Estimativas de parâmetros genéticos e fenotípicos para características reprodutivas e de temperamento em bovinos da raça Nelore

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Outdoor flight testing of a pole inspection UAV incorporating high-speed vision

We present a pole inspection system for outdoor environments comprising a high-speed camera on a vertical take-off and landing (VTOL) aerial platform. The pole inspection task requires a vehicle to fly close to a structure while maintaining a fixed stand-off distance from it. Typical GPS errors make GPS-based navigation unsuitable for this task however. When flying outdoors a vehicle is also affected by aerodynamics disturbances such as wind gusts, so the onboard controller must be robust to these disturbances in order to maintain the stand-off distance. Two problems must therefor be addressed: fast and accurate state estimation without GPS, and the design of a robust controller. We resolve these problems by a) performing visual + inertial relative state estimation and b) using a robust line tracker and a nested controller design. Our state estimation exploits high-speed camera images (100Hz) and 70Hz IMU data fused in an Extended Kalman Filter (EKF). We demonstrate results from outdoor experiments for pole-relative hovering, and pole circumnavigation where the operator provides only yaw commands. Lastly, we show results for image-based 3D reconstruction and texture mapping of a pole to demonstrate the usefulness for inspection tasks.

Real-time wind speed estimation and compensation for improved flight

This paper presents the development and experimental validation of a prototype system for online estimation and compensation of wind disturbances onboard small Rotorcraft unmanned aerial systems (RUAS). The proposed approach consists of integrating a small pitot-static system onboard the vehicle and using simple but effective algorithms for estimating the wind speed in real time. The baseline flight controller has been augmented with a feed-forward term to compensate for these wind disturbances, thereby improving the flight performance of small RUAS in windy conditions. The paper also investigates the use of online airspeed measurements in a closed-loop for controlling the RUAS forward motion without the aid of a global positioning system (GPS). The results of more than 80 flights with a RUAS confirm the validity of our approach.

Criteria for Ballast Flight Initiation Induced by High Speed Trains

One of the phenomena that limit the velocity of trains in high speed lines is the so- called “ballast pick-up”. It is a ballast train-induced-wind erosion (or BATIWE) that can produce damage to the train under body and the infrastructure surrounding the tracks. The analysis of the measurements taken during several passes of the train allows for a criterion of ballast flight initiation to be obtained. The first rotation of a ballast stone occurs when the impulse given to the stone (arising from the aerodynamic loading produced by the wind gust genera ted by the passing train) overpasses a critical impulse. This impulse depends on the physical properties of the stone (mass, shape, moment of inertia, etc. ...) and its posture on the track bed. The aim of this paper is to report on the experimental results obtained in the ADIF’S Brihuega (Guadalajara) test station, in the Madrid to Barcelona high speed line, and the way they can be used to support the feasibility of the definition of a criterion to evaluate the BA TIWE capability of trains. The results obtained show the feasibility of the proposed method, and contribute to a method of BATIWE characterization, which can be relevant for the development of train interoperability standardization.

The effects of atmospheric turbulence upon flight at low altitude and high speed.

Mode of access: Internet.

Did you see that? Dissociating advanced visual information and ball flight constrains perception and action processes during one-handed catching

The integration of separate, yet complimentary, cortical pathways appears to play a role in visual perception and action when intercepting objects. The ventral system is responsible for object recognition and identification, while the dorsal system facilitates continuous regulation of action. This dual-system model implies that empirically manipulating different visual information sources during performance of an interceptive action might lead to the emergence of distinct gaze and movement pattern profiles. To test this idea, we recorded hand kinematics and eye movements of participants as they attempted to catch balls projected from a novel apparatus that synchronised or de-synchronised accompanying video images of a throwing action and ball trajectory. Results revealed that ball catching performance was less successful when patterns of hand movements and gaze behaviours were constrained by the absence of advanced perceptual information from the thrower's actions. Under these task constraints, participants began tracking the ball later, followed less of its trajectory, and adapted their actions by initiating movements later and moving the hand faster. There were no performance differences when the throwing action image and ball speed were synchronised or de-synchronised since hand movements were closely linked to information from ball trajectory. Results are interpreted relative to the two-visual system hypothesis, demonstrating that accurate interception requires integration of advanced visual information from kinematics of the throwing action and from ball flight trajectory.

Hardware design and implementation of a MAVLink interface for an FPGA-based autonomous UAV flight control system

This paper details the initial design and planning of a Field Programmable Gate Array (FPGA) implemented control system that will enable a path planner to interact with a MAVLink based flight computer. The design is aimed at small Unmanned Aircraft Vehicles (UAV) under autonomous operation which are typically subject to constraints arising from limited on-board processing capabilities, power and size. An FPGA implementation for the de- sign is chosen for its potential to address such limitations through low power and high speed in-hardware computation. The MAVLink protocol offers a low bandwidth interface for the FPGA implemented path planner to communicate with an on-board flight computer. A control system plan is presented that is capable of accepting a string of GPS waypoints generated on-board from a previously developed in- hardware Genetic Algorithm (GA) path planner and feeding them to the open source PX4 autopilot, while simultaneously respond- ing with flight status information.

Flight directionality of Tribolium castaneum soon after take-off under glasshouse and field conditions

Flight directionality of the rust-red flour beetle, Tribolium castaneum (Herbst) (Coleoptera: Tenebrionidae), was investigated under glasshouse and field conditions using sticky traps placed around dense experimental infestations of T. castaneum derived from field-collected samples. Although beetles of this species are known to fly quite readily, information on flight of beetles away from grain resources is limited. Under still glasshouse conditions, T. castaneum does not demonstrate strong horizontal or vertical trajectories in their initial flight behaviour. Flight was significantly directional in half of the replicates, but trapped beetles were only weakly concentrated around the mean direction of flight. In the field, by contrast, emigration of T. castaneum was strongly directional soon after flight initiation. The mean vector lengths were generally >0.5 which indicates that trapped beetles were strongly concentrated around the calculated mean flight direction. A circular-circular regression of mean flight vs. mean downwind direction suggested that flight direction was generally correlated with downwind direction. The mean height at which T. castaneum individuals initially flew was 115.4 ± 7.0 cm, with 58.3% of beetles caught no more than 1 m above the ground. The height at which beetles were trapped did not correlate with wind speed at the time of sampling, but the data do indicate that wind speed significantly affected T. castaneum flight initiation, because no beetles (or very few; no more than three) were trapped in the field when the mean wind speed was above 3 m s−1. This study thus demonstrates that wind speed and direction are both important aspects of flight behaviour of T. castaneum, and therefore of the spatio-temporal dynamics of this species.

Flight Paths of Migrating Golden Eagles and the Risk Associated with Wind Energy Development in the Rocky Mountains

In recent years, the eastern foothills of the Rocky Mountains in northeastern British Columbia have received interest as a site of industrial wind energy development but, simultaneously, have been the subject of concern about wind development coinciding with a known migratory corridor of Golden Eagles (Aquila chrysaetos). We tracked and quantified eagle flights that crossed or followed ridgelines slated for one such wind development. We found that hourly passage rates during fall migration peaked at midday and increased by 17% with each 1 km/h increase in wind speed and by 11% with each 1°C increase in temperature. The propensity to cross the ridge tops where turbines would be situated differed between age classes, with juvenile eagles almost twice as likely to traverse the ridge-top area as adults or subadults. During fall migration, Golden Eagles were more likely to cross ridges at turbine heights (risk zone, < 150 m above ground) under headwinds or tailwinds, but this likelihood decreased with increasing temperature. Conversely, during spring migration, eagles were more likely to move within the ridge-top area under eastern crosswinds. Identifying Golden Eagle flight routes and altitudes with respect to major weather systems and local topography in the Rockies may help identify scenarios in which the potential for collisions is greatest at this and other installations.