Search results for: unmanned aerial system

Authors: C. Ardil

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Unmanned combat aircraft (UCA) are expanding significantly in several defense industries, along with artificial intelligence improvements in highly precise technology. UCA is crucial in military settings for targeting enemy elements, and objects. UCA is also utilized for highly precise reconnaissance and surveillance tasks. To select the best alternative for critical missions, a methodical and effective strategy for UCA selection is required. Multiple criteria decision-making (MCDM) methodologies are ideally equipped to handle the complexity of alternative aircraft selection. To analyze UCA alternatives for the selection process, an integrated methodology built on the objective criteria weights and preference analysis for reference ideal solution (PARIS). First, the weights of essential elements are determined using the average weight (AW), standard deviation (SW) and entropy weight (EW) approach. The weights of the evaluation criteria affect the decision-making process. The aircraft choices in the decision problem are then ranked using objective criteria weights along with the PARIS technique. The validation and sensitivity analysis of the proposed MCDM approach are discussed.

Keywords: unmanned combat aircraft (UCA), multiple criteria decision making, MCDM, PARIS

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Authors: Anders S. Kristensen, Dewan Ahsan, Saqib Mehmood, Shakeel Ahmed

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Traffic accidents are a result of the convergence of hazards, malfunctioning of vehicles and human negligence that have adverse economic and health impacts and effects. Unfortunately, avoiding them completely is very difficult, but with quick response to rescue and first aid, the mortality rate of inflicted persons can be reduced significantly. Smart and innovative technologies can play a pivotal role to respond faster to traffic crash emergencies comparing conventional means of transportation. For instance, Rescue Emergency Drone (RED) can provide faster and real-time crash site risk assessment to emergency medical services, thereby helping them to quickly and accurately assess a situation, dispatch the right equipment and assist bystanders to treat inflicted person properly. To conduct a research in this regard, the case of a traffic roundabout that is prone to frequent traffic accidents on the outskirts of Esbjerg, a town located on western coast of Denmark is hypothetically considered. Along with manual calculations, Emergency Disaster Management Simulation (EDMSIM) has been used to verify the response time of RED from a fire station of the town to the presumed crash site. The results of the study demonstrate the robustness of RED into emergency services to help save lives. 

Keywords: Automated external defibrillator, medical emergency, fire and rescue services, response time, unmanned aerial system.

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Authors: Roberto Sabatini, Terry Moore, Chris Hill

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This paper presents a novel Global Navigation Satellite System (GNSS) Avionics Based Integrity Augmentation (ABIA) system architecture suitable for civil and military air platforms, including Unmanned Aircraft Systems (UAS). Taking the move from previous research on high-accuracy Differential GNSS (DGNSS) systems design, integration and experimental flight test activities conducted at the Italian Air Force Flight Test Centre (CSV-RSV), our research focused on the development of a novel approach to the problem of GNSS ABIA for mission- and safety-critical air vehicle applications and for multi-sensor avionics architectures based on GNSS. Detailed mathematical models were developed to describe the main causes of GNSS signal outages and degradation in flight, namely: antenna obscuration, multipath, fading due to adverse geometry and Doppler shift. Adopting these models in association with suitable integrity thresholds and guidance algorithms, the ABIA system is able to generate integrity cautions (predictive flags) and warnings (reactive flags), as well as providing steering information to the pilot and electronic commands to the aircraft/UAS flight control systems. These features allow real-time avoidance of safety-critical flight conditions and fast recovery of the required navigation performance in case of GNSS data losses. In other words, this novel ABIA system addresses all three cornerstones of GNSS integrity augmentation in mission- and safety-critical applications: prediction (caution flags), reaction (warning flags) and correction (alternate flight path computation).

Keywords: Global Navigation Satellite Systems (GNSS), Integrity Augmentation, Unmanned Aircraft Systems, Aircraft Based Augmentation, Avionics Based Integrity Augmentation, Safety-Critical Applications.

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Authors: Vatasta Koul, Ayush Gupta, Vaibhav Sharma, Rajesh Yadav

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Today we are unmarking the secrets of the universe by exploring different stars and planets and most of the space exploration is done by unmanned space robots. In addition to our planet Earth, there are pieces of evidence that show other astronomical objects in our solar system such as Venus, Mars, Saturn’s moon Titan and Uranus support the flight of fixed wing air vehicles. In this paper, we take forward the concept of presence of large rounded tubercles along the leading edge of a wing and use it as a passive flow control device that will help in improving its aerodynamic performance and maneuverability. Furthermore, in this research, aerodynamic measurements and performance analysis of wavy leading tubercles on the fixed wings at 5-degree angle of attack are carried out after determination of the flow conditions on the selected planetary bodies. Wavelength and amplitude for the sinusoidal modifications on the leading edge are analyzed and simulations are carried out for three-dimensional NACA 0012 airfoil maintaining unity AR (Aspect Ratio). Tubercles have consistently demonstrated the ability to delay and decrease the severity of stall as per the studies were done in the Earth’s atmosphere. Implementing the same design on the leading edges of Micro-Air Vehicles (MAVs) and UAVs could make these aircrafts more stable over a greater range of angles of attack in different planetary environments of our solar system.

Keywords: Amplitude, NACA0012, tubercles, unmanned space robots.

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Authors: Mohammed Qasim, Kyoung-Dae Kim

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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, autonomy, collision avoidance, teleoperation, quadrotor, UAV.

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Authors: H. B. Kekre, Tanuja K. Sarode, Bhakti Raul

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In this paper we propose segmentation approach based on Vector Quantization technique. Here we have used Kekre-s fast codebook generation algorithm for segmenting low-altitude aerial image. This is used as a preprocessing step to form segmented homogeneous regions. Further to merge adjacent regions color similarity and volume difference criteria is used. Experiments performed with real aerial images of varied nature demonstrate that this approach does not result in over segmentation or under segmentation. The vector quantization seems to give far better results as compared to conventional on-the-fly watershed algorithm.

Keywords: Image Segmentation, , Codebook, Codevector, data compression, Encoding

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Authors: P. van Tonder, C. C. Kruger

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Concrete structures deteriorate over time and degradation escalates due to various factors. The rate of deterioration can be complex and unpredictable in nature. Such deteriorations may be located beneath the surface of the concrete at high elevations. This emphasizes the need for an efficient method of finding such defects to be able to assess the severity thereof. Current methods using thermography to find defects require equipment to reach higher elevations. This could become costly and time consuming not to mention the risks involved in having personnel scaffold or abseiling at such heights. Accordingly, by combining the thermal camera needed for thermography and a remotely piloted aerial system (Drone/RPAS), it could be used to alleviate some of the issues mentioned. Images can be translated into a 3D temperature model to aid concrete diagnostics and with further research can relate back to the mechanical properties of the structure but will not be dealt with in this paper. Such diagnostics includes finding delamination, similar to finding delamination on concrete decks, which resides beneath the surface of the concrete before spalling can occur. Delamination can be caused by reinforcement eroding and causing expansion beneath the concrete surface. This could lead to spalling, where concrete pieces start breaking off from the main concrete structure.

Keywords: Concrete, diagnostic, infrared thermography, 3D thermal models.

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Authors: Risto Pöykiö, Jari Hietala, Hannu Nurmesniemi

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In this study, the Scots pine (Pinus sylvestris L.) C needles (i.e. the current-year-needles) were used as bioindicators in determining the aerial distribution pattern of sulphur emissions around industrial point sources at Kemi, Northern Finland. The average sulphur concentration in the C needles was 897 mg/kg (d.w.), with a standard deviation of 118 mg/kg (d.w.) and range 740 – 1350 mg/kg (d.w.). According to results in this study, Scots pine needles (Pinus sylvestris L.) appear to be an ideal bioindicators for identifying atmospheric sulphur pollution derived from industrial plants and can complement the information provided by plant mapping studies around industrial plants.

Keywords: Emission, Sulphur, Scots Pine, Pinus sylvestris

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Authors: Igor Astrov, Natalya Berezovski

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This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for vectored thrust aerial vehicle (VTAV). With the SA strategy, we proposed a neural network motion control procedure to address the dynamics variation and performance requirement difference of flight trajectory for a VTAV. This control strategy with using of NARMAL2 neurocontroller for chosen model of VTAV has been verified by simulation of take-off and forward maneuvers using software package Simulink and demonstrated good performance for fast stabilization of motors, consequently, fast SA with economy in energy can be asserted during search-and-rescue operations.

Keywords: NARMA-L2 neurocontroller, situational awareness, vectored thrust aerial vehicle.

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Authors: Konstanca Nikolajevic, Nicolas Belanger, David Duvivier, Rabie Ben Atitallah, Abdelhakim Artiba

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Finding the optimal 3D path of an aerial vehicle under flight mechanics constraints is a major challenge, especially when the algorithm has to produce real time results in flight. Kinematics models and Pythagorian Hodograph curves have been widely used in mobile robotics to solve this problematic. The level of difficulty is mainly driven by the number of constraints to be saturated at the same time while minimizing the total length of the path. In this paper, we suggest a pragmatic algorithm capable of saturating at the same time most of dimensioning helicopter 3D trajectories’ constraints like: curvature, curvature derivative, torsion, torsion derivative, climb angle, climb angle derivative, positions. The trajectories generation algorithm is able to generate versatile complex 3D motion primitives feasible by a helicopter with parameterization of the curvature and the climb angle. An upper ”motion primitives’ concatenation” algorithm is presented based. In this article we introduce a new way of designing three-dimensional trajectories based on what we call the ”Dubins gliding symmetry conjecture”. This extremely performing algorithm will be soon integrated to a real-time decisional system dealing with inflight safety issues.

Keywords: Aerial robots, Motion primitives, Robotics.

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Authors: S. Nasri, G. H. Amin, A. Azimi

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The use of herbs to treat disease is accompanied with the history of human life. This research is aimed to study the anti-inflammatory and antinociceptive effects of hydroalcoholic extract of aerial parts of "Tanacetum balsamita balsamita". In the experimental studies 144 male mice are used. In the inflammatory test, animals were divided into six groups: Control, positive control (receiving Dexamethason at dose of 15mg/kg), and four experimental groups receiving Tanacetum balsamita balsamita hydroalcoholic extract at doses of 25, 50, 100 and 200mg/kg. Xylene was used to induce inflammation. Formalin was used to study the nociceptive effects. Animals were divided into six groups: control group, positive control group (receiving morphine) and four experimental groups receiving Tanacetum balsamita balsamita (Tb.) hydroalcoholic extract at doses of 25, 50, 100 and 200mg/kg. I.p. injection of drugs or normal saline was performed 30 minutes before test. The data were analyzed by using one way Variance analysis and Tukey post test. Aerial parts of Tanacetum balsamita balsamita hydroalcoholic extract decreased significantly inflammatory at dose of 200mg/kg (P<0/001) and caused a significant decrease and alleviated the nociception in both first and second phases at doses of 200mg/kg (p<0/001) and 100mg/kg (P<0/05). Tanacetum balsamita balsamita extract has the anti-inflammatory and anti-nociceptive effects which seems to be related with flavonoids especially Quercetin.

Keywords: Inflammation, nociception, Hydroalcoholic extract, aerial parts of Tanacetum balsamita balsamita L.

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Authors: Seok-In Sohn, Dae-Hwan Park, Yeon-Seung Lee, Il-Kwon Oh

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This paper presents an optimization of the hull separation, i.e. transverse clearance. The main objective is to identify the feasible speed ranges and find the optimum transverse clearance considering the minimum wave-making resistance. The dimensions and the weight of hardware systems installed in the catamaran structured fuel cell powered USV (Unmanned Surface Vehicle) were considered as constraints. As the CAE (Computer Aided Engineering) platform FRIENDSHIP-Framework was used. The hull surface modeling, DoE (Design of Experiment), Tangent search optimization, tool integration and the process automation were performed by FRIENDSHIP-Framework. The hydrodynamic result was evaluated by XPAN the potential solver of SHIPFLOW.

Keywords: Full parametric modeling, Hull Separation, Wave-making resistance, Design Of Experiment, Tangent search method

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Authors: Resul Fikir

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Unmanned Aircraft Systems (UAS) become indispensable parts of modern airpower as force multiplier. One of the main advantages of UAS is long endurance. UAS have to take extra payloads to accomplish different missions but these payloads decrease endurance of aircraft because of increasing drag. There are continuing researches to increase the capability of UAS. There are some vertical thermal air currents, which can cause climb and increase endurance, in nature. Birds and gliders use thermals to gain altitude with no effort. UAS have wide wings which can use thermals like birds and gliders. Thermal regions, which is area of 2000-3000 meter (1 NM), exist all around the world. It is natural and infinite source. This study analyses if thermal regions can be adopted and implemented as an assistant tool for UAS route planning. First and second part of study will contain information about the thermal regions and current applications about UAS in aviation and climbing performance with a real example. Continuing parts will analyze the contribution of thermal regions to UAS endurance. Contribution is important because planning declaration of UAS navigation rules will be in 2015.

Keywords: Airways, Thermals, UAS, UAS Roadmap.

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Authors: Anel Hasić, Naser Prljača

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In the domain of autonomous or piloted flights, the accurate control of quadrotor trajectories is of paramount significance for large numbers of tasks. These adaptable aerial platforms find applications that span from high-precision aerial photography and surveillance to demanding search and rescue missions. Among the fundamental challenges confronting quadrotor operation is the demand for accurate following of desired flight paths. To address this control challenge, among others, two celebrated well-established control strategies have emerged as noteworthy contenders: Model Predictive Control (MPC) and Proportional-Integral-Derivative (PID) control. In this work, we focus on the extensive examination of MPC and PID control techniques by using comprehensive simulation studies in MATLAB/Simulink. Intensive simulation results demonstrate the performance of the studied control algorithms.

Keywords: MATLAB, MPC, Model Predictive Control, PID, Proportional-Integral-Derivative, quadcopter, Simulink.

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Authors: U. Tancredi, D. Accardo, M. Grassi, G. Fasano, A. E. Tirri, A. Vitale, N. Genito, F. Montemari, L. Garbarino

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The development of guidance, navigation and control algorithms and avionic procedures requires the disposability of suitable analysis and verification tools, such as simulation environments, which support the design process and allow detecting potential problems prior to the flight test, in order to make new technologies available at reduced cost, time and risk. This paper presents a simulation environment for avionic software development and qualification, especially aimed at equipment for general aviation aircrafts and unmanned aerial systems. The simulation environment includes models for short and medium-range radio-navigation aids, flight assistance systems, and ground control stations. All the software modules are able to simulate the modeled systems both in fast-time and real-time tests, and were implemented following component oriented modeling techniques and requirement based approach. The paper describes the specific models features, the architectures of the implemented software systems and its validation process. Performed validation tests highlighted the capability of the simulation environment to guarantee in real-time the required functionalities and performance of the simulated avionics systems, as well as to reproduce the interaction between these systems, thus permitting a realistic and reliable simulation of a complete mission scenario.

Keywords: ADS-B, avionics, NAVAIDs, real time simulation, TCAS, UAS ground control station.

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Authors: Kevin Anderson, Sukhwinder Singh Sandhu, Nouh Anies, Shilpa Ravichandra, Steven Dobbs, Donald Edberg

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This paper presents the results of a Finite Element based vibration analysis of a solar powered Unmanned Aerial Vehicle (UAV). The purpose of this paper was to quantify the free vibration, forced vibration response due to differing point inputs in order to predict the relative response magnitudes and frequencies at various wing locations of vibration induced power generators (magnet in coil) excited by gust and/or control surface pulse-decays used to help power the flight of the electric UAV. A Fluid Structure Interaction (FSI) study was performed in order to ascertain pertinent design stresses and deflections as well as aerodynamic parameters of the UAV airfoil. The 10 ft span airfoil is modeled using Mylar as the primary material. Results show that the free mode in bending is 4.8 Hz while the first forced bending mode is on range of 16.2 to 16.7 Hz depending on the location of excitation. The free torsional bending mode is 28.3 Hz, and the first forced torsional mode is range of 26.4 to 27.8 Hz, depending on the location of excitation. The FSI results predict the coefficients of aerodynamic drag and lift of 0.0052 and 0.077, respectively, which matches hand-calculations used to validate the Finite Element based results. FSI based maximum von Mises stresses and deflections were found to be 0.282 MPa and 3.4 mm, respectively. Dynamic pressures on the airfoil range from 1.04 to 1.23 kPa corresponding to velocity magnitudes in range of 22 to 66 m/s.

Keywords: ANSYS, finite element, FSI, UAV, vibrations.

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Authors: Koichi Yonemoto, Hiroshi Yamasaki, Masatomo Ichige, Yusuke Ura, Guna S. Gossamsetti, Takumi Ohki, Kento Shirakata, Ahsan R. Choudhuri, Shinji Ishimoto, Takashi Mugitani, Hiroya Asakawa, Hideaki Nanri

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This paper presents the strategic development plan of winged rockets WIRES (WInged REusable Sounding rocket) aiming at unmanned suborbital winged rocket for demonstrating future fully reusable space transportation technologies, such as aerodynamics, Navigation, Guidance and Control (NGC), composite structure, propulsion system, and cryogenic tanks etc., by universities in collaboration with government and industries, as well as the past and current flight test results.

Keywords: Autonomous guidance and control, reusable rocket, space transportation system, suborbital vehicle, winged rocket.

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Authors: Jin Fan, M. Ala Saadeghvaziri

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Unmanned aerial vehicles (UAVs), also referred to as drones, equipped with various kinds of advanced detecting or surveying systems, are effective and low-cost in data acquisition, data delivery and sharing, which can benefit the building of infrastructures. This paper will give an overview of applications of drones in planning, designing, construction and maintenance of infrastructures. The drone platform, detecting and surveying systems, and post-data processing systems will be introduced, followed by cases with details of the applications. Challenges from different aspects will be addressed. Opportunities of drones in infrastructure include but not limited to the following. Firstly, UAVs equipped with high definition cameras or other detecting equipment are capable of inspecting the hard to reach infrastructure assets. Secondly, UAVs can be used as effective tools to survey and map the landscape to collect necessary information before infrastructure construction. Furthermore, an UAV or multi-UVAs are useful in construction management. UVAs can also be used in collecting roads and building information by taking high-resolution photos for future infrastructure planning. UAVs can be used to provide reliable and dynamic traffic information, which is potentially helpful in building smart cities. The main challenges are: limited flight time, the robustness of signal, post data analyze, multi-drone collaboration, weather condition, distractions to the traffic caused by drones. This paper aims to help owners, designers, engineers and architects to improve the building process of infrastructures for higher efficiency and better performance.

Keywords: Bridge, construction, drones, infrastructure, information.

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Authors: Peng Zhang, Lihui Zheng, Xiangchun Wang, Xiaopan Kou

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Quantitative research on the main control factors of lost circulation has few considerations and single data source. Using Unmanned Intervention Algorithm to find the main control factors of lost circulation adopts all measurable parameters. The degree of lost circulation is characterized by the loss rate as the objective function. Geological, engineering and fluid data are used as layers, and 27 factors such as wellhead coordinates and Weight on Bit (WOB) used as dimensions. Data classification is implemented to determine function independent variables. The mathematical equation of loss rate and 27 influencing factors is established by multiple regression method, and the undetermined coefficient method is used to solve the undetermined coefficient of the equation. Only three factors in t-test are greater than the test value 40, and the F-test value is 96.557%, indicating that the correlation of the model is good. The funnel viscosity, final shear force and drilling time were selected as the main control factors by elimination method, contribution rate method and functional method. The calculated values of the two wells used for verification differ from the actual values by -3.036 m3/h and -2.374 m3/h, with errors of 7.21% and 6.35%. The influence of engineering factors on the loss rate is greater than that of funnel viscosity and final shear force, and the influence of the three factors is less than that of geological factors. The best combination of funnel viscosity, final shear force and drilling time is obtained through quantitative calculation. The minimum loss rate of lost circulation wells in Shunbei area is 10 m3/h. It can be seen that man-made main control factors can only slow down the leakage, but cannot fundamentally eliminate it. This is more in line with the characteristics of karst caves and fractures in Shunbei fault solution oil and gas reservoir.

Keywords: Drilling fluid, loss rate, main controlling factors, Unmanned Intervention Algorithm.

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Authors: V. Santamarina Campos, M. de Miguel Molina, S. Kröner, B. de Miguel Molina

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With this contribution, we want to show how the AiRT system could change the future way of working of a part of the creative industry and what new economic opportunities could arise for them. Remotely Piloted Aircraft Systems (RPAS), also more commonly known as drones, are now essential tools used by many different companies for their creative outdoor work. However, using this very flexible applicable tool indoor is almost impossible, since safe navigation cannot be guaranteed by the operator due to the lack of a reliable and affordable indoor positioning system which ensures a stable flight, among other issues. Here we present our first results of a European project, which consists of developing an indoor drone for professional footage especially designed for the creative industries. One of the main achievements of this project is the successful implication of the end-users in the overall design process from the very beginning. To ensure safe flight in confined spaces, our drone incorporates a positioning system based on ultra-wide band technology, an RGB-D (depth) camera for 3D environment reconstruction and the possibility to fully pre-program automatic flights. Since we also want to offer this tool for inexperienced pilots, we have always focused on user-friendly handling of the whole system throughout the entire process.

Keywords: Virtual reality, 3D reconstruction, indoor positioning system, UWB, RPAS, aerial film, intelligent navigation, advanced safety measures, creative industries.

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Authors: Maciej Zasuwa, Grzegorz Ptasinski, Antoni Kopyt

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Nowadays flight simulators offer tremendous possibilities for safe and cost-effective pilot training, by utilization of powerful, computational tools. Due to technology outpacing methodology, vast majority of training related work is done by human instructors. It makes assessment not efficient, and vulnerable to instructors’ subjectivity. The research presents an Objective Assessment Tool (gOAT) developed at the Warsaw University of Technology, and tested on SW-4 helicopter flight simulator. The tool uses database of the predefined manoeuvres, defined and integrated to the virtual environment. These were implemented, basing on Aeronautical Design Standard Performance Specification Handling Qualities Requirements for Military Rotorcraft (ADS-33), with predefined Mission-Task-Elements (MTEs). The core element of the gOAT enhanced algorithm that provides instructor a new set of information. In details, a set of objective flight parameters fused with report about psychophysical state of the pilot. While the pilot performs the task, the gOAT system automatically calculates performance using the embedded algorithms, data registered by the simulator software (position, orientation, velocity, etc.), as well as measurements of physiological changes of pilot’s psychophysiological state (temperature, sweating, heart rate). Complete set of measurements is presented on-line to instructor’s station and shown in dedicated graphical interface. The presented tool is based on open source solutions, and flexible for editing. Additional manoeuvres can be easily added using guide developed by authors, and MTEs can be changed by instructor even during an exercise. Algorithm and measurements used allow not only to implement basic stress level measurements, but also to reduce instructor’s workload significantly. Tool developed can be used for training purpose, as well as periodical checks of the aircrew. Flexibility and ease of modifications allow the further development to be wide ranged, and the tool to be customized. Depending on simulation purpose, gOAT can be adjusted to support simulator of aircraft, helicopter, or unmanned aerial vehicle (UAV).

Keywords: Automated assessment, flight simulator, human factors, pilot training.

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Authors: Luiz G. Véras, Felipe L. Medeiros, Lamartine F. Guimarães

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This work approaches the automatic planning of paths for Unmanned Aerial Vehicles (UAVs) through the application of the Rapidly Exploring Random Tree Star-Smart (RRT*-Smart) algorithm. RRT*-Smart is a sampling process of positions of a navigation environment through a tree-type graph. The algorithm consists of randomly expanding a tree from an initial position (root node) until one of its branches reaches the final position of the path to be planned. The algorithm ensures the planning of the shortest path, considering the number of iterations tending to infinity. When a new node is inserted into the tree, each neighbor node of the new node is connected to it, if and only if the extension of the path between the root node and that neighbor node, with this new connection, is less than the current extension of the path between those two nodes. RRT*-smart uses an intelligent sampling strategy to plan less extensive routes by spending a smaller number of iterations. This strategy is based on the creation of samples/nodes near to the convex vertices of the navigation environment obstacles. The planned paths are smoothed through the application of the method called quintic pythagorean hodograph curves. The smoothing process converts a route into a dynamically-viable one based on the kinematic constraints of the vehicle. This smoothing method models the hodograph components of a curve with polynomials that obey the Pythagorean Theorem. Its advantage is that the obtained structure allows computation of the curve length in an exact way, without the need for quadratural techniques for the resolution of integrals.

Keywords: Path planning, path smoothing, Pythagorean hodograph curve, RRT*-Smart.

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Authors: Ferruh Yildiz

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The ITE Project is a project that has 1800 km length and across the Turkey's land through east to west. The project of pipeline enters geographically from Iran to Doğubayazit (Turkey) in the east, exits to Greece from Ipsala province of Turkey in the west. This project is the one of the international projects in such scale that provides the natural gas of Iran and Caspian Sea through the European continent. In this investigation, some information will be given about the methods used to verify the direction of the pipeline and the technical properties of the results obtained. The cost of project itself entirely depends on the direction of the pipeline which would be as short as possible and the specifications of the land cover. Production standards of 1/2000 scaled digital orthophoto and vectoral maps as a results of the use of map production materials and methods (such as high resolution satellite images, and digital aerial images captured from digital aerial cameras), will also be given in this report. According to Turkish national map production standards, TM ((Transversal Mercator, 3 degree) projection is used for large scale map and UTM (Universal Transversal Mercator, 6 degree) is used for small scale map production standards. Some information is also given about the projection used in the ITE natural gas pipeline project.

Keywords: Digital Image Processing, Natural Gas Pipe Line, Photogrammetry.

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Authors: Sunglim Lee, Susumu Fujii, Koji Okamura

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Smart grid is a new approach for electric power grid that uses information and communications technology to control the electric power grid. Smart grid provides real-time control of the electric power grid, controlling the direction of power flow or time of the flow. Control devices are installed on the power lines of the electric power grid to implement smart grid. The number of the control devices should be determined, in relation with the area one control device covers and the cost associated with the control devices. One approach to determine the number of the control devices is to use the data on the surplus power generated by home solar generators. In current implementations, the surplus power is sent all the way to the power plant, which may cause power loss. To reduce the power loss, the surplus power may be sent to a control device and sent to where the power is needed from the control device. Under assumption that the control devices are installed on a lattice of equal size squares, our goal is to figure out the optimal spacing between the control devices, where the power sharing area (the area covered by one control device) is kept small to avoid power loss, and at the same time the power sharing area is big enough to have no surplus power wasted. To achieve this goal, a simulation using landscape ecology method is conducted on a sample area. First an aerial photograph of the land of interest is turned into a mosaic map where each area is colored according to the ratio of the amount of power production to the amount of power consumption in the area. The amount of power consumption is estimated according to the characteristics of the buildings in the area. The power production is calculated by the sum of the area of the roofs shown in the aerial photograph and assuming that solar panels are installed on all the roofs. The mosaic map is colored in three colors, each color representing producer, consumer, and neither. We started with a mosaic map with 100 m grid size, and the grid size is grown until there is no red grid. One control device is installed on each grid, so that the grid is the area which the control device covers. As the result of this simulation we got 350m as the optimal spacing between the control devices that makes effective use of the surplus power for the sample area.

Keywords: Landscape ecology, IT, smart grid, aerial photograph, simulation.

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Authors: Cherdvong Saengsupavanich

Abstract:

Human utilizes coastal resources as well as deteriorates them. Coastal tourism may degrade the environment if poorly managed. This research investigated the shoreline change at Koa Toa Island, one of the most famous tourist destinations. Aerial photographs and satellite images from three different periods were collected and analyzed. The results showed that the noticeable shoreline change before and after the tourism on the island had expanded. Between 1995 and 2002 when the tourism on Koh Toa Island was not intensive, sediment deposition occurred along most of the coastline. However, after the tourism had grown during 2002 to 2015, the coast evidently experienced less deposition and more erosion. The erosion resulted from less land-based sediment being provided to the littoral system. If the coastline of Koh Toa Island is not carefully sustained, the tourism will disappear along with the beautiful beach.  

Keywords: Coastal erosion, coastal tourism, Koh Toa Island, Thailand, coastal engineering and management.

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Authors: Ming-Ta Yang, Jin-Lung Guan, Jhy-Cherng Gu

Abstract:

The purpose of this paper is to solve the problem of protecting aerial lines from high impedance faults (HIFs) in distribution systems. This investigation successfully applies 3I0 zero sequence current to solve HIF problems. The feature extraction system based on discrete wavelet transform (DWT) and the feature identification technique found on statistical confidence are then applied to discriminate effectively between the HIFs and the switch operations. Based on continuous wavelet transform (CWT) pattern recognition of HIFs is proposed, also. Staged fault testing results demonstrate that the proposed wavelet based algorithm is feasible performance well.

Keywords: Continuous wavelet transform, discrete wavelet transform, high impedance faults, statistical confidence.

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Authors: Mehrnoosh Omati, Mahmod Reza Sahebi

Abstract:

The information on land use/land cover changing plays an essential role for environmental assessment, planning and management in regional development. Remotely sensed imagery is widely used for providing information in many change detection applications. Polarimetric Synthetic aperture radar (PolSAR) image, with the discrimination capability between different scattering mechanisms, is a powerful tool for environmental monitoring applications. This paper proposes a new boundary-based segmentation algorithm as a fundamental step for land cover change detection. In this method, first, two PolSAR images are segmented using integration of marker-controlled watershed algorithm and coupled Markov random field (MRF). Then, object-based classification is performed to determine changed/no changed image objects. Compared with pixel-based support vector machine (SVM) classifier, this novel segmentation algorithm significantly reduces the speckle effect in PolSAR images and improves the accuracy of binary classification in object-based level. The experimental results on Uninhabited Aerial Vehicle Synthetic Aperture Radar (UAVSAR) polarimetric images show a 3% and 6% improvement in overall accuracy and kappa coefficient, respectively. Also, the proposed method can correctly distinguish homogeneous image parcels.

Keywords: Coupled Markov random field, environment, object-based analysis, Polarimetric SAR images.

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Authors: Hideki.Kobayashi, Hiroshi.Osada

Abstract:

The service industry accounts for about 70% of GDP of Japan, and the importance of the service innovation is pointed out. The importance of the system use and the support service increases in the information system that is one of the service industries. However, because the system is not used enough, the purpose for which it was originally intended cannot often be achieved in the CRM system. To promote the use of the system, the effective service method is needed. It is thought that the service model's making and the clarification of the success factors are necessary to improve the operation service of the CRM system. In this research the model of the operation service in the CRM system is made.

Keywords: Information system, Operation service, Serviceinnovation, Solution

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Authors: Eliza. E. Camaso, Guiller. B. Damian, Miguelito. F. Isip, Ronaldo T. Alberto

Abstract:

Land-cover maps were important for many scientific, ecological and land management purposes and during the last decades, rapid decrease of soil fertility was observed to be due to land use practices such as rice cultivation. High-precision land-cover maps are not yet available in the area which is important in an economy management. To assure   accurate mapping of land cover to provide information, remote sensing is a very suitable tool to carry out this task and automatic land use and cover detection. The study did not only provide high precision land cover maps but it also provides estimates of rice production area that had undergone chemical degradation due to fertility decline. Land-cover were delineated and classified into pre-defined classes to achieve proper detection features. After generation of Land-cover map, of high intensity of rice cultivation, soil fertility degradation assessment in rice production area due to fertility decline was created to assess the impact of soils used in agricultural production. Using Simple spatial analysis functions and ArcGIS, the Land-cover map of Municipality of Quezon in Nueva Ecija, Philippines was overlaid to the fertility decline maps from Land Degradation Assessment Philippines- Bureau of Soils and Water Management (LADA-Philippines-BSWM) to determine the area of rice crops that were most likely where nitrogen, phosphorus, zinc and sulfur deficiencies were induced by high dosage of urea and imbalance N:P fertilization. The result found out that 80.00 % of fallow and 99.81% of rice production area has high soil fertility decline.

Keywords: Aerial image, land-cover, LiDAR, soil fertility degradation.

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Authors: Essam A. Al-Bahkali

Abstract:

The design of a landing gear is one of the fundamental aspects of aircraft design. The need for a light weight, high strength, and stiffness characteristics coupled with techno economic feasibility are a key to the acceptability of any landing gear construction. In this paper, an approach for analyzing two different designed landing gears for an unmanned aircraft vehicle (UAV) using advanced CAE techniques will be applied. Different landing conditions have been considered for both models. The maximum principle stresses for each model along with the factor of safety are calculated for every loading condition. A conclusion is drawing about better geometry.

Keywords: Landing Gear, Model, Finite Element Analysis, Aircraft.

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