Estudio técnico del estado del arte sobre el procesamiento digital de imágenes de 360 grados orientado a la navegación de vehículos aéreos no tripulados (drones).

El propósito de este documento es presentar un estudio técnico de publicaciones en las dos últimas décadas, sobre técnicas y algoritmos de procesamiento digital de imágenes de 360° orientadas a la navegación de Drones. Estas publicaciones se clasificaron según la metodología de Mapeo Sistemático (SMS). Para ello se han definido preguntas de investigación relacionadas con el tema en cuestión. Las bases de datos consultadas fueron: Scopus, ScienceDirect, IEEE, Google Scholar. Los resultados de este estudio muestran tendencias a 2 técnicas y 4 algoritmos que son los más utilizados. Para el caso de Algoritmos Filtro de Kalman, SIFT, SURF y redes neuronales convolucionales. Para técnicas SLAM y visión por sonar. Finalmente, se realiza una discusión de los mismos.The purpose of this document is the technical study of publications, the latest techniques, techniques and digital image processing algorithms of 360 ° oriented to the navigation of drone. These publications are classified according to the Systematic Mapping methodology (SMS). To this end, research questions related to the subject in question have been defined. The consulted databases were: Scopus, ScienceDirect, IEEE, Google Scholar. The results of this study show tendencies to 2 techniques and 4 algorithms. For the case of Kalman Filter Algorithms, SIFT, SURF and convolutional neural networks. For SLAM and sonar vision techniques. Finally, a discussion of them is made

Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

In this paper, an optimized state feedback regulation of a 3 degree of freedom (DOF) helicopter is designed via extremum seeking (ES) technique. Multi-parameter ES is applied to optimize the tracking performance via tuning State Vector Feedback with Integration of the Control Error (SVFBICE). Discrete multivariable version of ES is developed to minimize a cost function that measures the performance of the controller. The cost function is a function of the error between the actual and desired axis positions. The controller parameters are updated online as the optimization takes place. This method significantly decreases the time in obtaining optimal controller parameters. Simulations were conducted for the online optimization under both fixed and varying operating conditions. The results demonstrate the usefulness of using ES for preserving the maximum attainable performance

Virtual Structure Based Formation Tracking of Multiple Wheeled Mobile Robots: An Optimization Perspective

Today, with the increasing development of science and technology, many systems need to be optimized to find the optimal solution of the system. this kind of problem is also called optimization problem. Especially in the formation problem of multi-wheeled mobile robots, the optimization algorithm can help us to find the optimal solution of the formation problem. In this paper, the formation problem of multi-wheeled mobile robots is studied from the point of view of optimization. In order to reduce the complexity of the formation problem, we first put the robots with the same requirements into a group. Then, by using the virtual structure method, the formation problem is reduced to a virtual WMR trajectory tracking problem with placeholders, which describes the expected position of each WMR formation. By using placeholders, you can get the desired track for each WMR. In addition, in order to avoid the collision between multiple WMR in the group, we add an attraction to the trajectory tracking method. Because MWMR in the same team have different attractions, collisions can be easily avoided. Through simulation analysis, it is proved that the optimization model is reasonable and correct. In the last part, the limitations of this model and corresponding suggestions are given

Space applications of Automation, Robotics and Machine Intelligence Systems (ARAMIS). Volume 3: ARAMIS overview

An overview of automation, robotics, and machine intelligence systems (ARAMIS) is provided. Man machine interfaces, classification, and capabilities are considered

Study of robotics systems applications to the space station program

Applications of robotics systems to potential uses of the Space Station as an assembly facility, and secondarily as a servicing facility, are considered. A typical robotics system mission is described along with the pertinent application guidelines and Space Station environmental assumptions utilized in developing the robotic task scenarios. A functional description of a supervised dual-robot space structure construction system is given, and four key areas of robotic technology are defined, described, and assessed. Alternate technologies for implementing the more routine space technology support subsystems that will be required to support the Space Station robotic systems in assembly and servicing tasks are briefly discussed. The environmental conditions impacting on the robotic configuration design and operation are reviewed

Standardization Roadmap for Unmanned Aircraft Systems, Version 2.0

This Standardization Roadmap for Unmanned Aircraft Systems, Version 2.0 (“roadmap”) is an update to version 1.0 of this document published in December 2018. It identifies existing standards and standards in development, assesses gaps, and makes recommendations for priority areas where there is a perceived need for additional standardization and/or pre-standardization R&D. The roadmap has examined 78 issue areas, identified a total of 71 open gaps and corresponding recommendations across the topical areas of airworthiness; flight operations (both general concerns and application-specific ones including critical infrastructure inspections, commercial services, and public safety operations); and personnel training, qualifications, and certification. Of that total, 47 gaps/recommendations have been identified as high priority, 21 as medium priority, and 3 as low priority. A “gap” means no published standard or specification exists that covers the particular issue in question. In 53 cases, additional R&D is needed. As with the earlier version of this document, the hope is that the roadmap will be broadly adopted by the standards community and that it will facilitate a more coherent and coordinated approach to the future development of standards for UAS. To that end, it is envisioned that the roadmap will continue to be promoted in the coming year. It is also envisioned that a mechanism may be established to assess progress on its implementation

Standardization Roadmap for Unmanned Aircraft Systems, Version 1.0

This Standardization Roadmap for Unmanned Aircraft Systems, Version 1.0 (“roadmap”) represents the culmination of the UASSC’s work to identify existing standards and standards in development, assess gaps, and make recommendations for priority areas where there is a perceived need for additional standardization and/or pre-standardization R&D. The roadmap has examined 64 issue areas, identified a total of 60 gaps and corresponding recommendations across the topical areas of airworthiness; flight operations (both general concerns and application-specific ones including critical infrastructure inspections, commercial services, and public safety operations); and personnel training, qualifications, and certification. Of that total, 40 gaps/recommendations have been identified as high priority, 17 as medium priority, and 3 as low priority. A “gap” means no published standard or specification exists that covers the particular issue in question. In 36 cases, additional R&D is needed. The hope is that the roadmap will be broadly adopted by the standards community and that it will facilitate a more coherent and coordinated approach to the future development of standards for UAS. To that end, it is envisioned that the roadmap will be widely promoted and discussed over the course of the coming year, to assess progress on its implementation and to identify emerging issues that require further elaboration

Design of novel adaptive magnetic adhesion mechanism for climbing robots in ferric structures

The work presented in this thesis proposes a novel adaptive magnetic adhesion mechanism that can be implemented in most locomotion mechanisms employed in climbing robots for ferric structures. This novel mechanism has the capability to switch OFF and ON its magnetic adhesion with minimal power consumption, and remain at either state after the excitation is removed. Furthermore, the proposed adhesion mechanism has the ability to adapt the strength of the adhesive force to a desired magnitude. These capabilities make the proposed adhesion mechanism a potential solution in the field of wall climbing robots. The novel contributions of the proposed mechanism include the switching of the adhesive force, selectivity of the adhesive force magnitude; determination of the parameters that have an impact in the final adhesive force. Finally, a final prototype is constructed with customised components and it is subject to a set of simulations and experiments to validate its performance

30th International Conference on Information Modelling and Knowledge Bases

Information modelling is becoming more and more important topic for researchers, designers, and users of information systems. The amount and complexity of information itself, the number of abstraction levels of information, and the size of databases and knowledge bases are continuously growing. Conceptual modelling is one of the sub-areas of information modelling. The aim of this conference is to bring together experts from different areas of computer science and other disciplines, who have a common interest in understanding and solving problems on information modelling and knowledge bases, as well as applying the results of research to practice. We also aim to recognize and study new areas on modelling and knowledge bases to which more attention should be paid. Therefore philosophy and logic, cognitive science, knowledge management, linguistics and management science are relevant areas, too. In the conference, there will be three categories of presentations, i.e. full papers, short papers and position papers