Towards Intuitive HMI for UAV Control

In the last decade, UAVs have become a widely used technology. As they are used by both professionals and amateurs, there is a need to explore different control modalities to make control intuitive and easier, especially for new users. In this work, we compared the most widely used joystick control with a custom human pose control. We used human pose estimation and arm movements to send UAV commands in the same way that operators use their fingers to send joystick commands. Experiments were conducted in a simulation environment with first-person visual feedback. Participants had to traverse the same maze with joystick and human pose control. Participants' subjective experience was assessed using the raw NASA Task Load Index.Comment: 2022 International Conference on Smart Systems and Technologies (SST

Grabbing power line conductors based on the measurements of the magnetic field strength

This paper presents the method for the localization and grabbing of the long straight conductor based only on the magnetic field generated by the alternating current flowing through the conductor. The method uses two magnetometers mounted on the robot arm end-effector for localization. This location is then used to determine needed robot movement in order to grab the conductor. The method was tested in the laboratory conditions using the Schunk LWA 4P 6-axis robot arm.Comment: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO). arXiv admin note: text overlap with arXiv:2206.0916

Collaborative Data Transmission in Wireless Sensor Networks

grant TR32043 grant III44003 grant III43002Collaborative beamforming (CBF) is a promising technique aimed at improving energy efficiency of communication in wireless sensor networks (WSNs) which has attracted considerable attention in the research community recently. It is based on a fact that beampattern with stable mainlobe can be formed, if multiple sensors synchronize their oscillators and jointly transmit a common message signal. In this paper, we consider application of CBF with one bit of feedback in different communication scenarios and analyze the impact of constraints imposed by simple sensor node hardware, on the resulting signal strength. First, we present a CBF scheme capable of reducing interference levels in the nearby WSN clusters by employing joint feedback from multiple base stations that surround the WSN of interest. Then, we present a collaborative power allocation and sensor selection algorithm, capable of achieving beamforming gains with transmitters that are not able to adjust their oscillators' signal phase. The performance of the algorithms is assessed by means of achieved beamforming gain which is given as a function of algorithm iterations. The presented results, which are based on numerical simulations and mathematical analysis, are compared with the ideal case without constraints and with negligible noise at the Base Station (BS).publishersversionpublishe

Troškovi korišćenja uređaja za aeraciju vode na toplovodnim ribnjacima

Modern fish production requires utilization of new technologies, which assumes application of appropriate mechanization and devices. In the process of the fish production in the warm-water fish-ponds it frequently appears a problem of lacking the oxygen dissolved in water. This problem may be solved by utilization of water aeration device. Selection of the water aeration device is usually carried out in our practice on the basis of its technological and exploitation characteristics, without knowledge of economic effects both of its provision and utilization of concrete technical solution. Economic effects of aeration device utilization suppose complete knowledge of methodological procedure for calculation of costs, as well as disposal of reliable initial data necessary for calculation of the costs for such devices.Savremena proizvodnja ribe podrazumeva primenu novih tehnologija, koje za sobom povlače i upotrebu odgovarajućih sredstava mehanizacije i uređaja. U uzgoju ribe na toplovodnim ribnjacima se kao čest problem javlja nedostatak kiseonika rastvorenog u vodi, što se može rešiti primenom uređaja za aeraciju vode. Odabir uređaja za aeraciju vode se u našoj praksi najčešće vrši na osnovu njegovih tehnološko-eksploatacionih karakteristika, bez poznavanja ekonomskih efekata nabavke i primene konkretnog tehničkog rešenja. Ekonomski efekti upotrebe uređaja za aeraciju podrazumevaju potpuno poznavanje metodološkog postupka za određivanje troškova, kao i raspolaganje pouzdanim polaznim podacima koji su neophodni za izračunavanje troškova eksploatacije ovakvih uređaja

Značaj i analiza troškova podizanja i rada ULO hladnjače za čuvanje voća

Small agricultural producers have a very important role in production and trading of fruits. Due to low buying and selling prices, as well as strong competitiveness they had to find the way to preserve and sell their products at the moment when it is possible to achieve the highest selling prices on the market. In order to provide longterm preservation and good quality of fuits until the moment of placing on the market they decided to set up ULO cold storage facility. The paper presents construction costs of ULO cold storage facility on the example of the cooperative „Slankamenka“ from Slankamen, as well as the advantages of this kind of cold storage in comparison to classical kind of cold storage facility for fruits preservation.Mali poljoprivredni proizvođači imaju značajnu ulogu u proizvodnji i prometu voća. Zbog niskih otkupnih i prodajnih cena, kao i zbog velike konkurencije oni su morali naći način da svoje proizvode sačuvaju i prodaju u momentu kada mogu da postignu najviše prodajne cene na tržištu. Da bi obezbedili dugotrajno i kvalitetno čuvanje plodova voća sve do momenta plasmana na tržište pristupili su izgradnji ULO hladnjače. U radu je dat prikaz troškova podizanja ULO hladnjače na primeru zadruge „Slankamenka“ iz Slankamena, kao i prednosti ove vrste u odnosu na klasičan tip hladnjača za čuvanje voća

Design of a Wireless Drone Recharging Station and a Special Robot End Effector for Installation on a Power Line

Drone autonomous operations near power lines are growing steadily and require innovative techniques to keep them on air. This paper presents a novel electromechanical recharging station that can be mounted on energized AC power line to charge the drone battery wirelessly without a need to modify the electrical infrastructure. The work shows a thorough analysis of the electrical and mechanical core components to build a flexible, lightweight and efficient recharging station that can be attached to a robotic arm. The work also discusses the recharging station design and its special robot end effector that mechanically couples the station with an aerial manipulator. Finally, the recharging station has been tested in the lab and in a real power line setup to validate its design and efficiency. The total achieved mass is 2300 grams with a harvesting efficiency of 77% at 250 A primary current

6. Effect of Cu dopping on microstructural, thermoelectric and mechanical properties of NaCoCuO4 ceramics

Ceramic samples of NaCo2-xCuxO4 (x = 0, 0.01, 0.03, 0.05) were obtained after calcination of powder precursors synthesized by a mechanochemically assisted solid-state reaction method (MASSR) and a citric acid complex method (CAC). Effects of small concentrations of Cu doping and the above-mentioned syntheses procedures on the microstructural, thermoelectric and mechanical properties were observed. The electrical resistivity (ρ), the thermal conductivity (κ) and the Seebeck coefficient (S) were measured simultaneously in the temperature gradient (ΔT) between hot and cold side of the sample, and the figure of merit (ZT) was subsequently calculated. ZT of the CAC samples was higher compared with the MASSR samples. The highest ZT value of 0.061 at ΔT = 473 K was obtained for the sample with 5 mol% of Cu prepared by the CAC method, and it was 1.7 times higher than the highest value obtained for the MASSR sample with 3 mol% of Cu (ZT = 0.036 at ΔT = 473 K). The CAC samples showed better mechanical properties compared to the MASSR samples due to the higher hardness of the CAC samples which is a consequence of homogeneous microstructure and higher density obtained after sintering of these samples. The results confirmed that, besides the concentration of Cu, the synthesis procedure considerably affected the microstructural, thermoelectric and mechanical properties of NaCo2O4 ceramics

Safe local aerial manipulation for the installation of devices on power lines: Aerial-core first year results and designs

Article number 6220The power grid is an essential infrastructure in any country, comprising thousands of kilometers of power lines that require periodic inspection and maintenance, carried out nowadays by human operators in risky conditions. To increase safety and reduce time and cost with respect to conventional solutions involving manned helicopters and heavy vehicles, the AERIAL-CORE project proposes the development of aerial robots capable of performing aerial manipulation operations to assist human operators in power lines inspection and maintenance, allowing the installation of devices, such as bird flight diverters or electrical spacers, and the fast delivery and retrieval of tools. This manuscript describes the goals and functionalities to be developed for safe local aerial manipulation, presenting the preliminary designs and experimental results obtained in the first year of the project.European Union (UE). H2020 871479Ministerio de Ciencia, Innovación y Universidades de España FPI 201

Značaj leguminoza za organsku poljoprivredu

Legume crops are primarily grown for their quality and value-added traits. Apart from their role in human and animal nutrition, they are being increasingly used as medicinal plants in pharmaceutical production. Legumes are of great interest in cultural practices under all farming systems, particularly organic agriculture. They are essential in crop rotations, and are among the most desirable preceding crops that create favourable biophysical conditions within the soil, with high levels of nitrogen naturally accumulating. There are many legumes suitable for companion and cover crops, and in the absence of quality farmyard manure they are sown for green manuring. In organic farming, legumes are environmental corridor components involved in biodiversity protection and restoration, as evidenced through increasing numbers of beneficial species in these isolation belts.Leguminoze su grupa biljaka koje se prvenstveno gaje zbog njihovog kvaliteta i velike upotrebne vrednosti. Osim za ishranu ljudi i domaćih životinja, sve više se koriste i kao lekovite biljke za proizvodnju različitih farmaceutskih preparata. Leguminoze imaju izuzetan agrotehnički značaj u svim sistemima poljoprivredne proizvodnje, a posebno u organskoj poljoprivredi. U plodoredu su nezamenjive kao jedan od najpoželjnijih preduseva, koji zemljište ostavlja u povoljnom biofizičkom stanju, sa visokim sadržajem na prirodan način akumuliranog azota. Veliki broj leguminoza je dobar za gajenje u združenim i pokrovnim usevima, a u nedostatku kvalitetnog stajskog đubriva, seju se kao siderati. U organskoj poljoprivredi mahunarke su sastavni deo eko-koridora koji imaju ulogu da zaštite i obnavljaju biodiverzitet, što se manifestije povećanjem broja korisnih vrsta u ovim izolacionim pojasevima