Drones, Volume 8, Issue 2 (February 2024) – 37 articles

Intrusion detection is often used in scenarios such as airports and essential facilities. Based on UAVs equipped with optical payloads, intrusion detection from an aerial perspective can be realized. However, due to the limited field of view of the camera, it is difficult to achieve large-scale continuous tracking of intrusion targets. In this study, we proposed an intrusion target detection and tracking method based on the fusion of a 360° panoramic camera and a 3-axis gimbal, and designed a detection model covering five types of intrusion targets. During the research process, the multi-rotor UAV platform was built. Then, based on a field flight test, 3043 flight images taken by a 360° panoramic camera and a 3-axis gimbal in various environments were collected, and an intrusion data set was produced. Subsequently, considering the applicability of the YOLO model in intrusion target detection, this paper proposes an improved YOLOv5s-360ID model based on the original YOLOv5-s model. This model improved and optimized the anchor box of the YOLOv5-s model according to the characteristics of the intrusion target. It used the K-Means++ clustering algorithm to regain the anchor box that matches the small target detection task. It also introduced the EIoU loss function to replace the original CIoU loss function. The target bounding box regression loss function made the intrusion target detection model more efficient while ensuring high detection accuracy. The performance of the UAV platform was assessed using the detection model to complete the test flight verification in an actual scene. The experimental results showed that the mean average precision (mAP) of the YOLOv5s-360ID was 75.2%, which is better than the original YOLOv5-s model of 72.4%, and the real-time detection frame rate of the intrusion detection was 31 FPS, which validated the real-time performance of the detection model. The gimbal tracking control algorithm for intrusion targets is also validated. The experimental results demonstrate that the system can enhance intrusion targets’ detection and tracking range. Full article

In the face of external disturbances affecting the trajectory tracking of quadrotors, a control scheme targeted at accurate position and attitude trajectory tracking was designed. Initially, a quadrotor dynamic model, essential for control design, was derived. Adaptive integral backstepping control (AIBS) was then employed within the position loop, enabling the upper boundaries of disturbances to be estimated through adaptive estimation. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) was proposed to enable adherence to the desired Euler angles. Rapid convergence and accurate tracking were facilitated by the incorporation of the nonsingular terminal sliding mode and an integral component. The dead zone technique was deployed to curtail estimation errors, while a saturation function was used to eradicate the phenomenon of chattering. Finally, to validate the proposed control scheme, simulation experiments were conducted in the Simulink environment, and the results were contrasted with those obtained from traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS), providing evidence of the effectiveness of the proposed method. Full article

Efficient trajectory and path planning (TPP) is essential for unmanned aircraft systems (UASs) autonomy in challenging environments. Despite the scale ambiguity inherent in monocular vision, characteristics like compact size make a monocular camera ideal for micro-aerial vehicle (MAV)-based UASs. This work introduces a real-time MAV system using monocular depth estimation (MDE) with novel scale recovery module for autonomous navigation. We present MoNA Bench, a benchmark for Monocular depth estimation in Navigation of the Autonomous unmanned Aircraft system (MoNA), emphasizing its obstacle avoidance and safe target tracking capabilities. We highlight key attributes—estimation efficiency, depth map accuracy, and scale consistency—for efficient TPP through MDE. Full article

UAV rotors are at a high risk of ice accumulation during their operations in icing conditions. Thermal ice protection systems (IPSs) are being employed as a means of protecting rotor blades from ice, yet designing the appropriate IPS with the required heating density remains a challenge. In this work, a reduced-order modeling technique based on the Unsteady Vortex Lattice Method (UVLM) is proposed as a way to predicting rotor icing and to calculate the required anti-icing heat loads. The UVLM is gaining recent popularity for aircraft and rotor modeling. This method is flexible enough to model difficult aerodynamic problems, computationally efficient compared to higher-order CFD methods and accurate enough for conceptual design problems. A previously developed implementation of the UVLM for 3D rotor aerodynamic modeling is extended to incorporate a simplified steady-state icing thermodynamic model on the stagnation line of the blade. A viscous coupling algorithm based on a modified α-method incorporates viscous data into the originally inviscid calculations of the UVLM. The algorithm also predicts the effective angle of attack at each blade radial station (r/R), which is, in turn, used to calculate the convective heat transfer for each r/R using a CFD-based correlation for airfoils. The droplet collection efficiency at the stagnation line is calculated using a popular correlation from the literature. The icing mass and heat transfer balance includes terms for evaporation, sublimation, radiation, convection, water impingement, kinetic heating, and aerodynamic heating, as well as an anti-icing heat flux. The proposed UVLM-icing coupling technique is tested by replicating the experimental results for ice accretion and anti-icing of the 4-blade rotor of the APT70 drone. Aerodynamic predictions of the UVLM for the Figure of Merit, thrust, and torque coefficients agree within 10% of the experimental measurements. For icing conditions at −5 °C, the proposed approach overestimates the required anti-icing flux by around 50%, although it sufficiently predicts the effect of aerodynamic heating on the lack of ice formation near the blade tips. At −12 °C, visualizations of ice formation at different anti-icing heating powers agree well with UVLM predictions. However, a large discrepancy was found when predicting the required anti-icing heat load. Discrepancies between the numerical and experimental data are largely owed to the unaccounted transient and 3D effects related to the icing process on the rotating blades, which have been planned for in future work. Full article

Aerial wildlife surveys with fixed-wing airplanes and helicopters are used more often than on-the-ground field surveys to cover areas that are both extensive and often inaccessible. Drones with high-resolution thermal sensors are being widely accepted as research tools to aid in monitoring wildlife species and their habitats. Therefore, our goal was to assess the feasibility of detecting northern bobwhite quail (Colinus virginianus, hereafter ‘bobwhite’) using drones with a high-resolution thermal sensor. Our objectives were (1) to identify the altitudes at which bobwhites can be detected and (2) compare the two most used color palettes to detect species (black-hot and isotherm). We achieved this goal by performing drone flights at different altitudes over caged tame bobwhites and capturing still images and video recordings at altitudes from 18 to 42 m. We did not observe or detect any obvious signs of distress, movement, or fluttering of bobwhites inside cages caused by the noise or presence of the drone during data acquisition. We observed the highest counts of individual bobwhites with the black-hot thermal palette at 18 m (92%; $\overline{\mathrm{x}}$ = 47 bobwhites; SE = 0.41) and at 24 m (81%; $\overline{\mathrm{x}}$ = 41 bobwhites; SE = 0.89). The isotherm thermal palette had lower count proportions. The use of video to count quail was not feasible due to the low resolution of the video and the species size. Flying drones with high-resolution thermal sensors provided reliable imagery to detect roosting bobwhite individuals in South Texas during the winter. Full article

Integrating the relaying drone and non-orthogonal multiple access (NOMA) technique into post-disaster emergency communications (PDEComs) is a promising way to accomplish efficient network recovery. Motivated by the above, by optimizing the drone three-dimensional (3D) deployment optimization and spectrum allocation, this paper investigates a quality of service (QoS)-driven sum rate maximization problem for drone-and-NOMA-enhanced PDEComs that aims to improve the data rate of cell edge users (CEUs). Due to the non-deterministic polynomial (NP)-hard characteristics, we first decouple the formulated problem. Next, we obtain the optimal 3D deployment with the aid of a long short-term memory (LSTM)-based recurrent neural network (RNN). Then, we transform the spectrum allocation problem into an optimal matching issue, based on which the Hungarian algorithm is employed to solve it. Finally, the simulation results show that the presented scheme has a significant performance improvement in the sum rate compared with the state-of-the-art works and benchmark scheme. For instance, by adopting the NOMA technique, the sum rate can be increased by 9.72% and the needs of CEUs can be satisfied by enabling the relaying drone. Additionally, the convergence, complexity, and performance gap caused by iterative optimization are discussed and analyzed. Full article

Unmanned Aerial Vehicles (UAVs) have emerged as a compelling alternative to manned operations, offering the capability to navigate hazardous environments without risks for human operators. Despite their potential, optimizing UAV missions in complex and unstructured environments remains a pivotal challenge. Path planning becomes a crucial aspect to increase mission efficiency, although it is inherently complex due to various factors such as obstacles, no-fly zones, non-cooperative aircraft, and flight mechanics limitations. This paper presents a path-planning technique for fixed-wing unmanned aerial vehicles (UAVs) based on the Theta* algorithm. The approach introduces innovative features, such as the use of Euler spiral, or clothoids, to serve as connection arcs between nodes, mitigating trajectory discontinuities. The design of clothoids can be linked to the aircraft performance model, establishing a connection between curvature constraints and the specific characteristics of the vehicle. Furthermore, to lower the computational burden, the implementation of an adaptive exploration distance and a vision cone was considered, reducing the number of explored solutions. This methodology ensures a seamless and optimized flight path for fixed-wing UAVs operating in static environments, showcasing a noteworthy improvement in trajectory smoothness. The proposed methodology has been numerically evaluated in several complex test cases as well as in a real urban scenario to prove its effectiveness. Full article

Monitoring and mapping crop water stress and variability at a farm scale for cereals such as maize, one of the most common crops in developing countries with 200 million people around the world, is an important objective within precision agriculture. In this regard, unmanned aerial vehicle-obtained multispectral and thermal imagery has been adopted to estimate the crop water stress proxy (i.e., Crop Water Stress Index) in conjunction with algorithm machine learning techniques, namely, partial least squares (PLS), support vector machines (SVM), and random forest (RF), on a typical smallholder farm in southern Africa. This study addresses this objective by determining the change between foliar and ambient temperature (Tc-Ta) and vapor pressure deficit to determine the non-water stressed baseline for computing the maize Crop Water Stress Index. The findings revealed a significant relationship between vapor pressure deficit and Tc-Ta (R² = 0.84) during the vegetative stage between 10:00 and 14:00 (South Africa Standard Time). Also, the findings revealed that the best model for predicting the Crop Water Stress Index was obtained using the random forest algorithm (R² = 0.85, RMSE = 0.05, MAE = 0.04) using NDRE, MTCI, CCCI, GNDVI, TIR, Cl_Red Edge, MTVI2, Red, Blue, and Cl_Green as optimal variables, in order of importance. The results indicated that NIR, Red, Red Edge derivatives, and thermal band were some of the optimal predictor variables for the Crop Water Stress Index. Finally, using unmanned aerial vehicle data to predict maize crop water stress index on a southern African smallholder farm has shown encouraging results when evaluating its usefulness regarding the use of machine learning techniques. This underscores the urgent need for such technology to improve crop monitoring and water stress assessment, providing valuable insights for sustainable agricultural practices in food-insecure regions. Full article

Traditional unmanned aerial vehicle path planning methods focus on addressing planning issues in static scenes, struggle to balance optimality and real-time performance, and are prone to local optima. In this paper, we propose an improved deep reinforcement learning approach for UAV path planning in dynamic scenarios. Firstly, we establish a task scenario including an obstacle assessment model and model the UAV’s path planning problem using the Markov Decision Process. We translate the MDP model into the framework of reinforcement learning and design the state space, action space, and reward function while incorporating heuristic rules into the action exploration policy. Secondly, we utilize the Q function approximation of an enhanced D3QN with a prioritized experience replay mechanism and design the algorithm’s network structure based on the TensorFlow framework. Through extensive training, we obtain reinforcement learning path planning policies for both static and dynamic scenes and innovatively employ a visualized action field to analyze their planning effectiveness. Simulations demonstrate that the proposed algorithm can accomplish UAV dynamic scene path planning tasks and outperforms classical methods such as A*, RRT, and DQN in terms of planning effectiveness. Full article

Whirl flutter is a phenomenon caused by an aeroelastic instability, causing oscillations to propagate in manned or unmanned rotor-nacelle type aircraft. Under the conditions where multi-segmented freeplay are present, complex behaviors can dominate these oscillations and can lead to disastrous consequences. This study investigates a rotor-nacelle system with multi-segmented stiffnesses with a freeplay gap to encompass the real-world influences of aircraft. The mathematical aerodynamics model considers a quasi-steady application of strip theory along each blade to outline the external forces being applied. A free-body diagram is then used to incorporate the structural stiffness and damping terms with multi-segmented freeplay considered in the structural stiffness matrix. Multiple structural responses of the defined system are investigated and characterized to determine the influence of varying symmetric and asymmetric multi-segmented stiffnesses with varying gap parameters, including a route to impact investigation. The findings are characterized using phase portraits, Poincaré maps, time histories, and basins of attraction. It is found that under these conditions, the structural influences can lead to aperiodic oscillations with the existence of grazing bifurcations. Furthermore, these results unveil that under certain conditions and high freestream velocities, the sticking phenomenon becomes apparent which is strongly dependent on the strength of the multi-segmented representation, its gap sizes, and its symmetry. Lastly, a route to impact study shows the strong coupled influence between pitch and yaw when asymmetric conditions are applied and the possible presence of grazing-sliding bifurcations. The numerical simulations performed in this study can form a basis for drone designers to create reliable rotor-nacelle systems resistant to whirl flutter caused by freeplay effects. Full article

This paper proposes a cascaded dual closed-loop control strategy that incorporates time delay estimation and sliding mode control (SMC) to address the issue of uncertain disturbances in logistic unmanned aerial vehicles (UAVs) caused by ground effects, crosswind disturbances, and payloads. The control strategy comprises a position loop and an attitude loop. The position loop, which functions as the outer loop, employs a proportional–integral–derivative (PID) sliding mode surface to eliminate steady-state error through an integral component. Conversely, the attitude loop, serving as the inner loop, utilizes a fast nonsingular terminal sliding mode approach to achieve finite-time convergence and ensure a quick system response. The time-delay estimation technique is employed for the online estimation and real-time compensation of unknown disturbances, while SMC is used to enhance the robustness of the control system. The combination of time-delay estimation and SMC offers complementary advantages. The stability of the system is proven using Lyapunov theory. Hardware-in-the-loop simulation and flight tests demonstrate that the control law can achieve a smooth and continuous output. The proposed control strategy can be effectively applied in complex scenarios, such as hovering, crash recovery, and high maneuverability flying, with significant practicality in engineering applications. Full article

The advancement of wireless networking has significantly enhanced beamforming capabilities in Autonomous Unmanned Aerial Systems (AUAS). This paper presents a simple and efficient classical algorithm to route a collection of AUAS or drone swarms extending our previous work on AUAS. The algorithm is based on the sparse factorization of frequency Vandermonde matrices that correspond to each drone, and its entries are determined through spatiotemporal data of drones in the AUAS. The algorithm relies on multibeam beamforming, making it suitable for large-scale AUAS networking in wireless communications. We show a reduction in the arithmetic and time complexities of the algorithm through theoretical and numerical results. Finally, we also present an ML-based AUAS routing algorithm using the classical AUAS algorithm and feed-forward neural networks. We compare the beamformed signals of the ML-based AUAS routing algorithm with the ground truth signals to minimize the error between them. The numerical error results show that the ML-based AUAS routing algorithm enhances the accuracy of the routing. This error, along with the numerical and theoretical results for over 100 drones, provides the basis for the scalability of the proposed ML-based AUAS algorithms for large-scale deployments. Full article

The increasing number of applications involving the use of UAVs has motivated the research for design considerations that increase the safety, endurance, range, and payload capability of these vehicles. In this article, the dynamics of a flexible flapping wing is investigated, focused on designing bio-inspired UAVs. A dynamic model of the Flapping-Wing UAV is proposed by using 2D beam elements defined in the absolute nodal coordinate formulation, and the flapping is imposed through constraint equations coupled to the equation of motion using Lagrange multipliers. The nodal coordinate trajectories are obtained by integrating the equation of motion using the Runge–Kutta algorithm. The imposed flapping is modulated using a proposed smooth function to reduce transient vibrations at the start of the motion. The results shows that wing flexibility yields significant differences compared to rigid-wing models, depending on the flapping frequency. Limited amplitude of oscillation is obtained when considering a non-resonant flapping strategy, whereas in resonance, the energy levels efficiently increase. The results also demonstrate the influence of different flapping strategies on the energy dissipation, which are relevant to increasing the time of flight. The proposed approach is an interesting alternative for designing flexible, bio-inspired, flapping-wing UAVs. Full article

Object recognition, localization, and tracking play a role of primordial importance in computer vision applications. However, it is still an extremely difficult task, particularly in scenarios where objects are attended to using fast-moving UAVs that need to robustly operate in real time. Typically the performance of these vision-based systems is affected by motion blur and geometric distortions, to name but two issues. Gimbal systems are thus essential to compensate for motion blur and ensure visual streams are stable. In this work, we investigate the advantages of active tracking approaches using a three-degrees-of-freedom (DoF) gimbal system mounted on UAVs. A method that utilizes joint movement and visual information for actively tracking spherical and planar objects in real time is proposed. Tracking methodologies are tested and evaluated in two different realistic Gazebo simulation environments: the first on 3D positional tracking (sphere) and the second on tracking of 6D poses (planar fiducial markers). We show that active object tracking is advantageous for UAV applications, first, by reducing motion blur, caused by fast camera motion and vibrations, and, second, by fixating the object of interest within the center of the field of view and thus reducing re-projection errors due to peripheral distortion. The results demonstrate significant object pose estimation accuracy improvements of active approaches when compared with traditional passive ones. More specifically, a set of experiments suggests that active gimbal tracking can increase the spatial estimation accuracy of known-size moving objects, under conditions of challenging motion patterns and in the presence of image distortion. Full article

Unoccupied aerial systems (UASs) may provide cheaper, safer, and more accurate and precise alternatives to traditional waterfowl survey techniques while also reducing disturbance to waterfowl. We evaluated availability and perception bias based on machine-learning-based non-breeding waterfowl count estimates derived from aerial imagery collected using a DJI Mavic Pro 2 on Missouri Department of Conservation intensively managed wetland Conservation Areas. UASs imagery was collected using a proprietary software for automated flight path planning in a back-and-forth transect flight pattern at ground sampling distances (GSDs) of 0.38–2.29 cm/pixel (15–90 m in altitude). The waterfowl in the images were labeled by trained labelers and simultaneously analyzed using a modified YOLONAS image object detection algorithm developed to detect waterfowl in aerial images. We used three generalized linear mixed models with Bernoulli distributions to model availability and perception (correct detection and false-positive) detection probabilities. The variation in waterfowl availability was best explained by the interaction of vegetation cover type, sky condition, and GSD, with more complex and taller vegetation cover types reducing availability at lower GSDs. The probability of the algorithm correctly detecting available birds showed no pattern in terms of vegetation cover type, GSD, or sky condition; however, the probability of the algorithm generating incorrect false-positive detections was best explained by vegetation cover types with features similar in size and shape to the birds. We used a modified Horvitz–Thompson estimator to account for availability and perception biases (including false positives), resulting in a corrected count error of 5.59 percent. Our results indicate that vegetation cover type, sky condition, and GSD influence the availability and detection of waterfowl in UAS surveys; however, using well-trained algorithms may produce accurate counts per image under a variety of conditions. Full article

Infrared thermal imaging is useful for human body recognition for search and rescue (SAR) missions. This paper discusses thermal object tracking for SAR missions with a drone. The entire process consists of object detection and multiple-target tracking. The You-Only-Look-Once (YOLO) detection model is utilized to detect people in thermal videos. Multiple-target tracking is performed via track initialization, maintenance, and termination. Position measurements in two consecutive frames initialize the track. Tracks are maintained using a Kalman filter. A bounding box gating rule is proposed for the measurement-to-track association. This proposed rule is combined with the statistically nearest neighbor association rule to assign measurements to tracks. The track-to-track association selects the fittest track for a track and fuses them. In the experiments, three videos of three hikers simulating being lost in the mountains were captured using a thermal imaging camera on a drone. Capturing was assumed under difficult conditions; the objects are close or occluded, and the drone flies arbitrarily in horizontal and vertical directions. Robust tracking results were obtained in terms of average total track life and average track purity, whereas the average mean track life was shortened in harsh searching environments. Full article

Complex coastal environments pose unique logistical challenges when deploying unmanned aerial vehicles (UAVs) for real-time image acquisition during monitoring operations of marine water quality. One of the key challenges is the difficulty in synchronizing the images acquired by UAV spectral sensors and ground-truth in situ water quality measurements for calibration, due to a typical time delay between these two modes of data acquisition. This study investigates the logistics for the concurrent deployment of the UAV-borne spectral sensors and a sampling vessel for water quality measurements and the effects on the turbidity predictions due to the time delay between these two operations. The results show that minimizing the time delay can significantly enhance the efficiency of data acquisition and consequently improve the calibration process. In particular, the outcomes highlight notable improvements in the model’s predictive accuracy for turbidity distribution derived from UAV-borne spectral images. Furthermore, a comparative analysis based on a pilot study is conducted between two multirotor UAV configurations: the DJI M600 Pro with a hyperspectral camera and the DJI M300 RTK with a multispectral camera. The performance evaluation includes the deployment complexity, image processing productivity, and sensitivity to environmental noises. The DJI M300 RTK, equipped with a multispectral camera, is found to offer higher cost-effectiveness, faster setup times, and better endurance while yielding good image quality at the same time. It is therefore a more compelling choice for widespread industry adoption. Overall, the results from this study contribute to advancement in the deployment of UAVs for marine water quality monitoring. Full article

As the technology of unmanned aerial vehicles (UAVs) advances, these vehicles are increasingly being used in various industries. However, the navigation of UAVs often faces restrictions and obstacles, necessitating the implementation of path-planning algorithms to ensure safe and efficient flight. This paper presents innovative path-planning algorithms designed explicitly for UAVs and categorizes them based on algorithmic and functional levels. Moreover, it comprehensively discusses the advantages, disadvantages, application challenges, and notable outcomes of each path-planning algorithm, aiming to examine their performance thoroughly. Additionally, this paper provides insights into future research directions for UAVs, intending to assist researchers in future explorations. Full article

In contrast to rotorcraft, fixed-wing unmanned aerial vehicles (UAVs) encounter a unique challenge in path planning due to the necessity of accounting for the turning radius constraint. This research focuses on coverage path planning, aiming to determine optimal trajectories for fixed-wing UAVs to thoroughly explore designated areas of interest. To address this challenge, the Linear Programming—Fuzzy C-Means with Pigeon-Inspired Optimization algorithm (LP-FCMPIO) is proposed. Initially considering the turning radius constraint, a linear-programming-based model for fixed-wing UAV coverage path planning is established. Subsequently, to partition multiple areas effectively, an improved fuzzy clustering algorithm is introduced. Employing the pigeon-inspired optimization algorithm as the final step, an approximately optimal solution is sought. Simulation experiments demonstrate that the LP-FCMPIO, when compared to traditional FCM, achieves a more balanced clustering effect. Additionally, in contrast to traditional PIO, the planned flight paths display improved coverage of task areas, with an approximately 27.5% reduction in the number of large maneuvers. The experimental results provide validation for the effectiveness of the proposed algorithm. Full article

Traditional Internet of Things (IoT) networks have limited coverage and may experience failures due to natural disasters affecting critical IoT devices, making it difficult for them to provide communication services. Therefore, how to establish network communication service more efficiently in the presence of fault points is the problem we solve in this paper. To address this issue, this study constructs a hierarchical multi-domain data transmission architecture for an emergency network with unmanned aerial vehicles (UAVs) employed as core communication devices. This architecture expands the functionality of UAVs as key network devices and provides a theoretical basis for their feasibility as intelligent network controllers and switches. Firstly, the UAV controllers perceive the network status and learn the spatio-temporal characteristics of air-to-ground network links. Secondly, a routing algorithm within the domain based on federated reinforcement distillation (FedRDR) is developed, which enhances the generalization capability of the routing decision model by increasing the training data samples. Simulation experiments are conducted, and the results show that the average communication data size between each domain controller and the server is approximately 45.3 KB when using the FedRDR algorithm. Compared to the transmission of parameters through federated reinforcement learning algorithms, FedRDR reduces the transmitted parameter size by approximately 29%. Therefore, the FedRDR routing algorithm helps to facilitate knowledge transfer, accelerate the training process of intelligent agents within the domain, and reduce communication costs in resource-constrained scenarios for UAV networks and has practical value. Full article

Drones are becoming increasingly valuable tools for studying species in marine environments. Here, a consumer-grade drone was used to elucidate the distribution and population abundance of two threatened dasyatid rays, Pastinachus ater and Urogymnus granulatus, in a remote marine protected area in the Republic of Seychelles. Over six weeks in March and April 2023, a total of 80 survey flights, covering an area of 3.2 km², recorded 1262 P. ater and 822 U. granulatus. Findings revealed previously unresolved high-use areas for both species, which almost exclusively used sandy areas within the habitat and were found in greater abundances in areas closer to the shoreline. Spatial patterns in abundance were strongly correlated between species, with both often found in mixed-species groups. The site was shown to support large populations of both species with total population abundance estimates of 2524 (2029–3019 95% CI, 0.1 CV) for P. ater and 2136 (1732–2539 95% CI, 0.09 CV) for U. granulatus. This study highlights the applicability of drones in acquiring highly useful data for delineating critical habitats and informing the adaptive management of marine protected areas. Full article

The deployment of small unmanned aerial vehicles (UAVs), or drones, for transmission line inspections, has brought attention to the potential impact of electromagnetic fields (EMFs) on UAV operations. This work describes a mathematical model based on the finite elements method (FEM), designed to examine the electric and magnetic fields produced by extra-high voltage (EHV) conductors. The current study extends the analysis to encompass both electric and magnetic fields and evaluates the safe distances for UAVs operating near 345 kV, 500 kV, and 765 kV transmission lines. The electromagnetic environment around these EHV transmission lines was simulated using electrostatic, magnetostatic, and transient magnetic modules within the QuickField software 6.6. Electric and magnetic profiles were estimated using 2D finite element analysis, including a numerical simulation for phase-to-phase fault EMFs for the above transmission lines. These results were then cross-verified with theoretical calculations at specific intervals and further validated using the EMFACDC analytical method developed by the International Telecommunication Union. This comprehensive assessment concludes that precise distance considerations are necessary to ensure UAV safety during power line inspections, mitigating potential risks from EMF interference. Full article

As the application of UAVs becomes more and more widespread, accidents such as accidental injuries to personnel, property damage, and loss and destruction of UAVs due to accidental UAV crashes also occur in daily use scenarios. To reduce the occurrence of such accidents, UAVs need to have the ability to autonomously choose a safe area to land in an accidental situation, and the key lies in realizing on-board real-time semantic segmentation processing. In this paper, we propose an efficient semantic segmentation method called KDP-Net for characteristics such as large feature scale changes and high real-time processing requirements during the emergency landing process. The proposed KDP module can effectively improve the accuracy and performance of the semantic segmentation backbone network; the proposed Bilateral Segmentation Network improves the extraction accuracy and processing speed of important feature categories in the training phase; and the proposed edge extraction module improves the classification accuracy of fine features. The experimental results on the UDD6 and SDD show that the processing speed of this method reaches 85.25 fps and 108.11 fps while the mIoU reaches 76.9% and 67.14%, respectively. The processing speed reaches 53.72 fps and 38.79 fps when measured on Jetson Orin, which can meet the requirements of airborne real-time segmentation for emergency landing. Full article

The primary objectives of this paper are to test an adaptive sampling method for an autonomous underwater vehicle, specifically tailored to track a hydrocarbon plume in the water column. An overview of the simulation of the developed applications within the autonomous system is presented together with the subsequent validation achieved through field trials in an area of natural oil seeps near to Scott Inlet in Baffin Bay. This builds upon our prior published work in methodological development. The method employed involves an integrated backseat drive of the AUV, which processes in situ sensor data in real time, assesses mission status, and determines the next task. The core of the developed system comprises three modular components—Search, Survey, and Sample—each designed for independent and sequential execution. Results from tests in Baffin Bay demonstrate that the backseat drive operating system successfully accomplished mission goals, recovering water samples at depths of 20 m, 50 m, and 200 m before mission completion and vehicle retrieval. The principal conclusion drawn from these trials underscores the system’s resilience in enhanced decision autonomy and validates its applicability to marine pollutant assessment and mitigation. Full article

Currently, space-based information networks, represented by satellite Internet, are rapidly developing. UAVs can serve as airborne mobile terminals, representing a novel node in satellite IoT, offering more accurate and robust data streaming for connecting global satellite–UAV collaborative IoT systems. It is characterized by high-speed dynamics, with node distances and visibility constantly changing over time. Therefore, there is a need for faster and higher-quality topology optimization research. A reliable, secure, and adaptable network topology optimization algorithm has been proposed to handle various complex scenarios. Additionally, considering the dynamic and time-varying nature of these types of networks, the concept of time slices has been introduced to accelerate the iterative efficiency of problem-solving. Experimental results demonstrate that the proposed algorithm is expected to exhibit better convergence and performance in subsequent iterations compared with traditional solutions. Besides being a solution for topology optimization, the proposed algorithm offers a new way of thinking, enabling the handling of larger satellite–UAV collaborative IoT systems. Full article

The present study proposes a technique for automated tree crown detection and segmentation in digital images derived from unmanned aerial vehicles (UAVs) using a machine learning (ML) algorithm named Detectron2. The technique, which was developed in the python programming language, receives as input images with object boundary information. After training on sets of data, it is able to set its own object boundaries. In the present study, the algorithm was trained for tree crown detection and segmentation. The test bed consisted of UAV imagery of an agricultural field of tangerine trees in the city of Palermo in Sicily, Italy. The algorithm’s output was the accurate boundary of each tree. The output from the developed algorithm was compared against the results of tree boundary segmentation generated by the Support Vector Machine (SVM) supervised classifier, which has proven to be a very promising object segmentation method. The results from the two methods were compared with the most accurate yet time-consuming method, direct digitalization. For accuracy assessment purposes, the detected area efficiency, skipped area rate, and false area rate were estimated for both methods. The results showed that the Detectron2 algorithm is more efficient in segmenting the relevant data when compared to the SVM model in two out of the three indices. Specifically, the Detectron2 algorithm exhibited a 0.959% and 0.041% fidelity rate on the common detected and skipped area rate, respectively, when compared with the digitalization method. The SVM exhibited 0.902% and 0.097%, respectively. On the other hand, the SVM classification generated better false detected area results, with 0.035% accuracy, compared to the Detectron2 algorithm’s 0.056%. Having an accurate estimation of the tree boundaries from the Detectron2 algorithm, the tree health assessment was evaluated last. For this to happen, three different vegetation indices were produced (NDVI, GLI and VARI). All those indices showed tree health as average. All in all, the results demonstrated the ability of the technique to detect and segment trees from UAV imagery. Full article

Unmanned aerial systems and renewable energy are two research areas that have developed rapidly over the last few decades. Solar-powered unmanned aerial vehicles (SUAVs) are likely to become dominant in the near future. They have the advantage of low cost and safe operation features that mitigate the barriers to their use in various environments. Developing effective algorithms for navigating and deploying SUAVs is essential for implementing this technology in real-life applications. Effective navigation and deployment algorithms also ensure the safety and efficiency of SUAV operations. This comprehensive review paper summarizes some state-of-the-art SUAV applications and provides an overview of the navigation and deployment algorithms for SUAVs. Some commonly used energy-harvesting models are described as well. Finally, some interesting and promising directions for future SUAV research are suggested. Full article

This paper proposes a trajectory tracking control scheme consisting of a fast finite-time super-twisting sliding mode control (FSTSMC) approach and an extended state higher-order sliding mode observer (ESHSMO) for unmanned underwater vehicles (UUVs) with external disturbances and model uncertainties. Firstly, an extended state higher-order sliding mode observer with the finite-time convergence is designed based on the higher-order sliding mode technique and the extended state observer technique. Next, on the basis of disturbances and model uncertainties observation, a fast finite-time super-twisting sliding mode control approach is proposed, and the finite time stabilization property of the tracking errors is proved by Lyapunov theory. Finally, through numerical simulation and experiment in a water pool, it has been verified that the proposed control scheme has achieved the high control precision, the smaller chattering, the disturbance compensation and the fast finite-time convergence in UUV trajectory tracking. Full article

Drones are an increasingly popular choice for wildlife surveys due to their versatility, quick response capabilities, and ability to access remote areas while covering large regions. A novel application presented here is to combine drone imagery with neural networks to assess mortality within a bird colony. Since 2021, Highly Pathogenic Avian Influenza (HPAI) has caused significant bird mortality in the UK, mainly affecting aquatic bird species. The world’s largest northern gannet colony on Scotland’s Bass Rock experienced substantial losses in 2022 due to the outbreak. To assess the impact, RGB imagery of Bass Rock was acquired in both 2022 and 2023 by deploying a drone over the island for the first time. A deep learning neural network was subsequently applied to the data to automatically detect and count live and dead gannets, providing population estimates for both years. The model was trained on the 2022 dataset and achieved a mean average precision (mAP) of 37%. Application of the model predicted 18,220 live and 3761 dead gannets for 2022, consistent with NatureScot’s manual count of 21,277 live and 5035 dead gannets. For 2023, the model predicted 48,455 live and 43 dead gannets, and the manual count carried out by the Scottish Seabird Centre and UK Centre for Ecology and Hydrology (UKCEH) of the same area gave 51,428 live and 23 dead gannets. This marks a promising start to the colony’s recovery with a population increase of 166% determined by the model. The results presented here are the first known application of deep learning to detect dead birds from drone imagery, showcasing the methodology’s swift and adaptable nature to not only provide ongoing monitoring of seabird colonies and other wildlife species but also to conduct mortality assessments. As such, it could prove to be a valuable tool for conservation purposes. Full article

Forest fires have significant implications for the Earth’s ecological balance, causing widespread devastation and posing formidable challenges for containment once they propagate. The development of computer vision methods holds promise in facilitating the timely identification of forest fire risks, thereby preventing potential economic losses. In our study conducted in various regions in British Columbia, we utilized image data captured by unmanned aerial vehicles (UAVs) and computer vision methods to detect various types of trees, including alive trees, debris (logs on the ground), beetle- and fire-impacted trees, and dead trees that pose a risk of a forest fire. We then designed and implemented a novel sliding window technique to process large forest areas as georeferenced orthogonal maps. The model demonstrates proficiency in identifying various tree types, excelling in detecting healthy trees with precision and recall scores of 0.904 and 0.848, respectively. Its effectiveness in recognizing trees killed by beetles is somewhat limited, likely due to the smaller number of examples available in the dataset. After the tree types are detected, we generate color maps, indicating different fire risks to provide a new tool for fire managers to assess and implement prevention strategies. This study stands out for its integration of UAV technology and computer vision in forest fire risk assessment, marking a significant step forward in ecological protection and sustainable forest management. Full article