Swarm Based Implementation of a Virtual Distributed Database System in a Sensor Network

The deployment of unmanned aerial vehicles (UAVs) in recent military operations has had success in carrying out surveillance and combat missions in sensitive areas. An area of intense research on UAVs has been on controlling a group of small-sized UAVs to carry out reconnaissance missions normally undertaken by large UAVs such as Predator or Global Hawk. A control strategy for coordinating the UAV movements of such a group of UAVs adopts the bio-inspired swarm model to produce autonomous group behavior. This research proposes establishing a distributed database system on a group of swarming UAVs, providing for data storage during a reconnaissance mission. A distributed database system model is simulated treating each UAV as a distributed database site connected by a wireless network. In this model, each UAV carries a sensor and communicates to a command center when queried. Drawing equivalence to a sensor network, the network of UAVs poses as a dynamic ad-hoc sensor network. The distributed database system based on a swarm of UAVs is tested against a set of reconnaissance test suites with respect to evaluating system performance. The design of experiments focuses on the effects of varying the query input and types of swarming UAVs on overall system performance. The results show that the topology of the UAVs has a distinct impact on the output of the sensor database. The experiments measuring system delays also confirm the expectation that in a distributed system, inter-node communication costs outweigh processing costs

Aeronautical Engineering: a Continuing Bibliography with Indexes (Supplement 244)

This bibliography lists 465 reports, articles, and other documents introduced into the NASA scientific and technical information system in September 1989. Subject coverage includes: design, construction and testing of aircraft and aircraft engines; aircraft components, equipment and systems; ground support systems; and theoretical and applied aspects of aerodynamics and general fluid dynamics

A Near-to-Far Learning Framework for Terrain Characterization Using an Aerial/Ground-Vehicle Team

In this thesis, a novel framework for adaptive terrain characterization of untraversed far terrain in a natural outdoor setting is presented. The system learns the association between visual appearance of different terrain and the proprioceptive characteristics of that terrain in a self-supervised framework. The proprioceptive characteristics of the terrain are acquired by inertial sensors recording measurements of one second traversals that are mapped into the frequency domain and later through a clustering technique classified into discrete proprioceptive classes. Later, these labels are used as training inputs to the adaptive visual classifier. The visual classifier uses images captured by an aerial vehicle scouting ahead of the ground vehicle and extracts local and global descriptors from image patches. An incremental SVM is utilized on the set of images and training sets as they are grabbed sequentially. The framework proposed in this thesis has been experimentally validated in an outdoor environment. We compare the results of the adaptive approach with the offline a priori classification approach and yield an average 12% increase in accuracy results on outdoor settings. The adaptive classifier gradually learns the association between characteristics and visual features of new terrain interactions and modifies the decision boundaries

Autocalibrating vision guided navigation of unmanned air vehicles via tactical monocular cameras in GPS denied environments

This thesis presents a novel robotic navigation strategy by using a conventional tactical monocular camera, proving the feasibility of using a monocular camera as the sole proximity sensing, object avoidance, mapping, and path-planning mechanism to fly and navigate small to medium scale unmanned rotary-wing aircraft in an autonomous manner. The range measurement strategy is scalable, self-calibrating, indoor-outdoor capable, and has been biologically inspired by the key adaptive mechanisms for depth perception and pattern recognition found in humans and intelligent animals (particularly bats), designed to assume operations in previously unknown, GPS-denied environments. It proposes novel electronics, aircraft, aircraft systems, systems, and procedures and algorithms that come together to form airborne systems which measure absolute ranges from a monocular camera via passive photometry, mimicking that of a human-pilot like judgement. The research is intended to bridge the gap between practical GPS coverage and precision localization and mapping problem in a small aircraft. In the context of this study, several robotic platforms, airborne and ground alike, have been developed, some of which have been integrated in real-life field trials, for experimental validation. Albeit the emphasis on miniature robotic aircraft this research has been tested and found compatible with tactical vests and helmets, and it can be used to augment the reliability of many other types of proximity sensors

Application of advanced technology to space automation

Automated operations in space provide the key to optimized mission design and data acquisition at minimum cost for the future. The results of this study strongly accentuate this statement and should provide further incentive for immediate development of specific automtion technology as defined herein. Essential automation technology requirements were identified for future programs. The study was undertaken to address the future role of automation in the space program, the potential benefits to be derived, and the technology efforts that should be directed toward obtaining these benefits

Seguimento de pessoas com drones em espaços inteligentes

Recent technological progress made over the last decades in the field of Computer Vision has introduced new methods and algorithms with ever increasing performance results. Particularly, the emergence of machine learning algorithms enabled class based object detection on live video feeds. Alongside these advances, Unmanned Aerial Vehicles (more commonly known as drones), have also experienced advancements in both hardware miniaturization and software optimization. Thanks to these improvements, drones have emerged from their military usage based background and are now both used by the general public and the scientific community for applications as distinct as aerial photography and environmental monitoring. This dissertation aims to take advantage of these recent technological advancements and apply state of the art machine learning algorithms in order to create a Unmanned Aerial Vehicle (UAV) based network architecture capable of performing real time people tracking through image detection. To perform object detection, two distinct machine learning algorithms are presented. The first one uses an SVM based approach, while the second one uses an Convolutional Neural Network (CNN) based architecture. Both methods will be evaluated using an image dataset created for the purposes of this dissertation’s work. The evaluations performed regarding the object detectors performance showed that the method using a CNN based architecture was the best both in terms of processing time required and detection accuracy, and therefore, the most suitable method for our implementation. The developed network architecture was tested in a live scenario context, with the results showing that the system is capable of performing people tracking at average walking speeds.O recente progresso tecnológico registado nas últimas décadas no campo da Visão por Computador introduziu novos métodos e algoritmos com um desempenho cada vez mais elevado. Particularmente, a criação de algoritmos de aprendizagem automática tornou possível a detecção de objetos aplicada a feeds de vídeo capturadas em tempo real. Paralelo com este progresso, a tecnologia relativa a veículos aéreos não tripulados, ou drones, também beneficiaram de avanços tanto na miniaturização dos seus componentes de hardware assim como na optimização do software. Graças a essas melhorias, os drones emergiram do seu passado militar e são agora usados tanto pelo público em geral como pela comunidade científica para aplicações tão distintas como fotografia e monitorização ambiental. O objectivo da presente dissertação pretende tirar proveito destes recentes avanços tecnológicos e aplicar algoritmos de aprendizagem automática de última geração para criar um sistema capaz de realizar seguimento automático de pessoas com drones através de visão por computador. Para realizar a detecção de objetos, dois algoritmos distintos de aprendizagem automática são apresentados. O primeiro é dotado de uma abordagem baseada em Support Vector Machine (SVM), enquanto o segundo é caracterizado por uma arquitetura baseada em Redes Neuronais Convolucionais. Ambos os métodos serão avaliados usando uma base de dados de imagens criada para os propósitos da presente dissertação. As avaliações realizadas relativas ao desempenho dos algoritmos de detecção de objectos demonstraram que o método baseado numa arquitetura de Redes Neuronais Covolucionais foi o melhor tanto em termos de tempo de processamento médio assim como na precisão das detecções, revelando-se portanto, como sendo o método mais adequado de acordo com os objectivos pretendidos. O sistema desenvolvido foi testado num contexto real, com os resultados obtidos a demonstrarem que o sistema é capaz de realizar o seguimento de pessoas a velocidades comparáveis a um ritmo normal humano de caminhada.Mestrado em Engenharia Eletrónica e Telecomunicaçõe

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

Computer vision-based structural assessment exploiting large volumes of images

Visual assessment is a process to understand the state of a structure based on evaluations originating from visual information. Recent advances in computer vision to explore new sensors, sensing platforms and high-performance computing have shed light on the potential for vision-based visual assessment in civil engineering structures. The use of low-cost, high-resolution visual sensors in conjunction with mobile and aerial platforms can overcome spatial and temporal limitations typically associated with other forms of sensing in civil structures. Also, GPU-accelerated and parallel computing offer unprecedented speed and performance, accelerating processing the collected visual data. However, despite the enormous endeavor in past research to implement such technologies, there are still many practical challenges to overcome to successfully apply these techniques in real world situations. A major challenge lies in dealing with a large volume of unordered and complex visual data, collected under uncontrolled circumstance (e.g. lighting, cluttered region, and variations in environmental conditions), while just a tiny fraction of them are useful for conducting actual assessment. Such difficulty induces an undesirable high rate of false-positive and false-negative errors, reducing the trustworthiness and efficiency of their implementation. To overcome the inherent challenges in using such images for visual assessment, high-level computer vision algorithms must be integrated with relevant prior knowledge and guidance, thus aiming to have similar performance with those of humans conducting visual assessment. Moreover, the techniques must be developed and validated in the realistic context of a large volume of real-world images, which is likely contain numerous practical challenges. In this dissertation, the novel use of computer vision algorithms is explored to address two promising applications of vision-based visual assessment in civil engineering: visual inspection, and visual data analysis for post-disaster evaluation. For both applications, powerful techniques are developed here to enable reliable and efficient visual assessment for civil structures and demonstrate them using a large volume of real-world images collected from actual structures. State-of-art computer vision techniques, such as structure-from-motion and convolutional neural network techniques, facilitate these tasks. The core techniques derived from this study are scalable and expandable to many other applications in vision-based visual assessment, and will serve to close the existing gaps between past research efforts and real-world implementations