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Recent advances in the research of autonomous vehicles have showed a vast range of applications, such as exploration, surveillance and environmental monitoring. Considering the mining industry, it is possible to use such vehicles in the prospection of minerals of commercial interest beneath the ground. However, tasks such as geophysical surveys are highly dependent on specific sensors, which mostly are not designed to be used in these new range of autonomous vehicles. In this work, we propose a novel magnetic survey pipeline that aims to increase versatility, speed and robustness by using autonomous rotary-wing Unmanned Aerial Vehicles (UAVs). We also discuss the development of a state-of-the-art three-axis fluxgate, where our goal in this work was to refine and adjust the sensor topology and coupled electronics specifically for this type of vehicle and application. The sensor was built with two ring-cores using a specially developed stress-annealed CoFeSiB amorphous ribbon, in order to get sufficient resolution to detect concentrations of small ferrous minerals. Finally, we report on the results of experiments performed with a real UAV in an outdoor environment, showing the efficacy of the methodology in detecting an artificial ferrous anomaly. [ABSTRACT FROM AUTHOR]

In this paper, we present a monocular vision-based height estimation algorithm for terrain following flights. The impressive growth of Unmanned Aerial Vehicle (UAV) usage, notably in mapping applications, will soon require the creation of new technologies to enable these systems to better perceive their surroundings. Specifically, we chose to tackle the terrain following problem, as it is still unresolved for consumer available systems. Virtually every mapping aircraft carries a camera; therefore, we chose to exploit this in order to use presently available hardware to extract the height information toward performing terrain following flights. The proposed methodology consists of using optical flow to track features from videos obtained by the UAV, as well as its motion information to estimate the flying height. To determine if the height estimation is reliable, we trained a decision tree that takes the optical flow information as input and classifies whether the output is trustworthy or not. The classifier achieved accuracies of 80% for positives and 90% for negatives, while the height estimation algorithm presented good accuracy. [ABSTRACT FROM AUTHOR]

We apply a global sensitivity method, the Hilbert-Schmidt independence criterion (HSIC), to the reparametrization of a Zn/S/H ReaxFF force field to identify the most appropriate parameters for reparametrization. Parameter selection remains a challenge in this context, as high-dimensional optimizations are prone to overfitting and take a long time but selecting too few parameters leads to poor-quality force fields. We show that the HSIC correctly and quickly identifies the most sensitive parameters and that optimizations done using a small number of sensitive parameters outperform those done using a higher-dimensional reasonable-user parameter selection. Optimizations using only sensitive parameters (1) converge faster, (2) have loss values comparable to those found with the naive selection, (3) have similar accuracy in validation tests, and (4) do not suffer from problems of overfitting. We demonstrate that an HSIC global sensitivity is a cheap optimization preprocessing step that has both qualitative and quantitative benefits which can substantially simplify and speed up ReaxFF reparametrizations.

In this work we explore the properties which make many real-life global optimization problems extremely difficult to handle, and some of the common techniques used in literature to address them. We then introduce a general optimization management tool called GloMPO (Globally Managed Parallel Optimization) to help address some of the challenges faced by practitioners. GloMPO manages and shares information between traditional optimization algorithms run in parallel. We hope that GloMPO will be a flexible framework which allows for customization and hybridization of various optimization ideas, while also providing a substitute for human interventions and decisions which are a common feature of optimization processes of hard problems. GloMPO is shown to produce lower minima than traditional optimization approaches on global optimization test functions, the Lennard-Jones cluster problem, and ReaxFF reparameterizations. The novel feature of forced optimizer termination was shown to find better minima than normal optimization. GloMPO is also shown to provide qualitative benefits such a identifying degenerate minima, and providing a standardized interface and workflow manager., (© 2022. The Author(s).)