Morphometric measurements of Omura’s whales using consumer grade sUASs: a methodological study

Hughes, Silas; Diggins, Devynn; Cerchio, Salvatore; Bennett, Andrew

doi:10.1109/oceanse.2019.8867256

Cited by 3 publications

(3 citation statements)

References 9 publications

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“…The time sychronization as well as the exchange of topics between ROS2 and Ignition is done through the ROS2 Ignition Bridge. Different physical parameters have been identified from previous work [17], the parameters specified in Table I parameters for the drag coefficient we take the average value, tpwm is the pulse width multiplied by 1 3 In order to assess the performance of the proposed control schemes, two cases are considered for comparison purposes, namely: For this first scenario the UAV follows the trajectory described in the figure (7), we abruptly introduce a constant perturbation at time = 40 and it is maintained until = 80 . In this first case, we apply the control law (35) without integral term and only one axis ( ).…”

Section: A Simulation Environmentmentioning

confidence: 99%

“…domains. Unmanned aerial systems (UAS) are currently employed for a wide variety of tasks as parcel delivering and medical supplies/samples, particularly in areas with poor infrastructure [1]; mobile distributed sensor network, for instance environmental monitoring [2], photogrammetry [3], and water sampling [4]. UAS-based applications are continuously evolving and often require enhanced dexterity, this fact has propelled the use of multi-robot platforms or novel configuration concepts platforms.…”

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confidence: 99%

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Dynamic Modeling and MPC-driven Robust Control of a Rotorcraft Having Four Tilting-Rotors

Zioud,

Escareno,

Labbani-Igbida

2024

Preprint

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The actual paper presents an in-depth study and experimental development of a class of rotorcraft, named as x-tilt, that features four tilting rotors. Initially, the equations of motion modeling the aerial robot are presented based on the Euler-Lagrange formulation. The model includes the aerodynamic effects induced by the rotorcraft’s relative motion and propellers. For control purposes the aforementioned model is split into a nominal model and lumped disturbance terms, the latter encompassing endogenous and exogenous uncertainties. In this vein, the actual work propose a robust navigation strategy targeting a specific performance profile whose problem is formulated through the model predictive control (MPC) framework. To this end, two schemes are proposed, (i) an integral MPC and a (ii) MP sliding-mode Control (MPSMC). Both control schemes are linked to a extended-state Linear Kalman Filter (ES-LKF) that furnishes the states and lumped disturbance estimates. Moreover, a high-fidelity simulation is presented in detail to validate the effectiveness of the proposed controller within a realistic scenario. We finally present the experimental stage to validate the tilting-rotor configuration as well as the integral MPC.

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Section: A Simulation Environmentmentioning

confidence: 99%

mentioning

confidence: 99%

Dynamic Modeling and MPC-driven Robust Control of a Rotorcraft Having Four Tilting-Rotors

Zioud,

Escareno,

Labbani-Igbida

2024

Preprint

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“…No references were found in the open literature related to behaviour and operability of such UAV's when landed on the ocean surface. Recently [5] reported on an experimental program which utilised a quadcopter UAV capable of landing and taking off from the ocean surface to collect imagery of marine mammals from the air. This study did not provide details on the operational performance of the UAV.…”

Section: Feasibility Analysismentioning

confidence: 99%

A UAV ‘mobile buoy’ for measuring surface waves

Cook¹,

Babanin²,

Sgarioto³

et al. 2020

Australasian Fluid Mechanics Conference (AFMC)

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The expanding capability of low-cost Unmanned Aerial Vehicles (UAV's) and coincident developments in low-cost wave measurement buoys, necessitates research toward their possible integration. A new (mobile buoy) device that will be a product of such integration is expected to provide a utility in rapid measurements from an expended area of observation when data comes from water surface as well from the bulk of the water column. A targeted literature review was conducted to evaluate the technical feasibility of this technical solution. Amongst many challenges of designing and manufacturing this novel instrument two main technical difficulties have been identified, viz., (i) intermittent and contingent uncertainties in measurements emerging due to the interaction of a UAV airframe with the water surface within a wave environment, and (ii) the relatively poor performance of in-built MEMS accelerometer as a primary device to measure surface acceleration. A technical prototype of this instrument was developed to validate and overcome these difficulties. The prototype was tested in both laboratory and field trial, affirming feasibility of the solution. The prototype endured the sea environment functionally uninhibited, remaining watertight, stable in temperature, and stable against rotation. The prototype acceleration signals were processed and compared with control displacement data. Overall, the prototype comparative performance was reasonable, however it gradually declined with increased wave pattern complexity. This manifested as emerging instrumentation noise, causing erroneous distribution of energy at higher frequencies and moving down an upper wave frequency limit of measurements resulting in a greater demand for calibration. Figure 1. Prototype of UAV mobile buoy for surface waves measurements.

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Feasibility of Using Small UAVs to Derive Morphometric Measurements of Australian Snubfin (Orcaella heinsohni) and Humpback (Sousa sahulensis) Dolphins

Christie

Colefax²,

Cagnazzi

2021

Remote Sensing

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Analysis of animal morphometrics can provide vital information regarding population dynamics, structure, and body condition of cetaceans. Unmanned aerial vehicles (UAVs) have become the primary tool to collect morphometric measurements on whales, whereas on free ranging small dolphins, have not yet been applied. This study assesses the feasibility of obtaining reliable body morphometrics from Australian snubfin (Orcaella heinsohni) and humpback dolphins (Sousa sahulensis) using images collected from UAVs. Specifically, using a dolphin replica of known size, we tested the effect of the altitude of the UAV and the position of the animal within the image frame on the accuracy of length estimates. Using linear mixed models, we further assessed the precision of the total length estimates of humpback and snubfin dolphins. The precision of length estimates on the replica increased by ~2% when images were sampled at 45–60 m compared with 15–30 m. However, the precision of total length estimates on dolphins was significantly influenced only by the degree of arch and edge certainty. Overall, we obtained total length estimates with a precision of ~3% and consistent with published data. This study demonstrates the reliability of using UAV based images to obtain morphometrics of small dolphin species, such as snubfin and humpback dolphins.

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Morphometric measurements of Omura’s whales using consumer grade sUASs: a methodological study

Cited by 3 publications

References 9 publications

Dynamic Modeling and MPC-driven Robust Control of a Rotorcraft Having Four Tilting-Rotors

Dynamic Modeling and MPC-driven Robust Control of a Rotorcraft Having Four Tilting-Rotors

A UAV ‘mobile buoy’ for measuring surface waves

Feasibility of Using Small UAVs to Derive Morphometric Measurements of Australian Snubfin (Orcaella heinsohni) and Humpback (Sousa sahulensis) Dolphins

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