Collision-free Autonomous Navigation of A Small UAV Using Low-cost Sensors in GPS-denied Environments

This paper proposes a novel complete navigation system for autonomous flight of small unmanned aerial vehicles (UAVs) in GPS-denied environments. The hardware platform used to test the proposed algorithm is a small, custom-built UAV platform equipped with an onboard computer, RGB-D camera, 2D light detection and ranging (LiDAR), and altimeter. The error-state Kalman filter (ESKF) based on the dynamic model for low-cost IMU-driven systems is proposed, and visual odometry from the RGB-D camera and height measurement from the altimeter are fed into the measurement update process of the ESKF. The pose output of the ESKF is then integrated into the open-source simultaneous location and mapping (SLAM) algorithm for pose-graph optimization and loop closing. In addition, the computationally efficient collision-free path planning algorithm is proposed and verified through simulations. The software modules run onboard in real time with limited onboard computational capability. The indoor flight experiment demonstrates that the proposed system for small UAVs with low-cost devices can navigate without collision in fully autonomous missions while establishing accurate surrounding maps.

     

Luminous properties of color tunable strontium thio-selenide phosphors for LEDs application

In this study, alkali earth thio-selenide phosphor, SrS_xSe_1 ? x:Eu²⁺_, was prepared using the conventional solid state reaction method. The synthesized phosphor displayed a broad excitation band that was suitable for blue or near UV LED applications and emitted light at various wavelengths (563–605 nm) with different chemical compositions. Like the case of other alkali phosphors, Zn²⁺ substitution for Sr²⁺ greatly enhanced the emission of this thio-selenide phosphor. The LED fabricated with the synthesized phosphor produced white light using a blue LED with a CIE-1931 coordinate, T_c and R_a of (0.3199, 0.3107), 6577 K and 51.6, respectively.     

Fabrication of white light-emitting diodes based on UV light-emitting diodes with conjugated polymers-(CdSe/ZnS) quantum dots as hybrid phosphors

White light-emitting diodes (LEDs) were fabricated using GaN-based 380-nm UV LEDs precoated with the composite of blue-emitting polymer (poly[(9,9-dihexylfluorenyl-2,7-diyl)-alt-co-(2-methoxy-5-{2-ethylhexyloxy)-1 ,4-phenylene)]), yellow green-emitting polymer (poly[(9,9-dioctylfluorenyl-2,7-diyl)-co-(1,4-benzo-{2,1',3}-thiadiazole)]), and 605-nm red-emitting quantum dots (QDs). CdSe cores were obtained by solvothermal route using CdO, Se precursors and ZnS shells were synthesized by using diethylzinc, and hexamethyldisilathiane precursors. The optical properties of CdSe/ZnS QDs were characterized by UV-visible and photoluminescence (PL) spectra. The structural data and composition of the QDs were transmission electron microscopy (TEM), and EDX technique. The quantum yield and size of the QDs were 58.7% and about 6.7 nm, respectively. Three-band white light was generated by hybridizing blue (430 nm), green (535 nm), and red (605 nm) emission. The color-rendering index (CRI) of the device was extremely improved by introducing the QDs. The CIE-1931 chromaticity coordinate, color temperature, and CRI of a white LED at 20 mA were (0.379, 0.368), 3969 K, and 90, respectively.     

White light emission from blue InGaN LED precoated with conjugated copolymer/quantum dots as hybrid phosphor

In this work we fabricated white LEDs using a blue InGaN LED precoated conjugated copolymer/quantum dots (QDs) composite (green-emitting Poly {(9,9-dioctyl-2,7-divinylenefluorenylene)-alto-co-(2-methoxy-5-(2-ethylhexyloxy)-1,4-phenylene)}/red-emitting CdSe quantum dots) as a hybrid phosphor. The emission peak wavelengths of the blue and red emissions in the spectra were 462 and 618 nm, respectively. The green-emitting polymer had two emission peaks at 515 and 543 nm. The subpeak of the copolymer (515 nm) was decreased by the absorption of QDs as the ratio of QDs increased, while the emission of the QD (618 nm) increased. Therefore, changes in the CIE-1931 coordinate, color temperature (Tc) and color-rendering index (Ra) were dependent on the QDs to copolymer ratios. The white LED of the hybrid phosphor containing 20 wt.% QDs had a luminous efficiency of 44.2 l m/W at 20 mA with a CIE-1931 coordinate, Tc and Ra of (0.3297, 0.3332), 5620 K and 75.3, respectively.     

Sr0.95Zn0.05Se:Eu2+ and CdSe/ZnS nanocrystals hybrid phosphors for enhancing color rendering index of white light emitting diode

In this study, the yellow emitting cubic structure of Sr0.95Zn0.05Se:Eu2+ phosphors were prepared by high temperature solid state reaction. The Sr0.95Zn0.05Se:Eu2+ phosphors exhibited strong excitation intensity under 400-460 nm region, and broad band emission appeared at around 545-600 nm due to the d-f transition of Eu2+. To enhance the red emission, HDA/TOP/TOPO capped CdSe/ZnS NCs were synthesized via fast nucleation and slow growth method. The narrow emission peak was located at 615 nm with 69% of high quantum yield. Bright white emission was generated by combining a 460 nm InGaN LED chip with CdSe/ZnS NCs and Sr0.95Zn0.05Se:Eu2+ hybrid phosphors. The fabricated white LEDs showed warm white light with acceptable CIE chromaticity coordinate variation from (0.343, 0.255) at 20 mA to (0.335, 0.250) at 50 mA. The addition of CdSe/ZnS NCs contributed to the extension of white light spectrum by supplement of the red region. The color rendering index was largely enhanced from 41.7 to 79.7 compared to the Sr0.95Zn0.05Se:Eu2+ based phosphors white LED.     

Deep learning-based cutting force prediction for machining process using monitoring data

Pattern Analysis and Applications - Machining is a critical process in manufacturing industries. With the increase in the complexity and precision of machining, computer systems, such as...