Unmanned Aerial Systems Platforms Research Articles

Examination of Drone Usage in Estimating Hardwood Plantations Structural Metrics

Planting hardwood trees on retired marginal agricultural land is one of the main strategies used to restore forested wetlands. Evaluating effectiveness of wetland restoration requires efficient monitoring to evaluate recovery trajectories and desired conditions. Recent advancements in unmanned aerial system (UAS) technologies have prompted wide-scale adoption of UAS platforms in providing a range of ecological data. In this study, we examined the use of UAS Structure from Motion (SfM) derived point clouds in estimating tree density, canopy height, and percent canopy cover for bottomland hardwood plantations within four wetland reserve easements. Using a local maxima approach for individual tree detection produced plantation level estimates with mean absolute errors of 150 trees per hectare, 0.5 m, and 18.4% for tree density, canopy height, and percent canopy cover, respectively. At the plot level, UAS-derived tree counts (r = 0.53, p < 0.01) and canopy height (r = 0.57, p < 0.01) were significantly correlated with ground-based estimates. We demonstrate that UAS-SfM is a viable method of assessing bottomland hardwood plantations for applications that require precision levels congruent with the mean absolute errors reported here. The accuracy of tree density estimates was reliant upon specific local maxima window parameters relative to stand conditions. Therefore, acquisition of leaf-off and leaf-on imagery may allow for better individual tree detection and subsequently more accurate tree density and other structural attributes.

Structural Component Phenotypic Traits from Individual Maize Skeletonization by UAS-Based Structure-from-Motion Photogrammetry

The bottleneck in plant breeding programs is to have cost-effective high-throughput phenotyping methodologies to efficiently describe the new lines and hybrids developed. In this paper, we propose a fully automatic approach to overcome not only the individual maize extraction but also the trait quantification challenge of structural components from unmanned aerial system (UAS) imagery. The experimental setup was carried out at the Indiana Corn and Soybean Innovation Center at the Agronomy Center for Research and Education (ACRE) in West Lafayette (IN, USA). On 27 July and 3 August 2021, two flights were performed over maize trials using a custom-designed UAS platform with a Sony Alpha ILCE-7R photogrammetric sensor onboard. RGB images were processed using a standard photogrammetric pipeline based on structure from motion (SfM) to obtain a final scaled 3D point cloud of the study field. Individual plants were extracted by, first, semantically segmenting the point cloud into ground and maize using 3D deep learning. Secondly, we employed a connected component algorithm to the maize end-members. Finally, once individual plants were accurately extracted, we robustly applied a Laplacian-based contraction skeleton algorithm to compute several structural component traits from each plant. The results from phenotypic traits such as height and number of leaves show a determination coefficient (R2) with on-field and digital measurements, respectively, better than 90%. Our test trial reveals the viability of extracting several phenotypic traits of individual maize using a skeletonization approach on the basis of a UAS imagery-based point cloud. As a limitation of the methodology proposed, we highlight that the lack of plant occlusions in the UAS images obtains a more complete point cloud of the plant, giving more accuracy in the extracted traits.

Automated Inventory of Broadleaf Tree Plantations with UAS Imagery

With the increased availability of unmanned aerial systems (UAS) imagery, digitalized forest inventory has gained prominence in recent years. This paper presents a methodology for automated measurement of tree height and crown area in two broadleaf tree plantations of different species and ages using two different UAS platforms. Using structure from motion (SfM), we generated canopy height models (CHMs) for each broadleaf plantation in Indiana, USA. From the CHMs, we calculated individual tree parameters automatically through an open-source web tool developed using the Shiny R package and assessed the accuracy against field measurements. Our analysis shows higher tree measurement accuracy with the datasets derived from multi-rotor platform (M600) than with the fixed wing platform (Bramor). The results show that our automated method could identify individual trees (F-score &gt; 90%) and tree biometrics (root mean square error &lt; 1.2 m for height and &lt;1 m2 for the crown area) with reasonably good accuracy. Moreover, our automated tool can efficiently calculate tree-level biometric estimations for 4600 trees within 30 min based on a CHM from UAS-SfM derived images. This automated UAS imagery approach for tree-level forest measurements will be beneficial to landowners and forest managers by streamlining their broadleaf forest measurement and monitoring effort.

Prediction modeling for yield and water-use efficiency in spinach using remote sensing via an unmanned aerial system

Predictive modeling (PM) is a useful tool in selecting from a large number of target variables. Given the large quantities of data types generated from unmanned aerial system (UAS) platforms, uncovering the most appropriate candidate UAS data–based phenotype (UASDP) with a strong relationship to target crop traits may be a challenge with the traditional regression models. We hypothesized that by employing machine learning modeling techniques, the contributions of multiple vegetative indices as predictors of biomass and water-use could be defined and ranked. The objective of this study was to apply predictive machine techniques in determining the phase of spinach growth and UASDP variables that best predict yield and water-use efficiency. UASDPs were derived using red-green-blue and multi-spectral sensors mounted on a UAS platform flown weekly on 10 spinach genotypes under well-watered and partial water deficit conditions. Candidate UASDPs including mean and maximum plant height, canopy cover and volume, excess greenness index (ExG), chlorophyll red-edge (ChlRE), normalized difference vegetation index (NDVI) and normalized difference red-edge (NDRE) were generated. UASDPs were used to predict above-ground biomass-based fresh yield, biological dry yield, and field water-use efficiency (WUEf). This study highlights the use of bootstrap forest partitioning, and partition rank fraction as methods for selecting among many UASDPs as predictors of WUEf and yield. We also used a weighted geometric mean to integrate various model performance metrics to further refine the UASDPs rankings. UASDPs from mid to late growth stages were better predictors of yield and WUEf than UASDPs from earlier periods. Canopy volume, NDRE and ExG were the best predictors overall and were useful for distinguishing varieties, particularly in water-stress conditions. We expect that the approaches detailed here will improve reliability of discriminating the importance of UAS-acquired data types thereby improving UAS data-processing efficiency.

A comparison of tools and techniques for stabilising unmanned aerial system (UAS) imagery for surface flow observations

Abstract. While the availability and affordability of unmanned aerial systems (UASs) has led to the rapid development of remote sensing applications in hydrology and hydrometry, uncertainties related to such measurements must be quantified and mitigated. The physical instability of the UAS platform inevitably induces motion in the acquired videos and can have a significant impact on the accuracy of camera-based measurements, such as velocimetry. A common practice in data preprocessing is compensation of platform-induced motion by means of digital image stabilisation (DIS) methods, which use the visual information from the captured videos – in the form of static features – to first estimate and then compensate for such motion. Most existing stabilisation approaches rely either on customised tools developed in-house, based on different algorithms, or on general purpose commercial software. Intercomparison of different stabilisation tools for UAS remote sensing purposes that could serve as a basis for selecting a particular tool in given conditions has not been found in the literature. In this paper, we have attempted to summarise and describe several freely available DIS tools applicable to UAS velocimetry. A total of seven tools – six aimed specifically at velocimetry and one general purpose software – were investigated in terms of their (1) stabilisation accuracy in various conditions, (2) robustness, (3) computational complexity, and (4) user experience, using three case study videos with different flight and ground conditions. In an attempt to adequately quantify the accuracy of the stabilisation using different tools, we have also presented a comparison metric based on root mean squared differences (RMSDs) of inter-frame pixel intensities for selected static features. The most apparent differences between the investigated tools have been found with regards to the method for identifying static features in videos, i.e. manual selection of features or automatic. State-of-the-art methods which rely on automatic selection of features require fewer user-provided parameters and are able to select a significantly higher number of potentially static features (by several orders of magnitude) when compared to the methods which require manual identification of such features. This allows the former to achieve a higher stabilisation accuracy, but manual feature selection methods have demonstrated lower computational complexity and better robustness in complex field conditions. While this paper does not intend to identify the optimal stabilisation tool for UAS-based velocimetry purposes, it does aim to shed light on details of implementation, which can help engineers and researchers choose the tool suitable for their needs and specific field conditions. Additionally, the RMSD comparison metric presented in this paper can be used in order to measure the velocity estimation uncertainty induced by UAS motion.

Assessing spatio-temporal patterns of sugarcane aphid (Hemiptera: Aphididae) infestations on silage sorghum yield using unmanned aerial systems (UAS)

In the U.S. since 2013, the sugarcane aphid is a perennial pest to all types of sorghum. Rating sugarcane aphid population density, plant damage, and other traits in sorghum requires a large amount of labor and ratings, especially damage ratings, may vary by evaluator. Thus Unmanned Aerial Systems (UAS)–based imagery may be exceedingly useful to more accurately quantify the effects on sorghum caused by sugarcane aphids. This study quantified the dynamic nature of sugarcane aphid infestations on silage sorghum varieties using UAS-based imagery data, and demonstrated the UAS-based measurements correlated to ground measurements. Two UAS platforms equipped with RGB (red, green, and blue) and multispectral cameras respectively were used to evaluate the silage sorghum variety trials during the growing seasons of 2019 and 2020. For the purpose of high throughput phenotyping in sorghum breeding, a new workflow scheme was developed including UAS image processing, raster calculation, DTM (digital terrain model) and CHM (canopy height model) generation, image extraction of sorghum plants, and tabular dataset generation from zonal statistics for further statistical analyses. Ground-based measurements included aphid sampling, aphid damage ratings, plant height, and biomass yields. The normalized difference red edge index (NDRE) and canopy cover collected by the UAS showed negative linear relationship with aphid damage ratings in both trials (R2 = 0.55–0.64). In addition to assessing spatial differences among the varieties in 2019, temporal change in both NDRE and canopy cover from the baseline sampling date in 2020 better estimated aphid damage, R2 of 0.68 and 0.79 respectively, than using the spatial difference of NDRE (R2 = 0.55) and canopy cover (R2 = 0.57) before harvest. Plant height (R2 = 0.84, Root-Mean-Square Error (RMSE) = 0.16 m) can be estimated with efficiency and precision using UAS-derived measurements during high throughput phenotyping of sorghum. Fresh yield estimates for the primary harvests were consistent in both years, but green yield estimates differed among harvests and need to be improved. Future development of UAS-based high throughput phenotyping would benefit from increased temporal resolutions of growth parameters and vegetation indices throughout a growing season.

Applications of UAS in Crop Biomass Monitoring: A Review.

Biomass is an important indicator for evaluating crops. The rapid, accurate and nondestructive monitoring of biomass is the key to smart agriculture and precision agriculture. Traditional detection methods are based on destructive measurements. Although satellite remote sensing, manned airborne equipment, and vehicle-mounted equipment can nondestructively collect measurements, they are limited by low accuracy, poor flexibility, and high cost. As nondestructive remote sensing equipment with high precision, high flexibility, and low-cost, unmanned aerial systems (UAS) have been widely used to monitor crop biomass. In this review, UAS platforms and sensors, biomass indices, and data analysis methods are presented. The improvements of UAS in monitoring crop biomass in recent years are introduced, and multisensor fusion, multi-index fusion, the consideration of features not directly related to monitoring biomass, the adoption of advanced algorithms and the use of low-cost sensors are reviewed to highlight the potential for monitoring crop biomass with UAS. Considering the progress made to solve this type of problem, we also suggest some directions for future research. Furthermore, it is expected that the challenge of UAS promotion will be overcome in the future, which is conducive to the realization of smart agriculture and precision agriculture.

Identification of Wind-Induced Hazard Zones Impacting UAS Bridge Inspection

Unmanned Aerial Systems (UAS) continue to grow in both popularity and utility within the national airspace system. The use of commercial UAS for civil inspection, specifically that of bridge structures, is becoming commonplace among practitioners and academics alike. The development of an integrated bridge-inspection hazard model provides a way for UAS operators to prepare for and respond to changing environmental conditions that could otherwise prevent a successful UAS flight. The interaction of wind-induced airflow with bridge surfaces creates an aerodynamic wake that can result in hazardous conditions for a UAS platform operating in close proximity. An analysis of this airflow surrounding an overpass bridge using computational fluid dynamic (CFD) models shows where these hazardous areas exist, based on initial wind conditions, existing functionality of UAS platforms, and mitigating systems that exist within current UAS technology. Altering the initial conditions by modifying wind velocities allows for a baseline understanding of which areas surrounding an overpass bridge structure are not suitable for successful UAS flight. Hazard zones range from severe, moderate, and mild, to no appreciable hazard. Moderate to extreme hazard zones are located in areas where high levels of wind shear, vorticity, or general turbulence exist, making UAS operations difficult. This study develops a practical model that may be utilized by UAS operators to better understand and potentially avoid unsafe flight environments during bridge structure inspections.

KLT-IV v1.0: image velocimetry software for use with fixed and mobile platforms

Abstract. Accurately monitoring river flows can be challenging, particularly under high-flow conditions. In recent years, there has been considerable development of remote sensing techniques for the determination of river flow dynamics. Image velocimetry is one particular approach which has been shown to accurately reconstruct surface velocities under a range of hydro-geomorphic conditions. Building on these advances, a new software package, KLT-IV v1.0, has been designed to offer a user-friendly graphical interface for the determination of river flow velocity and river discharge using videos acquired from a variety of fixed and mobile platforms. Platform movement can be accounted for when ground control points and/or stable features are present or where the platform is equipped with a differential GPS device and inertial measurement unit (IMU) sensor. The application of KLT-IV v1.0 is demonstrated using two case studies at sites in the UK: (i) river Feshie and (ii) river Coquet. At these sites, footage is acquired from unmanned aerial systems (UASs) and fixed cameras. Using a combination of ground control points (GCPs) and differential GPS and IMU data to account for platform movement, image coordinates are converted to real-world distances and displacements. Flow measurements made with a UAS and fixed camera are used to generate a well-defined flow rating curve for the river Feshie. Concurrent measurements made by UAS and fixed camera are shown to deviate by &lt; 4 % under high-flow conditions where maximum velocities exceed 3 m s−1. The acquisition of footage on the river Coquet using a UAS equipped with differential GPS and IMU sensors enabled flow velocities to be precisely reconstructed along a 180 m river reach. In-channel velocities of between 0.2 and 1 m s−1 are produced. Check points indicated that unaccounted-for motion in the UAS platform is in the region of 6 cm. These examples are provided to illustrate the potential for KLT-IV to be used for quantifying flow rates using videos collected from fixed or mobile camera systems.

Tree Species Classification and Health Status Assessment for a Mixed Broadleaf-Conifer Forest with UAS Multispectral Imaging

Automatic discrimination of tree species and identification of physiological stress imposed on forest trees by biotic factors from unmanned aerial systems (UAS) offers substantial advantages in forest management practices. In this study, we aimed to develop a novel workflow for facilitating tree species classification and the detection of healthy, unhealthy, and dead trees caused by bark beetle infestation using ultra-high resolution 5-band UAS bi-temporal aerial imagery in the Czech Republic. The study is divided into two steps. We initially classified the tree type, either as broadleaf or conifer, and we then classified trees according to the tree type and health status, and subgroups were created to further classify trees (detailed classification). Photogrammetric processed datasets achieved by the use of structure-from-motion (SfM) imaging technique, where resulting digital terrain models (DTMs), digital surface models (DSMs), and orthophotos with a resolution of 0.05 m were utilized as input for canopy spectral analysis, as well as texture analysis (TA). For the spectral analysis, nine vegetation indices (VIs) were applied to evaluate the amount of vegetation cover change of canopy surface between the two seasons, spring and summer of 2019. Moreover, 13 TA variables, including Mean, Variance, Entropy, Contrast, Heterogeneity, Homogeneity, Angular Second Moment, Correlation, Gray-level Difference Vector (GLDV) Angular Second Moment, GLDV Entropy, GLDV Mean, GLDV Contrast, and Inverse Difference, were estimated for the extraction of canopy surface texture. Further, we used the support vector machine (SVM) algorithm to conduct a detailed classification of tree species and health status. Our results highlighted the efficiency of the proposed method for tree species classification with an overall accuracy (OA) of 81.18% (Kappa: 0.70) and health status assessment with an OA of 84.71% (Kappa: 0.66). While SVM proved to be a good classifier, the results also showed that a combination of VI and TA layers increased the OA by 4.24%, providing a new dimension of information derived from UAS platforms. These methods could be used to quickly evaluate large areas that have been impacted by biological disturbance agents for mapping and detection, tree inventory, and evaluating habitat conditions at relatively low costs.

Computing in the air: An open airborne computing platform

In recent years, we have witnessed fast-growing unmanned aerial systems (UAS) based applications. To better facilitate these applications, many efforts have been made to enhance the capability of UAS from various aspects, including communications, control and networking, and so on. Nevertheless, most of these studies neglect the computation aspect. Recently, the UAS-enabled mobile edge computing (MEC) has attracted increasing research attention, which utilises UAS with onboard computing capability to provide on-demand computing services for mobile users. However, existing research on UAS-enabled MEC remains at the theory stage and how to design a UAS platform with advanced onboard computing capability has not been addressed. In this study, the authors aim to fill this research gap and design an open UAS-based airborne computing platform with advanced onboard computing capability. This platform was designed from three aspects: hardware, software, and applications. In particular, feasible computing hardware to perform UAS onboard computing is first considered and a prototype is then designed. To enhance the flexibility and programmability of the platform, two key virtualisation techniques are then investigated. Finally, they test the performance of their prototype by executing real UAS onboard computing tasks, the results of which verify the feasibility and potentials of the proposed airborne computing platform.

Automatic Updates of Transition Potential Matrices in Dempster-Shafer Networks Based on Evidence Inputs.

Sensor fusion is a topic central to aerospace engineering and is particularly applicable to unmanned aerial systems (UAS). Evidential Reasoning, also known as Dempster-Shafer theory, is used heavily in sensor fusion for detection classification. High computing requirements typically limit use on small UAS platforms. Valuation networks, the general name given to evidential reasoning networks by Shenoy, provides a means to reduce computing requirements through knowledge structure. However, these networks use conditional probabilities or transition potential matrices to describe the relationships between nodes, which typically require expert information to define and update. This paper proposes and tests a novel method to learn these transition potential matrices based on evidence injected at nodes. Novel refinements to the method are also introduced, demonstrating improvements in capturing the relationships between the node belief distributions. Finally, novel rules are introduced and tested for evidence weighting at nodes during simultaneous evidence injections, correctly balancing the injected evidenced used to learn the transition potential matrices. Together, these methods enable updating a Dempster-Shafer network with significantly less user input, thereby making these networks more useful for scenarios in which sufficient information concerning relationships between nodes is not known a priori.

High-resolution surface topographic change analyses to characterize a series of underground explosions

The understanding of subsurface events that cannot be directly observed is dependent on the ability to relate surface-based observations to subsurface processes. This is particularly important for nuclear explosion monitoring, as any future clandestine tests will likely be underground. We collected ground-based lidar and optical imagery using remote, very-low-altitude unmanned aerial system platforms, before and after several underground high explosive experiments. For the lidar collections, we used a terrestrial lidar scanner to obtain high-resolution point clouds and create digital elevation models (DEMs). For the imagery collections, we used structure-from-motion photogrammetry techniques and a dense grid of surveyed ground control points to create high-resolution DEMs. Comparisons between the pre- and post-experiment DEMs indicate changes in surface topography that vary between explosive experiments with varying yield and depth parameters. Our work shows that the relationship between explosive yield and the extent of observable surface change differs from the standard scaled-depth-of-burial model. This suggests that the surface morphological change from underground high explosive experiments can help constrain the experiments' yield and depth, and may impact how such activities are monitored and verified.

Accuracy of 3D Landscape Reconstruction without Ground Control Points Using Different UAS Platforms

The rapid increase of low-cost consumer-grade to enterprise-level unmanned aerial systems (UASs) has resulted in the exponential use of these systems in many applications. Structure from motion with multiview stereo (SfM-MVS) photogrammetry is now the baseline for the development of orthoimages and 3D surfaces (e.g., digital elevation models). The horizontal and vertical positional accuracies (x, y and z) of these products in general, rely heavily on the use of ground control points (GCPs). However, for many applications, the use of GCPs is not possible. Here we tested 14 UASs to assess the positional and within-model accuracy of SfM-MVS reconstructions of low-relief landscapes without GCPs ranging from consumer to enterprise-grade vertical takeoff and landing (VTOL) platforms. We found that high positional accuracy is not necessarily related to the platform cost or grade, rather the most important aspect is the use of post-processing kinetic (PPK) or real-time kinetic (RTK) solutions for geotagging the photographs. SfM-MVS products generated from UAS with onboard geotagging, regardless of grade, results in greater positional accuracies and lower within-model errors. We conclude that where repeatability and adherence to a high level of accuracy are needed, only RTK and PPK systems should be used without GCPs.

Detection of Levee Damage Based on UAS Data—Optical Imagery and LiDAR Point Clouds

This paper presents a methodology for levee damage detection based on Unmanned Aerial System (UAS) data. In this experiment, the data were acquired from the UAS platform, which was equipped with a laser scanner and a digital RGB (Red, Green, Blue) camera. Airborne laser scanning (ALS) point clouds were used for the generation of the Digital Terrain Model (DTM), and images were used to produce the RGB orthophoto. The main aim of the paper was to present a methodology based on ALS and vegetation index from RGB orthophoto which helps in finding potential places of levee failure. Both types of multi-temporal data collected from the UAS platform are applied separately: elevation and optical data. Two DTM models from different time periods were compared: the first one was generated from the ALS point cloud and the second DTM was delivered from the UAS Laser Scanning (ULS) data. Archival and new orthophotos were converted to Green-Red Vegetation Index (GRVI) raster datasets. From the GRVI raster, change detection for unvegetation ground areas was analysed using a dynamically indicated threshold. The result of this approach is the localisation of places, for which the change in height correlates with the appearance of unvegetation ground. This simple, automatic method provides a tool for specialist monitoring of levees, the critical objects protecting against floods.

Current Practices in UAS-based Environmental Monitoring

With the increasing role that unmanned aerial systems (UAS) are playing in data collection for environmental studies, two key challenges relate to harmonizing and providing standardized guidance for data collection, and also establishing protocols that are applicable across a broad range of environments and conditions. In this context, a network of scientists are cooperating within the framework of the Harmonious Project to develop and promote harmonized mapping strategies and disseminate operational guidance to ensure best practice for data collection and interpretation. The culmination of these efforts is summarized in the present manuscript. Through this synthesis study, we identify the many interdependencies of each step in the collection and processing chain, and outline approaches to formalize and ensure a successful workflow and product development. Given the number of environmental conditions, constraints, and variables that could possibly be explored from UAS platforms, it is impractical to provide protocols that can be applied universally under all scenarios. However, it is possible to collate and systematically order the fragmented knowledge on UAS collection and analysis to identify the best practices that can best ensure the streamlined and rigorous development of scientific products.

Canopy Roughness: A New Phenotypic Trait to Estimate Aboveground Biomass from Unmanned Aerial System.

Cost-effective phenotyping methods are urgently needed to advance crop genetics in order to meet the food, fuel, and fiber demands of the coming decades. Concretely, characterizing plot level traits in fields is of particular interest. Recent developments in high-resolution imaging sensors for UAS (unmanned aerial systems) focused on collecting detailed phenotypic measurements are a potential solution. We introduce canopy roughness as a new plant plot-level trait. We tested its usability with soybean by optical data collected from UAS to estimate biomass. We validate canopy roughness on a panel of 108 soybean [Glycine max (L.) Merr.] recombinant inbred lines in a multienvironment trial during the R2 growth stage. A senseFly eBee UAS platform obtained aerial images with a senseFly S.O.D.A. compact digital camera. Using a structure from motion (SfM) technique, we reconstructed 3D point clouds of the soybean experiment. A novel pipeline for feature extraction was developed to compute canopy roughness from point clouds. We used regression analysis to correlate canopy roughness with field-measured aboveground biomass (AGB) with a leave-one-out cross-validation. Overall, our models achieved a coefficient of determination (R2) greater than 0.5 in all trials. Moreover, we found that canopy roughness has the ability to discern AGB variations among different genotypes. Our test trials demonstrate the potential of canopy roughness as a reliable trait for high-throughput phenotyping to estimate AGB. As such, canopy roughness provides practical information to breeders in order to select phenotypes on the basis of UAS data.

Evaluation of unmanned aerial system in measuring lower tropospheric ozone and fine aerosol particles using portable monitors

Portable air pollutant monitors onboard unmanned aerial systems (UAS) are increasingly being used to make vertical observations within the lower part of the troposphere. An overall evaluation of the UAS platform is critical before its wide application. To our knowledge, these evaluations have rarely been reported. This study is aimed at evaluating the performance of a fixed-wing UAS platform that is deployed with portable ozone (O3) and fine particulate matter (PM2.5) monitors. A tethered airship platform deployed with conventional O3 and PM2.5 monitors was used as a reference method to evaluate the UAS platform. To obtain custom calibration factors, the portable monitors were evaluated primarily with respect to corresponding conventional monitors at the ground level in three atmospheric environments. Then, the UAS assessment experiment was conducted over a coastal area in Shanghai, China. Seven statistical metrics were used to assess the performance of the portable monitors on the UAS platform. The results revealed that the portable monitors were capable of accurately capturing temporal variations in air pollutant concentrations after custom calibrations. The UAS platform could also accurately capture the vertical variations in O3 and PM2.5 concentrations within the lower troposphere. However, significant discrepancies between the UAS and airship platforms were observed for both O3 and PM2.5 measurements within the planetary boundary layer (PBL). The relative humidity (RH) values measured in this layer demonstrated significantly larger vertical variations and were substantially larger than those above the PBL. The discrepancies between the two platforms were associated mainly with horizontal variations in the UAS measurements over the experimental area, as well as large vertical variations in ambient temperature and RH within the lower troposphere.

Disturbance Rejection for an Unmanned Rotary Aircraft System Using Strain Sensing

This paper presents a bioinspired approach for fast reaction to external disturbances as applied to small unmanned aerial systems platforms. A disturbance rejection method for a quadrotor vehicle is proposed by means of force-adaptive feedback using strain measurements. These strain measurements provide a reactive mechanism to counteract atmospheric disturbances acting on the vehicle. The reactive response from force-sensitive strain measurements is initiated before the disturbance propagates to lower-order pose and velocity states, while simultaneously reducing the latency in the feedback. These measurements are provided by means of strain gauges attached to the quadrotor arms. The location and feedback gain of the strain gauges were determined based on expected forces and moments as well as regions of high strain. The airframe section that hosted the strain sensors was manufactured and designed for a balance between structural stability and force sensitivity. The response of the quadrotor system was characterized using an induced disturbance to simulate a vertical gust. This heave perturbation was mitigated using a strain feedback controller. Improvements in gust response were demonstrated by measuring the effects of the disturbance on vehicle states.

Low-altitude contour mapping of radiation fields using UAS swarm

This paper addresses the design of lightweight radiation sensors for the small-scale unmanned aerial system (UAS) and its implementation for low-altitude radiation source localization and contour mapping. The compact high-resolution gamma-ray CZT sensors were integrated into UAS platforms as plug-and-play components using robot operating system. The swarm of UAS has advantages over a single agent-based approach in detecting radiative sources and effectively mapping the area. The proposed swarm consists of three UAS platforms in a circular formation. The proposed approach can potentially be used for low-altitude clustered environments where a conventional helicopter-based platform cannot be utilized. It can provide a relatively precise boundary of the safe area for potential human exploration as well as enhancing situation awareness capabilities for first responders. The source seeking and contour mapping algorithms are developed based on a simple 1/R2 radiation field, but they are validated in more realistic radiation field having multiple sources and physical structures with scattering and attenuation effects simulated by MCNP code. Also, gradient estimation and contour mapping algorithms are validated experimentally with small-scale multicopter platforms in the indoor flight testbed.