G. Oldenborger, O. Bellehumeur-Génier, A. LeBlanc, I. McMartin
We assess performance of a small consumer-grade remotely-piloted aircraft (RPA) for landform mapping, elevation modelling, and thaw subsidence estimation in continuous permafrost terrain. We acquired RPA imagery near Rankin Inlet, Nunavut to construct orthomosaics and digital elevation models (DEMs) that we use to interpret geomorphology and surficial geology. We estimate seasonal thaw subsidence using DEM differences. To quantify accuracy, RPA DEMs are compared to a satellite-based reference elevation. Subsidence estimates are compared to measurements from differential interferometric synthetic aperture radar (DInSAR). We find that RPA images are very effective for mapping periglacial landforms and surficial geology with the chosen flight specifications. The DEMs exhibit vertical mean absolute error of approximately 1 cm at ground control points. Away from control points, relative vertical accuracy is approximately 3 cm. Comparison to the reference elevation results in survey-wide vertical mean absolute errors of 33–66 cm with high variability and spatial autocorrelation of elevation discrepancy. There is local agreement between DEM differences, DInSAR, and on-the-ground measurements of seasonal subsidence. Results suggest that small RPA may be applicable for mapping thaw subsidence on the order of a few centimetres near control points. However, DEM differences are influenced by vegetation and are contaminated by spatially-variable artefacts, preventing reliable survey-wide RPA estimation of seasonal thaw subsidence.
{"title":"Landform mapping, elevation modelling, and thaw subsidence estimation for permafrost terrain using a consumer-grade remotely-piloted aircraft","authors":"G. Oldenborger, O. Bellehumeur-Génier, A. LeBlanc, I. McMartin","doi":"10.1139/dsa-2021-0045","DOIUrl":"https://doi.org/10.1139/dsa-2021-0045","url":null,"abstract":"We assess performance of a small consumer-grade remotely-piloted aircraft (RPA) for landform mapping, elevation modelling, and thaw subsidence estimation in continuous permafrost terrain. We acquired RPA imagery near Rankin Inlet, Nunavut to construct orthomosaics and digital elevation models (DEMs) that we use to interpret geomorphology and surficial geology. We estimate seasonal thaw subsidence using DEM differences. To quantify accuracy, RPA DEMs are compared to a satellite-based reference elevation. Subsidence estimates are compared to measurements from differential interferometric synthetic aperture radar (DInSAR). We find that RPA images are very effective for mapping periglacial landforms and surficial geology with the chosen flight specifications. The DEMs exhibit vertical mean absolute error of approximately 1 cm at ground control points. Away from control points, relative vertical accuracy is approximately 3 cm. Comparison to the reference elevation results in survey-wide vertical mean absolute errors of 33–66 cm with high variability and spatial autocorrelation of elevation discrepancy. There is local agreement between DEM differences, DInSAR, and on-the-ground measurements of seasonal subsidence. Results suggest that small RPA may be applicable for mapping thaw subsidence on the order of a few centimetres near control points. However, DEM differences are influenced by vegetation and are contaminated by spatially-variable artefacts, preventing reliable survey-wide RPA estimation of seasonal thaw subsidence.","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124147986","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}
The Reciprocating-Airfoil (RA) driven vertical take-off and landing (VTOL) aircraft is a new aircraft concept that utilizes the reciprocating motion of the wings to provide lift for take-off and landing. The RA wings are shaped like the wings of a fixed-wing airplane and work as fixed wings during the cruise. The wing undergoes substantial linear motion during the take-off and may generate lift similar to a fixed-wing aircraft. The unique structural characteristics of reciprocating wings are their high inertia and lifting force loadings. This study aims to conduct an internal structural analysis of the wing under the maximum lift and inertia force to validate the wing's performance. The reciprocating motion of the wing in a stroke was analyzed to determine its maximum speed in the stroke and its inertia force loading in conjunction with a reciprocating driver. A 3D computational fluid dynamic (CFD) analysis was conducted at the highest angle of attack (AoA) and the determined maximum speed to obtain maximum lift and drag. The results of a finite element analysis (FEA) revealed acceptable stresses, demonstrating a safe load-carrying capacity of the wing structure which may ensure the suitability of the wing for integration with the RA UAV module.
{"title":"Structural and CFD Analyses of a Reciprocating-Airfoil (RA) driven UAV Wing under Maximum Lift and Inertia Forces.","authors":"Johnson O. Imumbhon, Mateo Landazuri, Yiding Cao","doi":"10.1139/dsa-2021-0043","DOIUrl":"https://doi.org/10.1139/dsa-2021-0043","url":null,"abstract":"The Reciprocating-Airfoil (RA) driven vertical take-off and landing (VTOL) aircraft is a new aircraft concept that utilizes the reciprocating motion of the wings to provide lift for take-off and landing. The RA wings are shaped like the wings of a fixed-wing airplane and work as fixed wings during the cruise. The wing undergoes substantial linear motion during the take-off and may generate lift similar to a fixed-wing aircraft. The unique structural characteristics of reciprocating wings are their high inertia and lifting force loadings. This study aims to conduct an internal structural analysis of the wing under the maximum lift and inertia force to validate the wing's performance. The reciprocating motion of the wing in a stroke was analyzed to determine its maximum speed in the stroke and its inertia force loading in conjunction with a reciprocating driver. A 3D computational fluid dynamic (CFD) analysis was conducted at the highest angle of attack (AoA) and the determined maximum speed to obtain maximum lift and drag. The results of a finite element analysis (FEA) revealed acceptable stresses, demonstrating a safe load-carrying capacity of the wing structure which may ensure the suitability of the wing for integration with the RA UAV module.","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115500134","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}
Gregory D. Larsen, A. Seymour, E. Richmond, Lauren M. Divine, E. E. Moreland, Everette Newton, J. M. London, D. Johnston
The Arctic and its adjacent ecosystems are undergoing rapid ecological reorganization in response to the effects of global climate change, and sentinel species provide critical updates as these changes unfold. This study leverages emerging remote sensing techniques to reveal fine-scale drivers of distribution and terrestrial habitat use of two sympatric sentinel species of the central Bering Sea, the Pacific harbor seal (Phoca vitulina richardsi) and the northern fur seal (Callorhinus ursinus), at non-breeding haul-outs in the Pribilof Islands. We surveyed these species using unoccupied aircraft systems with thermal and visible-light photography, and we applied distributional modeling techniques to quantify the relative influence of habitat characteristics and social dynamics on the local distributions of these species. Drone imagery yielded locations and population counts of each species, and spatial data products allowed quantitative characterization of occupied sites, revealing that conspecific attraction is a driver of local site selection for both species, and Pacific harbor seals and northern fur seals are differentially limited by terrain characteristics. These findings represent new applications of species distribution modeling at local scales, made possible by ultra-high resolution drone surveillance and photogrammetric techniques, which add new spatial context to past observations and future scenarios in this changing ecosystem.
{"title":"Drones reveal spatial patterning of sympatric Alaskan pinniped species and drivers of their local distributions","authors":"Gregory D. Larsen, A. Seymour, E. Richmond, Lauren M. Divine, E. E. Moreland, Everette Newton, J. M. London, D. Johnston","doi":"10.1139/dsa-2021-0050","DOIUrl":"https://doi.org/10.1139/dsa-2021-0050","url":null,"abstract":"The Arctic and its adjacent ecosystems are undergoing rapid ecological reorganization in response to the effects of global climate change, and sentinel species provide critical updates as these changes unfold. This study leverages emerging remote sensing techniques to reveal fine-scale drivers of distribution and terrestrial habitat use of two sympatric sentinel species of the central Bering Sea, the Pacific harbor seal (Phoca vitulina richardsi) and the northern fur seal (Callorhinus ursinus), at non-breeding haul-outs in the Pribilof Islands. We surveyed these species using unoccupied aircraft systems with thermal and visible-light photography, and we applied distributional modeling techniques to quantify the relative influence of habitat characteristics and social dynamics on the local distributions of these species. Drone imagery yielded locations and population counts of each species, and spatial data products allowed quantitative characterization of occupied sites, revealing that conspecific attraction is a driver of local site selection for both species, and Pacific harbor seals and northern fur seals are differentially limited by terrain characteristics. These findings represent new applications of species distribution modeling at local scales, made possible by ultra-high resolution drone surveillance and photogrammetric techniques, which add new spatial context to past observations and future scenarios in this changing ecosystem.","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133044795","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}
B. Young, W. Koski, Ricky Kilabuk, C. Watt, K. P. Ryan, S. Ferguson
In conducting Arctic field research, hiring local field guides has long been a necessity for providing field teams with local knowledge and fundamental needs of boat operation and navigation, general field logistics/safety, and traditional ecological knowledge (TEK) of local animal distribution and natural history. As new threats to Arctic wildlife emerge and as field research methods evolve, including local Inuit as long-standing members of research teams has provided additional collaborative benefits through expanded local knowledge, greater efficiency of data collection, and longer temporal sampling which provides the opportunity to study uncommon events. We describe the collaboration between southern-based scientists and local Inuit from the community of Pangnirtung, Nunavut, to conduct field research on marine mammals in Cumberland Sound from 1997 to 2021. Through a keen interest in marine mammal field research, Inuit partners in Pangnirtung have become highly proficient in all aspects of sample and data collection and have received advanced technical training to allow for an expanded role in achieving research objectives. This expanded role includes running field research operations independently, as well as the extensive use of drones to capture photographs of whales for the purposes of photographic-identification and to record behavior. Collaboration with local Inuit also provides benefits through employment opportunities, development of technical skills, and opportunities to actively participate in research that aims to conserve culturally important local wildlife populations.
{"title":"Collaborative field research using drones for whale photo-identification studies in Cumberland Sound, Nunavut","authors":"B. Young, W. Koski, Ricky Kilabuk, C. Watt, K. P. Ryan, S. Ferguson","doi":"10.1139/dsa-2021-0026","DOIUrl":"https://doi.org/10.1139/dsa-2021-0026","url":null,"abstract":"In conducting Arctic field research, hiring local field guides has long been a necessity for providing field teams with local knowledge and fundamental needs of boat operation and navigation, general field logistics/safety, and traditional ecological knowledge (TEK) of local animal distribution and natural history. As new threats to Arctic wildlife emerge and as field research methods evolve, including local Inuit as long-standing members of research teams has provided additional collaborative benefits through expanded local knowledge, greater efficiency of data collection, and longer temporal sampling which provides the opportunity to study uncommon events. We describe the collaboration between southern-based scientists and local Inuit from the community of Pangnirtung, Nunavut, to conduct field research on marine mammals in Cumberland Sound from 1997 to 2021. Through a keen interest in marine mammal field research, Inuit partners in Pangnirtung have become highly proficient in all aspects of sample and data collection and have received advanced technical training to allow for an expanded role in achieving research objectives. This expanded role includes running field research operations independently, as well as the extensive use of drones to capture photographs of whales for the purposes of photographic-identification and to record behavior. Collaboration with local Inuit also provides benefits through employment opportunities, development of technical skills, and opportunities to actively participate in research that aims to conserve culturally important local wildlife populations.","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"297-301 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130802874","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}
This study examines the public-facing statements that can be found on airport websites related to unmanned aircraft (UA). Data was extracted via manual web scraping from 288 different airports’ official websites across 69 different countries. To be selected, airports had to be one of the 100 busiest airports in terms of passenger numbers in 2017, and/or be one of the IATA slot coordinated and facilitated airports as at 10 November 2020. Manual web scraping was completed by using Google site searches for the keywords “unmanned”, “drone”, and “remotely piloted”. Phrases, sentences and paragraphs containing these keywords were collated for each airport and then thematic analysis was undertaken to identify themes within the data. Surprisingly, this study finds that 143 (49.65%) of the airports have no mention of the keywords on their websites. For those that did have statements, thematic analysis revealed 20 themes, of which the largest three were regulation, ensuring compliance, and enforcement (38.54%, 29.17%, and 25.35% of airports, respectively). There were significant differences in the number of statements overall and within specific themes based upon airport location, however, there were no statistically significant differences based upon how many passengers the airport handles.
{"title":"Examining public-facing statements on airport websites related to unmanned aircraft","authors":"Armar Syahid bin Abdul Razak, I. Henderson","doi":"10.1139/dsa-2021-0048","DOIUrl":"https://doi.org/10.1139/dsa-2021-0048","url":null,"abstract":"This study examines the public-facing statements that can be found on airport websites related to unmanned aircraft (UA). Data was extracted via manual web scraping from 288 different airports’ official websites across 69 different countries. To be selected, airports had to be one of the 100 busiest airports in terms of passenger numbers in 2017, and/or be one of the IATA slot coordinated and facilitated airports as at 10 November 2020. Manual web scraping was completed by using Google site searches for the keywords “unmanned”, “drone”, and “remotely piloted”. Phrases, sentences and paragraphs containing these keywords were collated for each airport and then thematic analysis was undertaken to identify themes within the data. Surprisingly, this study finds that 143 (49.65%) of the airports have no mention of the keywords on their websites. For those that did have statements, thematic analysis revealed 20 themes, of which the largest three were regulation, ensuring compliance, and enforcement (38.54%, 29.17%, and 25.35% of airports, respectively). There were significant differences in the number of statements overall and within specific themes based upon airport location, however, there were no statistically significant differences based upon how many passengers the airport handles.","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123261055","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}
Performance requirements for Detect, Alert, and Avoid (DAA) systems for Re-motely Piloted Aircraft Systems (RPAS) are under development by many regulatory agencies and standards bodies. A DAA system can be decomposed into three functions, ‘Detect’ - situational awareness; ‘Alert’ - determination of traffic that may be in conflict, evaluation of the de-conflicting flight path, and informing the pilot-in-command; and ‘Avoid’ – avoidance maneuver execution, and determination of ‘clear of conflict’. Factors like RPAS maneuvering performance, airspace ‘rules’, and the size of the protection volume impact the time required to calculate, and execute an avoidance maneuver that will guarantee a prescribed miss distance, and dominate the ‘Detect’ requirements of a sensor. This paper describes DAAMSim: a publically available modeling and simulation framework, developed by the National Research Council of Canada, to support the determination of DAA system requirements, and evaluation of DAA system performance. The framework described herein incorporates the functional components including various sensor, tracker, and avoid models, data replay, visualization tools, and offline metrics. Further, this paper presents sample results of the framework’s ability to determine DAA system requirements for various degrees of RPAS and intruder performance, and concludes with a description of future work activities.
{"title":"DAAMSIM: A SIMULATION FRAMEWORK FOR ESTABLISHING DETECT AND AVOID SYSTEM REQUIREMENTS","authors":"Iryna Borshchova, K. Ellis","doi":"10.1139/dsa-2021-0044","DOIUrl":"https://doi.org/10.1139/dsa-2021-0044","url":null,"abstract":"Performance requirements for Detect, Alert, and Avoid (DAA) systems for Re-motely Piloted Aircraft Systems (RPAS) are under development by many regulatory agencies and standards bodies. A DAA system can be decomposed into three functions, ‘Detect’ - situational awareness; ‘Alert’ - determination of traffic that may be in conflict, evaluation of the de-conflicting flight path, and informing the pilot-in-command; and ‘Avoid’ – avoidance maneuver execution, and determination of ‘clear of conflict’. Factors like RPAS maneuvering performance, airspace ‘rules’, and the size of the protection volume impact the time required to calculate, and execute an avoidance maneuver that will guarantee a prescribed miss distance, and dominate the ‘Detect’ requirements of a sensor. This paper describes DAAMSim: a publically available modeling and simulation framework, developed by the National Research Council of Canada, to support the determination of DAA system requirements, and evaluation of DAA system performance. The framework described herein incorporates the functional components including various sensor, tracker, and avoid models, data replay, visualization tools, and offline metrics. Further, this paper presents sample results of the framework’s ability to determine DAA system requirements for various degrees of RPAS and intruder performance, and concludes with a description of future work activities.","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123526843","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}
The icing of aircraft on the ground is an important flight safety issue. Aircraft must be de-iced and anti-iced to respectively remove and protect the aircraft from freezing and frozen contamination before and during takeoff. Winter de-icing and anti-icing operations are nonetheless costly, require a significant amount of time, and rely on extensive infrastructures. The essential equipment is often not available at smaller airports and remote locations, thereby preventing departures under a range of winter conditions. For sites located in northern Canada, this limitation results in frequent takeoff delays or cancellations during a significant portion of the year. As part of Canada’s Department of National Defence Innovation for Defence Excellence and Security research program, this study aimed to develop a practical solution to mitigate these limitations. This solution involves mounting a ground de-icing/anti-icing system onto a drone for an easy-to-operate system that can be readily acquired and stored at smaller airports and remote locations or even be transported within the aircraft itself to ensure the possibility of performing de-icing/anti-icing operations at sites lacking the standard infrastructure. This paper presents the conception and design of a drone-based system that will provide faster, greener, cheaper, and more effective winter operations at small and remote airports.
{"title":"Development of a small and transportable de-icing/anti-icing drone-mounted system. Part 1: System design","authors":"É. Villeneuve, E. Karmouch, Xavier Boulerice","doi":"10.1139/dsa-2021-0036","DOIUrl":"https://doi.org/10.1139/dsa-2021-0036","url":null,"abstract":"The icing of aircraft on the ground is an important flight safety issue. Aircraft must be de-iced and anti-iced to respectively remove and protect the aircraft from freezing and frozen contamination before and during takeoff. Winter de-icing and anti-icing operations are nonetheless costly, require a significant amount of time, and rely on extensive infrastructures. The essential equipment is often not available at smaller airports and remote locations, thereby preventing departures under a range of winter conditions. For sites located in northern Canada, this limitation results in frequent takeoff delays or cancellations during a significant portion of the year. As part of Canada’s Department of National Defence Innovation for Defence Excellence and Security research program, this study aimed to develop a practical solution to mitigate these limitations. This solution involves mounting a ground de-icing/anti-icing system onto a drone for an easy-to-operate system that can be readily acquired and stored at smaller airports and remote locations or even be transported within the aircraft itself to ensure the possibility of performing de-icing/anti-icing operations at sites lacking the standard infrastructure. This paper presents the conception and design of a drone-based system that will provide faster, greener, cheaper, and more effective winter operations at small and remote airports.","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-02-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125529170","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}
Dominique Chabot, A. Hodgson, Jarrod C. Hodgson, K. Anderson
{"title":"‘Drone’: technically correct, popularly accepted, socially acceptable","authors":"Dominique Chabot, A. Hodgson, Jarrod C. Hodgson, K. Anderson","doi":"10.1139/dsa-2022-0041","DOIUrl":"https://doi.org/10.1139/dsa-2022-0041","url":null,"abstract":"","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134187248","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}
Dead-reckoning via encoders on wheeled-mobile robots is a simple but inaccurate method to estimate position. The major drawback of encoders is wheel slippage errors that accumulate over time. This problem is often addressed by using additional sensors such as compass, gyroscope, or GPS. This paper details the integration and effectiveness of a relatively low-cost solution using an electronic compass to reduce positioning error on a wheeled tricycle mobile robot. A customised Visual Studio program has been developed to adjust the settings of the electronic compass and integrate it with the Visual Studio based robot control system. The electronic compass heading data is fused with the encoder odometry heading data in three different ways: simple fusion, linear weighted fusion, and Kalman filter fusion. Simple fusion and linear weighted fusion rely on parameters determined from angular acceleration and angular velocity, respectively. The Kalman filter uses variance data for the encoders and electronic compass to determine an optimal heading. Experiments have been conducted in an indoor corridor environment to evaluate and compare the various fusion methods. Position error is successfully reduced and is sufficient to locate the robot within the corridor.
{"title":"Integrating an electronic compass for position tracking on a wheeled tricycle mobile robot","authors":"P. Chand","doi":"10.1139/dsa-2021-0049","DOIUrl":"https://doi.org/10.1139/dsa-2021-0049","url":null,"abstract":"Dead-reckoning via encoders on wheeled-mobile robots is a simple but inaccurate method to estimate position. The major drawback of encoders is wheel slippage errors that accumulate over time. This problem is often addressed by using additional sensors such as compass, gyroscope, or GPS. This paper details the integration and effectiveness of a relatively low-cost solution using an electronic compass to reduce positioning error on a wheeled tricycle mobile robot. A customised Visual Studio program has been developed to adjust the settings of the electronic compass and integrate it with the Visual Studio based robot control system. The electronic compass heading data is fused with the encoder odometry heading data in three different ways: simple fusion, linear weighted fusion, and Kalman filter fusion. Simple fusion and linear weighted fusion rely on parameters determined from angular acceleration and angular velocity, respectively. The Kalman filter uses variance data for the encoders and electronic compass to determine an optimal heading. Experiments have been conducted in an indoor corridor environment to evaluate and compare the various fusion methods. Position error is successfully reduced and is sufficient to locate the robot within the corridor.","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126428155","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}
This paper presents pitch control of an uninhabited airship using changes in center of gravity. Changes in center of gravity are achieved by controlling the position of a movable gondola along a rigid keel fixed to the bow of the helium envelope. The longitudinal multi-body dynamic equations of motion were developed using the measured and estimated physical properties and an adaptive PID controller was designed to control the pitch angle. Flight tests on a 4 m long uninhabited airship prototype were conducted to demonstrate the effectiveness of the method.
{"title":"Multi-body modelling and adaptive control of a re-configurable uninhabited airship","authors":"Gilmar Tuta-Navajas, E. Lanteigne","doi":"10.1139/dsa-2021-0017","DOIUrl":"https://doi.org/10.1139/dsa-2021-0017","url":null,"abstract":"This paper presents pitch control of an uninhabited airship using changes in center of gravity. Changes in center of gravity are achieved by controlling the position of a movable gondola along a rigid keel fixed to the bow of the helium envelope. The longitudinal multi-body dynamic equations of motion were developed using the measured and estimated physical properties and an adaptive PID controller was designed to control the pitch angle. Flight tests on a 4 m long uninhabited airship prototype were conducted to demonstrate the effectiveness of the method.","PeriodicalId":202289,"journal":{"name":"Drone Systems and Applications","volume":"189 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120899142","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}
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