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Results for “Quadrotor”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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DOE OSTI2024

Mission planning for photogrammetry-based autonomous 3D Mapping of Dams using a commercial UAV

The application of autonomous unmanned aerial vehicles (UAVs) for conducting inspections of dams represents an innovative approach aimed at enhancing safety, efficiency, and cost-effectiveness. In this context, this paper presents algorithms for UAV mission design in autonomous dam inspections that include the creation of a 3D map based on photogrammetry. The algorithms were systematically developed to incorporate a comprehensive set of parameters that account for the geometric characteristics of the dam and adhere to photogrammetry specifications. To validate the proposed methodology, we utilized a commercial programmable quadrotor, specifically the Parrot Anafi USA Gov drone, which is equipped with high-quality cameras and can be programmed with the help of a software development kit (SDK) provided by the manufacturer. Our results demonstrate the efficacy of our method, highlighting how the generated maps can be used for hazard detection in the downstream slope of dams.

42 ENGINEERING↗
DOE OSTI2025

Safe and Robust Binary Classification and Fault Detection Using Reinforcement Learning

In this paper, we propose a learning-based method utilizing the Soft Actor-Critic (SAC) algorithm to train a binary Support Vector Machine (SVM) classifier. This classifier is designed to identify valid input spaces in high-dimensional, highly constrained systems while minimizing the total runtime of offline simulations. The simulations adapt their runtime based on the likelihood that a given training input will be informative to the classifier. Furthermore, we introduce a method for using the trained SAC model to predict whether a desired system input is likely to violate constraints, along with a technique to adjust the input as necessary. Additionally, we explore the potential of this model to detect faults or adversarial attacks within the system. The effectiveness of our approach is demonstrated through various simulations of challenging classification problems and a constrained quadrotor model.

Netter, Josh [Georgia Institute of Technology, Atl↗