TY  - JOUR
A1  - Gageik, Nils
A1  - Strohmeier, Michael
A1  - Montenegro, Sergio
T1  - Waypoint flight parameter comparison of an autonomous UAV
JF  - International Journal of Artificial Intelligence & Applications (IJAIA)
N2  - The present paper compares the effect of different waypoint parameters on the flight performance of a special autonomous indoor UAV (unmanned aerial vehicle) fusing ultrasonic, inertial, pressure and optical sensors for 3D positioning and controlling. The investigated parameters are the acceptance threshold for reaching a waypoint as well as the maximal waypoint step size or block size. The effect of these parameters on the flight time and accuracy of the flight path is investigated. Therefore the paper addresses how the acceptance threshold and step size influence the speed and accuracy of the autonomous flight and thus influence the performance of the presented autonomous quadrocopter under real indoor navigation circumstances.
Furthermore the paper demonstrates a drawback of the standard potential field method for navigation of such autonomous quadrocopters and points to an improvement.
KW  - autonomous UAV
KW  - Quadrocopter
KW  - Quadrotor
KW  - waypoint parameter
KW  - navigation
Y1  - 2013
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-96833
ER  - 
TY  - JOUR
A1  - Becker, Martin
A1  - Caminiti, Saverio
A1  - Fiorella, Donato
A1  - Francis, Louise
A1  - Gravino, Pietro
A1  - Haklay, Mordechai (Muki)
A1  - Hotho, Andreas
A1  - Loreto, Virrorio
A1  - Mueller, Juergen
A1  - Ricchiuti, Ferdinando
A1  - Servedio, Vito D. P.
A1  - Sirbu, Alina
A1  - Tria, Franesca
T1  - Awareness and Learning in Participatory Noise Sensing
JF  - PLOS ONE
N2  - The development of ICT infrastructures has facilitated the emergence of new paradigms for looking at society and the environment over the last few years. Participatory environmental sensing, i.e. directly involving citizens in environmental monitoring, is one example, which is hoped to encourage learning and enhance awareness of environmental issues. In this paper, an analysis of the behaviour of individuals involved in noise sensing is presented. Citizens have been involved in noise measuring activities through the WideNoise smartphone application. This application has been designed to record both objective (noise samples) and subjective (opinions, feelings) data. The application has been open to be used freely by anyone and has been widely employed worldwide. In addition, several test cases have been organised in European countries. Based on the information submitted by users, an analysis of emerging awareness and learning is performed. The data show that changes in the way the environment is perceived after repeated usage of the application do appear. Specifically, users learn how to recognise different noise levels they are exposed to. Additionally, the subjective data collected indicate an increased user involvement in time and a categorisation effect between pleasant and less pleasant environments.
KW  - exposure
Y1  - 2013
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-127675
SN  - 1932-6203
VL  - 8
IS  - 12
ER  - 
TY  - JOUR
A1  - Gageik, Nils
A1  - Strohmeier, Michael
A1  - Montenegro, Sergio
T1  - An Autonomous UAV with an Optical Flow Sensor for Positioning and Navigation
JF  - International Journal of Advanced Robotic Systems
N2  - A procedure to control all six DOF (degrees of freedom) of a UAV (unmanned aerial vehicle) without an external reference system and to enable fully autonomous flight is presented here. For 2D positioning the principle of optical flow is used. Together with the output of height estimation, fusing ultrasonic, infrared and inertial and pressure sensor data, the 3D position of the UAV can be computed, controlled and steered. All data processing is done on the UAV. An external computer with a pathway planning interface is for commanding purposes only. The presented system is part of the AQopterI8 project, which aims to develop an autonomous flying quadrocopter for indoor application. The focus of this paper is 2D positioning using an optical flow sensor. As a result of the performed evaluation, it can be concluded that for position hold, the standard deviation of the position error is 10cm and after landing the position error is about 30cm.
KW  - Autonomous UAV
KW  - Quadrocopter
KW  - Quadrotor
KW  - Optical Flow
KW  - positioning
KW  - navigation
Y1  - 2013
U6  - http://nbn-resolving.de/urn/resolver.pl?urn:nbn:de:bvb:20-opus-96368
ER  -