Next-generation wireless cellular networks are morphing into a massive Internet of Things (IoT) environment that integrates a heterogeneous mix of wireless-enabled devices such as unmanned aerial vehicles (UAVs) and connected vehicles. This unprecedented transformation will not only drive an exponential growth in wireless traffic, but it will also lead to the emergence of new wireless service applications that substantially differ from conventional multimedia services. To realize the fifth generation (5G) mobile networks vision, a new wireless radio technology paradigm shift is required in order to meet the quality of service requirements of these new emerging use cases. In this respect, one of the major components of 5G is self-organized networks. In essence, future cellular networks will have to rely on an autonomous and self-organized behavior in order to manage the large scale of wireless-enabled devices. Such an autonomous capability can be realized by integrating fundamental notions of artificial intelligence (AI) across various network devices. In this regard, the main objective of this thesis is to propose novel self-organizing and AI-inspired algorithms for optimizing the available radio resources in next-generation wireless cellular networks. First, heterogeneous networks that encompass licensed and unlicensed spectrum are studied. In this context, a deep reinforcement learning (RL) framework based on long short-term memory cells is introduced. The proposed scheme aims at proactively allocating the licensed assisted access LTE (LTE-LAA) radio resources over the unlicensed spectrum while ensuring an efficient coexistence with WiFi. The proposed deep learning algorithm is shown to reach a mixed-strategy Nash equilibrium, when it converges. Simulation results using real data traces show that the proposed scheme can yield up to 28% and 11% gains over a conventional reactive approach and a proportional fair coexistence mechanism, respectively. In terms of priority fairness, results show that an efficient utilization of the unlicensed spectrum is guaranteed when both technologies, LTE-LAA and WiFi, are given equal weighted priorities for transmission on the unlicensed spectrum. Furthermore, an optimization formulation for LTE-LAA holistic traffic balancing across the licensed and the unlicensed bands is proposed. A closed form solution for the aforementioned optimization problem is derived. An attractive aspect of the derived solution is that it can be applied online by each LTE-LAA small base station (SBS), adapting its transmission behavior in each of the bands, and without explicit communication with WiFi nodes. Simulation results show that the proposed traffic balancing scheme provides a better tradeoff between maximizing the total network throughput and achieving fairness among all network ows compared to alternative approaches from the literature. Second, UAV-enabled wireless networks are investigated. In particular, the problems of interference management for cellular-connected UAVs and the use of UAVs for providing backhaul connectivity to SBSs are studied. Speci cally, a deep RL framework based on echo state network cells is proposed for optimizing the trajectories of multiple cellular-connected UAVs while minimizing the interference level caused on the ground network. The proposed algorithm is shown to reach a subgame perfect Nash equilibrium upon convergence. Moreover, an upper and lower bound for the altitude of the UAVs is derived thus reducing the computational complexity of the proposed algorithm. Simulation results show that the proposed path planning scheme allows each UAV to achieve a tradeoff between minimizing energy efficiency, wireless latency, and the interference level caused on the ground network along its path. Moreover, in the context of UAV-enabled wireless networks, a UAV-based on-demand aerial backhaul network is proposed. For this framework, a network formation algorithm, which is guaranteed to reach a pairwise stable network upon convergence, is presented. Simulation results show that the proposed scheme achieves substantial performance gains in terms of both rate and delay reaching, respectively, up to 3.8 and 4-fold increase compared to the formation of direct communication links with the gateway node. Overall, the results of the different proposed schemes show that these schemes yield significant improvements in the total network performance as compared to current existing literature. In essence, the proposed algorithms can also provide self-organizing solutions for several resource management problems in the context of new emerging use cases in 5G networks, such as connected autonomous vehicles and virtual reality headsets.

Aerial photography obtained by UAVs (Unmanned Aerial Vehicles) is an emerging market for civil applications. Small UAVs are believed to close gaps in niche markets, such as acquiring airborne image data for remote sensing purposes. Small UAVs will be able to fly at low altitudes, in dangerous environments and over long periods of time. However, the small lightweight constructions of these UAVs lead to new problems, such as higher agility leading to more susceptibility to turbulence and limitations in space and payload for sensor systems. This research investigates the use of low-cost fisheye lenses to overcome such problems which theoretically makes the airborne imaging less sensitive to turbulence. The fisheye lens has the benet of a large observation area (large field of view) and doesn't add additional weight to the aircraft, like traditional mechanical stabilizing systems. This research presents the implementation of a fisheye lens for aerial photography and mapping purposes, including theoretical background of fisheye lenses. Based on the unique feature of the distortion being a function of the viewing angle, methods used to derive the fisheye lens distortion are presented. The lens distortion is used to rectify the fisheye images before these images can be used in aerial photography. A detailed investigation into the inner orientation of the camera and inertial sensor is given, as well as the registration of airborne collected images. It was found that the attitude estimation is critical towards accurate mapping using low quality sensors. A loosely coupled EKF filter applied to the GPS and inertial sensor data estimated the attitude to an accuracy of 3-5° (1-sigma) using low-cost sensors typically found in small UAVs. However, the use of image stitching techniques may improve the outcome. On the other hand, lens distortion caused by the fisheye lens can be addressed by rectification techniques and removed to a sub-pixel level. Results of the process present image sequences gathered from a piloted aircraft demonstrating the achieved performance and potential applications towards UAVs. Further, an unforeseen issue with a vibrating part in the lens lead to the need for vibration compensation. The vibration could be estimated to ±1 pixel in 75% of the cases by applying an extended Hough transform to the fisheye images.

Operation of Unmanned Air Vehicles (UAVs) has increased significantly over the past few years. However, routine operation in non-segregated airspace remains a challenge, primarily due to nature of the environment and restrictions and challenges that accompany this. Currently, tight human control is envisaged as a means to achieve the oft quoted requirements of transparency , equivalence and safety. However, the problems of high cost of human operation, potential communication losses and operator remoteness remain as obstacles. One means of overcoming these obstacles is to devolve authority, from the ground controller to an on-board system able to understand its situation and make appropriate decisions when authorised. Such an on-board system is known as an Autonomous System. The nature of the autonomous system, how it should be designed, when and how authority should be transferred and in what context can they be allowed to control the vehicle are the general motivation for this study. To do this, the system must overcome the negative aspects of differentiators that exist between UASs and manned aircraft and introduce methods to achieve required increases in the levels of versatility, cost, safety and performance. The general thesis of this work is that the role and responsibility of an airborne autonomous system are sufficiently different from those of other conventionally controlled manned and unmanned systems to require a different architectural approach. Such a different architecture will also have additional requirements placed upon it in order to demonstrate acceptable levels of Transparency, Equivalence and Safety. The architecture for the system is developed from an analysis of the basic requirements and adapted from a consideration of other, suitable candidates for effective control of the vehicle under devolved authority. The best practices for airborne systems in general are identified and amalgamated with established principles and approaches of robotics and intelligent agents. From this, a decision architecture, capable of interacting with external human agencies such as the UAS Commander and Air Traffic Controllers, is proposed in detail. This architecture has been implemented and a number of further lessons can be drawn from this. In order to understand in detail the system safety requirements, an analysis of manned and unmanned aircraft accidents is made. Particular interest is given to the type of control moding of current unmanned aircraft in order to make a comparison, and prediction, with accidents likely to be caused by autonomously controlled vehicles. The effect of pilot remoteness on the accident rate is studied and a new classification of this remoteness is identified as a major contributor to accidents A preliminary Bayesian model for unmanned aircraft accidents is developed and results and predictions are made as an output of this model. From the accident analysis and modelling, strategies to improve UAS safety are identified. Detailed implementations within these strategies are analysed and a proposal for more advanced Human-Machine Interaction made. In particular, detailed analysis is given on exemplar scenarios that a UAS may encounter. These are: Sense and Avoid , Mission Management Failure, Take Off/Landing, and Lost Link procedures and Communications Failure. These analyses identify the nature of autonomous, as opposed to automatic, operation and clearly show the benefits to safety of autonomous air vehicle operation, with an identifiable decision architecture, and its relationship with the human controller. From the strategies and detailed analysis of the exemplar scenarios, proposals are made for the improvement of unmanned vehicle safety The incorporation of these proposals into the suggested decision architecture are accompanied by analysis of the levels of benefit that may be expected. These suggest that a level approaching that of conventional manned aircraft is achievable using currently available technologies but with substantial architectural design methodologies than currently fielded. / ©Cranfield University © BAE Systems

Electric powered Unmanned Aerial Vehicles (UAVs) have emerged as a promi- nent aviation concept due to the advantageous such as stealth operation and zero emission. In addition, fuel cell powered electric UAVs are more attrac- tive as a result of the long endurance capability of the propulsion system. This dissertation investigates novel power management architecture for fuel cell and battery powered unmanned aerial vehicle propulsion application. The research work focused on the development of a power management system to control the hybrid electric propulsion system whilst optimizing the fuel cell air supplying system performances. The multiple power sources hybridization is a control challenge associated with the power management decisions and their implementation in the power electronic interface. In most applications, the propulsion power distribu- tion is controlled by using the regulated power converting devices such as unidirectional and bidirectional converters. The amount of power shared with the each power source is depended on the power and energy capacities of the device. In this research, a power management system is developed for polymer exchange membrane fuel cell and Lithium-Ion battery based hybrid electric propulsion system for an UAV propulsion application. Ini- tially, the UAV propulsion power requirements during the take-off, climb, endurance, cruising and maximum velocity are determined. A power man- agement algorithm is developed based on the UAV propulsion power re- quirement and the battery power capacity. Three power states are intro- duced in the power management system called Start-up power state, High power state and Charging power state. The each power state consists of the power management sequences to distribute the load power between the battery and the fuel cell system. A power electronic interface is developed Electric powered Unmanned Aerial Vehicles (UAVs) have emerged as a promi- nent aviation concept due to the advantageous such as stealth operation and zero emission. In addition, fuel cell powered electric UAVs are more attrac- tive as a result of the long endurance capability of the propulsion system. This dissertation investigates novel power management architecture for fuel cell and battery powered unmanned aerial vehicle propulsion application. The research work focused on the development of a power management system to control the hybrid electric propulsion system whilst optimizing the fuel cell air supplying system performances. The multiple power sources hybridization is a control challenge associated with the power management decisions and their implementation in the power electronic interface. In most applications, the propulsion power distribu- tion is controlled by using the regulated power converting devices such as unidirectional and bidirectional converters. The amount of power shared with the each power source is depended on the power and energy capacities of the device. In this research, a power management system is developed for polymer exchange membrane fuel cell and Lithium-Ion battery based hybrid electric propulsion system for an UAV propulsion application. Ini- tially, the UAV propulsion power requirements during the take-off, climb, endurance, cruising and maximum velocity are determined. A power man- agement algorithm is developed based on the UAV propulsion power re- quirement and the battery power capacity. Three power states are intro- duced in the power management system called Start-up power state, High power state and Charging power state. The each power state consists of the power management sequences to distribute the load power between the battery and the fuel cell system. A power electronic interface is developed with a unidirectional converter and a bidirectional converter to integrate the fuel cell system and the battery into the propulsion motor drive. The main objective of the power management system is to obtain the controlled fuel cell current profile as a performance variable. The relationship between the fuel cell current and the fuel cell air supplying system compressor power is investigated and a referenced model is developed to obtain the optimum compressor power as a function of the fuel cell current. An adaptive controller is introduced to optimize the fuel cell air supplying system performances based on the referenced model. The adaptive neuro-fuzzy inference system based controller dynamically adapts the actual compressor operating power into the optimum value defined in the reference model. The online learning and training capabilities of the adaptive controller identify the nonlinear variations of the fuel cell current and generate a control signal for the compressor motor voltage to optimize the fuel cell air supplying system performances. The hybrid electric power system and the power management system were developed in real time environment and practical tests were conducted to validate the simulation results.

This thesis focuses on the theory and implementation of visual navigation techniques for Autonomous Air Vehicles in outdoor environments. The target of this study is to fuse and cooperatively develop an incremental map for multiple air vehicles under the application of Simultaneous Location and Mapping (SLAM). Without loss of generality, two unmanned air vehicles (UAVs) are investigated for the generation of ground maps from current and a priori data. Each individual UAV is equipped with inertial navigation systems and external sensitive elements which can provide the possible mixture of visible, thermal infrared (IR) image sensors, with a special emphasis on the stereo digital cameras. The corresponding stereopsis is able to provide the crucial three-dimensional (3-D) measurements. Therefore, the visual aerial navigation problems tacked here are interpreted as stereo vision based SLAM (vSLAM) for both single and multiple UAVs applications. To begin with, the investigation is devoted to the methodologies of feature extraction. Potential landmarks are selected from airborne camera images as distinctive points identified in the images are the prerequisite for the rest. Feasible feature extraction algorithms have large influence over feature matching/association in 3-D mapping. To this end, effective variants of scale-invariant feature transform (SIFT) algorithms are employed to conduct comprehensive experiments on feature extraction for both visible and infrared aerial images. As the UAV is quite often in an uncertain location within complex and cluttered environments, dense and blurred images are practically inevitable. Thus, it becomes a challenge to find feature correspondences, which involves feature matching between 1st and 2nd image in the same frame, and data association of mapped landmarks and camera measurements. A number of tests with different techniques are conducted by incorporating the idea of graph theory and graph matching. The novel approaches, which could be tagged as classification and hypergraph transformation (HGTM) based respectively, have been proposed to solve the data association in stereo vision based navigation. These strategies are then utilised and investigated for UAV application within SLAM so as to achieve robust matching/association in highly cluttered environments. The unknown nonlinearities in the system model, including noise would introduce undesirable INS drift and errors. Therefore, appropriate appraisals on the pros and cons of various potential data filtering algorithms to resolve this issue are undertaken in order to meet the specific requirements of the applications. These filters within visual SLAM were put under investigation for data filtering and fusion of both single and cooperative navigation. Hence updated information required for construction and maintenance of a globally consistent map can be provided by using a suitable algorithm with the compromise between computational accuracy and intensity imposed by the increasing map size. The research provides an overview of the feasible filters, such as extended Kalman Filter, extended Information Filter, unscented Kalman Filter and unscented H Infinity Filter. As visual intuition always plays an important role for humans to recognise objects, research on 3-D mapping in textures is conducted in order to fulfil the purpose of both statistical and visual analysis for aerial navigation. Various techniques are proposed to smooth texture and minimise mosaicing errors during the reconstruction of 3-D textured maps with vSLAM for UAVs. Finally, with covariance intersection (CI) techniques adopted on multiple sensors, various cooperative and data fusion strategies are introduced for the distributed and decentralised UAVs for Cooperative vSLAM (C-vSLAM). Together with the complex structure of high nonlinear system models that reside in cooperative platforms, the robustness and accuracy of the estimations in collaborative mapping and location are achieved through HGTM association and communication strategies. Data fusion among UAVs and estimation for visual navigation via SLAM were impressively verified and validated in conditions of both simulation and real data sets. / © Cranfield University, 2013

Vegetation monitoring plays a significant role in improving the quality of life above the earth's surface. However, vegetation resources management is challenging due to climate change, global warming, and urban development. The research aims to identify and extract vegetation communities for Jupiter Inlet Lighthouse Outstanding Natural Area (JILONA) using developed Unmanned Aerial Systems (UAS) deployed with five bands of RedEdge Micasence Multispectral Sensor. UAS has a lot of potential for various applications as it provides high-resolution imagery at lower altitudes. In this study, spectral reflectance values for each vegetation species were collected using a spectroradiometer instrument. Those values were correlated with five band UAS Image values to understand the sensor's performance, also added with reflectance’s similarities and divergence for vegetation species. Pixel and Object-based classification methods were performed using 0.15 ft Multispectral Imagery to identify the vegetation classes. Supervised Machine Learning Support Vector Machine (SVM) and Random Forest (RF) algorithms with topographical information were used to produce thematic vegetation maps. The Pixel-based procedure using the SVM algorithm generated an overall accuracy and kappa coefficient of above 90 percent. Both classification approaches have provided aesthetic vegetation thematic maps. According to statistical cross-validation findings and visual interpretation of vegetation communities, the pixel classification method outperformed object-based classification. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2021. / FAU Electronic Theses and Dissertations Collection

A mathematical model of a small fixed-wing aircraft was developed through application of parameter estimation techniques to simulated flight test data. Multiple controllers were devised based on this model for path following, including a self-scheduled linear parameter-varying (LPV) controller with path curvature as a scheduling parameter. The robustness and performance of these controllers were tested in a rigorous MATLAB simulation environment that included steady winds and gusts, measurement noise, delays, and model uncertainties. The linear controllers designed within were found to be robust to the disturbances and uncertainties in the simulation environment, and had similar or better performance in comparison to a nonlinear control law operating in an inner-outer loop structure. Steps are being taken to implement the resulting controllers on the unmanned aerial vehicle (UAV) testbed in the Nonlinear Systems Laboratory at Virginia Tech. / Master of Science

Fusarium virguliforme is a soil-borne pathogen that is the causal agent of sudden death syndrome (SDS). This disease is one of the top contributors to major yield losses in soybean across the United States. Characteristic symptoms of the disease include interveinal chlorosis and/or necrosis of trifoliate leaves and defoliation. In some cases, the foliar symptoms may not be present, but yield loss still occurs. This disease is evaluated using an incidence rating, the percent of plants in the plot that are expressing symptoms, and a severity rating, using a one to nine scale based on varying levels of chlorosis, necrosis, and defoliation. Using remote sensing provides an alternate approach to identify and evaluate plant diseases. It provides a non-destructive method to assess the severity of foliar symptoms and their distribution across production fields. SDS was chosen as the disease to use for this system due to the unique disease symptomology and yield loss. In 2019 and 2020, SDS trials were established in a production field location that has a history of SDS in Valmeyer, IL. This seed treatment study had different chemicals with varying levels of efficacy against SDS. Disease ratings were collected at the first sign of symptoms, and aerial imagery was collected on the same day. There were multiple dates across both years when this data was collected. ArcGIS was used to analyze the multispectral imagery and do a plot by plot analysis for each of the plots. A regression analysis was performed to test the relationship between the foliar disease ratings and the plot data collected from the multispectral imagery. Multiple vegetation indices were tested, and the results showed that overall, in 2019, GNDVI had the strongest relationship with foliar ratings. In 2020, NDRE had the strongest overall relationship with foliar ratings. The relationship between NDVI and the ratings was the most consistent at the last rating of the season.

Unmanned Aerial Vehicles (UAVs) are increasingly becoming economical platforms for carrying a variety of sensors. Building flight plans that place sensors properly, temporally and spatially, is difficult. The goal of sensor-driven planning is to automatically generate flight plans based on desired sensor placement and temporal constraints. We propose a simple taxonomy of UAV-enabled sensors, identify a set of generic sensor tasks, and argue that many real-world tasks can be represented by the taxonomy. We present a hierarchical sensor-driven flight planning system capable of generating 2D flights that satisfy desired sensor placement and complex timing and dependency constraints. The system makes use of several well-known planning algorithms and includes a user interface. We conducted a user study to show that sensor-driven planning can be used by non-experts, that it is easier for non-experts than traditional waypoint-based planning, and that it produces better flights than waypoint-based planning. The results of our user study experiment support the claims that sensor-driven planning is usable and that it produces better flights.

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