Comparative Study of SLAM Techniques for UAV

In the last few decades, the main problem which has attracted the attention of researchers in the field of aerial robotics is the position estimation or Simultaneously Localization and Mapping (SLAM) of aerial vehicles where the GPS system does not work. Aerial robotics are used to perform many tasks such as rescue, transportation, search, control, monitoring, and different military operations where the performance of humans is impossible because of their vast top view and reachability anywhere. There are many different techniques and algorithms which are used to overcome the localization and mapping problem. These techniques and algorithms use different sensors such as Red Green Blue and Depth (RGBD), Light Detecting and Range (LIDAR), Ultra-Wideband (UWB) techniques, and probability-based SLAM which uses two algorithms Linear Kalman Filter (LKF) and Extended Kalman filter (EKF). LKF consists of 5 phases and this algorithm is only used for linear system problems but on the other hand, EKF algorithm is also used for non-linear system. EKF is found better than LKF due to accuracy, practicality, and efficiency while dealing SLAM problem.

Development of Training Kit Basic Aerial Robotics Using RC Plane Robot for Robotics Course

RC Plane Robot and basic aerial robotics are technologies that are widely used, so training kits are needed to learn them. This study aims to: (1) Design and build, (2) Test performance and (3) Determine the feasibility level of training kit basic aerial robotics using RC plane robot. The study used the Research and Development method with the following procedures: (1) Potential and problem, (2) Data collection, (3) Design, (4) Validation, (5) Revision and (6) Trial. The object of the research is the RC Plane Robot training kit and the practicum jobsheet. The research subjects were students of the Electronic Engineering Education Study Program, Faculty of Engineering, Universitas Negeri Yogyakarta. The results of the research are in the form of hardware and practicum jobsheets. The hardware part consists of a robot plane, a work area (Box) and a remote control. The level of feasibility of training kits by material experts gets a percentage of 91%. By media experts get a percentage of 89.5%. By respondents (students) get a percentage of 86%. Based on these results, the training kit basic aerial robotics using RC plane robot is very feasible to be applied to the Robotics course.

Drones and Sensors Ecosystem to Maximise the “Storm Effects” in Case of CBRNe Dispersion in Large Geographic Areas

The advancements in the field of robotics, specifically in the aerial robotics, combined with technological improvements of the capability of drones, have increased dramatically the use of these devices as a valuable tool in a wide range of applications. From civil to commercial and military area, the requirements in the emerging application for monitoring complex scenarios that are potentially dangerous for operators give rise to the need of a more powerful and sophisticated approach. This work aims at proposing the use of swarm drones to increase plume detection, tracking and source declaration for chemical releases. The several advantages which this technology may lead to this research and application fields are investigated, as well as the research and technological activities to be performed to make swarm drones efficient, reliable, and accurate.

Efficient Design Principles for Designing Innovative Aerial Robots

The field of aerial robotics has advanced rapidly, but the design knowledge has not yet been codified into reusable design principles. Design principles have been developed for many other areas of mechanical design to both advance the field itself and help novice designers benefit from the past expert knowledge easier. We used an inductive approach and collected 90 aerial robot examples through the reviewing of recent work in aerial robotics and studying the key motivations, features, functionalities and potential design contradictions. Then, design principles are iteratively derived by identifying patterns and grouping them by the problem they solve, and the innovation made to solve it. From this, we find 35 unique design examples that can be grouped into either fourteen design principles for more sensing, battery, mission, or actuation efficient design; or six design principles to improve a desired functionality in an aerial robot such as reducing complexity or improving how the robot can interact with objects or its environment. We compared the research results with similar work in the area of mechanical design and examined the commonalities and highlighted design principles unique to aerial robots. The design principles presented in this research can support the design for future innovative aerial robots.

Aerial Robotic Systems Drones for Contact-Based Ultrasonic Wall Thickness UT Measurements at Height

The use of aerial robotic systems that physically contact oil and gas structural assets to obtain measurement data in offshore and marine environments carries unique challenges and operational variables. The objectives of this paper are to demonstrate, with examples, how these aerial robotic systems afford safer, cheaper, and better nondestructive testing (NDT) measurement collection methodology and allow more robust insight into assets conditions than the slower, less safe, and more expensive manual method. To take NDT measurements such as Ultrasonic Wall Thickness (UT) Measurements at height, currently one needs to utilize a lift, ladders or other solutions to reach areas on certain assets. This can be both dangerous, due to the possibility of falls, and time consuming. Utilizing an aerial robotics platform for contact based (not visual) NDT measurements such as Ultrasonic Thickness (UT) allows workers to remain safely on the ground. Drones, with robotic arms, have the potential to improve inspection, testing and data collection. This paper explores an aerial robotic system that flies up to a structure with a metal sub-straight, then under full autonomous software control, touches a UT measurement probe to the target and records the measurement data compliant with American Petrolium Institute (API) and other standards. The use of aerial robotics systems for NDT is still a new and novel application utilizing existing technologies such as electronic measurement readers, drones, etc. with a system of complex integrations that allows for a better application of science. Aerial Robotic NDT systems have the potential to improve the inspection, testing and data collection aspects of coated and uncoated assets, in part, by making the NDT measurement process easier and safer thus allowing for more frequent measurements and/or a larger quantity of measurement samples. When possible, working at heights should be eliminated as part the hierarchy of fall protection stipulated by both OSHA and ANSI. For this reason alone, the use of aerial robotic systems is important now and in the immediate future Oil & Gas infrastructure, including Offshore. This paper intends to provide readers an awareness of this new technology as well as provide information about its efficacy, limitations and operational requirements.

Towards using UAV for improving 5G cellular communication systems

Unmanned aerial vehicles (UAVs) have sparked a lot of interest in the wireless networking community as an emerging subject in aerial robotics. The UAV environment can be used to improve UAV communications in various ways. These smart devices cater for a broad variety of wireless technologies and applications because of UAV's inherent features related to versatile mobility in 3D space, autonomous operations as well as intelligent positioning. This study will investigate the convergence synergies between 5G/B5G mobile systems and UAV technologies, with the UAV being integrated into current cellular networks as a modern aerial user equipment (UE). In this integration, UAVs play the function of cellular flying customers, and are hence referred to as cellularly linked UAVs (a.k.a. UAVUE, drone-UE, 5G-connected drone, or aerial user). The major goal of this research is to provide a thorough analysis of the integration task, as well as major technical breakthroughs from 5G/B5G and current work in prototyping architecture and field trials that support cell-based UAVs. This study examines recent 3GPP standards advances as well as socio-economic challenges that must be addressed before this promising technology can be properly implemented. There are already some accessible issues clearing the way for potential study opportunities.

Aerial Robotics: State-based Conflict Detection and Resolution (Detect and Avoid) in High Traffic Densities and Complexities

Purpose of Review A lot of research into decentralised, state-based conflict detection and resolution, or detect and avoid algorithms has been executed. This paper explains the essential properties of state-based conflict detection and reviews the work in the context of applications for not only manned but also unmanned aerial vehicles, where this might be applied relatively soon. Recent Findings Lately, based on several reviews of a variety of published algorithms, a selection has been implemented and simulated in extremely high traffic densities for comparison. Summary The modified voltage potential has been surprisingly efficient, even compared with more complex algorithms or adaptations, as is apparent from looking at macroscopic metrics like domino effect, efficiency and safety. This indicates that to this date, it is so far the most suitable algorithm for the detect and avoid role for unmanned aerial vehicles in urban airspaces, or other areas where a high density is expected.