2023 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第3页

Lowering the Entry Barrier to Aerial Robotics Competitions 降低空中机器人比赛的进入门槛

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156284

F. J. Pérez-Grau, Pablo León Barriga, A. Viguria

引用次数: 0

Towards requirements for third-party assessments in the Specific Operations Risk Assessment process 针对特定操作风险评估过程中第三方评估的要求

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155905

Eetu Heikkilä, R. Tiusanen, Emrehan Öz

{"title":"Towards requirements for third-party assessments in the Specific Operations Risk Assessment process","authors":"Eetu Heikkilä, R. Tiusanen, Emrehan Öz","doi":"10.1109/ICUAS57906.2023.10155905","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155905","url":null,"abstract":"In the European regulatory regime, civil drone operations are divided into three risk-based categories. A large part of professional drone operations belongs to the specific category, in which authority approval is required to operate. The approval can be applied based on the Specific Operations Risk Assessment, SORA. Based on the risk level determined in SORA, the operation is subject to various safety requirements. Fulfilment of these requirements often calls for the involvement of competent third parties to assess various aspects of the operation. In this paper, we provide a structuring of the needs for third-party involvement in SORA. The study shows that currently there is very limited guidance for performing the third-party assessments or for determining requirements for organizations acting as competent third parties. Such requirements exist in other domains like manned aviation but to enable streamlined regulatory processes for safe drone operations, drone industry specific guidelines are needed. In this paper, we provide examples of standards and regulations that can be used as a basis for further development of the third party assessment procedures.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124772786","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: 0

Heterogeneous Multi-Robot Systems Approach for Warehouse Inventory Management 仓库库存管理的异构多机器人系统方法

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155890

Augusto Sales, P. Mira, Ana Maria Nascimento, Alexandre Brandão, M. Saska, Tiago P. Nascimento

引用次数: 0

Towards an Integrated Vehicle Health Management for Maintenance of Unmanned Air Systems 面向无人机系统维护的集成飞行器健康管理

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10155995

Ann-Kathrin Koschlik, H. Meyer, Emy Arts, Philipp Conen, G. Jacob, Maria Soria-Gomez, A. Kamtsiuris, Lukas Jilke, Johanna Aigner, F. Raddatz, Gerko Wende

{"title":"Towards an Integrated Vehicle Health Management for Maintenance of Unmanned Air Systems","authors":"Ann-Kathrin Koschlik, H. Meyer, Emy Arts, Philipp Conen, G. Jacob, Maria Soria-Gomez, A. Kamtsiuris, Lukas Jilke, Johanna Aigner, F. Raddatz, Gerko Wende","doi":"10.1109/ICUAS57906.2023.10155995","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10155995","url":null,"abstract":"With rising numbers of Unmanned Aerial Systems (UASs) national and international authorities are currently negotiating the regulations for the operation of UASs. Even though UASs are smaller and less complex than manned aircraft, Maintenance, Repair and Overhaul (MRO) aspects are not yet sufficiently considered. In a step towards safer and more autonomous operations of UASs, we intend to develop an Integrated Vehicle Health Management (IVHM) for Condition- Based Maintenance. This highly integrated system aims at constantly monitoring the health status of the UAS and at supporting all involved stakeholders. A necessity to IVHM is a vast data gathering process at different points in time as well as at different locations. Multi-stakeholder Digital Twins can achieve this by collecting the necessary data and allowing all stakeholders to base their decisions on the most up-to-date status of their system. We conclude this paper by demonstrating a first prototype operation under realistic conditions.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128533973","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: 0

Battery-health-aware UAV mission planning using a cognitive battery management system 基于认知电池管理系统的电池健康感知无人机任务规划

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156138

Di An, Rafal Krzysiak, Derek Hollenbeck, Yangquan Chen

{"title":"Battery-health-aware UAV mission planning using a cognitive battery management system","authors":"Di An, Rafal Krzysiak, Derek Hollenbeck, Yangquan Chen","doi":"10.1109/ICUAS57906.2023.10156138","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156138","url":null,"abstract":"Lithium-ion and Lithium Polymer batteries have been widely used in electric and unmanned aircraft vehicles, enabling many applications and developing a highly commercialized and demanding market. Precisely estimating the battery capacity (State of Charge (SOC)) is still a challenging problem due to many limitations. Prior work assessing battery capacity relies more on the battery’s internal physical model and less on surrounding factors, which makes the accuracy of the estimation of capacity fluctuate under different scenarios. Therefore, we present a cognitive battery management system to empower intelligence in the battery so that it can justify its current capacity and whether it will be enough for the mission and a safe landing. Our system leverages the battery temperature as the essential factor for estimating the capacity during flight. We evaluated our capacity estimation function parameters using the least squares method. Results reveal that battery temperature has a substantial impact on capacity assessment, which perfectly accomplishes the first step toward a cognitive battery management system.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127087296","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: 0

Design and Validation of a Wireless Drone Docking Station 一种无线无人机对接站的设计与验证

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156589

Dario Stuhne, Goran Vasiljević, S. Bogdan, Z. Kovačić

引用次数: 0

Finite Integral Terminal Synergetic Control of a Disturbed Quadcopter with Variable Geometry 变几何扰动四轴飞行器的有限积分终端协同控制

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156388

A. Belmouhoub, Y. Bouzid, S. H. Derrouaoui, S. Medjmadj, M. Guiatni

{"title":"Finite Integral Terminal Synergetic Control of a Disturbed Quadcopter with Variable Geometry","authors":"A. Belmouhoub, Y. Bouzid, S. H. Derrouaoui, S. Medjmadj, M. Guiatni","doi":"10.1109/ICUAS57906.2023.10156388","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156388","url":null,"abstract":"This paper, puts forward the control of a quadcopter with variable geometry exposed to external disturbances. Using a finite Integral Terminal Synergetic Control (ITSC) scheme, which was designed to solve the trajectory tracking problem. This controller has the advantages of: use a continuous control law that eliminates the chattering phenomenon, convergence of states in finite time, good tracking performance and simple structure. Moreover, it is well suited in practice to digital implementation. The dynamics of the proposed system are derived on the basis of Newton-Euler formalism, followed by a robust control method. Lyapunov framework is exploited to ensure the stability of the controlled system. Simulation results of the designed ITSC, are exhibiting the ability of the proposed control technique for rapidly achieving the desired trajectories in a robust manner. A comparative study in both quantitative and qualitative case is carried out between ITSC and Sliding Mode Controller (SMC). Overall, the findings show that the proposed control technique outperforms in terms of accuracy and robustness.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130586555","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: 0

A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration 人机协作的信号时序逻辑规划

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156559

Giuseppe Silano, Amr Afifi, M. Saska, A. Franchi

引用次数: 0

Quadrotors with Slung Payloads: Energy Analysis and Experimental Validation 悬挂式四旋翼飞行器:能量分析与实验验证

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156270

Hassan Alkomy, J. Shan

引用次数: 0

A Robust and Adaptive Sensor Fusion Approach for Indoor UAV Localization* 一种鲁棒自适应传感器融合方法用于室内无人机定位*

2023 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2023-06-06 DOI: 10.1109/ICUAS57906.2023.10156526

S. Sajjadi, Jeremy Bittick, F. Janabi-Sharifi, I. Mantegh

{"title":"A Robust and Adaptive Sensor Fusion Approach for Indoor UAV Localization*","authors":"S. Sajjadi, Jeremy Bittick, F. Janabi-Sharifi, I. Mantegh","doi":"10.1109/ICUAS57906.2023.10156526","DOIUrl":"https://doi.org/10.1109/ICUAS57906.2023.10156526","url":null,"abstract":"Localization of uncrewed systems in indoor environments is challenging. The fundamental challenge with indoor localization and navigation is that the Global Navigation Satellite Systems (GNSS) signal is either unavailable or not sufficiently accurate for state estimation. uncrewed agents also commonly have to navigate through unstructured environments, which can be challenging given the absence of recognizable landmarks or patterns. Furthermore, in dynamic environments where the layout or obstacles may change frequently, the drone may need to continuously update its state estimations. In the absence of GNSS measurements, uncrewed systems rely on other onboard sensors for localization. However, each set of sensors contains its own associated uncertainty and/or the possibility of occlusion or malfunction. Hence, the design and development of reliable multi-sensor fusion algorithms for localization are deemed necessary. This paper presents the implementation and performance evaluation of an adaptive and robust Moving Horizon Estimator (MHE) for improving the state estimation of a previously developed indoor localization framework using ArUco markers. The effectiveness of the proposed sensor fusion algorithm is evaluated using an experimental setup in comparison to the high-accuracy Vicon ® motion tracking camera system.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"194 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116147396","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: 0