2区地球科学

Drones Pub Date : 2023-10-18 DOI: 10.3390/drones7100640

Zixv Su, Changzhen Li, Wei Chen

{"title":"A Non-Stationary Cluster-Based Channel Model for Low-Altitude Unmanned-Aerial-Vehicle-to-Vehicle Communications","authors":"Zixv Su, Changzhen Li, Wei Chen","doi":"10.3390/drones7100640","DOIUrl":"https://doi.org/10.3390/drones7100640","url":null,"abstract":"Under the framework of sixth-generation (6G) wireless communications, the unmanned aerial vehicle (UAV) plays an irreplaceable role in a number of communication systems. In this paper, a novel cluster-based low-altitude UAV-to-vehicle (U2V) non-stationary channel model with uniform planar antenna arrays (UPAs) is proposed. In order to comprehensively model the scattering environment, both single and twin clusters are taken into account. A novel continuous cluster evolution algorithm that integrates time evolution and array evolution is developed to capture channel non-stationarity. In the proposed algorithm, the link between the time evolution of twin clusters and that of single clusters is established to regulate the temporal evolution trend. Moreover, an improved observable radius method is applied to UPAs for the first time to describe array evolution. Based on the combination of cluster evolution and time-variant channel parameters, some vital statistical properties are derived and analyzed, including space–time correlation function (ST-CF), angular power spectrum density (PSD), Doppler PSD, Doppler spread (DS), frequency correlation function (FCF), and delay spread (RS). The non-stationarity in the time, space, and frequency domain is captured. It demonstrates that the airspeed, density of scatterers within clusters, and carrier frequency have an impact on statistical properties. Furthermore, twin clusters have more flexible spatial characteristics with lower power than single clusters. These conclusions can provide assistance and reference for the design and deployment of 6G UAV communication systems.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135888649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Typical Fault Detection on Drone Images of Transmission Lines Based on Lightweight Structure and Feature-Balanced Network 基于轻量化结构和特征均衡网络的输电线路无人机图像典型故障检测

2区地球科学

Drones Pub Date : 2023-10-17 DOI: 10.3390/drones7100638

Gujing Han, Ruijie Wang, Qiwei Yuan, Liu Zhao, Saidian Li, Ming Zhang, Min He, Liang Qin

{"title":"Typical Fault Detection on Drone Images of Transmission Lines Based on Lightweight Structure and Feature-Balanced Network","authors":"Gujing Han, Ruijie Wang, Qiwei Yuan, Liu Zhao, Saidian Li, Ming Zhang, Min He, Liang Qin","doi":"10.3390/drones7100638","DOIUrl":"https://doi.org/10.3390/drones7100638","url":null,"abstract":"In the context of difficulty in detection problems and the limited computing resources of various fault scales in aerial images of transmission line UAV inspections, this paper proposes a TD-YOLO algorithm (YOLO for transmission detection). Firstly, the Ghost module is used to lighten the model’s feature extraction network and prediction network, significantly reducing the number of parameters and the computational effort of the model. Secondly, the spatial and channel attention mechanism scSE (concurrent spatial and channel squeeze and channel excitation) is embedded into the feature fusion network, with PA-Net (path aggregation network) to construct a feature-balanced network, using channel weights and spatial weights as guides to achieving the balancing of multi-level and multi-scale features in the network, significantly improving the detection capability under the coexistence of multiple targets of different categories. Thirdly, a loss function, NWD (normalized Wasserstein distance), is introduced to enhance the detection of small targets, and the fusion ratio of NWD and CIoU is optimized to further compensate for the loss of accuracy caused by the lightweightedness of the model. Finally, a typical fault dataset of transmission lines is built using UAV inspection images for training and testing. The experimental results show that the TD-YOLO algorithm proposed in this article compresses 74.79% of the number of parameters and 66.92% of the calculation amount compared to YOLOv7-Tiny and increases the mAP (mean average precision) by 0.71%. The TD-YOLO was deployed into Jetson Xavier NX to simulate the UAV inspection process and was run at 23.5 FPS with good results. This study offers a reference for power line inspection and provides a possible way to deploy edge computing devices on unmanned aerial vehicles.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135993024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Eyes in The Sky: Drones Applications in the Built Environment under Climate Change Challenges 天空之眼:气候变化挑战下无人机在建筑环境中的应用

2区地球科学

Drones Pub Date : 2023-10-16 DOI: 10.3390/drones7100637

Norhan Bayomi, John E. Fernandez

{"title":"Eyes in The Sky: Drones Applications in the Built Environment under Climate Change Challenges","authors":"Norhan Bayomi, John E. Fernandez","doi":"10.3390/drones7100637","DOIUrl":"https://doi.org/10.3390/drones7100637","url":null,"abstract":"This paper reviews the diverse applications of drone technologies in the built environment and their role in climate change research. Drones, or unmanned aerial vehicles (UAVs), have emerged as valuable tools for environmental scientists, offering new possibilities for data collection, monitoring, and analysis in the urban environment. The paper begins by providing an overview of the different types of drones used in the built environment, including quadcopters, fixed-wing drones, and hybrid models. It explores their capabilities and features, such as high-resolution cameras, LiDAR sensors, and thermal imaging, which enable detailed data acquisition for studying climate change impacts in urban areas. The paper then examines the specific applications of drones in the built environment and their contribution to climate change research. These applications include mapping urban heat islands, assessing the energy efficiency of buildings, monitoring air quality, and identifying sources of greenhouse gas emissions. UAVs enable researchers to collect spatially and temporally rich data, allowing for a detailed analysis and identifying trends and patterns. Furthermore, the paper discusses integrating UAVs with artificial intelligence (AI) to derive insights and develop predictive models for climate change mitigation and adaptation in urban environments. Finally, the paper addresses drone technologies’ challenges and the future directions in the built environment. These challenges encompass regulatory frameworks, privacy concerns, data management, and the need for an interdisciplinary collaboration. By harnessing the potential of drones, environmental scientists can enhance their understanding of climate change impacts in urban areas and contribute to developing sustainable strategies for resilient cities.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136115013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Unmanned Aerial Vehicle 3D Path Planning Based on an Improved Artificial Fish Swarm Algorithm 基于改进人工鱼群算法的无人机三维路径规划

2区地球科学

Drones Pub Date : 2023-10-16 DOI: 10.3390/drones7100636

Tao Zhang, Liya Yu, Shaobo Li, Fengbin Wu, Qisong Song, Xingxing Zhang

{"title":"Unmanned Aerial Vehicle 3D Path Planning Based on an Improved Artificial Fish Swarm Algorithm","authors":"Tao Zhang, Liya Yu, Shaobo Li, Fengbin Wu, Qisong Song, Xingxing Zhang","doi":"10.3390/drones7100636","DOIUrl":"https://doi.org/10.3390/drones7100636","url":null,"abstract":"A well-organized path can assist unmanned aerial vehicles (UAVs) in performing tasks efficiently. The artificial fish swarm algorithm (AFSA) is a widely used intelligent optimization algorithm. However, the traditional AFSA exhibits issues of non-uniform population distribution and susceptibility to local optimization. Despite the numerous AFSA variants introduced in recent years, many of them still grapple with challenges like slow convergence rates. To tackle the UAV path planning problem more effectively, we present an improved AFSA algorithm (IAFSA), which is primarily rooted in the following considerations: (1) The prevailing AFSA variants have not entirely resolved concerns related to population distribution disparities and a predisposition for local optimization. (2) Recognizing the specific demands of the UAV path planning problem, an algorithm that can combine global search capabilities with swift convergence becomes imperative. To evaluate the performance of IAFSA, it was tested on 10 constrained benchmark functions from CEC2020; the effectiveness of the proposed strategy is verified on the UAV 3D path planning problem; and comparative algorithmic experiments of IAFSA are conducted in different maps. The results of the comparison experiments show that IAFSA has high global convergence ability and speed.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136113352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Bubble Plume Tracking Using a Backseat Driver on an Autonomous Underwater Vehicle 在自主水下航行器上使用后座驾驶员进行气泡羽流跟踪

2区地球科学

Drones Pub Date : 2023-10-16 DOI: 10.3390/drones7100635

Jimin Hwang, Neil Bose, Gina Millar, Craig Bulger, Ginelle Nazareth

引用次数: 0

Heterogeneous Drone Small Cells: Optimal 3D Placement for Downlink Power Efficiency and Rate Satisfaction 异构无人机小单元:下行链路功率效率和速率满意度的最佳3D布局

2区地球科学

Drones Pub Date : 2023-10-13 DOI: 10.3390/drones7100634

Nima Namvar, Fatemeh Afghah, Ismail Guvenc

{"title":"Heterogeneous Drone Small Cells: Optimal 3D Placement for Downlink Power Efficiency and Rate Satisfaction","authors":"Nima Namvar, Fatemeh Afghah, Ismail Guvenc","doi":"10.3390/drones7100634","DOIUrl":"https://doi.org/10.3390/drones7100634","url":null,"abstract":"In this paper, we delve into the domain of heterogeneous drone-enabled aerial base stations, each equipped with varying transmit powers, serving as downlink wireless providers for ground users. A central challenge lies in strategically selecting and deploying a subset from the available drone base stations (DBSs) to meet the downlink data rate requirements while minimizing the overall power consumption. To tackle this, we formulate an optimization problem to identify the optimal subset of DBSs, ensuring wireless coverage with an acceptable transmission rate in the downlink path. Moreover, we determine their 3D positions for power consumption optimization. Assuming DBSs operate within the same frequency band, we introduce an innovative, computationally efficient beamforming method to mitigate intercell interference in the downlink. We propose a Kalai–Smorodinsky bargaining solution to establish the optimal beamforming strategy, compensating for interference-related impairments. Our simulation results underscore the efficacy of our solution and offer valuable insights into the performance intricacies of heterogeneous drone-based small-cell networks.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135856264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Hybrid Improved Symbiotic Organisms Search and Sine–Cosine Particle Swarm Optimization Method for Drone 3D Path Planning 基于改进共生生物搜索和正弦余弦粒子群优化的无人机三维路径规划方法

2区地球科学

Drones Pub Date : 2023-10-13 DOI: 10.3390/drones7100633

Tao Xiong, Hao Li, Kai Ding, Haoting Liu, Qing Li

{"title":"A Hybrid Improved Symbiotic Organisms Search and Sine–Cosine Particle Swarm Optimization Method for Drone 3D Path Planning","authors":"Tao Xiong, Hao Li, Kai Ding, Haoting Liu, Qing Li","doi":"10.3390/drones7100633","DOIUrl":"https://doi.org/10.3390/drones7100633","url":null,"abstract":"Given the accelerated advancement of drones in an array of application domains, the imperative of effective path planning has emerged as a quintessential research focus. Particularly in intricate three-dimensional (3D) environments, formulating the optimal flight path for drones poses a substantial challenge. Nonetheless, prevalent path-planning algorithms exhibit issues encompassing diminished accuracy and inadequate stability. To solve this problem, a hybrid improved symbiotic organisms search (ISOS) and sine–cosine particle swarm optimization (SCPSO) method for drone 3D path planning named HISOS-SCPSO is proposed. In the proposed method, chaotic logistic mapping is first used to improve the diversity of the initial population. Then, the difference strategy, the novel attenuation functions, and the population regeneration strategy are introduced to improve the performance of the algorithm. Finally, in order to ensure that the planned path is available for drone flight, a novel cost function is designed, and a cubic B-spline curve is employed to effectively refine and smoothen the flight path. To assess performance, the simulation is carried out in the mountainous and urban areas. An extensive body of research attests to the exceptional performance of our proposed HISOS-SCPSO.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135855610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Study on the Design and Experiment of Trichogramma Ball Delivery System Based on Agricultural Drone 基于农用无人机的赤眼蜂送球系统设计与实验研究

2区地球科学

Drones Pub Date : 2023-10-11 DOI: 10.3390/drones7100632

Cancan Song, Qingyu Wang, Guobin Wang, Lilian Liu, Tongsheng Zhang, Jingang Han, Yubin Lan

{"title":"Study on the Design and Experiment of Trichogramma Ball Delivery System Based on Agricultural Drone","authors":"Cancan Song, Qingyu Wang, Guobin Wang, Lilian Liu, Tongsheng Zhang, Jingang Han, Yubin Lan","doi":"10.3390/drones7100632","DOIUrl":"https://doi.org/10.3390/drones7100632","url":null,"abstract":"Trichogramma-based biological control technology is of great significance to the development of green agriculture. Agricultural drones have the advantages of low-altitude and high-speed operations and have been well applied and widely recognized in the field of Trichogramma delivery. Drone-based Trichogramma ball delivery not only utilizes the efficiency and flexibility of drones but also enables remote precision control. However, existing delivery devices are relatively rudimentary, leading to reliability and precision issues. It is necessary to develop an efficient and accurate drone delivery device to improve the effect of drone delivery of Trichogramma. In this study, a device consisting of a rotary storage mechanism and a rotating hammer-type delivery mechanism was developed. The delivery port of the delivery device should be set in the airflow outlet area 50 cm below the drone’s body. The storage mechanism is equipped with eight storage tube units with a diameter of Φ38 mm, capable of delivering a total of 56 balls in a single mission. The reliable delivery speed ranges from 2 to 6 m/s, with the remote position of the lever serving as the optimal starting position. The release test results showed that 3 m/s flight speed and 4 m/s delivery speed resulted in a small coefficient of variation for the delivery deviation (29%), making it the best operating parameter set. The performance of the developed UAV-based Trichogramma delivery device meets the requirements of field delivery when the appropriate operating parameters are optimized. This study provides reference for further optimization and design of this delivery device prototype.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136210564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of a Real-Time Vespa velutina Nest Detection and Notification System Using Artificial Intelligence in Drones 基于人工智能的无人机小黄蜂巢穴实时检测与通知系统的开发

2区地球科学

Drones Pub Date : 2023-10-10 DOI: 10.3390/drones7100630

Yuseok Jeong, Moon-Seok Jeon, Jaesu Lee, Seung-Hwa Yu, Su-bae Kim, Dongwon Kim, Kyoung-Chul Kim, Siyoung Lee, Chang-Woo Lee, Inchan Choi

{"title":"Development of a Real-Time Vespa velutina Nest Detection and Notification System Using Artificial Intelligence in Drones","authors":"Yuseok Jeong, Moon-Seok Jeon, Jaesu Lee, Seung-Hwa Yu, Su-bae Kim, Dongwon Kim, Kyoung-Chul Kim, Siyoung Lee, Chang-Woo Lee, Inchan Choi","doi":"10.3390/drones7100630","DOIUrl":"https://doi.org/10.3390/drones7100630","url":null,"abstract":"Vespa velutina is an ecosystem disruptor that causes annual damage worth KRW 170 billion (USD 137 million) to the South Korean beekeeping industry. Due to its strong fertility and high-lying habitat, it is difficult to control. This study aimed to develop a system for the control of V. velutina nests using drones for detection and tracking the real-time location of the nests. Vespa velutina nest image data were acquired in Buan-gun and Wanju-gun (Jeollabuk-do), and artificial intelligence learning was conducted using YOLO-v5. Drone image resolutions of 640, 1280, 1920, and 3840 pixels were compared and analyzed. The 3840-pixel resolution model was selected, as it had no false detections for the verification image and showed the best detection performance, with a precision of 100%, recall of 92.5%, accuracy of 99.7%, and an F1 score of 96.1%. A computer (Jetson Xavier), real-time kinematics module, long-term evolution modem, and camera were installed on the drone to acquire real-time location data and images. Vespa velutina nest detection and location data were delivered to the user via artificial intelligence analysis. Utilizing a drone flight speed of 1 m/s and maintaining an altitude of 25 m, flight experiments were conducted near Gyeongcheon-myeon, Wanju-gun, Jeollabuk-do. A total of four V. velutina nests were successfully located. Further research is needed on the detection accuracy of artificial intelligence in relation to objects that require altitude-dependent variations in drone-assisted exploration. Moreover, the potential applicability of these research findings to diverse domains is of interest.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136294589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

OTFS-IM Modulation Based on Four-Dimensional Spherical Code in Air-to-Ground Communication 空对地通信中基于四维球面码的OTFS-IM调制

2区地球科学

Drones Pub Date : 2023-10-10 DOI: 10.3390/drones7100631

Peng Gu, Lin Guo, Shen Jin, Guangzu Liu, Jun Zou

{"title":"OTFS-IM Modulation Based on Four-Dimensional Spherical Code in Air-to-Ground Communication","authors":"Peng Gu, Lin Guo, Shen Jin, Guangzu Liu, Jun Zou","doi":"10.3390/drones7100631","DOIUrl":"https://doi.org/10.3390/drones7100631","url":null,"abstract":"Unmanned aerial vehicles (UAVs) have been widely utilized for their various advantages. However, UAVs exhibit high mobility and energy storage restrictions in some applications, which can compromise the quality and reliability of communication links. This is a challenge that future aircraft and low-orbit aircraft will inevitably encounter. To effectively address the issue of dynamic Doppler spread in air-to-ground communication, this paper creatively introduces four-dimensional spherical code modulation into the orthogonal time–frequency space with an index modulation (OTFS-IM) system. The fundamental concept of the four-dimensional spherical code is elaborated in detail. Multiple resource symbols can be jointly used to increase the modulation dimension, thereby achieving a larger minimum Euclidean distance between constellation points. Furthermore, detailed analysis is conducted on the bit error rate (BER) and the peak-to-average-power ratio (PAPR) expressions of the proposed system to evaluate its performance and provide theoretical guidance. The proposed scheme not only adapts well to high-speed scenarios but also achieves better power consumption efficiency. The simulation results demonstrate that our proposed scheme outperforms conventional methods. Its robustness and generalization ability are also validated.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136294764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

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