Search Results (1,050)

Retrieving LST from infrared spectral observations is challenging because it needs separation from emissivity in surface radiation emission, which is feasible only when the state of the surface–atmosphere system is known. Thanks to its high spectral resolution, the Infrared Atmospheric Sounding Interferometer (IASI) instrument onboard Metop polar-orbiting satellites is the only sensor that can simultaneously retrieve LST, the emissivity spectrum, and atmospheric composition. Still, it cannot penetrate thick cloud layers, making observations blind to surface emissions under cloudy conditions, with surface and atmospheric parameters being flagged as voids. The present paper aims to discuss a downscaling–fusion methodology to retrieve LST missing values on a spatial field retrieved from spatially scattered IASI observations to yield level 3, regularly gridded data, using as proxy data LST from the Spinning Enhanced Visible and Infrared Imager (SEVIRI) flying on Meteosat Second Generation (MSG) platform, a geostationary instrument, and from the Advanced Very High-Resolution Radiometer (AVHRR) onboard Metop polar-orbiting satellites. We address this problem by using machine learning techniques, i.e., Gradient Boosting, Random Forest, Gaussian Process Regression, Neural Network, and Stacked Regression. We applied the methodology over the Po Valley region, a very heterogeneous area that allows addressing the trained models’ robustness. Overall, the methods significantly enhanced spatial sampling, keeping errors in terms of Root Mean Square Error (RMSE) and bias (Mean Absolute Error, MAE) very low. Although we demonstrate and assess the results primarily using IASI data, the paper is also intended for applications to the IASI follow-on, that is, IASI Next Generation (IASI-NG), and much more to the Infrared Sounder (IRS), which is planned to fly this year, 2025, on the Meteosat Third Generation platform (MTG). Full article

This paper introduces a team of Automated Guided Vehicles (AGVs) equipped with open-source, perception-enhancing rotating devices. Each device has a set of ArUco markers, employed to compute the relative pose of other AGVs. These markers also serve as landmarks, delineating a path for the robots to follow. The authors combined various control methodologies to track the ArUco markers on another rotating device mounted on the AGVs. Behavior trees are implemented to facilitate task-switching or to respond to sudden disturbances, such as environmental obstacles. The Robot Operating System (ROS) is installed on the AGVs to manage high-level controls. The efficacy of the proposed solution is confirmed through a real experiment. This research contributes to the advancement of AGV technology and its potential applications in various fields for example in a warehouse with a restricted and known environment where AGVs can transport goods while avoiding other AGVs in the same environment. Full article

This paper examines the energy efficiency of smart electric vehicles equipped with regenerative braking systems under challenging weather conditions. While Advanced Driver Assistance Systems (ADAS) are primarily designed to enhance driving safety, they often overlook energy efficiency. This study proposes a Weather-Adaptive Regenerative Braking Strategy (WARBS) system, which leverages onboard sensors and data processing capabilities to enhance the energy efficiency of regenerative braking across diverse weather conditions while minimizing unnecessary alerts. To achieve this, we develop driving style recognition models that integrate road conditions, such as weather and road friction, with different driving styles. Next, we propose an adaptive deceleration plan that aims to maximize the conversion of kinetic energy into electrical energy for the vehicle’s battery under varying weather conditions, considering vehicle dynamics and speed constraints. Given that the potential for energy recovery through regenerative braking is diminished on icy and snowy roads compared to dry ones, our approach introduces a driving context recognition system to facilitate effective speed planning. Both simulation and experimental validation indicate that this approach can significantly enhance overall energy efficiency. Full article

The increasing complexity of autonomous vehicles has exposed the limitations of many existing control systems. Reinforcement learning (RL) is emerging as a promising solution to these challenges, enabling agents to learn and enhance their performance through interaction with the environment. Unlike traditional control algorithms, RL facilitates autonomous learning via a recursive process that can be fully simulated, thereby preventing potential damage to the actual robot. This paper presents the design and development of an RL-based algorithm for controlling the collaborative formation of a multi-agent Khepera IV mobile robot system as it navigates toward a target while avoiding obstacles in the environment by using onboard infrared sensors. This study evaluates the proposed RL approach against traditional control laws within a simulated environment using the CoppeliaSim simulator. The results show that the performance of the RL algorithm gives a sharper control law concerning traditional approaches without the requirement to adjust the control parameters manually. Full article

High-definition (HD) maps aim to provide detailed road information with centimeter-level accuracy, essential for enabling precise navigation and safe operation of autonomous vehicles (AVs). Traditional offline construction methods involve several complex steps, such as data collection, point cloud generation, and feature extraction, but these methods are resource-intensive and struggle to keep pace with the rapidly changing road environments. In contrast, online HD map construction leverages onboard sensor data to dynamically generate local HD maps, offering a bird’s-eye view (BEV) representation of the surrounding road environment. This approach has the potential to improve adaptability to spatial and temporal changes in road conditions while enhancing cost-efficiency by reducing the dependency on frequent map updates and expensive survey fleets. This survey provides a comprehensive analysis of online HD map construction, including the task background, high-level motivations, research methodology, key advancements, existing challenges, and future trends. We systematically review the latest advancements in three key sub-tasks: map segmentation, map element detection, and lane graph construction, aiming to bridge gaps in the current literature. We also discuss existing challenges and future trends, covering standardized map representation design, multitask learning, and multi-modality fusion, while offering suggestions for potential improvements. Full article

This study addresses the motion and inertia parameter estimation problem of a torque-free, tumbling, non-cooperative space object (target) under long-term occlusions. To solve this problem, we employ a data-driven Gaussian process (GP) to simulate sensor measurements. In particular, we implement the multi-output GP to predict the projection measurements of a stereo-camera system onboard a chaser spacecraft. A product kernel, consisting of two periodic kernels, is used in the GP models to capture the periodic trends from non-periodic projection data. The initial guesses for the periodicity hyper-parameters of the GP models are intelligently derived from fast Fourier transform (FFT) analysis of the projection data. Additionally, we propose an unscented Kalman filter–Gaussian process (UKF-GP) fusion algorithm for target motion and inertia parameter estimation. The predicted projections from the GP models and their derivatives are used as the pseudo-measurements for UKF-GP during long-term occlusion. Results from Monte Carlo (MC) simulations demonstrate that, for varying tumbling frequencies, the UKF-GP can accurately estimate the target’s motion variables over hundreds of seconds, a capability the conventional UKF algorithm lacks. Full article

In practical applications, the prediction of the explosive mass of an underwater explosion represents a crucial aspect for defining extreme scenarios and for assessing damage, implementing defensive and security strategies, and ensuring the structural integrity of marine structures. In this study, a deep neural network (DNN) was developed to predict the mass of an underwater explosive charge, by means of the transfer learning technique (TL). Both DNN and TL methods utilized data collected through coupled Eulerian–Lagrangian numerical simulations performed through the suite MSC Dytran. Different positions and masses of the charge, seabed typology, and distance between the structure and seabed have been considered within the dataset. All the features considered as input for the machine learning model are information that the crew is aware of through onboard sensors and instrumentations, making the framework extremely useful in real-world scenarios. TL involves reconfiguring and retraining a new DNN model, starting from a pre-trained network model developed in a past study by the authors, which predicted the spatial position of the explosive. This study serves as a proof of concept that using transfer learning to create a DNN model from a pre-trained network requires less computational effort compared to building and training a model from scratch, especially considering the vast amount of data typically present in real-world scenarios. Full article

Recently, aerial manipulations are becoming more and more important for the practical applications of unmanned aerial vehicles (UAV) to choose, transport, and place objects in global space. In this paper, an aerial manipulation system consisting of a UAV, two onboard cameras, and a multi-fingered robotic hand with proximity sensors is developed. To achieve self-contained autonomous navigation to a targeted object, onboard tracking and depth cameras are used to detect the targeted object and to control the UAV to reach the target object, even in a Global Positioning System-denied environment. The robotic hand can perform proximity sensor-based grasping stably for an object that is within a position error tolerance (a circle with a radius of 50 mm) from the center of the hand. Therefore, to successfully grasp the object, a requirement for the position error of the hand (=UAV) during hovering after reaching the targeted object should be less than the tolerance. To meet this requirement, an object detection algorithm to support accurate target localization by combining information from both cameras was developed. In addition, camera mount orientation and UAV attitude sampling rate were determined by experiments, and it is confirmed that these implementations improved the UAV position error to within the grasping tolerance of the robot hand. Finally, the experiments on aerial manipulations using the developed system demonstrated the successful grasping of the targeted object. Full article

Accurate and robust on-board orbit determination is essential for enabling autonomous spacecraft operations, particularly in scenarios where ground control is limited or unavailable. This paper presents a novel method for achieving robust on-board orbit determination by integrating a loosely coupled GNSS/INS architecture with an on-board orbit propagator through error Kalman filtering. This method is designed to continuously estimate and propagate a spacecraft’s orbital state, leveraging real-time sensor measurements from a global navigation satellite system (GNSS) receiver and an inertial navigation system (INS). The key advantage of the proposed approach lies in its ability to maintain orbit determination integrity even during GNSS signal outages or sensor failures. During such events, the on-board orbit propagator seamlessly continues to predict the spacecraft’s trajectory using the last known state information and the error estimates from the Kalman filter, which were adapted here to handle synthetic propagated measurements. The effectiveness and robustness of the method are demonstrated through comprehensive simulation studies under various operational scenarios, including simulated GNSS signal interruptions and sensor anomalies. Full article

Moderate-Resolution Imaging Spectroradiometer (MODIS) sensors onboard the Terra and Aqua spacecraft have been in orbit for over 24 and 22 years, respectively, providing continuous observations of the Earth’s surface. Among the instrument’s 36 bands, 16 of them are thermal emissive bands (TEBs) with wavelengths that range from 3.75 to 14.24 μm. Routine post-launch calibrations are performed using the sensor’s onboard blackbody and space view port, the moon, and vicarious targets that include the ocean, Dome Concordia (Dome C) in Antarctica, and quasi-deep convective clouds (DCC). The calibration consistency between the satellite measurements from the two instruments is essential in generating a multi-year data record for the long-term monitoring of the Earth’s Level 1B (L1B) data. This paper presents the Terra and Aqua MODIS TEB comparison for the upcoming Collection 7 (C7) L1B products using measurements over Dome C and the ocean, as well as the double difference via simultaneous nadir overpasses with the Infrared Atmospheric Sounding Interferometer (IASI) sensor. The mission-long trending of the Terra and Aqua MODIS TEB is presented, and their cross-comparison is also presented and discussed. Results show that the calibration of the two MODIS sensors and their respective Earth measurements are generally consistent and within their design specifications. Due to the electronic crosstalk contamination, the PV LWIR bands show slightly larger drifts for both MODIS instruments across different Earth measurements. These drifts also have an impact on the Terra-to-Aqua calibration consistency. This thorough assessment serves as a robust record containing a summary of the MODIS calibration performance and the consistency between the two MODIS sensors over Earth view retrievals. Full article

In this study, the global land surface albedo namely GAC43 was retrieved for the years 1979 to 2020 using Advanced Very High Resolution Radiometer (AVHRR) global area coverage (GAC) data onboard National Oceanic and Atmospheric Administration (NOAA) and Meteorological Operational (MetOp) satellites. We provide a comprehensive retrieval process of the GAC43 albedo, followed by a comprehensive assessment against in situ measurements and three widely used satellite-based albedo products, the third edition of the CM SAF cLoud, Albedo and surface RAdiation (CLARA-A3), the Copernicus Climate Change Service (C3S) albedo product, and MODIS BRDF/albedo product (MCD43). Our quantitative evaluations indicate that GAC43 demonstrates the best stability, with a linear trend of ±0.002 per decade at nearly all pseudo invariant calibration sites (PICS) from 1982 to 2020. In contrast, CLARA-A3 exhibits significant noise before the 2000s due to the limited availability of observations, while C3S shows substantial biases during the same period due to imperfect sensors intercalibrations. Extensive validation at globally distributed homogeneous sites shows that GAC43 has comparable accuracy to C3S, with an overall RMSE of approximately 0.03, but a smaller positive bias of 0.012. Comparatively, MCD43C3 shows the lowest RMSE (~0.023) and minimal bias, while CLARA-A3 displays the highest RMSE (~0.042) and bias (0.02). Furthermore, GAC43, CLARA-A3, and C3S exhibit overestimation in forests, with positive biases exceeding 0.023 and RMSEs of at least 0.028. In contrast, MCD43C3 shows negligible bias and a smaller RMSE of 0.015. For grasslands and shrublands, GAC43 and MCD43C3 demonstrate comparable estimation uncertainties of approximately 0.023, with close positive biases near 0.09, whereas C3S and CLARA-A3 exhibit higher RMSEs and biases exceeding 0.032 and 0.022, respectively. All four albedo products show significant RMSEs around 0.035 over croplands but achieve the highest estimation accuracy better than 0.020 over deserts. It is worth noting that significant biases are typically attributed to insufficient spatial representativeness of the measurement sites. Globally, GAC43 and C3S exhibit similar spatial distribution patterns across most land surface conditions, including an overestimation compared to MCD43C3 and an underestimation compared to CLARA-A3 in forested areas. In addition, GAC43, C3S, and CLARA-A3 estimate higher albedo values than MCD43C3 in low-vegetation regions, such as croplands, grasslands, savannas, and woody savannas. Besides the fact that the new GAC43 product shows the best stability covering the last 40 years, one has to consider the higher proportion of backup inversions before 2000. Overall, GAC43 offers a promising long-term and consistent albedo with good accuracy for future studies such as global climate change, energy balance, and land management policy. Full article

A serious limitation to the deployment of IoT solutions in rural areas may be the lack of available telecommunications infrastructure enabling the continuous collection of measurement data. A nomadic computing system, using a UAV carrying an on-board gateway, can handle this; it leads, however, to a number of technical challenges. One is the intermittent collection of data from ground sensors governed by weather conditions for the UAV measurement missions. Therefore, each sensor should be equipped with software that allows for the cleaning of collected data before transmission to the fly-over nomadic gateway from erroneous, misleading, or otherwise redundant data—to minimize their volume and fit them in the limited transmission window. This task, however, may be a barrier for end devices constrained in several ways, such as limited energy reserve, insufficient computational capability of their MCUs, and short transmission range of their RAT modules. In this paper, a comprehensive approach to these problems is proposed, which enables the implementation of an anomaly detector in time series data with low computational demand. The proposed solution uses the analysis of the physics of the measured signals and is based on a simple anomaly model whose parameters can be optimized using popular AI techniques. It was validated during a full 10-month vegetation period in a real Rural IoT system deployed by Gdańsk Tech. Full article

Autonomous Underwater Vehicles (AUVs) operate independently using onboard batteries and data storage, necessitating periodic recovery for battery recharging and data transfer. Traditional surface-based launch and recovery (L&R) operations pose significant risks to personnel and equipment, particularly in adverse weather conditions. Subsurface docking stations provide a safer alternative but often involve complex fixed installations and costly acoustic positioning systems. This work introduces a comprehensive docking solution featuring the following two key innovations: (1) a novel deployable docking station (DDS) designed for rapid deployment from vessels of opportunity, operating without active acoustic transmitters; and (2) an innovative sensor fusion approach that combines the AUV’s onboard forward-looking sonar and camera data. The DDS comprises a semi-submersible protective frame and a subsurface, heave-compensated docking component equipped with backlit visual markers, an electromagnetic (EM) beacon, and an EM lifting device. This adaptable design is suitable for temporary installations and in acoustically sensitive or covert operations. The positioning and guidance system employs a multi-sensor approach, integrating range and azimuth data from the sonar with elevation data from the vision camera to achieve precise 3D positioning and robust navigation in varying underwater conditions. This paper details the design considerations and integration of the AUV system and the docking station, highlighting their innovative features. The proposed method was validated through software-in-the-loop simulations, controlled seawater pool experiments, and preliminary open-sea trials, including several docking attempts. While further sea trials are planned, current results demonstrate the potential of this solution to enhance AUV operational capabilities in challenging underwater environments while reducing deployment complexity and operational costs. Full article

The Visible Infrared Imaging Radiometer Suite (VIIRS) onboard the National Oceanic and Atmospheric Administration-20 (NOAA-20) satellite was launched on 18 November 2017. The on-orbit calibration of the NOAA-20 VIIRS visible and near-infrared (VisNIR) bands has been very stable over time. However, NOAA-20 operational M1 (a dual gain band with a center wavelength of 0.41 µm) sensor data records (SDR) have exhibited persistent scene-dependent striping over clear-sky ocean (high gain, low radiance) since the beginning of the mission, different from other VisNIR bands. This paper studies the root causes of the striping in the operational NOAA-20 M1 SDRs. Two potential factors were analyzed: (1) polarization effect-induced striping over clear-sky ocean and (2) imperfect on-orbit radiometric calibration-induced striping. NOAA-20 M1 is more sensitive to the polarized lights compared to other NOAA-20 short-wavelength bands and the similar bands on the Suomi NPP and NOAA-21 VIIRS, with detector and scan angle-dependent polarization sensitivity up to ~6.4%. The VIIRS M1 top of atmosphere radiance is dominated by Rayleigh scattering over clear-sky ocean and can be up to ~70% polarized. In this study, the impact of the polarization effect on M1 striping was investigated using radiative transfer simulation and a polarization correction method similar to that developed by the NOAA ocean color team. Our results indicate that the prelaunch-measured polarization sensitivity and the polarization correction method work well and can effectively reduce striping over clear-sky ocean scenes by up to ~2% at near nadir zones. Moreover, no significant change in NOAA-20 M1 polarization sensitivity was observed based on the data analyzed in this study. After the correction of the polarization effect, residual M1 striping over clear-sky ocean suggests that there exists half-angle mirror (HAM)-side and detector-dependent striping, which may be caused by on-orbit radiometric calibration errors. HAM-side and detector-dependent striping correction factors were analyzed using deep convective cloud (DCC) observations (low gain, high radiances) and verified over the homogeneous Libya-4 desert site (low gain, mid-level radiance); neither are significantly affected by the polarization effect. The imperfect on-orbit radiometric calibration-induced striping in the NOAA operational M1 SDR has been relatively stable over time. After the correction of the polarization effect, the DCC-based striping correction factors can further reduce striping over clear-sky ocean scenes by ~0.5%. The polarization correction method used in this study is only effective over clear-sky ocean scenes that are dominated by the Rayleigh scattering radiance. The DCC-based striping correction factors work well at all radiance levels; therefore, they can be deployed operationally to improve the quality of NOAA-20 M1 SDRs. Full article

Climate change affects the Earth’s ecosystem, and understanding human impact on sparsely populated polar regions is crucial, especially in glacial dynamics. Nanosatellites can play an essential role in monitoring remote regions due to their flexibility in adding remote sensors for Earth observation. However, they have hardware constraints such as physical space limitations, low power generation, and low bandwidth, as well as environmental challenges of vacuum, heat, cold and radiation. This paper details the preliminary system design of an imaging payload integrated into a nanosatellite for monitoring field study sites in Greenland. The payload is capable of supporting advanced image processing and Machine Learning (ML) applications. Key design elements, including the selection of imaging sensors, onboard processing units, and data transmission systems, which are optimized for the constraints of a nanosatellite platform, are presented. As a result, we presented a novel imaging payload system design, which shows a significant step towards leveraging space technology for environmental research. Full article