Visual pose estimation for shipboard landing of autonomous parafoils
This paper outlines an investigation into the use of a simple, focal-plane imaging sensor for guidance of an autonomous parafoil system for approach and landing on a moving platform such as a ship underway. The perspective-projective transformation between an object in a three-dimensional world and an image on a two-dimensional plane is analyzed and then formulated using a homogeneous coordinate system. The estimation problem is addressed; specifically, the challenge of dealing with the out-of-frame condition due to parafoil oscillation as it approaches the target. A dual-mode Kalman estimation-scheme is proposed that suspends measurement when the target is out-of-frame, and incorporates a two-view measurement when the target reenters the frame.
Shipboard Landing Challenges for Autonomous Parafoils
This paper examines some of the challenges that must be overcome if future aerial delivery systems are to have the capability to land on the flight deck of a ship underway. The unique aspects of trajectory planning for landing on a ship’s flight deck are first examined, followed by formulation of the position estimation problem for a moving target. Some preliminary investigations into characterizing the wind over a moving landing platform at sea are then described. Finally, experimental results are presented for testing of a small prototype autonomous parafoil with a simple moving target on land.
A sustainable development indicator for NGOs and international organisations
The article offers an easy-to-use indicator for measuring whether NGOs, international organisations and government policies and projects meet the criteria for sustainable development that have been established by the Rio Declaration in 1992 and that are recognised by experts in the field. Use of this indicator reveals that most of the major actors in the field of development are actually failing to promote sustainable development and points to the specific areas where they need to improve in order to fulfil sustainability criteria. We also offer a sample test of the indicator using UNICEF as a case study.