2019 International Conference on Unmanned Aircraft Systems (ICUAS)最新文献_第9页

Value Sensitive Design of a Humanitarian Cargo Drone 人道主义货运无人机的价值敏感设计

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797940

Dylan Cawthorne, Alessandra Cenci

{"title":"Value Sensitive Design of a Humanitarian Cargo Drone","authors":"Dylan Cawthorne, Alessandra Cenci","doi":"10.1109/ICUAS.2019.8797940","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797940","url":null,"abstract":"Value Sensitive Design (VSD) is an interdisciplinary approach to technological development that systematically incorporates ethical considerations and social impacts as design inputs. Here, the VSD methodology is described, and elements of VSD are applied with a technological focus to analyze an existing prototype humanitarian cargo drone. Then, a new proposed drone design that better supports the values of human welfare (physical, psychological, and material welfare), and environmental sustainability is developed. The new drone is a high-speed fixed-wing drone which uses internal combustion engines and drops its payload via parachute to minimize transportation time and maximize patient physical welfare. It uses lower levels of automation such as manual flight monitoring to increase reliability and safety (physical welfare), and support the local workforce (material welfare). The drone uses much less energy than the technology it replaces, and is therefore much more environmentally friendly, supporting environmental sustainability. This work contributes by being the first to apply VSD methods to the technological development of a specific drone platform, and by demonstrating how drone engineers can use VSD to develop ”ethical” drones.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131018216","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: 17

Building Mosaics Using Images Autonomously Acquired by a UAV 利用无人机自主获取的图像构建马赛克

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797875

Lúcio André Amorim, R. Vassallo, M. Sarcinelli-Filho

{"title":"Building Mosaics Using Images Autonomously Acquired by a UAV","authors":"Lúcio André Amorim, R. Vassallo, M. Sarcinelli-Filho","doi":"10.1109/ICUAS.2019.8797875","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797875","url":null,"abstract":"In this work we discuss an application related either to fire fighting or to precision agriculture, which consists in building mosaics from aerial images acquired by an Unmanned Aerial Vehicle - a UAV, specifically a quadrotor. The odometry of the vehicle is used to help estimating the position of each new image to be included in the mosaic, and, thus, matching features present in the overlapping areas of the images. Navigation and image acquisition are done autonomously, with a pre-set route in which a set of waypoints is defined. Images are acquired while the quadrotor keeps itself hovering in each waypoint, after testing such a possibility against the option correspondent to get images with the quadrotor flying between two of them. For choosing between these two cases the mosaics are built and compared, leading to the decision of using the images acquired with the quadrotor hovering over each waypoint. To improve the mosaics built, information provided by a GPS module onboard the UAV about the position from where each image is acquired is also included in the mosaic, to allow getting better information about the area under inspection, which can be, for instance, an area in which fire outbreaks are being searched or a farming area being inspected.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122388646","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

Visual Controllers for Relative Positioning in Indoor Settings 用于室内相对定位的视觉控制器

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797954

L. Mejias, P. Campoy

引用次数: 1

Error-State LQR Control of a Multirotor UAV 多旋翼无人机的错误状态LQR控制

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8798359

Michael Farrell, James Jackson, Jerel Nielsen, Craig C. Bidstrup, T. McLain

引用次数: 15

High-Speed Obstacle-Avoidance with Agile Fixed-Wing Aircraft 敏捷固定翼飞机的高速避障

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797720

Eitan Bulka, M. Nahon

{"title":"High-Speed Obstacle-Avoidance with Agile Fixed-Wing Aircraft","authors":"Eitan Bulka, M. Nahon","doi":"10.1109/ICUAS.2019.8797720","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8797720","url":null,"abstract":"Agile fixed-wing aircraft aim to bridge the gap between rotor-craft and conventional fixed-wing aircraft, with the capability of maneuverable and even hovering flight like a rotor-craft, and of efficient long distance flight like a conventional fixed-wing aircraft. Avoiding obstacles in unknown environments is a challenging task with these platforms, as they have complicated dynamics and a limited payload, and they fly at high speeds. In this work, we present an obstacle-avoidance strategy that avoids collisions while steering the aircraft to the goal. The strategy does not rely on a prior map of the environment, or the ability to build a map in real-time, and can be run in real-time on-board the aircraft. We utilize a library of optimal trajectories, both conventional and aerobatic maneuvers, that are solved off-line. A sequence of these trajectories is pieced together to form a collision-free motion plan within the field of view of the depth camera that steers the aircraft towards the goal region. We validate the approach in a high-fidelity simulation environment. The aircraft flies autonomously through a forest-like map to a goal region, using conventional maneuvers such as banked and helical turns, as well as aerobatic maneuvers such as an aggressive turnaround.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121259614","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

Attitude and altitude control for a fixed wing UAV applied to photogrammetry 用于摄影测量的固定翼无人机姿态和高度控制

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8798035

Jorge L. Hernandez, I. González-Hernández, R. Lozano

引用次数: 1

A Carrot in Probabilistic Grid Approach for Quadrotor Line Following on Vertical Surfaces 基于概率网格的四旋翼直线跟踪方法

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8797792

Jyishane Liu, Gongyi Lee

引用次数: 2

Deep RC: Enabling Remote Control through Deep Learning 深度遥控:通过深度学习实现远程控制

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8798325

Jaron Ellingson, Gary Ellingson, Tim McLain

引用次数: 2

A Hybrid Algorithm for Modifying and Tracking Connectivity in UAV Teams 一种无人机编队连通性修改与跟踪的混合算法

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8798343

James Trimble, D. Pack, Z. Ruble

{"title":"A Hybrid Algorithm for Modifying and Tracking Connectivity in UAV Teams","authors":"James Trimble, D. Pack, Z. Ruble","doi":"10.1109/ICUAS.2019.8798343","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798343","url":null,"abstract":"Algebraic connectivity is the second-smallest eigenvalue of the Laplacian matrix and can be used as a metric for the robustness and efficiency of a network. This connectivity concept applies to teams of multiple unmanned aerial vehicles (UAVs) performing cooperative tasks, such as arriving at a consensus. As a UAV team completes its mission, it often needs to control the network connectivity. The algebraic connectivity can be controlled by altering edge weights through movement of individual UAVs in the team, or by adding and deleting edges. The addition and deletion problem for algebraic connectivity, however, is NP-hard and caused multiple heuristic methods to be developed. A leading method, the greedy perturbation heuristic, is efficient but not always effective. An alternative method, the bisection method, is highly effective but less efficient. The primary contributions of this paper are identification of a set of features and a classifier for predicting when the greedy perturbation heuristic is successful, and presentation of a hybrid algorithm which combines these two methods to provide both effectiveness and efficiency.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116219366","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

Dynamic Structural Health Monitoring using a DIC-enabled drone 使用启用dic的无人机进行动态结构健康监测

2019 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2019-06-01 DOI: 10.1109/ICUAS.2019.8798270

M. Kalaitzakis, Sreehari Rajan Kattil, N. Vitzilaios, D. Rizos, M. Sutton

{"title":"Dynamic Structural Health Monitoring using a DIC-enabled drone","authors":"M. Kalaitzakis, Sreehari Rajan Kattil, N. Vitzilaios, D. Rizos, M. Sutton","doi":"10.1109/ICUAS.2019.8798270","DOIUrl":"https://doi.org/10.1109/ICUAS.2019.8798270","url":null,"abstract":"The structural assessment of infrastructure components, such as bridges and railroad tracks, is crucial for their safe operation. The process is expensive and time-consuming given the large amount of structures that require systematic inspection. Over the last decades, non-contact measurement techniques have been developed that allow remote evaluation of a structure that is accurate and not labor intensive. One of the techniques in this field is Digital Image Correlation (DIC), that has proven to be an accurate method to measure 2D and 3D shape and deformation fields in structures. In current applications, DIC makes use of a stationary stereo vision camera system that is rigidly placed close to the inspected object. In this paper, an autonomous system of a drone equipped with a DIC camera system, that successfully performs remote structural evaluation of a railroad tie, is presented. This development significantly increases the portability of DIC, resulting in faster deployment of DIC/Drone measurement systems that can reach remote locations and perform fast and accurate structural health monitoring.","PeriodicalId":426616,"journal":{"name":"2019 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126283094","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: 13