Wireless Sensor Networks and Multi-UAV systems for natural disaster management

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Wildfires represent an important natural risk causing economic losses, human death and important environmental damage. In recent years, we witness an increase in fire intensity and frequency. Research has been conducted towards the development of dedicated solutions for wildland and forest fire assistance and fighting. Systems were proposed for the remote detection and tracking of fires. These systems have shown improvements in the area of efficient data collection and fire characterization within small scale environments. However, wildfires cover large areas making some of the proposed ground-based systems unsuitable for optimal coverage. To tackle this limitation, Unmanned Aerial Systems (UAS) were proposed. UAS have proven to be useful due to their maneuverability, allowing for the implementation of remote sensing, allocation strategies and task planning. They can provide a low-cost alternative for the prevention, detection and real-time support of firefighting. In this paper we review previous work related to the use of UAS in wildfires. Onboard sensor instruments, fire perception algorithms and coordination strategies are considered. In addition, we present some of the recent frameworks proposing the use of both aerial vehicles and Unmanned Ground Vehicles (UV) for a more efficient wildland firefighting strategy at a larger scale.

Unmanned Aerial Systems for Wildland and Forest Fires.

Wildfires represent a significant natural risk causing economic losses, human death and environmental damage. In recent years, the world has seen an increase in fire intensity and frequency. Research has been conducted towards the development of dedicated solutions for wildland fire assistance and fighting. Systems were proposed for the remote detection and tracking of fires. These systems have shown improvements in the area of efficient data collection and fire characterization within small-scale environments. However, wildland fires cover large areas making some of the proposed ground-based systems unsuitable for optimal coverage. To tackle this limitation, unmanned aerial vehicles (UAV) and unmanned aerial systems (UAS) were proposed. UAVs have proven to be useful due to their maneuverability, allowing for the implementation of remote sensing, allocation strategies and task planning. They can provide a low-cost alternative for the prevention, detection and real-time support of firefighting. In this paper, previous works related to the use of UAV in wildland fires are reviewed. Onboard sensor instruments, fire perception algorithms and coordination strategies are considered. In addition, some of the recent frameworks proposing the use of both aerial vehicles and unmanned ground vehicles (UGV) for a more efficient wildland firefighting strategy at a larger scale are presented.

https://www.mdpi.com/2504-446X/5/1/15/pdf

Unmanned Aerial Vehicles for Wildland Fires: Sensing, Perception, Cooperation and Assistance

In recent years, Unmanned Aerial Vehicles (UAVs) have gained significant interest in research groups due to the wide range of applications, such as disaster surveillance and monitoring, rescue operations, military, civil, and so forth. UAVs are most often used to fulfill both user's services and requirements such as wireless communication facilities to end‐users, as a relay node to extend the coverage of the core network, and so forth. UAVs are versatile in design and can cover larger areas, contrary to the Tethered Balloon and Loon Balloon systems. Generally in any natural or human‐made disaster, there is a high potential risk of damage to buildings, transport systems, communication systems, and basic services. During heavy disasters like landslides, forest fires, floods, earthquakes, and so forth, the conventional terrestrial communication system gets destroyed, and people face many problems. In this case, UAVs prove to offer a better solution to provide fast, cost‐effective, easy to deploy, and secure wireless communication to the victims. But there are some issues like interference between UAVs and other base stations, coordination between UAVs, Quality of Service requirements, Size, Weight, and Power limitation, delay, coverage, positioning of UAVs, and so forth. This study article mainly highlighted these issues and try to present the recent developments of the state‐of‐the‐art to overcome these issues. In UAV communications, with an increasing emphasis on how UAVs can be integrated with different technologies, such as the Internet of Things, Wireless Sensor Network, Heterogeneous Network, and Cloud computing. The primary aim of this article is to examine how UAVs can assist survivors in floods, earthquakes, tsunamis, or in any natural or human‐made disaster situations, either in the present or soon. Also, it focused on various applications of UAVs in disaster management (DM). It underlines the significance of UAVs in DM and their advantages. It also focuses on the various issues and challenges faced by the UAV‐based infrastructure and security issues and gives future directions.

Emerging UAV technology for disaster detection, mitigation, response, and preparedness

In this paper we study the problem of rock detection in a Mars-like environment. We propose a convolutional neural network (CNN) to obtain a segmented image. The CNN is a modified version of the U-net architecture with a smaller number of parameters to improve the inference time. The performance of the methodology is proved in a dataset that contains several images of a Mars-like environment, achieving an F-score of 78.5%.

Rock Detection in a Mars-Like Environment Using a CNN.

This paper deals with the ball-and-plate system, this system provide an extended rendering of a ball-and-beam system. Our purpose is to move a ball to a specific target in the plate. It can be moved all around the surface. In this sense, a design of Mamdani-type fuzzy control is proposed and a visual feedback is provided in order to complete the system. A full new real time system is achieved.

Design and Implementation of a Visual Fuzzy Control in FPGA for the Ball and Plate System

In the present paper, we deal with the grasping aspect regarding reactive object retrieving during fast aerial pick-and-place maneuevers. The paper addresses the problem of the optimal grabbing of an object by means of a 5 degrees of freedom (DoF) gripper. Also, is introduced the optimization framework for the identification of the optimal contact points between the end-effector and the object. In particular, we define an objective functional to evaluate the optimality of the contact points and we propose a preliminary strategy to identify the optimal contact points. Simulations and experimental are presented to support the actual proposal.

Optimal grasping points identification for a rotational four-fingered aerogripper

This paper presents a supervisory control system for humanoid robot motion planning. The proposed system is a supervisory structure formed by two hierarchical levels of a discrete event system. The high level system is represented by a Petri net. This Petri net behaves as a supervisor that indicates the sequence of motions that the robot has to make. A robot walking in a closed space forms the lower level. The robot decisions are modeled by a fuzzy logic configuration using a Fuzzy Inference System (FIS).

Humanoid robot hierarchical navigation using Petri nets and fuzzy logic

A three dimensional (3-D) digital image emerges as a straightforward extension of a two dimensional (2-D) digital image. A 3-D digital image can be obtained by digitizing the 3-D space in which one or more objects of interest can be contained. From each object in the digital image, several features describing their geometry and topology can be computed. One of these features is the Euler number. An alternative method to compute the Euler number of a 3-D digital object (image) in terms of a codification of the vertices of the object voxels is described. The set of formal propositions baseline of the proposal operation are provided, demonstrated and numerically validated with simple objects. Examples with images of different complexity show the applicability of the proposal. The proposed method emerges as an extension of the proposal introduced for the 2-D case in [21] and as alternative of the formulation well described in [22].

Vertex Codification Applied to 3-D Binary Image Euler Number Computation

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