Figure 7 - uploaded by Boyang Li
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(a) The original image with red target in RGB color space; (b) the Cr layer of the YCbCr color space and (c) the binarized image with threshold.
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Wilderness search and rescue entails performing a wide-range of work in complex environments and large regions. Given the concerns inherent in large regions due to limited rescue distribution, unmanned aerial vehicle (UAV)-based frameworks are a promising platform for providing aerial imaging. In recent years, technological advances in areas such a...
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... a test of the target identification algorithm using an aerial image with a tiny red target. Figure 7a is the original image captured from the aerial video with the target circled for easy identification. The Cr data were loaded for red color, as shown in Figure 7b. Figure 7c shows the results of the binarized image with a threshold of 0.44 (the white spot in the upper left quadrant). ...
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... 7a is the original image captured from the aerial video with the target circled for easy identification. The Cr data were loaded for red color, as shown in Figure 7b. Figure 7c shows the results of the binarized image with a threshold of 0.44 (the white spot in the upper left quadrant). ...
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... Cr data were loaded for red color, as shown in Figure 7b. Figure 7c shows the results of the binarized image with a threshold of 0.44 (the white spot in the upper left quadrant). ...
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... 7 demonstrates a test of the target identification algorithm using an aerial image with a tiny red target. Figure 7a is the original image captured from the aerial video with the target circled for easy identification. The Cr data were loaded for red color, as shown in Figure 7b. Figure 7c shows the results of the binarized image with a threshold of 0.44 (the white spot in the upper left quadrant). ...
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... 7a is the original image captured from the aerial video with the target circled for easy identification. The Cr data were loaded for red color, as shown in Figure 7b. Figure 7c shows the results of the binarized image with a threshold of 0.44 (the white spot in the upper left quadrant). ...
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... Cr data were loaded for red color, as shown in Figure 7b. Figure 7c shows the results of the binarized image with a threshold of 0.44 (the white spot in the upper left quadrant). ...
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... and denote the distances represented by one degree of longitude and latitude, respectively. A graphical user interface was designed and implemented in the MatLab environment to transform the coordinates with a simple 'click and run' function ( Figure 17). The first step is opening the image containing the targets. ...
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... f x and f y denote the distances represented by one degree of longitude and latitude, respectively. A graphical user interface was designed and implemented in the MatLab environment to transform the coordinates with a simple 'click and run' function ( Figure 17). The first step is opening the image containing the targets. ...
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Citations
... b https://orcid.org/0000- 0002-1940-5089 world, but automated casualty detection during SAR missions is a challenge (Andriluka et al., 2010;Bejiga et al., 2017;Doherty & Rudol, 2007;Geraldes et al., 2019;Shakhatreh et al., 2019;Sun et al., 2016) The speed of finding a missing person directly impacts their chances of survival. The integration of unmanned aerial vehicles (drones) as a resource in SAR operations offers supplementary support, yet the detection of missing individuals during drone flights, particularly in demanding terrains with restricted visibility, is complex. ...
... To calculate the geolocation of objects in the image, an algorithm based on the Earth ellipsoid model (Leira et al., 2015;Sun et al., 2016;Wang et al., 2017;Zhao et al., 2019) is usually used, which uses height information of the aircraft, the field of view of the camera (FOV), the width and height of the image, the tilt of the camera and the position of the detected point within the image. Trigonometry is employed to calculate displacements within the spacecraft's coordinate system, which are then converted into the global coordinate system. ...
... Researchers have identified FANETs as a potential solution for facilitating UAV applications such as Multi-UAV cooperation, UAVto-ground communication, and UAV-to-VANET scenarios. Examples of these applications include target detection [28], tracking and monitoring in disaster situations [19] & [24], emergency response [23] [16], public and civilian applications, search and rescue missions [28], roadway traffic monitoring [5], data packet delivery [30] [18], and route guidance [31] [21], which are illustrated in Figure 1. Nevertheless, one of the key challenges in utilizing UAVs is achieving reliable and efficient communication between UAVs, and between UAVs and ground nodes, besides their mobility and positioning. ...
... Researchers have identified FANETs as a potential solution for facilitating UAV applications such as Multi-UAV cooperation, UAVto-ground communication, and UAV-to-VANET scenarios. Examples of these applications include target detection [28], tracking and monitoring in disaster situations [19] & [24], emergency response [23] [16], public and civilian applications, search and rescue missions [28], roadway traffic monitoring [5], data packet delivery [30] [18], and route guidance [31] [21], which are illustrated in Figure 1. Nevertheless, one of the key challenges in utilizing UAVs is achieving reliable and efficient communication between UAVs, and between UAVs and ground nodes, besides their mobility and positioning. ...
As the adoption of UAVs grows steadily, more and more applications are being devised. In the scope of urban environments, initiatives like U-Space in Europe seek to standardize and regulate the different operations that can be undertaken by these aircraft. In order to facilitate these new applications, and UAV research in general, it is important that we have a correct understanding of communication with and/or between UAVs. However, we find that studies towards communication models are lacking, especially regarding studies
in urban environments, where obstacles (e.g. tall buildings) are
prone to interfere the communication. Hence, in this paper, we aim at better understanding the differences between already existing communication models w.r.t. (i) UAV-to-UAV communication, (ii) UAV-to-ground communication, and (iii) UAV-to-vehicle communication. To this end, we use an advanced co-simulation framework that accurately models both UAV mobility and the communication. Our results show that (i) different communication models provide similar results, (ii) UAV-to-UAV communication becomes feasible at a high altitude (e.g. 120 m), especially in the presence of tall buildings, and (iii) that communication towards the ground highly depends on whether line-of-sight communications are available. In case there is no line of sight, the performance is drastically impacted, and this is true independently of the altitude of the UAV.
... Unmanned aerial vehicles, which are deployed in various civil settings in urban regions, have made significant contributions to the development of smart cities [1][2][3]. Based on their functions and structures, UAVs can be divided into two categories: fixed-wing UAVs and helicopters [4][5][6]. Fixed-wing UAVs have the advantages of fast flight speed, extended range, high efficiency, and low noise [7,8]. ...
The purpose of this paper is to establish a transition strategy for tilt-rotor vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) based on an optimal design method. Firstly, The flyable transition corridor was calculated based on both the UAV’s dynamic equations and its aerodynamic and dynamic characteristics. The dynamic equations of the UAV were organized into state equation forms. The initial and final value constraints of the control and state variables in the transition process were recorded, as were the constraints of the transition process. The transition strategy design problem was transformed into an optimal control problem with constraints, while the Gauss pseudospectral method (GPM) was employed to transform and solve the problem. In addition, performance indicators were designed based on the transition quality requirements for transition time, attitude stability, and control continuity. Sensitivity was analyzed according to different index terms with different dimensions and effects. Finally, the rationality of the transition strategy designed in this paper was verified according to different simulation scenarios.
... is the position of the sensor, referred to F w , and ψ u,t ∈ [0, 2π] is the yaw angle of the sensing platform. We assumed image data is obtained in the facedown view [19], however, it can be extended to any view of the image data. Our objective is to improve the accuracy of estimating the target's position, denoted asp t , by modeling and online learning from human operators' observations. ...
This paper considers a human-autonomy collaborative sensor data fusion for dynamic target localization in a Bayesian framework. To compensate for the shortcomings of an autonomous tracking system, we propose to collect spatial sensing information from human operators who visually monitor the target and can provide target localization information in the form of free sketches encircling the area where the target is located. Our focus in this paper is to construct an adaptive probabilistic model for human-provided inputs where the adaption terms capture the level of reliability of the human inputs. The next contribution of this paper is a novel joint Bayesian learning method to fuse human and autonomous sensor inputs in a manner that the dynamic changes in human detection reliability are also captured and accounted for. A unique aspect of this Bayesian modeling framework is its analytical closed-form update equations, endowing our method with significant computational efficiency. Simulations demonstrate our results.
... Combined with global navigation satellite system (GNSS) technology, it can be used for accurate human detection and rescue equipment release. In [37], a camera-based UAV system for automatic target positioning was developed. By setting reasonable pigment thresholds, the automatic recognition of red and blue targets in aerial images was realized, providing useful insights for exploration in automatic target recognition. ...
When Unmanned Aerial Vehicles (UAVs) are used in search and rescue operations, electro-optical (EO) devices are usually used as the detection equipment, and area coverage is used as the main search method. However, the sector scanning mode of EO puts forward higher requirements for task parameter planning. First, to ensure there is no missing coverage, a method to determine the full coverage width of EO equipment in sector scanning mode is proposed. Second, the constraint of no interval missing and the model of the speed-to-high ratio constraint are established, and the constraints of other factors are addressed in the context of the problem situation. Third, a coverage efficiency index is proposed for the boustrophedon coverage of a rectangular area, and a comprehensive coverage index is established. Finally, task parameter planning algorithms are designed, based on Immune Algorithm (IA), Grey Wolf Optimization (GWO) and Variable Neighborhood Search (VNS), respectively. The simulation results showed that the designed algorithms, based on IA, GWO and VNS, can effectively solve task planning problems. In general, IA is more suitable for offline occasions, VNS is suitable for online real-time planning, and GWO has characteristics between the two. The coverage process, based on optimized parameters, meets all constraints, has higher search efficiency and does not miss areas, proving the correctness of these models and the effectiveness of the planning algorithm. The research presented in this paper provides a technical basis for efficient and fully automated target search and rescue.
... The former literature [81] has shown an example of RGB cue utilization. The paper [84] further integrates the camera sensor into the fixed-wing UAV for target searching. The corresponding detection algorithm is designed using YUV instead of RGB color space for image processing. ...
In recent years, unmanned aerial vehicles (UAVs) have gained popularity due to their flexibility, mobility, and accessibility in various fields, including search and rescue (SAR) operations. The use of UAVs in SAR can greatly enhance the task success rates in reaching inaccessible or dangerous areas, performing challenging operations, and providing real-time monitoring and modeling of the situation. This article aims to help readers understand the latest progress and trends in this field by synthesizing and organizing papers related to UAV search and rescue. An introduction to the various types and components of UAVs and their importance in SAR operations is settled first. Additionally, we present a comprehensive review of sensor integrations in UAVs for SAR operations, highlighting their roles in target perception, localization, and identification. Furthermore, we elaborate on the various applications of UAVs in SAR, including on-site monitoring and modeling, perception and localization of targets, and SAR operations such as task assignment, path planning, and collision avoidance. We compare different approaches and methodologies used in different studies, assess the strengths and weaknesses of various approaches, and provide insights on addressing the research questions relating to specific UAV operations in SAR. Overall, this article presents a comprehensive overview of the significant role of UAVs in SAR operations. It emphasizes the vital contributions of drones in enhancing mission success rates, augmenting situational awareness, and facilitating efficient and effective SAR activities. Additionally, the article discusses potential avenues for enhancing the performance of UAVs in SAR.
... UAV technology can speed up decisionmaking and refine the disaster site's localization. The issue of the use of UAVs in rescue operations is also addressed by Sun et al. [186], Zimroz et al. [187], and Lygouras et al. [188]. For search-and-rescue purposes, they used the [186] X-UAV Talon 4, on which a GoPro HERO camera was installed. ...
... The issue of the use of UAVs in rescue operations is also addressed by Sun et al. [186], Zimroz et al. [187], and Lygouras et al. [188]. For search-and-rescue purposes, they used the [186] X-UAV Talon 4, on which a GoPro HERO camera was installed. The GoPro HERO 4 camera was set to video mode with a resolution of 1920 × 1080 pixels. ...
... Aerial photography and videography [73,[178][179][180][182][183][184] Search and rescue [185][186][187][188][189][190][191] Military [192][193][194][195][196][197] Checking electrical lines and pipes [198][199][200][201][202][203] 6.3. Discussion on UAV Carriers, Sensors, and Software ...
Using Unmanned Aerial Vehicles (UAVs) combined with various sensors brings the benefits associated with fast, automatic, and contactless spatial data collection with high resolution and accuracy. The most frequent application is the possibility of effectively creating spatial models based on photogrammetric and lidar data. This review analyzes the current possibilities of UAVs. It provides an overview of the current state of the art and research on selected parameters regarding their history and development, classification, regulation, and application in surveying with creating spatial models. Classification and regulation are based on national sources. The importance and usability of this review are also carried out by analyzing the UAV application with selected photogrammetric and lidar sensors. The study explores and discusses results achieved by many authors in recent years, synthesizing essential facts. By analyzing the network of co-occurring High-Frequency Words, in addition, we visualized the importance of the primary keyword UAV in the context of other keywords in the literary sources processed.
... UAVs are becoming popular in avenues like aerial photography, surveying, monitoring, border patrol, surveillance, etc. . Researchers identified applications of UAVs in precision agriculture, package delivery, disaster management, etc., to improve efficiency and commercial viability (Sun et al. 2016;Kumar et al. 2020). ...
Fixed-wing unmanned aerial vehicles (UAVs) offer the best aerodynamic efficiency required for long-distance or high-endurance applications, albeit their runway requirement for take-off and landing in comparison with quadcopters, helicopters, and flapping-wing UAVs that can perform vertical take-off and landing (VTOL). Integrating a multirotor system with a fixed-wing UAV imparts VTOL capabilities without significantly compromising fixed-wing aerodynamic efficiency, endurance, payload capacity or range. Documented system design approaches to address various challenges of such fusion processes are sparse. This research proposes a holistic approach for designing, prototyping, and testing an electric-powered fixed-wing hybrid VTOL UAV. The proposed system design approach augments the standard aircraft design process with additional steps to integrate VTOL capabilities. Separate fixed-wing and multirotor designs were derived from the frozen mission requirements, which were then fused. The process used simulation for modeling and evaluating alternatives for the hybrid UAV created using standard aircraft design equations. We prototyped and instrumented the final design to validate operational capabilities through test flights. Multiple flight trials identified the ideal combination of Lithium-Polymer (Li-Po) batteries for VTOL (8000mAh) and fixed-wing (14000mAh) modes to meet the endurance and range requirements. The redundant power supplies also increased the survivability chances of the hybrid UAV during failures.
Keywords
Hybrid; UAV; VTOL; BLDC; Fuselage; Aircraft design
... In many other emergency situations, as well as during emergencies where terrestrial base stations are down, UAVs can be utilized to temporarily extend wireless covering in cellular systems [49]; ii) Tracking and monitoring in disaster situations: UAVs can assist in determining the direction that a flood is moving and then forecast which buildings will be at risk of damage. Similar to this, they can be used for rescue efforts following earthquakes, recognizing collapsed buildings with a high concentration of people, such as hospitals and schools, in order to give these locations a higher priority in rescue operations [50]; iii) Target detection: UAVs can use target detection technology like thermal and vision cameras to find people and objects [51]. ...
The use of unmanned aerial vehicles (UAVs) will be crucial in the next generation of wireless communications infrastructure. When compared to traditional ground-based solutions, it is expected that their use in a variety of communication-based applications will increase coverage and spectrum efficiency. In this paper, we provide a detailed review of all relevant research works as follows. This paper presents types of UAVs (e.g., wireless coverage , military, agriculture, medical applications, environment, and climate, and delivery and transportation), characteristics of UAVs (e.g., node density, altering system topology, node mobility, radio broadcasting mode, frequency band, localization, and power consumption and network lifetime), the application of UAVs (e.g., Multi-UAV cooperation, UAV-to-VANET collaborations, and UAV-to-ground tasks). Additionally, this paper reviews the routing protocols of UAVs (e.g., topology-based, position-based, heterogeneous, delay-tolerant networks (DTNs), swarm-Based, and cluster-based) and simulation tools (e.g., OMNeT++, AVENS, MATLAB, NS3, SUMO, and OPNET). The design and development of any new methods for UAVs may use this work as a guide and reference.
... In industrial application, users prefer to choose VTOL UAVs out of the lack of airport. The common hybrid vertical takeoff and landing (VTOL) UAV has received extensive attention from surveillance [6], emergency transportation [7], and search and rescue [8] for accurate displacement monitoring [9] because it does not require an airport to takeoff. Due to its high convenience, small hybrid UAVs have shown explosive growth in the civilian market. ...
Tail-sitter unmanned aerial vehicles (UAVs) are promising vertical takeoff and landing (VTOL) UAV suitable for multi-missions but the road to the commercialization of tail-sitter UAVs is tortuous. This paper aims to provide a systematic design methodology and present the development process for a novel biplane quadrotor tail-sitter UAV platform named TW10 to accelerate commercialization of this type of UAV. All the design choices and trade-offs in aerodynamics, structure, avionics, and the control scheme are detailed. A simulation and real flight test results are demonstrated to prove the feasibility of our design methodology. TW10 can carry a 1 kg mission load to achieve more than 2.5 h of flight time. This work serves as a meaningful reference for the promotion of tail-sitter UAVs in practical industrial applications.
