scholarly journals PPS: Energy-Aware Grid-Based Coverage Path Planning for UAVs Using Area Partitioning in the Presence of NFZs

Sensors ◽  
2020 ◽  
Vol 20 (13) ◽  
pp. 3742
Author(s):  
Alia Ghaddar ◽  
Ahmad Merei ◽  
Enrico Natalizio
Keyword(s):  
Minimum Energy ◽  
Energy Aware ◽  
Coverage Path Planning ◽  
Minimum Energy Consumption ◽  
Aerial Vehicle ◽  
Monitoring And Surveillance ◽  
Area Monitoring ◽  
Grid Based ◽  
Quality Of Coverage

Area monitoring and surveillance are some of the main applications for Unmanned Aerial Vehicle (UAV) networks. The scientific problem that arises from this application concerns the way the area must be covered to fulfill the mission requirements. One of the main challenges is to determine the paths for the UAVs that optimize the usage of resources while minimizing the mission time. Different approaches rely on area partitioning strategies. Depending on the size and complexity of the area to monitor, it is possible to decompose it exactly or approximately. This paper proposes a partitioning method called Parallel Partitioning along a Side (PPS). In the proposed method, grid-mapping and grid-subdivision of the area, as well as area partitioning are performed to plan the UAVs path. An extra challenge, also tackled in this work, is the presence of non-flying zones (NFZs). These zones are areas that UAVs must not cover or pass over it. The proposal is extensively evaluated, in comparison with existing approaches, to show that it enables UAVs to plan paths with minimum energy consumption, number of turns and completion time while at the same time increases the quality of coverage.

scholarly journals Energy-aware Coverage Path Planning for Unmanned Aerial Vehicles

2020 ◽  
Author(s):  
Tauã Cabreira ◽  
Lisane Brisolara ◽  
Paulo Ferreira Jr.
Keyword(s):  
Energy Consumption ◽  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Partial Information ◽  
State Of The Art ◽  
Energy Aware ◽  
Coverage Path Planning ◽  
Aerial Vehicles ◽  
Novel Approaches ◽  
Grid Based

Coverage Path Planning (CPP) problem is a motion planning subtopic in robotics, where it is necessary to build a path for a robot to explore every location in a given scenario. Unmanned Aerial Vehicles (UAV) have been employed in several applications related to the CPP problem. However, one of the significant limitations of UAVs is endurance, especially in multi-rotors. Minimizing energy consumption is pivotal to prolong and guarantee coverage. Thus, this work proposes energy-aware coverage path planning solutions for regular and irregular-shaped areas containing full and partial information. We consider aspects such as distance, time, turning maneuvers, and optimal speed in the UAV’s energy consumption. We propose an energy-aware spiral algorithm called E-Spiral to perform missions over regular-shaped areas. Next, we explore an energy-aware grid-based solution called EG-CPP for mapping missions over irregular-shaped areas containing no-fly zones. Finally, we present an energy-aware pheromone-based solution for patrolling missions called NC-Drone. The three novel approaches successfully address different coverage path planning scenarios, advancing the state-of-the-art in this area.

scholarly journals Real Time Minimum Energy Tracking Techniquies for Digital Load Circuit

2019 ◽  
Vol 8 (3) ◽  
pp. 5897-5900
Keyword(s):  
Energy Consumption ◽  
Minimum Energy ◽  
Estimation Methods ◽  
System Software ◽  
Efficient Design ◽  
Tablet Pcs ◽  
Minimum Energy Consumption ◽  
Different Levels ◽  
Load Circuit

Minimization of energy consumption is an important constraint in portable electronic devices such as smart phones or tablet PCs, laptops . With reliable energy measurement and estimation methods and tools, it is possible to accurate prediction of minimum energy consumption at different levels i.e., from circuit to architecture, architecture to system software and system software to application. Energy efficient design requires reducing energy dissipation in all stages of the design process without compromising the system performance and the quality of services..

scholarly journals Analytical Synthesis of Control Acceleration of Unmanned Aerial Vehicle

2021 ◽  
Vol 20 (4) ◽  
pp. 338-344
Author(s):  
A. A. Lobaty ◽  
A. Y. Bumai ◽  
S. S. Prohorovith
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Minimum Energy ◽  
Vertical Plane ◽  
Original Form ◽  
Minimum Energy Consumption ◽  
Initial Stage ◽  
Horizontal Flight ◽  
Aerial Vehicle ◽  
Definition Of ◽  
Analytical Synthesis

. The problem of analytical synthesis of the control acceleration for an unmanned aerial vehicle (UAV) during its flight along a complex trajectory, consisting of sequentially located horizontal flight sections, located at different heights relative to the earth's surface has been solved in the paper. The problem has been solved as an analytical definition of the  optimal control of a linear non-stationary system for a specified minimized quality functional. The mathematical model  of the system is presented in the form of differential equations of UAV motion in the vertical plane of a fixed coordinate  system related to the earth's surface. A feature of the proposed methodology for solving the problem is the substantiation  of the original form of the minimized functional and parameters included in the law of variation of the control acceleration obtained by known methods. As the components of the quality functional, the values of coordinates and velocity of the UAV are considered and they are specified at the corresponding points in space through which the UAV path must pass, in order  to obtain the optimal curvature of the trajectory. The derived mathematical dependences make it possible to implement them on board of an aircraft and, ultimately, solve the problem of ensuring the minimum energy consumption when controlling  an object (UAV). Computer simulation of the analytically obtained results in the form of the UAV flight trajectory and  the processes of changing its acceleration and speed have shown the efficiency of the proposed technique and the prospects  of its use at the initial stage of the synthesis of the UAV control system.

scholarly journals On Obtaining Energy-Optimal Trajectories for Landing of UAVs

Energies ◽  
2020 ◽  
Vol 13 (8) ◽  
pp. 2062
Author(s):  
Dariusz Horla ◽  
Jacek Cieślak
Keyword(s):  
Minimum Principle ◽  
Optimal Path ◽  
Minimum Energy ◽  
Reference Trajectory ◽  
Classical Dynamic ◽  
Optimal Path Planning ◽  
Minimum Energy Consumption ◽  
Programming Techniques ◽  
Aerial Vehicle ◽  
Reference Trajectories

The optimization issues connected to a landing task of an unmanned aerial vehicle are discussed in the paper, based on a model of a mini-class drone. Three landing scenarios are considered, including minimum-time landing, landing with minimum energy consumption, and planned landing. With the use of classical dynamic programming techniques, including the minimum principle of Pontryagin, as well as the calculus of variations, the optimal altitude reference trajectories are found, to form the altitude control system in such a way as to mimic the profile of the reference trajectory by the actual altitude of the UAV. The simulation results conducted with the use of the Simulink Support Package for Parrot Minidrones verify the correctness and effectiveness of the method, and open the research directions for further analysis, especially to tune altitude controller in a way, as to track the reference profile. Up to this point, optimization tasks considered in the literature, with respect to the drones, were connected to swarm formation optimization, optimization of the take-off process or landing process limited to optimal path planning. This paper thus considers a new topic in the field.

scholarly journals Stability of Heat and Energy Characteristics of Refrigerating Units as a Condition of Quality Increase of Agricultural Production Storage

2021 ◽  
Author(s):  
Sergey E. Bashniak ◽  
Evgeniy A. Ladygin ◽  
Olga S. Anisimova ◽  
Valentina Yu. Kontareva ◽  
Natalya G. Papchenko ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Agricultural Production ◽  
Minimum Energy ◽  
Specific Energy Consumption ◽  
Temperature Stability ◽  
Technical Condition ◽  
Storage Quality ◽  
Minimum Energy Consumption ◽  
Energy Indicators

This article provides information about the importance of stable thermal operating modes of refrigeration machines in the condition of changes in the thermal load on the compressor. We also consider the problem of the minimum energy consumption of refrigeration machines. These two parameters characterize the storage quality of agricultural products in refrigeration machines. It is shown that the temperature stability of the cooling chambers and the minimum energy consumption of the cooling process determine the refrigerator efficiency and, ultimately, the production cost. The article proposes continuous monitoring of the heat and energy indicators of refrigerators. These indicators are recorded and after the set period of operation, control and verification measurements of the control refrigeration machine’s heat and energy indicators are performed. The convergence or divergence of these indicators is used to evaluate the stability of the cooling chambers’ temperature regimes and the specific energy consumption. We also consider the influence of time on the performance of the compression refrigeration machine changes and methods of current technical condition diagnostics. If the deviations are insignificant, the program goes through the cycle to the beginning of monitoring and after a set period of time again automatically performs control measurements and evaluation of deviations. In the case of significant deviations, the decision-making subroutine is activated: either to operate the refrigerator further; perform its maintenance; suspend its operation; or replace it. Keywords: refrigeration units, cooling, heat and power characteristics, management controller, storage quality of agricultural production

scholarly journals EAOA: Energy-Aware Grid-Based 3D-Obstacle Avoidance in Coverage Path Planning for UAVs

2020 ◽  
Vol 12 (2) ◽  
pp. 29 ◽  
Author(s):  
Alia Ghaddar ◽  
Ahmad Merei
Keyword(s):  
Path Planning ◽  
Obstacle Avoidance ◽  
Second Phase ◽  
Energy Aware ◽  
Coverage Path Planning ◽  
Scene Information ◽  
Two Phases ◽  
3D Scene ◽  
Top View ◽  
Grid Based

The presence of obstacles like a tree, buildings, or birds along the path of a drone has the ability to endanger and harm the UAV’s flight mission. Avoiding obstacles is one of the critical challenging keys to successfully achieve a UAV’s mission. The path planning needs to be adapted to make intelligent and accurate avoidance online and in time. In this paper, we propose an energy-aware grid based solution for obstacle avoidance (EAOA). Our work is based on two phases: in the first one, a trajectory path is generated offline using the area top-view. The second phase depends on the path obtained in the first phase. A camera captures a frontal view of the scene that contains the obstacle, then the algorithm determines the new position where the drone has to move to, in order to bypass the obstacle. In this paper, the obstacles are static. The results show a gain in energy and completion time using 3D scene information compared to 2D scene information.

scholarly journals Theoretical substantiation of constructive parameters of the working body of the chain top-crusher

2019 ◽  
pp. 84-88
Author(s):  
Vladimir Vladimirovich Melem ◽  
Nikolay Vasilievich Stepanov ◽  
Vyacheslav Vladimirovich Bonnet
Keyword(s):  
Energy Consumption ◽  
Minimum Energy ◽  
Mechanical Parameters ◽  
Theoretical Substantiation ◽  
Minimum Energy Consumption ◽  
Transverse Profile ◽  
Improved Performance ◽  
The Moment ◽  
Working Bodies

The top-crusher with more advanced design and improved performance characteristics has been proposed. The dependence between geometric and mechanical parameters of the rotor is established, providing maximum absolute speed of knife blades for the moment of cutting the stem which creates the best conditions for grinding the stems. It follows from the results of calculations that the proposed chain top-crusher, in comparison to the existing analogues, has: minimum energy consumption (Nprv=13-15 kWt), and, consequently, the lower fuel consumption (in comparison to KIR-1.5 Nprv KIR=18-20 kWt), improved quality of making technological process – by copying the transverse profile of the ridges and the increased reliability of working bodies.

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