A path-planning algorithm to guide unmanned aerial vehicles (UAVs) for tracking multiple ground targets based on the theory of partially observable Markov decision processes (POMDPs) is presented. A variety of features of interest are shown to be easy to incorporate into the framework by plugging in the appropriate models, which demonstrates the power and flexibility of the POMDP framework. Specifically, it is shown how to incorporate the following features by appropriately formulating the POMDP action space, transition law, and objective function: 1) control UAVs with both forward acceleration and bank angle subject to constraints; 2) account for the effect of wind disturbance on UAVs; 3) avoid collisions between UAVs and obstacles and among UAVs; 4) track targets while evading threats; 5) track evasive targets; and 6) mitigate track swaps.

We develop and present a novel minimum estimation error variance waveform design method. The method optimizes the spectral shape of a unimodular radar waveform such that the performance of a joint radar-communications system that shares spectrum is maximized. We also develop the novel spectral water-filling SIC data rate, which employs the continuous spectral water-filling algorithm to obtain the optimal communications power spectrum. We perform a numerical study to compare the performance of the new technique with the previously derived spectral mask shaping method. The global estimation rate and the data rate capture the radar and the communications performance respectively.

Measuring soil health indicators (SHIs), particularly soil total nitrogen (TN), is an important and challenging task that affects farmers’ decisions on timing, placement, and quantity of fertilizers applied in the farms. Most existing methods to measure SHIs are in-lab wet chemistry or spectroscopy-based methods, which require significant human input and effort, time-consuming, costly, and are low-throughput in nature. To address this challenge, we develop an artificial intelligence (AI)-driven near real-time unmanned aerial vehicle (UAV)-based multispectral sensing solution (UMS) to estimate soil TN in an agricultural farm. TN is an important macro-nutrient or SHI that directly affects the crop health. Accurate prediction of soil TN can significantly increase crop yield through informed decision making on the timing of seed planting, and fertilizer quantity and timing. The ground-truth data required to train the AI approaches is generated via laser-induced breakdown spectroscopy (LIBS), which can be readily used to characterize soil samples, providing rapid chemical analysis of the samples and their constituents (e.g., nitrogen, potassium, phosphorus, calcium). Although LIBS was previously applied for soil nutrient detection, there is no existing study on the integration of LIBS with UAV multispectral imaging and AI. We train two machine learning (ML) models including multi-layer perceptron regression and support vector regression to predict the soil nitrogen using a suite of data classes including multispectral characteristics of the soil and crops in red (R), near-infrared, and green (G) spectral bands, computed vegetation indices (NDVI), and environmental variables including air temperature and relative humidity (RH). To generate the ground-truth data or the training data for the machine learning models, we determine the N spectrum of the soil samples (collected from a farm) using LIBS and develop a calibration model using the correlation between actual TN of the soil samples and the maximum intensity of N spectrum. In addition, we extract the features from the multispectral images captured while the UAV follows an autonomous flight plan, at different growth stages of the crops. The ML model’s performance is tested on a fixed configuration space for the hyper-parameters using various hyper-parameter optimization techniques at three different wavelengths of the N spectrum.

We describe a method for the analysis of the distribution of displacements, i.e., the propagators, of single-particle tracking measurements for the case of obstructed subdiffusion in two-dimensional membranes. The propagator for the percolation cluster is compared with a two-component mobility model against Monte Carlo simulations. To account for diffusion in the presence of obstacle concentrations below the percolation threshold, a propagator that includes the transient motion in finite percolation clusters and hopping between obstacle-induced compartments is derived. Finally, these models are shown to be effective in the analysis of Kv2.1 channel diffusive measurements in the membrane of living mammalian cells.

In this paper, we present a decentralized unmanned aerial vehicle (UAV) swarm formation control approach based on a decision theoretic approach. Specifically, we pose the UAV swarm motion control problem as a decentralized Markov decision process (Dec-MDP). Here, the goal is to drive the UAV swarm from an initial geographical region to another geographical region where the swarm must form a three-dimensional shape (e.g., surface of a sphere). As most decision-theoretic formulations suffer from the curse of dimensionality, we adapt an existing fast approximate dynamic programming method called nominal belief-state optimization (NBO) to approximately solve the formation control problem. We perform numerical studies in MATLAB to validate the performance of the above control algorithms.

The current study explores an artificial intelligence framework for measuring the structural features from microscopy images of the bacterial biofilms. Desulfovibrio alaskensis G20 (DA-G20) grown on mild steel surfaces is used as a model for sulfate reducing bacteria that are implicated in microbiologically influenced corrosion problems. Our goal is to automate the process of extracting the geometrical properties of the DA-G20 cells from the scanning electron microscopy (SEM) images, which is otherwise a laborious and costly process. These geometric properties are a biofilm phenotype that allow us to understand how the biofilm structurally adapts to the surface properties of the underlying metals, which can lead to better corrosion prevention solutions. We adapt two deep learning models: (a) a deep convolutional neural network (DCNN) model to achieve semantic segmentation of the cells, (d) a mask region-convolutional neural network (Mask R-CNN) model to achieve instance segmentation of the cells. These models are then integrated with moment invariants approach to measure the geometric characteristics of the segmented cells. Our numerical studies confirm that the Mask-RCNN and DCNN methods are 227x and 70x faster respectively, compared to the traditional method of manual identification and measurement of the cell geometric properties by the domain experts.