Search Results (61)

Accurate methane emission estimates are essential for climate policy, yet current field methods often struggle with spatial constraints and source complexity. Ground-based mobile approaches frequently miss key plume features, introducing bias and uncertainty in emission rate estimates. This study addresses these limitations by using small unmanned aerial systems equipped with precision gas sensors to measure methane alongside co-released tracers. We tested whether arc-shaped flight paths and alternative ratio estimation methods could improve the accuracy of tracer-based emission quantification under real-world constraints. Controlled releases using ethane and nitrous oxide tracers showed that (1) arc flights provided stronger plume capture and higher correlation between methane and tracer concentrations than traditional flight paths; (2) the cumulative sum method yielded the lowest relative error (as low as 3.3%) under ideal mixing conditions; and (3) the arc flight pattern yielded the lowest relative error and uncertainty across all experimental configurations, demonstrating its robustness for quantifying methane emissions from downwind plume measurements. These findings demonstrate a practical and scalable approach to reducing uncertainty in methane quantification. The method is well-suited for challenging environments and lays the groundwork for future applications at the facility scale. Full article

Coastal wetlands are critical ecosystems that require effective monitoring to support conservation and restoration efforts. This study evaluates the use of small unmanned aerial systems (sUAS) and multispectral imagery to estimate aboveground biomass (AGB) in tidal marshes, comparing models calibrated with destructive versus non-destructive in situ sampling methods. Imagery was collected over South Carolina’s North Inlet-Winyah Bay National Estuarine Research Reserve, and vegetation indices (VIs) were derived from sUAS imagery to model biomass. Stepwise linear regression was used to develop and validate models based on both sampling approaches. Destructive sampling models, particularly those using the Normalized Difference Vegetation Index (NDVI) and Difference Vegetation Index (DVI), achieved the lowest root mean square error (RMSE) values (as low as 70.91 g/m²), indicating higher predictive accuracy. Non-destructive models, while less accurate (minimum RMSE of 214.86 g/m²), demonstrated higher R² values (0.44 and 0.61), suggesting the potential for broader application with further refinement. These findings highlight the trade-offs between ecological impact and model performance, and support the viability of non-destructive methods for biomass estimation in sensitive wetland environments. Future work should explore machine learning approaches and improved temporal alignment of data collection to enhance model robustness. Full article

SmallUnmanned Aerial Systems (sUAS) have seen rapid adoption thanks to advances in endurance, communications, autonomy, and manufacturing costs, yet most testing remains focused on GPS-supported, above-ground operations. This study introduces new test methodologies and presents comprehensive experimental evaluations of collision tolerance, navigation, and trajectory following for commercial sUAS platforms in GPS-denied indoor environments. We also propose numerical and categorical metrics—based on established vehicle collision protocols such as the Modified Acceleration Severity Index (MASI) and Maximum Delta V (MDV)—to quantify collision resilience; for example, the tested platforms achieved an average MASI of 0.1 g, while demonstrating clear separation between the highest- and lowest-performing systems. The experimental results revealed that performance varied significantly with mission complexity, obstacle proximity, and trajectory requirements, identifying platforms best suited for subterranean or crowded indoor applications. By aggregating these metrics, users can select the optimal drone for their specific mission requirements in challenging enclosed spaces. Full article

Accurately sizing vehicle components is an impactful step in the aircraft design process. However, existing methods of sizing brushless DC (BLDC) motors for small unmanned aerial systems (SUAS) ignore how cooling affects motor size. Moreover, the literature methods do not predict a notional motor’s electrical constants, namely winding resistance, torque constant, and figure of merit. We developed a sizing algorithm that predicts the optimal mass and electrical constants using a combination of sizing, efficiency, and thermal models. The algorithm works for radial-flux BLDC motors with masses up to 800 g. An experimental teardown of seven motors informed the algorithm’s sizing models. The teardown motors varied in mass (24–600 g) and geometry (stator aspect ratio of 1.4–9.0). Validated against an independent catalog of 30 motors, the sizing models predicted mass and resistance within 10% and 20% of catalog specifications, respectively. Validated against experimental data, the full algorithm predicted mass, efficiency, and temperature within 20%, 5%, and 10% accuracy, respectively. The algorithm also captured how lowering mass would increase losses and temperature, which the literature models ignore. The algorithm can help users develop more viable concepts that save costs in the long run. Full article

In recent times, the objective of reducing the environmental impact of the agricultural industry has led to the mechanization of the sector. One of the consequences of this is the everyday increasing use of Unmanned Aerial Systems (UAS) for different tasks in agriculture, such as spraying operations, mapping, or diagnostics, among others. Aerial spraying presents an inherent problem associated with the drift of small droplets caused by their entrainment in vortical structures such as tip vortices produced at the tip of rotors and wings. This problem is aggravated by other dynamic physical phenomena associated with the actual spray operation, such as liquid sloshing in the tank, GPS inaccuracies, wind gusts, and autopilot corrections, among others. This work focuses on analyzing the impact of nozzle position and liquid sloshing on droplet deposition through numerical modeling. To achieve this, the paper presents a novel six degrees of freedom numerical model of a DJI Matrice 600 equipped with a spray system. The spray is modeled using Lagrangian particles and the liquid sloshing is modeled with an interface-capturing method known as Volume of Fluid (VOF) approach. The model is tested in a spraying operation at a constant velocity of 2 m/s in a virtual vineyard. The maneuver is achieved using a PID controller that drives the angular rates of the rotors. This spraying mission simulator was used to obtain insights into optimal nozzle selection and positioning by quantifying the amount of droplet deposition. Full article

Minimizing electric losses is critical to the success of battery-powered small unmanned aerial systems (SUASs) that weigh less than 25 kgf (55 lb). Losses increase energy and battery weight requirements which hinder the vehicle’s range and endurance. However, engineers do not have appropriate models to estimate the losses of a motor, motor controller, or battery. The aerospace literature often assumes an ideal electrical efficiency or describes modeling approaches that are more suitable for controls engineers. The electrical literature describes detailed design tools that target the motor designer. We developed SUAS powertrain models targeted for vehicle designers and systems engineers. The analytical models predict each component’s losses using high-level specifications readily published in SUAS component datasheets. We validated the models against parametric experimental studies involving novel powertrain flight data from a specially instrumented quadcopter. Given propeller torque and speed, our integrated models predicted a quadcopter’s battery voltage within 5% of experimental data for a 5+ min mission despite motor and controller efficiency errors up to 10%. The models can reduce development costs and timelines for different stakeholders. Users can evaluate notional or existing powertrain configurations over entire missions without testing any physical hardware. Full article

Advances in remote sensing and small unmanned aircraft systems (sUAS) have been applied to various precision agriculture applications. However, there has been limited research on the accuracy of real-time kinematic (RTK) sUAS photogrammetric elevation surveys, especially in preparation for precision agriculture practices that require precise topographic surfaces, such as increasing irrigation system efficiency. These practices include, but are not limited to, precision land grading, placement of levees, multiple inlet rice irrigation, and computerized hole size selection for furrow irrigation. All such practices rely, in some way, on the characterization of surface topography. While agro-terrestrial (ground-based) surveying is the dominant method of agricultural surveying, aerial surveying is emerging and attracting potential early adopters. This is the first study of its kind to assess the accuracy, precision, time, and cost efficiency of RTK sUAS surveying in comparison to traditional agro-terrestrial techniques. Our findings suggest sUAS are superior to ground survey methods in terms of relative elevation and produce much more precise raster surfaces than ground-based methods. We also showed that this emergent technology reduces costs and the time it takes to generate agricultural elevation surveys. Full article

Transmission line fault detection using drones provides real-time assessment of the operational status of transmission equipment, and therefore it has immense importance in ensuring stable functioning of the transmission lines. Currently, identification of transmission line equipment relies predominantly on manual inspections that are susceptible to the influence of natural surroundings, resulting in sluggishness and a high rate of false detections. In view of this, in this study, we propose an insulator defect recognition algorithm based on a YOLOv5 model with a new lightweight network as the backbone network, combining noise reduction and target detection. First, we propose a new noise reduction algorithm, i.e., the adaptive neighborhood-weighted median filtering (NW-AMF) algorithm. This algorithm employs a weighted summation technique to determine the median value of the pixel point’s neighborhood, effectively filtering out noise from the captured aerial images. Consequently, this approach significantly mitigates the adverse effects of varying noise levels on target detection. Subsequently, the RepVGG lightweight network structure is improved to the newly proposed lightweight structure called RcpVGG-YOLOv5. This structure facilitates single-branch inference, multi-branch training, and branch normalization, thereby improving the quantization performance while simultaneously striking a balance between target detection accuracy and speed. Furthermore, we propose a new loss function, i.e., Focal EIOU, to replace the original CIOU loss function. This optimization incorporates a penalty on the edge length of the target frame, which improves the contribution of the high-quality target gradient. This modification effectively addresses the issue of imbalanced positive and negative samples for small targets, suppresses background positive samples, and ultimately enhances the accuracy of detection. Finally, to align more closely with real-world engineering applications, the dataset utilized in this study consists of machine patrol images captured by the Unmanned Aerial Systems (UAS) of the Yunnan Power Supply Bureau Company. The experimental findings demonstrate that the proposed algorithm yields notable improvements in accuracy and inference speed compared to YOLOv5s, YOLOv7, and YOLOv8. Specifically, the improved algorithm achieves a 3.7% increase in accuracy and a 48.2% enhancement in inference speed compared to those of YOLOv5s. Similarly, it achieves a 2.7% accuracy improvement and a 33.5% increase in inference speed compared to those of YOLOv7, as well as a 1.5% accuracy enhancement and a 13.1% improvement in inference speed compared to those of YOLOv8. These results validate the effectiveness of the proposed algorithm through ablation experiments. Consequently, the method presented in this paper exhibits practical applicability in the detection of aerial images of transmission lines within complex environments. In future research endeavors, it is recommended to continue collecting aerial images for continuous iterative training, to optimize the model further, and to conduct in-depth investigations into the challenges associated with detecting small targets. Such endeavors hold significant importance for the advancement of transmission line detection. Full article

The current state of the art in small Unmanned Aerial System (sUAS) testing and evaluation exists mainly in the realm of outdoor flight. Operating small flying sUAS in constrained indoor or subterranean environments places different constraints on their communication links (control links and camera/sensor links). Communication loss in these environments is much more severe due to the proximity of obstacles. This paper examines how correlated packet loss (burst errors) occurring on both the control and camera communication links affects the ability of pilots to fly and navigate small sUAS platforms in constrained Non-Line of Sight (NLOS) environments. A software test bench called AirSim, a UAV simulator, allows us to better understand the effects of correlated packet loss on flyability without damaging multiple sUAS units by flight testing. The simulation was designed to support the design of test methodologies for evaluating the robustness of the communication links and to understand performance without damaging flight tests. Throughout the simulations, it is observed how different levels of packet loss affect the pilot and the number of simulated crashes into the obstacles placed through space. The simulations modeled packet loss both on the video link and the control link to display how packet loss affects ability to pilot and control the sUAS. The utility of using a simulated environment rather than flight testing prevents damage to the fragile and expensive drones being used. Full article

In recent years, deep learning-based approaches have proliferated across a variety of ecological studies. Inspired by deep learning’s emerging prominence as the preferred tool for analyzing wildlife image datasets, this study employed You Only Look Once (YOLO), a single-shot, real-time object detection algorithm, to effectively detect cavity trees of Red-cockaded Woodpeckers or RCW (Dryobates borealis). In spring 2022, using an unmanned aircraft system (UAS), we conducted presence surveys for RCW cavity trees within a 1264-hectare area in the Sam Houston National Forest (SHNF). Additionally, known occurrences of RCW cavity trees outside the surveyed area were aerially photographed, manually annotated, and used as a training dataset. Both YOLOv4-tiny and YOLOv5n architectures were selected as target models for training and later used for inferencing separate aerial photos from the study area. A traditional survey using the pedestrian methods was also conducted concurrently and used as a baseline survey to compare our new methods. Our best-performing model generated an mAP (mean Average Precision) of 95% and an F1 score of 85% while maintaining an inference speed of 2.5 frames per second (fps). Additionally, five unique cavity trees were detected using our model and UAS approach, compared with one unique detection using traditional survey methods. Model development techniques, such as preprocessing images with tiling and Sliced Aided Hyper Inferencing (SAHI), proved to be critical components of improved detection performance. Our results demonstrated the two YOLO architectures with tiling and SAHI strategies were able to successfully detect RCW cavities in heavily forested, heterogenous environments using semi-automated review. Furthermore, this case study represents progress towards eventual real-time detection where wildlife managers are targeting small objects. These results have implications for more achievable conservation goals, less costly operations, a safer work environment for personnel, and potentially more accurate survey results in environments that are difficult using traditional methods. Full article

Evapotranspiration (ET) is a crucial part of commercial grapevine production in California, and the partitioning of this quantity allows the separate assessment of soil and vine water and energy fluxes. This partitioning has an important role in agriculture since it is related to grapevine stress, yield quality, irrigation efficiency, and growth. Satellite remote sensing-based methods provide an opportunity for ET partitioning at a subfield scale. However, medium-resolution satellite imagery from platforms such as Landsat is often insufficient for precision agricultural management at the plant scale. Small, unmanned aerial systems (sUAS) such as the AggieAir platform from Utah State University enable ET estimation and its partitioning over vineyards via the two-source energy balance (TSEB) model. This study explores the assessment of ET and ET partitioning (i.e., soil water evaporation and plant transpiration), considering three different resistance models using ground-based information and aerial high-resolution imagery from the Grape Remote sensing Atmospheric Profile and Evapotranspiration eXperiment (GRAPEX). We developed a new method for temperature partitioning that incorporated a quantile technique separation (QTS) and high-resolution sUAS information. This new method, coupled with the TSEB model (called TSEB-2T_Q), improved sensible heat flux (H) estimation, regarding the bias, with around 61% and 35% compared with the H from the TSEB-PT and TSEB-2T, respectively. Comparisons among ET partitioning estimates from three different methods (Modified Relaxed Eddy Accumulation—MREA; Flux Variance Similarity—FVS; and Conditional Eddy Covariance—CEC) based on EC flux tower data show that the transpiration estimates obtained from the FVS method are statistically different from the estimates from the MREA and the CEC methods, but the transpiration from the MREA and CEC methods are statistically the same. By using the transpiration from the CEC method to compare with the transpiration modeled by different TSEB models, the TSEB-2T_Q shows better agreement with the transpiration obtained via the CEC method. Additionally, the transpiration estimation from TSEB-2T_Q coupled with different resistance models resulted in insignificant differences. This comparison is one of the first for evaluating ET partitioning estimation from sUAS imagery based on eddy covariance-based partitioning methods. Full article

Beaver dam analogs (BDAs) are being installed on streams where restoration goals include reconnecting the stream to its floodplain, increasing water storage in the stream corridor, and improving the extent and vigor of riparian vegetation. This study evaluated the effects on vegetation vigor of a BDA treatment on Blacktail Creek in southwest Montana, USA, using data from Sentinel-2 satellites and a small unmanned aerial system (sUAS; a.k.a. drone). The goal of this research was to determine if BDA installation increased the health of riparian vegetation. Sentinel-2 remote sensing data from 2016 to 2021 were used to compare the pre- and post-treatment periods, and to evaluate effects in the treated area relative to control areas. Enhanced Vegetation Index (EVI) values were calculated to quantify vegetation response from the addition of BDAs. These data suggest that installing BDAs at this site has not led to an apparent increase in late-summer vegetation vigor relative to the controls. One potential explanation for these results is that the vegetation was not water limited prior to treatment in this study reach. This is an important consideration for water resource managers prior to installation of BDAs if the main restoration goal is the improvement of riparian vegetation health. Two high spatial resolution sUAS multispectral datasets were collected to evaluate the bias introduced by using the relatively course resolution (10 m) satellite imagery to assess these changes. High-resolution sUAS data allow fine-scale differences in vegetation and inundated area to be distinguished; however, historical sUAS datasets are rarely available. Satellite-based remote sensing has much lower resolution; however, Sentinel-2 satellite data have been available for the entire earth since 2016. This study demonstrates that the combination of sUAS and satellite based remote sensing data provides a method to compare high-resolution datasets for spatial analysis while gaining insight into relatively low-resolution historical data for temporal analysis. Full article

Small Unmanned Aerial Systems (UAS) usage is undoubtedly increasing at a significant rate. However, alongside this expansion is a growing concern that dependable low-cost counter measures do not exist. To mitigate a threat in a restricted airspace, it must first be known that a threat is present. With airport disruption from malicious UASs occurring regularly, low-cost methods for early warning are essential. This paper considers a low-cost early warning system for UAS detection and classification consisting of a BladeRF software-defined radio (SDR), wideband antenna and a Raspberry Pi 4 producing an edge node with a cost of under USD 540. The experiments showed that the Raspberry Pi using TensorFlow is capable of running a CNN feature extractor and machine learning classifier as part of an early warning system for UASs. Inference times ranged from 15 to 28 s for two-class UAS detection and 18 to 28 s for UAS type classification, suggesting that for systems that require timely results the Raspberry Pi would be better suited to act as a repeater of the raw SDR data, enabling the processing to be carried out on a higher powered central control unit. However, an early warning system would likely fuse multiple sensors. These experiments showed the RF machine learning classifier capable of running on a low-cost Raspberry Pi 4, which produced overall accuracy for a two-class detection system at 100% and 90.9% for UAS type classification on the UASs tested. The contribution of this research is a starting point for the consideration of low-cost early warning systems for UAS classification using machine learning, an SDR and Raspberry Pi. Full article

The wide range of unmanned aerial system (UAS) applications has led to a substantial increase in their numbers, giving rise to a whole new area of systems aiming at detecting and/or mitigating their potentially unauthorized activities. The majority of these proposed solutions for countering the aforementioned actions (C-UAS) include radar/RF/EO/IR/acoustic sensors, usually working in coordination. This work introduces a small UAS (sUAS) acoustic detection system based on an array of microphones, easily deployable and with moderate cost. It continuously collects audio data and enables (a) the direction of arrival (DOA) estimation of the most prominent incoming acoustic signal by implementing a straightforward algorithmic process similar to triangulation and (b) identification, i.e., confirmation that the incoming acoustic signal actually emanates from a UAS, by exploiting sound spectrograms using machine-learning (ML) techniques. Extensive outdoor experimental sessions have validated this system’s efficacy for reliable UAS detection at distances exceeding 70 m. Full article

The proliferation of small unmanned aerial systems (sUAS) is making very high-resolution imagery attainable for vegetation classifications, potentially allowing land managers to monitor vegetation in response to management or wildlife activities and offering researchers opportunities to further examine relationships among wildlife species and their habitats. The broad adoption of sUAS for remote sensing among these groups may be hampered by complex coding, expensive equipment, and time-consuming protocols. We used a consumer sUAS, semiautomated flight planning software, and graphical user interface GIS software to classify grassland vegetation with the aim of providing a user-friendly framework for managers and ecological researchers. We compared the overall accuracy from classifications using this sUAS imagery (89.22%) to classifications using freely available National Agriculture Imagery Program imagery (76.25%) to inform decisions about cost and accuracy. We also compared overall accuracy between manual classification (89.22%) and random forest classification (69.26%) to aid with similar decisions. Finally, we examined the impact of resolution and the addition of a canopy height model on classification accuracy, obtaining mixed results. Our findings can help new users make informed choices about imagery sources and methodologies, and our protocols can serve as a template for those groups wanting to perform similar vegetation classifications on grassland sites without the need for survey-grade equipment or coding. These should help more land managers and researchers obtain appropriate grassland vegetation classifications for their projects within their budgetary and logistical constraints. Full article