基于运行时验证的无人飞行系统安全威胁检测方法

无人飞行系统（Unmanned Aerial Systems,UAS）的软、硬件存在缺陷以及遇到外部恶意攻击,会给UAS的安全性带来极大威胁.由于UAS的运行环境复杂多变,很多因素在开发过程中难以准确预测,因此研究有效的运行时安全保证机制具有重要意义.本文提出一种基于运行时验证的UAS安全威胁检测方法.首先对UAS可能遇到的多种安全威胁进行分析并采用离散时间时序逻辑进行描述,提出相应的UAS-DL语言描述安全监控规约;然后基于交错自动机提出了自动生成安全威胁监控器的算法,并利用参数化方法实现对多UAS的安全监控.为了提高检测的准确性,进一步研究了将运行时验证和贝叶斯网络推断结合的方法.采用实际的UAS开发仿真平台Ardupilot进行了实验,并设计了将监控器独立部署在FPGA硬件上的方法,避免对UAS计算资源的过多占用.实验结果表明上述方法能够有效检测UAS的安全威胁.     

An Unmanned Aircraft System for Automatic Forest Fire Monitoring and Measurement

The paper presents an Unmanned Aircraft System (UAS), consisting of several aerial vehicles and a central station, for forest fire monitoring. Fire monitoring is defined as the computation in real-time of the evolution of the fire front shape and potentially other parameters related to the fire propagation, and is very important for forest fire fighting. The paper shows how an UAS can automatically obtain this information by means of on-board infrared or visual cameras. Moreover, it is shown how multiple aerial vehicles can collaborate in this application, allowing to cover bigger areas or to obtain complementary views of a fire. The paper presents results obtained in experiments considering actual controlled forest fires in quasi-operational conditions, involving a fleet of three vehicles, two autonomous helicopters and one blimp.     

A multilingual ontology for infectious disease surveillance: rationale, design and challenges

A lack of surveillance system infrastructure in the Asia-Pacific region is seen as hindering the global control of rapidly spreading infectious diseases such as the recent avian H5N1 epidemic. As part of improving surveillance in the region, the BioCaster project aims to develop a system based on text mining for automatically monitoring Internet news and other online sources in several regional languages. At the heart of the system is an application ontology which serves the dual purpose of enabling advanced searches on the mined facts and of allowing the system to make intelligent inferences for assessing the priority of events. However, it became clear early on in the project that existing classification schemes did not have the necessary language coverage or semantic specificity for our needs. In this article we present an overview of our needs and explore in detail the rationale and methods for developing a new conceptual structure and multilingual terminological resource that focusses on priority pathogens and the diseases they cause. The ontology is made freely available as an online database and downloadable OWL file.     

一种基于IP网络的机房视频监控系统规划

随着高校信息化工程的深入建设,对高校核心机房的实时监控系统提出更高要求,提出了一种基于IP网络的机房视频监控系统,给出了监控系统的布局架构,给出了监控系统的网络架构和建设流程,总结了机房监控系统的建设要点,最后给出了机房视频监控系统的效果图.     

Face tracking with automatic model construction

This paper describes an active model with a robust texture model built on-line. The model uses one camera and it is able to operate without active illumination. The texture model is defined by a series of clusters, which are built in a video sequence using previously encountered samples. This model is used to search for the corresponding element in the following frames. An on-line clustering method, named leaderP is described and evaluated on an application of face tracking. A 20-point shape model is used. This model is built offline, and a robust fitting function is used to restrict the position of the points. Our proposal is to serve as one of the stages in a driver monitoring system. To test it, a new set of sequences of drivers recorded outdoors and in a realistic simulator has been compiled. Experimental results for typical outdoor driving scenarios, with frequent head movement, turns and occlusions are presented. Our approach is tested and compared with the Simultaneous Modeling and Tracking (SMAT) [1], and the recently presented Stacked Trimmed Active Shape Model (STASM) [2], and shows better results than SMAT and similar fitting error levels to STASM, with much faster execution times and improved robustness.     

A flexible communications protocol for a distributed surveillance system

On-line surveillance for safety and security is a major requirement of public transport and other public places to address the modern demands of mobility in major urban areas and to effect improvements in quality of life and environment protection. The surveillance task is a complex one involving technology, management procedures and people. Visual surveillance based on Closed Circuit Television system is an important part of such systems, but visual processing is not sufficient and the geographical distribution of devices and management has to be taken into account. In this paper we present a surveillance architecture that reflects the distributed nature of the monitoring task and allows for distributed detection processes, not only dealing with visual processing but also with devices such as acoustic signature detection and mobile smart cards, actuators and a range of other possible sensors. The design uses ideas from control engineering and distributed communications networks resulting in a communications architecture based on CORBA and XML messaging. We have shown how to define a generic device/sensor model appropriate for the surveillance task and sufficiently flexible so as to allow for scalability, expansion and customisation of a practical surveillance task. The paper gives sufficient details on the protocols to show how intelligent detection modules can be integrated as part of this kind of system. The system components have been implemented and integrated in two major successful trials in metropolitan railway stations in London and in Paris, as part of a major EU-funded project (PRISMATICA).     

Human Factors Concerning Unmanned Aircraft Systems in Future Operations

Unmanned Aircraft Systems (UAS) play increasingly important roles in many modern militaries. The proven success of UAS during operations in Afghanistan and Iraq has created a demand for UAS with varying functionalities and capabilities. UAS are currently performing tasks and playing roles of manned systems in many mission areas. Although UAS are limited in meeting all the required parameters when compared to the manned systems, their low risk, low cost attributes and critical mission capabilities often make them preferable. However, the extent to which UAS can continue defining tomorrow’s military missions is not predictable. There is some skepticism and hesitation about operating UAS with minimal human oversight and how it influences the operational effectiveness when the limitations of autonomy or constant control needs are accounted for. Therefore, it becomes crucially important to find out and apply the best match between systems and missions considering the type of the mission and the capabilities of UAS. The emerging challenge is to identify the place of UAS in operational structures and versatile missions, and possibly provide an integrative solution where both manned and unmanned systems collaborate in meeting given requirements in the future of warfare. The aim of this paper is to compare cognitive capabilities of manned systems and UAS, and evaluate them in the context of anticipated future operating environments. The evaluation will focus on the efficiency of systems on the cognitive domain of information environments and their impact on specific missions. The research is expected to contribute to a more informed structural transformation of modern militaries.     

无人机遥感平台技术研究与应用

作为一种新型的遥感平台,UAS(无人飞行器系统)具有优于其它遥感平台的灵活性、实时性、移动性等特点,本文介绍了UAS的发展现状及其关键技术,提出了UAS遥感平台的分类方法,从技术、市场、法律制度、成本等多方面考察了UAS应用于民用遥感领域的可行性。理论和实践证明,UAS平台在遥感技术的发展中必将发挥重要的作用,成为主流的遥感平台之一。     

大藤峡水利枢纽施工过程智能视频监控与应用

为满足大藤峡水利枢纽工程管理单位对施工过程实时监管的总要求,提出一种适用于大藤峡水利枢纽工程左岸施工过程监管的无线智能视频监控系统。从施工现场环境、施工人员、大体积混凝土施工过程管控 3 个方面分析大藤峡水利枢纽现场施工过程管理存在的问题,基于施工现场网络情况,比选无线和有线网络 2 种建设模式可行性,提出利用施工现场现有的无线网络回传视频监控数据的建设思路,并给出智能视频监控系统的总体设计方案,着重对视频智能分析与处置和系统部署效果进行说明。智能视频监控系统上线以来,实现 24 h 不间断高清视频回传和对监控视频进行智能分析的功能,显著提升大藤峡水利枢纽工程施工现场现代化管理水平,并有效支撑施工现场大体积混凝土温控施工。     

Application of an unmanned aerial system for monitoring paddy productivity using the GRAMI-rice model

Recent developments in unmanned aerial system (UAS) require an urgent introduction to monitoring technologies of crop diagnostic information because of their advantage in manoeuvering tasks at a high-spatial resolutions and low costs in a user-friendly manner. In this study, an advanced application method of an UAS remote sensing system was performed using the grid GRAMI-rice model such that it can be driven using weather and remote sensing data to monitor the spatiotemporal productivities of rice (Oryza sativa). Remotely sensed data for the model were supplied, along with normalized difference vegetation index images obtained using the UAS remote sensing system. The model was first evaluated using paddy data from experimental fields (treated with two nitrogen (N) applications) at Chonnam National University, Gwangju, Republic of Korea (ROK). Practical application was then performed using paddy data from farm fields under conventional farm management practices at the Gimje plain in ROK. The grid GRAMI-rice model statistically well reproduces the field conditions of spatiotemporal rice productivities, showing an acceptable statistical accuracy in the comparison of growth between the simulated and observed values, using a Nash–Sutcliffe efficiency range of 0.113–0.955. According to t-tests (α = 0.05), there were no significant differences between the simulated and observed grain yields from both the evaluation and practical applications. The scientific approach adopted here is unique, advanced, and practical, in a way that UAS remote sensing methods were effectively incorporated with crop modelling techniques. Therefore, it was concluded that the UAS-based remote sensing techniques proposed in this study could represent an innovative way of projecting reliable spatiotemporal crop productivities for precision agriculture.     

A STANAG 4586 Oriented Approach to UAS Navigation

The adoption of unmanned air vehicles into civil applications is rapidly consolidating as one of the most promising design driving factors. Consequently, interest is rapidly growing in the UAV community for those technologies that are viewed as enabling assets in the UAS’s civil role design. Many analysts believe that the key to achieve a suitable maturity level lies in the capability of combining the design guidelines originated by different standards, namely SW safety (DO-178B), Avionic IMA (ARINC 653) and UAV interoperability (STANAG 4586). This paper describes the Alenia Aermacchi approach to the harmonization of these enabling UAV technologies, that resulted in the company UAV prototype flying from a civil airport in Italy with (experimental) land surveillance purposes.     

Cooperation Between UAS and Wireless Sensor Networks for Efficient Data Collection in Large Environments

This paper describes a method for collection of data from Wireless Sensor Network (WSN) deployed in large environments using Unmanned Aerial Systems (UAS). Unlike existing approaches, in which the WSN and the UAS act as independent units, the main novelty of the proposed method is that UAS and WSN cooperate to increase the performance of the mission. The proposed method presents two main cooperative behaviors: (1) the results of the WSN operation are used to update the UAS flight plan and; (2) the UAS trajectory is considered in the operation of the WSN in order to improve the data collection performance. The proposed method outperforms non-cooperative UAS-based collection approaches and traditional ground multi-hop collection schemes. The method has been experimented in the airfield of Bellavista in Seville (Spain) in March 2011.     

Multiple Robot Rearrangement Planning Using a Territorial Approach and an Extended Project Scheduling Problem Solver

In this paper, we address a multiple robot rearrangement problem. For different applications, problem-solving methods should be able to cope with various working environments. We focus on small working environments in particular with a concentrated arrangement of objects and narrow corridors. In this type of environment, the rearrangement problem can be very complicated because of high computational cost for priority settings to prevent robots from colliding and constraints related to the order of transportation. We propose a practical algorithm that divides a complicated rearrangement problem into simple subproblems. In our method, the rearrangement problem can be reduced to a project scheduling problem using a territorial approach. The application of a territorial approach can relax the complexity of priority settings, but yields new kinds of constraints at the same time. We propose an extended project scheduling problem solver to address these constraints. The solver is constructed on the basis of meta-heuristic strategy and generates the order of transportation that observes constraints. The proposed method is tested in a simulated environment with up to four mobile robots and 12 movable objects. Simulation results show the effectiveness of our method with respect to the applicability and a reasonable calculation time.     

Modelling glacier topography in Antarctica using unmanned aerial survey: assessment of opportunities

We discuss the application of unmanned aerial systems (UASs) and UAS-derived data to model glacier topography for detecting and analysing slow and rapid changes in glacier surfaces. The study was conducted in East Antarctica in the austral summer 2016/2017. The surveyed areas included an eastern part of the Larsemann Hills, an Airfield of the Progress Station, an initial section of a Sledge route from the Progress to Vostok Stations, and a north-western margin of the Dålk Glacier. We used a Geoscan 201 Geodesy, a professional-grade flying-wing UAS. For the photogrammetric processing, we utilized the Agisoft PhotoScan software. The direct georeferencing approach was applied. Several high-resolution, multitemporal digital elevation models (DEMs) for surveyed areas were produced. The DEM accuracy was estimated in the absence of ground control points and reference DEMs. We determined the ice flow velocity within the Airfield area and the Sledge route zone, where marked points were installed and moved together with the ice surface. We found that UAS imagery can be used for real-time monitoring of open and some snow-covered crevasses of various sizes. Wind-driven snow microforms are also well recognizable on UAS-derived aerial images. The 2017 Dålk Glacier catastrophic subsidence demonstrated that monitoring and studying such events in glaciers and ice sheets are almost impossible without UASs. Optimal meteorological conditions were empirically determined for conducting unmanned aerial survey to obtain images suitable for subsequent photogrammetric processing and DEM generation. Finally, we discuss adaptation of equipment and software to the Antarctic environment.     

Guidelines for the Integration of Autonomous UAS into the Global ATM

The growing social and economic interest in new unmanned aircraft systems (UASs) applications demands that UASs operate beyond the segregated airspace they are currently able to fly. However, UAS operations in non-segregated airspace should be regulated by aeronautical authorities before UASs can share airspace with manned aircraft. It has been a challenge for regulatory authorities to define these regulations because they do not understand the topic well. In addition, there is no consensus in the academic community regarding UAS concepts, such as taxonomy and features. This study proposes guidelines that could support UAS regulations for the future integration of autonomous UASs into the Global Air Traffic Management System (GATM). These guidelines are based on three viewpoints: the aircraft, the piloting autonomous system (PAS) and the integration of autonomous UASs into non-segregated airspace. We recommend that the UAS concept should be based on genuine aeronautical precepts, which would be directly applied, without terminology or conceptual adaptations, for the integration of these aircraft into airspace according to the GATM paradigm.     

A Survey of UAS Technologies for Command, Control, and Communication (C3)

The integration of unmanned aircraft systems (UAS) into the National Airspace System (NAS) presents many challenges including airworthiness certification. As an alternative to the time consuming process of modifying the Federal Aviation Regulations (FARs), guidance materials may be generated that apply existing airworthiness regulations toward UAS. This paper discusses research to assist in the development of such guidance material. The results of a technology survey of command, control, and communication (C3) technologies for UAS are presented. Technologies supporting both line-of-sight and beyond line-of-sight UAS operations are examined. For each, data link technologies, flight control, and air traffic control (ATC) coordination are considered. Existing protocols and standards for UAS and aircraft communication technologies are discussed. Finally, future work toward developing the guidance material is discussed.     

基于区块链技术的高速移动视点视频监控跟踪系统设计

针对传统高速移动视点视频监控跟踪系统视频信号收集能力差,追踪准确率低,课题在区块链技术基础上设计了一种新的视点视频监控跟踪系统。系统硬件设计分为视频监视模块、数据定位模块以及视频监控跟踪模块三个模块进行研究操作,在视频监控跟踪模块中根据硬件元件结构与性质对其进行系统掌控,辅助BDL9830QD监视器强化内部系统监视功能,时刻保持系统中心监控操作,在数据定位模块中,综合数据所处状态,选择数据微型定位器对信号进行追踪定位,标定定位目标,调整数据状态,在视频监控跟踪模块中选用HX-YT01 自动视频追踪器加大对数据信号的跟踪力度,实现精准化监控跟踪,由此完成系统硬件设计。在系统应用程序设计中综合硬件元件特点进行程序改造,构建区块链空间,实现对系统的整体设计。实验结果表明,基于区块链技术的高速移动视点视频监控跟踪系统的追踪能力提高了15.21%,追踪结果准确率提高了22.8%。该设计能够在较高程度上强化系统监控跟踪性能,同时缩减系统操作所需时间,提升整体系统运行效率,能够更好的为使用者提供优质理论研究操作。     

Distributed Simulation and Middleware for Networked UAS

As a result of the advances in solid state, electronics, sensor, wireless communication technologies, as well as evolutions in the material science and manufacturing technologies, unmanned aerial vehicles (UAVs) and unmanned aerial systems (UAS) have become more accessible by civilian entities, industry, as well as academia. There is a high level of market driven standardisation in the electronics and mechanical components used on UAVs. However, the implemented software of a UAS does not exhibit the same level of standardisation and compartmentalisation. This is a major bottleneck limiting software maintenance, and software reuse across multiple UAS programs. This paper addresses the software development processes adapted by the Australian Centre for Field Robotics (ACFR) in major UAS projects. The presented process model promotes software reuse without sacrificing the reliability and safety of the networked UAS with particular emphasis on the role of distributed simulation and middleware in the development and maintenance processes.     

一种面向物流网监控的物联网技术

目前物流运输配送安全管理主要依靠GPS技术进行管理, 缺乏整体安全管理技术手段. 提出了一种物流物联网监控技术. 该技术实现了物联网传感器系统、视频监控系统、单兵可视通话指挥系统、司乘人员终端、通讯系统等技术的综合应用. 通过实际项目应用, 验证了该技术可以广泛应用于实现保障运输安全、提高运输效率、管理运输绩效、处理应急情况等.     

Nonlinear Actuator Fault Detection for Small-Scale UASs

This paper presents a recursive strategy for online detection of actuator faults on a unmanned aerial system (UAS) subjected to accidental actuator faults. The proposed detection algorithm aims to provide a UAS with the capability of identifying and determining characteristics of actuator faults, offering necessary flight information for the design of fault-tolerant mechanism to compensate for the resultant side-effect when faults occur. The proposed fault detection strategy consists of a bank of unscented Kalman filters (UKFs) with each one detecting a specific type of actuator faults and estimating corresponding velocity and attitude information. Performance of the proposed method is evaluated using a typical nonlinear UAS model and it is demonstrated in simulations that our method is able to detect representative faults with a sufficient accuracy and acceptable time delay, and can be applied to the design of fault-tolerant flight control systems of UASs.