SORA Methodology for Multi-UAS Airframe Inspections in an Airport

Deploying Unmanned Aircraft Systems (UAS) in safety- and business-critical operations requires demonstrating compliance with applicable regulations and a comprehensive understanding of the residual risk associated with the UAS operation. To support these activities and enable the safe deployment of UAS into civil airspace, the European Union Aviation Safety Agency (EASA) has established a UAS regulatory framework that mandates the execution of safety risk assessment for UAS operations in order to gain authorization to carry out certain types of operations. Driven by this framework, the Joint Authorities for Rulemaking on Unmanned Systems (JARUS) released the Specific Operation Risk Assessment (SORA) methodology that guides the systematic risk assessment for UAS operations. However, existing work on SORA and its applications focuses mainly on single UAS operations, offering limited support for assuring operations conducted with multiple UAS and with autonomous features. Therefore, the work presented in this paper analyzes the application of SORA for a Multi-UAS airframe inspection (AFI) operation, that involves deploying multiple UAS with autonomous features inside an airport. We present the decision-making process of each SORA step and its application to a multiple UAS scenario. The results shows that the procedures and safety features included in the Multi-AFI operation such as workspace segmentation, the independent multi-UAS AFI crew proposed, and the mitigation actions provide confidence that the operation can be conducted safely and can receive a positive evaluation from the competent authorities. We also present our key findings from the application of SORA and discuss how it can be extended to better support multi-UAS operations.Unión Europea 10101725

Towards an autonomous vision-based unmanned aerial system againstwildlife poachers

Poaching is an illegal activity that remains out of control in many countries. Based on the 2014 report of the United Nations and Interpol, the illegal trade of global wildlife and natural resources amounts to nearly $213 billion every year, which is even helping to fund armed conflicts. Poaching activities around the world are further pushing many animal species on the brink of extinction. Unfortunately, the traditional methods to fight against poachers are not enough, hence the new demands for more efficient approaches. In this context, the use of new technologies on sensors and algorithms, as well as aerial platforms is crucial to face the high increase of poaching activities in the last few years. Our work is focused on the use of vision sensors on UAVs for the detection and tracking of animals and poachers, as well as the use of such sensors to control quadrotors during autonomous vehicle following and autonomous landing.Peer Reviewe

On-board and Ground Visual Pose Estimation Techniques for UAV Control

In this paper, two techniques to control UAVs (Unmanned Aerial Vehicles), based on visual information are presented. The first one is based on the detection and tracking of planar structures from an on-board camera, while the second one is based on the detection and 3D reconstruction of the position of the UAV based on an external camera system. Both strategies are tested with a VTOL (Vertical take-off and landing) UAV, and results show good behavior of the visual systems (precision in the estimation and frame rate) when estimating the helicopter¿s position and using the extracted information to control the UAV

Overview of recent TJ-II stellarator results

The main results obtained in the TJ-II stellarator in the last two years are reported. The most important topics investigated have been modelling and validation of impurity transport, validation of gyrokinetic simulations, turbulence characterisation, effect of magnetic configuration on transport, fuelling with pellet injection, fast particles and liquid metal plasma facing components. As regards impurity transport research, a number of working lines exploring several recently discovered effects have been developed: the effect of tangential drifts on stellarator neoclassical transport, the impurity flux driven by electric fields tangent to magnetic surfaces and attempts of experimental validation with Doppler reflectometry of the variation of the radial electric field on the flux surface. Concerning gyrokinetic simulations, two validation activities have been performed, the comparison with measurements of zonal flow relaxation in pellet-induced fast transients and the comparison with experimental poloidal variation of fluctuations amplitude. The impact of radial electric fields on turbulence spreading in the edge and scrape-off layer has been also experimentally characterized using a 2D Langmuir probe array. Another remarkable piece of work has been the investigation of the radial propagation of small temperature perturbations using transfer entropy. Research on the physics and modelling of plasma core fuelling with pellet and tracer-encapsulated solid-pellet injection has produced also relevant results. Neutral beam injection driven Alfvénic activity and its possible control by electron cyclotron current drive has been examined as well in TJ-II. Finally, recent results on alternative plasma facing components based on liquid metals are also presented. ISSN:0029-5515 ISSN:1741-432

EDUCACIÓN AMBIENTAL Y SOCIEDAD. SABERES LOCALES PARA EL DESARROLLO Y LA SUSTENTABILIDAD

Este texto contribuye al análisis científico de varias áreas del conocimiento como la filosofía social, la patología, la educación para el cuidado del medio ambiente y la sustentabilidad que inciden en diversas unidades de aprendizaje de la Licenciatura en Educación para la Salud y de la Maestría en Sociología de la SaludLas comunidades indígenas de la sierra norte de Oaxaca México, habitan un territorio extenso de biodiversidad. Sin que sea una área protegida y sustentable, la propia naturaleza de la región ofrece a sus visitantes la riqueza de la vegetación caracterizada por sus especies endémicas que componen un paisaje de suma belleza

Omnidirectional vision applied to Unmanned Aerial Vehicles (UAVs) attitude and heading estimation

11 páginas, 14 figuras, 3 tablas.-- El Pdf del artículo es la versión pre-print.This paper presents an aircraft attitude and heading estimator using catadioptric images as a principal sensor for UAV or as a redundant system for IMU (Inertial Measure Unit) and gyro sensors. First, we explain how the unified theory for central catadioptric cameras is used for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV’s attitude. Then, we use appearance images to obtain a visual compass, and we calculate the relative rotation and heading of the aerial vehicle. Finally the tests and results using the UAV COLIBRI platform and the validation of them in real flights are presented, comparing the estimated data with the inertial values measured on board.The authors would like to thank Jorge Leon for supporting the flight trials, the I.A. Institute-CSIC for collaborating in the flights, and the Universidad Politécnica de Madrid, and Consejería de Educación de la Comunidad de Madrid and the Fondo Social Europeo (FSE) for the authors' Ph.D. funding. This work has been sponsored by the Spanish Science Technology Ministry under the Grant CICYT DPI 2007-66156.Peer reviewe

Vision-based steering control, speed assistance and localization for inner-cityvehicles

Autonomous route following with road vehicles has gained popularity in the last few decades. In order to provide highly automated driver assistance systems, different types and combinations of sensors have been presented in the literature. However, most of these approaches apply quite sophisticated and expensive sensors, and hence, the development of a cost-efficient solution still remains a challenging problem. This work proposes the use of a single monocular camera sensor for an automatic steering control, speed assistance for the driver and localization of the vehicle on a road. Herein, we assume that the vehicle is mainly traveling along a predefined path, such as in public transport. A computer vision approach is presented to detect a line painted on the road, which defines the path to follow. Visual markers with a special design painted on the road provide information to localize the vehicle and to assist in its speed control. Furthermore, a vision-based control system, which keeps the vehicle on the predefined path under inner-city speed constraints, is also presented. Real driving tests with a commercial car on a closed circuit finally prove the applicability of the derived approach. In these tests, the car reached a maximum speed of 48 km/h and successfully traveled a distance of 7 km without the intervention of a human driver and any interruption.The work reported in this paper is the product of several research stages at the Computer Vision Group Universidad Politécnica de Madrid in collaboration with INSIA-UPM and Siemens España S.A. This project is partially funded by the Centre for the Development of Industrial Technology (CDTI). The authors would like to thank the company SIEMENS España S.A. that has made possible the research described in this paper through several contracts and the people at LABIE (INSIA-UPM) for their support.Peer Reviewe

Multi-robot interfaces and operator situational awareness: Study of the impact of immersion and prediction

Multi-robot missions are a challenge for operators in terms of workload and situational awareness. These operators have to receive data from the robots, extract information, understand the situation properly, make decisions, generate the adequate commands, and send them to the robots. The consequences of excessive workload and lack of awareness can vary from inefficiencies to accidents. This work focuses on the study of future operator interfaces of multi-robot systems, taking into account relevant issues such as multimodal interactions, immersive devices, predictive capabilities and adaptive displays. Specifically, four interfaces have been designed and developed: a conventional, a predictive conventional, a virtual reality and a predictive virtual reality interface. The four interfaces have been validated by the performance of twenty-four operators that supervised eight multi-robot missions of fire surveillance and extinguishing. The results of the workload and situational awareness tests show that virtual reality improves the situational awareness without increasing the workload of operators, whereas the effects of predictive components are not significant and depend on their implementation.This work is framed on SAVIER (Situational Awareness Virtual EnviRonment) Project, which is both supported and funded by Airbus Defence & Space. 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, and from the DPI2014-56985-R project (Protección robotizada de infraestructuras críticas) funded by the Ministerio de Economía y Competitividad of Gobierno de España. We would like to thank to the students of Technical University of Madrid that took part in the experiments and provided us valuable information.Peer Reviewe

Unmanned aerial vehicles UAVs attitude, height, motion estimation and control using visual systems

This paper presents an implementation of an aircraft pose and motion estimator using visual systems as the principal sensor for controlling an Unmanned Aerial Vehicle (UAV) or as a redundant system for an Inertial Measure Unit (IMU) and gyros sensors. First, we explore the applications of the unified theory for central catadioptric cameras for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV’s attitude. Then we use appearance images to obtain a visual compass, and we calculate the relative rotation and heading of the aerial vehicle. Additionally, we show the use of a stereo system to calculate the aircraft height and to measure the UAV’s motion. Finally, we present a visual tracking system based on Fuzzy controllers working in both a UAV and a camera pan and tilt platform. Every part is tested using the UAV COLIBRI platform to validate the different approaches, which include comparison of the estimated data with the inertial values measured onboard the helicopter platform and the validation of the tracking schemes on real flights