2018 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第10页

A Rescheduling Method of Drone Flights under Insufficient Remaining Battery Duration 电池剩余时间不足情况下无人机飞行的重新调度方法

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453379

Seon Jin Kim, Navid Ahmadian, G. Lim, Maryam Torabbeigi

引用次数: 11

Training Object Detectors with Synthetic Data for Autonomous UAV Sampling Applications 用合成数据训练自主无人机采样应用中的目标检测器

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453336

Gordon A. Christie, Zachary Kurtz, Kevin Huber, J. Massey, Ian Courtney, C. Gifford, J. Humphreys, Alfred Mayalu, Rebecca Williams, J. Hunnell, Bernard Collins

引用次数: 2

Inexpensive, Lightweight Method of Detecting Coronas with UAVs 用无人机探测日冕的廉价、轻量级方法

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453385

Nicholas Rymer, Andrew J. Moore, M. Schubert

{"title":"Inexpensive, Lightweight Method of Detecting Coronas with UAVs","authors":"Nicholas Rymer, Andrew J. Moore, M. Schubert","doi":"10.1109/ICUAS.2018.8453385","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453385","url":null,"abstract":"Advances in technology have allowed unmanned aerial vehicles (UAVs) to be utilized as tools in the power industry. Power grids are routinely inspected to maintain a reliable power supply. When maintaining transmission lines, UAVs are primarily deployed for visual inspection, but there is a need for ultraviolet (UV) inspections for the purpose of detecting high voltage coronas. Coronas are potential indicators of problems in high voltage conductors or insulating structures. Ultraviolet cameras offer long range and high sensitivity to the weak photon flux of high voltage coronas. The size, weight, and cost of UV cameras limit their use in UAV applications. Compact narrow band sensors do not have these limitations.The range of the UV sensor is too short for flyby inspections with a UAV, so methods of augmentation were researched. A shallow parabolic reflector was developed to enhance the range of a narrow band UV detector for the purpose of UAV based autonomous high voltage line inspection. With safer standoff distances, the UV sensor studied, in combination with a parabolic reflector, exhibits potential for autonomous inspection of high voltage structures for corona detection.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124386739","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Range and Endurance Characterization of a Quadcopter subject to Steady Wind 稳定风作用下四轴飞行器的航程和续航特性

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453388

A. Godbole, K. Subbarao, A. Dogan, B. Huff

引用次数: 1

Robust control scheme for trajectory generation and tracking for quadcopters vehicles: Experimental results* 四轴飞行器轨迹生成与跟踪的鲁棒控制方案:实验结果*

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453482

J. Betancourt-Vera, Pedro Castillo, Rogelio Lozano, Boris Vidolov

引用次数: 7

Path Planning for Unmanned Fixed-Wing Aircraft in Uncertain Wind Conditions Using Trochoids 不确定风条件下基于trochoid的无人固定翼飞机路径规划

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453391

Simon Schopferer, Julian Lorenz, Azarakhsh Keipour, S. Scherer

{"title":"Path Planning for Unmanned Fixed-Wing Aircraft in Uncertain Wind Conditions Using Trochoids","authors":"Simon Schopferer, Julian Lorenz, Azarakhsh Keipour, S. Scherer","doi":"10.1109/ICUAS.2018.8453391","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453391","url":null,"abstract":"On-board path planning is a key capability for safe autonomous unmanned flight. Recently, it has been shown that using trochoids for turn segments allows for run-time efficient path planning under consideration of the prevailing wind. However, with varying wind conditions and uncertainty in the estimation of wind speed and direction, paths optimized for a reference wind condition may become infeasible to track for the aircraft. In this work, we discuss how to calculate conservative turn rate limits and we present a novel approach to calculate safety distances along trochoidal turn segments in order to account for an unknown wind speed and airspeed component of bounded magnitude. This allows to plan flight paths that are optimized for the currently expected wind condition but are still safe in case the aircraft experiences different wind conditions. We present results from simulation and flight tests which demonstrate the impact of uncertain and varying wind conditions on the tracking performance of paths with circular and trochoidal turn segments. The results show that trochoids can be used to reduce path tracking errors even if the prevailing wind changes significantly. Furthermore, the proposed method to calculate safety distances conservatively over-approximates path deviations in all considered cases. Thus, it can be used to plan safe paths in the presence of uncertain wind conditions without solely relying on conservative performance limits.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124016443","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Towards a consequences-aware emergency landing system for unmanned aerial systems 面向无人机系统的后果感知紧急着陆系统

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453347

Xiangyu Wu, M. Mueller

引用次数: 0

Embedded implementation of a nonlinear-observer-based AHRS 基于非线性观测器的AHRS的嵌入式实现

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453401

J. Ramos-G, J. F. Guerero-Castellanos, V. R. Gonzales-Díaz, J. Linares-Flores, M. López-López, S. Durand

{"title":"Embedded implementation of a nonlinear-observer-based AHRS","authors":"J. Ramos-G, J. F. Guerero-Castellanos, V. R. Gonzales-Díaz, J. Linares-Flores, M. López-López, S. Durand","doi":"10.1109/ICUAS.2018.8453401","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453401","url":null,"abstract":"This paper deals with the implementation of a nonlinear observer to estimate the attitude of a rigid body from the measurements of MARG (Magnetic, Angular Rate, and Gravity) low-cost sensors. As a consequence, the system developed enters into the more general framework of Attitude Heading Reference Systems (AHRS). Thus, a quaternion-based nonlinear observer together with the use of Kaczmarz's method is proposed to fuse the sensor signals. The stability analysis for the attitude error dynamics is carried out using the ISS (Input-to-State Stability) framework. In this sense, the proposed observer is robust stable, when the measurement disturbance is seen as an input and the error as the state. The attitude estimation strategy is very simple to implement and is computationally light, which allows is to be easily deployed across various hardware-software platforms. Particularly, in this work, the algorithm is programmed in the Solidthinking Embed ® software and downloaded in a 32-bit microcontroller Piccolo F28069M, for its use in real-time. Experiments are carried out using a high accuracy system as reference and then comparing with the estimated attitude in order to demonstrate the observer performance.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128749632","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Enhanced UAV pose estimation using a KF: experimental validation 基于KF的增强无人机姿态估计:实验验证

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453335

C. de Souza, P. Castillo, R. Lozano, B. Vidolov

引用次数: 2

Design and Development of a Transition Propulsion System for Bimodal Unmanned Vehicles 双峰无人驾驶飞行器过渡推进系统的设计与开发

2018 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2018-06-01 DOI: 10.1109/ICUAS.2018.8453356

D. Guo, Antonio Bacciaglia, A. Ceruti, P. Marzocca, C. Bil

{"title":"Design and Development of a Transition Propulsion System for Bimodal Unmanned Vehicles","authors":"D. Guo, Antonio Bacciaglia, A. Ceruti, P. Marzocca, C. Bil","doi":"10.1109/ICUAS.2018.8453356","DOIUrl":"https://doi.org/10.1109/ICUAS.2018.8453356","url":null,"abstract":"An impulsive thruster propulsion system that could be used in a multi-modal UAV capable of sustained aerial flight, locomotion in water and deployment from a tube filled with compressed air is under development. This paper covers the design and optimisation process of the propulsive system, as well as its modelling with analytical and CFD simulations to predict the performances. The system is designed to fulfil vehicle mission requirements in terms of altitude and velocity after water/air transition. The thruster uses a common CO2 cartridge available off-the-shelf to accelerate water stored inside a water chamber along with an inflator to activate and regulate the mechanism remotely for efficient and sustained thrust. Water is chosen as vectorial fluid since it is available from the surroundings. Water chamber sizing process uses an analytical model calibration through CFD approach to refine an analytical model and predict propulsion performances. After thruster sizing, an experimental prototype was fabricated and tested for model validation. A comparison and discussion of the results as future work is also proposed with areas for improvement and development.","PeriodicalId":246293,"journal":{"name":"2018 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"54 18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127020748","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 6