Vision-Based navigation system for unmanned aerial vehicles

Mención Internacional en el título de doctorThe main objective of this dissertation is to provide Unmanned Aerial Vehicles (UAVs) with a robust navigation system; in order to allow the UAVs to perform complex tasks autonomously and in real-time. The proposed algorithms deal with solving the navigation problem for outdoor as well as indoor environments, mainly based on visual information that is captured by monocular cameras. In addition, this dissertation presents the advantages of using the visual sensors as the main source of data, or complementing other sensors in providing useful information; in order to improve the accuracy and the robustness of the sensing purposes. The dissertation mainly covers several research topics based on computer vision techniques: (I) Pose Estimation, to provide a solution for estimating the 6D pose of the UAV. This algorithm is based on the combination of SIFT detector and FREAK descriptor; which maintains the performance of the feature points matching and decreases the computational time. Thereafter, the pose estimation problem is solved based on the decomposition of the world-to-frame and frame-to-frame homographies. (II) Obstacle Detection and Collision Avoidance, in which, the UAV is able to sense and detect the frontal obstacles that are situated in its path. The detection algorithm mimics the human behaviors for detecting the approaching obstacles; by analyzing the size changes of the detected feature points, combined with the expansion ratios of the convex hull constructed around the detected feature points from consecutive frames. Then, by comparing the area ratio of the obstacle and the position of the UAV, the method decides if the detected obstacle may cause a collision. Finally, the algorithm extracts the collision-free zones around the obstacle, and combining with the tracked waypoints, the UAV performs the avoidance maneuver. (III) Navigation Guidance, which generates the waypoints to determine the flight path based on environment and the situated obstacles. Then provide a strategy to follow the path segments and in an efficient way and perform the flight maneuver smoothly. (IV) Visual Servoing, to offer different control solutions (Fuzzy Logic Control (FLC) and PID), based on the obtained visual information; in order to achieve the flight stability as well as to perform the correct maneuver; to avoid the possible collisions and track the waypoints. All the proposed algorithms have been verified with real flights in both indoor and outdoor environments, taking into consideration the visual conditions; such as illumination and textures. The obtained results have been validated against other systems; such as VICON motion capture system, DGPS in the case of pose estimate algorithm. In addition, the proposed algorithms have been compared with several previous works in the state of the art, and are results proves the improvement in the accuracy and the robustness of the proposed algorithms. Finally, this dissertation concludes that the visual sensors have the advantages of lightweight and low consumption and provide reliable information, which is considered as a powerful tool in the navigation systems to increase the autonomy of the UAVs for real-world applications.El objetivo principal de esta tesis es proporcionar Vehiculos Aereos no Tripulados (UAVs) con un sistema de navegacion robusto, para permitir a los UAVs realizar tareas complejas de forma autonoma y en tiempo real. Los algoritmos propuestos tratan de resolver problemas de la navegacion tanto en ambientes interiores como al aire libre basandose principalmente en la informacion visual captada por las camaras monoculares. Ademas, esta tesis doctoral presenta la ventaja de usar sensores visuales bien como fuente principal de datos o complementando a otros sensores en el suministro de informacion util, con el fin de mejorar la precision y la robustez de los procesos de deteccion. La tesis cubre, principalmente, varios temas de investigacion basados en tecnicas de vision por computador: (I) Estimacion de la Posicion y la Orientacion (Pose), para proporcionar una solucion a la estimacion de la posicion y orientacion en 6D del UAV. Este algoritmo se basa en la combinacion del detector SIFT y el descriptor FREAK, que mantiene el desempeno del a funcion de puntos de coincidencia y disminuye el tiempo computacional. De esta manera, se soluciona el problema de la estimacion de la posicion basandose en la descomposicion de las homografias mundo a imagen e imagen a imagen. (II) Deteccion obstaculos y elusion colisiones, donde el UAV es capaz de percibir y detectar los obstaculos frontales que se encuentran en su camino. El algoritmo de deteccion imita comportamientos humanos para detectar los obstaculos que se acercan, mediante el analisis de la magnitud del cambio de los puntos caracteristicos detectados de referencia, combinado con los ratios de expansion de los contornos convexos construidos alrededor de los puntos caracteristicos detectados en frames consecutivos. A continuacion, comparando la proporcion del area del obstaculo y la posicion del UAV, el metodo decide si el obstaculo detectado puede provocar una colision. Por ultimo, el algoritmo extrae las zonas libres de colision alrededor del obstaculo y combinandolo con los puntos de referencia, elUAV realiza la maniobra de evasion. (III) Guiado de navegacion, que genera los puntos de referencia para determinar la trayectoria de vuelo basada en el entorno y en los obstaculos detectados que encuentra. Proporciona una estrategia para seguir los segmentos del trazado de una manera eficiente y realizar la maniobra de vuelo con suavidad. (IV) Guiado por Vision, para ofrecer soluciones de control diferentes (Control de Logica Fuzzy (FLC) y PID), basados en la informacion visual obtenida con el fin de lograr la estabilidad de vuelo, asi como realizar la maniobra correcta para evitar posibles colisiones y seguir los puntos de referencia. Todos los algoritmos propuestos han sido verificados con vuelos reales en ambientes exteriores e interiores, tomando en consideracion condiciones visuales como la iluminacion y las texturas. Los resultados obtenidos han sido validados con otros sistemas: como el sistema de captura de movimiento VICON y DGPS en el caso del algoritmo de estimacion de la posicion y orientacion. Ademas, los algoritmos propuestos han sido comparados con trabajos anteriores recogidos en el estado del arte con resultados que demuestran una mejora de la precision y la robustez de los algoritmos propuestos. Esta tesis doctoral concluye que los sensores visuales tienen las ventajes de tener un peso ligero y un bajo consumo y, proporcionar informacion fiable, lo cual lo hace una poderosa herramienta en los sistemas de navegacion para aumentar la autonomia de los UAVs en aplicaciones del mundo real.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Carlo Regazzoni.- Secretario: Fernando García Fernández.- Vocal: Pascual Campoy Cerver

Comparative Study of the Legal Position of Notary in Indonesia and the United Arab Emirates

This study aims to determine how the similarities and differences in the legal authority of the notary office in Indonesia and the notary in the United Arab Emirates, the existence of the authority and responsibility of the notary as well as the ideal model in the development and improvement of notary services obtained from comparing the two countries. The method used is a comparative research method. Techniques for reviewing and analyzing legal materials are using literature study. The results of this research are, first, Notary in Indonesia and Notary in the United Arab Emirates have the same characteristics but also differ in several ways, these differences include requirements for notary appointment, including age requirements,education, apprenticeship, oath of office, technology application and there is also a type of private notary that does not apply in Indonesia. Second, Notaries in Indonesia and in the United Arab Emirates both have the same authority as Notaries in making authentic deeds and in terms of responsibility for the deeds they make, both have the same existence in carrying out their duties as Notaries. The difference in several things is in the rules of authority for Public Notaries and Private Notaries which are not in the rules of the Law on the Position of Notary Public in Indonesia. Third, the ideal model in developing and improving notary services obtained from the results of comparing with the United Arab Emirates can be seen from the access to Notary services which can be done online

Assessment Of The Knowledge, Attitudes And Practices On Qat Chewing Among Medical, Pharmacy And Dentistry Undergraduate Students In Aden University, Yemen

Qat plant or Catha edulis Forsk is a species belonging to the plant family Celastraceae. The fresh leaves and buds of the qat plant contains cathinone, an amphetamine like stimulants responsible for most of its pharmacological action. One of the pharmacological actions is the ability to concentrate, and this has been used as an excuse for the students to use qat. This habit also can be found among the university students especially medical, pharmacy and dentistry. However, as other stimulants, this cathinone also has the ability to cause dependence to the users. This study is aimed to evaluate the knowledge, attitudes and practices on qat use among health care related undergraduate students in Aden University, Yemen. A cross-sectional study was carried out involving Medicine, Pharmacy and Dentistry students in Aden University. A validated questionnaire was distributed to all students using simple random sampling method. A total of 646 out of 672 students completed the questionnaire. The data were analyzed using Statistical Package for Social Science (SPSS) version 15.0. Chi-square was used to test the association of the student’s perception about the qat plant with socio-demographic factors

SISTEM PENDUKUNG KEPUTUSAN BERBASIS WEB PEMILIHAN SMARTPHONE MENGGUNAKAN METODE WEIGHTED PRODUCT

Teknologi komunikasi tak lepas dari perkembangan zaman yang begitu cepat. Saat ini teknologi komunikasi berbasis mobile yang populer yaitu telepon cerdas (smartphone). Perkembangan teknologi yang sangat pesat mendorong produsen smartphone bersaing untuk menghadirkan produk dengan berbagai macam jenis dan spesifikasi untuk memberikan pilihan kepada konsumen. Akan tetapi dengan banyaknya pilihan ini membuat sebagian konsumen merasa bingung untuk memilih smartphone yang sesuai dengan kebutuhan diantara semua jenis dan merk yang ada. Tugas akhir ini bertujuan untuk membuat sistem pendukung keputusan (SPK) berbasis web menggunakan metode Weighted Product (WP). Sistem akan menampilkan alternatif smartphone android dengan menggunakan beberapa kriteria yaitu Harga, Versi Android, Processor, RAM, Memory Internal, Kamera dan Baterai. Kriteria digunakan untuk mendukung proses pengambilan keputusan berdasarkan tingkat kepentingannya. Dari hasil implementasi yang dilakukan dalam penelitian ini dapat disimpulkan bawah sistem akan menampilkan alternatif berdasarkan tingkat kepentingan kriteria. Sistem ini diharapkan dapat membantu user / konsumen dalam menentukan pemilihan smartphone android yang sesuai dengan kebutuhan. Kata kunci : Android, Smartphone, SPK, W

Different chemical behaviors and antioxidant activity of three novel schiff bases containing hydroxyl groups. X-ray structure of CH2{cyclo-C6H10-NH=CH-(2-O-naphth)}2.H2O

The antioxidant activities of three new Schiff base compounds, 1–3, were studied through their direct scavenging ability to eliminate free radicals using DPPH and ABTS methods and also through their indirect antioxidant activity as measured using the ferric thiocyanate (FTC) method. The number of OH groups in the compounds and their positions play a role in the activity. The crystal structure of CH2{cycloC6H10NHCH-(2-O-naphth)}2.H2O (1), has been determined and proves the existence of intramolecular hydrogen-bonds and hydrogen-bonded water molecules and reveals the keto-amine (NH⋯O) tautomer of this compound. One cyclo-hexyl ring was found to be disordered, and was resolved in two orientations. Hydrogen atoms of the NHCH groups were located in difference maps and were refined freely. Compounds 2 and 3 exhibit the enol-imine form. The UV–vis spectra of the three compounds have been studied in organic solvents of different polarity, and in basic and acidic media, and were found helpful in understanding the tautomeric forms in these compounds; the polarity was modified by adding (CF3COOH) or [(C2H5)3N] to the solvent. All three compounds have been characterized by elemental analysis, UV–vis, FTIR, NMR and MS

High-accuracy patternless calibration of multiple 3D LiDARs for autonomous vehicles

This article proposes a new method for estimating the extrinsic calibration parameters between any pair of multibeam LiDAR sensors on a vehicle. Unlike many state-of-the-art works, this method does not use any calibration pattern or reflective marks placed in the environment to perform the calibration; in addition, the sensors do not need to have overlapping fields of view. An iterative closest point (ICP)-based process is used to determine the values of the calibration parameters, resulting in better convergence and improved accuracy. Furthermore, a setup based on the car learning to act (CARLA) simulator is introduced to evaluate the approach, enabling quantitative assessment with ground-truth data. The results show an accuracy comparable with other approaches that require more complex procedures and have a more restricted range of applicable setups. This work also provides qualitative results on a real setup, where the alignment between the different point clouds can be visually checked. The open-source code is available at https://github.com/midemig/pcd_calib .This work was supported in part by the Madrid Government (Comunidad de Madrid-Spain) under the Multiannual Agreement with UC3M ("Fostering Young Doctors Research," APBI-CM-UC3M) in the context of the V PRICIT (Research and Technological Innovation Regional Program); and in part by the Spanish Government through Grants ID2021-128327OA-I00 and TED2021-129374A-I00 funded by MCIN/AEI/10.13039/501100011033 and by the European Union NextGenerationEU/PRTR

Novel Bayesian Inference-Based Approach for the Uncertainty Characterization of Zhang's Camera Calibration Method

Camera calibration is necessary for many machine vision applications. The calibration methods are based on linear or non-linear optimization techniques that aim to find the best estimate of the camera parameters. One of the most commonly used methods in computer vision for the calibration of intrinsic camera parameters and lens distortion (interior orientation) is Zhang¿s method. Additionally, the uncertainty of the camera parameters is normally estimated by assuming that their variability can be explained by the images of the different poses of a checkerboard. However, the degree of reliability for both the best parameter values and their associated uncertainties has not yet been verified. Inaccurate estimates of intrinsic and extrinsic parameters during camera calibration may introduce additional biases in post-processing. This is why we propose a novel Bayesian inference-based approach that has allowed us to evaluate the degree of certainty of Zhang¿s camera calibration procedure. For this purpose, the a prioriprobability was assumed to be the one estimated by Zhang, and the intrinsic parameters were recalibrated by Bayesian inversion. The uncertainty of the intrinsic parameters was found to differ from the ones estimated with Zhang¿s method. However, the major source of inaccuracy is caused by the procedure for calculating the extrinsic parameters. The procedure used in the novel Bayesian inference-based approach significantly improves the reliability of the predictions of the image points, as it optimizes the extrinsic parameters.This work was supported by the Madrid Government (Comunidad de Madrid Spain) under the Multiannual Agreement with UC3M ("Fostering Young Doctors Research", APBI-CM-UC3M), and in the context of the VPRICIT (Research and Technological Innovation Regional Programme and by the FEDER/Ministry of Science and Innovation -Agencia Estatal de Investigacion (AEI) of the Government of Spain through the projects PID2022-136468OB-I00 and PID2022-142015OB-I00.Publicad