information and modeling regarding the indoor structure and navigational routes which can be utilized as disaster risk reduction and response strategy. The reviewed models or methods are analysed testing parameters in the context of indoor risk and disaster management. These parameters are level of detail, connection to outdoor, spatial model and network, handling constraints. 3D reconstruction of indoors requires the structural data to be collected in a feasible manner with sufficient details. Defining the indoor space along with obstacles is important for navigation. Readily available technologies embedded in smartphones allow development of mobile applications for data collection, visualization and navigation enabling access by masses at low cost. The paper concludes with recommendations for 3D modeling, navigation and visualization of data using readily available smartphone technologies, drones as well as advanced robotics for Disaster Management
Development of a Versatile Modular Platform for Aerial Manipulators
The scope of this chapter is the development of an aerial manipulator platform using an octarotor drone with an attached manipulator. An on-board spherical camera provides visual information for the droneβs surroundings, while a Pan-Tilt-Zoom camera system is used to track targets. A powerful computer with a GPU offers significant on-board computational power for the visual servoing of the aerial manipulator system. This vision system, along with the Inertial Management Unit based controller provides exemplary guidance in confined and outdoor spaces. Coupled with the manipulatorβs force sensing capabilities the system can interact with the environment. This aerial manipulation system is modular as far as attaching various payloads depending on the application (i.e., environmental sensing, facade cleaning and others, aerial netting for evader-drone geofencing, and others). Experimental studies using a motion capture system are offered to validate the systemβs efficiency
ΠΠ°Π²ΡΠ³Π°ΡΡΡ ΠΠΠΠ Π² ΠΏΡΠΈΠΌΡΡΠ΅Π½Π½Ρ Π½Π° ΠΎΡΠ½ΠΎΠ²Ρ TDOA ΠΌΠ΅ΡΠΎΠ΄Ρ
Π ΠΎΠ±ΠΎΡΠ° ΠΏΡΠ±Π»ΡΠΊΡΡΡΡΡΡ Π·Π³ΡΠ΄Π½ΠΎ Π½Π°ΠΊΠ°Π·Ρ ΡΠ΅ΠΊΡΠΎΡΠ° Π²ΡΠ΄ 27.05.2021 Ρ. β311/ΠΎΠ΄ "ΠΡΠΎ ΡΠΎΠ·ΠΌΡΡΠ΅Π½Π½Ρ ΠΊΠ²Π°Π»ΡΡΡΠΊΠ°ΡΡΠΉΠ½ΠΈΡ
ΡΠΎΠ±ΡΡ Π²ΠΈΡΠΎΡ ΠΎΡΠ²ΡΡΠΈ Π² ΡΠ΅ΠΏΠΎΠ·ΠΈΡΠΎΡΡΡ ΠΠΠ£". ΠΠ΅ΡΡΠ²Π½ΠΈΠΊ Π΄ΠΈΠΏΠ»ΠΎΠΌΠ½ΠΎΡ ΡΠΎΠ±ΠΎΡΠΈ: ΠΏΡΠΎΡΠ΅ΡΠΎΡ ΡΡΠΌΡΡΠ½ΠΈΠΊ ΠΊΠ°ΡΠ΅Π΄ΡΠΈ Π°Π²ΡΠΎΠ½ΡΠΊΠΈ, Π‘ΡΠ±ΡΡΠΊ ΠΠ΅ΠΎΠ½ΡΠ΄ ΠΡΠΊΡΠΎΡΠΎΠ²ΠΈΡThe popularity of UAVβs during last years is greatly increasing. Drones
are getting more broad use in various commercial applications. They are used for mapping,
monitoring, logistics, media, search and rescue operations and many more possible use
cases. One of the recently emerged UAVβs type are indoor drones. Such drones are mostly
used for inspections, security monitoring, warehouse operations and public safety. On this
basis, a demand for indoor navigation system arises. The specifics of indoor operations of
drones, creates unique technical challenges. Development of reliable and precise
navigational systems, will allow to implement autonomous UAV system, which will vastly
increase efficiency of indoor drone operations.
Studies on this topic are sparse and require further investigations and development.
For development of navigation systems, it is possible to rely on existing technologies from
different areas, such as indoor positioning for pedestrian navigation, or positioning
algorithms, used in aviation.
Estimation of theoretical performance and accuracy of indoor navigational algorithms
and technologies can allow further improvements and implementation of new technologies
for practical use. The developed mathematical model is used for analysis of TDOA-based
positioning algorithm, which can be used in such positioning systems.ΠΠΎΠΏΡΠ»ΡΡΠ½ΠΎΡΡΡ ΠΠΠΠ Π² ΠΏΠΎΡΠ»Π΅Π΄Π½ΠΈΠ΅ Π³ΠΎΠ΄Ρ Π·Π½Π°ΡΠΈΡΠ΅Π»ΡΠ½ΠΎ Π²ΠΎΠ·ΡΠ°ΡΡΠ°Π΅Ρ. ΠΡΠΎΠ½Ρ
ΠΏΠΎΠ»ΡΡΠ°ΡΡ Π²ΡΠ΅ Π±ΠΎΠ»Π΅Π΅ ΡΠΈΡΠΎΠΊΠΎΠ΅ ΠΏΡΠΈΠΌΠ΅Π½Π΅Π½ΠΈΠ΅ Π² ΡΠ°Π·Π»ΠΈΡΠ½ΡΡ
ΠΊΠΎΠΌΠΌΠ΅ΡΡΠ΅ΡΠΊΠΈΡ
ΠΏΡΠΈΠ»ΠΎΠΆΠ΅Π½ΠΈΡΡ
. ΠΠ½ΠΈ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΡΡΡΡ Π΄Π»Ρ ΠΊΠ°ΡΡΠΈΡΠΎΠ²Π°Π½ΠΈΡ,
ΠΌΠΎΠ½ΠΈΡΠΎΡΠΈΠ½Π³, Π»ΠΎΠ³ΠΈΡΡΠΈΠΊΠ°, ΡΡΠ΅Π΄ΡΡΠ²Π° ΠΌΠ°ΡΡΠΎΠ²ΠΎΠΉ ΠΈΠ½ΡΠΎΡΠΌΠ°ΡΠΈΠΈ, ΠΏΠΎΠΈΡΠΊΠΎΠ²ΠΎ-ΡΠΏΠ°ΡΠ°ΡΠ΅Π»ΡΠ½ΡΠ΅ ΠΎΠΏΠ΅ΡΠ°ΡΠΈΠΈ ΠΈ ΠΌΠ½ΠΎΠ³ΠΎΠ΅ Π΄ΡΡΠ³ΠΎΠ΅ Π²ΠΎΠ·ΠΌΠΎΠΆΠ½ΠΎΠ΅ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΠ΅
ΡΠ»ΡΡΠ°ΠΈ. ΠΠ΄Π½ΠΈΠΌ ΠΈΠ· Π½Π΅Π΄Π°Π²Π½ΠΎ ΠΏΠΎΡΠ²ΠΈΠ²ΡΠΈΡ
ΡΡ ΡΠΈΠΏΠΎΠ² ΠΠΠΠ ΡΠ²Π»ΡΡΡΡΡ Π²Π½ΡΡΡΠ΅Π½Π½ΠΈΠ΅ Π΄ΡΠΎΠ½Ρ. Π’Π°ΠΊΠΈΠ΅ Π΄ΡΠΎΠ½Ρ ΡΠ°ΡΠ΅ Π²ΡΠ΅Π³ΠΎ
ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠ΅ΡΡΡ Π΄Π»Ρ ΠΈΠ½ΡΠΏΠ΅ΠΊΡΠΈΠΉ, ΠΌΠΎΠ½ΠΈΡΠΎΡΠΈΠ½Π³Π° Π±Π΅Π·ΠΎΠΏΠ°ΡΠ½ΠΎΡΡΠΈ, ΡΠΊΠ»Π°Π΄ΡΠΊΠΈΡ
ΠΎΠΏΠ΅ΡΠ°ΡΠΈΠΉ ΠΈ ΠΎΠ±ΡΠ΅ΡΡΠ²Π΅Π½Π½ΠΎΠΉ Π±Π΅Π·ΠΎΠΏΠ°ΡΠ½ΠΎΡΡΠΈ. ΠΠ° ΡΡΠΎΠΌ
ΠΎΡΠ½ΠΎΠ²Π΅ Π²ΠΎΠ·Π½ΠΈΠΊΠ°Π΅Ρ ΡΠΏΡΠΎΡ Π½Π° Π²Π½ΡΡΡΠ΅Π½Π½ΡΡ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΠΎΠ½Π½ΡΡ ΡΠΈΡΡΠ΅ΠΌΡ. Π‘ΠΏΠ΅ΡΠΈΡΠΈΠΊΠ° ΡΠ°Π±ΠΎΡΡ Π²Π½ΡΡΡΠΈ ΠΏΠΎΠΌΠ΅ΡΠ΅Π½ΠΈΠΉ
Π΄ΡΠΎΠ½ΠΎΠ², ΡΠΎΠ·Π΄Π°Π΅Ρ ΡΠ½ΠΈΠΊΠ°Π»ΡΠ½ΡΠ΅ ΡΠ΅Ρ
Π½ΠΈΡΠ΅ΡΠΊΠΈΠ΅ ΠΏΡΠΎΠ±Π»Π΅ΠΌΡ. Π Π°Π·ΡΠ°Π±ΠΎΡΠΊΠ° Π½Π°Π΄Π΅ΠΆΠ½ΡΡ
ΠΈ ΡΠΎΡΠ½ΡΡ
Π½Π°Π²ΠΈΠ³Π°ΡΠΈΠΎΠ½Π½ΡΡ
ΡΠΈΡΡΠ΅ΠΌ, ΠΏΠΎΠ·Π²ΠΎΠ»ΠΈΡ ΡΠ΅Π°Π»ΠΈΠ·ΠΎΠ²Π°ΡΡ Π°Π²ΡΠΎΠ½ΠΎΠΌΠ½ΡΡ ΡΠΈΡΡΠ΅ΠΌΡ ΠΠΠΠ, ΡΡΠΎ Π·Π½Π°ΡΠΈΡΠ΅Π»ΡΠ½ΠΎ
ΠΏΠΎΠ²ΡΡΠΈΡΡ ΡΡΡΠ΅ΠΊΡΠΈΠ²Π½ΠΎΡΡΡ ΡΠ°Π±ΠΎΡΡ Π΄ΡΠΎΠ½ΠΎΠ² Π²Π½ΡΡΡΠΈ ΠΏΠΎΠΌΠ΅ΡΠ΅Π½ΠΈΠΉ.
ΠΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΡ ΠΏΠΎ ΡΡΠΎΠΉ ΡΠ΅ΠΌΠ΅ Π½Π΅ΠΌΠ½ΠΎΠ³ΠΎΡΠΈΡΠ»Π΅Π½Π½Ρ ΠΈ ΡΡΠ΅Π±ΡΡΡ Π΄Π°Π»ΡΠ½Π΅ΠΉΡΠΈΡ
ΠΈΡΡΠ»Π΅Π΄ΠΎΠ²Π°Π½ΠΈΠΉ ΠΈ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΎΠΊ.
ΠΠ»Ρ ΡΠ°Π·ΡΠ°Π±ΠΎΡΠΊΠΈ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΠΎΠ½Π½ΡΡ
ΡΠΈΡΡΠ΅ΠΌ ΠΌΠΎΠΆΠ½ΠΎ ΠΏΠΎΠ»Π°Π³Π°ΡΡΡΡ Π½Π° ΡΡΡΠ΅ΡΡΠ²ΡΡΡΠΈΠ΅ ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΠΈΠΈ ΠΎΡ
ΡΠ°Π·Π»ΠΈΡΠ½ΡΠ΅ ΠΎΠ±Π»Π°ΡΡΠΈ, ΡΠ°ΠΊΠΈΠ΅ ΠΊΠ°ΠΊ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΠ΅ Π² ΠΏΠΎΠΌΠ΅ΡΠ΅Π½ΠΈΠΈ Π΄Π»Ρ ΠΏΠ΅ΡΠ΅Ρ
ΠΎΠ΄Π½ΠΎΠΉ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΠΈ ΠΈΠ»ΠΈ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΠ΅
Π°Π»Π³ΠΎΡΠΈΡΠΌΡ, ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠ΅ΠΌΡΠ΅ Π² Π°Π²ΠΈΠ°ΡΠΈΠΈ.
ΠΡΠ΅Π½ΠΊΠ° ΡΠ΅ΠΎΡΠ΅ΡΠΈΡΠ΅ΡΠΊΠΎΠΉ ΠΏΡΠΎΠΈΠ·Π²ΠΎΠ΄ΠΈΡΠ΅Π»ΡΠ½ΠΎΡΡΠΈ ΠΈ ΡΠΎΡΠ½ΠΎΡΡΠΈ Π°Π»Π³ΠΎΡΠΈΡΠΌΠΎΠ² Π²Π½ΡΡΡΠ΅Π½Π½Π΅ΠΉ Π½Π°Π²ΠΈΠ³Π°ΡΠΈΠΈ
ΠΈ ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΠΈΠΈ ΠΌΠΎΠ³ΡΡ ΠΏΠΎΠ·Π²ΠΎΠ»ΠΈΡΡ Π΄Π°Π»ΡΠ½Π΅ΠΉΡΠΈΠ΅ ΡΠ»ΡΡΡΠ΅Π½ΠΈΡ ΠΈ Π²Π½Π΅Π΄ΡΠ΅Π½ΠΈΠ΅ Π½ΠΎΠ²ΡΡ
ΡΠ΅Ρ
Π½ΠΎΠ»ΠΎΠ³ΠΈΠΉ
Π΄Π»Ρ ΠΏΡΠ°ΠΊΡΠΈΡΠ΅ΡΠΊΠΎΠ³ΠΎ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°Π½ΠΈΡ. Π Π°Π·ΡΠ°Π±ΠΎΡΠ°Π½Π½Π°Ρ ΠΌΠ°ΡΠ΅ΠΌΠ°ΡΠΈΡΠ΅ΡΠΊΠ°Ρ ΠΌΠΎΠ΄Π΅Π»Ρ ΠΈΡΠΏΠΎΠ»ΡΠ·ΡΠ΅ΡΡΡ Π΄Π»Ρ Π°Π½Π°Π»ΠΈΠ·Π°
Π°Π»Π³ΠΎΡΠΈΡΠΌ ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ, ΠΊΠΎΡΠΎΡΡΠΉ ΠΌΠΎΠΆΠ½ΠΎ ΠΈΡΠΏΠΎΠ»ΡΠ·ΠΎΠ²Π°ΡΡ Π² ΡΠ°ΠΊΠΈΡ
ΡΠΈΡΡΠ΅ΠΌΠ°Ρ
ΠΏΠΎΠ·ΠΈΡΠΈΠΎΠ½ΠΈΡΠΎΠ²Π°Π½ΠΈΡ
Point cloud data compression
The rapid growth in the popularity of Augmented Reality (AR), Virtual Reality (VR), and Mixed Reality (MR) experiences have resulted in an exponential surge of three-dimensional data. Point clouds have emerged as a commonly employed representation for capturing and visualizing three-dimensional data in these environments. Consequently, there has been a substantial research effort dedicated to developing efficient compression algorithms for point cloud data. This Master's thesis aims to investigate the current state-of-the-art lossless point cloud geometry compression techniques, explore some of these techniques in more detail and then propose improvements and/or extensions to enhance them and provide directions for future work on this topic
Mapping and Real-Time Navigation With Application to Small UAS Urgent Landing
Small Unmanned Aircraft Systems (sUAS) operating in low-altitude airspace require flight near buildings and over people. Robust urgent landing capabilities including landing site selection are needed. However, conventional fixed-wing emergency landing sites such as open fields and empty roadways are rare in cities. This motivates our work to uniquely consider unoccupied flat rooftops as possible nearby landing sites. We propose novel methods to identify flat rooftop buildings, isolate their flat surfaces, and find touchdown points that maximize distance to obstacles. We model flat rooftop surfaces as polygons that capture their boundaries and possible obstructions on them.
This thesis offers five specific contributions to support urgent rooftop landing. First, the Polylidar algorithm is developed which enables efficient non-convex polygon extraction with interior holes from 2D point sets. A key insight of this work is a novel boundary following method that contrasts computationally expensive geometric unions of triangles. Results from real-world and synthetic benchmarks show comparable accuracy and more than four times speedup compared to other state-of-the-art methods.
Second, we extend polygon extraction from 2D to 3D data where polygons represent flat surfaces and interior holes representing obstacles. Our Polylidar3D algorithm transforms point clouds into a triangular mesh where dominant plane normals are identified and used to parallelize and regularize planar segmentation and polygon extraction. The result is a versatile and extremely fast algorithm for non-convex polygon extraction of 3D data.
Third, we propose a framework for classifying roof shape (e.g., flat) within a city. We process satellite images, airborne LiDAR point clouds, and building outlines to generate both a satellite and depth image of each building. Convolutional neural networks are trained for each modality to extract high level features and sent to a random forest classifier for roof shape prediction. This research contributes the largest multi-city annotated dataset with over 4,500 rooftops used to train and test models. Our results show flat-like rooftops are identified with > 90% precision and recall.
Fourth, we integrate Polylidar3D and our roof shape prediction model to extract flat rooftop surfaces from archived data sources. We uniquely identify optimal touchdown points for all landing sites. We model risk as an innovative combination of landing site and path risk metrics and conduct a multi-objective Pareto front analysis for sUAS urgent landing in cities. Our proposed emergency planning framework guarantees a risk-optimal landing site and flight plan is selected.
Fifth, we verify a chosen rooftop landing site on real-time vertical approach with on-board LiDAR and camera sensors. Our method contributes an innovative fusion of semantic segmentation using neural networks with computational geometry that is robust to individual sensor and method failure. We construct a high-fidelity simulated city in the Unreal game engine with a statistically-accurate representation of rooftop obstacles. We show our method leads to greater than 4% improvement in accuracy for landing site identification compared to using LiDAR only.
This work has broad impact for the safety of sUAS in cities as well as Urban Air Mobility (UAM). Our methods identify thousands of additional rooftop landing sites in cities which can provide safe landing zones in the event of emergencies. However, the maps we create are limited by the availability, accuracy, and resolution of archived data. Methods for quantifying data uncertainty or performing real-time map updates from a fleet of sUAS are left for future work.PHDRoboticsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/170026/1/jdcasta_1.pd
Towards Artificial General Intelligence (AGI) in the Internet of Things (IoT): Opportunities and Challenges
Artificial General Intelligence (AGI), possessing the capacity to comprehend,
learn, and execute tasks with human cognitive abilities, engenders significant
anticipation and intrigue across scientific, commercial, and societal arenas.
This fascination extends particularly to the Internet of Things (IoT), a
landscape characterized by the interconnection of countless devices, sensors,
and systems, collectively gathering and sharing data to enable intelligent
decision-making and automation. This research embarks on an exploration of the
opportunities and challenges towards achieving AGI in the context of the IoT.
Specifically, it starts by outlining the fundamental principles of IoT and the
critical role of Artificial Intelligence (AI) in IoT systems. Subsequently, it
delves into AGI fundamentals, culminating in the formulation of a conceptual
framework for AGI's seamless integration within IoT. The application spectrum
for AGI-infused IoT is broad, encompassing domains ranging from smart grids,
residential environments, manufacturing, and transportation to environmental
monitoring, agriculture, healthcare, and education. However, adapting AGI to
resource-constrained IoT settings necessitates dedicated research efforts.
Furthermore, the paper addresses constraints imposed by limited computing
resources, intricacies associated with large-scale IoT communication, as well
as the critical concerns pertaining to security and privacy
Social work with airports passengers
Social work at the airport is in to offer to passengers social services. The main
methodological position is that people are under stress, which characterized by a
particular set of characteristics in appearance and behavior. In such circumstances
passenger attracts in his actions some attention. Only person whom he trusts can help him
with the documents or psychologically
Tracking the Temporal-Evolution of Supernova Bubbles in Numerical Simulations
The study of low-dimensional, noisy manifolds embedded in a higher dimensional space has been extremely useful in many applications, from the chemical analysis of multi-phase flows to simulations of galactic mergers. Building a probabilistic model of the manifolds has helped in describing their essential properties and how they vary in space. However, when the manifold is evolving through time, a joint spatio-temporal modelling is needed, in order to fully comprehend its nature. We propose a first-order Markovian process that propagates the spatial probabilistic model of a manifold at fixed time, to its adjacent temporal stages. The proposed methodology is demonstrated using a particle simulation of an interacting dwarf galaxy to describe the evolution of a cavity generated by a Supernov
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