Vision-based pose estimation of a multi-rotor unmanned aerial vehicle

2019 ◽  
Vol 7 (3) ◽  
pp. 120-132
Author(s):  
Kashish Gupta ◽  
Bara Jamal Emran ◽  
Homayoun Najjaran
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Three Dimensional ◽  
Processing System ◽  
Training Procedure ◽  
Autonomous Landing ◽  
Content Type ◽  
Landing Platform ◽  
Aerial Vehicle ◽  
Autopilot Systems ◽  
Practical Implications

Purpose The purpose of this paper is to facilitate autonomous landing of a multi-rotor unmanned aerial vehicle (UAV) on a moving/tilting platform using a robust vision-based approach. Design/methodology/approach Autonomous landing of a multi-rotor UAV on a moving or tilting platform of unknown orientation in a GPS-denied and vision-compromised environment presents a challenge to common autopilot systems. The paper proposes a robust visual data processing system based on targets’ Oriented FAST and Rotated BRIEF features to estimate the UAV’s three-dimensional pose in real time. Findings The system is able to visually locate and identify the unique landing platform based on a cooperative marker with an error rate of 1° or less for all roll, pitch and yaw angles. Practical implications The proposed vision-based system aims at on-board use and increased reliability without a significant change to the computational load of the UAV. Originality/value The simplicity of the training procedure gives the process the flexibility needed to use a marker of any unknown/irregular shape or dimension. The process can be easily tweaked to respond to different cooperative markers. The on-board computationally inexpensive process can be added to off-the-shelf autopilots.

Autonomous performance maximization of research-based hybrid unmanned aerial vehicle

2020 ◽  
Vol 92 (4) ◽  
pp. 645-651
Author(s):  
Sezer Çoban
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Performance Optimization ◽  
Flight Trajectory ◽  
Content Type ◽  
Lateral Dynamics ◽  
Aerial Vehicle ◽  
Improved Design ◽  
Autopilot Systems ◽  
First Time ◽  
Practical Implications

Purpose This paper aims to investigate the autonomous performance optimization of a research-based hybrid unmanned aerial vehicle (i.e. HUAV) manufactured at Iskenderun Technical University. Design/methodology/approach To maximize the autonomous performance of this HUAV, longitudinal and lateral dynamics were initially obtained. Then, the optimum magnitudes of the autopilot system parameters were estimated by considering the vehicle’s dynamic model and autopilot parameters. Findings After determining the optimum values of the longitudinal and lateral autopilots, an improved design for the autonomously controlled (AC) HUAV was achieved in terms of real-time flight. Practical implications Simultaneous improvement of the longitudinal and lateral can be used for better HUAV operations. Originality/value In this paper, the autopilot systems (i.e. longitudinal and lateral) of an HUAV are for the first time simultaneously designed in the literature. This helps the simultaneous improvement of the longitudinal and lateral flight trajectory tracking performances.

scholarly journals A Vision-Based Method for Autonomous Landing of a Rotor-Craft Unmanned Aerial Vehicle

2006 ◽  
Vol 3 (3) ◽  
pp. 171-177
Author(s):  
Z. Yuan ◽  
Z. Gong ◽  
J. Chen ◽  
J. Wu
Keyword(s):  
Real Time ◽  
Unmanned Aerial Vehicle ◽  
Three Dimensional ◽  
Dimensional Structure ◽  
Autonomous Landing ◽  
Linear Algorithm ◽  
Three Dimensional Structure ◽  
Intrinsic Parameters ◽  
Structure Estimation ◽  
Aerial Vehicle

This article introduces a real-time vision-based method for guided autonomous landing of a rotor-craft unmanned aerial vehicle. In the process of designing the pattern of landing target, we have fully considered how to make this easier for simplified identification and calibration. A linear algorithm was also applied using a three-dimensional structure estimation in real time. In addition, multiple-view vision technology is utilized to calibrate intrinsic parameters of camera online, so calibration prior to flight is unnecessary and the focus of camera can be changed freely in flight, thus upgrading the flexibility and practicality of the method.

Comparison of the reluctance laminated and solid rotor synchronous machine operating at high temperatures

2019 ◽  
Vol 38 (4) ◽  
pp. 1111-1119 ◽  
Author(s):  
Marcin Lefik ◽  
Krzysztof Komeza ◽  
Ewa Napieralska-Juszczak ◽  
Daniel Roger ◽  
Piotr Andrzej Napieralski
Keyword(s):  
High Speed ◽  
Design Methodology ◽  
Three Dimensional ◽  
Synchronous Machine ◽  
Point Of View ◽  
Heat Sources ◽  
Model Calculations ◽  
Content Type ◽  
Thermal Phenomenon ◽  
Practical Implications

Purpose The purpose of this paper is to present a comparison between reluctance synchronous machine-enabling work at high internal temperature (HT° machine) with laminated and solid rotor. Design/methodology/approach To obtain heat sources for the thermal model, calculations of the electromagnetic field were made using the Opera 3D program including effect of rotation and the resulting eddy current losses. To analyse the thermal phenomenon, the 3D coupled thermal-fluid (CFD) model is used. Findings The presented results show clearly that laminated construction is much better from a point of view of efficiency and temperature. However, solid construction can be interesting for high speed machines due to their mechanical robustness. Research limitations/implications The main problem, despite the use of parallel calculations, is the long calculation time. Practical implications The obtained simulation and experimental results show the possibility of building a machine operating at a much higher ambient temperature than it was previously produced for example in the vicinity of the aircraft turbines. Originality/value The paper presents the application of fully three-dimensional coupled electromagnetic and thermal analysis of new machine constructions designed for elevated temperature.

The generation of adaptive assembly from predicting change propagation

2015 ◽  
Vol 35 (3) ◽  
pp. 269-280 ◽  
Author(s):  
Hu Qiao ◽  
Rong Mo ◽  
Ying Xiang
Keyword(s):  
Computer Aided Design ◽  
Three Dimensional ◽  
Original Method ◽  
Change Propagation ◽  
Assembly Model ◽  
Practical Application ◽  
Content Type ◽  
Design Structure ◽  
Aided Design ◽  
Practical Implications

Purpose – The purpose of this paper is to establish an adaptive assembly, to realize the adaptive changing of the models and to improve the flexibility and reliability of assembly change. For a three-dimensional (3D) computer-aided design (CAD) assembly in a changing process, there are two practical problems. One is delivering parameters’ information not smoothly. The other one is to easily destroy an assembly structure. Design/methodology/approach – The paper establishes associated parameters design structure matrix of related parts, and predicts possible propagation paths of the parameters. Based on the predicted path, structured storage is made for the affected parameters, tolerance range and the calculation relations. The study combines structured path information and all constrained assemblies to build the adaptive assembly, proposes an adaptive change algorithm for assembly changing and discusses the extendibility of the adaptive assembly. Findings – The approach would improve the flexibility and reliability of assembly change and be applied to different CAD platform. Practical implications – The examples illustrate the construction and adaptive behavior of the assembly and verify the feasibility and reasonability of the adaptive assembly in practical application. Originality/value – The adaptive assembly model proposed in the paper is an original method to assembly change. And compared with other methods, good results have been obtained.

Responsibly regulating the civilian unmanned aerial vehicle deployment in India and Japan

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Anjan Chamuah ◽  
Rajbeer Singh
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Regulatory Framework ◽  
Responsible Innovation ◽  
Primary Data ◽  
Snowball Sampling ◽  
Content Type ◽  
Current Scenario ◽  
Aerial Vehicle ◽  
Innovative Work ◽  
Trust Responsibility

Purpose The purpose of the paper is to describe the evolving regulatory structures of the civilian unmanned aerial vehicle (UAV) in India and Japan, not yet fully developed to regulate the deployment of the UAV. India and Japan are at the forefront to overhaul the respective regulatory framework to address issues of accountability, responsibility and risks associated with the deployment of UAV technologies. Design/methodology/approach In-depth interviews are conducted both in Japan and India to gather primary data based on the snowball sampling method. The paper addresses questions such as what is the current scenario of civilian UAV deployment in India and Japan. What are the regulation structures for Civil UAV deployment and operation and how they differ in India and Japan? What are the key regulatory challenges for Civil UAV deployment in India? How regulation structure enables or inhibits the users and operators of Civil UAVs in India? What are mutual learnings concerning UAV regulations? Findings Findings reveal that the Indian regulations address issues of responsibility by imparting values of privacy, safety, autonomy and security; Japanese regulation prefers values of trust, responsibility, safety and ownership with more freedom to experiment. Originality/value The study on civilian UAV regulatory framework is a new and innovative work embedded by the dimensions of responsibility and accountability from a responsible innovation perspective. The work is a new contribution to innovation literature looked at from regulatory structures. Field visits to both Japan and India enrich the study to a new elevation.

How do I know I am valued?

2014 ◽  
Vol 26 (3/4) ◽  
pp. 188-201 ◽  
Author(s):  
Julia Claxton
Keyword(s):  
Servant Leadership ◽  
Employee Engagement ◽  
Three Dimensional ◽  
Content Type ◽  
Shared Purpose ◽  
Rich Data ◽  
Glaserian Grounded Theory ◽  
Authentic Pride ◽  
Depth Interviews ◽  
Practical Implications

Purpose – The purpose of this paper is to understand the phenomena of an employee “being valued” in the context of a manufacturing SME. Design/methodology/approach – A qualitative study using rich data from in-depth interviews following a classical (Glaserian) grounded theory. Findings – A three dimensional concept of authentic pride enablement, altruistically-orientated shared-purpose and servant leadership explained the reasons people felt valued. Research limitations/implications – The limitations were that this study was in one context Practical implications – The implications are that if organisations consider a servant leadership approach, enabling of authentic pride and fostering of altruistically-orientated shared-purpose, this may help employees feel valued. Social implications – This has implications for how organisations can show their employees that they are valued. Originality/value – “Being valued” is a concept/construct that is widely quoted as a driver for employee engagement and yet rarely unpacked.

scholarly journals Improvement in energy conversion for unmanned aerial vehicle charging pad

2020 ◽  
Vol 17 (2) ◽  
pp. 767
Author(s):  
M. R. AL-Obaidi ◽  
M. A. Mustafa ◽  
W.Z.W. Hassan ◽  
N. Azis ◽  
A. H. Sabry ◽  
...  
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Design Methodology ◽  
Font Size ◽  
Contact Charging ◽  
Charging Station ◽  
Ground Station ◽  
Landing Platform ◽  
Aerial Vehicle ◽  
Fully Automatic ◽  
Software And Hardware

<span style="font-size: 9pt; font-family: 'Times New Roman', serif;">An efficient charging station is a necessity for Unmanned Aerial Vehicle (UAV) systems. However, if that implementation adds more complexity and onboard weight, then that exercise becomes a burden rather than a benefit since UAV's engineers aim to improve efficiency by reducing the energy consumed by the software and hardware of the complete aeronautical system. This article recommends a fully automatic contact charging station for UAVs, which can charge UAVs and thus resolve flight endurance restrictions of the UAV. The ground station consists of square copper plates that are positively and negatively polarized successively in a chessboard with particular sizes to guarantee electric contact at the landing. The design methodology used with the loading station takes into account the differences in UAV orientation once the platform has landed. In addition, this innovation uses independent charging after touchdown. Thus, this technology relaxes common flight times and help to enhance general mission times. This paper presents a unique charging platform in a “chessboard” configuration, which is devised as an interconnecting interface to facilitate the charging process and overcome inaccuracies with the landing. The solution devised in this research requires few components and presents two power source options (solar &amp; mains power). Additionally, this work presents, to the best of our knowledge, a uniquely innovative recharging landing platform, which incidentally requires no additional software or changes to the UAV’s onboard software settings</span><span style="font-size: 9pt; font-family: Arial, sans-serif;">.</span>

scholarly journals PRELIMINARY EVALUATION OF ATMOSPHERIC TEMPERATURE AND WIND PROFILES OBTAINED USING UNMANNED AERIAL VEHICLE BASED ACOUSTIC TOMOGRAPHY

2019 ◽  
Vol XLII-2/W13 ◽  
pp. 283-287 ◽  
Author(s):  
A. Finn ◽  
K. Rogers ◽  
J. Meade ◽  
J. Skinner ◽  
A. Zargarian
Keyword(s):  
Wind Velocity ◽  
Unmanned Aerial Vehicle ◽  
Sound Speed ◽  
Three Dimensional ◽  
Atmospheric Temperature ◽  
Preliminary Evaluation ◽  
Sound Fields ◽  
Aerial Vehicle ◽  
Wind Profiles ◽  
Virtual Temperature

<p><strong>Abstract.</strong> An acoustic signature generated by an unmanned aerial vehicle is used in conjunction with tomography to remotely sense temperature and wind profiles within a volume of atmosphere up to an altitude of 120&amp;thinsp;m and over an area of 300&amp;thinsp;m&amp;thinsp;&amp;times;&amp;thinsp;300&amp;thinsp;m. Sound fields recorded onboard the aircraft and by an array of microphones on the ground are compared and converted to sound speed estimates for the ray paths intersecting the intervening medium. Tomographic inversion is then used to transform these sound speed values into three-dimensional profiles of virtual temperature and wind velocity, which enables the atmosphere to be visualised and monitored over time. The wind and temperature estimates obtained using this method are compared to independent measurements taken by a co-located mid-range ZephIR LIDAR and sensors onboard the aircraft. These comparisons show correspondences to better than 0.5&amp;thinsp;&amp;deg;C and 0.3&amp;thinsp;m/s for temperature and wind velocity, respectively.</p>

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