3D Object following based on visual information for Unmanned Aerial Vehicles

This article presents a novel system and a control strategy for visual following of a 3D moving object by an Unmanned Aerial Vehicle UAV. The presented strategy is based only on the visual information given by an adaptive tracking method based on the color information, which jointly with the dynamics of a camera fixed to a rotary wind UAV are used to develop an Image-based visual servoing IBVS system. This system is focused on continuously following a 3D moving target object, maintaining it with a fixed distance and centered on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation

Aerial Object Following Using Visual Fuzzy Servoing

This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the colour information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centred on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation

Análisis de la influencia de los factores externos, uso de neopreno y condiciones de calor, en el rendimiento del triatlón olímpico femenino

El triatlón es un deporte combinado en el que sin solución de continuidad se hace un tramo de nado, en aguas abiertas, seguido por uno de ciclismo, para terminar en carrera a pie. Las distancias son muy variadas, aunque la que nos importa en esta tesis es la de-nominada olímpica: 1.500 metros nadando, 40 km en bicicleta y 10 km en carrera a pie. Es un deporte joven, nació a finales de los 80 y es olímpico solo desde los JJ. OO. de Sídney 2000. Sin embargo, esta juventud le ha hecho crecer con fuerza y con muchas ganas de conocerse por dentro a sí mismo. La elección de este deporte se debe, entre otros factores, a la afinidad personal como entrenador del equipo nacional en dos JJ. OO. Por otro lado, al ser un deporte que se desarrolla al aire libre hace que sus par-ticipantes estén expuestos a los cambios climáticos, por lo que la adaptación a los mismos es un factor que juega a favor de la mejora del rendimiento. Cuando la temperatura del agua donde se nada es baja se permite la utilización de un traje especial de neopreno que aísla de dicha temperatura. Ambos elementos, neopreno y clima, están directamente relacionados con el resultado final de la prueba. El objetivo de la presente investigación es demostrar cómo la utilización del neo-preno influye en el resultado final de la misma y cómo las condiciones de calor también tienen una clara influencia en el resultado de la competición de élite femenino en triatlón olímpico de élite internacional. Realizado el análisis de los resultados de la competición de máximo nivel internacional entre 2005 y 2014 (382) participantes y 2.500 participaciones, claramente, los resultados obtenidos determinan que el uso del neopreno hace que la natación sea más rápida y que el calor influye negativamente en el ritmo de carrera a pie. ABSTRACT Triathlon is a combined sport consisting on open water swimming, cycling and running, one after the other with no stops. Distance of the segments can vary, however this thesis will be focus in the called olympic distance: 1.500 meters swimming, 40 km cycling and 10 km running. It´s a relatively new sport, born in the final 80´s, and olympic since Sydney Olympic Games in 2000. Nevertheless, it´s growing fast and there´s a high inte¬rest in knowing all the aspects of it. The choice of triathlon is due, between other reasons, to the special personal affi¬nity with the sport, coming from being the principal trainer of the Spanish Na¬tional Team in two different Olympic Games (Sydney 2000 and Athens 2004). As an outdoor sport, participants are exposed to weather changes and their adaptation to them plays a role in the final performance. When the water tem-perature in the swimming section is bellow certain degrees (20º C in the case of the olympic distance), a special isolation wetsuit is allowed for swimming. Both elements, weather and wetsuit, are related with the final results. Main goal of this paper is to show the influence of the use of wetsuits in the final results, and how hot weather clearly impacts the result of the female elite races in olympic triathlon. Results from highest performance competitions between 2005 and 2014 has been analysed. 382 participants and 2.500 participations. Results show clearly that the use of a wetsuit makes swimming faster and high temperature makes running slower.

Examining wheat yield sensitivity to temperature and precipitation changes for a large ensemble of crop models using impact response surfaces

Impact response surfaces (IRSs) depict the response of an impact variable to changes in two explanatory variables as a plotted surface. Here, IRSs of spring and winter wheat yields were constructed from a 25-member ensemble of process-based crop simulation models. Twenty-one models were calibrated by different groups using a common set of calibration data, with calibrations applied independently to the same models in three cases. The sensitivity of modelled yield to changes in temperature and precipitation was tested by systematically modifying values of 1981-2010 baseline weather data to span the range of 19 changes projected for the late 21st century at three locations in Europe.