An unmanned aerial vehicle is described and includes a computer carried by the unmanned aerial vehicle to control flight of the unmanned aerial vehicle and at least one sensor. The unmanned aerial vehicle is caused to fly a specific pattern within a facility, receive sensor data from a sensor carried by the vehicle, apply processing to the sensor data to detect an unacceptable level of detected feature differences in features contained in the sensor data with respect to video data previously captured at the same location, determine a new flight instruction for the vehicle based on the processing; and send the new flight instruction for the vehicle to a system for controlling flight of the vehicle.

Drone Tours In Security Systems

Field programmable gate arrays (FPGAs) have established themselves as one of the preferred digital implementation platforms in a plethora of current industrial applications, and extensions and improvements are still continuously being included in the devices. This paper reviews recent advancements in FPGA technology, emphasizing the novel features that may significantly contribute to the development of more efficient digital systems for industrial applications. Special attention is paid to the design paradigm shift caused by the availability of increasingly powerful embedded (and soft) processors, which transformed FPGAs from hardware accelerators to very powerful system-on-chip (SoC) platforms. New analog resources, floating-point operators, and hard memory controllers are also described, because of the great advantages they provide to designers. Software tools are being strongly influenced by the design paradigm shift, which requires from them a much better support for software developers. Focusing mainly on this issue, recent advancements in software resources [intellectual property (IP) cores and design tools] are also reviewed. The impact of new FPGA features in industrial applications is analyzed in detail in three main areas, namely digital real-time simulation, advanced control techniques, and electronic instrumentation, with focus on mechatronics, robotics, and power systems design. The way digital systems are being currently designed in these areas is comprehensively reviewed, and a critical analysis of how they could significantly benefit from new FPGA features is presented.

Advanced Features and Industrial Applications of FPGAs—A Review

A method of docking and recharging using a base station and a station-mating frame on the multicopter. The base station includes an upward-facing camera that is used by a docking controller to detect the presence, position, and orientation of a frame, with infrared light-emitting diodes arranged in a predefined pattern. The controller of the base station acts to emit wireless signals to the multicopter to guide the multicopter with its station-mating frame to a predefined position above the base station. The controller transmits a wireless signal to the multicopter to reduce thrust, and the multicopter lowers itself onto a sloped receiving surface that may be arranged in a crown pattern to provide passive gravity-driven centering, which causes the station-mating frame to slide to a lowest vertical point of the receiving assembly. A locking mechanism engages to lock the frame in place and provide electrical contact for recharging.

Robust and autonomous docking and recharging of quadrotors

In recent years, research and development in aerial robotics (i.e., unmanned aerial vehicles, UAVs) has been growing at an unprecedented speed, and there is a need to summarize the background, latest developments, and trends of UAV research. Along with a general overview on the definition, types, categories, and topics of UAV, this work describes a systematic way to identify 1,318 high-quality UAV papers from more than thirty thousand that have been appeared in the top journals and conferences. On top of that, we provide a bird's-eye view of UAV research since 2001 by summarizing various statistical information, such as the year, type, and topic distribution of the UAV papers. We make our survey list public and believe that the list can not only help researchers identify, study, and compare their work, but is also useful for understanding research trends in the field. From our survey results, we find there are many types of UAV, and to the best of our knowledge, no literature has attempted to summarize all types in one place. With our survey list, we explain the types within our survey and outline the recent progress of each. We believe this summary can enhance readers' understanding on the UAVs and inspire researchers to propose new methods and new applications.

Recent Developments in Aerial Robotics: A Survey and Prototypes Overview

Field programmable systems-on-chip (FPS-oCs) are heterogeneous reconfigurable platforms consisting of hard processors and FPGA fabric. They provide software designers with an efficient way to accelerate the execution of their algorithms and hardware designers with much more high-level processing power than that provided by soft-cores implemented in standard logic FPGA resources. Despite these very useful characteristics, the penetration of FPSoCs in digital designs for industrial electronics applications is very limited. There is a general agreement among researchers in the area that one of the main reasons for this is the lack of knowledge about the best way to interconnect the processors and the FPGA fabric in these devices. To address this issue, this paper presents an extensive characterization and analysis of processor-FPGA communications in a widely used family of FPSoCs, namely Cyclone V devices. To the best of authors´ knowledge, this is the most complete study of FPSoCs devices in this regard to date. From the experiments conducted and the results obtained, a set of design guidelines are introduced to help FPSoC designers take the most possible advantage of the excellent characteristics of these devices.

Performance Characterization and Design Guidelines for Efficient Processor–FPGA Communication in Cyclone V FPSoCs

A system of virtual sightseeing using unmanned aerial vehicles (UAV) and methods of making and using same. The virtual sightseeing system can include a plurality of UAVs arranged over a geographical area of interest in one or more ground configurations. In response to a sightseeing request, one or more UAVs are activated and deployed to a sightseeing region of interest. The UAVs travel to the region of interest and, upon arriving, acquire data for presentation in real-time. The data can include both visual and non-visual data from the region of interest and can be presented in integrated fashion in a virtual reality terminal. The virtual sightseeing is supervised by an operational subsystem that is responsible for efficient allocation of UAVs in response to multiple sightseeing requests. Even if physically separate, the subsystems of the virtual sightseeing system can communicate via a data communication subsystem, such as a wireless network.

System and method for enabling virtual sightseeing using unmanned aerial vehicles

In this paper, we propose a novel inertial-assisted visual odometry system intended for low-cost micro aerial vehicles (MAVs). The system sensor assembly consists of two downward facing cameras and a inertial measurement unit (IMU) with three-axis accelerometers/gyroscopes. Real-time implementation of the system is enabled by a low-cost embedded system via two important features: first, simple pixel-level algorithms are integrated in a low-end FPGA and accelerated via pipeline and combinational logic techniques; second, a novel outlier rejection algorithm is implemented which is based on probability-based predetermined operations rather than hypothesis testing iterations. We illustrate the performance of our system by hovering a MAV in a GPS-denied environment. Its feasibility and robustness is also illustrated in a complex outdoor environment.

On-board inertial-assisted visual odometer on an embedded system

In this paper, we propose a real-time visual mapping scheme which can be implemented on a low-cost embedded system for consumer-level ratio control (RC) drones. In our work, a 3-dimensional occupancy grid map is obtained based on an estimated trajectory from data fusion of multiple on-board sensors, composed of two downward-facing cameras, two forward-facing cameras, a GPS receiver, a magnetic compass and an inertial measurement unit (IMU) with 3-axis accelerometers and gyroscopes. Taking the advantages of the low-cost FPGA and ARM NEON intrinsics, we run our visual odometry and mapping algorithms at 10Hz on board. Meanwhile, we also present a hierarchical multi-sensor fusion algorithm to provide a robust trajectory for mapping usage. Finally, we verify the feasibility of our approaches and serval potential applications with experimental results in complex indoor/outdoor environments.

/pdf/an-embedded-solution-to-visual-mapping-for-consumer-drones-3zrx515u6h.pdf

An Embedded Solution to Visual Mapping for Consumer Drones

The embodiment of the invention provides an image projecting method based on an aircraft, an image projecting device based on the aircraft and the aircraft, wherein the method comprises the following steps of if an image projecting event on the aircraft is detected, regulating the position of the aircraft to a projectable position; and triggering an aircraft projecting module to project an image, wherein the step of regulating the position of the aircraft includes the process of regulating the position of the aircraft according to an image of an obstacle obtained in the projecting direction of the projecting module. When the method and the device are used, the aircraft can be combined with the projecting module such as a projector; the projecting position can be fast changed according to requirements only by controlling the flight of the aircraft; and the fast, convenient and flexible image projection is realized.

Image projecting method based on aircraft, image projecting device based on aircraft and aircraft

This paper presents a robust velocity estimation algorithm applicable to low-cost monocular platform with a tri-axial gyroscope. The algorithm is developed based on PX4FLOW platform which is an open software and open hardware solution for monocular speed estimation. The paper provides three main contributions. The first is the improved robustness achieved by various methods including feature block selection, feed-forward rotation, motion compensation, failure case detection and filtering. The second contribution is the improved performance in terms of resolution and search range achieved by adaptive frame interval and advanced search algorithm. The final contribution is a systematical strategy for parameter selection to fully utilize the hardware resources and optimize the performance in different contexts. The performance was benchmarked against the PX4FLOW and GPS. Results indicated that the proposed algorithm achieved levels of robustness exceeding that of PX4FLOW in measuring velocity. Also, the integrated trajectory agreed with the position calculated by an on-board GPS system.

A low-cost and robust optical flow CMOS camera for velocity estimation

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