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Detection and Tracking of Uncooperative Unmanned Aerial Vehicle using a 2-Degree Of Freedom Robotic Manipulator

Abstract

Since the past few years, the commercial unmanned aerial vehicle (UAV) sector has grown significantly, thus making easier access of UAVs to public. Because these gadgets have the potential to inflict major risks intentionally or accidentally, this development has quickly aroused security concerns. Since then, many researchers have been working to develop a counter-drone system using different options such as acoustics, RF analyzers, optics, etc. This paper presents an idea on developing and implementing detection model of uncooperative quadcopter drones and track them simultaneously by using a 2 -degree-of-freedom robotic manipulator with an onboard camera. First, the detection model is discussed which is developed by training a modified You look only once (YOLO v2) object detector with a large dataset of labeled images of quadcopter. Further, the target's depth is estimated via the stereo camera integrated with RGB. Tracking of target drone is done by controlling the manipulator in Pulse Width Modulation (PWM) mode in which signal is sent as soon as the target is detected.

article Proceedings Paper

date_range 2024

language English

link Link of the paper

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Gupta Arpit

Giri Dipak

Tripathy Twinkle

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Featured Keywords

Uncooperative

Deep Learning

Robotic Manipulator

UAV

Detection

Tracking

YOLO

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Assessment of reinforced concrete building damages following the Kahramanmaraş earthquakes in Malatya, Turkey (February 6, 2023)

Abstract

Earthquakes of magnitude Mw = 7.7 and Mw = 7.6 hit the city of Kahramanmaraş (Turkey) on 6 February 2023. These earthquakes caused serious damage in 11 provinces in Turkey resulting in over 50,000 deaths and huge economic losses with the collapse of thousands of buildings. Two consecutive devastating earthquakes have severely damaged the reinforced concrete building stock located in Malatya. There are many reasons reinforced concrete structures suffer damage under the influence of seismic loads. These reasons can be listed as material and section properties that do not comply with earthquake codes, workmanship defects, ground parameters that are not considered and design errors, as seen in field investigations after earthquakes in Turkey in the past. In this research, a field study was conducted on reinforced concrete buildings damaged after the earthquakes in Malatya province. The causes of structural damages in reinforced concrete buildings between 6–26 years of age were assessed in terms of design and material defects. The structural damages were mainly caused due to insufficient stirrups in structural members, short column, strong beam–weak column, failures of infill walls, soft story type collapse, poor concrete quality, and reinforcement corrosion. In addition to the field investigation, the spectrum relationships created using raw acceleration data obtained from DEMP (Disaster and Emergency Management Presidency) stations in Malatya province were compared with the design response spectra.

article Article

date_range 2024

language English

link Link of the paper

Collapsed buildings

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