Abstract: Inspections of towers with unmanned aerial vehicles is challenging because judging the distance to narrow tower members, phase conductors, or guy wires is very difficult for people. These flights may be automated by first creating a three dimensional model of the tower from a scan; determining a safe standoff distance for the unmanned aerial vehicle; generating flight segments to provide complete inspection coverage of the tower while maintaining the standoff distance; and then safely and accurately flying the segments in most wind conditions by using location correction messages from remote reference stations.

Abstract: FIG. 1 is a perspective view of transmission tower 10, phase conductors 12, insulators 14, and shield wires 15. They are to be inspected by unmanned aerial vehicle UAV 20 with embedded processor and memory 22, radio 24, location rover 26, and camera 28. Continuously operating reference station 16 has GNSS antenna 17, GNSS receiver 19, and radio 18. The relative location between UAV 20 and reference station 16 can be accurately calculated using location corrections sent by radio 18 to radio 24. Camera 28 on UAV 20 is first used to capture two or more orientation images 38 and 39 of tower 10; lines 12 and 15; and insulators 14 from different vantage points. Terrestrial or close-range photogrammetry techniques are used create a three dimensional model of tower 10; lines 12 and 15; and insulators 14. Based on inspection resolution and safety objectives, a standoff distance 50 is determined.

Abstract: A method and apparatus for using directional gestures in popup menus to enter data into and control a computer system. A popup menu contains a number of items represented by images or labels positioned on a regular grid around a popup position. When an operator requests a popup menu using a trigger event, the appropriate menu for the operator, the trigger, and the system state is selected and is displayed with the popup position centered over the current cursor position. The operator scans through the items by dragging the cursor and selects one to initiate the associated action. The operator can design menus containing the commands he or she uses most frequently and use these menus with existing applications without revising the applications. Menus with many items are managed by scrolling or by progressive disclosure of the menu items.