A contribution to vision-based autonomous helicopter flight in urban environments

A navigation strategy that exploits the optic flow and inertial information to continuously avoid collisions with both lateral and frontal obstacles has been used to control a simulated helicopter flying autonomously in a textured urban environment. Experimental results demonstrate that the corresponding controller generates cautious behavior, whereby the helicopter tends to stay in the middle of narrow corridors, while its forward velocity is automatically reduced when the obstacle density increases. When confronted with a frontal obstacle, the controller is also able to generate a tight U-turn that ensures the UAV’s survival. The paper provides comparisons with related work, and discusses the applicability of the approach to real platforms

UAVs mission planning with flight level constraint using Fast Marching Square Method

In the last decade, Unmanned Aerial Vehicles (UAVs) have been a research focus for many purposes. Many of these studies require a path planning to perform autonomous flights, as well as the maintenance of a fixed flight level with respect to the ground to capture videos or overlying images. This article presents an approach to plan a mission for UAVs keeping a fixed flight level constraint. The 3D environment where the planning is carried out is an open field with non-uniform terrain. The approach proposed is based on the Fast Marching Square (FM ) method, which generates a path free from obstacles. Our approach includes two adjustment parameters. Depending on the values of these parameters, the restriction of flight level can be modified, as well as the smoothness and safety of the generated paths. Simulated experiments carried out in this work demonstrate that the proposed approach generates trajectories respecting a fixed flight level over the ground with successful results.The research leading to these results has received funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.Publicad

Taking Inspiration from Flying Insects to Navigate inside Buildings

These days, flying insects are seen as genuinely agile micro air vehicles fitted with smart sensors and also parsimonious in their use of brain resources. They are able to visually navigate in unpredictable and GPS-denied environments. Understanding how such tiny animals work would help engineers to figure out different issues relating to drone miniaturization and navigation inside buildings. To turn a drone of ~1 kg into a robot, miniaturized conventional avionics can be employed; however, this results in a loss of their flight autonomy. On the other hand, to turn a drone of a mass between ~1 g (or less) and ~500 g into a robot requires an innovative approach taking inspiration from flying insects both with regard to their flapping wing propulsion system and their sensory system based mainly on motion vision in order to avoid obstacles in three dimensions or to navigate on the basis of visual cues. This chapter will provide a snapshot of the current state of the art in the field of bioinspired optic flow sensors and optic flow-based direct feedback loops applied to micro air vehicles flying inside buildings

Aerial Vehicles

This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

Aeronautical engineering: A continuing bibliography with indexes (supplement 268)

This bibliography lists 406 reports, articles, and other documents introduced into the NASA scientific and technical information system in July, 1991. 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

UAVs for Science in Antarctica

Remote sensing is a very powerful tool that has been used to identify, map and monitor Antarctic features and processes for nearly one century. Satellite remote sensing plays the main role for about the last five decades, as it is the only way to provide multitemporal views at continental scale. But the emergence of small consumer-grade unoccupied aerial vehicles (UAVs) over the past two decades has paved the way for data in unprecedented detail. This has been also verified by an increasing noticeable interest in Antarctica by the incorporation of UAVs in the field activities in diversified research topics. This paper presents a comprehensive review about the use of UAVs in scientific activities in Antarctica. It is based on the analysis of 190 scientific publications published in peer-reviewed journals and proceedings of conferences which are organised into six main application topics: Terrestrial, Ice and Snow, Fauna, Technology, Atmosphere and Others. The analysis encompasses a detailed overview of the activities, identifying advantages and difficulties, also evaluating future possibilities and challenges for expanding the use of UAV in the field activities. The relevance of using UAVs to support numerous and diverse scientific activities in Antarctica becomes very clear after analysing this set of scientific publications, as it is revolutionising the remote acquisition of new data with much higher detail, from inaccessible or difficult to access regions, in faster and cheaper ways. Many of the advances can be seen in the terrestrial areas (detailed 3D mapping; vegetation mapping, discrimination and health assessment; periglacial forms characterisation), ice and snow (more detailed topography, depth and features of ice-sheets, glaciers and sea-ice), fauna (counting penguins, seals and flying birds and detailed morphometrics) and in atmosphere studies (more detailed meteorological measurements and air-surface couplings). This review has also shown that despite the low environmental impact of UAV-based surveys, the increasing number of applications and use, may lead to impacts in the most sensitive Antarctic ecosystems. Hence, we call for an internationally coordinated effort to for planning and sharing UAV data in Antarctica, which would reduce environmental impacts, while extending research outcomes.info:eu-repo/semantics/publishedVersio

Research Naval Postgraduate School, v.12, no.3, October 2002

NPS Research is published by the Research and Sponsored Programs, Office of the Vice President and Dean of Research, in accordance with NAVSOP-35. Views and opinions expressed are not necessarily those of the Department of the Navy.Approved for public release; distribution is unlimited

Airborne laser sensors and integrated systems

The underlying principles and technologies enabling the design and operation of airborne laser sensors are introduced and a detailed review of state-of-the-art avionic systems for civil and military applications is presented. Airborne lasers including Light Detection and Ranging (LIDAR), Laser Range Finders (LRF), and Laser Weapon Systems (LWS) are extensively used today and new promising technologies are being explored. Most laser systems are active devices that operate in a manner very similar to microwave radars but at much higher frequencies (e.g., LIDAR and LRF). Other devices (e.g., laser target designators and beam-riders) are used to precisely direct Laser Guided Weapons (LGW) against ground targets. The integration of both functions is often encountered in modern military avionics navigation-attack systems. The beneficial effects of airborne lasers including the use of smaller components and remarkable angular resolution have resulted in a host of manned and unmanned aircraft applications. On the other hand, laser sensors performance are much more sensitive to the vagaries of the atmosphere and are thus generally restricted to shorter ranges than microwave systems. Hence it is of paramount importance to analyse the performance of laser sensors and systems in various weather and environmental conditions. Additionally, it is important to define airborne laser safety criteria, since several systems currently in service operate in the near infrared with considerable risk for the naked human eye. Therefore, appropriate methods for predicting and evaluating the performance of infrared laser sensors/systems are presented, taking into account laser safety issues. For aircraft experimental activities with laser systems, it is essential to define test requirements taking into account the specific conditions for operational employment of the systems in the intended scenarios and to verify the performance in realistic environments at the test ranges. To support the development of such requirements, useful guidelines are provided for test and evaluation of airborne laser systems including laboratory, ground and flight test activities

The application of Earth Observation for mapping soil saturation and the extent and distribution of artificial drainage on Irish farms

Artificial drainage is required to make wet soils productive for farming. However, drainage may have unintended environmental consequences, for example, through increased nutrient loss to surface waters or increased flood risk. It can also have implications for greenhouse gas emissions. Accurate data on soil drainage properties could help mitigate the impact of these consequences. Unfortunately, few countries maintain detailed inventories of artificially-drained areas because of the costs involved in compiling such data. This is further confounded by often inadequate knowledge of drain location and function at farm level. Increasingly, Earth Observation (EO) data is being used map drained areas and detect buried drains. The current study is the first harmonised effort to map the location and extent of artificially-drained soils in Ireland using a suite of EO data and geocomputational techniques. To map artificially-drained areas, support vector machine (SVM) and random forest (RF) machine learning image classifications were implemented using Landsat 8 multispectral imagery and topographical data. The RF classifier achieved overall accuracy of 91% in a binary segmentation of artifically-drained and poorly-drained classes. Compared with an existing soil drainage map, the RF model indicated that ~44% of soils in the study area could be classed as “drained”. As well as spatial differences, temporal changes in drainage status where detected within a 3 hectare field, where drains installed in 2014 had an effect on grass production. Using the RF model, the area of this field identified as “drained” increased from a low of 25% in 2011 to 68% in 2016. Landsat 8 vegetation indices were also successfully applied to monitoring the recovery of pasture following extreme saturation (flooding). In conjunction with this, additional EO techniques using unmanned aerial systems (UAS) were tested to map overland flow and detect buried drains. A performance assessment of UAS structure-from-motion (SfM) photogrammetry and aerial LiDAR was undertaken for modelling surface runoff (and associated nutrient loss). Overland flow models were created using the SIMWE model in GRASS GIS. Results indicated no statistical difference between models at 1, 2 & 5 m spatial resolution (p< 0.0001). Grass height was identified as an important source of error. Thermal imagery from a UAS was used to identify the locations of artifically drained areas. Using morning and afternoon images to map thermal extrema, significant differences in the rate of heating were identified between drained and undrained locations. Locations of tiled and piped drains were identified with 59 and 64% accuracy within the study area. Together these methods could enable better management of field drainage on farms, identifying drained areas, as well as the need for maintenance or replacement. They can also assess whether treatments have worked as expected or whether the underlying saturation problems continues. Through the methods developed and described herein, better characterisation of drainage status at field level may be achievable