Improving MTM-UAS to predetermine automotive maintenance times

The preventive knowledge of serviceability times is a critical factor for the quantification of after-sales services costs of a vehicle. Predetermined motion time system are frequently used to set labor rates in industry by quantifying the amount of time required to perform specific tasks. The first such system is known as Methods-time measurement (MTM). Several variants of MTM have been developed differing from each other on their level of focus. Among them MTM-UAS is suitable for processes that average around 1-3 min. However experimental tests carried out by the authors in Elasis (Research Center of FIAT Group) demonstrate that MTM-UAS is not the optimal approach to measure serviceability times. The reason is that it doesn't take into account ergonomic factors. In the present paper the authors propose to correct the MTM-UAS method including in the task analysis the study of human postures and efforts. The proposed approach allows to estimate with an "acceptable" error the time needed to perform maintenance tasks since the first phases of product design, by working on Digital Mock-up and human models in virtual environment. As a byproduct of that analysis, it is possible to obtain a list of maintenance times in order to preventively set after-sales service costs. © 2012 Springer-Verlag.

Integrating Multiple Point Statistics with Aerial Geophysical Data to assist Groundwater Flow Models

The process of accounting for heterogeneity has made significant advances in statistical research, primarily in the framework of stochastic analysis and the development of multiple-point statistics (MPS). Among MPS techniques, the direct sampling (DS) method is tested to determine its ability to delineate heterogeneity from aerial magnetics data in a regional sandstone aquifer intruded by low-permeability volcanic dykes in Northern Ireland, UK. The use of two two-dimensional bivariate training images aids in creating spatial probability distributions of heterogeneities of hydrogeological interest, despite relatively ‘noisy’ magnetics data (i.e. including hydrogeologically irrelevant urban noise and regional geologic effects). These distributions are incorporated into a hierarchy system where previously published density function and upscaling methods are applied to derive regional distributions of equivalent hydraulic conductivity tensor K. Several K models, as determined by several stochastic realisations of MPS dyke locations, are computed within groundwater flow models and evaluated by comparing modelled heads with field observations. Results show a significant improvement in model calibration when compared to a simplistic homogeneous and isotropic aquifer model that does not account for the dyke occurrence evidenced by airborne magnetic data. The best model is obtained when normal and reverse polarity dykes are computed separately within MPS simulations and when a probability threshold of 0.7 is applied. The presented stochastic approach also provides improvement when compared to a previously published deterministic anisotropic model based on the unprocessed (i.e. noisy) airborne magnetics. This demonstrates the potential of coupling MPS to airborne geophysical data for regional groundwater modelling.

Formation stability analysis of unmanned multi-vehicles under interconnection topologies

In this paper, the overall formation stability of unmanned multi-vehicle is mathematically presented under interconnection topologies. A novel definition of formation error is first given and followed by the proposed formation stability hypothesis. Based on this hypothesis, a unique extension-decomposition-aggregation scheme is then employed to support the stability analysis for the overall multi-vehicle formation under a mesh topology. It is proved that the overall formation control system consisting of N number of nonlinear vehicles is not only asymptotically, but also exponentially stable in the sense of Lyapunov within a neighbourhood of the desired formation. This technique is shown to be applicable for a mesh topology but is equally applicable for other topologies. Simulation study of the formation manoeuvre of multiple Aerosonde UAVs, in 3D-space, is finally carried out verifying the achieved formation stability result.

Tanker Mission Implication on a Civil Aerial Refuelling Transport System’s Benefit Evaluation

As the emphasis on initiatives that can improve environmental efficiency while simultaneously maintaining economic viability has escalated in recent years, attention has turned to more radical concepts of operation. In particular, the cruiser–feeder concept has shown potential for a new generation, environmentally friendly, air-transport system to alleviate the growing pressure on the passenger air-transportation network. However, a full evaluation of realizable benefits is needed to determine how the design and operation of potential feeder-aircraft configurations impact on the feasibility of the overall concept. This paper presents an analysis of a cruiser–feeder concept, in which fuel is transferred between the feeder and the cruiser in an aerial-refueling configuration to extend range while reducing cruiser weight, compared against the effects of escalating existing technology levels while retaining the existing passenger levels. Up to 14% fuel-burn and 12% operating-cost savings can be achieved when compared to a similar technology-level aircraft concept without aerial refueling, representing up to 26% in fuel burn and 25% in total operating cost over the existing operational model at today’s standard fleet technology and performance. However, these potential savings are not uniformly distributed across the network, and the system is highly sensitive to the routes serviced, with reductions in revenue-generation potential observed across the network for aerial-refueling operations due to reductions in passenger revenue.

Improving Feasibility of Point to Point Operations Through Civil Aerial Refuelling

Re-imagining of the aerial transportation system has become increasingly important as the need for significant environmental and economic efficiency gains has become ever more prevalent. A number of studies have highlighted the benefits of the adoption of air to air refuelling within civil aviation. However, it also opens up the potential for increased flexibility in operations through smaller aircraft, shifting emphasis away from the traditional hub and spoke method of operation towards the more flexible Point to Point operations. It is proposed here that one technology can act as an enabler for the other, realising benefits that neither can realise as a standalone. The impact of an air-toair refuelling enabled point to point system is discussed, and the affect on economic and environmental cost metrics relative to traditional operations evaluated. An idealised airport configuration study shows the difference in fuel burn for point to point networks to vary from -23% to 28% from that of Hub and Spoke depending on the configuration. The sensitive natures of the concepts are further explored in a second study based on real airport configurations. The complex effect of the choice of a Point to Point or Hub and Spoke system on fuel burn, operating cost and revenue potential is highlighted. Fuel burn savings of 15% can be experienced with AAR over traditional refuelling operations, with point to point networks increasing the available seat miles (by approximately 20%) without a proportional increase in operating cost or fuel.

Autonomous COLREGs Compliant Ship Navigation, Using BridgeSimulators and an Unmanned Vessel

This paper presents an approach to COLREGs compliant ship navigation. A system architecture is proposed, which will be implemented and tested on two platforms: networked bridge simulators and at sea trials using an autonomous unmanned surface vessel. Attention is paid to collision avoidance software and its risk mitigation.

Development of an Unmanned Capsule for large-scale maritime search and rescue

This paper describes the development and testing of a robotic capsule for search and rescue operations at sea. This capsule is able to operate autonomously or remotely controlled, is transported and deployed by a larger USV into a determined disaster area and is used to carry a life raft and inflate it close to survivors in large-scale maritime disasters. The ultimate goal of this development is to endow search and rescue teams with tools that extend their operational capability in scenarios with adverse atmospheric or maritime conditions.

High-Accuracy Low-Cost RTK-GPS for an Unmanned Surface Vehicle

This work presents a low cost RTK-GPS system for localization of unmanned surface vehicles. The system is based on the use of standard low cost L1 band receivers and in the RTKlib open source software library. Mission scenarios with multiple robotic vehicles are addressed as the ones envisioned in the ICARUS search and rescue case where the possibility of having a moving RTK base on a large USV and multiple smaller vehicles acting as rovers in a local communication network allows for local relative localization with high quality. The approach is validated in operational conditions with results presented for moving base scenario. The system was implemented in the SWIFT USV with the ROAZ autonomous surface vehicle acting as a moving base. This setup allows for the performing of a missions in a wider range of environments and applications such as precise 3D environment modeling in contained areas and multiple robot operations.

An approach to vision-based station keeping for an unmanned underwater vehicle

This paper presents an automatic vision-based system for UUV station keeping. The vehicle is equipped with a down-looking camera, which provides images of the sea-floor. The station keeping system is based on a feature-based motion detection algorithm, which exploits standard correlation and explicit textural analysis to solve the correspondence problem. A visual map of the area surveyed by the vehicle is constructed to increase the flexibility of the system, allowing the vehicle to position itself when it has lost the reference image. The testing platform is the URIS underwater vehicle. Experimental results demonstrating the behavior of the system on a real environment are presented

Towards a real-time vision-based navigation system for a small-class UUV

This paper deals with the problem of navigation for an unmanned underwater vehicle (UUV) through image mosaicking. It represents a first step towards a real-time vision-based navigation system for a small-class low-cost UUV. We propose a navigation system composed by: (i) an image mosaicking module which provides velocity estimates; and (ii) an extended Kalman filter based on the hydrodynamic equation of motion, previously identified for this particular UUV. The obtained system is able to estimate the position and velocity of the robot. Moreover, it is able to deal with visual occlusions that usually appear when the sea bottom does not have enough visual features to solve the correspondence problem in a certain area of the trajectory

Land-cover classification from airborne LIDAR data fused with aerial optical images

Airborne LIght Detection And Ranging (LIDAR) provides accurate height information for objects on the earth, which makes LIDAR become more and more popular in terrain and land surveying. In particular, LIDAR data offer vital and significant features for land-cover classification which is an important task in many application domains. In this paper, an unsupervised approach based on an improved fuzzy Markov random field (FMRF) model is developed, by which the LIDAR data, its co-registered images acquired by optical sensors, i.e. aerial color image and near infrared image, and other derived features are fused effectively to improve the ability of the LIDAR system for the accurate land-cover classification. In the proposed FMRF model-based approach, the spatial contextual information is applied by modeling the image as a Markov random field (MRF), with which the fuzzy logic is introduced simultaneously to reduce the errors caused by the hard classification. Moreover, a Lagrange-Multiplier (LM) algorithm is employed to calculate a maximum A posteriori (MAP) estimate for the classification. The experimental results have proved that fusing the height data and optical images is particularly suited for the land-cover classification. The proposed approach works very well for the classification from airborne LIDAR data fused with its coregistered optical images and the average accuracy is improved to 88.9%.

Detailed Map and Recreational Suitability Assessment of the Colby Trail System

This map is designed as a resource for students and the public to use and develop a better understanding of the trails system on the Colby Campus. I used a Garmin GPSmap 60CS to chart all the trails on Runnals Hill and in the Arboretum. Then, using ArcGIS, I compiled the tracked trails and laid them over an aerial photo of the campus. Because many of the trails are hard to find, I took digital photos of each trail entry to help the user locate them. Then, by taking note of the grade and width of the trail, I decided which trails were suitable for certain activities. This gives users an idea of where to go for walking, running, mountain biking, cross-country skiing, and snowshoeing.

Systems of aerial spraying for soybean rust control

A ferrugem asiática da soja, causada pelo fungo Phakopsora pachyrhizi, é considerada a principal doença da soja, e, portanto, a escolha e o uso adequado dos equipamentos de pulverização são essenciais para seu controle. O objetivo deste trabalho foi avaliar o desempenho de diferentes equipamentos de pulverização aérea para o controle curativo da ferrugem da soja, utilizando o fungicida Impact 125 SC (flutriafol) a 0,5 L p c ha-1. Os seguintes tratamentos foram avaliados: atomizador Micronair AU 5000 (10 L ha-1 com óleo e 20 L ha-1 sem óleo na calda); atomizador Stol ARD (10 e 20 L ha-1 ambos com óleo) e o sistema eletrostático Spectrum (10 L ha-1 sem óleo a 64 e 71% de umidade relativa). Utilizou-se óleo de algodão (1,0 L ha-1) acrescido de emulsificante BR 455 a 0,025 L ha-1. O ensaio foi realizado na terceira aplicação de fungicidas, quando foram analisadas quatro repetições nas áreas aplicadas e quatro testemunhas não aplicadas para cada tratamento, avaliando-se a severidade da ferrugem, os depósitos de flutriafol nas folhas de soja e o percentual de redução de ferrugem. A análise dos depósitos nas folhas mostrou que não houve diferenças significativas entre os tratamentos. Os melhores controles da ferrugem foram obtidos com os tratamentos Micronair (10 L ha-1 com óleo), Stol (20 L ha-1 com óleo) e o sistema elestrostático (10 L ha-1) com a menor umidade relativa do ar (64 %).

Water-soluble nutrients in aerial plant parts of peanut and white oat as affected by lime and gypsum application

A calagem e a gessagem influenciam a disponibilidade e a absorção de nutrientes, podendo alterar a quantidade de ácidos orgânicos na parte aérea das culturas. Essas alterações, quantificadas por meio da análise de nutrientes solúveis em água, podem potencializar o efeito da correção do solo, garantindo a sustentabilidade do sistema de semeadura direta. Nesse sentido, objetivou-se avaliar o efeito da aplicação superficial de calcário e gesso no teor de nutientes solúveis em água nos resíduos vegetais das culturas de amendoim e aveia-branca. O experimento foi realizado em Latossolo Vermelho distroférrico em Botucatu (SP), nos anos agrícolas de 2004/2005 e 2005/2006. O delineamento experimental foi em blocos casualizados em esquema de parcelas subdivididas, com quatro repetições, em que as parcelas foram constituídas por doses de calcário, e as subparcelas, pela presença ou ausência da aplicação de gesso. Foi cultivado amendoim no verão e aveia-branca no inverno, em toda a área experimental. Na cultura do amendoim a aplicação de gesso elevou os teores de Ca solúvel em água apenas na primeira safra, em razão do curto período entre a aplicação do produto e a determinação dos teores de nutientes solúveis no extrato vegetal da cultura. A calagem realizada nas culturas de amendoim e aveia-branca elevou os teores solúveis de Ca, Mg, K e não alterou o teor de Cu e reduziu os teores de Zn, Mn e Fe nos dois anos de cultivo. Já a gessagem reduziu os valores da condutividade elétrica do amendoim (2004/2005 e 2005/2006) e da aveia-branca (2004/2005).

Object-Space Road Extraction in Rural Areas Using Stereoscopic Aerial Images

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)