In recent years, a phenomenal increase in the development of Unmanned Aerial Vehicles (UAVs) has been observed in a broad range of applications in various fields of study. Precision agriculture has emerged as a major field of interest, integrating unmanned monitoring of crop health into general agricultural practices for researchers are utilizing UAV to collect data for post-analysis. This paper describes a modular and generic system that is able to control the UAV using computer vision. A configuration approach similar to the Observation, Orientation, Decision and Action (OODA) loop has been implemented to allow the system to perform on-board decision making. The detection of an object of interest is performed by computer vision functionality. This allows the UAV to change its planned path accordingly and approach the target in order to perform a close inspection, or conduct a manoeuvres such as the application of herbicide or collection of higher resolution agricultural images. The results show the ability of the developed system to dynamically change its current goal and implement an inspection manoeuvre to perform necessary actions after detecting the target. The vision based navigation system and on-board decision making were demonstrated in three types of tests: ArUco Marker detection, colour detection and weed detection. The results are measured based on the sensitivity and the selectivity of the algorithm. The sensitivity is the ability of the algorithm to identify and detect the true positive target while the selectivity is the capability of the algorithm to filter out the false negatives for detection targets. Results indicate that the system is capable of detecting ArUco Markers with 99% sensitivity and 100% selectivity at 5 m above the ground level. The system is also capable of detecting a red target with 96% sensitivity and 99% selectivity at the same height during a test height at 5 metres. This system has potential applicability in the field of precision agriculture such as, crop health monitoring, pest plant detection which causes detrimental financial damage to crop yields if not noticed at an early stage.

Process bus networks are the next stage in the evolution of substation design, bringing digital technology to the high-voltage switchyard. Benefits of process buses include facilitating the use of nonconventional instrument transformers, improved disturbance recording and phasor measurement, and the removal of costly, and potentially hazardous, copper cabling from substation switchyards and control rooms. This paper examines the role a process bus plays in an IEC 61850-based substation automation system. Measurements taken from a process bus substation are used to develop an understanding of the network characteristics of “whole of substation” process buses. The concept of “coherent transmission” is presented, and the impact of this on Ethernet switches is examined. Experiments based on substation observations are used to investigate in detail the behavior of Ethernet switches with sampled value traffic. Test methods that can be used to assess the adequacy of a network are proposed, and examples of the application and interpretation of these tests are provided. Once sampled value frames are queued by an Ethernet switch, the additional delay incurred by subsequent switches is minimal, and this allows their use in switchyards to further reduce communications cabling, without significantly impacting operation. The performance and reliability of a process bus network operating close to the theoretical maximum number of digital sampling units (merging units or electronic instrument transformers) was investigated with networking equipment from several vendors and has been demonstrated to be acceptable.

This paper presents Multi-Step A* (MSA*), a search algorithm based on A* for multi-objective 4-D vehicle motion planning (three spatial and one time dimensions). The research is principally motivated by the need for offline and online motion planning for autonomous unmanned aerial vehicles (UAVs). For UAVs operating in large dynamic uncertain 4-D environments, the motion plan consists of a sequence of connected linear tracks (or trajectory segments). The track angle and velocity are important parameters that are often restricted by assumptions and a grid geometry in conventional motion planners. Many existing planners also fail to incorporate multiple decision criteria and constraints such as wind, fuel, dynamic obstacles, and the rules of the air. It is shown that MSA* finds a cost optimal solution using variable length, angle, and velocity trajectory segments. These segments are approximated with a grid-based cell sequence that provides an inherent tolerance to uncertainty. The computational efficiency is achieved by using variable successor operators to create a multiresolution memory-efficient lattice sampling structure. The simulation studies on the UAV flight planning problem show that MSA* meets the time constraints of online replanning and finds paths of equivalent cost but in a quarter of the time (on average) of a vector neighborhood-based A*.

Transmission smart grids will use a digital platform for the automation of high-voltage substations. The IEC 61850 series of standards, released in parts over the last ten years, provide a specification for substation communication networks and systems. These standards, along with IEEE Std 1588-2008 Precision Time Protocol version 2 (PTPv2) for precision timing, are recommended by both the IEC Smart Grid Strategy Group and the National Institute of Standards and Technology Framework and Roadmap for Smart Grid Interoperability Standards for substation automation. IEC 61850, PTPv2, and Ethernet are three complementary protocol families that together define the future of sampled-value (SV) digital process connections for smart substation automation. A time synchronization system is required for an SV process bus; however, the details are not defined in IEC 61850-9-2. PTPv2 provides the greatest accuracy of network-based time transfer systems, with timing errors of less than 100 ns achievable. The suitability of PTPv2 to synchronize sampling in a digital process bus is evaluated, with preliminary results indicating that steady-state performance of low-cost clocks is an acceptable 300 ns but that corrections issued by grandmaster clocks can introduce significant transients. Extremely stable grandmaster oscillators are required to ensure that any corrections are sufficiently small that time synchronizing performance is not degraded.

The IEC 61850 family of standards for substation communication systems was released in the early 2000s and includes IEC 61850-8-1 and IEC 61850-9-2 that enable Ethernet to be used for process-level connections between transmission substation switchyards and control rooms. This paper presents an investigation of process bus protection performance, since the inservice behavior of multifunction process buses is largely unknown. An experimental approach was adopted that used a Real Time Digital Simulator and “live” substation automation devices. The effect of sampling synchronization error and network traffic on transformer differential protection performance was assessed and compared to conventional hard-wired connections. Ethernet was used for all sampled value measurements, circuit breaker tripping, transformer tap-changer position reports, and precision time protocol synchronization of sampled value merging unit sampling. Test results showed that the protection relay under investigation operated correctly with process bus network traffic approaching 100% capacity. The protection system was not adversely affected by synchronizing errors significantly larger than the standards permit, suggesting that these requirements may be overly conservative. This “closed loop” approach, using substation automation hardware, validated the operation of protection relays under extreme conditions. Digital connections using a single shared Ethernet network outperformed conventional hard-wired solutions.

This letter presents a technique to assess the overall network performance of sampled value process buses based on IEC 61850-9-2 using measurements from a single location in the network. The method is based upon the use of Ethernet cards with externally synchronized time stamping, and characteristics of the process bus protocol. The application and utility of the method is demonstrated by measuring latency introduced by Ethernet switches. Network latency can be measured from a single set of captures, rather than comparing source and destination captures. Absolute latency measures will greatly assist the design testing, commissioning and maintenance of these critical data networks.