Under the framework of sixth-generation (6G) wireless communications, the unmanned aerial vehicle (UAV) plays an irreplaceable role in a number of communication systems. In this paper, a novel cluster-based low-altitude UAV-to-vehicle (U2V) non-stationary channel model with uniform planar antenna arrays (UPAs) is proposed. In order to comprehensively model the scattering environment, both single and twin clusters are taken into account. A novel continuous cluster evolution algorithm that integrates time evolution and array evolution is developed to capture channel non-stationarity. In the proposed algorithm, the link between the time evolution of twin clusters and that of single clusters is established to regulate the temporal evolution trend. Moreover, an improved observable radius method is applied to UPAs for the first time to describe array evolution. Based on the combination of cluster evolution and time-variant channel parameters, some vital statistical properties are derived and analyzed, including space–time correlation function (ST-CF), angular power spectrum density (PSD), Doppler PSD, Doppler spread (DS), frequency correlation function (FCF), and delay spread (RS). The non-stationarity in the time, space, and frequency domain is captured. It demonstrates that the airspeed, density of scatterers within clusters, and carrier frequency have an impact on statistical properties. Furthermore, twin clusters have more flexible spatial characteristics with lower power than single clusters. These conclusions can provide assistance and reference for the design and deployment of 6G UAV communication systems.
{"title":"A Non-Stationary Cluster-Based Channel Model for Low-Altitude Unmanned-Aerial-Vehicle-to-Vehicle Communications","authors":"Zixv Su, Changzhen Li, Wei Chen","doi":"10.3390/drones7100640","DOIUrl":"https://doi.org/10.3390/drones7100640","url":null,"abstract":"Under the framework of sixth-generation (6G) wireless communications, the unmanned aerial vehicle (UAV) plays an irreplaceable role in a number of communication systems. In this paper, a novel cluster-based low-altitude UAV-to-vehicle (U2V) non-stationary channel model with uniform planar antenna arrays (UPAs) is proposed. In order to comprehensively model the scattering environment, both single and twin clusters are taken into account. A novel continuous cluster evolution algorithm that integrates time evolution and array evolution is developed to capture channel non-stationarity. In the proposed algorithm, the link between the time evolution of twin clusters and that of single clusters is established to regulate the temporal evolution trend. Moreover, an improved observable radius method is applied to UPAs for the first time to describe array evolution. Based on the combination of cluster evolution and time-variant channel parameters, some vital statistical properties are derived and analyzed, including space–time correlation function (ST-CF), angular power spectrum density (PSD), Doppler PSD, Doppler spread (DS), frequency correlation function (FCF), and delay spread (RS). The non-stationarity in the time, space, and frequency domain is captured. It demonstrates that the airspeed, density of scatterers within clusters, and carrier frequency have an impact on statistical properties. Furthermore, twin clusters have more flexible spatial characteristics with lower power than single clusters. These conclusions can provide assistance and reference for the design and deployment of 6G UAV communication systems.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"82 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135888649","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Gujing Han, Ruijie Wang, Qiwei Yuan, Liu Zhao, Saidian Li, Ming Zhang, Min He, Liang Qin
In the context of difficulty in detection problems and the limited computing resources of various fault scales in aerial images of transmission line UAV inspections, this paper proposes a TD-YOLO algorithm (YOLO for transmission detection). Firstly, the Ghost module is used to lighten the model’s feature extraction network and prediction network, significantly reducing the number of parameters and the computational effort of the model. Secondly, the spatial and channel attention mechanism scSE (concurrent spatial and channel squeeze and channel excitation) is embedded into the feature fusion network, with PA-Net (path aggregation network) to construct a feature-balanced network, using channel weights and spatial weights as guides to achieving the balancing of multi-level and multi-scale features in the network, significantly improving the detection capability under the coexistence of multiple targets of different categories. Thirdly, a loss function, NWD (normalized Wasserstein distance), is introduced to enhance the detection of small targets, and the fusion ratio of NWD and CIoU is optimized to further compensate for the loss of accuracy caused by the lightweightedness of the model. Finally, a typical fault dataset of transmission lines is built using UAV inspection images for training and testing. The experimental results show that the TD-YOLO algorithm proposed in this article compresses 74.79% of the number of parameters and 66.92% of the calculation amount compared to YOLOv7-Tiny and increases the mAP (mean average precision) by 0.71%. The TD-YOLO was deployed into Jetson Xavier NX to simulate the UAV inspection process and was run at 23.5 FPS with good results. This study offers a reference for power line inspection and provides a possible way to deploy edge computing devices on unmanned aerial vehicles.
针对传输线无人机检测航图中各种故障尺度检测问题难解、计算资源有限的情况，本文提出了一种TD-YOLO算法(YOLO for transmission detection)。首先，利用Ghost模块对模型的特征提取网络和预测网络进行轻量化，显著减少了模型的参数数量和计算量;其次，将空间和通道关注机制scSE(并发空间和通道挤压和通道激励)嵌入到特征融合网络中，结合PA-Net(路径聚合网络)构建特征平衡网络，以通道权值和空间权值为导向，实现网络中多层次、多尺度特征的平衡，显著提高了多个不同类别目标共存下的检测能力。第三，引入损失函数NWD(归一化Wasserstein距离)来增强对小目标的检测，并优化NWD与CIoU的融合比例，进一步弥补模型轻量化带来的精度损失。最后，利用无人机检测图像构建典型输电线路故障数据集，进行训练和测试。实验结果表明，与YOLOv7-Tiny相比，本文提出的TD-YOLO算法压缩了74.79%的参数个数和66.92%的计算量，mAP(平均精度)提高了0.71%。TD-YOLO部署在Jetson Xavier NX中模拟无人机检测过程，并以23.5 FPS的速度运行，取得了良好的效果。该研究为电力线检测提供了参考，并为无人机部署边缘计算设备提供了可能的途径。
{"title":"Typical Fault Detection on Drone Images of Transmission Lines Based on Lightweight Structure and Feature-Balanced Network","authors":"Gujing Han, Ruijie Wang, Qiwei Yuan, Liu Zhao, Saidian Li, Ming Zhang, Min He, Liang Qin","doi":"10.3390/drones7100638","DOIUrl":"https://doi.org/10.3390/drones7100638","url":null,"abstract":"In the context of difficulty in detection problems and the limited computing resources of various fault scales in aerial images of transmission line UAV inspections, this paper proposes a TD-YOLO algorithm (YOLO for transmission detection). Firstly, the Ghost module is used to lighten the model’s feature extraction network and prediction network, significantly reducing the number of parameters and the computational effort of the model. Secondly, the spatial and channel attention mechanism scSE (concurrent spatial and channel squeeze and channel excitation) is embedded into the feature fusion network, with PA-Net (path aggregation network) to construct a feature-balanced network, using channel weights and spatial weights as guides to achieving the balancing of multi-level and multi-scale features in the network, significantly improving the detection capability under the coexistence of multiple targets of different categories. Thirdly, a loss function, NWD (normalized Wasserstein distance), is introduced to enhance the detection of small targets, and the fusion ratio of NWD and CIoU is optimized to further compensate for the loss of accuracy caused by the lightweightedness of the model. Finally, a typical fault dataset of transmission lines is built using UAV inspection images for training and testing. The experimental results show that the TD-YOLO algorithm proposed in this article compresses 74.79% of the number of parameters and 66.92% of the calculation amount compared to YOLOv7-Tiny and increases the mAP (mean average precision) by 0.71%. The TD-YOLO was deployed into Jetson Xavier NX to simulate the UAV inspection process and was run at 23.5 FPS with good results. This study offers a reference for power line inspection and provides a possible way to deploy edge computing devices on unmanned aerial vehicles.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135993024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper reviews the diverse applications of drone technologies in the built environment and their role in climate change research. Drones, or unmanned aerial vehicles (UAVs), have emerged as valuable tools for environmental scientists, offering new possibilities for data collection, monitoring, and analysis in the urban environment. The paper begins by providing an overview of the different types of drones used in the built environment, including quadcopters, fixed-wing drones, and hybrid models. It explores their capabilities and features, such as high-resolution cameras, LiDAR sensors, and thermal imaging, which enable detailed data acquisition for studying climate change impacts in urban areas. The paper then examines the specific applications of drones in the built environment and their contribution to climate change research. These applications include mapping urban heat islands, assessing the energy efficiency of buildings, monitoring air quality, and identifying sources of greenhouse gas emissions. UAVs enable researchers to collect spatially and temporally rich data, allowing for a detailed analysis and identifying trends and patterns. Furthermore, the paper discusses integrating UAVs with artificial intelligence (AI) to derive insights and develop predictive models for climate change mitigation and adaptation in urban environments. Finally, the paper addresses drone technologies’ challenges and the future directions in the built environment. These challenges encompass regulatory frameworks, privacy concerns, data management, and the need for an interdisciplinary collaboration. By harnessing the potential of drones, environmental scientists can enhance their understanding of climate change impacts in urban areas and contribute to developing sustainable strategies for resilient cities.
{"title":"Eyes in The Sky: Drones Applications in the Built Environment under Climate Change Challenges","authors":"Norhan Bayomi, John E. Fernandez","doi":"10.3390/drones7100637","DOIUrl":"https://doi.org/10.3390/drones7100637","url":null,"abstract":"This paper reviews the diverse applications of drone technologies in the built environment and their role in climate change research. Drones, or unmanned aerial vehicles (UAVs), have emerged as valuable tools for environmental scientists, offering new possibilities for data collection, monitoring, and analysis in the urban environment. The paper begins by providing an overview of the different types of drones used in the built environment, including quadcopters, fixed-wing drones, and hybrid models. It explores their capabilities and features, such as high-resolution cameras, LiDAR sensors, and thermal imaging, which enable detailed data acquisition for studying climate change impacts in urban areas. The paper then examines the specific applications of drones in the built environment and their contribution to climate change research. These applications include mapping urban heat islands, assessing the energy efficiency of buildings, monitoring air quality, and identifying sources of greenhouse gas emissions. UAVs enable researchers to collect spatially and temporally rich data, allowing for a detailed analysis and identifying trends and patterns. Furthermore, the paper discusses integrating UAVs with artificial intelligence (AI) to derive insights and develop predictive models for climate change mitigation and adaptation in urban environments. Finally, the paper addresses drone technologies’ challenges and the future directions in the built environment. These challenges encompass regulatory frameworks, privacy concerns, data management, and the need for an interdisciplinary collaboration. By harnessing the potential of drones, environmental scientists can enhance their understanding of climate change impacts in urban areas and contribute to developing sustainable strategies for resilient cities.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136115013","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Tao Zhang, Liya Yu, Shaobo Li, Fengbin Wu, Qisong Song, Xingxing Zhang
A well-organized path can assist unmanned aerial vehicles (UAVs) in performing tasks efficiently. The artificial fish swarm algorithm (AFSA) is a widely used intelligent optimization algorithm. However, the traditional AFSA exhibits issues of non-uniform population distribution and susceptibility to local optimization. Despite the numerous AFSA variants introduced in recent years, many of them still grapple with challenges like slow convergence rates. To tackle the UAV path planning problem more effectively, we present an improved AFSA algorithm (IAFSA), which is primarily rooted in the following considerations: (1) The prevailing AFSA variants have not entirely resolved concerns related to population distribution disparities and a predisposition for local optimization. (2) Recognizing the specific demands of the UAV path planning problem, an algorithm that can combine global search capabilities with swift convergence becomes imperative. To evaluate the performance of IAFSA, it was tested on 10 constrained benchmark functions from CEC2020; the effectiveness of the proposed strategy is verified on the UAV 3D path planning problem; and comparative algorithmic experiments of IAFSA are conducted in different maps. The results of the comparison experiments show that IAFSA has high global convergence ability and speed.
一个组织良好的路径可以帮助无人机高效地执行任务。人工鱼群算法(artificial fish swarm algorithm, AFSA)是一种应用广泛的智能优化算法。然而，传统的AFSA存在种群分布不均匀和易受局部优化影响的问题。尽管近年来推出了许多AFSA变体，但其中许多仍然面临着缓慢的收敛速度等挑战。为了更有效地解决无人机路径规划问题，我们提出了一种改进的AFSA算法(IAFSA)，该算法主要基于以下考虑:(1)目前流行的AFSA变体并没有完全解决与种群分布差异和局部优化倾向相关的问题。(2)针对无人机路径规划问题的具体需求，提出一种既具有全局搜索能力又具有快速收敛性的算法。为了评估IAFSA的性能，在CEC2020的10个约束基准函数上进行了测试;在无人机三维路径规划问题上验证了所提策略的有效性;并在不同的地图上进行了IAFSA算法对比实验。对比实验结果表明，IAFSA具有较高的全局收敛能力和速度。
{"title":"Unmanned Aerial Vehicle 3D Path Planning Based on an Improved Artificial Fish Swarm Algorithm","authors":"Tao Zhang, Liya Yu, Shaobo Li, Fengbin Wu, Qisong Song, Xingxing Zhang","doi":"10.3390/drones7100636","DOIUrl":"https://doi.org/10.3390/drones7100636","url":null,"abstract":"A well-organized path can assist unmanned aerial vehicles (UAVs) in performing tasks efficiently. The artificial fish swarm algorithm (AFSA) is a widely used intelligent optimization algorithm. However, the traditional AFSA exhibits issues of non-uniform population distribution and susceptibility to local optimization. Despite the numerous AFSA variants introduced in recent years, many of them still grapple with challenges like slow convergence rates. To tackle the UAV path planning problem more effectively, we present an improved AFSA algorithm (IAFSA), which is primarily rooted in the following considerations: (1) The prevailing AFSA variants have not entirely resolved concerns related to population distribution disparities and a predisposition for local optimization. (2) Recognizing the specific demands of the UAV path planning problem, an algorithm that can combine global search capabilities with swift convergence becomes imperative. To evaluate the performance of IAFSA, it was tested on 10 constrained benchmark functions from CEC2020; the effectiveness of the proposed strategy is verified on the UAV 3D path planning problem; and comparative algorithmic experiments of IAFSA are conducted in different maps. The results of the comparison experiments show that IAFSA has high global convergence ability and speed.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136113352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jimin Hwang, Neil Bose, Gina Millar, Craig Bulger, Ginelle Nazareth
Autonomous underwater vehicles (AUVs) have been applied in various scientific missions including oceanographic research, bathymetry studies, sea mine detection, and marine pollution tracking. We have designed and field-tested in the ocean a backseat driver autonomous system for a 5.5 m survey-class Explorer AUV to detect and track a mixed-phase oil plume. While the first driver is responsible for controlling and safely operating the vehicle; the second driver processes real-time data surrounding the vehicle based on in situ sensor measurements and adaptively modifies the mission details. This adaptive sensing and tracking method uses the Gaussian blur and occupancy grid method. Using a large bubble plume as a proxy, our approach enables real-time adaptive modifications to the AUV’s mission details, and field tests show successful plume detection and tracking. Our results provide for remote detection of underwater oil plumes and enhanced autonomy with these large AUVs.
{"title":"Bubble Plume Tracking Using a Backseat Driver on an Autonomous Underwater Vehicle","authors":"Jimin Hwang, Neil Bose, Gina Millar, Craig Bulger, Ginelle Nazareth","doi":"10.3390/drones7100635","DOIUrl":"https://doi.org/10.3390/drones7100635","url":null,"abstract":"Autonomous underwater vehicles (AUVs) have been applied in various scientific missions including oceanographic research, bathymetry studies, sea mine detection, and marine pollution tracking. We have designed and field-tested in the ocean a backseat driver autonomous system for a 5.5 m survey-class Explorer AUV to detect and track a mixed-phase oil plume. While the first driver is responsible for controlling and safely operating the vehicle; the second driver processes real-time data surrounding the vehicle based on in situ sensor measurements and adaptively modifies the mission details. This adaptive sensing and tracking method uses the Gaussian blur and occupancy grid method. Using a large bubble plume as a proxy, our approach enables real-time adaptive modifications to the AUV’s mission details, and field tests show successful plume detection and tracking. Our results provide for remote detection of underwater oil plumes and enhanced autonomy with these large AUVs.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136114738","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this paper, we delve into the domain of heterogeneous drone-enabled aerial base stations, each equipped with varying transmit powers, serving as downlink wireless providers for ground users. A central challenge lies in strategically selecting and deploying a subset from the available drone base stations (DBSs) to meet the downlink data rate requirements while minimizing the overall power consumption. To tackle this, we formulate an optimization problem to identify the optimal subset of DBSs, ensuring wireless coverage with an acceptable transmission rate in the downlink path. Moreover, we determine their 3D positions for power consumption optimization. Assuming DBSs operate within the same frequency band, we introduce an innovative, computationally efficient beamforming method to mitigate intercell interference in the downlink. We propose a Kalai–Smorodinsky bargaining solution to establish the optimal beamforming strategy, compensating for interference-related impairments. Our simulation results underscore the efficacy of our solution and offer valuable insights into the performance intricacies of heterogeneous drone-based small-cell networks.
{"title":"Heterogeneous Drone Small Cells: Optimal 3D Placement for Downlink Power Efficiency and Rate Satisfaction","authors":"Nima Namvar, Fatemeh Afghah, Ismail Guvenc","doi":"10.3390/drones7100634","DOIUrl":"https://doi.org/10.3390/drones7100634","url":null,"abstract":"In this paper, we delve into the domain of heterogeneous drone-enabled aerial base stations, each equipped with varying transmit powers, serving as downlink wireless providers for ground users. A central challenge lies in strategically selecting and deploying a subset from the available drone base stations (DBSs) to meet the downlink data rate requirements while minimizing the overall power consumption. To tackle this, we formulate an optimization problem to identify the optimal subset of DBSs, ensuring wireless coverage with an acceptable transmission rate in the downlink path. Moreover, we determine their 3D positions for power consumption optimization. Assuming DBSs operate within the same frequency band, we introduce an innovative, computationally efficient beamforming method to mitigate intercell interference in the downlink. We propose a Kalai–Smorodinsky bargaining solution to establish the optimal beamforming strategy, compensating for interference-related impairments. Our simulation results underscore the efficacy of our solution and offer valuable insights into the performance intricacies of heterogeneous drone-based small-cell networks.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135856264","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Given the accelerated advancement of drones in an array of application domains, the imperative of effective path planning has emerged as a quintessential research focus. Particularly in intricate three-dimensional (3D) environments, formulating the optimal flight path for drones poses a substantial challenge. Nonetheless, prevalent path-planning algorithms exhibit issues encompassing diminished accuracy and inadequate stability. To solve this problem, a hybrid improved symbiotic organisms search (ISOS) and sine–cosine particle swarm optimization (SCPSO) method for drone 3D path planning named HISOS-SCPSO is proposed. In the proposed method, chaotic logistic mapping is first used to improve the diversity of the initial population. Then, the difference strategy, the novel attenuation functions, and the population regeneration strategy are introduced to improve the performance of the algorithm. Finally, in order to ensure that the planned path is available for drone flight, a novel cost function is designed, and a cubic B-spline curve is employed to effectively refine and smoothen the flight path. To assess performance, the simulation is carried out in the mountainous and urban areas. An extensive body of research attests to the exceptional performance of our proposed HISOS-SCPSO.
{"title":"A Hybrid Improved Symbiotic Organisms Search and Sine–Cosine Particle Swarm Optimization Method for Drone 3D Path Planning","authors":"Tao Xiong, Hao Li, Kai Ding, Haoting Liu, Qing Li","doi":"10.3390/drones7100633","DOIUrl":"https://doi.org/10.3390/drones7100633","url":null,"abstract":"Given the accelerated advancement of drones in an array of application domains, the imperative of effective path planning has emerged as a quintessential research focus. Particularly in intricate three-dimensional (3D) environments, formulating the optimal flight path for drones poses a substantial challenge. Nonetheless, prevalent path-planning algorithms exhibit issues encompassing diminished accuracy and inadequate stability. To solve this problem, a hybrid improved symbiotic organisms search (ISOS) and sine–cosine particle swarm optimization (SCPSO) method for drone 3D path planning named HISOS-SCPSO is proposed. In the proposed method, chaotic logistic mapping is first used to improve the diversity of the initial population. Then, the difference strategy, the novel attenuation functions, and the population regeneration strategy are introduced to improve the performance of the algorithm. Finally, in order to ensure that the planned path is available for drone flight, a novel cost function is designed, and a cubic B-spline curve is employed to effectively refine and smoothen the flight path. To assess performance, the simulation is carried out in the mountainous and urban areas. An extensive body of research attests to the exceptional performance of our proposed HISOS-SCPSO.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135855610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Trichogramma-based biological control technology is of great significance to the development of green agriculture. Agricultural drones have the advantages of low-altitude and high-speed operations and have been well applied and widely recognized in the field of Trichogramma delivery. Drone-based Trichogramma ball delivery not only utilizes the efficiency and flexibility of drones but also enables remote precision control. However, existing delivery devices are relatively rudimentary, leading to reliability and precision issues. It is necessary to develop an efficient and accurate drone delivery device to improve the effect of drone delivery of Trichogramma. In this study, a device consisting of a rotary storage mechanism and a rotating hammer-type delivery mechanism was developed. The delivery port of the delivery device should be set in the airflow outlet area 50 cm below the drone’s body. The storage mechanism is equipped with eight storage tube units with a diameter of Φ38 mm, capable of delivering a total of 56 balls in a single mission. The reliable delivery speed ranges from 2 to 6 m/s, with the remote position of the lever serving as the optimal starting position. The release test results showed that 3 m/s flight speed and 4 m/s delivery speed resulted in a small coefficient of variation for the delivery deviation (29%), making it the best operating parameter set. The performance of the developed UAV-based Trichogramma delivery device meets the requirements of field delivery when the appropriate operating parameters are optimized. This study provides reference for further optimization and design of this delivery device prototype.
{"title":"Study on the Design and Experiment of Trichogramma Ball Delivery System Based on Agricultural Drone","authors":"Cancan Song, Qingyu Wang, Guobin Wang, Lilian Liu, Tongsheng Zhang, Jingang Han, Yubin Lan","doi":"10.3390/drones7100632","DOIUrl":"https://doi.org/10.3390/drones7100632","url":null,"abstract":"Trichogramma-based biological control technology is of great significance to the development of green agriculture. Agricultural drones have the advantages of low-altitude and high-speed operations and have been well applied and widely recognized in the field of Trichogramma delivery. Drone-based Trichogramma ball delivery not only utilizes the efficiency and flexibility of drones but also enables remote precision control. However, existing delivery devices are relatively rudimentary, leading to reliability and precision issues. It is necessary to develop an efficient and accurate drone delivery device to improve the effect of drone delivery of Trichogramma. In this study, a device consisting of a rotary storage mechanism and a rotating hammer-type delivery mechanism was developed. The delivery port of the delivery device should be set in the airflow outlet area 50 cm below the drone’s body. The storage mechanism is equipped with eight storage tube units with a diameter of Φ38 mm, capable of delivering a total of 56 balls in a single mission. The reliable delivery speed ranges from 2 to 6 m/s, with the remote position of the lever serving as the optimal starting position. The release test results showed that 3 m/s flight speed and 4 m/s delivery speed resulted in a small coefficient of variation for the delivery deviation (29%), making it the best operating parameter set. The performance of the developed UAV-based Trichogramma delivery device meets the requirements of field delivery when the appropriate operating parameters are optimized. This study provides reference for further optimization and design of this delivery device prototype.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136210564","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yuseok Jeong, Moon-Seok Jeon, Jaesu Lee, Seung-Hwa Yu, Su-bae Kim, Dongwon Kim, Kyoung-Chul Kim, Siyoung Lee, Chang-Woo Lee, Inchan Choi
Vespa velutina is an ecosystem disruptor that causes annual damage worth KRW 170 billion (USD 137 million) to the South Korean beekeeping industry. Due to its strong fertility and high-lying habitat, it is difficult to control. This study aimed to develop a system for the control of V. velutina nests using drones for detection and tracking the real-time location of the nests. Vespa velutina nest image data were acquired in Buan-gun and Wanju-gun (Jeollabuk-do), and artificial intelligence learning was conducted using YOLO-v5. Drone image resolutions of 640, 1280, 1920, and 3840 pixels were compared and analyzed. The 3840-pixel resolution model was selected, as it had no false detections for the verification image and showed the best detection performance, with a precision of 100%, recall of 92.5%, accuracy of 99.7%, and an F1 score of 96.1%. A computer (Jetson Xavier), real-time kinematics module, long-term evolution modem, and camera were installed on the drone to acquire real-time location data and images. Vespa velutina nest detection and location data were delivered to the user via artificial intelligence analysis. Utilizing a drone flight speed of 1 m/s and maintaining an altitude of 25 m, flight experiments were conducted near Gyeongcheon-myeon, Wanju-gun, Jeollabuk-do. A total of four V. velutina nests were successfully located. Further research is needed on the detection accuracy of artificial intelligence in relation to objects that require altitude-dependent variations in drone-assisted exploration. Moreover, the potential applicability of these research findings to diverse domains is of interest.
{"title":"Development of a Real-Time Vespa velutina Nest Detection and Notification System Using Artificial Intelligence in Drones","authors":"Yuseok Jeong, Moon-Seok Jeon, Jaesu Lee, Seung-Hwa Yu, Su-bae Kim, Dongwon Kim, Kyoung-Chul Kim, Siyoung Lee, Chang-Woo Lee, Inchan Choi","doi":"10.3390/drones7100630","DOIUrl":"https://doi.org/10.3390/drones7100630","url":null,"abstract":"Vespa velutina is an ecosystem disruptor that causes annual damage worth KRW 170 billion (USD 137 million) to the South Korean beekeeping industry. Due to its strong fertility and high-lying habitat, it is difficult to control. This study aimed to develop a system for the control of V. velutina nests using drones for detection and tracking the real-time location of the nests. Vespa velutina nest image data were acquired in Buan-gun and Wanju-gun (Jeollabuk-do), and artificial intelligence learning was conducted using YOLO-v5. Drone image resolutions of 640, 1280, 1920, and 3840 pixels were compared and analyzed. The 3840-pixel resolution model was selected, as it had no false detections for the verification image and showed the best detection performance, with a precision of 100%, recall of 92.5%, accuracy of 99.7%, and an F1 score of 96.1%. A computer (Jetson Xavier), real-time kinematics module, long-term evolution modem, and camera were installed on the drone to acquire real-time location data and images. Vespa velutina nest detection and location data were delivered to the user via artificial intelligence analysis. Utilizing a drone flight speed of 1 m/s and maintaining an altitude of 25 m, flight experiments were conducted near Gyeongcheon-myeon, Wanju-gun, Jeollabuk-do. A total of four V. velutina nests were successfully located. Further research is needed on the detection accuracy of artificial intelligence in relation to objects that require altitude-dependent variations in drone-assisted exploration. Moreover, the potential applicability of these research findings to diverse domains is of interest.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136294589","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Unmanned aerial vehicles (UAVs) have been widely utilized for their various advantages. However, UAVs exhibit high mobility and energy storage restrictions in some applications, which can compromise the quality and reliability of communication links. This is a challenge that future aircraft and low-orbit aircraft will inevitably encounter. To effectively address the issue of dynamic Doppler spread in air-to-ground communication, this paper creatively introduces four-dimensional spherical code modulation into the orthogonal time–frequency space with an index modulation (OTFS-IM) system. The fundamental concept of the four-dimensional spherical code is elaborated in detail. Multiple resource symbols can be jointly used to increase the modulation dimension, thereby achieving a larger minimum Euclidean distance between constellation points. Furthermore, detailed analysis is conducted on the bit error rate (BER) and the peak-to-average-power ratio (PAPR) expressions of the proposed system to evaluate its performance and provide theoretical guidance. The proposed scheme not only adapts well to high-speed scenarios but also achieves better power consumption efficiency. The simulation results demonstrate that our proposed scheme outperforms conventional methods. Its robustness and generalization ability are also validated.
{"title":"OTFS-IM Modulation Based on Four-Dimensional Spherical Code in Air-to-Ground Communication","authors":"Peng Gu, Lin Guo, Shen Jin, Guangzu Liu, Jun Zou","doi":"10.3390/drones7100631","DOIUrl":"https://doi.org/10.3390/drones7100631","url":null,"abstract":"Unmanned aerial vehicles (UAVs) have been widely utilized for their various advantages. However, UAVs exhibit high mobility and energy storage restrictions in some applications, which can compromise the quality and reliability of communication links. This is a challenge that future aircraft and low-orbit aircraft will inevitably encounter. To effectively address the issue of dynamic Doppler spread in air-to-ground communication, this paper creatively introduces four-dimensional spherical code modulation into the orthogonal time–frequency space with an index modulation (OTFS-IM) system. The fundamental concept of the four-dimensional spherical code is elaborated in detail. Multiple resource symbols can be jointly used to increase the modulation dimension, thereby achieving a larger minimum Euclidean distance between constellation points. Furthermore, detailed analysis is conducted on the bit error rate (BER) and the peak-to-average-power ratio (PAPR) expressions of the proposed system to evaluate its performance and provide theoretical guidance. The proposed scheme not only adapts well to high-speed scenarios but also achieves better power consumption efficiency. The simulation results demonstrate that our proposed scheme outperforms conventional methods. Its robustness and generalization ability are also validated.","PeriodicalId":36448,"journal":{"name":"Drones","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-10-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136294764","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"地球科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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