Search Results (88)

(1) Background: This challenge is exacerbated by the aging of the rural population, leading to a scarcity of available manpower. To address this issue, the automation and mechanization of outdoor vegetable cultivation are imperative. Therefore, developing an automated cultivation platform that reduces labor requirements and improves yield by efficiently performing all the cultivation activities related to field vegetables, particularly onions and garlic, is essential. In this study, we propose methods to identify onion and garlic plants with the best growth status and accurately predict their live bulb weight by regularly photographing their growth status using a multispectral camera mounted on a drone. (2) Methods: This study was conducted in four stages. First, two pilot blocks with a total of 16 experimental units, four horizontals, and four verticals were installed for both onions and garlic. Overall, a total of 32 experimental units were prepared for both onion and garlic. Second, multispectral image data were collected using a multispectral camera repeating a total of seven times for each area in 32 experimental units prepared for both onions and garlic. Simultaneously, growth data and live bulb weight at the corresponding points were recorded manually. Third, correlation analysis was conducted to determine the relationship between various vegetation indexes extracted from multispectral images and the manually measured growth data and live bulb weights. Fourth, based on the vegetation indexes extracted from multispectral images and previously collected growth data, a method to predict the live bulb weight of onions and garlic in real time during the cultivation period, using functional regression models and machine learning methods, was examined. (3) Results: The experimental results revealed that the Functional Concurrence Regression (FCR) model exhibited the most robust prediction performance both when using growth factors and when using vegetation indexes. Following closely, with a slight distinction, Gaussian Process Functional Data Analysis (GPFDA), Random Forest Regression (RFR), and AdaBoost demonstrated the next-best predictive power. However, a Support Vector Machine (SVM) and Deep Neural Network (DNN) displayed comparatively poorer predictive power. Notably, when employing growth factors as explanatory variables, all prediction models exhibited a slightly improved performance compared to that when using vegetation indexes. (4) Discussion: This study explores predicting onion and garlic bulb weights in real-time using multispectral imaging and machine learning, filling a gap in research where previous studies primarily focused on utilizing artificial intelligence and machine learning for productivity enhancement, disease management, and crop monitoring. (5) Conclusions: In this study, we developed an automated method to predict the growth trajectory of onion and garlic bulb weights throughout the growing season by utilizing multispectral images, growth factors, and live bulb weight data, revealing that the FCR model demonstrated the most robust predictive performance among six artificial intelligence models tested. Full article

With the increasing demand for electricity, the power grid is undergoing significant advancements. Insulators, which serve as protective devices for transmission lines in outdoor high-altitude power systems, are widely employed. However, the detection of defects in insulators captured under challenging conditions, such as rain, snow, fog, sunlight, and fast-moving drones during long-distance photography, remains a major challenge. To address this issue and improve the accuracy of defect detection, this paper presents a novel approach: the Multi-Scale Insulator Defect Detection Approach using Detection Transformer (DETR). In this study, we propose a multi-scale backbone network that effectively captures the features of small objects, enhancing the detection performance. Additionally, we introduce a self-attention upsampling (SAU) module to replace the conventional attention module, enhancing contextual information extraction and facilitating the detection of small objects. Furthermore, we introduce the insulator defect (IDIoU) loss, which mitigates the instability in the matching process caused by small defects. Extensive experiments were conducted on an insulator defect dataset to evaluate the performance of our proposed method. The results demonstrate that our approach achieves outstanding performance, particularly in detecting small defects. Compared to existing methods, our approach exhibits a remarkable 7.47% increase in the average precision, emphasizing its efficacy in insulator defect detection. The proposed method not only enhances the accuracy of defect detection, which is crucial for maintaining the reliability and safety of power transmission systems but also has broader implications for the maintenance and inspection of high-voltage power infrastructure. Full article

Urban green spaces (UGSs) play a significant role in promoting public health by facilitating outdoor activities, but issues of spatial and socioeconomic inequality within UGSs have drawn increasing attention. However, current methods for assessing UGS inequality still face challenges such as data acquisition difficulties and low identification accuracy. Taking Harbin as a case study, this research employs various advanced technologies, including Python data scraping, drone imagery collection, and Amap API, to gather a diverse range of data on UGSs, including photos, high-resolution images, and AOI boundaries. Firstly, elements related to physical activity within UGSs are integrated into a supply adjustment index (SAI), based on which UGSs are classified into three categories. Then, a supply–demand improved two-step floating catchment area (SD2SFCA) method is employed to more accurately measure the accessibility of these three types of UGSs. Finally, using multiple linear regression analysis and Mann–Whitney U tests, socioeconomic inequalities in UGS accessibility are explored. The results indicate that (1) significant differentiation exists in the types of UGS services available in various urban areas, with a severe lack of small-scale, low-supply UGSs; (2) accessibility of all types of UGSs is significantly positively associated with housing prices, with higher-priced areas demonstrating notably higher accessibility compared to lower-priced ones; (3) children may be at a disadvantage in accessing UGSs with medium-supply levels. Future planning efforts need to enhance attention to vulnerable groups. This study underscores the importance of considering different types of UGSs in inequality assessments and proposes a method that could serve as a valuable tool for accurately assessing UGS inequality. Full article

In this study, we developed and explored a methodical image augmentation technique for swimmer localisation in northern German outdoor lake environments. When it comes to enhancing swimmer safety, a main issue we have to deal with is the lack of real-world training data of such outdoor environments. Natural lighting changes, dynamic water textures, and barely visible swimming persons are key issues to address. We account for these difficulties by adopting an effective background removal technique with available training data. This allows us to edit swimmers into natural environment backgrounds for use in subsequent image augmentation. We created 17 training datasets with real images, synthetic images, and a mixture of both to investigate different aspects and characteristics of the proposed approach. The datasets were used to train YOLO architectures for possible future applications in real-time detection. The trained frameworks were then tested and evaluated on outdoor environment imagery acquired using a safety drone to investigate and confirm their usefulness for outdoor swimmer localisation. Full article

UAV communications have seen a rapid rise in the last few years. The drone class of UAV has particularly become more widespread around the world, and illicit behavior using drones has become a problem. Therefore, localization, tracking, and even taking control of drones have also gained interest. Knowing the frequency of a target signal, its position can be determined (as the angle of arrival with respect to a fixed receiver point) using radio frequency-based localization techniques. One such technique is represented by the subspace-based algorithms that offer highly accurate results. This paper presents the implementation of the MUSIC algorithm on an SDR-based system using a uniform circular antenna array and its experimental evaluation in relevant outdoor environments for drone localization. The results show the capability of the system to indicate the AoA of the target signal. The results are compared with the actual direction computed from the log files of the drone application and validated with a professional direction-finding solution (i.e., Narda SignalShark equipped with the automatic direction-finding antenna). Full article

Air pollution is caused by the presence of polluting elements. Ozone (O₃), carbon monoxide (CO), carbon dioxide (CO₂), nitrogen dioxide (NO₂), sulfur dioxide (SO₂), and particulate matter (PM) are the most controlled gasses because they can be released into the atmosphere naturally or as a result of human activity, which affects air quality and causes disease and premature death in exposed people. Depending on the substance being measured, ambient air monitors have different types of air quality sensors. In recent years, there has been a growing interest in designing drones as mobile sensors for monitoring air pollution. Therefore, the objective of this paper is to provide a comprehensive patent review to gain insight into the proprietary technologies currently used in drones used to monitor outdoor air pollution. Patent searches were conducted using three different patent search engines: Google Patents, WIPO’s Patentscope, and the United States Patent and Trademark Office (USPTO). The analysis of each patent consists of extracting data that supply information regarding the type of drone, sensor, or equipment for measuring PM, the lack or presence of a cyclone separator, and the ability to process the turbulence generated by the drone’s propellers. A total of 1473 patent documents were retrieved using the search engine. However, only 13 met the inclusion criteria, including patent documents reporting drone designs for outdoor air pollution monitoring. Therefore, was found that most patents fall under class G01N (measurement; testing) according to the International Patents Classification, where the most common sensors and devices are infrared or visible light cameras, cleaning devices, and GPS tracking devices. The most common tasks performed by drones are air pollution monitoring, assessment, and control. These categories cover different aspects of the air pollution management cycle and are essential to effectively address this environmental problem. Full article

A technology to search for victims in disaster areas by localizing human-related sound sources, such as voices and emergency whistles, using a drone-embedded microphone array was researched. One of the challenges is the development of sound source localization methods. Such a sound-based search method requires a high resolution, a high tolerance for quickly changing dynamic ego-noise, a large search range, high real-time performance, and high versatility. In this paper, we propose a novel sound source localization method based on multiple signal classification for victim search using a drone-embedded microphone array to satisfy these requirements. In the proposed method, the ego-noise and target sound components are extracted using the histogram information of the three-dimensional spatial spectrum (azimuth, elevation, and frequency) at the current time, and they are separated using continuity. The direction of arrival of the target sound is estimated from the separated target sound component. Since this method is processed with only simple calculations and does not use previous information, all requirements can be satisfied simultaneously. Evaluation experiments using recorded sound in a real outdoor environment show that the localization performance of the proposed method was higher than that of the existing and previously proposed methods, indicating the usefulness of the proposed method. Full article

Conservation efforts in cliff habitats pose unique challenges due to their inaccessibility, limiting the study and protection of rare endemic species. This project introduces a novel approach utilizing aerial manipulation through a suspended manipulator attached with a cable under a drone to address these challenges. Unlike existing solutions, the Mamba provides a horizontal reach up to 8 m to approach cliffs while keeping the drone at a safe distance. The system includes a model-based control system relying solely on an inertial measurement unit (IMU), reducing sensor requirements and computing power to minimize overall system mass. This article presents novel contributions such as a double pendulum dynamic modeling approach and the development and evaluation of a precise control system for sampling operations. Indoor and outdoor tests demonstrate the effectiveness of the suspended aerial manipulator in real-world environments allowing the collection of 55 samples from 28 different species. This research signifies a significant step toward enhancing the efficiency and safety of conservation efforts in challenging cliff habitats. Full article

Kelp, often referred to as a “sea vegetable”, holds substantial economic significance. Currently, the drying process for kelp in China primarily relies on outdoor sun-drying methods. Detecting kelp in the field presents challenges arising from issues such as overlapping and obstruction. To address these challenges, this study introduces a lightweight model, K-YOLOv5, specifically designed for the precise detection of sun-dried kelp. YOLOv5-n serves as the base model, with several enhancements implemented in this study: the addition of a detection head incorporating an upsampling layer and a convolution module to improve the recognition of small objects; the integration of an enhanced I-CBAM attention mechanism, focusing on key features to enhance the detection accuracy; the replacement of the CBS module in the neck network with GSConv to reduce the computational burden and accelerate the inference speed; and the optimization of the IoU algorithm to improve the identification of overlapping kelp. Utilizing drone-captured images of sun-dried kelp, a dataset comprising 2190 images is curated. Validation on this self-constructed dataset indicates that the improved K-YOLOv5 model significantly enhances the detection accuracy, achieving 88% precision and 78.4% recall. These values represent 6.8% and 8.6% improvements over the original model, respectively, meeting the requirements for the real-time recognition of sun-dried kelp. Full article

Wind turbine blade maintenance is expensive, dangerous, time-consuming, and prone to misdiagnosis. A potential solution to aid preventative maintenance is using deep learning and drones for inspection and early fault detection. In this research, five base deep learning architectures are investigated for anomaly detection on wind turbine blades, including Xception, Resnet-50, AlexNet, and VGG-19, along with a custom convolutional neural network. For further analysis, transfer learning approaches were also proposed and developed, utilizing these architectures as the feature extraction layers. In order to investigate model performance, a new dataset containing 6000 RGB images was created, making use of indoor and outdoor images of a small wind turbine with healthy and damaged blades. Each model was tuned using different layers, image augmentations, and hyperparameter tuning to achieve optimal performance. The results showed that the proposed Transfer Xception outperformed other architectures by attaining 99.92% accuracy on the test data of this dataset. Furthermore, the performance of the investigated models was compared on a dataset containing faulty and healthy images of large-scale wind turbine blades. In this case, our results indicated that the best-performing model was also the proposed Transfer Xception, which achieved 100% accuracy on the test data. These accuracies show promising results in the adoption of machine learning for wind turbine blade fault identification. Full article

In this paper, we propose a method for estimating the classes and directions of static audio objects using stereo microphones in a drone environment. Drones are being increasingly used across various fields, with the integration of sensors such as cameras and microphones, broadening their scope of application. Therefore, we suggest a method that attaches stereo microphones to drones for the detection and direction estimation of specific emergency monitoring. Specifically, the proposed neural network is configured to estimate fixed-size audio predictions and employs bipartite matching loss for comparison with actual audio objects. To train the proposed network structure, we built an audio dataset related to speech and drones in an outdoor environment. The proposed technique for identifying and localizing sound events, based on the bipartite matching loss we proposed, works better than those of the other teams in our group. Full article

This paper introduces a position controller for drone transmission line inspection (TLI) utilizing the integral sliding mode control (SMC) method. The controller, leveraging GNSS and visual deviation data, exhibits high accuracy and robust anti-interference capabilities. A deviation correction strategy is proposed to capture high-voltage transmission line information more robustly and accurately. Lateral position deviation is calculated using microwave radar data, attitude angle data, and deviation pixels derived from transmission line recognition via MobileNetV3. This approach enables accurate and stable tracking of transmission lines in diverse and complex environments. The proposed inspection scheme is validated in settings with 10-kilovolt and 110-kilovolt transmission lines using a drone with a diagonal wheelbase of 0.275 m. The experimental process is available in the YouTube link provided. The validation results affirm the effectiveness and feasibility of the proposed scheme. Notably, the absence of a high-precision positioning system in the validation platform highlights the scheme’s versatility, indicating applicability to various outdoor visual-based tracking scenarios using drones. Full article

This paper presents a system applied to unmanned aerial vehicles based on Robot Operating Systems (ROSs). The study addresses the challenges of efficient object detection and real-time target tracking for unmanned aerial vehicles. The system utilizes a pruned YOLOv4 architecture for fast object detection and the SiamMask model for continuous target tracking. A Proportional Integral Derivative (PID) module adjusts the flight attitude, enabling stable target tracking automatically in indoor and outdoor environments. The contributions of this work include exploring the feasibility of pruning existing models systematically to construct a real-time detection and tracking system for drone control with very limited computational resources. Experiments validate the system’s feasibility, demonstrating efficient object detection, accurate target tracking, and effective attitude control. This ROS-based system contributes to advancing UAV technology in real-world environments. Full article

Motivated by feedback from firefighters in Normandy, this work aims to provide a simple technique for a set of identical drones to collectively describe an arbitrary planar virtual shape in a 3D space in a decentralized manner. The original problem involved surrounding a toxic cloud to monitor its composition and short-term evolution. In the present work, the pattern is described using Fourier descriptors, a convenient mathematical formulation for that purpose. Starting from a reference point, which can be the center of a fire, Fourier descriptors allow for more precise description of a shape as the number of harmonics increases. This pattern needs to be evenly occupied by the fleet of drones under consideration. To optimize the overall view, the drones must be evenly distributed angularly along the shape. The proposed method enables virtual planar shape description, decentralized bearing angle assignment, drone movement from takeoff positions to locations along the shape, and collision avoidance. Furthermore, the method allows for the number of drones to change during the mission. The method has been tested both in simulation, through emulation, and in outdoor experiments with real drones. The obtained results demonstrate that the method is applicable in real-world contexts. Full article

Old residential communities are integral parts of urban areas, with their environmental quality affecting residents’ well-being. Spontaneous informal spaces (SIS) often emerge within these communities. These are predominantly crafted by the elderly using discarded materials and negatively impact the environmental quality of communities. Understanding SIS emergence patterns is vital for enhancing the environmental quality of old communities; however, methodologies fall short in terms of the quantification of these emergence patterns. This study introduces a groundbreaking approach, merging drone oblique photography technology with space syntax theory, to thoroughly analyze SIS types, functions, and determinants in five Tianjin communities. Utilizing drones and the Depthmap space syntax tool, we captured SIS characteristics and constructed topological models of residences and traffic patterns. We further explored the intrinsic relationships between architectural layout, road traffic, and SIS characteristics via clustering algorithms and multivariate correlation analysis. Our results reveal that architectural layout and road traffic play decisive roles in shaping SIS. Highly accessible regions predominantly feature social-type SIS, while secluded or less trafficked zones lean towards private-type SIS. Highlighting the elderly’s essential needs for greenery, interaction, and basic amenities, our findings offer valuable insights into the revitalization of outdoor spaces in aging communities, into the fostering of urban sustainability and into the nurturing of a balanced relationship between humans and their surroundings. Full article