Hybrid game evolutionary algorithm for mission path planning of aerial survey tasks

The aim of this paper is to implement a Game-Theory based offline mission path planner for aerial inspection tasks of large linear infrastructures. Like most real-world optimisation problems, mission path planning involves a number of objectives which ideally should be minimised simultaneously. The goal of this work is then to develop a Multi-Objective (MO) optimisation tool able to provide a set of optimal solutions for the inspection task, given the environment data, the mission requirements and the definition of the objectives to minimise. Results indicate the robustness and capability of the method to find the trade-off between the Pareto-optimal solutions.

Mission path planning of aerial survey tasks using hybrid game evolutionary algorithm

The work presented in this report is aimed to implement a cost-effective offline mission path planner for aerial inspection tasks of large linear infrastructures. Like most real-world optimisation problems, mission path planning involves a number of objectives which ideally should be minimised simultaneously. Understandably, the objectives of a practical optimisation problem are conflicting each other and the minimisation of one of them necessarily implies the impossibility to minimise the other ones. This leads to the need to find a set of optimal solutions for the problem; once such a set of available options is produced, the mission planning problem is reduced to a decision making problem for the mission specialists, who will choose the solution which best fit the requirements of the mission. The goal of this work is then to develop a Multi-Objective optimisation tool able to provide the mission specialists a set of optimal solutions for the inspection task amongst which the final trajectory will be chosen, given the environment data, the mission requirements and the definition of the objectives to minimise. All the possible optimal solutions of a Multi-Objective optimisation problem are said to form the Pareto-optimal front of the problem. For any of the Pareto-optimal solutions, it is impossible to improve one objective without worsening at least another one. Amongst a set of Pareto-optimal solutions, no solution is absolutely better than another and the final choice must be a trade-off of the objectives of the problem. Multi-Objective Evolutionary Algorithms (MOEAs) are recognised to be a convenient method for exploring the Pareto-optimal front of Multi-Objective optimization problems. Their efficiency is due to their parallelism architecture which allows to find several optimal solutions at each time

Use of aerial survey and aerophotogrammetry methods in monitoring manatee populations

We evaluated the use of strip-transect survey methods for manatees through a series of replicate aerial surveys in the Banana River, Brevard County, Florida, during summer 1993 and summer 1994. Transect methods sample a representative portion of the total study area, thus allowing for statistical extrapolation to the total area. Other advantages of transect methods are less flight time and less cost than total coverage, ease of navigation, and reduced likelihood of double-counting. Our objectives were: (1) to identify visibility biases associated with the transect survey method and to adjust the counts accordingly; (2) to derive a population estimate with known variance for the Banana River during summer; and (3) to evaluate the potential value of this survey method for monitoring trends in manatee population size over time. (51 page document)

Protected species aerial survey data collection and analysis in waters underlying the R-5306A airspace: final report submitted to US Marine Corps, MCAS Cherry Point

To be in compliance with the Endangered Species Act and the Marine Mammal Protection Act, the United States Department of the Navy is required to assess the potential environmental impacts of conducting at-sea training operations on sea turtles and marine mammals. Limited recent and area-specific density data of sea turtles and dolphins exist for many of the Navy’s operations areas (OPAREAs), including the Marine Corps Air Station (MCAS) Cherry Point OPAREA, which encompasses portions of Core and Pamlico Sounds, North Carolina. Aerial surveys were conducted to document the seasonal distribution and estimated density of sea turtles and dolphins within Core Sound and portions of Pamlico Sound, and coastal waters extending one mile offshore. Sea Surface Temperature (SST) data for each survey were extracted from 1.4 km/pixel resolution Advanced Very High Resolution Radiometer remote images. A total of 92 turtles and 1,625 dolphins were sighted during 41 aerial surveys, conducted from July 2004 to April 2006. In the spring (March – May; 7.9°C to 21.7°C mean SST), the majority of turtles sighted were along the coast, mainly from the northern Core Banks northward to Cape Hatteras. By the summer (June – Aug.; 25.2°C to 30.8°C mean SST), turtles were fairly evenly dispersed along the entire survey range of the coast and Pamlico Sound, with only a few sightings in Core Sound. In the autumn (Sept. – Nov.; 9.6°C to 29.6°C mean SST), the majority of turtles sighted were along the coast and in eastern Pamlico Sound; however, fewer turtles were observed along the coast than in the summer. No turtles were seen during the winter surveys (Dec. – Feb.; 7.6°C to 11.2°C mean SST). The estimated mean surface density of turtles was highest along the coast in the summer of 2005 (0.615 turtles/km², SE = 0.220). In Core and Pamlico Sounds the highest mean surface density occurred during the autumn of 2005 (0.016 turtles/km², SE = 0.009). The mean seasonal abundance estimates were always highest in the coastal region, except in the winter when turtles were not sighted in either region. For Pamlico Sound, surface densities were always greater in the eastern than western section. The range of mean temperatures at which turtles were sighted was 9.68°C to 30.82°C. The majority of turtles sighted were within water ≥ 11°C. Dolphins were observed within estuarine waters and along the coast year-round; however, there were some general seasonal movements. In particular, during the summer sightings decreased along the coast and dolphins were distributed throughout Core and Pamlico Sounds, while in the winter the majority of dolphins were located along the coast and in southeastern Pamlico Sound. Although relative numbers changed seasonally between these areas, the estimated mean surface density of dolphins was highest along the coast in the spring of 2006 (9.564 dolphins/km², SE = 5.571). In Core and Pamlico Sounds the highest mean surface density occurred during the autumn of 2004 (0.192 dolphins/km², SE = 0.066). The estimated mean surface density of dolphins was lowest along the coast in the summer of 2004 (0.461 dolphins/km², SE = 0.294). The estimated mean surface density of dolphins was lowest in Core and Pamlico Sounds in the summer of 2005 (0.024 dolphins/km², SE = 0.011). In Pamlico Sound, estimated surface densities were greater in the eastern section except in the autumn. Dolphins were sighted throughout the entire range of mean SST (7.60°C to 30.82°C), with a tendency towards fewer dolphins sighted as water temperatures increased. Based on the findings of this study, sea turtles are most likely to be encountered within the OPAREAs when SST is ≥ 11°C. Since sea turtle distributions are generally limited by water temperature, knowing the SST of a given area is a useful predictor of sea turtle presence. Since dolphins were observed within estuarine waters year-round and throughout the entire range of mean SST’s, they likely could be encountered in the OPAREAs any time of the year. Although our findings indicated the greatest number of dolphins to be present in the winter and the least in the summer, their movements also may be related to other factors such as the availability of prey. (PDF contains 28 pages)

An aerial survey for surface tuna resources in the seas around Ceylon

An aerial survey of the off shore range around Ceylon, for a quick evaluation of the potential surface tuna resources, for commercial exploitation, was organised by Mr. Manuel R. Cintas of Ocean Blazer Inc. (Commercial tuna), San Diego, California and his associate Mr. R. Perera. The organisers offered, through the Hon'ble Minister of Fisheries, to take an officer of the Fisheries Research Station, Ceylon, as an observer and the author participated in that capacity. Dr. V. Arkely served as the photographer. The survey period was within the South-West monsoon season and extremely bad weather with high speed winds were experienced particularly off the North-West and South coasts. Except during these two trips, an average altitude of 1,000 ft. and a flying speed of 110-115 m.p.h. were maintained. The program was to cover the off shore range between 15 miles and 50 miles, from shore. The total number of hours of flying was eighteen. Details of the flight plan are shown in figure 1.

What is the optimal stitching orientation from an aerial survey perspective?

Mosaicing is a technique that allows obtaining a large high resolution image by stitching several images together. These base images are usually acquired from an elevated point of view. Until recently, low-altitude image acquisition has been performed typically by using using airplanes, as well as other manned platforms. However, mini unmanned aerial vehicles (MUAV) endowed with a camera have lately made this task more available for small for cicil applications, for example for small farmers in order to obtain accurate agronomic information about their crop fields. The stitching orientation, or the image acquisition orientation usually coincides with the aircraft heading assuming a downwards orientation of the camera. In this paper, the efect of the image orientation in the eficiency of the aerial coverage path planning is studied. Moreover, an algorithm to compute an optimal stitching orientation angle is proposed and results are numerically compared with classical approaches.

Aerial line transect survey to estimate abundance of marsh deer (Blastocerus dichotomus) (Illiger, 1815)

A população de cervo-do-pantanal (Blastocerus dichotomus) está drasticamente reduzida no Brasil. O nosso objetivo foi o de estimar a abundância do cervo-do-pantanal na bacia do Rio Paraná e discutir a metodologia aplicada. Os resultados darão suporte para uma análise do impacto do enchimento da represa de Porto Primavera sobre essa população. Sessenta e nove animais foram registrados através de sobrevôo utilizando-se a metodologia de transecção linear com amostragem das distâncias. Os dados não corrigidos resultaram em uma densidade estimada de 0,0035ind/ha e uma população de 636 indivíduos. A correção de g para os animais que não foram vistos apresentou uma densidade de 0,0049 ind/ha e uma abundância de 896 (CV=0,27) indivíduos. A metodologia foi aplicada com sucesso na estimativa de cervo-do-pantanal. Esse resultado é importante para avaliarmos a população do cervo-do-pantanal na área e para futuramente analisarmos o impacto do enchimento da represa.

Aerial line transect survey to estimate abundance of marsh deer (Blastocerus dichotomus) (Illiger, 1815)

A população de cervo-do-pantanal (Blastocerus dichotomus) está drasticamente reduzida no Brasil. O nosso objetivo foi o de estimar a abundância do cervo-do-pantanal na bacia do Rio Paraná e discutir a metodologia aplicada. Os resultados darão suporte para uma análise do impacto do enchimento da represa de Porto Primavera sobre essa população. Sessenta e nove animais foram registrados através de sobrevôo utilizando-se a metodologia de transecção linear com amostragem das distâncias. Os dados não corrigidos resultaram em uma densidade estimada de 0,0035ind/ha e uma população de 636 indivíduos. A correção de g para os animais que não foram vistos apresentou uma densidade de 0,0049 ind/ha e uma abundância de 896 (CV=0,27) indivíduos. A metodologia foi aplicada com sucesso na estimativa de cervo-do-pantanal. Esse resultado é importante para avaliarmos a população do cervo-do-pantanal na área e para futuramente analisarmos o impacto do enchimento da represa.

Estimating Sighting Proportions of American Alligator Nests during Helicopter Survey

Proportions of American alligator (Alligator mississippiensis) nests sighted during aerial survey in Florida were estimated based upon multiple surveys by different observers. We compared sighting proportions across habitats, nesting seasons, and observer experience levels. The mean sighting proportion across all habitats and years was 0.736 (SE=0.024). Survey counts corrected by the mean sighting proportion reliably predicted total nest counts (R2=0.933). Sighting proportions did not differ by habitat type (P=0.668) or year P=0.328). Experienced observers detected a greater proportion of nests (Paerial counts of alligator nests when corrected by the appropriate sighting proportion.

Comparison of survey methods for estimating abundance of harbor seals (Phoca vitulina) in glacial fjords

The importance of glacial ice habitats to harbor seals (Phoca vitulina) in Alaska has become increasingly apparent. However, enumerating harbor seals hauled out on ice in glacial fjords has been difficult. At Johns Hopkins Inlet in Glacier Bay, Alaska, we compared a shore-based counting method to a large-format aerial photography method to estimate seal abundance. During each aerial survey, shore-based observers simultaneously counted seals from an observation post. Both survey methods incurred errors in double-counting and missing seals, especially when ice movements caused seals to drift between survey zones. Advantages of shore-based counts included the ability to obtain multiple counts for relatively little cost, distinguish pups from adults, and to distinguish mobile seals from shadows or glacial debris of similar size. Aerial photography provided a permanent record of each survey, allowing both a reconciliation of counts in overlapping zones and the documentation of the spatial distribution of seals and ice within the fjord.

Offshore Migratory Corridors and Aerial Photogrammetric Body Length Comparisons of Southbound Gray Whales, Eschrichtius robustus, in the Southern California Bight, 1988–1990

Through most of their annual migration, gray whales, Eschrichtius robustus, remain within 10 km of shore, but in the Southern California Bight many individuals migrate much farther from shore. This paper summarizes aerial survey and photogrammetric efforts to determine body lengths and temporal and spatial distributions of migratory gray whales in the southern portion of the Southern California Bight. Aerial surveys were flown along 13 east–west transects between lat. 32°35′N and 33°30′N during the southbound gray whale migratory seasons of 1988–90 in the Southern California Bight. Photogrammetry was used to obtain body length estimates of animals during some of the surveys. A total of 1,878 whales in 675 groups were sighted along 25,440 km of transect distance flown and 217 body lengths were measured. Using position and heading data, three major migratory pathways or corridors in the southern portion of the bight are defined. Those migrating offshore were split almost evenly between two corridors along the west sides of Santa Catalina and San Clemente Islands. These corridors converge on the mainland coast between San Diego and the United States–Mexico border. No whales larger than 11.5 m were photographed within 30 km of the mainland coast, suggesting that smaller, and presumably younger, whales use the coastal migratory corridor through the California Bight.

Aerial Coverage Path Planning applied to Mapping

In the last decade we have seen how small and light weight aerial platforms - aka, Mini Unmanned Aerial Vehicles (MUAV) - shipped with heterogeneous sensors have become a 'most wanted' Remote Sensing (RS) tool. Most of the off-the-shelf aerial systems found in the market provide way-point navigation. However, they do not rely on a tool that compute the aerial trajectories considering all the aspects that allow optimizing the aerial missions. One of the most demanded RS applications of MUAV is image surveying. The images acquired are typically used to build a high-resolution image, i.e., a mosaic of the workspace surface. Although, it may be applied to any other application where a sensor-based map must be computed. This thesis provides a study of this application and a set of solutions and methods to address this kind of aerial mission by using a fleet of MUAVs. In particular, a set of algorithms are proposed for map-based sampling, and aerial coverage path planning (ACPP). Regarding to map-based sampling, the approaches proposed consider workspaces with different shapes and surface characteristics. The workspace is sampled considering the sensor characteristics and a set of mission requirements. The algorithm applies different computational geometry approaches, providing a unique way to deal with workspaces with different shape and surface characteristics in order to be surveyed by one or more MUAVs. This feature introduces a previous optimization step before path planning. After that, the ACPP problem is theorized and a set of ACPP algorithms to compute the MUAVs trajectories are proposed. The problem addressed herein is the problem to coverage a wide area by using MUAVs with limited autonomy. Therefore, the mission must be accomplished in the shortest amount of time. The aerial survey is usually subject to a set of workspace restrictions, such as the take-off and landing positions as well as a safety distance between elements of the fleet. Moreover, it has to avoid forbidden zones to y. Three different algorithms have been studied to address this problem. The approaches studied are based on graph searching, heuristic and meta-heuristic approaches, e.g., mimic, evolutionary. Finally, an extended survey of field experiments applying the previous methods, as well as the materials and methods adopted in outdoor missions is presented. The reported outcomes demonstrate that the findings attained from this thesis improve ACPP mission for mapping purpose in an efficient and safe manner.

Aerial Coverage Path Planning applied to Mapping

In the last decade we have seen how small and light weight aerial platforms - aka, Mini Unmanned Aerial Vehicles (MUAV) - shipped with heterogeneous sensors have become a 'most wanted' Remote Sensing (RS) tool. Most of the off-the-shelf aerial systems found in the market provide way-point navigation. However, they do not rely on a tool that compute the aerial trajectories considering all the aspects that allow optimizing the aerial missions. One of the most demanded RS applications of MUAV is image surveying. The images acquired are typically used to build a high-resolution image, i.e., a mosaic of the workspace surface. Although, it may be applied to any other application where a sensor-based map must be computed. This thesis provides a study of this application and a set of solutions and methods to address this kind of aerial mission by using a fleet of MUAVs. In particular, a set of algorithms are proposed for map-based sampling, and aerial coverage path planning (ACPP). Regarding to map-based sampling, the approaches proposed consider workspaces with different shapes and surface characteristics. The workspace is sampled considering the sensor characteristics and a set of mission requirements. The algorithm applies different computational geometry approaches, providing a unique way to deal with workspaces with different shape and surface characteristics in order to be surveyed by one or more MUAVs. This feature introduces a previous optimization step before path planning. After that, the ACPP problem is theorized and a set of ACPP algorithms to compute the MUAVs trajectories are proposed. The problem addressed herein is the problem to coverage a wide area by using MUAVs with limited autonomy. Therefore, the mission must be accomplished in the shortest amount of time. The aerial survey is usually subject to a set of workspace restrictions, such as the take-off and landing positions as well as a safety distance between elements of the fleet. Moreover, it has to avoid forbidden zones to y. Three different algorithms have been studied to address this problem. The approaches studied are based on graph searching, heuristic and meta-heuristic approaches, e.g., mimic, evolutionary. Finally, an extended survey of field experiments applying the previous methods, as well as the materials and methods adopted in outdoor missions is presented. The reported outcomes demonstrate that the findings attained from this thesis improve ACPP mission for mapping purpose in an efficient and safe manner.

Aerial view of the main campus, University of Michigan, 1930

On verso: This Aerial View released with full REPRODUCTION RIGHTS RESERVED. If reproduced by written permission full credit for production must be given. Talbert Abrams - President, A-S-C AiIRLINE CORPORATION, Lansing, Michigan

Campus Views, Aerial

Taken above and a little southwest of Law Quad looking northeast. #10825A. On verso: This Aerial View released with full REPRODUCTION RIGHTS RESERVED. If reproduced by written permission full credit or production must be given. Talbert Adams - President, A-S-C AiIRLINE CORPORATION, Lansing, Michigan.