Thematische Bibliographien / Aerial roots

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Auswahl der wissenschaftlichen Literatur zum Thema „Aerial roots“

Autor: Grafiati

Veröffentlicht am 28. Juni 2021

Zuletzt aktualisiert am 1. Februar 2022

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Zeitschriftenartikel zum Thema "Aerial roots"

Jolly, Margaret. „Aerial roots“. Women's Studies International Forum 21, Nr. 6 (November 1998): 663–64. http://dx.doi.org/10.1016/s0277-5395(98)00079-x.

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Perez, Craig Santos. „From "aerial Roots"“. Iowa Review 40, Nr. 2 (Oktober 2010): 108–12. http://dx.doi.org/10.17077/0021-065x.6906.

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Perez, Craig Santos. „Ginen "aerial Roots"“. Iowa Review 40, Nr. 2 (Oktober 2010): 113. http://dx.doi.org/10.17077/0021-065x.6907.

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Abasolo, W. P., M. Yoshida, H. Yamamoto und T. Okuyama. „Stress Generation In Aerial Roots Of Ficus Elastica (Moraceae)“. IAWA Journal 30, Nr. 2 (2009): 216–24. http://dx.doi.org/10.1163/22941932-90000216.

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Release strain measurements were conducted on the aerial roots of Ficus elastica Roxb. to understand stress generation in roots. Regardless of whether the roots are small roots that are directly attached to the ground (Type I), small roots that have merged with other roots without reaching the ground (Type II), or large roots that are directly attached to the ground (Type III), all gave negative strain values indicating that they were under tensile stress prior to measurements. Such strains were inversely affected by the strain gauge distance from the root attachment (either to the ground or to other roots) and by the root diameter. Tensile stresses emanated from the gelatinous fibers found near the pith of the roots.

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Wilder, George J. „Comparative morphology and anatomy of absorbing roots and anchoring roots in three species of Cyclanthaceae (Monocotyledoneae)“. Canadian Journal of Botany 70, Nr. 1 (01.01.1992): 38–48. http://dx.doi.org/10.1139/b92-006.

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Asplundia sp., Evodianthus funifer, and Thoracocarpus bissectus are root-climbing lianas that each have absorbing roots and anchoring roots. On stems appressed to the trunks of host trees, both types of roots arise mainly from internodes, generally emerging from those halves of stem surfaces facing the trunks (Asplundia sp., E. funifer), and may form nonreplacement roots and replacement roots. Aerial portions of absorbing roots differ from anchoring roots according to direction of growth, abundance of nonreplacement roots, diameter 1 cm distal to base, length, abundance, and color (T. bissectus). In all species the anchoring roots (with or without replacement roots) are interpretable as determinate because on long specimens their distal portions appear anatomically narrowed and reduced. In contrast, aerial parts of absorbing roots are indeterminate. The determinate aspects of anchoring roots and the general restriction (on stems appressed to tree trunks) of roots to trunk-facing stem surfaces are advantageous as means for conserving biomass. Key words: roots, root morphology, root dimorphism, Cyclanthaceae.

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Inoue, Tomomi, Ayato Kohzu und Ayako Shimono. „Tracking the route of atmospheric nitrogen to diazotrophs colonizing buried mangrove roots“. Tree Physiology 39, Nr. 11 (01.11.2019): 1896–906. http://dx.doi.org/10.1093/treephys/tpz088.

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Abstract Nitrogen-fixing activity has been observed in the rhizosphere of mangrove ecosystems, suggesting a close mangrove–diazotroph relationship. In regularly flooded soil, however, the pathway by which atmospheric nitrogen reaches the diazotrophs in the rhizosphere is unknown. This study provides evidence that mangrove aerial roots serve as pathways that supply nitrogen gas to the diazotrophs colonizing buried roots. A plastic chamber was attached on the exposed part of a Rhizophora stylosa Griff prop root, and 15N2 tracer gas was injected into it. The entire root, including the below-ground part, was collected for analysis of 15N labelling and nitrogenase activity. We detected 15N labelling in buried root materials 2 h after gas injection. Compared with the δ15N contents in root material from an untreated tree, the increment was >10‰ in lateral roots. The nitrogenase activity measured on the other R. stylosa roots was highest in lateral roots, matching well with the results of 15N labelling. Our results indicate that atmospheric nitrogen is taken into aerial mangrove roots through lenticels, diffuses into the buried root system and is fixed by diazotrophs. The unusual appearance of mangrove aerial roots, which has intrigued researchers for many years, could be a key to the high productivity of mangrove ecosystems.

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Reddell, Paul, Michael S. Hopkins und Andrew W. Graham. „Functional association between apogeotropic aerial roots, mycorrhizas and paper-barked stems in a lowland tropical rainforest in North Queensland“. Journal of Tropical Ecology 12, Nr. 6 (November 1996): 763–77. http://dx.doi.org/10.1017/s0266467400010014.

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ABSTRACTThe root and trunk characteristics of species in a complex, lowland, evergreen, tropical rainforest at a seasonally inundated, coastal site on siliceous sands were examined. Roots in the soil were predominantly colonized by arbuscular mycorrhizal fungi although ectomycorrhizas were found on four species which contributed almost 25% of total basal area. Surface root mats were not a characteristic of the study site. In contrast, the ability to produce apogeotropic (upwardly growing) aerial roots which grew on and within the bark on trunks and branches was a consistent feature of the dominant species of trees in this forest. Eleven species representing eight families and constituting more than 85% of the basal area at the site produced these roots. Most trunks with DBH greater than 20 cm supported apogeotropic aerial roots produced by a range of species including themselves. Apogeotropic roots were most frequently found on the basal 0.5 m of trunks; however, they did occur up to 5 m above the forest floor. Apogeotropic aerial roots originated both from epicormic buds under the bark and from soil, and they were frequently colonized by arbuscular mycorrhizal and ectomycorrhizal fungi. There was a strong association between the ability to support these upwardly growing roots and the occurrence of laminated papery and flaky bark. We postulate that production of apogeotropic roots may provide a mechanism for nutrient uptake and root respiration during periods of inundation, for intercepting nutrients in stemflow and/or for extracting nutrients from bark.

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Mundkinajeddu, Deepak, Laxman P. Sawant, Rojison Koshy, Praneetha Akunuri, Vineet Kumar Singh, Anand Mayachari, Maged H. M. Sharaf, Murali Balasubramanian und Amit Agarwal. „Development and Validation of High Performance Liquid Chromatography Method for Simultaneous Estimation of Flavonoid Glycosides in Withania somnifera Aerial Parts“. ISRN Analytical Chemistry 2014 (10.03.2014): 1–6. http://dx.doi.org/10.1155/2014/351547.

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Withania somnifera (L.) Dunal (Solanaceae) commonly known as ashwagandha, is an important plant in Ayurveda and is believed to increase longevity and vitality. The root is considered to be the medicinally important part of the plant as per classical texts and accordingly is the subject of most Pharmacopeial monographs. The aerial parts, being less expensive, are sometimes mixed with roots to prepare “standardized” extracts of W. somnifera, and in cases with false declaration of plant part used as roots on the certificate of analysis. The present study described a new, simple, accurate, and precise HPLC method for the simultaneous determination of flavonoid glycosides as unique constituents of the aerial parts, being absent in roots of the plant. The RSD for intra- and interday analyses was less than 2.5% and the recovery was 90–108%. The method was used to analyze samples of roots and aerial parts of the plant collected from India and Egypt. The samples of commercially available extracts of W. somnifera were also analyzed and many samples were found to contain flavonoid glycosides indicating a possible undeclared use of aerial parts in the extracts derived from roots in commercial practice.

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SU, J. J., Y. J. CHEN und Y. C. CHANG. „A study of a pilot-scale biogas bio-filter system for utilization on pig farms“. Journal of Agricultural Science 152, Nr. 2 (17.01.2013): 217–24. http://dx.doi.org/10.1017/s0021859612001086.

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SUMMARYCombustion of biogas containing hydrogen sulphide (H2S) yields highly corrosive sulphur oxides, thereby limiting the use of biogas for heat and power generation. The current study developed and tested a pilot-scale biogas bio-filter system (BBS) to replace conventional water scrubbing systems at a commercial pig farm in Miaoli County, Taiwan. A 62·8-litre pilot-scale BBS, packed with dried aerial roots from the common tree fern (Sphaeropteris lepifera) and a mixture of dried aerial roots and plastic rings as bio-carriers and inoculated with sulphur oxidizing bacteria, was installed at a commercial pig farm. H2S concentration was 5600 mg/m3 and the biogas flow rate was 4 litres/min. The pilot-scale BBS could remove 26·9 g H2S/m3/h using a bio-filter that operated at a 7% (v/v) O2 level continuously for >200 days. It was found that most H2S was oxidized to elemental sulphur (S0) and accumulated on the surface of the dried aerial roots (0·084 g S0/g aerial root) in the BBS. The dried aerial roots and plastic Raschig ring mixture was more efficent at sulphur dioxide removal than the dried aerial roots on their own. The pH and sulphate (SO42−) concentrations of water dropping from the BBS were 1·6 ± 1·0 and 28 680 ± 8253 mg/l, respectively. However, sulphur is the dominant product of sulphur oxidizers at the 7% O2 level. Periodical flushing of the bio-filter with the effluent from the wastewater treatment system on the farm can maintain high efficiency of H2S removal.

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Lamb, Thomas G., David W. Tonkyn und Daniel A. Kluepfel. „Movement of Pseudomonas aureofaciens from the rhizosphere to aerial plant tissue“. Canadian Journal of Microbiology 42, Nr. 11 (01.11.1996): 1112–20. http://dx.doi.org/10.1139/m96-143.

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Following inoculation onto seeds, the rhizobacterium Pseudomonas aureofaciens Ps3732RNL11 (L11), which contains the constituitively expressed lacZ and lacY genes from Escherichia coli, was recovered from the interior of aerial tissues of all 16 monocot and dicot plants tested, and the exterior of aerial surfaces of 15. In more detailed studies with corn, wheat, and broccoli, both Ps3732RNL11 and its nonengineered parent strain PS3732RN (RN) rapidly established large populations on all root systems and smaller densities within the aerial tissues, all of which persisted at stable levels throughout 12- to 23-day test periods. There were no differences in the behavior of L11 and RN on any of the three plant species. L11 invaded the aeriel tissues of corn in at least two distinct ways. First, it moved into the interior of leaves following inoculation of guttation drops, suggesting that the bacteria may contaminate the developing shoot prior to its emergence from the soil and then invade through natural openings. However, when this route was blocked by inoculating the roots after shoot emergence in either soil or hydroponic systems, the bacteria still invaded the aerial tissues within 24 h, suggesting direct vascular transport from the roots. Such bacterial movement is an important consideration in future field releases of both native and genetically modified rhizobacteria.Key words: rhizosphere, genetically engineered microorganism, Pseudomonas aureofaciens.

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Dissertationen zum Thema "Aerial roots"

Manzi, Fraga Matías Jesús. „Involvement of aerial organs on the ABA accumulation in roots of Citrus plants under water deficit“. Doctoral thesis, Universitat Jaume I, 2016. http://hdl.handle.net/10803/387227.

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La sequía es una de las situaciones más perjudiciales para el crecimiento y la supervivencia de las plantas. Sin embargo, las plantas han desarrollado estrategias para afrontar dichas condiciones, incluyendo el rápido incremento de ácido abscísico (ABA). Se ha popularizado que las raíces son el órgano capaz de detectar la deshidratación en el substrato, aumentando los niveles de ABA. En esta tesis se ha estudiado la capacidad de las raíces en sintetizar ABA y la implicación del transporte desde tejidos aéreos. La evidencia presentada en esta tesis sugiere que las raíces de las plantas cítricas no constituyen una fuente relevante de ABA y por el contrario, siendo las hojas responsables de mantener la acumulación de ABA en las raíces deshidratas. Además, se sugiere que las hojas juegan un papel clave en detectar el déficit hídrico y por tanto en desencadenar la acumulación de ABA en hojas y en raíces.
Water deficit is one of the most detrimental conditions for plant growth and survival. However, plants have developed several strategies to cope with this condition including the rapid accumulation of abscisic acid (ABA). For years, it has been assumed that dehydration is perceived by roots which stimulate the ABA increase which is further transported to leaves to regulate the stomatal aperture. In this thesis, this model is questioned since several lines of evidence indicate that roots could not sustain larger increases of ABA. Here it is provided evidence that roots of Citrus plants are not an important source of ABA under water deficit and conversely, leaves sustain the accumulation of ABA in those dehydrated roots. Furthermore, data present here suggest that leaves are key not only in providing ABA to roots but also in triggering the water stress responses which lead to the ABA accumulation in both, leaves and roots.

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Risante, Ana Paula de Oliveira. „Biodiversidade e estoques de carbono de um Cerrado stricto sensu na Reserva Biológica de Mogi Guaçu-SP“. Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/91/91131/tde-17072017-121713/.

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O desmatamento para uso agrícola é uma das principais causas da devastação dos biomas brasileiros como a floresta amazônica, o cerrado e a mata atlântica. A grande extensão do desmatamento com a derrubada e a queima das vegetações é a principal fonte de emissão de gases do efeito estufa do Brasil - quarto maior emissor mundial. Uma grande porcentagem do carbono estocado encontra-se na biomassa aérea das fisionomias florestais, enquanto que, nas vegetações de cerrado, a biomassa subterrânea corresponde à maior parte. São ainda poucos os estudos realizados a respeito de estimativas de carbono na biomassa subterrânea, ou mesmo na biomassa aérea, de vegetações de cerrado. O objetivo desta pesquisa foi relacionar os estoques de carbono aéreos e subterrâneos de um cerrado stricto sensu existente na Reserva Biológica de Mogi Guaçu (Martinho Prado - SP) com sua biodiversidade. Para isso estabeleceu-se, de modo sistemático, 10 parcelas de 10x50m subdivididas a cada 10m. Todas as plantas com diâmetros à altura do peito (DAPs) dos troncos maiores que 5 cm foram medidas e identificadas ao nível de espécie calculando-se posteriormente os índices de: diversidade de Shannon-Wiener, equitabilidade de Pielou e riqueza. A biomassa e o carbono aéreo destas árvores foram calculados com o auxílio de equações estabelecidas pela literatura. Foram coletadas amostras de raízes utilizando-se uma cavadeira manual para determinar seus estoques de biomassa e de carbono. Também se retirou amostras indeformadas de solo em diferentes profundidades (0-30cm) para cálculo de densidade do solo e determinação do carbono orgânico. A área de estudo apresentou um total de 64 espécies distintas e 773 indivíduos. A espécies vegetais mais recorrentes foram: Xylopia aromatica (pimenta de macaco) (10,9%), seguida por Syagrus flexuosa (coco babão) (8,8%), Copaifera langsdorffii (pau de óleo) (8,67%), Qualea grandiflora (pau-terra) (8,41%). Houve uma correlação positiva e significativa entre diversidade de Shannon e biomassa e carbono aéreos. Os maiores índices de diversidade de Shannon apresentados foram 2,966 e 2,927. A biomassa área média de foi 37,412 Mg.ha-1 e o carbono aéreo médio foi de 19,65 Mg.ha-1. Já a biomassa média de raízes foi de 3,20 Mg.ha-1 com um teor de carbono variando de 48 a 54%. O estoque médio de carbono do solo foi de 8,51 Mg.ha-1. A porção do solo nas profundidades de 0-10cm apresentaram as maiores concentrações de carbono orgânico. Por outro lado, a densidade do solo apresentou os maiores valores nas camadas de 20-30 cm de profundidade. Houve uma relação negativa significativa entre a densidade e o carbono orgânico do solo.
Deforestation for agricultural use is one of the main causes of the devastation of Brazilian biomes such as the Amazon forest, the cerrado and the Atlantic forest. The big extension of the deforestation with the felling and burning of vegetation is the main cause of the greenhouse gas emissions in Brazil - 4th largest worldwide issuer. A large percentage of the stored carbon is found in the aerial biomass of the vegetable physiognomy, while, in the cerrado vegetation, the underground biomass corresponds the most of part. There are few studies carried out about the carbon stimates in the underground biomass, or even in the aerial biomass, of the cerrado vegetation. The purpose of this research was to relate aerial and underground carbon stocks of a stricto sensu cerrado existing in the Mogi Guaçu- SP Biological Reserve (Martinho Prado Junior-SP) with your biodiversity. For this has been established, systematically, ten plots of 10X50 meters subdivided every 10 meters. All the plants with breast height diameters (DAPs) of the trunks larger than 5 centimeters were measured and identified at the species level calculating the indices of: Shannon-Wiener diversity, Pielou equitability and species richness. The aerial biomass and carbon of these trees were calculated with the aid of equations established in the literature. Root samples were collected with the use of a manual digger for to determine their biomass and carbon stocks. Undisturbed soil samples were collected in different depths for calculating of the soil density and the determination of the soil organic carbon. The study area presented 65 different species and 773 trees. The most recurrent plant species were: Xylopia aromatica (monkey pepper) (10,9%), seguida por Syagrus flexuosa (coconut baboon) (8,8%), Copaifera langsdorffii (oil dick) (8,67%), Qualea grandiflora (dick-sand) (8,41%). There was a significant positive correlation between Shannon diversity and aerial biomass and carbon. The highest indices of the Shannon diversity presented were 2,966 and 2,927. The medium aerial biomass was 37,412 Mg.ha-1 and the medium aerial carbon was 19,65 Mg.ha-1. The medium roots biomass was 3,20 Mg.ha-1 with a carbon content is varying from 48 to 54%.The medium soil carbon was 8,51 Mg.ha-1. The portion of the soil in the depths of the 0-10 centimeters presented the highest organic carbon concentration. On the other side, the soil density presented the higher values in layers of 20-30 cm depth. There was a significant negative correlation between soil density and the soil organic carbon.

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Boeuf, Alexandre. „Kinodynamic motion planning for quadrotor-like aerial robots“. Phd thesis, Toulouse, INPT, 2017. http://oatao.univ-toulouse.fr/20169/1/Boeuf.pdf.

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Motion planning is the field of computer science that aims at developing algorithmic techniques allowing the automatic computation of trajecto- ries for a mechanical system. The nature of such a system vary according to the fields of application. In computer animation it could be a humanoid avatar. In molecular biology it could be a protein. The field of application of this work being aerial robotics, the system is here a four-rotor UAV (Unmanned Aerial Vehicle) called quadrotor. The motion planning problem consists in computing a series of motions that brings the system from a given initial configuration to a desired final configuration without generating collisions with its environment, most of the time known in advance. Usual methods explore the system’s configuration space regardless of its dynamics. By construction the thrust force that allows a quadrotor to fly is tangential to its attitude which implies that not every motion can be performed. Furthermore, the magnitude of this thrust force and hence the linear acceleration of the center of mass are limited by the physical capabilities of the robot. For all these reasons, not only position and orientation must be planned, higher derivatives must be planned also if the motion is to be executed. When this is the case we talk of kinodynamic motion planning. A distinction is made between the local planner and the global planner. The former is in charge of producing a valid trajectory between two states of the system without necessarily taking collisions into account. The later is the overall algorithmic process that is in charge of solving the motion planning problem by exploring the state space of the system. It relies on multiple calls to the local planner. We present a local planner that interpolates two states consisting of an arbitrary number of degrees of freedom (dof) and their first and second derivatives. Given a set of bounds on the dof derivatives up to the fourth order (snap), it quickly produces a near-optimal minimum time trajectory that respects those bounds. In most of modern global motion planning algorithms, the exploration is guided by a distance function (or metric). The best choice is the cost-to-go, i.e. the cost associated to the local method. In the context of kinodynamic motion planning, it is the duration of the minimal-time trajectory. The problem in this case is that computing the cost-to-go is as hard (and thus as costly) as computing the optimal trajectory itself. We present a metric that is a good approximation of the cost-to-go but which computation is far less time consuming. The dominant paradigm nowadays is sampling-based motion planning. This class of algorithms relies on random sampling of the state space in order to quickly explore it. A common strategy is uniform sampling. It however appears that, in our context, it is a rather poor choice. Indeed, a great majority of uniformly sampled states cannot be interpolated. We present an incremental sampling strategy that significantly decreases the probability of this happening.

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Nagori, Chinmay. „Unmanned Aerial Manipulators in Construction - Opportunities and Challenges“. Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/101663.

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Unmanned Aerial Vehicles (UAVs) have now been accepted as an alternative medium to human workers for data collection processes in various industries. The capabilities of UAVs are now being extended from passive tasks of data collection to active tasks of interacting with the environment by equipping them with robotic arms and function as Unmanned Aerial Manipulators (UAMs). Research on Unmanned Aerial Manipulators has been growing in the last few years. The applications of UAMs in terms of sensor installation, inspections, door opening, valve turning, pick and drop, etc. have been studied for the oil and gas industry, and civil applications, etc. However, there is a lack of studies in understanding applications of UAMs and their capabilities in construction and in advancing construction activities. The goal of this research is to identify potential opportunities and challenges of the application of UAM in construction projects. The study will undertake an extensive literature review and semi-structured interviews with industry experts to address research questions. This study will have a significant contribution to the introduction and development of new contact-based UAV-guided technologies in construction.
Master of Science
Drones or Unmanned Aerial Manipulators have been used in the construction industry to collect visual data in form of images, videos, or to map surveys, and visually inspect the structures. However, if equipped with a robotic arm, they attain the capability of touching and interacting with the environment to effectively function as an Unmanned Aerial Manipulator (UAM). UAMs have researched for various applications such as sensor installation, touch-based sensor inspections, door opening, and closing, and pick up and drop, etc. However, there is a lack of study for their opportunities and challenges in the construction industry. This research focuses on understanding the opportunities and challenges associated with the application of UAMs in the construction industry.

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Dierks, Travis. „Formation control of mobile robots and unmanned aerial vehicles“. Diss., Rolla, Mo. : Missouri University of Science and Technology, 2009. http://scholarsmine.mst.edu/thesis/pdf/Dierks_09007dcc806d7f16.pdf.

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Thesis (Ph. D.)--Missouri University of Science and Technology, 2009.
Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed January 13, 2009) Includes bibliographical references.

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Cowlagi, Raghvendra V. „Hierarchical motion planning for autonomous aerial and terrestrial vehicles“. Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/41066.

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Autonomous mobile robots - both aerial and terrestrial vehicles - have gained immense importance due to the broad spectrum of their potential military and civilian applications. One of the indispensable requirements for the autonomy of a mobile vehicle is the vehicle's capability of planning and executing its motion, that is, finding appropriate control inputs for the vehicle such that the resulting vehicle motion satisfies the requirements of the vehicular task. The motion planning and control problem is inherently complex because it involves two disparate sub-problems: (1) satisfaction of the vehicular task requirements, which requires tools from combinatorics and/or formal methods, and (2) design of the vehicle control laws, which requires tools from dynamical systems and control theory. Accordingly, this problem is usually decomposed and solved over two levels of hierarchy. The higher level, called the geometric path planning level, finds a geometric path that satisfies the vehicular task requirements, e.g., obstacle avoidance. The lower level, called the trajectory planning level, involves sufficient smoothening of this geometric path followed by a suitable time parametrization to obtain a reference trajectory for the vehicle. Although simple and efficient, such hierarchical separation suffers a serious drawback: the geometric path planner has no information of the kinematic and dynamic constraints of the vehicle. Consequently, the geometric planner may produce paths that the trajectory planner cannot transform into a feasible reference trajectory. Two main ideas appear in the literature to remedy this problem: (a) randomized sampling-based planning, which eliminates altogether the geometric planner by planning in the vehicle state space, and (b) geometric planning supported by feedback control laws. The former class of methods suffer from a lack of optimality of the resultant trajectory, while the latter class of methods makes a restrictive assumption concerning the vehicle kinematic model. In this thesis, we propose a hierarchical motion planning framework based on a novel mode of interaction between these two levels of planning. This interaction rests on the solution of a special shortest-path problem on graphs, namely, one using costs defined on multiple edge transitions in the path instead of the usual single edge transition costs. These costs are provided by a local trajectory generation algorithm, which we implement using model predictive control and the concept of effective target sets for simplifying the non-convex constraints involved in the problem. The proposed motion planner ensures "consistency" between the two levels of planning, i.e., a guarantee that the higher level geometric path is always associated with a kinematically and dynamically feasible trajectory. We show that the proposed motion planning approach offers distinct advantages in comparison with the competing approaches of discretization of the state space, of randomized sampling-based motion planning, and of local feedback-based, decoupled hierarchical motion planning. Finally, we propose a multi-resolution implementation of the proposed motion planner, which requires accurate descriptions of the environment and the vehicle only for short-term, local motion planning in the immediate vicinity of the vehicle.

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Shah, Syed Irtiza Ali. „Single camera based vision systems for ground and; aerial robots“. Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/37143.

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Efficient and effective vision systems are proposed in this work for object detection for ground&aerial robots venturing into unknown environments with minimum vision aids, i.e. a single camera. The first problem attempted is that of object search and identification in a situation similar to a disaster site. Based on image analysis, typical pixel-based characteristics of a visual marker have been established to search for, using a block based search algorithm, along with a noise and interference filter. The proposed algorithm has been successfully utilized for the International Aerial Robotics competition 2009. The second problem deals with object detection for collision avoidance in 3D environments. It has been shown that a 3D model of the scene can be generated from 2D image information from a single camera flying through a very small arc of lateral flight around the object, without the need of capturing images from all sides. The forward flight simulations show that the depth extracted from forward motion is usable for large part of the image. After analyzing various constraints associated with this and other existing approaches, Motion Estimation has been proposed. Implementation of motion estimation on videos from onboard cameras resulted in various undesirable and noisy vectors. An in depth analysis of such vectors is presented and solutions are proposed and implemented, demonstrating desirable motion estimation for collision avoidance task.

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Selvatici, Luca. „Distributed cooperative MPC for aerial robots: a ROS 2 implementation“. Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.

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The significant decrease in manufacturing costs of hardware components for quadrotors has greatly encouraged research into the design of flight control algorithm for quadrotors, which has seen great growth in recent years. One of the key aspects of the research is the communication between the quadrotors. Nowadays it is considered essential that the quadrotors can communicate with each other. This feature allows numerous advantages: it is possible to generate a network capable of collaborating to solve complex tasks that single quadrotors would not be able to perform, or complete them in a shorter time. The objective of this thesis is the design of a distributed algorithm to control the navigation of a set of quadrotors flying through the same navigation space. A surveillance task has been chosen as a case study, where quadrotors are in charge of arranging themselves in order to protect a target from intruders. Each quadrotor needs to complete both a specific task assigned to it (prevent a certain intruders from reaching the target) and a task in common with the other quadrotors (make sure that the center of the drones coincides with the target and the quadrotors do not collide). With this goal in mind, the project starts with the design of the quadrotor model, controller and trajectories from scratch. Then a Distributed Model Predictive Control algorithm is designed ad hoc to control the navigation of quadrotors. One of the challenges in the creation of this algorithm is the adaptation of the control algorithm to the simultaneous use of Model Predictive Control (MPC) and Online Distributed Gradient Tracking (O-DGT). Indeed, the speed required for the optimization calculations led us to reformulate the MPC in order to make the calculations faster and thus satisfy the limits imposed by the chosen time-step. The proposed model is tested with numerical examples, analyzing a series of cases that allowed us to test different combinations of the developed algorithms.

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Chamberlain, Caleb H. „System Identification, State Estimation, and Control of Unmanned Aerial Robots“. BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2605.

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This thesis describes work in a variety of topics related to aerial robotics, including system identification, state estimation, control, and path planning. The path planners described in this thesis are used to guide a fixed-wing UAV along paths that optimize the aircraft's ability to track a ground target. Existing path planners in the literature either ignore occlusions entirely, or they have limited capability to handle different types of paths. The planners described in this thesis are novel in that they specifically account for the effect of occlusions in urban environments, and they can produce a much richer set of paths than existing planners that account for occlusions. A 3D camera positioning system from Motion Analysis is also described in the context of state estimation, system identification, and control of small unmanned rotorcraft. Specifically, the camera positioning system is integrated inside a control architecture that allows a quadrotor helicopter to fly autonomously using truth data from the positioning system. This thesis describes the system architecture in addition to experiments in state estimation, control, and system identification. There are subtleties involved in using accelerometers for state estimation onboard flying rotorcraft that are often ignored even by researchers well-acquainted with the UAV field. In this thesis, accelerometer-rotorcraft behavior is described in detail. The consequences of ignoring accelerometer-rotorcraft behavior are evaluated, and an observer is presented that achieves better performance by specifically modeling actual accelerometer behavior. The observer is implemented in hardware and results are presented.

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Geisert, Mathieu. „Optimal control and machine learning for humanoid and aerial robots“. Thesis, Toulouse, INSA, 2018. http://www.theses.fr/2018ISAT0011/document.

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Quelle sont les points communs entre un robot humanoïde et un quadrimoteur ? Et bien, pas grand-chose… Cette thèse est donc dédiée au développement d’algorithmes permettant de contrôler un robot de manière dynamique tout en restant générique par rapport au model du robot et à la tâche que l’on cherche à résoudre. Le contrôle optimal numérique est pour cela un bon candidat. Cependant il souffre de plusieurs difficultés comme un nombre important de paramètres à ajuster et des temps de calcul relativement élevés. Ce document présente alors plusieurs améliorations permettant d’atténuer ces difficultés. D’un côté, l’ordonnancement des différentes tâches sous la forme d’une hiérarchie et sa résolution avec un algorithme adapté permet de réduire le nombre de paramètres à ajuster. D’un autre côté, l’utilisation de l’apprentissage automatique afin d’initialiser l’algorithme d’optimisation ou de générer un modèle simplifié du robot permet de fortement diminuer les temps de calcul
What are the common characteristics of humanoid robots and quadrotors? Well, not many… Therefore, this thesis focuses on the development of algorithms allowing to dynamically control a robot while staying generic with respect to the model of the robot and the task that needs to be solved. Numerical optimal control is good candidate to achieve such objective. However, it suffers from several difficulties such as a high number of parameters to tune and a relatively important computation time. This document presents several ameliorations allowing to reduce these problems. On one hand, the tasks can be ordered according to a hierarchy and solved with an appropriate algorithm to lower the number of parameters to tune. On the other hand, machine learning can be used to initialize the optimization solver or to generate a simplified model of the robot, and therefore can be used to decrease the computation time

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Bücher zum Thema "Aerial roots"

Martin, N. E. Using aerial photos to fingerprint a stand for root disease research. Ogden, UT: U.S. Dept. of Agriculture, Forest Service, Intermountain Research Station, 1986.

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Martin, N. E. Using aerial photos to fingerprint a stand for root disease research. Ogden, UT: U.S. Dept. of Agriculture, Forest Service, Intermountain Research Station, 1986.

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Bestaoui Sebbane, Yasmina. Planning and Decision Making for Aerial Robots. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-03707-3.

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Vepa, Ranjan. Nonlinear Control of Robots and Unmanned Aerial Vehicles. Boca Raton : Taylor & Francis, a CRC title, part of the Taylor &: CRC Press, 2016. http://dx.doi.org/10.1201/9781315367378.

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Tognon, Marco, und Antonio Franchi. Theory and Applications for Control of Aerial Robots in Physical Interaction Through Tethers. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-48659-4.

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Aerial Vehicles. InTech, 2009.

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United States. National Aeronautics and Space Administration., Hrsg. Regulation of nitrogen uptake and assimulation: Effects of nitrogen source and root-zone and aerial environment on growth and productivity of soybean : final technical report. [Washington, DC]: National Aeronautics and Space Administration, 1994.

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Wei, Wang, Satoshi Suzuki, Farid Kendoul, Kenzo Nonami und Daisuke Nakazawa. Autonomous Flying Robots: Unmanned Aerial Vehicles and Micro Aerial Vehicles. Springer, 2014.

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Autonomous Flying Robots Unmanned Aerial Vehicles And Micro Aerial Vehicles. Springer, 2010.

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Mejia, Omar Dario Lopez, und Jaime Alberto Escobar Gomez, Hrsg. Aerial Robots - Aerodynamics, Control and Applications. InTech, 2017. http://dx.doi.org/10.5772/65604.

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Buchteile zum Thema "Aerial roots"

Streeten, Paul. „Aerial Roots“. In Recollections of Eminent Economists, 73–98. London: Palgrave Macmillan UK, 1989. http://dx.doi.org/10.1007/978-1-349-09776-0_3.

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Siddall, Robert, und Mirko Kovac. „Bioinspired Aerial Robots“. In Encyclopedia of Robotics, 1–12. Berlin, Heidelberg: Springer Berlin Heidelberg, 2020. http://dx.doi.org/10.1007/978-3-642-41610-1_70-1.

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Marchant, Gary E., Braden Allenby, Ronald C. Arkin, Jason Borenstein, Lyn M. Gaudet, Orde Kittrie, Patrick Lin, George R. Lucas, Richard O’Meara und Jared Silberman. „International Governance of Autonomous Military Robots“. In Handbook of Unmanned Aerial Vehicles, 2879–910. Dordrecht: Springer Netherlands, 2014. http://dx.doi.org/10.1007/978-90-481-9707-1_102.

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Nonami, Kenzo, Farid Kendoul, Satoshi Suzuki, Wei Wang und Daisuke Nakazawa. „Guidance and Navigation Systems for Small Aerial Robots“. In Autonomous Flying Robots, 219–50. Tokyo: Springer Japan, 2010. http://dx.doi.org/10.1007/978-4-431-53856-1_10.

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Nonami, Kenzo, Farid Kendoul, Satoshi Suzuki, Wei Wang und Daisuke Nakazawa. „Mathematical Modeling and Nonlinear Control of VTOL Aerial Vehicles“. In Autonomous Flying Robots, 161–93. Tokyo: Springer Japan, 2010. http://dx.doi.org/10.1007/978-4-431-53856-1_8.

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Mahony, Robert, Randal W. Beard und Vijay Kumar. „Modeling and Control of Aerial Robots“. In Springer Handbook of Robotics, 1307–34. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-32552-1_52.

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Scaramuzza, Davide, und Zichao Zhang. „Aerial Robots, Visual-Inertial Odometry of“. In Encyclopedia of Robotics, 1–9. Berlin, Heidelberg: Springer Berlin Heidelberg, 2020. http://dx.doi.org/10.1007/978-3-642-41610-1_71-1.

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Liu, Yun-ping, Xian-ying Li, Tian-miao Wang, Yong-hong Zhang und Ping Mei. „The Stability Analysis of Quadrotor Unmanned Aerial Vechicles“. In Wearable Sensors and Robots, 383–94. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-2404-7_30.

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Klaptocz, Adam, und Jean-Daniel Nicoud. „Technology and Fabrication of Ultralight Micro-Aerial Vehicles“. In Flying Insects and Robots, 299–316. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-540-89393-6_21.

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Bachmann, Richard J., Ravi Vaidyanathan, Frank J. Boria, James Pluta, Josh Kiihne, Brian K. Taylor, Robert H. Bledsoe, Peter G. Ifju und Roger D. Quinn. „A Miniature Vehicle with Extended Aerial and Terrestrial Mobility“. In Flying Insects and Robots, 247–70. Berlin, Heidelberg: Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-540-89393-6_18.

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Konferenzberichte zum Thema "Aerial roots"

Pant, D. D., und Kabita Das. „Occurrence of Non-Coralloid Aerial Roots in Cycas“. In Symposium CYCAD 87. The New York Botanical Garden Press, 1990. http://dx.doi.org/10.21135/893273507.004.

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Ogiyama, Shinichi, Nobuyoshi Ishii und Shigeo Uchida. „Uptake of 14C-Acetic Acid by Rice Plant as Related to Root Function and Microbial Activity on the Root Surface“. In ASME 2009 12th International Conference on Environmental Remediation and Radioactive Waste Management. ASMEDC, 2009. http://dx.doi.org/10.1115/icem2009-16111.

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Experiments using rice plants (Oryza sativa L.) were conducted to examine uptake of 14C-acetic acid via the root and 14C behavior on the root surface. For hydroponics, three types of rice plants were cultured with 14C-acetic acid solution: complete plant, half-rooted plant, and non-rooted plant. Also, for the root incubation experiment, sterilized root and non-sterilized root were incubated with 14C-acetic acid solution. The 14C radioactivities in the plant parts and solution were measured. Non- and half-rooted plant had 14C radioactivity in their aerial part, but the complete plant did not. The trends of radioactivity levels in the solution were directly opposite to those of plant root biomass. A high level of 14C radioactivity was observed on the entire root surface of non-sterilized root in the incubation experiment, and 14C radioactivity in the solution also remarkably decreased from 7 h to 96 h after the 14C addition. These results suggest that the amount of 14C-acetic acid absorbed by the plant through the roots is very small. However, the plant absorbs 14C-acetic acid through breaks in the roots. Once 14C-acetic acid is inside the plant, it immediately transfers to the shoots. Degradation of 14C radioactivity in the solution and 14C fixation on the root surface arise from the context of microbial activities.

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Cumhur, B., D. Kırcı, Kılıç CS, B. Demirci und H. Duman. „Essential oil composition of roots, aerial parts and fruits of Ferulago pauciradiata Boiss. & Heldr“. In 67th International Congress and Annual Meeting of the Society for Medicinal Plant and Natural Product Research (GA) in cooperation with the French Society of Pharmacognosy AFERP. © Georg Thieme Verlag KG, 2019. http://dx.doi.org/10.1055/s-0039-3399879.

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Williams, Robert L., Elvedin Kljuno und J. Jim Zhu. „Spatial 3-SUR 1-RU Platform Robot Inverse Orientation Kinematics“. In ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/detc2016-59291.

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This paper describes the spatial three-dof 3-SUR 1-RU spherical Parallel Platform Robot. This type of robot has been previously proposed by other authors, but the present design, platform-mounted actuators, and application are unique. Further, the inverse kinematics problem is solved analytically. This robot is under development at Ohio University to serve as the active orienting device for aerodynamic testing of unmanned aerial vehicles (UAV) with up to 3 m wingspan. The UAV will be tested on a Windmobile which is a ground vehicle that is driven with the test article on an instrumented truss extended in the front in an undisturbed flow field. This system is an inexpensive substitute for a large-scale wind tunnel for measuring aerodynamic parameters of the UAV. The three-degrees-of-freedom (dof) of the platform robot are actively controlled by three servomotors (R joints) mounted to the underside of the moving platform and there is a passive fourth middle leg with passive R-U joints for support. The inverse orientation kinematics (IOK) problem is formulated and solved analytically in this paper. Given the three desired Euler Angles, the three required actuator angles are found. Geometrically this analytical solution is equivalent to finding the intersection point of two circles on different planes, independently for each of the three platform robot legs. The analytical solution requires finding the roots of a quartic polynomial. There are at most two real solutions (elbow-up and elbow-down) which means that there are always at least two imaginary solutions to the IOK problem, which are discarded. Examples are presented to demonstrate the platform robot IOK solution algorithm for use in practical platform robot control.

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Green, William E., Paul Y. Oh und Seunghyun Yoon. „An Acquisition and Distribution System for Situational Awareness“. In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-55422.

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In times of disaster acquiring aerial images is challenging. Runways may be crippled thus denying conventional aircraft in the area from taking off. Also the time required to schedule a satellite fly-by may delay first response efforts. Man backpackable aerial robots can be carried close to the disaster site and flown to capture aerial images. This paper integrates mechatronics, intelligent sensing, and mechanism synthesis in a teleoperable kite-mounted camera. Rapidly deployable, transportable by foot, easy to fly and affordable, our system can quickly acquire, process and distribute aerial images. Images mosaicing edge detection, 3D reconstruction and geo-referencing resulting from images acquired by our aerial platform are also presented.

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Michael, Nathan, Soonkyum Kim, Jonathan Fink und Vijay Kumar. „Kinematics and Statics of Cooperative Multi-Robot Aerial Manipulation With Cables“. In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87677.

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This paper addresses the forward and inverse kinematics of payloads carried by aerial robots. We address the cases with one, two, and three aerial robots and derive the kinematics and conditions for stable static equilibrium. For the case with one or two robots, we can establish the maximum number of equilibrium positions. The three-robot case is seen to be much harder primarily because of the non-negative tension constraints. We restrict the set of possible solutions to the forward and inverse problems by considering the equations of static equilibrium and kinematic constraints. Analytic and numeric methods to determine equilibrium configurations and stability are presented.

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Green, William E., Paul Y. Oh, Keith Sevcik und Geoffrey Barrows. „Autonomous Landing for Indoor Flying Robots Using Optic Flow“. In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-55424.

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Urban environments are time consuming, labor intensive and possibly dangerous to safe guard. Accomplishing tasks like bomb detection, search-and-rescue and reconnaissance with aerial robots could save resources. This paper describes a prototype called CQAR: Closed Quarter Aerial Robot, which is capable of flying in and around buildings The prototype was analytically designed to fly safely and slowly. An optic flow microsensor for depth perception, which will allow autonomous takeoff and landing and collision avoidance, is also described.

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Omari, Sammy, Pascal Gohl, Michael Burri, Markus Achtelik und Roland Siegwart. „Visual industrial inspection using aerial robots“. In 2014 3rd International Conference on Applied Robotics for the Power Industry (CARPI 2014). IEEE, 2014. http://dx.doi.org/10.1109/carpi.2014.7030056.

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Naldi, Roberto, Francesco Forte und Lorenzo Marconi. „A class of modular aerial robots“. In 2011 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011). IEEE, 2011. http://dx.doi.org/10.1109/cdc.2011.6161298.

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Steich, Kelly, Mina Kamel, Paul Beardsley, Martin K. Obrist, Roland Siegwart und Thibault Lachat. „Tree cavity inspection using aerial robots“. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2016. http://dx.doi.org/10.1109/iros.2016.7759713.

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Berichte der Organisationen zum Thema "Aerial roots"

Bruder, Brittany L., Katherine L. Brodie, Tyler J. Hesser, Nicholas J. Spore, Matthew W. Farthing und Alexander D. Renaud. guiBath y : A Graphical User Interface to Estimate Nearshore Bathymetry from Hovering Unmanned Aerial System Imagery. Engineer Research and Development Center (U.S.), Februar 2021. http://dx.doi.org/10.21079/11681/39700.

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This US Army Engineer Research and Development Center, Coastal and Hydraulics Laboratory, technical report details guiBathy, a graphical user interface to estimate nearshore bathymetry from imagery collected via a hovering Unmanned Aerial System (UAS). guiBathy provides an end-to-end solution for non-subject-matter-experts to utilize commercia-off-the-shelf UAS to collect quantitative imagery of the nearshore by packaging robust photogrammetric and signal-processing algorithms into an easy-to-use software interface. This report begins by providing brief background on coastal imaging and the photogrammetry and bathymetric inversion algorithms guiBathy utilizes, as well as UAS data collection requirements. The report then describes guiBathy software specifications, features, and workflow. Example guiBathy applications conclude the report with UAS bathymetry measurements taken during the 2020 Atlantic Hurricane Season, which compare favorably (root mean square error = 0.44 to 0.72 m; bias = -0.35 to -0.11 m) with in situ survey measurements. guiBathy is a standalone executable software for Windows 10 platforms and will be freely available at www.github.com/erdc.

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