2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)最新文献

A game-theoretical approach to heterogeneous multi-robot task assignment problem with minimum workload requirements 具有最小工作量要求的异构多机器人任务分配问题的博弈论方法

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-11-09 DOI: 10.1109/RED-UAS.2017.8101660

Inmo Jang, Hyo-Sang Shin, A. Tsourdos

引用次数: 4

Person classification leveraging Convolutional Neural Network for obstacle avoidance via Unmanned Aerial Vehicles 基于卷积神经网络的无人机避障分类

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-05 DOI: 10.1109/RED-UAS.2017.8101662

Shahmi Junoh, N. Aouf

{"title":"Person classification leveraging Convolutional Neural Network for obstacle avoidance via Unmanned Aerial Vehicles","authors":"Shahmi Junoh, N. Aouf","doi":"10.1109/RED-UAS.2017.8101662","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101662","url":null,"abstract":"Obstacle avoidance capability for Unmanned Aerial Vehicles (UAVs) remains an active research in order to provide a better sense-and-avoid technology. More severely, in an environment where it contains and involves humans, the capability required is of high reliability and robustness. Prior to avoiding obstacles during mission, having a high performance of obstacle detection is deemed important. We first tackled the detection problem by solving the classification task. In this work, humans were treated as a special type of obstacles in indoor environment by which they may potentially cooperate with UAVs in indoor setting. While existing works have long been focusing on using classical computer vision techniques that suffer from substantial disadvantages with respect to robustness, studies on the use of deep learning approach i.e. Convolutional Neural Network (CNN) to achieve this purpose are still scarce. Using this approach for binary person classification task has revealed improved performance of more than 99% both for True Positive Rate (TPR) and True Negative Rate (TNR), hence, is promising for realizing robust obstacle avoidance.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131804098","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

Modeling and control of an interactive tilt-rotor MAV 交互式倾转旋翼微型飞行器的建模与控制

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-03 DOI: 10.1109/RED-UAS.2017.8101678

D. Nieto-Hernández, J. Escareño, C. Méndez‐Barrios, Islam Boussaada, Diego Langarica-Cordoba

引用次数: 1

Maritime application of ducted-fan flight array system: Decoy for anti-ship missile 导管式风扇飞行阵列系统的海上应用:反舰导弹诱饵

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101646

Junho Jeong, Beomyeol Yu, Taegyun Kim, Seungkeun Kim, J. Suk, H. Oh

{"title":"Maritime application of ducted-fan flight array system: Decoy for anti-ship missile","authors":"Junho Jeong, Beomyeol Yu, Taegyun Kim, Seungkeun Kim, J. Suk, H. Oh","doi":"10.1109/RED-UAS.2017.8101646","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101646","url":null,"abstract":"This paper proposes a decoy application using a ducted-fan flight array system which consists of multiple single modules. Each single module has a conventional ducted-fan configuration and can fly individually. For the single module and the connected array, kinematic and dynamic models are briefly introduced. Based on the derived models, a control system using the sliding mode control (SMC) and proportional-integral-derivative (PID) methods is built into a hierarchical structure. Also, simple kinematics is applied for multiple anti-ship missiles (ASMs) and a target ship. A proportional navigation guidance (PNG) law is designed for the guided missile system. Furthermore, a sequential logic proposed to take account of an expected signal power (ESP) for the deployment strategy. The ESP is calculated by using seeker and decoy signal models at a control station, and then the station sends path planning commands to the multiple decoys. A numerical simulation is conducted under a visualization environment and verifies the decoy mission with two missiles and two decoys. The simulation shows that the separated single modules fulfill the role of the decoy effectively to counteract the multiple ASMs.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125212388","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

An initial parametric study of weight and energy thresholds for falling unmanned aerial vehicles (UAVs) 无人机降落重量和能量阈值的初始参数化研究

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101673

K. Low

{"title":"An initial parametric study of weight and energy thresholds for falling unmanned aerial vehicles (UAVs)","authors":"K. Low","doi":"10.1109/RED-UAS.2017.8101673","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101673","url":null,"abstract":"In recent years we have seen a considerable rise in the demand for the use of UAVs (unmanned aerial vehicles, or drones as commonly called) in commercial, public service and leisure applications. It has subsequently resulted in an increase of media reports on incidents due to small civil drones, particularly about small civil drones, particularly in cases where they have collided with structures and/or people on the ground. These incidents exemplify the potential danger associated with UAV operations in populous areas. However, not all collisions had resulted in fatal injuries. Different countries and agencies have set different weight limits for civil drone operations with neither much elaboration nor scientific evidences clearly provided. It is therefore useful that a study of minimum weight thresholds for drone operations could be conducted. The findings and results can serve as an appropriate advisory for policy and regulations. Therefore, in this work, the effect of drone's weight associated with the height limit is investigated by virtue of the basic principle of mechanics. The effect of the weight and height to the impact energy, based on the established probability model, is also studied and presented with the results obtained.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123249472","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: 5

Outline of a system for integrated adaptive ice tracking and multi-agent path planning 一种集成自适应冰跟踪和多智能体路径规划系统的概要

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101636

Jonatan Olofsson, Clas Veibäck, Gustaf Hendeby, T. Johansen

{"title":"Outline of a system for integrated adaptive ice tracking and multi-agent path planning","authors":"Jonatan Olofsson, Clas Veibäck, Gustaf Hendeby, T. Johansen","doi":"10.1109/RED-UAS.2017.8101636","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101636","url":null,"abstract":"In polar region operations, drift sea ice positioning and tracking is useful for both scientific and safety reasons. Modeling ice movements has proven difficult, not least due to the lack of information of currents and winds of high enough resolution. Thus, observations of drift ice is essential to an up-to-date ice-tracking estimate. Recent years have seen the rise of Unmanned Aerial Systems (UAS) as a platform for geoobservation, and so too for the tracking of sea ice. Being a mobile platform, the research on UAS path-planning is extensive and usually involves an objective-function to minimize. For the purpose of observation however, the objective-function typically changes as observations are made along the path. Further, the general problem involves multiple UAS and — in the case of sea ice tracking — vast geographical areas. In this paper we discuss the architectural outline of a system capable of fusing data from multiple sources — UAS's and others — as well as incorporating that data for both path-planning, sea ice movement prediction and target initialization. The system contains tracking of sea ice objects, situation map logic and is expandable as discussed with path-planning capabilities for closing the loop of optimizing paths for information acquisition.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115880989","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

Impact of atmospheric icing on UAV aerodynamic performance 大气结冰对无人机气动性能的影响

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101645

R. Hann, A. Wenz, K. Gryte, T. Johansen

引用次数: 24

Accuracy of sea ice floe size observation from an aerial camera at slant angles 斜角度航空相机观测海冰大小的精度

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101669

Christopher Dahlin Rodin, T. Johansen

{"title":"Accuracy of sea ice floe size observation from an aerial camera at slant angles","authors":"Christopher Dahlin Rodin, T. Johansen","doi":"10.1109/RED-UAS.2017.8101669","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101669","url":null,"abstract":"The importance of measuring the size of ice floes in e.g. marine navigation and environmental sciences has made it a frequently performed procedure. When real-time data is required, images from a camera on-board an aerial vehicle or mounted on a marine vessel is commonly preferred over satellite images. Their lower fields of view can be improved by tilting the cameras to capture images of a larger area. However, this introduces a greatly changing ground resolution within the same camera image, which makes size estimation a more complex task. It is nevertheless performed in several methods to estimate the size of ice floes. In this paper, ice floe size estimation is evaluated for different scenarios when using an aerial camera at slant angles. In order to reduce errors caused by automatic image segmentation and attitude estimation algorithms, the methods are aided by human input. The estimates are performed on real world data captured during the Statoil Station Keeping Trials in the Bothnian Bay during March 2017. The results conclude that the major challenge is to guarantee separation between ice floes in the camera images, which is something that requires both enough ground resolution and a suitable image segmentation algorithm.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127045035","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

Using multirotor drones in engineering of systems curricula 多旋翼无人机在系统工程课程中的应用

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101653

O. Yakimenko

引用次数: 1

Navigation of UAV using phased array radio 使用相控阵无线电的无人机导航

2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2017-10-01 DOI: 10.1109/RED-UAS.2017.8101657

S. Albrektsen, Atle Sægrov, T. Johansen

{"title":"Navigation of UAV using phased array radio","authors":"S. Albrektsen, Atle Sægrov, T. Johansen","doi":"10.1109/RED-UAS.2017.8101657","DOIUrl":"https://doi.org/10.1109/RED-UAS.2017.8101657","url":null,"abstract":"Navigation and communication are two of the major challenges when flying unmanned aerial vehicles (UAVs) beyond visual line of sight (BVLOS), in particular when Global Navigation Satellite Systems (GNSS) are unavailable. The phased array radio system used in this paper aims to solve both communication and navigation with one system. To enable high efficiency data transfer, the radio system uses electronic beamforming to direct the energy from the ground radio towards the UAV, but to be able to do this, the ground radio needs to know the bearing and elevation angles towards the UAV. By measuring the round-trip time to compute the range and observing the direction of the incoming signal to compute the bearing and elevation angles, the phased array radio system is able to find the position of the UAV, relative to the ground radio, in all three dimensions. The phased array system is shown to provide absolute measurements for UAV navigation in radio line of sight, which can be used as a redundant system to GNSS measurements. By merging the radio measurements with barometer altitude data, a mean accuracy of approximately 24 m with a standard deviation of approximately 17 m compared to the real time kinematic (RTK) satellite navigation solution is achieved on a UAV flight at a distance of approximately 5 km.","PeriodicalId":299104,"journal":{"name":"2017 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129203302","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: 7