Online Informative Path Planning for Active Classification on UAVs

We propose an informative path planning (IPP) algorithm for active classification using an unmanned aerial vehicle (UAV), focusing on weed detection in precision agriculture. We model the presence of weeds on farmland using an occupancy grid and generate plans according to information-theoretic objectives, enabling the UAV to gather data efficiently. We use a combination of global viewpoint selection and evolutionary optimization to refine the UAV's trajectory in continuous space while satisfying dynamic constraints. We validate our approach in simulation by comparing against standard "lawnmower" coverage, and study the effects of varying objectives and optimization strategies. We plan to evaluate our algorithm on a real platform in the immediate future.Comment: 7 pages, 4 figures, submission to International Symposium on Experimental Robotics 201

The support model for people with legally modified abilities according to United Nations

Este artículo se basa en una investigación social sobre el sistema de protección jurídica de las personas con algún tipo de discapacidad o en situación de dependencia que se encuentran sometidas a las figuras de tutela o curatela, en aplicación de lo previsto y establecido en el Código Civil Español, en sus artículos 199 y 200, así como en la Ley de Enjuiciamiento Civil. La investigación se plantea como un estudio comparado entre diferentes países de la Unión Europea para ver su adecuación a lo establecido en el artículo 12 de la Convención de Naciones Unidas sobre derechos de las Personas con Discapacidad (en adelante, CDPD) en los procedimientos de incapacitación. Los resultados se analizan sobre la base de modelos técnico-sociales de intervención, los análisis jurídicos y la experiencia adquirida por las Fundación Tutelares de Castilla y León. Se proponen y diseñan algunas alternativas y servicios que pueden mejorar la calidad de vida de las personas adultas incapacitadas judicialmente y el tipo de apoyos que se les puede prestar, de acuerdo a lo establecido en la Convención de Naciones Unidas.This article is based on social research into the system of legal protection for persons with disabilities or in a situation of dependence who are subject to the figures of guardianship or conservatorship pursuant to the provisions in the Spanish Civil Code, sections 199 and 200, as well as the Code of Civil Procedure. The research is presented as a comparative study between different countries of the European Union regarding the adaptation to the provisions of Article 12 of the UN Convention on Rights of Persons with Disabilities (hereinafter CRPD) Incapacitation procedures. The results are analyzed on the basis of technical-social intervention models, legal analysis and the experience of Guardianship Foundations of Castilla y León. Some alternatives and services are proposed and designed that can improve the quality of life of legally incapacitated persons and the type of support that can be provided to them in accordance with the provisions of the United Nations Convention

DEVELOPMENT OF LI+ AND NA+ CONDUCTING CERAMICS AND CERAMIC STRUCTURES FOR USE IN SOLID STATE BATTERIES

A solid state lithium metal battery based on a lithium garnet material was developed, constructed and tested. Specifically, a porous-dense-porous trilayer structure was fabricated by tape casting, a roll-to-roll technique conducive to high volume manufacturing. The high density and thin center layer (< 20 μm) effectively blocks dendrites even over hundreds of cycles. The microstructured porous layers, serving as electrode supports, are demonstrated to increase the interfacial surface area available to the electrodes and increase cathode loading. Reproducibility of flat, well sintered ceramics was achieved with consistent powderbed lattice parameter and ball milling of powderbed. Together, the resistance of the LLCZN trilayer was measured at an average of 7.6 ohm-cm2 in a symmetric lithium cell, significantly lower than any other reported literature results. Building on these results, a full cell with a lithium metal anode, LLCZN trilayer electrolyte, and LiCoO2 cathode was cycled 100 cycles without decay and an average ASR of 117 ohm-cm2. After cycling, the cell was held at open circuit for 24 hours without any voltage fade, demonstrating the absence of a dendrite or short-circuit of any type. Cost calculations guided the optimization of a trilayer structure predicted that resulting cells will be highly competitive in the marketplace as intrinsically safe lithium batteries with energy densities greater than 300 Wh/kg and 1000 Wh/L for under $100/kWh. Also in the pursuit of solid state batteries, an improved Na+ superionic conductor (NASICON) composition, Na3Zr2Si2PO12, was developed with a conductivity of 1.9x10-3 S/cm. New super-lithiated lithium garnet compositions, Li7.06La3Zr1.94Y0.06O12 and Li7.16La3Zr1.84Y0.16O12, were developed and studied revealing insights about the mechanisms of conductivity in lithium garnets

Short-term displacement of Planktothrix rubescens (cyanobacteria) in a pre-alpine lake observed using an autonomous sampling platform

Short-term changes in temporal and spatial distributions of the toxic cyanobacterium Planktothrix rubescens in Lake Zurich were investigated using high-resolution data sets acquired with an autonomous surface vessel (ASV). Data profiles were recorded with a multi-parameter probe while the ASV navigated along 1.5 km toward a waypoint located on the other side of the lake by using a global positioning system. We deployed the ASV seven times on five consecutive days during the stratification period (July 2011) to generate cross-sectional views of temperature, light, oxygen, and phycoerythrin and chlorophyll fluorescence from surface to 18 m. The data were also used to compute daily photosynthetic rates. Data showed a daily reshaping of the P. rubescens distribution in the metalimnion on both horizontal and vertical axes, from patches to a shore-to-shore spreading. A thermocline depression observed after 16 h of sustained winds forced the accumulation of P. rubescens on the downwind shore. The compression of the metalimnion and its downward shift by 6 m within 24 h suggested the modulation of a longitudinal seiche following the wind event. This passive transport of the metalimnetic P. rubescens population resulted in a 90% light reduction, and a decrease of the averaged daily photosynthetic rate from +21 mmol O2 m−2 d−1 to −10 mmol O2 m−2 d−1. Negative photosynthetic rates were computed on 2 d out of 5 d, meaning that the transport of P. rubescens by seiches significantly affected the balance between oxygen production and utilization in Lake Zurich, especially because it is the dominant primary producer

Relaxing the planar assumption: 3D state estimation for an autonomous surface vessel

International audienceAutonomous Surface Vessels (ASVs) are increasingly proposed as tools to automatize environmental data collection, bathymetric mapping and shoreline monitoring. For many applications it can be assumed that the boat operates on a 2D plane. However, with the involvement of exteroceptive sensors like cameras or laser rangefinders, knowing the 3D pose of the boat becomes critical. In this paper, we formulate three different algorithms based on 3D extended Kalman filter (EKF) state estimation for ASVs localiza-tion. We compare them using field testing results with ground truth measurements, and demonstrate that the best performance is achieved with a model-based solution in combination with a complementary filter for attitude estimation. Furthermore, we present a parameter identification methodology and show that it also yields accurate results when used with inexpensive sensors. Finally, we present a long-term series (i.e., over a full year) of shoreline monitoring data sets and discuss the need for map maintenance routines based on a variant of the Iterative Closest Point (ICP) algorithm

Relaxing the planar assumption: 3D state estimation for an autonomous surface vessel

ISSN:0278-3649ISSN:1741-317