Twirre is a new architecture for mini-UAV platforms designed for autonomous flight in both GPS-enabled and GPS-deprived applications. The architecture consists of low-cost hardware and software components. High-level control software enables autonomous operation. Exchanging or upgrading hardware components is straightforward and the architecture is an excellent starting point for building low-cost autonomous mini-UAVs for a variety of applications. Experiments with an implementation of the architecture are in development, and preliminary results demonstrate accurate indoor navigation
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This paper describes the concept of a new algorithm to control an Unmanned Aerial System (UAS) for accurate autonomous indoor flight. Inside a greenhouse, Global Positioning System (GPS) signals are not reliable and not accurate enough. As an alternative, Ultra Wide Band (UWB) is used for localization. The noise is compensated by combining the UWB with the delta position signal from a novel optical flow algorithm through a Kalman Filter (KF). The end result is an accurate and stable position signal with low noise and low drift.
The decomposition of a body is influenced by burial conditions, making it crucial to understand the impact of different conditions for accurate grave detection. Geophysical techniques using drones have gained popularity in locating clandestine graves, offering non-invasive methods for detecting surface and subsurface irregularities. Ground-penetrating radar (GPR) is an effective technology for identifying potential grave locations without disturbance. This research aimed to prototype a drone system integrating GPR to assist in grave localization and to develop software for data management. Initial experiments compared GPR with other technologies, demonstrating its valuable applicability. It is suitable for various decomposition stages and soil types, although certain soil compositions have limitations. The research used the DJI M600 Pro drone and a drone-based GPR system enhanced by the real-time kinematic (RTK) global positioning system (GPS) for precision and autonomy. Tests with simulated graves and cadavers validated the system’s performance, evaluating optimal altitude, speed, and obstacle avoidance techniques. Furthermore, global and local planning algorithms ensured efficient and obstacle-free flight paths. The results highlighted the potential of the drone-based GPR system in locating clandestine graves while minimizing disturbance, contributing to the development of effective tools for forensic investigations and crime scene analysis.
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Agricultural/horticultural products account for 9% of Dutch gross domestic product. Yearly expansion of production involves major challenges concerning labour costs and plant health control. For growers, one of the most urgent problems is pest detection, as pests cause up to 10% harvest loss, while the use of chemicals is increasingly prohibited. For consumers, food safety is increasingly important. A potential solution for both challenges is frequent and automated pest monitoring. Although technological developments such as propeller-based drones and robotic arms are in full swing, these are not suitable for vertical horticulture (e.g. tomatoes, cucumbers). A better solution for less labour intensive pest detection in vertical crop horticulture, is a bio-inspired FW-MAV: Flapping Wings Micro Aerial Vehicle. Within this project we will develop tiny FW-MAVs inspired by insect agility, with high manoeuvrability for close plant inspection, even through leaves without damage. This project focusses on technical design, testing and prototyping of FW-MAV and on autonomous flight through vertically growing crops in greenhouses. The three biggest technical challenges for FW-MAV development are: 1) size, lower flight speed and hovering; 2) Flight time; and 3) Energy efficiency. The greenhouse environment and pest detection functionality pose additional challenges such as autonomous flight, high manoeuvrability, vertical take-off/landing, payload of sensors and other equipment. All of this is a multidisciplinary challenge requiring cross-domain collaboration between several partners, such as growers, biologists, entomologists and engineers with expertise in robotics, mechanics, aerodynamics, electronics, etc. In this project a co-creation based collaboration is established with all stakeholders involved, integrating technical and biological aspects.
Every year the police are confronted with an ever increasing number of complex cases involving missing persons. About 100 people are reported missing every year in the Netherlands, of which, an unknown number become victims of crime, and presumed buried in clandestine graves. Similarly, according to NWVA, several dead animals are also often buried illegally in clandestine graves in farm lands, which may result in the spread of diseases that have significant consequences to other animals and humans in general. Forensic investigators from both the national police (NP) and NWVA are often confronted with a dilemma: speed versus carefulness and precision. However, the current forensic investigation process of identifying and localizing clandestine graves are often labor intensive, time consuming and employ classical techniques, such as walking sticks and dogs (Police), which are not effective. Therefore, there is an urgent request from the forensic investigators to develop a new method to detect and localize clandestine graves quickly, efficiently and effectively. In this project, together with practitioners, knowledge institutes, SMEs and Field labs, practical research will be carried out to devise a new forensic investigation process to identify clandestine graves using an autonomous Crime Scene Investigative (CSI) drone. The new work process will exploit the newly adopted EU-wide drone regulation that relaxes a number of previously imposed flight restrictions. Moreover, it will effectively optimize the available drone and perception technologies in order to achieve the desired functionality, performance and operational safety in detecting/localizing clandestine graves autonomously. The proposed method will be demonstrated and validated in practical operational environments. This project will also make a demonstrable contribution to the renewal of higher professional education. The police and NVWA will be equipped with operating procedures, legislative knowledge, skills and technological expertise needed to effectively and efficiently performed their forensic investigations.
Despite the vast potential drone technologies have, their integration to our society has been slow due to restricting regulations. Recently, a new EU-wide drone regulation has been published. This regulation is intended to harmonize the non-uniform national regulations across EU. It also relaxes the existing restrictions and allows previously prohibited operations that have significant socio-economic and technological impacts, such as autonomous BVLOS flights even over populated areas. However, there are challenges with regard to specifics and accessibilities of the required technological & procedural prerequisite this regulation entails. There is, therefore, a demand from SMEs for practical knowledge on technological and procedural aspects of a safe, robust and BVLOS operable security drone with short and long-term autonomy that fully complies to the new drone regulation. The required drone technologies include robust obstacle avoidance, intelligence failsafe for robust, reliable and safe autonomous flights with long-term autonomy capabilities. The operational procedures include SORA, pre/in/post-flight analysis and ROC/LUC permissions. In this project, these two aspects will be addressed in an integral manner. The consortium recognizes that developing such advanced security drone in two years is ambitious. Yet, they firmly believe that it is realizable due to the complementary expertise of the consortium and their commitment for the success of the project. With this project, the knowledge institutes will enrich their practical knowledge in the area of autonomous and BVLOS capable drones, operational procedures, risk analysis and mitigations. The partner companies will be equipped with the necessary technologies, operation permission and knowledge on optimal operation procedures to be at the forefront and benefit from the exploding market opportunities when the new regulation is fully implemented in July 2022. Moreover, this project will also make a demonstrable contribution to the renewal of higher professional education.
