5,708 research outputs found
Asynchronous displays for multi-UV search tasks
Synchronous video has long been the preferred mode for controlling remote robots with other modes such as asynchronous control only used when unavoidable as in the case of interplanetary robotics. We identify two basic problems for controlling multiple robots using synchronous displays: operator overload and information fusion. Synchronous displays from multiple robots can easily overwhelm an operator who must search video for targets. If targets are plentiful, the operator will likely miss targets that enter and leave unattended views while dealing with others that were noticed. The related fusion problem arises because robots' multiple fields of view may overlap forcing the operator to reconcile different views from different perspectives and form an awareness of the environment by "piecing them together". We have conducted a series of experiments investigating the suitability of asynchronous displays for multi-UV search. Our first experiments involved static panoramas in which operators selected locations at which robots halted and panned their camera to capture a record of what could be seen from that location. A subsequent experiment investigated the hypothesis that the relative performance of the panoramic display would improve as the number of robots was increased causing greater overload and fusion problems. In a subsequent Image Queue system we used automated path planning and also automated the selection of imagery for presentation by choosing a greedy selection of non-overlapping views. A fourth set of experiments used the SUAVE display, an asynchronous variant of the picture-in-picture technique for video from multiple UAVs. The panoramic displays which addressed only the overload problem led to performance similar to synchronous video while the Image Queue and SUAVE displays which addressed fusion as well led to improved performance on a number of measures. In this paper we will review our experiences in designing and testing asynchronous displays and discuss challenges to their use including tracking dynamic targets. © 2012 by the American Institute of Aeronautics and Astronautics, Inc
Unmanned Aerial Systems for Wildland and Forest Fires
Wildfires represent an important natural risk causing economic losses, human
death and important environmental damage. In recent years, we witness an
increase in fire intensity and frequency. Research has been conducted towards
the development of dedicated solutions for wildland and forest fire assistance
and fighting. Systems were proposed for the remote detection and tracking of
fires. These systems have shown improvements in the area of efficient data
collection and fire characterization within small scale environments. However,
wildfires cover large areas making some of the proposed ground-based systems
unsuitable for optimal coverage. To tackle this limitation, Unmanned Aerial
Systems (UAS) were proposed. UAS have proven to be useful due to their
maneuverability, allowing for the implementation of remote sensing, allocation
strategies and task planning. They can provide a low-cost alternative for the
prevention, detection and real-time support of firefighting. In this paper we
review previous work related to the use of UAS in wildfires. Onboard sensor
instruments, fire perception algorithms and coordination strategies are
considered. In addition, we present some of the recent frameworks proposing the
use of both aerial vehicles and Unmanned Ground Vehicles (UV) for a more
efficient wildland firefighting strategy at a larger scale.Comment: A recent published version of this paper is available at:
https://doi.org/10.3390/drones501001
On Small Satellites for Oceanography: A Survey
The recent explosive growth of small satellite operations driven primarily
from an academic or pedagogical need, has demonstrated the viability of
commercial-off-the-shelf technologies in space. They have also leveraged and
shown the need for development of compatible sensors primarily aimed for Earth
observation tasks including monitoring terrestrial domains, communications and
engineering tests. However, one domain that these platforms have not yet made
substantial inroads into, is in the ocean sciences. Remote sensing has long
been within the repertoire of tools for oceanographers to study dynamic large
scale physical phenomena, such as gyres and fronts, bio-geochemical process
transport, primary productivity and process studies in the coastal ocean. We
argue that the time has come for micro and nano satellites (with mass smaller
than 100 kg and 2 to 3 year development times) designed, built, tested and
flown by academic departments, for coordinated observations with robotic assets
in situ. We do so primarily by surveying SmallSat missions oriented towards
ocean observations in the recent past, and in doing so, we update the current
knowledge about what is feasible in the rapidly evolving field of platforms and
sensors for this domain. We conclude by proposing a set of candidate ocean
observing missions with an emphasis on radar-based observations, with a focus
on Synthetic Aperture Radar.Comment: 63 pages, 4 figures, 8 table
Aerospace medicine and biology: A continuing bibliography with indexes
This bibliography lists 161 reports, articles, and other documents introduced into the NASA scientific and technical information system in November, 1987
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