Engineering Commons^™

A Wavegan Approach For Mmwave-Based Fanet Topology Optimization, Enas Odat, Hakim Ghazzai, Ahmad Alsharoa

Electrical and Computer Engineering Faculty Research & Creative Works

The integration of dynamic Flying Ad hoc Networks (FANETs) and millimeter Wave (mmWave) technology can offer a promising solution for numerous data-intensive applications, as it enables the establishment of a robust flying infrastructure with significant data transmission capabilities. However, to enable effective mmWave communication within this dynamic network, it is essential to precisely align the steerable antennas mounted on Unmanned Aerial Vehicles (UAVs) with their corresponding peer units. Therefore, it is important to design a novel approach that can quickly determine an optimized alignment and network topology. In this paper, we propose a Generative Adversarial Network (GAN)-based approach, called WaveGAN, …

Assessing The Potential Of Uav-Based Multispectral And Thermal Data To Estimate Soil Water Content Using Geophysical Methods, Yunyi Guan, Katherine R. Grote

Geosciences and Geological and Petroleum Engineering Faculty Research & Creative Works

Knowledge of the soil water content (SWC) is important for many aspects of agriculture and must be monitored to maximize crop yield, efficiently use limited supplies of irrigation water, and ensure optimal nutrient management with minimal environmental impact. Single-location sensors are often used to monitor SWC, but a limited number of point measurements is insufficient to measure SWC across most fields since SWC is typically very heterogeneous. To overcome this difficulty, several researchers have used data acquired from unmanned aerial vehicles (UAVs) to predict the SWC by using machine learning on a limited number of point measurements acquired across a …

Autonomous Strike Uavs For Counterterrorism Missions: Challenges And Preliminary Solutions, Meshari Aljohani, Ravi Mukkamala, Stephan Olariu

Computer Science Faculty Publications

UAVs are becoming a crucial tool in modern warfare, primarily due to their cost-effectiveness, risk reduction, and ability to perform a wider range of activities. The use of autonomous UAVs to conduct strike missions against highly valuable targets is the focus of this research. Due to developments in ledger technology, smart contracts, and machine learning, such activities formerly carried out by professionals or remotely flown UAVs are now feasible. Our study provides the first in-depth analysis of challenges and potential solutions for successful implementation of an autonomous UAV mission.

Plant Height Estimation Using Rtk-Gnss Enabled Unmanned Aerial Vehicle (Uav) Photogrammetry, Pascal Izere

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

Using Unmanned Aerial Vehicle (UAV) based remote sensing technology to provide high-throughput plant phenotypic traits has shown a great potential of eliminating manual measurements. For example, the use of UAV imaging to estimate plant height is of great interest to plant breeders and agronomists. Height is linked to a plant’s physical growth, light competition, health, biomass, and yield; thus, its accurate estimation is crucial in breeding. Conventionally, accurate height estimation by UAV platforms relies heavily on the use of ground control points (GCPs) for geometric calibration due to the relatively low positioning accuracy of regular differential global navigation satellite system …

Uav-Based Quantification Of Dynamic Lahar Channel Morphology At Volcán De Fuego, Guatemala, Jerry C. Mock, Jeffrey B. Johnson, Armando Pineda, Gustavo Bejar, Amilcar Roca

Michigan Tech Publications, Part 2

This study quantified erosional and depositional processes for secondary lahars in Las Lajas drainage at Volcán de Fuego, Guatemala, during the rainy season from May to October 2021. Abundant pyroclastic material from ongoing eruptive activity is remobilized seasonally during heavy precipitation, which can impact infrastructure and populations living near Fuego. Our region of focus was in an agricultural zone 6 to 10 km from the summit, surveyed with an unoccupied aerial vehicle (UAV) quadcopter at monthly intervals. Imagery was processed into overlapping time-lapse structure from motion digital elevation models (DEMs). DEMs were differenced to find volumetric changes as a function …

Drone Detection Using Yolov5, Burchan Aydin, Subroto Singha

Faculty Publications

The rapidly increasing number of drones in the national airspace, including those for recreational and commercial applications, has raised concerns regarding misuse. Autonomous drone detection systems offer a probable solution to overcoming the issue of potential drone misuse, such as drug smuggling, violating people’s privacy, etc. Detecting drones can be difficult, due to similar objects in the sky, such as airplanes and birds. In addition, automated drone detection systems need to be trained with ample amounts of data to provide high accuracy. Real-time detection is also necessary, but this requires highly configured devices such as a graphical processing unit (GPU). …

Economic And Input-Use Efficiency Of Nitrogen Management Techniques In Non-Irrigated Maize Production, Katie J. Bathke

Honors Theses

The efficiency of nitrogen (N) management has become a main concern in agricultural cropping systems for understanding the optimal N rate to help producers improve economically and reduce the exhaustion of natural resources environmentally. Nitrogen rates vary both temporally and spatially by the interactions of the soil environment and rainfall through a growing season. Thus, a site-specific approach can further optimize this variability with the understanding of the role soil variability plays in the N rate applied to a non-irrigated field. The objective of this study was to evaluate the various nitrogen treatments for their nutrient use efficiency and economic …

Aerial Lidar-Based 3d Object Detection And Tracking For Traffic Monitoring, Baya Cherif, Hakim Ghazzai, Ahmad Alsharoa, Hichem Besbes, Yehia Massoud

Electrical and Computer Engineering Faculty Research & Creative Works

The proliferation of Light Detection and Ranging (LiDAR) technology in the automotive industry has quickly promoted its use in many emerging areas in smart cities and internet-of-things. Compared to other sensors, like cameras and radars, LiDAR provides up to 64 scanning channels, vertical and horizontal field of view, high precision, high detection range, and great performance under poor weather conditions. In this paper, we propose a novel aerial traffic monitoring solution based on Light Detection and Ranging (LiDAR) technology. By equipping unmanned aerial vehicles (UAVs) with a LiDAR sensor, we generate 3D point cloud data that can be used for …

Estimation Of Cotton Canopy Parameters Based On Unmanned Aerial Vehicle (Uav) Oblique Photography, Jinyong Wu, Sheng Wen, Yubin Lan, Xuanchun Yin, Jiantao Zhang, Yufeng Ge

Biological Systems Engineering: Papers and Publications

Background: The technology of cotton defoliation is essential for mechanical cotton harvesting. Agricultural unmanned aerial vehicle (UAV) spraying has the advantages of low cost, high efficiency and no mechanical damage to cotton and has been favored and widely used by cotton planters in China. However, there are also some problems of low cotton defoliation rates and high impurity rates caused by unclear spraying amounts of cotton defoliants. The chemical rate recommendation and application should be based upon crop canopy volume rather than on land area. Plant height and leaf area index (LAI) is directly connected to plant canopy structure. …

Uav Rapidly-Deployable Stage Sensor With Electro-Permanent Magnet Docking Mechanism For Flood Monitoring In Undersampled Watersheds, Corinne A, Smith, Joud Satme, Jacob Martin, Austin Downey, Nikolaos Vitzilaios, Jasim Imran

Faculty Publications

The availability of historical flood data is vital in recognizing weather-related trends and outlining necessary precautions for at-risk communities. Flood frequency, magnitude, endurance, and volume are traditionally recorded using established streamgages; however, the material and installation costs allow only a few streamgages in a region, which yield a narrow data selection. In particular, stage, the vertical water height in a water body, is an important parameter in determining flood trends. This work investigates a low-cost, compact, rapidly-deployable alternative to traditional stage sensors that will allow for denser sampling within a watershed and a more detailed record of flood events. The …

Autonomous Unmanned Aerial Vehicle Navigation Using Reinforcement Learning: A Systematic Review, Fadi Almahamid, Katarina Grolinger

Electrical and Computer Engineering Publications

There is an increasing demand for using Unmanned Aerial Vehicle (UAV), known as drones, in different applications such as packages delivery, traffic monitoring, search and rescue operations, and military combat engagements. In all of these applications, the UAV is used to navigate the environment autonomously --- without human interaction, perform specific tasks and avoid obstacles. Autonomous UAV navigation is commonly accomplished using Reinforcement Learning (RL), where agents act as experts in a domain to navigate the environment while avoiding obstacles. Understanding the navigation environment and algorithmic limitations plays an essential role in choosing the appropriate RL algorithm to solve the …

Precision Maritime Localization And Landing With Real-Time Kinematic Gnss, Alexander Jordan, Matthew Kent Rydalch, Tim Mclain, Michael Williamson Tabango

Student Works

This paper presents a highly effective method for UAV precision shipboard localization and landing using Real-time Kinematic Global Navigation Satellite System (RTK GNSS). To assess the feasibility of RTK GNSS for this use case we explicitly exclude vision-based localization techniques which are most often presented in the literature. Instead, the methods presented in this paper use only RTK GNSS with an inertial measurement unit aboard the landing pad to estimate the state of the boat and the relative position of the UAV with respect to the boat. We use a continuous-discrete extended Kalman filter combined with a complementary filter for …

Robust Nonlinear Tracking Control For Unmanned Aircraft In The Presence Of Wake Vortex, Petr Kazarin, Vladimir Golubev, William Mackunis, Claudia Moreno

Publications

The flight trajectory of unmanned aerial vehicles (UAVs) can be significantly affected by external disturbances such as turbulence, upstream wake vortices, or wind gusts. These effects present challenges for UAV flight safety. Hence, addressing these challenges is of critical importance for the integration of unmanned aerial systems (UAS) into the National Airspace System (NAS), especially in terminal zones. This work presents a robust nonlinear control method that has been designed to achieve roll/yaw regulation in the presence of unmodeled external disturbances and system nonlinearities. The data from NASA-conducted airport experimental measurements as well as high-fidelity Large Eddy Simulations of the …

Power-Over-Tether Unmanned Aerial System Leveraged For Trajectory Influenced Atmospheric Sensing, Daniel Rico

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

The use of unmanned aerial systems (UASs) in agriculture has risen in the past decade and is helping to modernize agriculture. UASs collect and elucidate data previously difficult to obtain and are used to help increase agricultural efficiency and production. Typical commercial off-the-shelf (COTS) UASs are limited by small payloads and short flight times. Such limits inhibit their ability to provide abundant data at multiple spatiotemporal scales. In this thesis, we describe the design and construction of the tethered aircraft unmanned system (TAUS), which is a novel power-over-tether UAS configured for long-term, high throughput atmospheric monitoring with an array of …

Aerial Flight Paths For Communication, Alisha Bevins

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

This body of work presents an iterative process of refinement to understand naive perception of communication using the motion of an unmanned aerial vehicle (UAV). This includes what people believe the UAV is trying to communicate, and how they expect to respond through physical action or emotional response. Previous work in this area sought to communicate without clear definitions of the states attempting to be conveyed. In an attempt to present more concrete states and better understand specific motion perception, this work goes through multiple iterations of state elicitation and label assignment. The lessons learned in this work will be …

Creating A Field-Wide Forage Canopy Model Using Uavs And Photogrammetry Processing, Cameron Minch, Joseph S. Dvorak, Joshua J. Jackson, Stuart Tucker Sheffield

Biosystems and Agricultural Engineering Faculty Publications

Alfalfa canopy structure reveals useful information for managing this forage crop, but manual measurements are impractical at field-scale. Photogrammetry processing with images from Unmanned Aerial Vehicles (UAVs) can create a field-wide three-dimensional model of the crop canopy. The goal of this study was to determine the appropriate flight parameters for the UAV that would enable reliable generation of canopy models at all stages of alfalfa growth. Flights were conducted over two separate fields on four different dates using three different flight parameters. This provided a total of 24 flights. The flight parameters considered were the following: 30 m altitude with …

Research And Education For Optimizing The Development And Implementation Of An Unmanned Aircraft Program At The Nebraska Department Of Transportation, Wayne Woldt, Jon Starr, Christopher M. U. Neale

Nebraska Department of Transportation: Research Reports

This report describes the development and implementation of an Unmanned Aircraft System Program at the Nebraska Department of Transportation (NDOT). The project involved the selection and purchase of appropriate UAS and imaging systems for NDOT, education and training for NDOT personnel with classroom and hands-on operation of UAS with the goal of obtaining proficiency and pilot licenses. In addition, the development of policy for the use of UAS within NDOT was accomplished as well as standard operating procedures (SOP) documentation and the development of example case studies of interest to NDOT using the purchased systems and technology.

Research And Education For Optimizing The Development And Implementation Of An Unmanned Aircraft Program At The Nebraska Department Of Transportation, Wayne Woldt, Jon Starr, C.M.U. Neale

Nebraska Department of Transportation: Research Reports

This report describes the development and implementation of an Unmanned Aircraft System Program at the Nebraska Department of Transportation (NDOT). The project involved the selection and purchase of appropriate UAS and imaging systems for NDOT, education and training for NDOT personnel with classroom and hands-on operation of UAS with the goal of obtaining proficiency and pilot licenses. In addition, the development of policy for the use of UAS within NDOT was accomplished as well as standard operating procedures (SOP) documentation and the development of example case studies of interest to NDOT using the purchased systems and technology.

Field Demonstration Of Gpr And Uav Technologies For Evaluation Of Two Us 75/77 Bridges, Sepehr Pashoutani, Jinying Zhu, Chungwook Sim, Ji-Yong Lee

Nebraska Department of Transportation: Research Reports

Two Nebraska bridges with asphalt overlay were selected for nondestructive testing and evaluation (NDT/NDE). Three NDT techniques were conducted on these two bridges, including Ground Penetrating Radar (GPR), Half-Cell Potential (HCP) and Unmanned Aerial Vehicle (UAV) imaging. NDT data were collected during three construction stages of the bridges: (1) before repair on existing asphalt overlay; (2) on bare concrete after asphalt removal; (3) and after repairing delaminated concrete.

A machine learning technique, autoencoder, was used to build quantitative relationships between different NDT datasets. On bare concrete, the GPR amplitude and HCP voltage show a strong linear relationship. Then a threshold …

Falcon Unmanned Aerial Vehicle, Dereck Plante, Geoff Mcclary, Johnny Greaser, Micah Lehman, Kyle Miller, Pauline Deutcheu Tchouako

Falcon Unmanned Aerial Vehicle (2019-21)

Missionary aviation pilots often must land their planes on remote airstrips that might be unsafe due to runway obstructions such as encroaching vegetation or large objects that were unknowingly placed on the runway. The Falcon Unmanned Aerial Vehicle (UAV) team partnered with Indigenous People's Technology and Education Center (ITEC) to develop an imaging system using a UAV to scan airstrips to detect these obstructions. ITEC was founded by Steve Saint, the son of martyred missionary Nate Saint, to develop technologies to aid missionaries and indigenous peoples in their work. The Falcon UAV team focused primarily on the use of automated …

Nonlinear Trajectory Tracking Control For Winged Evtol Uavs, Jacob Willis, Randal W. Beard

Faculty Publications

Current control methods for winged eVTOL UAVs consider the vehicle primarily as a fixed-wing aircraft with the addition of vertical thrust used only during takeoff and landing. These methods provide good long-range flight handling but fail to consider the full dynamics of the vehicle for tracking complex trajectories. We present a trajectory tracking controller for the full dynamics of a winged eVTOL UAV in hover, fixed-wing, and partially transitioned flight scenarios. We show that in low- to moderate-speed flight, trajectory tracking can be achieved using a variety of pitch angles. In these conditions, the pitch of the vehicle is a …

Application Of A Small Unmanned Aerial System To Measure Ammonia Emissions From A Pilot Amine-Co2 Capture System, Travis J. Schuyler, Bradley Irvin, Keemia Abad, Jesse G. Thompson, Kunlei Liu, Marcelo I. Guzman

Chemistry Faculty Publications

The quantification of atmospheric gases with small unmanned aerial systems (sUAS) is expanding the ability to safely perform environmental monitoring tasks and quickly evaluate the impact of technologies. In this work, a calibrated sUAS is used to quantify the emissions of ammonia (NH₃) gas from the exit stack a 0.1 MWth pilot-scale carbon capture system (CCS) employing a 5 M monoethanolamine (MEA) solvent to scrub CO₂ from coal combustion flue gas. A comparison of the results using the sUAS against the ion chromatography technique with the EPA CTM-027 method for the standard emission sampling of NH_{3 …}

Uas Detection And Negation, Houbing Song, Yongxin Liu, Jian Wang

Publications

Unauthorized operation of a UAV may present privacy or security risks. A software-defined radio (SDR) or other receiver can be used to monitor a specified range of frequencies to provide detection of wireless communication signals suspected of relating to UAV operation. A protocol detector corresponding to a trained classifier can be applied to data packets demodulated by the SDR. A transmitter can then be triggered to provide warnings by injecting warning data into a video channel in response to the detected protocol. Control of the UAV can be established by transmitting simulated control commands that overwhelm the signals received from …

Real-Time Work Zone Traffic Management Via Unmanned Air Vehicles, Charles Malveaux Ph.D, Marcio De Queiroz Ph.D, Xin Li Ph.D, Hanny Hassan Ph.D, Zewei He Ph.D

Data

Highway work zones are prone to traffic accidents when congestion and queues develop. Vehicle queues expand at a rate of 1 mile every 2 minutes. Back-of-queue, rear-end crashes are the most common work zone crash, endangering the safety of motorists, passengers, and construction workers. The dynamic nature of queuing in the proximity of highway work zones necessitates traffic management solutions that can monitor and intervene in real time. Fortunately, recent progress in sensor technology, embedded systems, and wireless communication coupled to lower costs are now enabling the development of real-time, automated, “intelligent” traffic management systems that address this problem. The …

Real-Time Work Zone Traffic Management Via Unmanned Air Vehicles, Charles Malveaux Ph.D, Marcio De Queiroz Ph.D, Xin Li Ph.D, Hany Hassan Ph.D, Zewei He Ph.D

Publications

Highway work zones are prone to traffic accidents when congestion and queues develop. Vehicle queues expand at a rate of 1 mile every 2 minutes. Back-of-queue, rear-end crashes are the most common work zone crash, endangering the safety of motorists, passengers, and construction workers. The dynamic nature of queuing in the proximity of highway work zones necessitates traffic management solutions that can monitor and intervene in real time. Fortunately, recent progress in sensor technology, embedded systems, and wireless communication coupled to lower costs are now enabling the development of real-time, automated, “intelligent” traffic management systems that address this problem. The …

Evaluating The Potential Of Drone Swarms In Nonverbal Hri Communication, Kasper Grispino, Damian Lyons, Truong-Huy Nguyen

Faculty Publications

Human-to-human communications are enriched with affects and emotions, conveyed, and perceived through both verbal and nonverbal communication. It is our thesis that drone swarms can be used to communicate information enriched with effects via nonverbal channels: guiding, generally interacting with, or warning a human audience via their pattern of motions or behavior. And furthermore that this approach has unique advantages such as flexibility and mobility over other forms of user interface. In this paper, we present a user study to understand how human participants perceived and interpreted swarm behaviors of micro-drone Crazyflie quadcopters flying three different flight formations to bridge …

Power-Over-Tether Uas Leveraged For Nearly-Indefinite Meteorological Data Acquisition, Daniel Rico, Carrick Detweiler, Francisco Muñoz-Arriola

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

Use of unmanned aerial systems (UASs) in agriculture has risen in the past decade. These systems are key to modernizing agriculture. UASs collect and elucidate data previously difficult to obtain and used to help increase agricultural efficiency and production. Typical commercial off-the-shelf (COTS) UASs are limited by small payloads and short flight times. Such limits inhibit their ability to provide abundant data at multiple spatiotemporal scales. In this paper, we describe the design and construction of the tethered aircraft unmanned system (TAUS), which is a novel power-over-tether UAS leveraging the physical presence of the tether to launch multiple sensors along …

Aerodynamic And Aeroacoustic Performance Of Small Uav Propellers In Static Conditions, William Jordan, Robert W. Deters, Shreyas Narsipur

Publications

The proliferation of small multi-rotor UAVs in commercial, recreational, and surveillance spheres has garnered significant interest in the noise produced by these vehicles. The current research aims to study the relationship between the aerodynamic performance and acoustic characteristics of small-scale UAV propellers. Three commercially available propellers for the DJI Phantom 2/3 UAV were selected for preliminary development and validation of an aeroacoustic experimental test setup and associated data reduction methods. Propeller thrust, torque, and power measurements were recorded at static conditions. Upon successful validation of the test bench, acoustic measurements were taken at the propeller disk’s upstream and in-plane locations. …

Performance Testing Of Aero-Naut Camfolding Propellers, Or D. Dantsker, Robert W. Deters, Marco Caccamo, Michael S. Selig

Publications

The increase in popularity of unmanned aerial vehicles (UAVs) has been driven by their use in civilian, education, government, and military applications. However, limited on-board energy storage significantly limits flight time and ultimately usability. The propulsion system plays a critical part in the overall energy consumption of the UAV; therefore, it is necessary to determine the most optimal combination of possible propulsion system components for a given mission profile, i.e. propellers, motors, and electronic speed controllers (ESC). Hundreds of options are available for the different components with little performance specifications available for most of them. By examining a variety of …

Modeling And Simulation Of A Robotic Bridge Inspection System, Md Monirul Karim, Cihan H. Dagli, Ruwen Qin

Engineering Management and Systems Engineering Faculty Research & Creative Works

Inspection and preservation of the aging bridges to extend their service life has been recognized as one of the important tasks of the State Departments of Transportation. Yet manual inspection procedure is not efficient to determine the safety status of the bridges in order to facilitate the implementation of appropriate maintenance. In this paper, a complex model involving a remotely controlled robotic platform is proposed to inspect the safety status of the bridges which will eliminate labor-intensive inspection. Mobile cameras from unmanned airborne vehicles (UAV) are used to collect bridge inspection data in order to record the periodic changes of …