Unmanned Aerial Systems

Unmanned aerial platforms are a means to gather efficiently valuable aerial information to support the crisis manager for further tactical planning and deployment. They can provide continuous support to the coordinators and operators by scanning blocked sectors or establish an communication network. This chapter describes how aerial platforms were tailored to search and rescue (SAR) requirements, including the localisation and tracking of victims. In order to meet the end user demands, complementary platforms are proposed. A small long‐endurance solar aeroplane is used to provide the largest and fastest area coverage at the highest view, and therefore enabling the mapping functionality and potential detection of victims with operation times span up to a day. Complementary to the aeroplane, two rotary‐wing systems were deployed. A large coaxial‐quadrotor was used for outdoor delivery task and detailed close range inspection. Its ability to fly close to the terrain enables a thorough search for victims in a well‐defined sector. A smaller multicopter was used for inspection of the indoor environment. It is able for victim detection in collapsed buildings. Thus, autonomous functionality for precise localisation and positioning was developed to decrease the operator workload

Chapter Unmanned Aerial Systems

Unmanned aerial platforms are a means to gather efficiently valuable aerial information to support the crisis manager for further tactical planning and deployment. They can provide continuous support to the coordinators and operators by scanning blocked sectors or establish an communication network. This chapter describes how aerial platforms were tailored to search and rescue (SAR) requirements, including the localisation and tracking of victims. In order to meet the end user demands, complementary platforms are proposed. A small long‐endurance solar aeroplane is used to provide the largest and fastest area coverage at the highest view, and therefore enabling the mapping functionality and potential detection of victims with operation times span up to a day. Complementary to the aeroplane, two rotary‐wing systems were deployed. A large coaxial‐quadrotor was used for outdoor delivery task and detailed close range inspection. Its ability to fly close to the terrain enables a thorough search for victims in a well‐defined sector. A smaller multicopter was used for inspection of the indoor environment. It is able for victim detection in collapsed buildings. Thus, autonomous functionality for precise localisation and positioning was developed to decrease the operator workload

Long-Endurance Sensing and Mapping using a Hand-Launchable Solar-Powered UAV

ISSN:1610-743

Chapter Introduction to the Use of Robotic Tools for Search and Rescue

Modern search and rescue workers are equipped with a powerful toolkit to address natural and man-made disasters. This introductory chapter explains how a new tool can be added to this toolkit: robots. The use of robotic assets in search and rescue operations is explained and an overview is given of the worldwide efforts to incorporate robotic tools in search and rescue operations. Furthermore, the European Union ICARUS project on this subject is introduced. The ICARUS project proposes to equip first responders with a comprehensive and integrated set of unmanned search and rescue tools, to increase the situational awareness of human crisis managers, such that more work can be done in a shorter amount of time. The ICARUS tools consist of assistive unmanned air, ground, and sea vehicles, equipped with victim-detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the command and control equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system

Introduction to the Use of Robotic Tools for Search and Rescue

Modern search and rescue workers are equipped with a powerful toolkit to address natural and man-made disasters. This introductory chapter explains how a new tool can be added to this toolkit: robots. The use of robotic assets in search and rescue operations is explained and an overview is given of the worldwide efforts to incorporate robotic tools in search and rescue operations. Furthermore, the European Union ICARUS project on this subject is introduced. The ICARUS project proposes to equip first responders with a comprehensive and integrated set of unmanned search and rescue tools, to increase the situational awareness of human crisis managers, such that more work can be done in a shorter amount of time. The ICARUS tools consist of assistive unmanned air, ground, and sea vehicles, equipped with victim-detection sensors. The unmanned vehicles collaborate as a coordinated team, communicating via ad hoc cognitive radio networking. To ensure optimal human-robot collaboration, these tools are seamlessly integrated into the command and control equipment of the human crisis managers and a set of training and support tools is provided to them to learn to use the ICARUS system

Second-Order Partial Differentiation of Real Ternary Functions

In this article, we shall extend the result of [17] to discuss second-order partial differentiation of real ternary functions (refer to [7] and [14] for partial differentiation).Inaba 2205, Wing-Minamikan Nagano, Nagano, JapanGrzegorz Bancerek and Krzysztof Hryniewiecki. Segments of natural numbers and finite sequences. Formalized Mathematics, 1(1):107-114, 1990.Czesław Byliński. Finite sequences and tuples of elements of a non-empty sets. Formalized Mathematics, 1(3):529-536, 1990.Czesław Byliński. Functions and their basic properties. Formalized Mathematics, 1(1):55-65, 1990.Czesław Byliński. Functions from a set to a set. Formalized Mathematics, 1(1):153-164, 1990.Czesław Byliński. Partial functions. Formalized Mathematics, 1(2):357-367, 1990.Agata Darmochwał. The Euclidean space. Formalized Mathematics, 2(4):599-603, 1991.Noboru Endou, Yasunari Shidama, and Keiichi Miyajima. Partial differentiation on normed linear spaces Rn. Formalized Mathematics, 15(2):65-72, 2007, doi:10.2478/v10037-007-0008-5.Krzysztof Hryniewiecki. Basic properties of real numbers. Formalized Mathematics, 1(1):35-40, 1990.Jarosław Kotowicz. Convergent sequences and the limit of sequences. Formalized Mathematics, 1(2):273-275, 1990.Jarosław Kotowicz. Real sequences and basic operations on them. Formalized Mathematics, 1(2):269-272, 1990.Konrad Raczkowski and Paweł Sadowski. Real function continuity. Formalized Mathematics, 1(4):787-791, 1990.Konrad Raczkowski and Paweł Sadowski. Real function differentiability. Formalized Mathematics, 1(4):797-801, 1990.Konrad Raczkowski and Paweł Sadowski. Topological properties of subsets in real numbers. Formalized Mathematics, 1(4):777-780, 1990.Walter Rudin. Principles of Mathematical Analysis. MacGraw-Hill, 1976.Edmund Woronowicz. Relations defined on sets. Formalized Mathematics, 1(1):181-186, 1990.Bing Xie, Xiquan Liang, and Hongwei Li. Partial differentiation of real binary functions. Formalized Mathematics, 16(4):333-338, 2008, doi:10.2478/v10037-008-0041-z.Bing Xie, Xiquan Liang, and Xiuzhuan Shen. Second-order partial differentiation of real binary functions. Formalized Mathematics, 17(2):79-87, 2009, doi: 10.2478/v10037-009-0009-7

Interoperability in a Heterogeneous Team of Search and Rescue Robots

Search and rescue missions are complex operations. A disaster scenario is generally unstructured, time‐varying and unpredictable. This poses several challenges for the successful deployment of unmanned technology. The variety of operational scenarios and tasks lead to the need for multiple robots of different types, domains and sizes. A priori planning of the optimal set of assets to be deployed and the definition of their mission objectives are generally not feasible as information only becomes available during mission. The ICARUS project responds to this challenge by developing a heterogeneous team composed by different and complementary robots, dynamically cooperating as an interoperable team. This chapter describes our approach to multi‐robot interoperability, understood as the ability of multiple robots to operate together, in synergy, enabling multiple teams to share data, intelligence and resources, which is the ultimate objective of ICARUS project. It also includes the analysis of the relevant standardization initiatives in multi‐robot multi‐domain systems, our implementation of an interoperability framework and several examples of multi‐robot cooperation of the ICARUS robots in realistic search and rescue missions

On Lp Space Formed by Real-Valued Partial Functions

This article is the continuation of [31]. We define the set of Lp integrable functions - the set of all partial functions whose absolute value raised to the p-th power is integrable. We show that Lp integrable functions form the Lp space. We also prove Minkowski's inequality, Hölder's inequality and that Lp space is Banach space ([15], [27]).Watase Yasushige - Graduate School of Science and Technology, Shinshu University, Nagano, JapanEndou Noboru - Gifu National College of Technology, JapanShidama Yasunari - Shinshu University, Nagano, JapanJonathan Backer, Piotr Rudnicki, and Christoph Schwarzweller. Ring ideals. Formalized Mathematics, 9(3):565-582, 2001.Grzegorz Bancerek. The fundamental properties of natural numbers. Formalized Mathematics, 1(1):41-46, 1990.Grzegorz Bancerek. The ordinal numbers. Formalized Mathematics, 1(1):91-96, 1990.Grzegorz Bancerek and Andrzej Trybulec. Miscellaneous facts about functions. Formalized Mathematics, 5(4):485-492, 1996.Józef Białas. Series of positive real numbers. Measure theory. Formalized Mathematics, 2(1):173-183, 1991.Józef Białas. The s-additive measure theory. Formalized Mathematics, 2(2):263-270, 1991.Czesław Byliński. Binary operations. Formalized Mathematics, 1(1):175-180, 1990.Czesław Byliński. The complex numbers. Formalized Mathematics, 1(3):507-513, 1990.Czesław Byliński. Functions and their basic properties. Formalized Mathematics, 1(1):55-65, 1990.Czesław Byliński. Functions from a set to a set. Formalized Mathematics, 1(1):153-164, 1990.Czesław Byliński. Partial functions. Formalized Mathematics, 1(2):357-367, 1990.Czesław Byliński. Some basic properties of sets. Formalized Mathematics, 1(1):47-53, 1990.Noboru Endou and Yasunari Shidama. Integral of measurable function. Formalized Mathematics, 14(2):53-70, 2006, doi:10.2478/v10037-006-0008-x.Noboru Endou, Yasunari Shidama, and Keiko Narita. Egoroff's theorem. Formalized Mathematics, 16(1):57-63, 2008, doi:10.2478/v10037-008-0009-z.P. R. Halmos. Measure Theory. Springer-Verlag, 1987.Krzysztof Hryniewiecki. Basic properties of real numbers. Formalized Mathematics, 1(1):35-40, 1990.Jarosław Kotowicz. Convergent sequences and the limit of sequences. Formalized Mathematics, 1(2):273-275, 1990.Jarosław Kotowicz. Real sequences and basic operations on them. Formalized Mathematics, 1(2):269-272, 1990.Keiko Narita, Noboru Endou, and Yasunari Shidama. Integral of complex-valued measurable function. Formalized Mathematics, 16(4):319-324, 2008, doi:10.2478/v10037-008-0039-6.Keiko Narita, Noboru Endou, and Yasunari Shidama. Lebesgue's convergence theorem of complex-valued function. Formalized Mathematics, 17(2):137-145, 2009, doi: 10.2478/v10037-009-0015-9.Andrzej Nędzusiak. s-fields and probability. Formalized Mathematics, 1(2):401-407, 1990.Beata Padlewska and Agata Darmochwał. Topological spaces and continuous functions. Formalized Mathematics, 1(1):223-230, 1990.Beata Perkowska. Functional sequence from a domain to a domain. Formalized Mathematics, 3(1):17-21, 1992.Jan Popiołek. Real normed space. Formalized Mathematics, 2(1):111-115, 1991.Konrad Raczkowski and Andrzej Nędzusiak. Real exponents and logarithms. Formalized Mathematics, 2(2):213-216, 1991.Konrad Raczkowski and Andrzej Nędzusiak. Series. Formalized Mathematics, 2(4):449-452, 1991.Walter Rudin. Real and Complex Analysis. Mc Graw-Hill, Inc., 1974.Yasunari Shidama and Noboru Endou. Integral of real-valued measurable function. Formalized Mathematics, 14(4):143-152, 2006, doi:10.2478/v10037-006-0018-8.Wojciech A. Trybulec. Vectors in real linear space. Formalized Mathematics, 1(2):291-296, 1990.Zinaida Trybulec. Properties of subsets. Formalized Mathematics, 1(1):67-71, 1990.Yasushige Watase, Noboru Endou, and Yasunari Shidama. On L1 space formed by real-valued partial functions. Formalized Mathematics, 16(4):361-369, 2008, doi:10.2478/v10037-008-0044-9.Edmund Woronowicz. Relations defined on sets. Formalized Mathematics, 1(1):181-186, 1990

Partial Differentiation of Vector-Valued Functions on n-Dimensional Real Normed Linear Spaces

In this article, we define and develop partial differentiation of vector-valued functions on n-dimensional real normed linear spaces (refer to [19] and [20]).Inoué Takao - Inaba 2205, Wing-Minamikan Nagano, Nagano, JapanNaumowicz Adam - Institute of Computer Science, University of Białystok, Akademicka 2, 15-267 Białystok, PolandEndou Noboru - Gifu National College of Technology, JapanShidama Yasunari - Shinshu University, Nagano, JapanGrzegorz Bancerek. The fundamental properties of natural numbers. Formalized Mathematics, 1(1):41-46, 1990.Grzegorz Bancerek and Krzysztof Hryniewiecki. Segments of natural numbers and finite sequences. Formalized Mathematics, 1(1):107-114, 1990.Czesław Byliński. Finite sequences and tuples of elements of a non-empty sets. Formalized Mathematics, 1(3):529-536, 1990.Czesław Byliński. Functions and their basic properties. Formalized Mathematics, 1(1):55-65, 1990.Czesław Byliński. Functions from a set to a set. Formalized Mathematics, 1(1):153-164, 1990.Czesław Byliński. Partial functions. Formalized Mathematics, 1(2):357-367, 1990.Agata Darmochwał. The Euclidean space. Formalized Mathematics, 2(4):599-603, 1991.Noboru Endou and Yasunari Shidama. Completeness of the real Euclidean space. Formalized Mathematics, 13(4):577-580, 2005.Noboru Endou, Yasunari Shidama, and Keiichi Miyajima. Partial differentiation on normed linear spaces n. Formalized Mathematics, 15(2):65-72, 2007, doi:10.2478/v10037-007-0008-5.Krzysztof Hryniewiecki. Basic properties of real numbers. Formalized Mathematics, 1(1):35-40, 1990.Hiroshi Imura, Morishige Kimura, and Yasunari Shidama. The differentiable functions on normed linear spaces. Formalized Mathematics, 12(3):321-327, 2004.Takao Inoué, Noboru Endou, and Yasunari Shidama. Differentiation of vector-valued functions on n-dimensional real normed linear spaces. Formalized Mathematics, 18(4):207-212, 2010, doi: 10.2478/v10037-010-0025-7.Jarosław Kotowicz. Real sequences and basic operations on them. Formalized Mathematics, 1(2):269-272, 1990.Jarosław Kotowicz. Functions and finite sequences of real numbers. Formalized Mathematics, 3(2):275-278, 1992.Yatsuka Nakamura, Artur Korniłowicz, Nagato Oya, and Yasunari Shidama. The real vector spaces of finite sequences are finite dimensional. Formalized Mathematics, 17(1):1-9, 2009, doi:10.2478/v10037-009-0001-2.Takaya Nishiyama, Keiji Ohkubo, and Yasunari Shidama. The continuous functions on normed linear spaces. Formalized Mathematics, 12(3):269-275, 2004.Beata Padlewska and Agata Darmochwał. Topological spaces and continuous functions. Formalized Mathematics, 1(1):223-230, 1990.Konrad Raczkowski and Paweł Sadowski. Topological properties of subsets in real numbers. Formalized Mathematics, 1(4):777-780, 1990.Walter Rudin. Principles of Mathematical Analysis. MacGraw-Hill, 1976.Laurent Schwartz. Cours d'analyse. Hermann, 1981. http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=000271006300001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=b7bc2757938ac7a7a821505f8243d9f3Wojciech A. Trybulec. Vectors in real linear space. Formalized Mathematics, 1(2):291-296, 1990.Zinaida Trybulec. Properties of subsets. Formalized Mathematics, 1(1):67-71, 1990.Edmund Woronowicz. Relations defined on sets. Formalized Mathematics, 1(1):181-186, 1990.Hiroshi Yamazaki, Yoshinori Fujisawa, and Yatsuka Nakamura. On replace function and swap function for finite sequences. Formalized Mathematics, 9(3):471-474, 2001