Over the past decade, unmanned aerial vehicles (UAVs) have received a significant attention due to their diverse capabilities for non-combatant and military applications. The primary aim of this study is to unveil a clear categorization overview for more than a decade worth of substantial progress in UAVs. The paper will begin with a general overview of the advancements, followed by an up-to-date explanation of the different mechanical structures and technical elements that have been included. The paper will then explore and examine various vertical take-off and landing (VTOL) configurations, followed by expressing the dynamics, applicable simulation tools and control strategies for a Quadrotor. In conclusion to this review, the dynamic system presented will always face limitations such as internal and/or external disturbances. Hence, this can be minimised by the choice of introducing appropriate control techniques or mechanical enhancements.
Accurate and timely monitoring is imperative to the resilience of forests for economic growth and climate regulation. In the UK, forest management depends on citizen science to perform tedious and time-consuming data collection tasks. In this study, an unmanned aerial vehicle (UAV) equipped with a light sensor and positioning capabilities is deployed to perform aerial surveying and to observe a series of forest health indicators (FHIs) which are inaccessible from the ground. However, many FHIs such as burrows and deadwood can only be observed from under the tree canopy. Hence, we take the initiative of employing a quadruped robot with an integrated camera as well as an external sensing platform (ESP) equipped with light and infrared cameras, computing, communication and power modules to observe these FHIs from the ground. The forest-monitoring time can be extended by reducing computation and conserving energy. Therefore, we analysed different versions of the YOLO object-detection algorithm in terms of accuracy, deployment and usability by the EXP to accomplish an extensive low-latency detection. In addition, we constructed a series of new datasets to train the YOLOv5x and YOLOv5s for recognising FHIs. Our results reveal that YOLOv5s is lightweight and easy to train for FHI detection while performing close to real-time, cost-effective and autonomous forest monitoring.
Unmanned aerial vehicles (UAVs) are now becoming a major topic of interest due to their flying capabilities attracting researchers who are working within various application. Quadrotors in particular are one of main types of UAVs that are now currently studied, where some of the main focuses are positional and attitude tracking. Currently, verifying these systems in simulation is generally processed through MATLAB/Simulink where the dynamics are thoroughly analyzed. In this paper, the results attained from the mathematical dynamics implemented in Simulink will be justified using ADAMS environment. This software was purposely developed to accurately model the dynamics of mechanical systems in 3D without considering any equations of motion. SolidWorks is used to design the quadrotor frame that satisfies the properties of the proposed system in Simulink. Setting the control inputs as angular velocity of each motor will generate a relative thrust in order for the vehicle to achieve motion. Finally, the dynamic behavior on ADAMS and Simulink are compared as the control inputs are identically applied, which has revealed a marginal difference between the resultant motions.
Le modèle viscoplastique est implémenté dans Deepsoil, un logiciel d"analyse de comportement unidimensionnel des dépôts de sol. Le modèle est validé en simulant dans Deepsoil un test de v centrifugeuse représentant un problème d"analyse de la réponse d"un dépôt de sol. Les résultats sont comparés en termes de réponse spectrale, de spectre de résidus et de fonctions de transfert.Les résultats montrent une nette amélioration des prédictions quand le taux de déformation est pris en compte dans l"analyse non-linéaire de la réponse d"un dépôt de sol, comparé au modèle non visqueux.
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