Accurate localization is paramount for unmanned aerial vehicles (UAVs) spanning various technical and industrial domains, necessitating a comprehensive assessment of global navigation satellite system (GNSS) precision...Accurate localization is paramount for unmanned aerial vehicles (UAVs) spanning various technical and industrial domains, necessitating a comprehensive assessment of global navigation satellite system (GNSS) precision. This study investigates the performance of distinct GNSS constellations in determining the precise location of a building utilizing a high-precision GNSS receiver. The receiver, incorporating advanced multi-frequency and full-constellation positioning capabilities, was integrated with a smartphone via Bluetooth to enable the UAV’s acquisition of centimeter-level positioning data. Sequential utilization of single satellite systems—such as GPS-only, GLONASS-only, Galileo-only, SBAS-only, and BeiDou-only—facilitated the documentation of latitude and longitude coordinates for the designated building. Subsequent comparison of these coordinates with a specialized Geographic Information System (GIS) was conducted to evaluate their positional accuracy. The comparative analysis underscores significant variability in the precision offered by each satellite constellation, providing valuable insights for optimizing UAV navigation across GIS, IoT, construction, and other sectors requiring high-precision localization. This research underscores the significance of high-precision GNSS receivers in enhancing UAV-based geospatial assessments, emphasizing the critical selection of appropriate satellite systems for tailored localization tasks. The study contributes to advancing UAV navigation strategies, ensuring robust and accurate geospatial data collection within diverse operational frameworks.展开更多
Drones have become indispensable tools in various domains, from surveillance and environmental monitoring to disaster response and communication relay. However, their growing use in critical missions necessitates robu...Drones have become indispensable tools in various domains, from surveillance and environmental monitoring to disaster response and communication relay. However, their growing use in critical missions necessitates robust security measures to protect against potential threats and ensure the integrity of operations. This research presents a novel secure architecture for a swarm of drones deployed on surveillance missions. Leveraging a reliable foundation established through Delaunay triangulation for communication among drones, this work introduces advanced security protocols to enhance the protection and integrity of the network. The architecture employs a mesh network topology connecting six drones, each configured for specific surveillance tasks, including perimeter monitoring, area scanning, thermal imaging, traffic observation, communication relay, and incident response. The mesh network design ensures extended coverage, redundancy, load balancing, and self-configuration, significantly improving reliability and resilience. Security validation was conducted using GNS3 and Ettercap, simulating various vulnerability scenarios. Comparative performance analysis between a classic drone network and the proposed secure mesh network demonstrates superior traffic management and robustness against potential attacks. The results underscore the architecture’s suitability for secure and reliable operations in critical surveillance environments.展开更多
3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications.Thus,robust and stable control is required to deliver high accuracy in comparison to the s...3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications.Thus,robust and stable control is required to deliver high accuracy in comparison to the state of the art.The operation of the mechanism is achieved based on three revolute(3-RRR)joints which are geometrically designed using an open-loop spatial robotic platform.The inverse kinematic model of the system is derived and analyzed by using the geometric structure with three revolute joints.The main variables in our design are the platform base positions,the geometry of the joint angles,and links of the 3-RRR planar parallel robot.These variables are calcula ted based on Cayley-Menger determinants and bilateration to det ermine the final position of the platform when moving and placing objects.Additionally,a proposed fractional order proportional integral derivative(FOPID)is optimized using the bat optimization algorithm to control the path tracking of the center of the 3-RRR planar parallel robot.The design is compared with the state of the art and simulated using the Matlab environment to validate the effectiveness of the proposed controller.Furthermore,real-time implementation has been tested to prove that the design performance is practical.展开更多
文摘Accurate localization is paramount for unmanned aerial vehicles (UAVs) spanning various technical and industrial domains, necessitating a comprehensive assessment of global navigation satellite system (GNSS) precision. This study investigates the performance of distinct GNSS constellations in determining the precise location of a building utilizing a high-precision GNSS receiver. The receiver, incorporating advanced multi-frequency and full-constellation positioning capabilities, was integrated with a smartphone via Bluetooth to enable the UAV’s acquisition of centimeter-level positioning data. Sequential utilization of single satellite systems—such as GPS-only, GLONASS-only, Galileo-only, SBAS-only, and BeiDou-only—facilitated the documentation of latitude and longitude coordinates for the designated building. Subsequent comparison of these coordinates with a specialized Geographic Information System (GIS) was conducted to evaluate their positional accuracy. The comparative analysis underscores significant variability in the precision offered by each satellite constellation, providing valuable insights for optimizing UAV navigation across GIS, IoT, construction, and other sectors requiring high-precision localization. This research underscores the significance of high-precision GNSS receivers in enhancing UAV-based geospatial assessments, emphasizing the critical selection of appropriate satellite systems for tailored localization tasks. The study contributes to advancing UAV navigation strategies, ensuring robust and accurate geospatial data collection within diverse operational frameworks.
文摘Drones have become indispensable tools in various domains, from surveillance and environmental monitoring to disaster response and communication relay. However, their growing use in critical missions necessitates robust security measures to protect against potential threats and ensure the integrity of operations. This research presents a novel secure architecture for a swarm of drones deployed on surveillance missions. Leveraging a reliable foundation established through Delaunay triangulation for communication among drones, this work introduces advanced security protocols to enhance the protection and integrity of the network. The architecture employs a mesh network topology connecting six drones, each configured for specific surveillance tasks, including perimeter monitoring, area scanning, thermal imaging, traffic observation, communication relay, and incident response. The mesh network design ensures extended coverage, redundancy, load balancing, and self-configuration, significantly improving reliability and resilience. Security validation was conducted using GNS3 and Ettercap, simulating various vulnerability scenarios. Comparative performance analysis between a classic drone network and the proposed secure mesh network demonstrates superior traffic management and robustness against potential attacks. The results underscore the architecture’s suitability for secure and reliable operations in critical surveillance environments.
文摘3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications.Thus,robust and stable control is required to deliver high accuracy in comparison to the state of the art.The operation of the mechanism is achieved based on three revolute(3-RRR)joints which are geometrically designed using an open-loop spatial robotic platform.The inverse kinematic model of the system is derived and analyzed by using the geometric structure with three revolute joints.The main variables in our design are the platform base positions,the geometry of the joint angles,and links of the 3-RRR planar parallel robot.These variables are calcula ted based on Cayley-Menger determinants and bilateration to det ermine the final position of the platform when moving and placing objects.Additionally,a proposed fractional order proportional integral derivative(FOPID)is optimized using the bat optimization algorithm to control the path tracking of the center of the 3-RRR planar parallel robot.The design is compared with the state of the art and simulated using the Matlab environment to validate the effectiveness of the proposed controller.Furthermore,real-time implementation has been tested to prove that the design performance is practical.
