Estudo conceptual do desenvolvimento de uma célula Mini-UAV

Dissertação apresentada na Faculdade de Ciências e Tecnologia da Universidade Nova de Lisboa para a obtenção do grau de Mestre em Engenharia Mecânica

Testing low-altitude infrared digital photography from a mini-UAV to retrieve information for biological conservation

Satellite remote sensing imagery is used for forestry, conservation and environmental applications, but insufficient spatial resolution, and, in particular, unavailability of images at the precise timing required for a given application, often prevent achieving a fully operational stage. Airborne remote sensing has the advantage of custom-tuned sensors, resolution and timing, but its price prevents using it as a routine technique for the mentioned fields. Some Unmanned Aerial Vehicles might provide a “third way” solution as low-cost techniques for acquiring remotely sensed information, under close control of the end-user, albeit at the expense of lower quality instrumentation and instability. This report evaluates a light remote sensing system based on a remotely-controlled mini-UAV (ATMOS-3) equipped with a color infra-red camera (VEGCAM-1) designed and operated by CATUAV. We conducted a testing mission over a Mediterranean landscape dominated by an evergreen woodland of Aleppo pine (Pinus halepensis) and (Holm) oak (Quercus ilex) in the Montseny National Park (Catalonia, NE Spain). We took advantage of state-of-the-art ortho-rectified digital aerial imagery (acquired by the Institut Cartogràfic de Catalunya over the area during the previous year) and used it as quality reference. In particular, we paid attention to: 1) Operationality of flight and image acquisition according to a previously defined plan; 2) Radiometric and geometric quality of the images; and 3) Operational use of the images in the context of applications. We conclude that the system has achieved an operational stage regarding flight activities, although with meteorological limits set by wind speed and turbulence. Appropriate landing areas can be sometimes limiting also, but the system is able to land on small and relatively rough terrains such as patches of grassland or short matorral, and we have operated the UAV as far as 7 km from the control unit. Radiometric quality is sufficient for interactive analysis, but probably insufficient for automated processing. A forthcoming camera is supposed to greatly improve radiometric quality and consistency. Conventional GPS positioning through time synchronization provides coarse orientation of the images, with no roll information.

Mini-UAV:n käyttö lentotukikohdan valvonnassa

Mini-UAV on miehittämätön pienoisilma-alus, joka tarjoaa käyttäjälleen mahdollisuuden reaaliaikaiseen tilannekuvaan, laajojen vastuualueiden valvontakykyyn ja iskun jälkeiseen tiedusteluun. Pienen kokonsa puolesta järjestelmä kulkee joukkojen mukana valvontatehtä-vällä ja se on helppo lähettää suorittamaan tehtävää laukaisukatapultilta tai kädestä. Mini-UAV:n modulaarinen rakenne mahdollistaa vaurioituneiden osien nopean huollon sekä pa-rantaa taistelunkestävyyttä. Sensorit luovat valvonta- ja tiedustelukyvyn rungon, sillä lennokki itsessään on vain lavetti, joka kuljettaa sensorit valvottavan kohteen ylle. Videokameralla varustetut päiväsensorit pystyvät havaitsemaan kohteen ja seuraamaan sitä reaaliajassa. Yösensoreissa käytettävät valonvahvistimet mahdollistavat operoinnin hämärällä ja yöaikana. Sensoreissa voidaan hyödyntää myös lämpökameraa, joka mahdollistaa kohteiden havaitsemisen peitteisestä maastosta. Lentotukikohdan toimintaympäristö luo laajuudellaan ja peitteisyydellään haasteita valvon-taa suorittaville toimijoille. Laajaa ja vaikeakulkuista aluetta ei pystytä valvomaan aukot-tomasti, vaan pyritään estämään vapaa kulku alueella. Erikoisjoukkouhka luo lentotukikoh-dalle haasteita, jotka tulee kiistää tehokkaalla valvonnalla. Lentotukikohdan kriittisten koh-teiden maalittamisen perusteella iskut toteutetaan ilmalavetin toimittamana asekuormana tai risteilyohjuksin. Toimintaympäristö luo haasteita mini-UAV:n toiminnalle. Peitteinen maasto hankaloittaa valvontaa ja mahdollistaa erikoisjoukkojen oman toiminnan salaamisen. Kesän ja talven ai-kana vallitsevat huonon lentosään olosuhteet rajoittavat lennokilla suoritettavaa tiedustelua. Iskun jälkeisessä tiedustelussa lennokki tarjoaa mahdollisuuden nopeaan tilannekuvan muodostamiseen. Tutkimuksen perusteella voidaan todeta mini-UAV:n olevan tehokas valvontatyökalu lento-tukikohdan valvontaa suorittaville toimijoille. Toimintaympäristön tuomat haasteet tulee ottaa huomioon valvonnan suunnittelussa ja organisoinnissa, jolloin heikkoudet voidaan minimoida.

Towards a ground navigation system based in visual feedback provided by a mini UAV

This paper addresses initial efforts to develop a navigation system for ground vehicles supported by visual feedback from a mini aerial vehicle. A visual-based algorithm computes the ground vehicle pose in the world frame, as well as possible obstacles within the ground vehicle pathway. Relying on that information, a navigation and obstacle avoidance system is used to re-plan the ground vehicle trajectory, ensuring an optimal detour. Finally, some experiments are presented employing a unmanned ground vehicle (UGV) and a low cost mini unmanned aerial vehicle (UAV).

Detecting, Localizing and Following Dynamic Objects with a Mini-UAV

This paper presents an approach for the detection, localization and following of dynamic terrestrial objects using a mini-UAV. The development is intended to be used for surveillance of large infrastructures. The detection algorithm is based on finding several pre-defined characteristics of the target, such as color, shape and size. The process used to localize the target, once it is detected, is based on an inversion of the Pinhole camera model. The task of following the Summit XL was designed to keep the target inside the field of view of the camera, and it was implemented in the form of a PID controller. The system has been tested both in simulation and with real robots, showing promising results.

Autonomous behaviors for an unmanned mini-aerial vehicle

This thesis aims at addressing the development of autonomous behaviors, for search and exploration with a mini-UAV (Unmanned Aerial Vehicle), or also called MAV (Mini Aerial Vehicle) prototype, in order to gather information in rescue scenarios. The platform used in this work is a four rotor helicopter, known as quad-rotor from the German company Ascending Technologies GmbH, which is later assembled with a on-board processing unit (i.e. a tiny light weight computer) and a on-board sensor suite (i.e. 2D-LIDAR and Ultrasonic Sonar). This work can be divided into two phases. In the first phase an Indoor Position Tracking system was settled in order to obtain the Cartesian coordinates (i.e. X, Y, Z) and orientation (i.e.heading) which provides the relative position and orientation of the platform. The second phase was the design and implementation of medium/high level controllers on each command input in order to autonomously control the aircraft position, which is the first step towards an autonomous hovering flight, and any autonomous behavior (e.g. Landing, Object avoidance, Follow the wall). The main work is carried out in the Laboratory ”Intelligent Systems for Emergencies and Civil Defense”, in collaboration with ”Dipartimento di Informatica e Sistemistica” of Sapienza Univ. of Rome and ”Istituto Superiore Antincendi” of the Italian Firemen Department.

Adquisició d'imatges en infraroig proper de baixa alçària sobre zones d'interès al Montseny (I)

En aquest informe, fem una primera avaluació d'un sistema basat en un mini-UAV, operat per l'empresa CATUAV (www.catuav.com), sobre una zona a l'est del Parc Natural del Montseny (PNM) tot comparant amb imatges adquirides l'any anterior sobre la mateixa zona, amb sistemes i plataformes aèries de primer nivell per l'Institut Cartogràfic de Catalunya i que utilitzem com a referent de qualitat. Tot assumint que les imatges produïdes pels UAV són d'una qualitat inferior als sistemes convencionals de teledetecció aerotransportada, si la qualitat i operativitat són encara suficients, aquests sistemes, donat el seu cost, poden constituir una eina important per adquirir informació d'alta resolució pel control de l'evolució de camps abandonats, de l'estat de la vegetació de ribera, de l'estat fitosanitari de cobertes forestals i plagues, de la distribució d'espècies invasores, de les conseqüències d'actuacions de restauració o aclariment del bosc, de l'impacte dels visitants etc. En concret, en aquest informe avaluem el sistema de CATUAV pel que fa a: 1) Operativitat del vol i adquisició de les imatges sobre una zona prèviament assenyalada com objectiu; 2) Operativitat del producte en quant a la localització i orientació de les imatges sobre el terreny; i 3) Qualitat radiomètrica i geomètrica de les imatges.

Komppaniatason tiedustelulennokin rakenne ja vaatimukset

Tutkimuksen pääongelma on: Minkälaisia vaatimuksia komppanian tasolla operoivalle tiedustelulennokille on asetettava? Lisäksi tutkimuksessa pyritään vastaamaan kysymykseen: Minkälaisia ja -tasoisia sensoreita lennokissa tulisi olla, jotta se vastaisi komppaniatasan tiedon tarpeisiin? Tutkielman tarkastelutapa on kirjallisuusselvitys, eikä tutkielmaan liity empiirisiä kokeita. Jalkaväkitaktiikka otetaan huomioon pohdittaessa erilaisten teknisten ratkaisuiden soveltuvuutta komppaniatason tiedustelulennokkijärjestelmään. Tutkimus on kirjallisuustutkimus, jossa lähteenä on käytetty eri internetsivuja, tutkimuksia ja kirjoja. Kysymyksiin haetaan vastauksia tutustumalla maailmalla kehitettyihin SUAV ja TUAV CR -järjestelmiin sekä niihin liittyviin tekniikoihin. Tutkielmassa ilmeni, että komppaniatason taktiseen tiedusteluun käytetään pääasiassa mini-UAV -kategorian lennokkijärjestelmiä, joiden suurin tehokas toimintasäde on noin 10 kilometriä, sensoreina käytetään näkyvän valon alueella sekä infrapuna-alueella toimivia videokameroita, sekä lisäksi sensoreita biologisten ja kemiallisten taisteluaineiden havaitsemiseen.

What Is The Best Indication For Single-incision Ophira Mini Sling? Insights From A 2-year Follow-up International Multicentric Study.

The Ophira Mini Sling System involves anchoring a midurethral, low-tension tape to the obturator internus muscles bilaterally at the level of the tendinous arc. Success rates in different subsets of patients are still to be defined. This work aims to identify which factors influence the 2-year outcomes of this treatment. Analysis was based on data from a multicenter study. Endpoints for analysis included objective measurements: 1-h pad-weight (PWT), and cough stress test (CST), and questionnaires: International Consultation on Incontinence Questionnaire-Short Form (ICIQ-SF) and Urinary Distress Inventory (UDI)-6. A logistic regression analysis evaluated possible risk factors for failure. In all, 124 female patients with stress urinary incontinence (SUI) underwent treatment with the Ophira procedure. All patients completed 1 year of follow-up, and 95 complied with the 2-year evaluation. Longitudinal analysis showed no significant differences between results at 1 and 2 years. The 2-year overall objective results were 81 (85.3%) patients dry, six (6.3%) improved, and eight (8.4%) incontinent. A multivariate analysis revealed that previous anti-incontinence surgery was the only factor that significantly influenced surgical outcomes. Two years after treatment, women with previous failed surgeries had an odds ratio (OR) for treatment failure (based on PWT) of 4.0 [95% confidence interval (CI) 1.02-15.57). The Ophira procedure is an effective option for SUI treatment, with durable good results. Previous surgeries were identified as the only significant risk factor, though previously operated patients showed an acceptable success rate.

Influência da largura do septo inter-radicular sobre a estabilidade dos mini-implantes

OBJETIVO: este estudo teve como objetivo avaliar a influência da largura do septo inter-radicular no local de inserção de mini-implantes autoperfurantes sobre o grau de estabilidade desses dispositivos de ancoragem. MÉTODOS: a amostra consistiu de 40 mini-implantes inseridos entre as raízes do primeiro molar e segundo pré-molar superiores de 21 pacientes, com o intuito de fornecer ancoragem para retração anterior. A largura do septo no local de inserção (LSI) foi mensurada nas radiografias pós-cirúrgicas e, sob esse aspecto, os mini-implantes foram divididos em dois grupos: grupo 1 (áreas críticas, LSI<3mm) e grupo 2 (áreas não críticas, LSI>3mm). A estabilidade dos mini-implantes foi avaliada mensalmente pela quantificação do grau de mobilidade e a partir dessa variável foi calculada a proporção de sucesso. Avaliou-se também: a quantidade de placa, altura de inserção, grau de sensibilidade e período de observação. RESULTADOS: os resultados obtidos demonstraram que não houve diferença estatisticamente significativa para o grau de mobilidade e proporção de sucesso entre os mini-implantes inseridos em septos de largura mesiodistal crítica e não crítica. A proporção de sucesso total encontrada foi de 90% e nenhuma variável demonstrou estar relacionada ao insucesso dos mini-implantes. No entanto, observou-se maior sensibilidade nos pacientes cujos mini-implantes apresentavam mobilidade, e que a falha desses dispositivos de ancoragem ocorria logo após sua inserção. CONCLUSÃO: a largura do septo inter-radicular no local de inserção não interferiu na estabilidade dos mini-implantes autoperfurantes avaliados neste estudo.

Comparison of the fracture torque of different Brazilian mini-implants

This study evaluated fracture torque by torsion, in relation to the length and diameter of orthodontic mini-implants, to demonstrate their viability for clinical and experimental use based on the torque recommended by the manufacturers. The fractures at the moment of insertion, whose incidence in the literature is around 4%, are principally due to excessive force and the inability of the implant to resist rotational forces. Thirty orthodontic mini-implants of three commercial brands available in Brazil (Neodent 1.6 x 9 mm, Dentoflex 1.6 x 9 mm and Kopp 1.6 x 9 mm) were attached to a device made specifically for this research, leaving the mini-implants with sufficient stability. The miniimplants were submitted to torsion torque, using a digital torque wrench, until their breaking point. The values obtained with the test were submitted to analysis of variance and the Tukey test. The mean values of mini-implant ruptures were 26 N.cm for group A (Dentoflex), 25.4 N. cm for group B (Kopp) and 32.8 N.cm for group C (Neodent). From the Tukey test we could observe that the relationships between the means of the Dentoflex and Neodent groups, and between the Kopp and Neodent groups, were significant. Between the Dentoflex and Kopp groups, significance was nonexistent. All the values found in our research for fracture torque were higher than the limits recommended by the manufacturers for clinical use in orthodontics. The highest values were found in the Neodent group.

Avaliação in vitro da resistência à flexão de um protótipo de mini-implante desenvolvido para ancoragem do aparelho de Herbst

OBJETIVO: o propósito do presente estudo é avaliar o limite de resistência à flexão de um protótipo de mini-implante desenvolvido para ancoragem do aparelho de Herbst. MÉTODOS: após a realização de um cálculo do tamanho da amostra, quatro corpos de prova contendo os protótipos de mini-implantes foram submetidos a uma força de flexão por engastamento simples, utilizando-se uma máquina universal de ensaios mecânicos, sendo calculado o limite de resistência à força de flexão. RESULTADOS: após os ensaios mecânicos, os novos mini-implantes apresentaram o limite de resistência à força de flexão de 98,2kgf, que foi o menor valor encontrado. CONCLUSÃO: os protótipos de mini-implantes desenvolvidos para ancoragem do aparelho de Herbst foram capazes de suportar forças de flexão maiores do que as forças de mordida descritas na literatura.

Distribuição de tensões em mini-implantes ortodônticos

O objetivo deste trabalho foi avaliar a distribuição de tensões na resina em contato com os filetes de roscas de mini-implantes cilíndricos e cônicos, submetidos à carga lateral e torção de inserção. Um modelo fotoelástico foi confeccionado com gelatina transparente, para simular o osso alveolar. O modelo foi observado com um polariscópio plano e fotografado antes e após a ativação dos mini-implantes com força lateral e de inserção. A aplicação de cargas laterais provocou momentos fletores nos mini-implantes, aparecimento de franjas isocromáticas ao longo dos filetes do corpo dos mini-implantes e no ápice. Quando foi aplicado o torque de inserção, verificou-se a concentração de tensões próxima ao ápice. Concluiu-se que: (1) o mini-implante cilíndrico apresentou maior concentração de tensões no ápice, e (2) o mini-implante cônico apresentou maior concentração de tensões nos filetes de rosca apicais.

Ultrastructure of the Interface between Periodontal Tissues and Titanium Mini-Implants

Objective: To describe the ultrastructure of the interface between periodontal tissues and titanium mini-implants in rat mandibles. Materials and Methods: A titanium mini-implant was placed between the buccal roots of the mandibular first molar of 24 adult rats. After 21, 30, 45, 60, 90, and 120 days of implantation, the mandibular portion was removed and fixed in cacodylate-buffered 2% glutaraldehyde + 2.5% formaldehyde. The material was decalcified and processed for scanning and transmission electron microscopy. Results: Ultrastructural analysis revealed a thin cementum-like layer at longer times after implantation at the areas in which the periodontal ligament was in contact with the implant. Conclusions: The alveolar bone and the periodontal ligament reorganized their constituents around the implant, and a thin cementum-like layer was formed at longer times after implantation at the areas in which the periodontal ligament was in contact with the implant. (Angle Orthod. 2010;80:459-435.)