Dissertationen zum Thema „Drones aériens“
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Tang, Zhiqi. „Commande référencée vision de drones aériens“. Thesis, Université Côte d'Azur, 2021. http://www.theses.fr/2021COAZ4018.
Der volle Inhalt der QuelleThis thesis proposes novel vision-based controllers for the guidance of Unmanned Aerial Vehicles (UAVs). It considers scenarios involving both single and multiple vehicles. For the case of a single-vehicle, novel Image-based visual servo control (IBVS) approaches are proposed for both fixed-wing and vertical take-off and landing (VTOL) UAVs operating in urban or congested environments. Navigation tasks in a complex environment with obstacle avoidance capabilities are considered. In particular, the landing of fixed-wing UAVs on an airstrip and the landing of VTOL-UAVs that includes an obstacle avoidance strategy are considered. The originality of the study lies in the direct exploitation of the centroid of the image of the observed pattern together with the optical flow, thereby eliminating the need to estimate the position and the velocity of the UAV.For multiple vehicles, novel bearing formation controllers are designed for formations under both directed and undirected interaction topologies. Optical flow is explored in the bearing formation control laws in order to achieve collision avoidance between different agents during the formation progression.In order to relax the classical conditions required by bearing rigidity theory and to lift the scale ambiguity caused by bearings, persistence of excitation of the desired bearing reference is explored. The proposed methodology is supported by rigorous mathematical tools (This involves nonlinear dynamical systems and analysis using Lyapunov theory to formally prove the asymptotic (or exponential) stability of the system, guarantee robustness, and finally ensure good performance of the closed-loop system). Further support is provided by real experiments and/or simulation results
Le, Bras Florent. „Contributions à l'asservissement visuel de véhicules aériens autonomes“. Nice, 2010. http://www.theses.fr/2010NICE4110.
Der volle Inhalt der QuelleThe visual servo control technology is based on measurements form a camera. This technique appeared in the late 80’s to control mobile robots or manipulators. Recently, visual servoing is applied to flying vehicles, for which this type of control has a strong operational potential. In this thesis, we focus on the design of visual servoing for two types of flying vectors : the VTOL minidrones and fixed-wing aircrafts. We try wherever possible to specify the problem in terms of regulation in the picture by taking into account the limitations of the sensors used. Thus we consider only the onboard sensors autonomous, and whose quality is consistent with a the considered visual servoing tasks. For this, we propose visual servoing laws adapted to the considered systems intheir control structures and their measurement systems. For VTOL minidrones, a series of control laws is proposed to stabilize the vehicle with respect to a relativity flat target which some landmarks are detected in real time. These commands have the distinction of not requiring measurements of the speed of translation. This characteristic is especially interesting, since this variable is particularly difficult to measure without GPS. One of the algorithms has been, validated in fight ion the platform. HoverEye developed by Bertin Technologies, it was, to our knowledge the first image based visual servoing, conducted indoors on a minidrones. For fixed-wing aircrafts, a next autonomous landing technique based on the detection of runway’s edges is proposed. This technique is image based and takes into account the specificities of aircraft flight dynamics. Moreover a specific estimate of cross-wind is proposed. Validation of this approach is performed on a complex simulator which includes images processing. Finally, we sought new applications in image based visual servoing for fixed-wing aircrafts. A control law for precise stabilization on observation orbit has been synthesized. It is based on the detection of a single landmark and translational optical flow. Simulations illustrate the performance of that algorithm
Baudouin, Laurène. „Sûreté et sécurité au XXIème siècle : l'exemple des drones aériens « augmentés » de sécurité publique“. Electronic Thesis or Diss., Université de Lille (2022-....), 2024. https://pepite-depot.univ-lille.fr/ToutIDP/EDSJPG/2024/2024ULILD005.pdf.
Der volle Inhalt der QuelleIn 2022, the legislature adopted a framework authorising the use of aerial drones equipped with cameras by law enforcement agencies and emergency services. These airborne cameras have been added to the arsenal of video-protection systems and become part of the debate on surveillance of public spaces. In fact, the mobile and aerial qualities of public safety drones increase the restrictions to the right to privacy. In addition, the data processing they perform constitutes an interference with the right to protection of personal data. Today, their possible association with video analytics to help law enforcement agencies make decisions is raising new issues at a time when artificial intelligence software does not yet benefit from an appropriate legal framework. As this technology is not infallible, decisions taken on the basis of the algorithm's results could lead to arrests or even arbitrary detention. The aim of this thesis is therefore to examine the changing relationship between personal security and public safety in the context of 'augmented' aerial drones for public safety. The study analyses the impact of the use of this technology on rights and freedoms, before looking at the possible strengthening of their guarantees in the era of 'augmented' public safety surveillance technologies
Bélanger, Jacky. „Contrôle de véhicules aériens autonomes avec respect de contraintes terminales“. Thesis, Université Laval, 2010. http://www.theses.ulaval.ca/2010/27547/27547.pdf.
Der volle Inhalt der QuelleGuenard, Nicolas. „Optimisation et implémentation de lois de commande embarquées pour la téléopération de micro drones aériens X4-flyer“. Nice, 2007. http://www.theses.fr/2007NICE4066.
Der volle Inhalt der QuelleNow days, the interest for the small size Unmanned Aerial Vehicle (UAV) area is very important. In order to lead inspection and recognition missions, the French Atomic Energy Commission (CEA) is interested in the use of a rotary wings aerial vehicle suited for quasi-stationary flight conditions. Consequently, a prototype ideally suited for this type of mission and for stationary fight conditions, known as an "X4-flyer" has been built. This kind of small aerial robot is known from the modelist and can be bought as a toy. However, it is very difficult to control it without a lot of hours of traning. Consequently, this document presents several embedded algorithms allowing the simple control of the vehicule from simple user translational speed orders. Then, image-based visual servo controls, computed on a ground station, are equally presented and allow the stabilization of the UAV above a target situated on the ground. In order to do this, in a first time, we are interested in the understanding of the different aerodynamical effects applying on the "X4-flyer" and to the elaboration of a mathematical model of the vehicule. Then, a state feedback and a non linear adaptative control, easy to on board and based on the precedent model, are designed. This control law take into account the model non linearity. At least, 3D visual servoing and 2D visual servoing derived for the full dynamics of the system is designed. Each theoretical part of the document has been tested and validated on the experimental UAV
Hua, Minh Duc. „Contributions au contrôle automatique de véhicules aériens“. Phd thesis, Université de Nice Sophia-Antipolis, 2009. http://tel.archives-ouvertes.fr/tel-00460801.
Der volle Inhalt der QuelleRamamonjy, Aro. „Développement de nouvelles méthodes de classification/localisation de signaux acoustiques appliquées aux véhicules aériens“. Thesis, Paris, CNAM, 2019. http://www.theses.fr/2019CNAM1234/document.
Der volle Inhalt der QuelleThis thesis deals with the development of a compact microphone array and a dedicated signal processing chain for aerialtarget recognition and direction of arrival (DOA) estimation. The suggested global approach consists in an initial detection ofa potential target, followed by a DOA estimation and tracking process, along with a refined detection, facilitated by adaptivespatial filtering. An original DOA estimation algorithm is proposed. It uses the RANSAC algorithm on real-time time-domainbroadband [100 Hz - 10 kHz] pressure and particle velocity data which are estimated using finite differences and sums ofsignals of microphone pairs with frequency-dependent inter-microphone spacings. The use of higher order finite differences, or variants of the Phase and Amplitude Gradient Estimation (PAGE) method adapted to the designed antenna, can extend its bandwidth at high frequencies. The designed compact microphone array uses 32 digital MEMS microphones, horizontally disposed over an area of 7.5 centimeters. This array geometry is suitable to the implemented algorithms for DOA estimation and spatial filtering. DOA estimation and tracking of a trajectory controlled by a spatialization sphere in the Ambisonic domain have shown an average DOA estimation error of 4 degrees. A database of flying drones acoustic signatures has been set up, with the knowledge of the drone’s position in relation to the microphone array set out by GPS measurements. Adding artificial noise to the data, and selecting acoustic features with evolutionary programming have enabled the detection of an unknown drone in an unknown soundscape within 200 meters with the JRip classifier. In order to facilitate the detection and extend its range, the initial detection stage is preceded by differential beamforming in four main directions (north, south, east, west), and the refined detection stage is preceded by MVDR beamforming informed by the target’s DOA
Ma, Xiaoyan. „Data collection of mobile sensor networks by drones“. Phd thesis, Toulouse, INPT, 2017. http://oatao.univ-toulouse.fr/19492/1/MA_Xiaoyan.pdf.
Der volle Inhalt der QuelleKendoul, Farid. „Modélisation et commande de véhicules aériens autonomes, et développement d'un pilote automatique basé sur la vision“. Compiègne, 2007. http://www.theses.fr/2007COMP1694.
Der volle Inhalt der QuelleIn this thesis, we address the 3D flight control problem for small unmanned aerial vehicles. The first step in achieving such UA V autonomy is basic stability. In doing so, we investigate control techniques which would allow a small rotorcraft UA V to perform autonomously basic tasks such as take-off, hovering and landing. The proposed flight controllers consider actuator saturation and guarantee system stability and good flight performance. One of the main contributions of this thesis is also the development of a vision-based autopilot for self localization, obstacles detection and control of small autonomous helicopters using optic flow and inertial data. The proposed autopilot is inspired by insects and represents a major step toward our goal of designing autonomous small flying machines capable of navigating within urban and unknown environments. It is composed of a vision module for localization and perception, and an adaptive control system for navigation and trajectory tracking
Benziane, Lotfi. „Contributions à l'estimation et à la commande d'attitude de véhicules aériens autonomes“. Thesis, Versailles-St Quentin en Yvelines, 2015. http://www.theses.fr/2015VERS015V/document.
Der volle Inhalt der QuelleNowadays, we see a growing popularity of the use of Unmanned Aerial Vehicles (UAV) ofespecially Vertical Take-Off and Landing (VTOL) type. One of the most known VTOL is thequadrotor or Quadcopter which is probably the most used one as a research platform. Thisthesis deal with attitude control and estimation techniques applied to a rigid body movingin 3D space such as Quadcopter VTOL. The first contribution of this thesis is the design ofa new class of complementary linear-like filters allowing the fusion of inertial vector measurementswith angular velocity measurements and combined with algebraic algorithms asTRIAD, QUEST etc. to give an efficient attitude estimation solution. This class of filtersallows several possibilities of implementation such as the order of the filters which can bechosen high in order to reduce more the measurement noise and the form of the filters thatcan be direct or passive and the ability to take into account the possible gyro bias. Lyapunovanalysis shows the global asymptotic convergence of the estimation errors to zero. The sameprinciple of data fusion is used for the proposed new attitude control law in which the complementaryfilters were included to reduce the effect of measurement noise. The obtainedcontroller ensures almost global stability of the desired equilibrium point; it represents thesecond contribution of this thesis. The third contribution takes into consideration an interestingspecial case, where instantaneous measurements of attitude and angular velocity areunavailable. A first order linear auxiliary system based directly on vector measurements isused in an observer-like system to handle the luck of angular velocity. The proposed controllerensures almost global asymptotic stability of the trajectories to the desired equilibriumpoint. Detailed sets of experiments were done to validate the obtained results
Saif, Osamah. „Reactive navigation of a fleet of drones in interaction“. Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2269/document.
Der volle Inhalt der QuelleNowadays, applications of autonomous quadrotors are increasing rapidly. Surveillance and security of industrial sites, geographical zones for agriculture for example are some popular applications of Unmanned Aerial Vehicles (UAVs). Nowadays, researchers and scientists focus on the deployment of multi-UAVs for the inspection and the surveillance of large areas. The objective of this thesis is to design algorithms and techniques to perform a real-time distributed/decentralized multi-UAVs flight formation control, from a system of systems perspective. Firstly, we reviewed recent works of the literature about flight formation control and the control of quadrotors. We presented a brief introduction about systems of systems, their definition and characteristics. Then, we introduced the flight formation control with its most used structures in the literature, some existing works dealing with flocking. Finally, we presented the most used modeling methodologies for quadrotors and some control approaches that are used to stabilize quadrotors. Secondly, we used the behavioral-based control structure to achieve a multiple UAV flocking. We conceived a behavior intending to address the control design towards a successful achievement of the flocking task without fragmentation. The proposed behavior treats the flocking problem from a global perspective, that is, we included a tendency of separated UAVs to form a flock.System of systems challenges motivated us to look for flocking and consensus algorithms introduced in the literature that could be helpful to answer to these challenges. This led us to propose four flocking control laws aiming at being compatible with the nonlinear model of quadrotors and at being implemented on experimental platforms. The control laws were run aboard each quadrotor in the flock. By running the control law, each quadrotor interacts with its neighbors to ensure a collision-free flocking. Finally, we validated our proposed control laws by simulations and real-time experiments. For the simulation, we used a PC-based simulator of flock of multiple quadrotors which was developed at Heudiasyc laboratory. For experiments, we implemented our control laws on ArDrone2 quadrotors evolved in an indoor environment equipped with an Optitrack motion capture system
Rondon, Sallan Eduardo. „Navigation d'un véhicule aérien par flux optique“. Compiègne, 2010. http://www.theses.fr/2010COMP1912.
Der volle Inhalt der QuelleThis thesis is focused in the design of visual strategies to ensure the autonomousnavigation of a quad-rotor rotary wing UAV. The first step on thisstudy was to design a quad-rotor perfectly suited for the requirements related to the visual navigation such as fast rotational dynamics and sufficient payload capabilities. Then the stabilization and the speed regulation problem were addressed. For this purpose, we have developed a vision system which estimates the altitude, the lateral position and the forward speed of the engine during flights. We show that the visual information allows the construction of control strategies for different kinds of flying modes: hover flight, forward flight at constant speed. A hierarchical control strategy is developed and implemented. An experimental autonomous flight was successfully achieved, validating the visual algorithm and the control law. However, in order to be completely autonomous the robot must be capable to overcome all unexpected changes in its environment. To achieve the required functions, a reactive behavior has been built. The proposed approach aims to detect and avoid frontal obstacles using known properties of the optical flow and by taking advantage of the capability of stationary flight of the rotorcraft. A state machine is proposed as a solution to equip the UAV with all reactions necessary for indoor navigation. We show how smooth transitions can be achieved by decreasing the speed of the vehicle proportionally to the distance to an obstacle and by brief instants of stationary flight
Li, Zhongmou. „Theoretical developments and experimental evaluation of a novel collaborative multi-drones grasping and manipulation system Zof large objects“. Thesis, Ecole centrale de Nantes, 2021. http://www.theses.fr/2021ECDN0019.
Der volle Inhalt der QuelleThis thesis proposes a new concept of aerial manipulation robot named Flying Gripper that is intended to perform grasping, manipulating, and transporting of large objects autonomously. The Flying Gripper robot is composed of four quadrotors, four self-adaptive fingers and a body structure. The main contributions of these works are: (1) an original mechanical concept using multiple quadrotors to obtain full manipulability in SE(3) and taking advantage of their yaw rotations to actuate a self-adaptive and intrinsically safe grasping mechanism; (2) a wrench capability analysis method taking into account the equality and inequality constraints imposed by actuation limits, mechanical stops and equilibrium relations; (3) a model predictive controller to deal with unknown mass, inertia and center of mass due to the grasped object; (4) a Dynamic Control Allocation algorithm to distribute the control output in a way that guarantees the continuity of actuator's velocity, improves the energy efficiency and satisfies the robot mechanical limits.Numerical simulations and experimental tests have been carried out to validate the controller performances
Belkadi, Adel. „Conception de commande tolérante aux défauts pour les systèmes multi-agents : application au vol en formation d'une flotte de véhicules autonomes aériens“. Electronic Thesis or Diss., Université de Lorraine, 2017. http://www.theses.fr/2017LORR0183.
Der volle Inhalt der QuelleIn recent years, the emergence of new technologies such as miniaturization of components, wireless communication devices, increased storage size and computing capabilities have allowed the design of increasingly complex cooperative multi-agent systems. One of the main research axes in this topic concerns the formation control of fleets of autonomous vehicles. Many applications and missions, civilian and military, such as exploration, surveillance, and maintenance, were developed and carried out in various environments. During the execution of these tasks, the vehicles must interact with their environment and among themselves to coordinate. The available communication tools are often limited in scope. The preservation of the connection within the group then becomes one of the objectives to be satisfied in order to carry out the task successfully. One of the possibilities to guarantee this constraint is the training displacement, which makes it possible to preserve the distances and the geometrical structure of the group. However, it is necessary to have tools and methods for analyzing and controlling these types of systems in order to make the most of their potential. This thesis is part of this research direction by presenting a synthesis and analysis of multi-agent dynamical systems and more particularly the formation control of autonomous vehicles. The control laws developed in the literature for formation control allow to carry out a large number of missions with a high level of performance. However, if a fault/failure occurs in the training, these control laws can be very limited, resulting in unstable system behavior. The development of fault tolerant controls becomes paramount to maintaining control performance in the presence of faults. This problem will be dealt with in more detail in this thesis and will concern the development and design of Fault tolerant controls devolved to a fleet of autonomous vehicles according to different configuration/structuring
Belkadi, Adel. „Conception de commande tolérante aux défauts pour les systèmes multi-agents : application au vol en formation d'une flotte de véhicules autonomes aériens“. Thesis, Université de Lorraine, 2017. http://www.theses.fr/2017LORR0183/document.
Der volle Inhalt der QuelleIn recent years, the emergence of new technologies such as miniaturization of components, wireless communication devices, increased storage size and computing capabilities have allowed the design of increasingly complex cooperative multi-agent systems. One of the main research axes in this topic concerns the formation control of fleets of autonomous vehicles. Many applications and missions, civilian and military, such as exploration, surveillance, and maintenance, were developed and carried out in various environments. During the execution of these tasks, the vehicles must interact with their environment and among themselves to coordinate. The available communication tools are often limited in scope. The preservation of the connection within the group then becomes one of the objectives to be satisfied in order to carry out the task successfully. One of the possibilities to guarantee this constraint is the training displacement, which makes it possible to preserve the distances and the geometrical structure of the group. However, it is necessary to have tools and methods for analyzing and controlling these types of systems in order to make the most of their potential. This thesis is part of this research direction by presenting a synthesis and analysis of multi-agent dynamical systems and more particularly the formation control of autonomous vehicles. The control laws developed in the literature for formation control allow to carry out a large number of missions with a high level of performance. However, if a fault/failure occurs in the training, these control laws can be very limited, resulting in unstable system behavior. The development of fault tolerant controls becomes paramount to maintaining control performance in the presence of faults. This problem will be dealt with in more detail in this thesis and will concern the development and design of Fault tolerant controls devolved to a fleet of autonomous vehicles according to different configuration/structuring
Gomez-Balderas, José-Ernesto. „Localisation et commande embarquée d'un drone en utilisant la vision“. Compiègne, 2011. http://www.theses.fr/2011COMP1969.
Der volle Inhalt der QuelleVisual servoing is a control approach based on visual information. In this thesis, visual servoing schemes are proposed to control a quadrotor and an octarotor applied to positioning and navigation task. Concerning the quadrotor we use a hierarchical control scheme whose inner-loop (fast dynamic) focuses on attitude dynamics, while outer-loop (slow dynamics) deals with translational dynamics. Also, a nonlinear controller based on separated saturations for a quadrotor is proposed to stabilize it attitude. The linear position and velocity of the rotorcraft are obtained by using a vision-based algorithm via a monocular caméra. The dynamic model of the quadrotor is presented using the Newton-Euler formalism. In other vision system, two cameras are used to estimate the translational position and velocity of the vehicle. Position was obtained using a frontal camera looking at a target placed on a wall. Quadrotor velocity was estimated using a camera pointing vertically downwards running an optical flow algorithm. Experimental tests showed that the quadrotor performed well at hover flight using the proposed vision based control system. Quadrotor vision-based. The same system was used to estimate the 3D position of the quadrotor over a trajectory using vanishing points. The performance of the vision and control algorithms has been tested in a real application by a quadrotor tracking a line painted in a wall. Similarly the velocity estimation is obtained using an optic flow algorithm. The estimated position and velocity information obtained from the vision system is combined with the angular rates and displacements of the inertial measurement unit to compute the control inputs. It has been shown that the proposed control scheme achieves the tracking objective of the visual reference. Octarotor vision-based. In this thesis, it is presented a visual feedback a control of an octarotor using image-based visual servoing (IBVS) with stereo vision. Autonomous control of an UAV requires a precise measurements and/or estimation of the vehicle’s pose and also the knowledge of its surrounding environment. In order to control the orientation and the position of flying robot with respect to a target, we propose to use a navigation system based on binocular vision system combined with inertial sensors. This combination of sensors, allows us to get a complete characterization of the state of aerial vehicle. In other words, using the stereo vision system we are able to estimate the UAV’s 3D position, while from the inertial sensors we obtain the orientation of rotorcraft. A semi-embedded navigation system combining stereo vision with inertial information is proposed. The hierarchical control approach is appropriate to stabilize the 6DOF dynamics of the quadrotor, it takes advantage of the time scale separation between rotational (fast) and translational (slow) dynamics. For this reason, despite the lower frequency rate of vision-based measurements is able to stabilize in real-time the quadrotor translational dynamics. This combination of measurement strategies has many advantages because one works very well at low speeds (vision system) and the other at high speeds (inertial sensors). Both work at different sample rate. Taking advantage of this property we have obtained a simplified dynamical model of the rotorcraft. This model is given by six independent double integrators which have been stabilized using proportional-derivative (PD) control. The real-time experiments have shown an acceptable performance of the flying machine applying the control law and sensing system proposed. An embedded control system for the mini rotorcraft is implemented. The control is validated by experimental tests. Experimental results show that the implementation of the control law on an embedded control system is satisfactory for autonomous hovering in indoors and outdoors with light or no wind. Real time experiences are developed to validate the performance of navigation systems proposed. This work highlights the potential of the computer vision based position control strategies for UAV
Sanchez-Orta, Anand. „Modeling, observation and control of a flying machine“. Compiègne, 2007. http://www.theses.fr/2007COMP1677.
Der volle Inhalt der QuelleThis thesis is devoted to design and implement control laws which provide autonomous flight for Unmanned Aerial Vehic1es (UAVs). It also concerns to propose observer-based control laws in order to solve the localization problem. An observer-based control law for the PVTOL (Planar Vertical Take Off and Landing) aircraft model has been proposed in order to improve the sensor measurements. Several bounded control strategies based on saturation functions have been proposed in order to stabilize a quad-rotor mini rotorcraft. Experimental platforms have been designed and constructed to verify the proposed controllers. Finally, we have developed an original tiltrotor mini-aircraft
Lefebvre, Patrick. „Les droits de trafic et la cinquième liberté“. Toulouse 1, 1986. http://www.theses.fr/1986TOU10053.
Der volle Inhalt der QuelleAmong all the traffic rights the fifth freedom is the most liberal. It introduces a factor of multilateralization and competition in the international air transport. The fifth freedom is particularly important for the economy of long-distance airlines, for the enclaved countries, access to international communications as for tourism. But in the present state of the air diplomacy, the liberal exchange of the fifth freedom rights between several states would be difficult to implement. In any case, it is essential to consider a new definition of the fifth freedom and to establish a definition of the sixth freedom
Hoppe, Lars. „Le statut juridique des drones : aéronefs non habités“. Aix-Marseille 3, 2006. http://www.theses.fr/2006AIX32073.
Der volle Inhalt der QuelleDuring the time, a lot of technologies have become obsolete. This is especially true for some civil and military systems recently used for missions with a high risk involved or requesting a very high endurance. In order to reduce the mission risks and to increase endurance pre-programmed or piloted by distance UAVs (“unmanned aerial vehicles”) have been ensuring more and more since some decades. However, the increased use of UAVs during the last ten years does come along with some legal problems. The existing airworthiness and air traffic regulations for traditional manned air planes are insufficient and not adapted to UAVs. This empty space of clear regulations is observed at the level of national regulations where constructors and operators are only able to base their interests on an analogy to the existing regulations. On an international level, nearly no rules exist for production, selling and utilisation of UAVs. This situation does not allow evaluating how to handle problems with UAVs in the case of an accident or the abuse of UAVs which can be imagined for terrorist goals. Another aspect is the possibility to attend human individual laws, because the UAVs could also be used for spying. At this moment this empty space concerning UAV-regulations shall be filled. One of the main issues tackled in this paper is to what extent, and in which way, the current airworthiness regulations are still applicable and whether the existing regulations will remain applicable in the future. Is it possible to adapt the existing rules to UAVs or is it necessary to proceed to some technical and law adjustments to permit the insertion of UAVs in civil air space? Based on the existing rules, research and advisory opinion, detailed proposals and recommendations will be made in order to create suitable traffic regulations and to attract the reader’s interest to these problems
Liu, Shiyu. „Decentralized Control and Estimation of a Flying Parallel Robot Interacting with the Environment“. Electronic Thesis or Diss., Ecole centrale de Nantes, 2022. http://www.theses.fr/2022ECDN0056.
Der volle Inhalt der QuelleAerial manipulation is an emerging domain where multirotor Unmanned Aerial Vehicles (UAVs) are equipped with onboard end-effectors for grasping, transporting and manipulating objects. To enhance the payload capacity and achieve full manipulability in 3-dimensional space, a flying parallel robot (FPR) was previously proposed in which a number of UAVs are used to collectively support a passive parallel architecture. In this thesis, the estimation and control methods dealing with the interaction with the environment are addressed, which are applied to a specific FPR composed of a moving platform and a number of rigid legs attached with quadrotors actuating the system. The second main contribution of this thesis is the proposal of decentralized strategies based on onboard and intrinsic measurements of the UAVs. Experiments show the effectiveness of the proposed methods in regulating the robot configuration, achieving precise positioning tasks through teleoperation and performing contact-based interactions with an object in the environment. In addition, a detailed analysis of the wrench feasibility of the FPR is presented, allowing to compute the Available Wrench Set (AWS) of the platform and determine the optimal leg configurations maximising the wrench feasibility of the robot accordingly to specific task requirements
Castillo, Zamora José de Jesús. „Conception, Modélisation et Contrôle d'un Système Multi-Drones pour la Manipulation Aérienne“. Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG051.
Der volle Inhalt der QuelleA recent and exciting topic within the field of autonomous aerial vehicles is the interaction with the surrounding environment via in-flight manipulation, including retrieving, transport and deployment, which unveils an enormous potential vis-a-vis industrial and service applications. In this regard, the actual thesis focuses on the conception and energy-based dynamical study of a multi-link unmanned aerial system able to perform manipulation tasks. The study of the aforementioned robotic aerial system includes the control of the flying multi-link vehicle by the sliding mode control theory and the conception of Lyapunov-based controllers alongside the application of Kalman Filters for state and disturbances estimation. The last part of the thesis is devoted to the examination of time-delays effects on unmanned aerial systems. Detailed simulation results are provided to prove the effectiveness of the overall thesis proposal
Sanahuja, Guillaume. „Commande et localisation embarquée d'un drone aérien en utilisant la vision“. Compiègne, 2010. http://www.theses.fr/2010COMP1869.
Der volle Inhalt der QuelleThis work is about obtaining non linear control laws to stabilize an UAV (Unmanned Air Vehicle), and also about localization using vision. First, a bibliographie study over UAVs and their control laws was dope. Thus several laws were tested and compared on a PVTOL (Planar Vertical Take Off and Landing) airplane platform. A control law stabilizing a system with n integrators based on saturation functions was proposed. The particularity of this law is that each state is separated. Then a quadrirotor platform was built, as well as a simulator for the quadrirotor. This one allows to run the UAV's program on a computer thanks to a dynamical model and can provide the vision algorithms to be tested with virtual images. Some computer vision algorithms were tested. In order to deal with the embedded criteria, a light optical flow method (working in only one direction) was implemented on a mobile robot to avoid obstacles. Then, stereovision based solutions using laser pointers were proposed. The first technique allows to estimate the attitude and the second one allows to do wall following. Finally, a control scheme using a predictor and an observer was studied. This combination takes into account some delays in the control loop, which can corne from the video processing. Moreover, the proposed scheme allows to efficiently use a captor with a high sample time (like camera) whereas the control law is running faster
Muñoz, Hernández Laura Elena. „Stabilisation d'un véhicule aérien autonome en présence de vent“. Compiègne, 2012. http://www.theses.fr/2012COMP2055.
Der volle Inhalt der QuelleThis thesis is focused in the design of original and robust control strategies to stabilize an Unmanned Aerial Vehicle (UAV) in presence of wind disturbances. The proposed control strategies have been tested in simulations and in real-time experiments in two different platforms. It introduces the mathematical model of a UAV in presence of wind. We obtained the dynamical model which takes into account the complementary forces induced by the wind for a Planar Vertical Take-Off and Landing (PVTOL) aircraft and for the quadrotor rotorcraft. On the other hand, three different nonlinear control laws based on the Lyapunov analysis have been developed to stabilize the UAV in presence of wind. The first approach uses the Robust Control Lyapunov Functions (RCLFs). Given the complexity of the problem, we begun with a mini car which moves on its longitudinal axis. This result has been extended to the case of the PVTOL aircraft and to the quadrotor rotorcraft. Several simulations have been carried out to validate the proposed algorithms. To test its viability in a real application, we have realized experiments using a PVTOL prototype. The simulations and experimental results in real time showed the good performance of the control law in closed loop. The second approach is based on the saturation functions. We have proposed a robust analysis with respect to unknown external disturbances and nonlinear uncertainties in the model. The proof takes the hypothesis that the wind is bounded. The algorithms have been tested in a quadrotor prototype and the results showed a good performance even in presence of wind disturbances. The last approach considers the intrinsic properties of the quadrotor flying vehicle, specially the passivity. Thus, a sub-optimal control law has been developed. The analysis is based on the full energy of the system, the passivity, the Lyapunov theory and the use of dynamic programming. The simulation results have showed that this control law can be useful when the flying vehicle has to do more complex maneuvers than hover. Finally, a control scheme using a state observer has been developed. This scheme uses the Extended Kalman Filter (EKF) to estimate the position in the (x,y) plain and the vertical velocity z of a quadrotor rotorcraft. Using the measurements of an inertial measurement unit, an altitude sensor, a vision system and the control inputs the system state is estimated. The vision system is used to compute the translational velocities of the vehicle and it is composed by a camera and an optical flow algorithm. The estimator has been validated by experiments in real time and the results have been very conclusive
Soulignac, Michaël. „Planification de trajectoire en présence de courants : application aux missions de drones“. Nice, 2009. http://www.theses.fr/2009NICE4006.
Der volle Inhalt der QuelleRecent advances made in the fiel of autonomous vehicles suggest that, in a near future, Unmanned Air Vehicles (UAVs) will be more and more deployed in order to achieve various missions (such as surveillance, intelligence or search and rescue). Moreover, since UAVs may be slow, the impact of current is significant and cannot be neglected. That is why we introduce in the proposed thesis two new trajectory planning algorithms in presence of currents, which are extensions of wavefront expansion techniques. The first one, called sliding wavefront expansion, allows to handle strong currents, i. E. Currents which are faster than the UAV. We show that this approach is much more reliable than the existing one, which can return, in this particular context, physically infeasible paths. The second one, called symbolic wavefront expansion, allows to handle time-varying currents. Given some weather forecast (through current charts), this approach determine both the departure time and the trajectory minimizing the UAV’s travel time
Myrand-Lapierre, Vincent. „Transitions autonomes entre les vols non stationnaire et stationnaire d'un véhicule aérien miniature à ailes fixes“. Master's thesis, Université Laval, 2010. http://hdl.handle.net/20.500.11794/21360.
Der volle Inhalt der QuelleAbaunza, Gonzalez Hernán. „Robust tracking of dynamic targets with aerial vehicles using quaternion-based techniques“. Thesis, Compiègne, 2019. http://www.theses.fr/2019COMP2480/document.
Der volle Inhalt der QuelleThe objective of this thesis work is to design control and navigation algorithms for tracking of dynamic ground targets using aerial vehicles. Quaternions, which provide an alternative to the classical representations of aerial vehicle dynamics, have been chosen as a basement to develop robust controllers and agile navigation algorithm, due to their advantages such as the absence of singularities and discontinuities and their mathematical simplicity when handling rotations. The quaternion-based control approaches explored in this thesis range from state feedback, passivity, and energy-based controllers, up to sliding modes, and three-dimensional saturation approaches. Then, autonomous and semi-autonomous navigation strategies for quadrotors were explored. An algorithm has been developed for controlling a quadrotor using gestures from a user wearing an armband. To facilitate the operation of multirotors in adverse scenarios, an aggressive deployment strategy has been proposed where a quadrotor is launched by hand With its motors turned off. Finally, autonomous navigation techniques for tracking dynamic targets have been designed. A trajectory generation algorithm based on differential equations has been introduced to track a land vehicle while describing circles. Finally a distributed path planning algorithm has been developed for a fleet of drones to autonomously track ground targets by solving an online optimization problem
Bouzgou, Kamel. „Contribution à l'architecture, la modélisation et la commande d'un bras manipulateur aérien“. Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG012.
Der volle Inhalt der QuelleUnmanned aerial vehicles (UAVs), progressively used by different military and commercial tasks, have the possibility to move in a 3D environment in Cartesian coordinates to assist humans, inspect dangerous areas or photography. Some of these missions require contact with the environment, such as handling objects in flight. In order to accomplish this kind of mission, that thesis made it possible to consider and design a dual system consisting of a manipulator arm connected to the base of a multirotor. The main problem resulting from this new structure involves the ability to stabilize the mechanism concurrently with a permanent change in its inertia due to the movement of the manipulator. In this manuscript, a new concept of the aerial manipulator is proposed, capable of stabilizing the system with the implementation of a prismatic joint to operate the center of gravity of the whole system while keeping it as close as possible to the vertical axis. A further contribution in this study, when a new classification of aerial manipulation systems based on a symbolic formula is introduced, capable of specifying the type and number of multirotors and manipulators used within the mechanical structure. A new algorithm for calculating the solutions of the inverse geometric model, based on an analytical approach, is thus developed and compared to iterative algorithms presented in the literature. The dynamic model of the overall system is obtained by the use of symbolic mathematical tools and functions developed in this project. Two modeling methods, coupled and decoupled, have been introduced. The control part is designed for a coupled system using three control laws and applied to various scenarios, each consisting of multilayer blocks (trajectory planning, internal layer of position and attitude control, control block of virtual entry). Different values of the angles of the manipulator arm joints are analyzed and tested for the efficiency of the prismatic joint. Three approaches to the interaction of the end organ of the robotic arm with the environment are implemented and simulated. A case study and the application of the control impedance module are simulated. Finally, the approaches and methods implemented in this thesis are validated using a virtual prototype in the SimMechanics environment, where a graphical user interface GUI is designed to manipulate and visualize the system during programmed scenarios, thus demonstrating the interest of the main thesis contributions
Louargant, Marine. „Proxidétection des adventices par imagerie aérienne : vers un service de gestion par drone“. Thesis, Dijon, 2016. http://www.theses.fr/2016DIJOS029/document.
Der volle Inhalt der QuelleThe agricultural framework aims to reduce pesticide use on fields. Weed management, which is highly herbicide consuming, became a great issue. In order to develop a weed management service using UAV, this PhD dissertation studies how to adapt the acquisition system (UAV + multispectral camera) developed by AIRINOV to detect weeds in row crops. The acquisition chain was modeled to assess some of its parameters (optical filters and spatial resolution) impact on weed detection quality. Orthoimages and orthorectified images were created using a multispectral camera (4 to 8 filters) with 6 mm to 6 cm spatial resolutions. Several weed location methods were specifically developed to study multispectral images acquired by UAV. They are based on 1) the analysis of vegetation spatial distribution (row detection using the Hough transform and shape analysis), 2) spectral classification of pixels (supervised methods: LDA, QDA, Mahalanobis distance, SVM). In order to improve weed detection, a spectral classification based on training data deduced from spatial analysis was then proposed.Weed infestation maps and recommendation for spot spraying applications were then produced
Leroux, Boris. „Fusion de données LiDAR et photographiques pour le géoréférencement direct d’un lever topographique par micro-drone aérien“. Thesis, Le Mans, 2019. http://www.theses.fr/2019LEMA1024.
Der volle Inhalt der QuelleWithin the development of systems dedicated to mobile mapping, spatial data production takes a growing part. For users, this spatial data is particularly interesting when computing digital models which are used to manage efficiently the resource, they are responsible for. To collect this data Hélicéo company especially offers an aerial solution which can embed a camera or a LiDAR sensor. Like every platforms dedicated to dynamic mapping, this system needs to geo-referencing the collected data in a coordinate reference frame.Most of the mobile mapping systems perform direct georeferencing using the trajectory determined from coupled GNSS receiver and inertial measurement unit (IMU). Even if this method is well known et operational for Airborne Laser Scanning (ALS) and Mobile Mapping Systems (MMS), it is hard to transpose for lightweight platforms like drones which require special payloads.To suit this constrains, drones use Micro-Electro Mechanical Systems (MEMS) which are light, compact and require low power. However, the accuracy of the attitude computed from this MEMS sensors is degraded compared to the tactical sensors so that it does not correspond to the accuracy level expected for topographic surveys.The goal of our study was to establish and validate a new methodology based on a camera and visual odometry (VO) computing. This thesis describes the theoretical approach to compute attitude from images taken by a camera and how LiDAR points are georeferenced using GNSS receiver coupled to VO. In the second part, this thesis describes the different experiments and the process we follow to validate this method and the comparison with traditional GNSS/IMU method
Öman, Lundin Gustav. „Supervision for drone flight safety“. Thesis, Toulouse, ISAE, 2020. http://www.theses.fr/2020ESAE0006.
Der volle Inhalt der QuelleThe ever-increasing use of drones and their integration within the existing air trafic demand a certain number ofguarantees of safety and functional proofs. The flight safety is directly impacted by the precision and reliability ofthe localisation which is achieved most of the time by a multi-sensor fusion, itself provided by a state estimatingfilter. The work of this thesis focuses on the problem of fault tolerant navigation and sensor fault in the nonredundantsensor case. The main objective is to propose methods and architectures for attitude and positionestimation providing a correct estimation, but also improving its consistency and integrity, even in the case oflong lasting sensor perturbations. A first line of work concerns the estimation and rejection of multiple andfrequent biases on a position sensor, which is often the case for a GNSS receiver (multi-path errors), or a visualsensor (tracking errors). An architecture for bias detection and correction of the estimated position has beendeveloped to this end, to complement standard methods based on the GLR. A second line of work has beento propose an attitude estimation architecture robust to magnetic disturbances and specific accelerations. It isdivided into three principal blocks: (1) Sensor performance models allowing the estimation of sensor outputscleaned as well as possible from perturbations; (2) A measurement consolidation stage utilises statistical teststo select the signals to fuse between the raw measurements and the cleaned ones, or simply reject the signalsin case the consolidation fails; (3) An attitude estimator based on a Kalman filter merges the consolidatedmeasurements, with decoupling properties to mitigate the effect of residual perturbations, and a saturated biasmodel. The algorithms for position and attitude estimation have been validated in simulation and separatelyduring various experimental test campaigns
Skowronski, Robin. „Perception visuelle pour les drones légers“. Thesis, Bordeaux 1, 2011. http://www.theses.fr/2011BOR14345/document.
Der volle Inhalt der QuelleThe last decade has seen the emergence of many Unmanned Aerial Vehicles (UAV) which are becoming increasingly cheap and miniaturized. A mounted video-camera is standard equipment and can be found on any such UAVs. In this context, we present robust techniques to enhance autonomy levels of airborne vision systems based on mini-UAV technologies. First, we present a camera autocalibration method based on central projection based image \dimension{2}-invariants analysis and we compare it to classical Dual Image of the Absolute Conic (DIAC) technique. We present also a method to detect and calibrate turret's effectors hierarchy. Then, we propose a new algorithm to extract a calibrated camera self-rotation (visual gyroscope) and we apply it to propose a real-time video stabilizer with full perspective correction
Lisein, Jonathan. „Application des techniques de photogrammétrie par drone à la caractérisation des ressources forestières“. Thesis, Paris Est, 2016. http://www.theses.fr/2016PESC1049/document.
Der volle Inhalt der QuelleThe recent development of operational small unmanned aerial systems (UASs) opens the door for their extensive use in forest mapping, as both the spatial and temporal resolution of UAS imagery better suit local-scale investigation than traditional remote sensing tools.Along with this rising use of drones, dense three-dimensional reconstruction through the combined use of photogrammetry and textit{Structure from Motion} techniques enables now the fine modelization of the canopy surface relief from a set of overlapping images.Forest management is evolving and has to cope with numerous news demands.A sustainable managemnent practice requires beforehand up-to-date and comprehenvise forest inventory.Traditionnal forest ressources inventories are carried out on the field.They are expensive and focus only on an sample of the forest.Information is delivered at the stand level, and specific measurements for individual tree is missing.The use of mapping drones can potentially changes the story by describing forest ecosystems on a tree-level.This thesis aims at investigating the use of unmanned aerial systems for the characterization of temperate forests (in Wallonia, Belgium).Modelization of the vegetation heigth also is investigated by the combinaison of photogrammetric canopy surface measurements with digital terrain elevation acquired by LiDAR.Eventually, the study of a time series of 20 drone fligths through the growing season enables to determine when is the optimal period for automatic classification of deciduous species.Photogrammetric measurements of individual deciduous tree heigth are always less accurate than high density LiDAR measurements (RMSE of 1.04 m versus 0.83 m for the latter).Nevertheless, the versatility of drones is far higher than LiDAR data, with the possibility of flying at the appropriate time and delivering both spectral and 3D information with a very high resolution.Spetral information is relevant among other for tree species identification.The optimal phenology state for the discrimination of deciduous species was demonstrated to be the end of leaf flush.The intra-species phenology is indeed well synchronized during this time windows ranging from late spring to early summer.A global classification error of 16% is reached by using single date UAS imagery, and multitemporal UAS acquisitions still improve the process of species discrimination.Altough precision forestry can largely benefits from UAS technology, legislation constraints limit the operationnal use of drones.Thus, UAS flights are most of the time restricted under a specific altitude and within a certain distance from the remote pilot.These constraints are sub-optimal for the mapping of forest, which requires beyond line of sigth fligth at relatively high altitude.We thus believe that the drone technology will be more developped for scientific investigations at a local scale (dozens or hundreds of hectares) than for forest inventory of large forest estate (thousands of hectares)
Audi, Ahmad. „Implantation dans le matériel de fonctionnalités temps-réel dans une caméra intelligente ultralégère spécialisée pour la prise de vue aérienne“. Thesis, Paris Est, 2017. http://www.theses.fr/2017PESC1022/document.
Der volle Inhalt der QuelleIn the recent years, the civilian UAVs (Unmanned Aerial Vehicles) have become an interesting tool in aerial photography and in photogrammetry. This led the LOEMI (Laboratoire d'Opto-électronique, de Métrologie et d'Instrumentation) team of IGN (Institut National de l'Information Géographique) to design an light-weight digital camera better adapted for exploiting photogrammetry and metrology applications than consumer cameras. This camera consists essentially of a CMOS ``global shutter'' sensor, an inertial measurement unit IMU, and a system on chip (FPGA + 2 CPUs) used originally to acquire image data from the sensor. This SoC/FPGA-based camera opens the door to implement in hardware some real-time image processing algorithms. Night-time surveys and narrow spectral band with imagery are one of the next applications targeted by IGN, this type of applications needs a long-exposure time imagery that usually exhibits a motion blur due to erratic movements of the UAV. This thesis consists in the implementation on the light-weight IGN camera of an alogirithm which makes it possible to remedy this problem of motion blur. The first part of this work was devoted to the development of the method which consists in acquiring several images with a short exposure time and then using an image processing algorithm in order to generate a stacked image with the equivalent of a long-exposure time. To obtain the correct parameters for the resampling of images, the presented method accurately estimates the geometrical relation between the first and the nth image, taking into account the internal parameters and thedistortion of the camera. Features are detected in the first image by the FAST detector, than homologous points on other images are obtained by template matching aided by the IMU sensors. In order to speed up the processing of our algorithm, some phases are accelerated by implementing them in the hardware (SoC / FPGA).The results obtained on real surveys show that the final stacked image does not present a motion blur. The time results of the different phases of the algorithm also show that the execution of the algorithm has a quasi-zero time. One of the interesting byproducts of this work is the recalibration of the IMU sensors
Blais, Brynjolf. „L'ACNUSA et la maîtrise des nuisances sonores aéroportuaires : contributions aux droits de l'environnement et du transport aérien“. Thesis, Toulouse 1, 2011. http://www.theses.fr/2011TOU10029.
Der volle Inhalt der QuelleEconomic development of our society was accompanied by the growth of air transport. So much so that it is now essential to maintaining the global economy. However, the soaring of this mode of transport is the cause of heavy pollution, including significant aircrafts noise. To reconcile airport development and quality of life of residents living near airports, a large legal framework has been created. However, it has not prevented the development of oppositions by local residents. Obviously, these conflicts are a real danger for air transport. To correct deficiencies of the regulation of airport noise, a quasi non-governmental organisation was created in 1999 : the Control Authority of Airport Noise (ACNUSA). This agency is responsible for reconciling airport activity while taking into consideration the protection of the environment. After more than ten years, a review of its action seems necessary. This analysis will help to raise the necessary legal changes to the development of this quasi non-governmental organisation
Brezoescu, Cornel-Alexandru. „Navigation d'un avion miniature de surveillance aérienne en présence de vent“. Phd thesis, Université de Technologie de Compiègne, 2013. http://tel.archives-ouvertes.fr/tel-01060415.
Der volle Inhalt der QuelleAit, Saadi Amylia. „Coordination of scout drones (UAVs) in smart-city to serve autonomous vehicles“. Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPASG064.
Der volle Inhalt der QuelleThe subject of Unmanned Aerial Vehicles (UAVs) has become a promising study field in bothresearch and industry. Due to their autonomy and efficiency in flight, UAVs are considerablyused in various applications for different tasks. Actually, the autonomy of the UAVis a challenging issue that can impact both its performance and safety during the mission.During the flight, the autonomous UAVs are required to investigate the area and determineefficiently their trajectory by preserving their resources (energy related to both altitude andpath length) and satisfying some constraints (obstacles and axe rotations). This problem isdefined as the UAV path planning problem that requires efficient algorithms to be solved,often Artificial Intelligence algorithms. In this thesis, we present two novel approachesfor solving the UAV path planning problem. The first approach is an improved algorithmbased on African Vultures Optimization Algorithm (AVOA), called CCO-AVOA algorithms,which integrates the Chaotic map, Cauchy mutation, and Elite Opposition-based learningstrategies. These three strategies improve the performance of the original AVOA algorithmin terms of the diversity of solutions and the exploration/exploitation search balance. Asecond approach is a hybrid-based approach, called CAOSA, based on the hybridization ofChaotic Aquila Optimization with Simulated Annealing algorithms. The introduction of thechaotic map enhances the diversity of the Aquila Optimization (AO), while the SimulatedAnnealing (SA) algorithm is applied as a local search algorithm to improve the exploitationsearch of the traditional AO algorithm. Finally, the autonomy and efficiency of the UAVare tackled in another important application, which is the UAV placement problem. Theissue of the UAV placement relays on finding the optimal UAV placement that satisfies boththe network coverage and connectivity while considering the UAV's limitation from energyand load. In this context, we proposed an efficient hybrid called IMRFO-TS, based on thecombination of Improved Manta Ray Foraging Optimization, which integrates a tangentialcontrol strategy and Tabu Search algorithms
Hérissé, Bruno. „Asservissement et Navigation Autonome d'un drone en environnement incertain par flot optique“. Phd thesis, Université de Nice Sophia-Antipolis, 2010. http://tel.archives-ouvertes.fr/tel-00558203.
Der volle Inhalt der QuelleBoidart, Emeline. „La réglementation des drones civils au niveau international : entre progrès technologiques et problématiques juridiques“. Thesis, Lyon, 2019. http://www.theses.fr/2019LYSE3033.
Der volle Inhalt der QuelleToday, unmanned aircrafts are undeniably part of our daily lives. These objects surround us more and more and cross the borders, because it is not only in France that these devices become more and more known, but also in the whole world. Whether they are used for recreational purposes, in the military field or for professional activities, unmanned aircrafts are experiencing strong development, unprecedented growth.This development will consist here of dealing with the subject of civilian commercial UAVs which undoubtedly represent the largest field of unmanned aircraft. Indeed, recreational UAVs, like military ones, have a significant growth, but less than civilian professional unmanned aircrafts.These new technologies have a great potential for many companies which work on service delivery through unmanned aircraft. More and more activities are being developed in many sectors, companies are becoming aware of the work capacity that these devices can represent, and it is important to carry out this promising market.However, it is clear that no activity is really possible without a legal framework. Indeed, in a few years, we have seen the use of UAVs becoming more democratic, especially in France. Current events have shown that this use is sometimes dangerous and careless, with many incidents noted. It is therefore necessary to put in place rules that each user must respect, whether for recreational or professional use.France, and some States in the world, are among the forerunners to work extensively on a regulation. This one is certainly strict, maybe even too much, nevertheless it makes it possible to avoid accidents.However, even today many States have not worked on regulations on the activity of unmanned aircrafts within their territory. This is a serious security problem, since in these States, UAVs activities are carried out whereas no rule has yet been given.Companies are on the front line, they have a real need for regulation to develop their business, working on new technologies. Innovations always need to have a solid legal framework, to know what their scope is.Law goes hand in hand with technological progress, and yet it is often lagging behind innovation. As a result, States are facing ever-increasing growth of UAVs activities on their territory, while no regulation has been introduced. Regulation is therefore necessary for all States, to better regulate the use of unmanned aircraft and to guarantee sufficient security for all.Little by little, States are becoming aware of the importance of putting rules in place, some have done a comprehensive job on the subject, and others are building on them and starting to think about it.Of course, all existing States in the world represent as many regulations, even if some are similar, the right of unmanned aircraft is far from unified. On the contrary, it is multiple and very diverse, which can be a problem in this area.Indeed, it would be necessary to work on a convergence, a harmonization, a consensus between all existing regulations and which are still developing today. It seems obvious that the purpose of this right is to allow full integration of unmanned aircrafts in the world's airspace, among other users of the general air traffic, civilian or military ones.This integration is essential to enable both States and companies to work together on regulatory proposals for a better air traffic management, as well as improved cohabitation of all these new technologies whose activities still have an enormous potential to develop
Daakir, Mehdi. „Localisation absolue centimétrique par photogrammétrie aéroportée et GPS embarqués sur drone“. Thesis, Paris Est, 2017. http://www.theses.fr/2017PESC1223/document.
Der volle Inhalt der QuelleOver the last decade, drones have been largely used for civil applications. Airborne photogrammetry has found place in these applications as a modeling and a measuring tool. Vinci-Construction-Terrassement is a private company of public building and works sector that integrates drones and photogrammetry as a mapping solution and metrology investigation on its sites. This tool is very efficient for the calculation of stock volumes for instance, or for time tracking of specific areas with risk of landslides. The aim of the present work is to do direct georeferencing of images acquired by the camera leaning on an embedded GPS receiver. The UAS used needs to be low cost and therefore data processing is adapted to this constraint
Thomas, Amélie. „Cartographie et évaluation de la dynamique à court terme d'instabilités gravitaires de grandes ampleurs : exemple du massif de la Cristallère en haute Vallée d'Aspe (Pyrénées-Atlantiques, Nouvelle-Aquitaine, France) : apports des mesures de positionnement satellitaire et des observations aériennes par drone“. Thesis, Bordeaux, 2017. http://www.theses.fr/2017BORD0914/document.
Der volle Inhalt der QuelleFor these last decades, few subjects of the geology of the engineer have drawn the attention of the scientific community as much as those dealing of the natural hazards and more particularly with large-scale gravitational instabilities known as DSGSD (Deep Seated Gravitational Slope Deformation) and DSL (Deep Seated Landslide). Based on few cases study on a natural scale (dating and recent monitoring), short term temporal dynamics remains one of their least studied aspects today. We made the choice of the Cristallère massif as an example. It is located in Upper Aspe Valley of the Pyrenees (Béarn region). The Cristallère DSL was recently identified and analyzed through two dating methods.On the basis of this work, our first approach consists in assessing short term temporal dynamics of these slopes movements on various scales and with various methods of satellites positioning (GPS and GLONASS constellations): multistation positioning RGP (Permanent Geodetic Network in France), statics geodetic with pivot and fast static with pivot. We insist in this work, given the original results obtained, on the interest of the differential GNSS (Global Navigation Satellite System) with a pivot which must be geographically close to the observations to be carried out in order to ensure sufficient accuracy (cm).Observations and exploitation of drone digital elevation models of the site from aerial surveys at different scales obtained with a “flying wing” are the second approach to this research work. They complete the mapping of the site and demonstrate the existence of a DSGSD based on a high resolution and high precision geomorphometric characterization (cm); they make it possible to refine the delimitation of the Cristallère DSL and its most active area (Pène du Thès) and the Peilhou DSL.In addition to these two complementary approaches, a geological and geophysical survey (structural geology measurements, electrical resistivity tomographies and electromagnetic profiles Very Low Frequency surveys) and an analysis of the available data on the structures present in the unstable slope, such as the large diameter underground water pipe for the hydroelectric plant of Baralet and the former railway tunnel of Peilhou. The combined use of these three approaches confirms that the deep movements of the Cristallère massif are still active with proven seismic forcing: awareness of the potential role taken by the DSGSD is then fundamental. Thus, all the existing structures in the massif or the projects on this site (new constructions or rehabilitation of old structures) have to consider the existence of a slow and gradual change of the entire massif (DSGSD). Moreover, the methodology developed in this work is intended to be general. It also makes possible to monitor and follow, in the short and medium term, all types of ground movement, in particular landslides or rockslides, deep or superficial, slow or fast
Six, Damien. „Conception et commande de robots parallèles volants“. Thesis, Ecole centrale de Nantes, 2018. http://www.theses.fr/2018ECDN0046/document.
Der volle Inhalt der QuelleAerial manipulation is one of the challenges of robotics over the last decade. One of the constraints on the development of aerial manipulators is the limited autonomy of drones, reduced by the load and energy consumption of the on-board manipulator. One way to overcome this limit is to have several drones collaborate on a manipulation task. This thesis deals with the design and control of a new type of autonomous aerial vehicle for manipulation tasks. The concept consists in the collaboration of several drones, in particular quadrotors, through a polyarticulated passive architecture. The robot thus obtained is a fusion between the passive architecture of a parallel robot and several drones. The study of the dynamic model of this robot class highlights a decoupling in the dynamic model. This decoupling allows the design of a cascade control law. This controller provides stabilization and trajectory tracking for these robots. Two study cases are then presented in this thesis: a flying parallel robot with two drones and a flying parallel robot with three drones. For these two robots, a numerical simulation is performed to validate the controller performances. These simulations also allowed to validate the reconfiguration abilities of passive architecture in flight. The work was successfully carried to the experimental stage for the flying robot with two drones
Thériault, Olivier. „Intégration d'un système vidéo de poursuite de cible à un simulateur "hardware in the loop" d'avion sans pilote et évaluation d'algorithmes de surveillance“. Thesis, Université Laval, 2010. http://www.theses.ulaval.ca/2010/27137/27137.pdf.
Der volle Inhalt der QuelleSzoo, Adam. „The impacts of the use of UAVS on the nature, organisation and regulation of Canada-U.S. border surveillance“. Master's thesis, Université Laval, 2015. http://hdl.handle.net/20.500.11794/25746.
Der volle Inhalt der QuelleIn the wake of the “war on terror, ” the Canada-United States border has come to assume increased importance as a focal point of security. Policy, human and technological innovations have emerged as a response to both Canada and the United States agreeing to bring the “war on terror” home. A newly adopted tool, the Unmanned Aerial Vehicle (UAV) has the capacity to have a profound impact upon not only the effectiveness, but the conceptualisation of border security and its organization in North America. This thesis aims to understand how UAV border surveillance of the shared border affects the conceptions, practices and the organisation of joint Canada-U.S. border security efforts. After the analysis of interviews, conferences and literature, results allowed the researcher to identify trends involving risk mitigation, new technology and the militarization of border security, all-the-while describing in detail the UAV border surveillance program, its advantages and the challenges it faces.
Allart, Théo. „Relation entre la configuration de l'habitat dans la végétation aquatique submergée et la distribution des poissons“. Thèse, 2020. http://depot-e.uqtr.ca/id/eprint/9724/1/eprint9724.pdf.
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