Search results for: aerial photogrammetry

Authors: Valerija Dunkić, Nada Bezić

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Salvia is a genus of the well-known medicinal plant of Lamiaceae family and growing wild throughout the world. This abstract reports the comparation of the essential oils from leaves and flowers composition of Salvia pratensis L. from mountain Velebit, Croatia. Water distilled essential oils from aerial parts of investigation plant have been analysed by GC and GC/MS using VF-5ms capillary column. Fifty-three constituents, representing 99.4% of the leaf oil composition; 51 constituents, representing 86.8% of the flower oil composition. Essential oil yield varied from 0.9% to 1.3% in the leaf and flower parts of the plant. The flower essential oil was characterized by a high concentration of E-caryophyllene (21.9%) and germacrene D (10.2%). Major constituents of the leaf oil were linalool (17.7%), linalool acetate (15.3%) and limonene (9.8%). The comparative results clearly indicated that the leaf and flower oil compositions of S. pratensis were quite different in terms of major components content. The present study gives additional knowledge about secondary metabolites contents on the genus Salvia.

Keywords: essential oil, leaf, flower, Salvia pratensis L.

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Authors: Hamza Assiry, Gamal A. Mohamed, Sabrin R. M. Ibrahim, Hossam M. Abdallah

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Chemical investigation of the aerial parts of Barleria trispinosa(Forssk.) Vahl. resulted in isolation of four major iridoids that were identified as 6,8-O,O-diacetylshanhiside methyl ester (acetyl barlerin) (1), 8-O-acetylshanzhiside methyl ester (barlerin) (2), shanzhiside methyl ester (3), and 6- ⍺ -L-rhamnopyranosyl-8-O-acetylshanzihiside methyl ester (4). The isolated compounds were confirmed by detailed one and two-dimensional NMR. Isolated compounds were tested for their cytotoxic activity on breast cancer (MCF-7, MDA-MB-231) and colon cancer (LS174T) cell linesusing sulphorhodamine B (SRB) assay. It is noteworthy that compound 1 demonstrated a significant cytotoxic potential towards MDA-MB-231 cell line with IC5016.7 ± 2.7µg / mL compared to doxorubicin whereas compounds 2, showed moderate cytotoxic potential with IC5021.2 ± 1.9µg / mL on MCF-7. The other compounds showed moderate activity on the tested cell lines.

Keywords: acanthaceae, cytotoxicity, metabolites, barleria trispinosa

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Authors: A. Abdenbi, B. Dennai, B. Touati, M. Bouaaza, A. Saad

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The essential oils of many plants have become popular in recent years and their bioactive principles have recently won several industry sectors, however their use as antibacterial and anti fungal agents has been reported. This study focuses on the physico chemical and phyto chemical with a study of the antimicrobial activity of essential oils of aromatic and medicinal plant of southwest Algeria, this essential oil was obtained by hydro-distillation of aerial parts of Cotula cinerea, belonging to the Asteraceae family, it is very extensive in the spring season in a region called Kenadza road, located 12km from Bechar. Variable anti fungal activity of the essential oil of Cotula cinerea (yield 2%) were revealed about four fungal strains, the minimum inhibitory concentrations of essential oils were determined by the method of dilution in agar. Significant fungal sensitivity of Penicillium sp with an inhibition of 32.3 mm area.

Keywords: Cotula cinerea, essential oil, physico- chemical analysis and phyto- chemical, anti fungal power

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Authors: Artur Krukowski, Emmanouela Vogiatzaki

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The article presents results from the AF3 project “Advanced Forest Fire Fighting” focused on Unmanned Aircraft Systems (UAS)-based 3D surveillance and 3D area mapping using high-resolution photogrammetric methods from multispectral imaging, also taking advantage of the 3D scanning techniques from the SCAN4RECO project. We also present a proprietary embedded sensor system used for the detection of fire ignitions in the forest using near-infrared based scanner with weight and form factors allowing it to be easily deployed on standard commercial micro-UAVs, such as DJI Inspire or Mavic. Results from real-life pilot trials in Greece, Spain, and Israel demonstrated added-value in the use of UAS for precise and reliable detection of forest fires, as well as high-resolution 3D aerial modeling for accurate quantification of human resources and equipment required for firefighting.

Keywords: forest wildfires, surveillance, fuel volume estimation, firefighting, ignition detectors, 3D modelling, UAV

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Authors: C. Gebauer, C. Henke, R. Vossen

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Within the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, a team of unmanned aerial vehicles (UAV) is used to capture intruder drones by physical interaction. The challenge is motivated by UAV safety. The purpose of this work is to investigate the agility of a quadcopter being controlled visually. The aim is to track and follow a highly dynamic target, e.g., an intruder quadcopter. The following is realized in close range and the opponent has a velocity of up to 10 m/s. Additional limitations are given by the hardware itself, where only monocular vision is present, and no additional knowledge about the targets state is available. An image based visual servoing (IBVS) approach is applied in combination with a Linear Quadratic Regulator (LQR). The IBVS is integrated into the LQR and an optimal trajectory is computed within the projected three-dimensional image-space. The approach has been evaluated on real quadcopter systems in different flight scenarios to demonstrate the system's stability.

Keywords: image based visual servoing, quadcopter, dynamic object tracking, linear-quadratic regulator

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Authors: R. Hellmuth

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The method of factory planning has changed a lot, especially when it is about planning the factory building itself. Factory planning has the task of designing products, plants, processes, organization, areas, and the building of a factory. Regular restructuring is becoming more important in order to maintain the competitiveness of a factory. Restrictions in new areas, shorter life cycles of product and production technology as well as a VUCA world (Volatility, Uncertainty, Complexity and Ambiguity) lead to more frequent restructuring measures within a factory. A digital factory model is the planning basis for rebuilding measures and becomes an indispensable tool. Furthermore, digital building models are increasingly being used in factories to support facility management and manufacturing processes. The main research question of this paper is, therefore: What kind of digital factory model is suitable for the different areas of application during the operation of a factory? First, different types of digital factory models are investigated, and their properties and usabilities for use cases are analysed. Within the scope of investigation are point cloud models, building information models, photogrammetry models, and these enriched with sensor data are examined. It is investigated which digital models allow a simple integration of sensor data and where the differences are. Subsequently, possible application areas of digital factory models are determined by means of a survey and the respective digital factory models are assigned to the application areas. Finally, an application case from maintenance is selected and implemented with the help of the appropriate digital factory model. It is shown how a completely digitalized maintenance process can be supported by a digital factory model by providing information. Among other purposes, the digital factory model is used for indoor navigation, information provision, and display of sensor data. In summary, the paper shows a structuring of digital factory models that concentrates on the geometric representation of a factory building and its technical facilities. A practical application case is shown and implemented. Thus, the systematic selection of digital factory models with the corresponding application cases is evaluated.

Keywords: building information modeling, digital factory model, factory planning, maintenance

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Authors: Chebbah Kaoutar, Marchioni Eric, Menad Ahmed, Mekkiou Ratiba, Sarri Djamel, Ameddah Souad, Boumaza Ouahiba, Seghiri Ramdane, Benayache Samir, Benayache Fadila

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This study was designed to estabilish a preliminary phytochemical screening, evaluate the phenolic and flavonoid content according to the Folin-Ciocalteu procedure, and aluminum chloride method respectively and to determine qualitatively, using HPLC-UV method, the most important products present in ethyl acetate (EtOAc) and n-butanol (n-BuOH) extracts of the aerial parts of Genista cephalantha Spach. from East Algeria. The antioxidant activity of these extracts was spectrophotometrically tested by measuring their ability to scavenge a stable DPPH free radical and by β-Carotene/linoleic acid bleaching assay. Evaluated extracts showed a good activity in both antioxidant system assays.

Keywords: phenolic compounds, flavonoids, HPLC-DAD-UV, antioxidant activity, genista cephalantha, fabaceae

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Authors: Sebastian Hiergeist

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It is a common view that Unmanned Aerial Vehicles (UAV) tend to migrate into the civil airspace. This trend is challenging UAV manufacturer in plenty ways, as there come up a lot of new requirements and functional aspects. On the higher application levels, this might be collision detection and avoidance and similar features, whereas all these functions only act as input for the flight control components of the aircraft. The flight control computer (FCC) is the central component when it comes up to ensure a continuous safe flight and landing. As these systems are flight critical, they have to be built up redundantly to be able to provide a Fail-Operational behavior. Recent architectural approaches of FCCs used in UAV systems are often based on very simple microprocessors in combination with proprietary Application-Specific Integrated Circuit (ASIC) or Field Programmable Gate Array (FPGA) extensions implementing the whole redundancy functionality. In the future, such simple microprocessors may not be available anymore as they are more and more replaced by higher sophisticated System on Chip (SoC). As the avionic industry cannot provide enough market power to significantly influence the development of new semiconductor products, the use of solutions from foreign markets is almost inevitable. Products stemming from the industrial market developed according to IEC 61508, or automotive SoCs, according to ISO 26262, can be seen as candidates as they have been developed for similar environments. Current available SoC from the industrial or automotive sector provides quite a broad selection of interfaces like, i.e., Ethernet, SPI or FlexRay, that might come into account for the implementation of a redundancy network. In this context, possible network architectures shall be investigated which could be established by using the interfaces stated above. Of importance here is the avoidance of any single point of failures, as well as a proper segregation in distinct fault containment regions. The performed analysis is supported by the use of guidelines, published by the aviation authorities (FAA and EASA), on the reliability of data networks. The main focus clearly lies on the reachable level of safety, but also other aspects like performance and determinism play an important role and are considered in the research. Due to the further increase in design complexity of recent and future SoCs, also the risk of design errors, which might lead to common mode faults, increases. Thus in the context of this work also the aspect of dissimilarity will be considered to limit the effect of design errors. To achieve this, the work is limited to broadly available interfaces available in products from the most common silicon manufacturer. The resulting work shall support the design of future UAV FCCs by giving a guideline on building up a redundancy network between SoCs, solely using on board interfaces. Therefore the author will provide a detailed usability analysis on available interfaces provided by recent SoC solutions, suggestions on possible redundancy architectures based on these interfaces and an assessment of the most relevant characteristics of the suggested network architectures, like e.g. safety or performance.

Keywords: redundancy, System-on-Chip, UAV, flight control computer (FCC)

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Authors: Soumeya Krimat, Tahar Dob, Aicha Kesouri, Ahmed Nouasri, Hafidha Metidji

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Lavandula antineae Maire is an endemic medicinal plant of Algeria which is traditionally used for the treatment of chills, bruises, oedema and rheumatism. The objective of this study is to evaluate the anti-inflammatory of hydromethanolic aerial parts extract of Lavandula antineae for the first time using carrageenan-paw edema and croton oil-ear odema models. The plant extract, at the dose of 200 mg/kg, showed a significant anti-inflammatory activity (P˂0.05) in the carrageenan induced edema test in mice, showing 80.74% reduction in the paw thikness comparable to that produced by the standard drug aspirin 83.44% at 4h. When it was applied topically at a dosage of 1 and 2 mg per ear, the percent edema reduction in treated mice was 29.45% and 74.76%, respectively. These results demonstrate that Lavandula antineae Maire extract possess remarkable anti-inflammatory activity, supporting the folkloric usage of the plant to treat various inflammatory and pain diseases.

Keywords: lavandula antineae maire, medicinal plant, anti-inflammatory activity, carrageenan-paw edema, croton oil-ear edema

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Authors: Ibrahim Cicek, Melike Nikbay

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Electrically propelled vehicles, either road or aerial vehicles are studied on contemporarily for their robust maneuvers and cost-efficient transport operations. The main power generating systems of such vehicles electrified by selecting proper components and assembled as e-powertrain. Generally, e-powertrain components selected considering the target performance requirements. Since the main component of propulsion is the drive unit, e-motor control system is subjected to achieve the performance targets. In this paper, the optimization of e-motor control parameters studied by Integral Squared Method (ISE). The overall aim is to minimize power consumption of such vehicles depending on mission profile and maintaining smooth maneuvers for passenger comfort. The sought-after values of control parameters are computed using the Optimal Control Theory. The system is modeled as a closed-loop linear control system with calibratable parameters.

Keywords: optimization, e-powertrain, optimal control, electric vehicles

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Authors: Shripad Kulkarni

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Plant disease is an impairment of the normal state of a plant that interrupts or modifies its vital functions. Disease occurs on different parts of plants and cause heavy losses. Diagnosis of Problem is very important before planning any management practice and this can be done based on appearance of the crop, examination of the root and examination of the soil. There are various types of diseases such as biotic (transmissible) which accounts for ~30% whereas , abiotic (not transmissible) diseases are the major one with ~70% incidence. Plant diseases caused by different groups of organism’s belonging fungi, bacteria, viruses, nematodes and few others have remained important in causing significant losses in different crops indicating the urgent need of their integrated management. Various factors favor disease development and different steps and methods are involved in management of diseases under protected condition. Management of diseases through botanicals and bioagents by modifying root and aerial environment, vector management along with care to be taken while managing the disease are analysed.

Keywords: organic production system, diseases, bioagents and polyhouse, agriculture

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Authors: Feri̇t Çakici, M. Kemal Leblebi̇ci̇oğlu

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In this study, an unmanned aerial vehicle (UAV) with level flight, vertical take-off and landing (VTOL) and mode-transitioning capability is designed and analyzed. The platform design combines both multirotor and fixed-wing (FW) conventional airplane structures and control surfaces; therefore named as VTOL-FW. The aircraft is modeled using aerodynamical principles and linear models are constructed utilizing small perturbation theory for trim conditions. The proposed method of control includes implementation of multirotor and airplane mode controllers and design of an algorithm to transition between modes in achieving smooth switching maneuvers between VTOL and FW flight. Thus, VTOL-FW UAV’s flight characteristics are expected to be improved by enlarging operational flight envelope through enabling mode-transitioning, agile maneuvers and increasing survivability. Experiments conducted in simulation and real world environments shows that VTOL-FW UAV has both multirotor and airplane characteristics with extra benefits in an enlarged flight envelope.

Keywords: aircraft design, linear analysis, mode transitioning control, UAV

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Authors: Lucas Aerre, Wallesson Faria, Roberto Pimentel, Juliana Santos

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An extremely disturbing and irritating element in the lives of people and organizations is the noise, the consequences that can bring us has a lot of connection with human health as well as financial and economic aspects. In order to improve the efficiency of buildings in Brazil in general, a performance standard was created, NBR 15.575 in which all buildings are seen in a more systemic and peculiar way, while following the requirements of the standard. The acoustic performance present in these buildings is one such requirement. Based on this, the present work was elaborated with the objective of evaluating through acoustic measurements the acoustic performance of vertical internal fences that are under the incidence of aerial noise of a building in the city of Brasilia-DF. A short theoretical basis is made and soon after the procedures of measurement are described through the control method established by the standard, and its results are evaluated according to the parameters of the same. The measurement performed between rooms of the same unit, presented a standardized sound pressure level difference (D nT, w) equal to 40 dB, thus being classified within the minimum performance required by the standard in question.

Keywords: airborne noise, performance standard, soundproofing, vertical seal

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Authors: M. Bazin, I. Bouguir, D. Combe, V. Germain, G. Lassade

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The problem of managing a fleet of quad-rotor drones in a completely unknown environment is analyzed in the present paper. This work is following the footsteps of other studies about how should be managed the movements of a swarm of elements that have to stay gathered throughout their activities. In this paper we aim to demonstrate the limitations of a system where absolutely all the calculations and physical movements of our elements are done by one single external element. The strategy of control is an adaptive approach which takes into account the explored environment. This is made possible thanks to a set of command rules which can guide the drones through various missions with defined goal. The result of the mission is independent of the nature of environment and the number of drones in the fleet. This strategy is based on a simultaneous usage of different data: obstacles positions, real-time positions of all drones and relative positions between the different drones. The present work is made with the Robot Operating System and used several open-source projects on localization and usage of drones.

Keywords: cooperative guidance, distributed control, unmanned aerial vehicle, obstacle avoidance

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Authors: Emrah Yildirim, Veli Ortacesme

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Manavgat region, located in Antalya province at South Turkey, has hosted many civilizations throughout the centuries. All of these civilizations cultivated the land in their surroundings by engaging in agriculture, livestock production and hunting. In the last 50 years, there have been dramatic changes in the region. The economy of the region switched from the agriculture to tourism. Due to the increase in the irrigable agricultural lands, several dams were built on Manavgat River. Developments in the agricultural mechanization and new product needs have changed the pattern of agriculture and regional landscape. Coastal zone of the region has transformed to tourism areas, Manavgat Town Center has grown up and the urbanization in general has increased. The population and urbanization have increased by 257 % and 276 %, respectively. The tourism and commercial areas cover 561,8 hectares today. All these developments had some negative effects on the environment. In this study, land use/land cover transformations were studied in Manavgat region by using aerial photos. The reasons and consequences of the land use transformations were discussed, and some recommendations regarding the sustainable use of this region’s landscape will be shared.

Keywords: land use, Manavgat region, south Turkey, transformation

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Authors: Adrian Sauer, Lorenz Einberger, Florian Hilpert

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The advancements and technical innovations in the field of electric unmanned aviation over the past years opened the third dimension in areas like surveillance, logistics, and mobility for a wide range of private and commercial users. Researchers and companies are faced with the task of integrating their technology into airborne platforms. Especially start-ups and researchers require unmanned aerial vehicles (UAV), which can be quickly developed for specific use cases without spending significant time and money. This paper shows a design approach for the rapid development of a lightweight automatic separate-lift-thrust (SLT) electric vertical take-off and landing (eVTOL) UAV prototype, which is able to fulfill basic transportation as well as surveillance missions. The design approach does not require expensive or time-consuming design loop software. Thereby developers can easily understand, adapt, and adjust the presented method for their own project. The approach is mainly focused on crucial design aspects such as aerofoil, tuning, and powertrain.

Keywords: aerofoil, drones, rapid prototyping, powertrain

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Authors: Reza Taherlouei Safa, Mohammad Aboonajmi

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Agriculture plays an essential role in providing food for the world's population. It also offers numerous benefits to countries, including non-food products, transportation, and environmental balance. Precision agriculture, which employs advanced tools to monitor variability and manage inputs, can help achieve these benefits. The increasing demand for food security puts pressure on decision-makers to ensure sufficient food production worldwide. To support sustainable agriculture, unmanned aerial vehicles (UAVs) can be utilized to manage farms and increase yields. This paper aims to provide an understanding of UAV usage and its applications in agriculture. The objective is to review the various applications of UAVs in agriculture. Based on a comprehensive review of existing research, it was found that different sensors provide varying analyses for agriculture applications. Therefore, the purpose of the project must be determined before using UAV technology for better data quality and analysis. In conclusion, identifying a suitable sensor and UAV is crucial to gather accurate data and precise analysis when using UAVs in agriculture.

Keywords: drone, precision agriculture, farmer income, UAV

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Authors: Mehmet Karahan, Nevin Karahan

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Water and air permeability and thermal resistance of fabrics are the important attributes which strongly influence the thermo-physiological comfort properties of sportswear fabrics in different environmental conditions. In this work, terry and fleece fabrics were developed by varying the fiber content and areal density of fabrics. Further, the thermo-physical properties, including air permeability, water vapor permeability, and thermal resistance, of the developed fabrics were analyzed before and after washing. The multi-response optimization of thermo-physiological comfort properties was done by using principal component analysis (PCA) and Taguchi signal to noise ratio (PCA-S/N ratio) for optimal properties. It was found that the selected parameters resulted in a significant effect on thermo-physiological comfort properties of knitted fabrics. The PCA analysis showed that before wash, 100% cotton fabric with an aerial weight of 220 g.m⁻² gave optimum values of thermo-physiological comfort.

Keywords: thermo-physiological comfort, fleece knitted fabric, air permeability, water vapor transmission, cotton/polyester

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Authors: Sawsan Eissa, Omnia Kabbany

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The coastline of Togo has been historically suffering from erosion for decades, which requires a solution to help control and reduce the erosion to allow for the development of the coastal area. A morpho-dynamic model using X-beach software was developed for the Western 14 Km of the Togolese coast. The model was coupled with the hydrodynamic module of DELFT 3D, flow, and the Wave module, SWAN. The data used as input included a recent bathymetric survey, a recent shoreline topographic survey, aerial photographs, ERA 5 water level and wave data, and recent test results of seabed samples. A number of scenarios were modeled: do nothing scenario, groynes, detached breakwaters system with different crest levels and alignments. The findings showed that groynes is not expected to be effective for protection against erosion, and that the best option is a system of detached breakwater, partially emerged-partially submerged couples with periodical maintenance.

Keywords: hydrodynamics, morphology, Togo, Delft3D, SWAN, XBeach, coastal erosion, detached breakwaters

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Authors: Ciro Sobrinho Campolina Martins, Halison da Silva Pereira, Vitor Mainenti Leal Lopes

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Unmanned Aerial vehicles (UAVs) has been used in a wide range of applications, from precise agriculture monitoring for irrigation and fertilization to military attack missions. Long range performance is required for many of these applications. Tailless aircrafts are commonly used as long-range configurations and, due to its small amount of stability, the airfoil shape design of its wings plays a central role on the performance of the airplane. In this work, a new family of flying wing airfoils is designed for low Reynolds number flows, typical of small-middle UAVs. Camber, thickness and their maximum positions in the chord are variables used for the airfoil geometry optimization. Aerodynamic non-dimensional coefficients were obtained by the well-established Panel Method. High efficient airfoils with small pitch moment coefficient are obtained from the analysis described and its aerodynamic polars are plotted.

Keywords: airfoil design, flying wing, low Reynolds number, tailless aircraft, UAV

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Authors: Abdelhakam A. Noreldien, Sakhr B. Abudarag, Muslim S. Eltoum, Salih O. Osman

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This paper presents an analytical study of Small Unmanned Aerial Vehicle (SUAV) dynamic stability derivatives. Simulating SUAV dynamics and analyzing its behavior at the earliest design stages is too important and more efficient design aspect. The approach suggested in this paper is using the wind tunnel experiment to collect the aerodynamic data and get the dynamic stability derivatives. AutoCAD Software was used to draw the case study (wildlife surveillance SUAV). The SUAV is scaled down to be 0.25% of the real SUAV dimensions and converted to a wind tunnel model. The model was tested in three different speeds for three different attitudes which are; pitch, roll and yaw. The wind tunnel results were then used to determine the case study stability derivative values, and hence it used to calculate the roots of the characteristic equation for both longitudinal and lateral motions. Finally, the characteristic equation roots were found and discussed in all possible cases.

Keywords: model, simulating, SUAV, wind tunnel

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Authors: Mehmet Ozturk, Serdal Akyuz, Halit Turan

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By the evolving technology, the nature of the war has been changed since the beginning of the history. In the first generation war, the bayonet came to the fore in battlefields; successively; in the second-generation firepower; in the third generation maneuver. Today, in the fourth-generation, fighters, sides, and even fighters’ borders are unclear; consequently, lines of the battles have lost their significance. Furthermore, the actors in the battles can be state or non-state, military, paramilitary or civilian. In order to change the balance according to their interests, parties have utilized the urban areas as warfare. The main reason for using urban areas as a battlefield is the imbalance between parties. To balance the power strength, exploiting technological developments has utmost importance. There are many newly developed technologies for urban warfare such as change in the size of the unmanned aerial vehicle, increased usage of unmanned ground vehicles (especially in supply and evacuation purposes), systems showing the behind of the wall, simulations used for educational purposes. This study will focus on the technological equipment being used for urban warfare.

Keywords: urban warfare, unmanned ground vehicles, technological developments, nature of the war

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Authors: Emine Laarouchi, Daniela Cancila, Laurent Soulier, Hakima Chaouchi

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Cyber-Physical Systems as drones proved their efficiency for supporting emergency applications. For these particular applications, travel time and autonomous navigation algorithms are of paramount importance, especially when missions are performed in urban environments with high obstacle density. In this context, however, safety properties are not properly addressed. Our ambition is to optimize the system safety level under autonomous navigation systems, by preserving performance of the CPS. At this aim, we introduce genetic algorithms in the autonomous navigation process of the drone to better infer its trajectory considering the possible obstacles. We first model the wished safety requirements through a cost function and then seek to optimize it though genetics algorithms (GA). The main advantage in the use of GA is to consider different parameters together, for example, the level of battery for navigation system selection. Our tests show that the GA introduction in the autonomous navigation systems minimize the risk of safety lossless. Finally, although our simulation has been tested for autonomous drones, our approach and results could be extended for other autonomous navigation systems such as autonomous cars, robots, etc.

Keywords: safety, unmanned aerial vehicles , CPS, ACPS, drones, path planning, genetic algorithms

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Authors: Hakan Bozdoğan

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The goal of this paper is to evaluate the species richness, diversity and structure of in different habitats in the Kahramanmaraş Province in Turkey by using a mathematical program called as Geo-Gebra Software. The Ascalaphidae family comprises the most visually remarkable members of the order Neuroptera due to large dimensions, aerial predatory behaviour and dragonfly-like (or even butterfly-like) habits, allowing an immediate recognition also for occasional observers. Otherwise, they are one of the more poorly known families of the order in respect to biology, ecology and especially larval morphology. This discrepancy appears particularly noteworthy considering that it is a fairly large family (ca. 430 species) widely distributed in tropical and temperate areas of the World. The use of Dynamic Geometry, Analytical Softwares provides researchers a great way of visualising mathematical objects and encourage them to carry out tasks to interact with such objects and add to support of their researching. In this study we implemented; Circle with Center Through Point, Perpendicular Line, Vectors and Rays, Segments and Locus to elucidate the ecological and habitat behaviours of Butterfly-like lacewings in an analytical plane by using Geo-Gebra.

Keywords: neuroptera, Ascalaphidae, geo-gebra software, habitat selectivity

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Authors: Ebrahim Hassan Kapeel, Ahmed Mohsen Kamel, Hossan Hendy, Yehia Z. Elhalwagy

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Interest in autopilot design has been raised intensely as a result of recent advancements in Unmanned Aerial vehicles (UAVs). Due to the enormous number of applications that UAVs can achieve, the number of applied control theories used for them has increased in recent years. These small fixed-wing UAVs are suffering high non-linearity, sensitivity to disturbances, and coupling effects between their channels. In this work, the nonlinear dynamic inversion (NDI) control lawisdesigned for a nonlinear small fixed-wing UAV model. The NDI is preferable for varied operating conditions, there is no need for a scheduling controller. Moreover, it’s applicable for high angles of attack. For the designed flight controller validation, a nonlinear Modified PI-D controller is performed with our model. A comparative study between both controllers is achieved to evaluate the NDI performance. Simulation results and analysis are proposed to illustrate the effectiveness of the designed controller based on NDI.

Keywords: UAV dynamic model, attitude control, nonlinear PID, dynamic inversion

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Authors: Hyeongbok Kim, Lingling Zhao, Xiaohong Su

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Deep reinforcement learning has been applied to address various problems in robotics, such as autonomous driving and unmanned aerial vehicle. However, because of the sparse reward penalty for a collision with obstacles during the navigation mission, the agent fails to learn the optimal policy or requires a long time for convergence. Therefore, using obstacles and enemy agents, in this paper, we present a curriculum-based boost learning method to effectively train compound skills during multi-agent reinforcement learning. First, to enable the agents to solve challenging tasks, we gradually increased learning difficulties by adjusting reward shaping instead of constructing different learning environments. Then, in a benchmark environment with static obstacles and moving enemy agents, the experimental results showed that the proposed curriculum learning strategy enhanced cooperative navigation and compound collision avoidance skills in uncertain environments while improving learning efficiency.

Keywords: curriculum learning, hard exploration, multi-agent reinforcement learning, robotic navigation, sparse reward

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Authors: Aghoutane Basma, Naama Amal, Talbi Hayat, El Manfalouti Hanae, Kartah Badreddine

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Aromatic and medicinal plants are used by man for different needs, including food and medicinal needs for their biological properties attributed mainly to phenolic compounds and for their antioxidant capacity. In our study, the aim is to compare three extraction solvents by evaluating the contents of phenolic compounds, the contents of flavonoids, and the antioxidant activities of extracts from different methods of extracting the aerial part of an endemic medicinal plant from Morocco. This activity was also confirmed by three methods (2,2-diphenyl-1-picrylhydrazyl (DPPH), antioxidant reducing power of iron (FRAP), and total antioxidant capacity (CAT)). The results showed that this plant is rich in polyphenols and flavonoids, as well as it has a very important antioxidant capacity in whatever the solvent or the extraction method. This suggests the importance of using extracts from this plant as a new natural source of food additives and potent antioxidants in the food industry.

Keywords: endemic plant of Morocco, phenolic compound, solvent, extraction technique, antioxidant activity

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Authors: Hassan Mohammad Karimi, Ali Salehzade Nobari, Hosein Shahverdi

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With the advancement of technology and the decreasing weight of aerial structures, there is a growing demand for alternative energy sources. Structural vibrations can now be utilized to power low-power sensors for monitoring structural health and charging small batteries in drones. Research on extracting energy from flutter using piezoelectric has been extensive in recent years. This article specifically examines the use of a single-jointed beam with a free surface attached to its free end and a bimorph piezoelectric patch connected to the joint, providing two degrees of torsional and bending freedom. The study investigates the voltage harvested at various wind speeds and bending and twisting stiffness in a wind tunnel. The results indicate that as flutter speed increases, the output voltage also increases to some extent. However, at high wind speeds, the limited cycle created becomes unstable, negatively impacting the harvester's performance. These findings align with other research published in reputable scientific journals.

Keywords: energy harvesting, piezoelectric, flutter, wind tunnel

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Authors: Mohammed Qasim, Kyoung-Dae Kim

Abstract:

In this paper, we present the design of the super-ellipsoidal potential function (SEPF), that can be used for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of SEPF, we have the full control over the shape and size of the potential function. In particular, we can adjust the length, width, height, and the amount of flattening at the tips of the potential function so that the collision avoidance motion vector generated from the potential function can be adjusted accordingly. Based on the idea of the SEPF, we also propose an approach for the local autonomy of a UAV for its collision avoidance when the UAV is teleoperated by a human operator. In our proposed approach, a teleoperated UAV can not only avoid collision autonomously with other surrounding objects but also track the operator’s control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAVs collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation of quadrotor UAV teleoperation using virtual robot experimentation platform (v-rep) and Matlab programs.

Keywords: artificial potential function, autonomous collision avoidance, teleoperation, quadrotor

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Authors: Alberto Azevedo, Ricardo Martins, André B. Fortunato, Anabela Oliveira

Abstract:

Water is under severe threat today because of the rising population, increased agricultural and industrial needs, and the intensifying effects of climate change. Due to sea-level rise, erosion, and demographic pressure, the coastal regions are of significant concern to the scientific community. The Water Monitoring Sentinel Cloud platform (WORSICA) service is focused on providing new tools for monitoring water in coastal and inland areas, taking advantage of remote sensing, in situ and tidal modeling data. WORSICA is a service that can be used to determine the coastline, coastal inundation areas, and the limits of inland water bodies using remote sensing (satellite and Unmanned Aerial Vehicles - UAVs) and in situ data (from field surveys). It applies to various purposes, from determining flooded areas (from rainfall, storms, hurricanes, or tsunamis) to detecting large water leaks in major water distribution networks. This service was built on components developed in national and European projects, integrated to provide a one-stop-shop service for remote sensing information, integrating data from the Copernicus satellite and drone/unmanned aerial vehicles, validated by existing online in-situ data. Since WORSICA is operational using the European Open Science Cloud (EOSC) computational infrastructures, the service can be accessed via a web browser and is freely available to all European public research groups without additional costs. In addition, the private sector will be able to use the service, but some usage costs may be applied, depending on the type of computational resources needed by each application/user. Although the service has three main sub-services i) coastline detection; ii) inland water detection; iii) water leak detection in irrigation networks, in the present study, an application of the service to Óbidos lagoon in Portugal is shown, where the user can monitor the evolution of the lagoon inlet and estimate the topography of the intertidal areas without any additional costs. The service has several distinct methodologies implemented based on the computations of the water indexes (e.g., NDWI, MNDWI, AWEI, and AWEIsh) retrieved from the satellite image processing. In conjunction with the tidal data obtained from the FES model, the system can estimate a coastline with the corresponding level or even topography of the inter-tidal areas based on the Flood2Topo methodology. The outcomes of the WORSICA service can be helpful for several intervention areas such as i) emergency by providing fast access to inundated areas to support emergency rescue operations; ii) support of management decisions on hydraulic infrastructures operation to minimize damage downstream; iii) climate change mitigation by minimizing water losses and reduce water mains operation costs; iv) early detection of water leakages in difficult-to-access water irrigation networks, promoting their fast repair.

Keywords: remote sensing, coastline detection, water detection, satellite data, sentinel, Copernicus, EOSC

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