UAV Downwash-Based Terrain Classification Using Wiener-Khinchin and EMD Filters

This work was partially funded by FCT Strategic Program UID/EEA/00066/203 of the Center of Technologies and System (CTS) of UNINOVA - Institute for the Development of new Technologies.Knowing how to identify terrain types is especially important in the autonomous navigation, mapping, decision making and detect landings areas. A recent area is in cooperation and improvement of autonomous behavior between robots. For example, an unmanned aerial vehicle (UAV) is used to identify a possible landing area or used in cooperation with other robots to navigate in unknown terrains. This paper presents a computer vision algorithm capable of identifying the terrain type where the UAV is flying, using its rotors’ downwash effect. The algorithm is a fusion between the frequency Wiener-Khinchin adapted and spatial Empirical Mode Decomposition (EMD) domains. In order to increase certainty in terrain identification, machine learning is also used. The system is validated using videos acquired onboard of a UAV with an RGB camera.authorsversionpublishe

Synthesis of Zinc Phosphonated Poly(ethylene imine) and Its Fire-Retardant Effect in Low-Density Polyethylene

A novel oligomeric intumescent fire-retardant chelate, zinc phosphonated poly(ethylene imine) (Zn-PEIP), with a variable Zn2+ loading, was synthesized. The chemical structure of Zn-PEIP was confirmed by FTIR, 13C NMR, and 31P NMR spectroscopies. The thermal behavior and fire retardancy of low-density polyethylene (LDPE) containing 25 wt % Zn-PEIPs with different amounts of Zn2+ were investigated by thermogravimetric analysis (TGA), limiting oxygen index (LOI) measurements, and cone calorimetry. The TGA results showed that higher concentrations of Zn2+ improved the thermal stability and increased the residue yield of LDPE. However, the data from the LOI and cone calorimetry tests showed that there is an optimum concentration of Zn2+ for the best fire-retardancy performance of LDPE. This behavior is ascribed to the high cross-link density resulting from zinc bridges, preventing normal swelling of the intumescent system. The surface morphology of the char was characterized by digital photography and scanning electron microscopy (SEM). This confirmed the optimum intumescence and coherent and strong barrier layer formation at an intermediate Zn2+ loading

MOTION GENERATION AND ADAPTIVE CONTROL METHOD OF AUTOMATED GUIDED VEHICLES IN ROAD FOLLOWING

Awaiting permission to publish abstrac

Sampling-based path planning: a new tool for missile guidance

A new missile midcourse guidance algorithm is proposed in this paper. It is a combination of sampling based path planning, Dubins' curves and classical guidance laws. Moreover, a realistic interceptor missile model is used. It allows to anticipate the future changes of flight conditions along the trajectory, especially the loss of maneuverability at high altitude. Simulation results are presented to demonstrate the substantial performance improvements over classical midcourse guidance laws