Search Results (254)

UAV-based inspections are an effective way to ensure railway safety and have gained significant attention. However, images captured during complex weather conditions, such as rain, snow, or fog, often suffer from severe degradation, affecting image recognition accuracy. Existing algorithms for removing rain, snow, and fog have two main limitations: they do not adaptively learn features under varying weather complexities and struggle with managing complex noise patterns in drone inspections, leading to incomplete noise removal. To address these challenges, this study proposes a novel framework for removing rain, snow, and fog from drone images, called WeatherClean. This framework introduces a Weather Complexity Adjustment Factor (WCAF) in a parameterized adjustable network architecture to process weather degradation of varying degrees adaptively. It also employs a hierarchical multi-scale cropping strategy to enhance the recovery of fine noise and edge structures. Additionally, it incorporates a degradation synthesis method based on atmospheric scattering physical models to generate training samples that align with real-world weather patterns, thereby mitigating data scarcity issues. Experimental results show that WeatherClean outperforms existing methods by effectively removing noise particles while preserving image details. This advancement provides more reliable high-definition visual references for drone-based railway inspections, significantly enhancing inspection capabilities under complex weather conditions and ensuring the safety of railway operations. Full article

Unmanned aerial vehicles (UAVs) are increasingly used for road infrastructure inspection and monitoring. However, challenges such as scale variation, complex background interference, and the scarcity of annotated UAV datasets limit the performance of traditional segmentation models. To address these challenges, this study proposes UAV-YOLOv12, a multi-scale segmentation model specifically designed for UAV-based road imagery analysis. The proposed model builds on the YOLOv12 architecture by adding two key modules. It uses a Selective Kernel Network (SKNet) to adjust receptive fields dynamically and a Partial Convolution (PConv) module to improve spatial focus and robustness in occluded regions. These enhancements help the model better detect small and irregular road features in complex aerial scenes. Experimental results on a custom UAV dataset collected from national highways in Wuxi, China, show that UAV-YOLOv12 achieves F1-scores of 0.902 for highways (road-H) and 0.825 for paths (road-P), outperforming the original YOLOv12 by 5% and 3.2%, respectively. Inference speed is maintained at 11.1 ms per image, supporting near real-time performance. Moreover, comparative evaluations with U-Net show that UAV-YOLOv12 improves by 7.1% and 9.5%. The model also exhibits strong generalization ability, achieving F1-scores above 0.87 on public datasets such as VHR-10 and the Drone Vehicle dataset. These results demonstrate that the proposed UAV-YOLOv12 can achieve high accuracy and robustness in diverse road environments and object scales. Full article

Infrared thermography is a common approach used in building inspection for identifying building envelope thermal anomalies that cause energy loss and occupant thermal discomfort. Detecting these anomalies is essential to improve the thermal performance of energy-inefficient buildings through energy retrofit design and correspondingly reduce operational energy costs and environmental impacts. A thermal bridge is an unwanted conductive heat transfer. On the other hand, an infiltration/exfiltration anomaly is an uncontrollable convective heat transfer, typically happening around windows and doors, but it can also be due to a defect that comprises a building envelope’s integrity. While the existing literature underscores the significance of automatic thermal anomaly identification and offers insights into automated methodologies, there is a notable gap in addressing an automated workflow that leverages building envelope component segmentation for enhanced detection accuracy. Consequently, an automatic thermal anomaly identification workflow from visible and thermal images was developed to test it, utilizing segmented building envelope information compared to a workflow without any semantic segmentation. Therefore, building envelope images (e.g., walls and windows) were segmented based on a U-Net architecture compared to a more conventional semantic segmentation approach. The results were discussed to better understand the importance of the availability of training data and for scaling the workflow. Then, thermal anomaly thresholds for different target domains were detected using probability distributions. Finally, thermal anomaly masks of those domains were computed. This study conducted a comprehensive examination of a campus building in Syracuse, New York, utilizing a drone-based data collection approach. The case study successfully detected diverse thermal anomalies associated with various envelope components. The proposed approach offers the potential for immediate and accurate in situ thermal anomaly detection in building inspections. Full article

Unmanned aerial vehicles (UAVs), commonly known as drones, offer unprecedented flexibility for complex missions such as area surveillance, search and rescue, and cooperative inspection. This paper presents a unified evaluation framework for the comparison of centralized and distributed task allocation algorithms specifically tailored to multi-UAV operations. We first contextualize the classical assignment problem (AP) under UAV mission constraints, including the flight time, propulsion energy capacity, and communication range, and evaluate optimal one-to-one solvers including the Hungarian algorithm, the Bertsekas $ϵ$-auction algorithm, and a minimum cost maximum flow formulation. To reflect the dynamic, uncertain environments that UAV fleets encounter, we extend our analysis to distributed multi-UAV task allocation (MUTA) methods. In particular, we examine the consensus-based bundle algorithm (CBBA) and a distributed auction 2-opt refinement strategy, both of which iteratively negotiate task bundles across UAVs to accommodate real-time task arrivals and intermittent connectivity. Finally, we outline how reinforcement learning (RL) can be incorporated to learn adaptive policies that balance energy efficiency and mission success under varying wind conditions and obstacle fields. Through simulations incorporating UAV-specific cost models and communication topologies, we assess each algorithm’s mission completion time, total energy expenditure, communication overhead, and resilience to UAV failures. Our results highlight the trade-off between strict optimality, which is suitable for small fleets in static scenarios, and scalable, robust coordination, necessary for large, dynamic multi-UAV deployments. Full article

With the rapid advancement of UAV-based remote sensing and image recognition techniques, identifying environmental risk factors from aerial imagery has emerged as a focal point in intelligent inspection during the power transmission and distribution projects construction phase. The uneven spatial distribution of risk factors on construction sites, their weak texture signatures, and the inherently multi-scale nature of UAV imagery pose significant detection challenges. To address these issues, we propose a one-stage SRW-YOLO algorithm built upon the YOLOv11 framework. First, a P2-scale shallow feature detection layer is added to capture high-resolution fine details of small targets. Second, we integrate a reparameterized convolution based on channel shuffle (RCS) of a one-shot aggregation (RCS-OSA) module into the backbone and neck’s shallow layers, enhancing feature extraction while significantly reducing inference latency. Finally, a dynamic non-monotonic focusing mechanism WIoU v3 loss function is employed to reweigh low-quality annotations, thereby improving small-object localization accuracy. Experimental results demonstrate that SRW-YOLO achieves an overall precision of 80.6% and mAP of 79.1% on the State Grid dataset, and exhibits similarly superior performance on the VisDrone2019 dataset. Compared with other one-stage detectors, SRW-YOLO delivers markedly higher detection accuracy, offering critical technical support for multi-scale, heterogeneous environmental risk monitoring during the power transmission and distribution projects construction phase, and establishes the theoretical foundation for rapid and accurate inspection using UAV-based intelligent imaging. Full article

The use of aerial robots for inspection and maintenance in industrial settings demands high maneuverability, precise control, and reliable measurements. This study explores the development of a fully customized unmanned aerial manipulator (UAM), composed of a tilting drone and an articulated robotic arm, designed to perform non-destructive in-contact inspections of iron structures. The system is intended to operate in complex and potentially hazardous environments, where autonomous execution is supported by shared-control strategies that include human supervision. A parallel force–impedance control framework is implemented to enable smooth and repeatable contact between a sensor for ultrasonic testing (UT) and the inspected surface. During interaction, the arm applies a controlled push to create a vacuum seal, allowing accurate thickness measurements. The control strategy is validated through repeated trials in both indoor and outdoor scenarios, demonstrating consistency and robustness. The paper also addresses the mechanical and control integration of the complex robotic system, highlighting the challenges and solutions in achieving a responsive and reliable aerial platform. The combination of semi-autonomous control and human-in-the-loop operation significantly improves the effectiveness of inspection tasks in hard-to-reach environments, enhancing both human safety and task performance. Full article

Abies nebrodensis L. is a critically endangered conifer endemic to Sicily (Italy). Its residual population is confined to the Madonie mountain range under challenging climatological conditions. Despite the good adaptation shown by the relict population to the environmental conditions occurring in its habitat, Abies nebrodensis is subject to a series of threats, including climate change. Effective conservation strategies require reliable and versatile methods for monitoring its health status. Combining high-resolution remote sensing data with reanalysis of climatological datasets, this study aimed to identify correlations between vegetation indices (NDVI, GreenDVI, and EVI) and key climatological variables (temperature and precipitation) using advanced machine learning techniques. High-resolution RGB (Red, Green, Blue) and IrRG (infrared, Red, Green) maps were used to delineate tree crowns and extract statistics related to the selected vegetation indices. The results of phytosanitary inspections and multispectral analyses showed that the microclimatic conditions at the site level influence both the impact of crown disorders and tree physiology in terms of water content and photosynthetic activity. Hence, the correlation between the phytosanitary inspection results and vegetation indices suggests that multispectral techniques with drones can provide reliable indications of the health status of Abies nebrodensis trees. The findings of this study provide significant insights into the influence of environmental stress on Abies nebrodensis and offer a basis for developing new monitoring procedures that could assist in managing conservation measures. Full article

In this paper, a hybrid flying robot that utilizes water thrust and aerial propeller actuation is proposed and analyzed, with the aim of applications in hazardous tasks in the marine field, such as firefighting, ship inspections, and search and rescue missions. For such tasks, existing solutions like drones and water-powered robots inherited fundamental limitations, making their use ineffective. For instance, drones are constrained by limited flight endurance, while water-powered robots struggle with horizontal motion due to the couplings between translational motions. The proposed hydro-aerodynamic hybrid actuation in this study addresses these significant drawbacks by utilizing water thrust for sustainable vertical propulsion and propeller-based actuation for more controllable horizontal motion. The characteristics and mathematical models of the proposed flying robots are presented in detail. A state feedback controller and a proportional–integral–derivative (PID) controller are designed and implemented in order to govern the proposed robot’s motion. In particular, a linear matrix inequality approach is also proposed for the former design so that a robust performance is ensured. Simulation studies are conducted where a purely water-powered flying robot using a nozzle rotation mechanism is deployed for comparison, to evaluate and validate the feasibility of the flying robot. Results demonstrate that the proposed system exhibits superior performance in terms of stability and tracking, even in the presence of external disturbances. Full article

Underground cast-in-place pipes (CIPP, Diameter of 2’–5’) are used to transport water for the Phoenix, AZ area. These pipes have developed leaks due to their age and changes in the environment, resulting in a significant waste of water. Currently, leaks can only be identified when water pools above ground occur and are then manually confirmed through the inside of the pipe, requiring the shutdown of the water system. However, many leaks may not develop a puddle of water, making them even harder to identify. The primary objective of this research was to develop an inspection method utilizing drone-based infrared imagery to remotely and non-invasively sense thermal signatures of abnormal soil moisture underneath urban surface treatments caused by the leakage of water pipelines during the regular operation of water transportation. During the field tests, five known leak sites were evaluated using an intensive experimental procedure that involved conducting multiple flights at each test site and a stringent filtration process for the measured temperature data. A detectable thermal signal was observed at four of the five known leak sites, and these abnormal thermal signals directly overlapped with the location of the known leaks provided by the utility company. A strong correlation between ground temperature and shading before sunset was observed in the temperature data collected at night. Thus, a shadow and solar energy model was implemented to estimate the position of shadows and energy flux at given times based on the elevation of the surrounding structures. Data fusion between the metrics of shadow time, solar energy, and the temperature profile was utilized to filter the existing points of interest further. When shadows and solar energy were considered, the final detection rate of drone-based infrared imaging was determined to be 60%. Full article

Aging port infrastructure demands frequent and reliable inspections, yet the existing automated systems often require expensive industrial drones, posing significant adoption barriers for local governments with limited resources. To address this challenge, this study develops a low-cost, automated crack detection system for port quay walls utilizing orthophotos generated from a small general-purpose drone. The system employs the YOLOR (You Only Learn One Representation) object detection algorithm, enhanced by two novel image processing techniques—overlapping tiling and pseudo-altitude slicing—to overcome the resolution limitations of low-cost cameras. While official guidelines for port facilities designate 3 mm as an inspection threshold, our system is specifically designed to achieve a higher-resolution detection capability for cracks as narrow as 1 mm. This approach ensures reliable detection with a sufficient safety margin and enables the proactive monitoring of crack progression for preventive maintenance. The effectiveness of the proposed image processing techniques was validated, with an F₁ score-based analysis revealing key trade-offs between maximizing detection recall and achieving a balanced performance depending on the chosen simulated altitude. Furthermore, evaluation using real-world inspection data demonstrated that the proposed system achieves a detection performance comparable to that of a well-established commercial system, confirming its practical applicability. Crucially, by mapping the detected cracks to real-world coordinates on georeferenced orthophotos, the system provides a foundation for advanced, data-driven asset management, allowing for the quantitative tracking of deterioration over time. These results confirm that the proposed workflow is a practical and sustainable solution for infrastructure monitoring. Full article

The urgent need for affordable and scalable building retrofit solutions has intensified due to stringent clean energy targets. Traditional building energy audits, which are essential in assessing energy performance, are often time-consuming and costly because of the extensive field analysis required. There has been a gradual shift towards the public use of drones, which present opportunities for effective remote procedures that could disrupt a variety of built environment disciplines. Drone-based approaches to data collection offer a great opportunity for the analysis and inspection of existing building stocks, enabling architects, engineers, energy auditors, and owners to document building performance, visualize heat transfer using infrared thermography, and create digital models using 3D photogrammetry. This study provides a review of the potential of a drone-based approach to integrated building envelope assessment, aiming to streamline the process. By evaluating various scanning techniques and their integration with drones, this research explores how drones can enhance data collection for defect identification, as well as digital model creation. A proposed drone-based workflow is tested through a case study in Syracuse, New York, demonstrating its feasibility and effectiveness in creating 3D models and conducting energy simulations. The study also discusses various challenges associated with drone-based approaches, including data accuracy, environmental conditions, operator training, and regulatory compliance, offering practical solutions and highlighting areas for further research. A discussion of the findings underscores the potential of drone technology to revolutionize building inspections, making them more efficient, accurate, and scalable, thus supporting the development of sustainable and energy-efficient buildings. Full article

The growing demand for renewable energy has underscored the importance of wind power, with wind turbines playing a pivotal role in sustainable electricity generation. However, wind turbine blades are exposed to various challenges, particularly flow-induced vibrations (FIVs), including vortex-induced vibrations, flutter, and galloping, which significantly impact the performance, efficiency, reliability, and lifespan of turbines. This review presents an in-depth analysis of wind turbine blade technology, covering the fundamental principles of operation, aerodynamic characteristics, material selection, and failure mechanisms. It examines the effects of these vibrations on blade integrity and turbine performance, highlighting the need for effective vibration suppression techniques. The paper also discusses current advancements in maintenance strategies, including active and passive vibration control methods, sensor networks, and drone-based inspections, aimed at improving turbine reliability and reducing operational costs. Furthermore, emerging technologies, such as artificial intelligence (AI)-driven prognostic assessments and novel materials for vibration damping, are explored as potential solutions to enhance turbine performance. The review emphasizes the importance of continued research in addressing the challenges posed by FIVs, particularly for offshore turbines operating in harsh environments. Full article

The application of drones has contributed to automated herbicide spraying in the context of precision agriculture. Although drone technology is mature, the widespread application of agricultural drones and their numerous advantages still demand improvements in battery endurance during flight missions in agricultural operations. This issue has been addressed by optimizing the path planning to minimize the time of the route and, therefore, the energy consumption. In this direction, a novel framework for autonomous drone-based herbicide applications that integrates deep learning-based semantic segmentation and coverage path optimization is proposed. The methodology involves computer vision for path planning optimization. First, semantic segmentation is performed using a DeepLab v3+ convolutional neural network to identify and classify regions containing weeds based on aerial imagery. Then, a coverage path planning strategy is applied to generate efficient spray routes over each weed-infested area, represented as convex polygons, while accounting for the drone’s refueling constraints. The results demonstrate the effectiveness of the proposed approach for optimizing coverage paths in weed-infested sugarcane fields. By integrating semantic segmentation with clustering and path optimization techniques, it was possible to accurately localize weed patches and compute an efficient trajectory for UAV navigation. The GA-based solution to the Traveling Salesman Problem With Refueling (TSPWR) yielded a near-optimal visitation sequence that minimizes the energy demand. The total coverage path ensured complete inspection of the weed-infected areas, thereby enhancing operational efficiency. For the sugar crop considered in this contribution, the time to cover the area was reduced by 66.3% using the proposed approach because only the weed-infested area was considered for herbicide spraying. Validation of the proposed methodology using real-world agricultural datasets shows promising results in the context of precision agriculture to improve the efficiency of herbicide or fertilizer application in terms of herbicide waste reduction, lower operational costs, better crop health, and sustainability. Full article

In this article, the current state of the art in the area of autonomously working and mobile robots used for inspections in deep underground mining and exploration is described, and directions for future development are highlighted. The increasing demand for CRMs (critical raw materials) and deeper excavations pose a higher risk for people and require new solutions in the maintenance and inspection of both underground machines and excavations. Mitigation of risks and a reduction in accidents (fatal, serious and light) may be achieved by the implementation of mobile or partly autonomous solutions such as drones for exploration, robots for exploration or initial excavation, etc. This study examines various types of mobile unmanned robots such as ANYmal on legs, robots on a tracked chassis, or flying drones. The main scope of this review is the evaluation of the effectiveness and technological advancement in the aspect of improving safety and efficiency in deep underground and abandoned mines. Notable possibilities are multi-sensor systems or cooperative behaviors in systems which involve many robots. This study also highlights the challenges and difficulties of working and navigating (in an environment where we cannot use GNSS or GPS systems) in deep underground mines. Mobile inspection robots have a major role in transforming underground operations; nevertheless, there are still aspects that need to be developed. Further improvement might focus on increasing autonomy, improving sensor technology, and the integration of robots with existing mining infrastructure. This might lead to safer and more efficient extraction and the SmartMine of the future. Full article

Wireless power transfer (WPT) systems are critical for enabling safe and efficient charging of inspection drones in flammable oilfield environments, yet existing solutions struggle with multi-target compatibility and reactive power losses. This study proposes a novel frequency-regulated LCC-S topology that achieves both constant current (CC) and constant voltage (CV) charging modes for heterogeneous drones using a single hardware configuration. By dynamically adjusting the operating frequency, the system minimizes the input impedance angle (θ < 10°) while maintaining load-independent CC and CV outputs, thereby reducing reactive power by 92% and ensuring spark-free operation in explosive atmospheres. Experimental validation with two distinct oilfield inspection drones demonstrates seamless mode transitions, zero-phase-angle (ZPA) resonance, and peak efficiencies of 92.57% and 91.12%, respectively. The universal design eliminates the need for complex alignment mechanisms, offering a scalable solution for multi-drone fleets in energy, agriculture, and disaster response applications. Full article