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Author : Scott M. Ettinger
Publisher :
ISBN 13 :
Total Pages : 94 pages
Book Rating : 4.:/5 (483 download)
Download or read book Design and Implementation of Autonomous Vision-guided Micro Air Vehicles written by Scott M. Ettinger and published by . This book was released on 2001 with total page 94 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : Scott M. Kanowitz
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (522 download)
Download or read book Design and Implementation of a GPS-based Navigation System for Micro Air Vehicles written by Scott M. Kanowitz and published by . This book was released on 2002 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: Micro Air Vehicles (MAVs) are becoming vastly popular in the areas of surveillance and reconnaissance for military and civilian use; however, their instability due to their small size renders them useful to only a handful of pilots. We propose implementing a GPS-based navigation system for use in autonomous flight of micro air vehicles. Previous efforts in this area have produced a vision-based horizon tracking algorithm capable of sustained level flight with user input. Our goal is to improve on this flight system using information from a GPS receiver. In this thesis we first introduce the current vision-based navigation system and discuss its limitations. We next discuss the proposed improvements to the navigation system through GPS. Then, we describe the design of the hardware system and software algorithms for navigation and control. The GPS- and vision-based navigation system has been successfully integrated and tested in multiple ground-based simulations at the University of Florida.
Author : Kenzo Nonami
Publisher : Springer Science & Business Media
ISBN 13 : 4431538569
Total Pages : 341 pages
Book Rating : 4.4/5 (315 download)
Download or read book Autonomous Flying Robots written by Kenzo Nonami and published by Springer Science & Business Media. This book was released on 2010-09-15 with total page 341 pages. Available in PDF, EPUB and Kindle. Book excerpt: The advance in robotics has boosted the application of autonomous vehicles to perform tedious and risky tasks or to be cost-effective substitutes for their - man counterparts. Based on their working environment, a rough classi cation of the autonomous vehicles would include unmanned aerial vehicles (UAVs), - manned ground vehicles (UGVs), autonomous underwater vehicles (AUVs), and autonomous surface vehicles (ASVs). UAVs, UGVs, AUVs, and ASVs are called UVs (unmanned vehicles) nowadays. In recent decades, the development of - manned autonomous vehicles have been of great interest, and different kinds of autonomous vehicles have been studied and developed all over the world. In part- ular, UAVs have many applications in emergency situations; humans often cannot come close to a dangerous natural disaster such as an earthquake, a ood, an active volcano, or a nuclear disaster. Since the development of the rst UAVs, research efforts have been focused on military applications. Recently, however, demand has arisen for UAVs such as aero-robotsand ying robotsthat can be used in emergency situations and in industrial applications. Among the wide variety of UAVs that have been developed, small-scale HUAVs (helicopter-based UAVs) have the ability to take off and land vertically as well as the ability to cruise in ight, but their most importantcapability is hovering. Hoveringat a point enables us to make more eff- tive observations of a target. Furthermore, small-scale HUAVs offer the advantages of low cost and easy operation.
Download or read book Гулчине аз адабиети яхудиени Бухори written by and published by . This book was released on 1998 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Author : David J. Pitman
Publisher :
ISBN 13 :
Total Pages : 124 pages
Book Rating : 4.:/5 (71 download)
Download or read book Collaborative Micro Aerial Vehicle Exploration of Outdoor Environments written by David J. Pitman and published by . This book was released on 2010 with total page 124 pages. Available in PDF, EPUB and Kindle. Book excerpt: Field personnel, such as soldiers, police SWAT teams, and first responders, face challenging, dangerous environments, often with little advance knowledge or information about their surroundings. Currently, this Intelligence, Surveillance & Reconnaissance (ISR) information is provided by satellite imagery and prior or second-hand experiences. Although satellite imagery is currently the preferred method for gaining Situational Awareness (SA) about an outdoor environment, it has many shortcomings. Unclassified satellite imagery maps available to these field personnel are flat images, with no elevation information and fixed points of view. These maps are often outdated, and, due to shadows and shading, give false impressions of elevations and details of the environment. Critical features of buildings, such as doorways and windows are hidden from view. Combined, these flaws often give field personnel a false mental model of their environment. Given the need of these personnel to simultaneously perform a primary task, such as finding a Person of Interest (POI), as well as explore the environment, an autonomous robot would allow these groups to better perform ISR and improve their SA in real-time. Recent efforts have led to the creation of Micro Aerial Vehicles (MAVs), a class of Unmanned Aerial Vehicle (UAV), which are small and have autonomous capabilities. At most a few feet in size, a MAV can hover in place, perform Vertical Take-Off and Landing, and easily rotate with a small sensor payload. The compact size of these vehicles and their maneuvering capabilities make them well-suited for performing highly localized ISR missions with MAV operator working within the same environment as the vehicle. Unfortunately, existing interfaces for MAVs ignore the needs of field operators, requiring bulky equipment and the operator's full attention. To be able to collaboratively explore an environment with a MAV, an operator needs a mobile interface which can support the need for divided attention. To address this need, a Cognitive Task Analysis (CTA) was performed with the intended users of the interface to assess their needs, as well as the roles and functions a MAV could provide. Based on this CTA, a set of functional and information requirements were created which outlined the necessities of an interface for exploring an environment with a MAV. Based on these requirements, the Micro Aerial Vehicle Exploration of an Unknown Environment (MAVVUE) interface was designed and implemented. Using MAV-VUE, operators can navigate the MAV using waypoints, which requires little attention. When the operator needs more fine-grained control over the MAV's location and orientation, in order to obtain imagery or learn more about an environment, he or she can use the Nudge Control mode. Nudge Control uses Perceived First Order (PFO) control to allow an operator effectively "fly" a MAV with no risk to the vehicle. PFO control, which was invented for MAV-VUE, utilizes a 0th order feedback control loop to fly the MAV, while presenting 1st order controls to the operator. A usability study was conducted to evaluate MAV-VUE. Participants were shown a demonstration of the interface and only given three minutes of training before they performed the primary task. During this task, participants were given search and identify objectives, MAV-VUE installed on an iPhone@ and an actual MAV to explore a GPS-simulated urban environment. Participants performed well at the task, with thirteen of fourteen successfully performing their objectives with no crashes or collisions. Several statistically significant correlations were found between participants' performance and their usage of the interface. Operators who were more patient and had higher scores on a spatial orientation pretest tended to have more precise MAV control. Future design and implementation recommendations learned from this study are discussed.
Author : Rui Huang
Publisher :
ISBN 13 :
Total Pages : 113 pages
Book Rating : 4.:/5 (112 download)
Download or read book Vision-based Autonomous Navigation and Active Sensing with Micro Aerial Vehicles written by Rui Huang and published by . This book was released on 2017 with total page 113 pages. Available in PDF, EPUB and Kindle. Book excerpt: Micro aerial vehicles (MAVs) equipped with cameras provide a new perspective on the world. As MAVs have found important roles in industrial and recreational applications, they are actively studied in the research community. The focus has been the autonomy level. In other words, the MAV should be able to perform tasks autonomously to free human from laborious and risky work. At the basis of an autonomous system, there is the problem of autonomous navigation. In outdoor spaces, MAVs usually use GPS signals for self-localization. In indoor GPS-denied environments, autonomous navigation of MAVs is still an open research question. At the high level of an autonomous system, there is the problem of active sensing. An autonomous platform needs to actively optimize its navigation based on its current state and the environment. The constraints of vision sensors and complex environments pose challenges to this task. In this thesis, we propose our solutions to the two problems: vision based navigation and active sensing. In the first half of the thesis, we propose solutions of vision based navigation on two platforms. First, we present an ultra-light and -small MAV platform which can perform autonomous navigation in an unknown indoor environment. Secondly, we aim at a toy MAV. Accurate path following is achieved using the camera as the major sensor. In the second half, we address the active sensing problem in two interesting applications. We first investigate the active target sensing and following using a multi-robot collaborative system. The only sensors are cameras and the constraints of vision algorithms are taken into consideration while we design the motion controller. Lastly, we demonstrate an active image data acquisition system in the image based modeling application. The camera placement is optimized in the loop and online feedback is provided for the sensor planning. We demonstrate the fully autonomous active image based modeling system in simulated, indoor and outdoor environments.
Author : Fadi Al-Turjman
Publisher : Springer Nature
ISBN 13 : 3030387127
Total Pages : 193 pages
Book Rating : 4.0/5 (33 download)
Download or read book Unmanned Aerial Vehicles in Smart Cities written by Fadi Al-Turjman and published by Springer Nature. This book was released on 2020-04-20 with total page 193 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book addresses the major challenges in realizing unmanned aerial vehicles (UAVs) in IoT-based Smart Cities. The challenges tackled vary from cost and energy efficiency to availability and service quality. The aim of this book is to focus on both the design and implementation aspects of the UAV-based approaches in IoT-enabled smart cities’ applications that are enabled and supported by wireless sensor networks, 5G, and beyond. The contributors mainly focus on data delivery approaches and their performability aspects. This book is meant for readers of varying disciplines who are interested in implementing the smart planet/environments vision via wireless/wired enabling technologies. Involves the most up to date unmanned aerial vehicles (UAV) assessment and evaluation approaches Includes innovative operational ideas in agriculture, surveillance, rescue, etc. Pertains researchers, scientists, engineers and practitioners in the field of smart cities, IoT, and communications Fadi Al-Turjman received his Ph.D. from Queen’s University, Canada. He is a full professor and a research center director at Near East University, Nicosia. He is a leading authority in the area of IoT and intelligent systems. His publication history spans over 250 publications in addition to his editorialship in top journals such as the IEEE Communication Surveys and Tutorials, and the Elsevier Sustaibable Cities and Society.
Author : SeWoong Jung
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (577 download)
Download or read book Design and Development of a Micro Air Vehicle (MAV) written by SeWoong Jung and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: This thesis presents the design, fabrication, capabilities, and analysis of a test-bed Micro Air Vehicle (MAV) used in developing a vision-based flight control algorithm. Vision-based controlled flight and its further developments are geared towards use on MAVs of the future. A test-bed airplane was designed from MAV concepts, and was large enough to accommodate the current commercial components available on the market. Two generations of the vision-based MAV were developed and tested. Each generation had 0.6 m wingspan and used a pusher configuration with a flexible wing concept. The second generation, however, had an improved fuselage and wing design, drive system, and a unique morphing mechanism. Both vehicles were tested and compared during numerous flight and wind tunnel tests. Effects of the morphing mechanism on the flexible wing were analyzed in the wind tunnel using the digital image correlation method.
Author : Michail Kontitsis
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (436 download)
Download or read book Design and Implementation of an Integrated Dynamic Vision System for Autonomous Systems Operating in Uncertain Domains written by Michail Kontitsis and published by . This book was released on 2009 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: In recent years unmanned aircraft systems (UAS) have been successfully used in a wide variety of applications. Their value as surveillance platforms has been proven repeatedly in both military and civilian domains. As substitutes to human inhabited aircraft, they fulfill missions that are dull, dirty and dangerous. Representative examples of successful use of UAS are in areas including battlefield assessment, reconnaissance, port security, wildlife protection, wildfire detection, search and rescue missions, border security, resource exploration and oil spill detection. The reliance of almost every UAS application on the ability to sense, detect, see and avoid from a distance has motivated this thesis, attempting to further investigate this issue. In particular, among the various types of UAS, small scale unmanned rotorcraft or Vertically Take-off and Landing, (VTOL) vehicles have been chosen to serve as the sensor carrier platforms because of their operational flexibility. In this work we address the problem of object identification and tracking in a largely unknown dynamic environment under the additional constraint of real-time operation and limited computational power. In brief, the scope of this thesis can be stated as follows: Design a vision system for a small autonomous helicopter that will be able to: Identify arbitrary objects using a minimal description model and a-priori knowledge; Track objects of interest; Operate in real-time; Operate in a largely unknown, dynamically changing, outdoors environment under the following constraints: Limited processing power and payload; Low cost, off-the-shelf components. The main design directives remain that of real-time execution and low price, high availability components. It is in a sense an investigation for the minimum required hardware and algorithmic complexity to accomplish the desired tasks. After development, the system was evaluated as to its suitability in an array of applications. The ones that were chosen for that purpose were: Detection of semi-concealed objects; Detection of a group of ground robots; Traffic monitoring. Adequate performance was demonstrated in all of the above cases.
Author : Diego Galar
Publisher : CRC Press
ISBN 13 : 0429839189
Total Pages : 409 pages
Book Rating : 4.4/5 (298 download)
Download or read book Robots, Drones, UAVs and UGVs for Operation and Maintenance written by Diego Galar and published by CRC Press. This book was released on 2020-05-07 with total page 409 pages. Available in PDF, EPUB and Kindle. Book excerpt: Industrial assets (such as railway lines, roads, pipelines) are usually huge, span long distances, and can be divided into clusters or segments that provide different levels of functionality subject to different loads, degradations and environmental conditions, and their efficient management is necessary. The aim of the book is to give comprehensive understanding about the use of autonomous vehicles (context of robotics) for the utilization of inspection and maintenance activities in industrial asset management in different accessibility and hazard levels. The usability of deploying inspection vehicles in an autonomous manner is explained with the emphasis on integrating the total process. Key Features Aims for solutions for maintenance and inspection problems provided by robotics, drones, unmanned air vehicles and unmanned ground vehicles Discusses integration of autonomous vehicles for inspection and maintenance of industrial assets Covers the industrial approach to inspection needs and presents what is needed from the infrastructure end Presents the requirements for robot designers to design an autonomous inspection and maintenance system Includes practical case studies from industries
Author : Roberto J. Guerra
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (627 download)
Download or read book Self-guided Micro Vehicle written by Roberto J. Guerra and published by . This book was released on 2005 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: ABSTRACT: To facilitate the learning of automatic navigation systems by engineering students an easy to obtain platform is useful. The topic of this thesis is the design and implementation of a basic self-guided vehicle that can be programmed and expanded by anyone possessing basic experience with the C programming language. The Self-Guided Micro Vehicle, (SGMV), uses off-the-shelf easy to obtain parts such as a toy R/C truck and the Handyboard to maximize availability of this technology to students. This thesis divides the SGMV design process by functionality. It starts by documenting the locomotion system, which was a modified R/C toy truck. Next, it describes the Microcontroller board and the Handyboard. Then it highlights the programming language, Interactive C, which makes multitasking systems easy for beginners. The sensor system was comprised of a GPS receiver, a solid state electronic compass and a wireless communications system.
Author :
Publisher :
ISBN 13 :
Total Pages : 8 pages
Book Rating : 4.:/5 (742 download)
Download or read book A Hardware-in-the-Loop Experiment and Simulation Facility for Vision-Based Control of Micro-Air-Vehicles written by and published by . This book was released on 2005 with total page 8 pages. Available in PDF, EPUB and Kindle. Book excerpt: This report documents research performed under the contract entitled "A Hardware In-the-Loop Experiment and Simulation Facility for Vision-Based Control of Micro-Air-Vehicles (MAVs)." This experimental facility is comprised of two major components - a wind tunnel facility and a real-time virtual image generation system. Collectively, these two components form a unique closed-loop test for studying vision-based control of autonomous flight vehicles. The most important milestone achieved last year was the design and construction of the new visualization laboratory. This laboratory is equipped to display virtual environments for MAV flight simulations. Currently, a University of Florida campus database, developed by the UF Digital Worlds Institute, is being used as the virtual environment for studying vision-based control of MAVs in urban environments. This report provides a description of the new visualization laboratory and the virtual UF campus database.
Author : George Nikolakopoulos
Publisher : Butterworth-Heinemann
ISBN 13 : 0128149108
Total Pages : 282 pages
Book Rating : 4.1/5 (281 download)
Download or read book Aerial Robotic Workers written by George Nikolakopoulos and published by Butterworth-Heinemann. This book was released on 2022-11-05 with total page 282 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aerial Robotic Workers: Design, Modeling, Control, Vision and Their Applications provides an in-depth look at both theory and practical applications surrounding the Aerial Robotic Worker (ARW). Emerging ARWs are fully autonomous flying robots that can assist human operations through their agile performance of aerial inspections and interaction with the surrounding infrastructure. This book addresses all the fundamental components of ARWs, starting with the hardware and software components and then addressing aspects of modeling, control, perception of the environment, and the concept of aerial manipulators, cooperative ARWs, and direct applications. The book includes sample codes and ROS-based tutorials, enabling the direct application of the chapters and real-life examples with platforms already existing in the market. - Addresses the fundamental problems of UAVs with the ability of utilizing aerial tools in the fields of modeling, control, navigation, cooperation, vision and interaction with the environment - Includes open source codes and libraries, providing a complete set of information for readers to start their experimentation with UAVs, and more specifically, ARWs - Provides multiple, real-life examples and codes in MATLAB and ROS
Author : Heiko Hamann
Publisher : Frontiers Media SA
ISBN 13 : 2889663116
Total Pages : 190 pages
Book Rating : 4.8/5 (896 download)
Download or read book Designing Self-Organization in the Physical Realm written by Heiko Hamann and published by Frontiers Media SA. This book was released on 2020-12-31 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: This eBook is a collection of articles from a Frontiers Research Topic. Frontiers Research Topics are very popular trademarks of the Frontiers Journals Series: they are collections of at least ten articles, all centered on a particular subject. With their unique mix of varied contributions from Original Research to Review Articles, Frontiers Research Topics unify the most influential researchers, the latest key findings and historical advances in a hot research area! Find out more on how to host your own Frontiers Research Topic or contribute to one as an author by contacting the Frontiers Editorial Office: frontiersin.org/about/contact.
Author : Erich Mueller (S.M.)
Publisher :
ISBN 13 :
Total Pages : 151 pages
Book Rating : 4.:/5 (795 download)
Download or read book Design of an Adaptive 3-dimensional Display Enabled by a Swarm of Autonomous Micro Air Vehicles written by Erich Mueller (S.M.) and published by . This book was released on 2012 with total page 151 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis is motivated by the concept of a system consisting of a swarm of small, automatically controlled air vehicles, each carrying a colour-controlled light source (payload), capable of executing coordinated maneouvres for the purpose of entertainment or data visualization. It focuses on a number of issues associated with the implementation of such a system, and specifically on the development of a non-linear, robust controller with feed-forward compensation, designed for control of a quad-rotor helicopter in the presence of aerodynamic interference generated by other vehicles in swarm-like operational conditions. System requirements and driving factors are identified, and various types of overall system architectures as well as vehicle designs are considered. The vehicle prototyping process is described, with specific emphasis on electronic design and hardware integration. Several problems associated with the flight of numerous vehicles in close proximity are addressed. Simulation and laboratory testing is described and results are presented and interpreted. Finally, consideration is given to the future development of such a system, as well as possible large-scale implementations and commercial opportunities.
Author :
Publisher :
ISBN 13 :
Total Pages : 5 pages
Book Rating : 4.:/5 (318 download)
Download or read book Vision-Based Control of Agile, Autonomous Micro Air Vehicles and Small UAVs in Urban Environments written by and published by . This book was released on 2007 with total page 5 pages. Available in PDF, EPUB and Kindle. Book excerpt: This project investigated technologies to enable autonomous flight of agile vehicles in urban environments. Specifically, technologies were developed that related to vision-based feedback for control. The mission profile under consideration was a single vehicle carrying a video camera while flying below the rooftops of a city with no additional sensors or pre-existing map information. As such, substantial progress was made in the areas of feature-point tracking, state estimation, scene reconstruction, robustness to camera calibration, daisy-chaining navigation, mapping, path planning, and feedback characterization. An integrated approach was used that (be used on multi-disciplinary analysis for decision making and control commands. The project spiraled the maturation of technologies from theory to simulation to flight testing. The simulation relied upon a hardware-in-the-loop simulation facility that allowed the physical camera to record measurements from high-fidelity graphics and thus consider the effects of distortion and nonlinearities.
Download or read book Illustrated Guide to Towcester and District written by and published by . This book was released on 1961 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
