Dissertations / Theses on the topic 'Autonomous surveillance'
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Johannsson, Hordur. "Toward autonomous harbor surveillance." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/60167.
Full textIncludes bibliographical references (p. 105-113).
In this thesis we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring coverage of the area to be inspected. Our approach uses only onboard sensors in a simultaneous localization and mapping setting and removes the need for any external infrastructure like acoustic beacons. We extract dense features from a forward-looking imaging sonar and apply pair-wise registration between sonar frames. The registrations are combined with onboard velocity, attitude and acceleration sensors to obtain an improved estimate of the vehicle trajectory. In addition, an architecture for a persistent mapping is proposed. With the intention of handling long term operations and repetitive surveillance tasks. The proposed architecture is flexible and supports different types of vehicles and mapping methods. The design of the system is demonstrated with an implementation of some of the key features of the system. In addition, methods for re-localization are considered. Finally, results from several experiments that demonstrate drift-free navigation in various underwater environments are presented.
by Hordur Johannsson.
S.M.
Oliver, John Douglas. "Autonomous surveillance in an urban environment." Thesis, University of Warwick, 2009. http://wrap.warwick.ac.uk/3183/.
Full textOh, Hyondong. "Towards autonomous surveillance and tracking by multiple UAVs." Thesis, Cranfield University, 2013. http://dspace.lib.cranfield.ac.uk/handle/1826/8266.
Full textCowling, Michael, and n/a. "Non-Speech Environmental Sound Classification System for Autonomous Surveillance." Griffith University. School of Information Technology, 2004. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20040428.152425.
Full textCowling, Michael. "Non-Speech Environmental Sound Classification System for Autonomous Surveillance." Thesis, Griffith University, 2004. http://hdl.handle.net/10072/365386.
Full textThesis (PhD Doctorate)
Doctor of Philosophy (PhD)
School of Information Technology
Full Text
Recoskie, Steven. "Autonomous Hybrid Powered Long Ranged Airship for Surveillance and Guidance." Thesis, Université d'Ottawa / University of Ottawa, 2014. http://hdl.handle.net/10393/31711.
Full textBernstein, Joshua I. (Joshua Ian) 1974. "System design for a rapid response autonomous aerial surveillance vehicle." Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/50467.
Full textIncludes bibliographical references (p. 145-146).
The MIT/Draper Technology Development Partnership Project was conceived as a collaborative design and development program between MIT and Draper Laboratory. The overall aims of the two year project were to strengthen ties between the two institutions, to provide students with an opportunity to develop a first-of-a-kind system, and to foster a sense of entrepreneurship in the students working on the project. This first design team consisted of a mix of Master of Engineering and Master of Science students, along with undergraduate research assistants. The team began its work by reviewing the needs of the nation and the capabilities possessed by MIT and Draper which could be leveraged to address those needs. Candidate projects were then developed, and several were further refined through brief market assessments. Based on these assessments, a final project was chosen. The selected project, the Wide Area Surveillance Projectile (WASP), called for the development of a small, unmanned aerial vehicle which could be launched from an artillery gun to provide a rapid-response, time-critical reconnaissance capability for small military units or selected civilian applications. This thesis reviews the first year of work completed on the project. A systems view is used throughout, describing the top-level trades which were made to develop a product which would meet all of the user's needs. Specific attention is given to the interactions between the various subsystems and how these interactions contributed to the design solution developed by the team. In addition to this chronological description of the project, management lessons learned from the author's experience as project manager are presented, along with recommended approaches for future projects of a similar nature. These lessons may also find applications in the broader realm of rapid-prototyping engineering projects, as well as future projects undertaken as part of the MIT/Draper Technology Development Partnership Project.
by Joshua I. Bernstein.
M.Eng.
Behara, Gayatri Mayukha. "Towards Autonomous Depth Perception for Surveillance in Real World Environments." University of Dayton / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1512398919937727.
Full textNastasi, Kevin Michael. "Autonomous and Responsive Surveillance Network Management for Adaptive Space Situational Awareness." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/84931.
Full textPh. D.
Herold, Fredrick W. "Total Border Security Surveillance." International Foundation for Telemetering, 2004. http://hdl.handle.net/10150/605061.
Full textThis paper describes a system of Total Border Surveillance, which is cost effective, closes existing gaps and is less manpower intensive than the current techniques. The system utilizes a fleet of commercially available aircraft converted to unmanned capability, existing GPS and surveillance systems and autonomous ground stations to provide the desired coverage.
Christensson, Cornelis, and Albin Flodell. "Wildlife Surveillance Using a UAV and Thermal Imagery." Thesis, Linköpings universitet, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129586.
Full textIn recent years, the poaching of rhinoceros has decreased its numbers to critical levels. This thesis project is a part of an initiative to stop this development. The aim of this master thesis project is to use a UAV equipped with positioning and attitude sensors as well as a thermal camera, placed onto a gimbal, to perform wildlife surveillance. By using a thermal camera, the animals are easily detected as they are assumed to be warmer than the background. The term wildlife surveillance includes detection of animals, tracking, and planning of the UAV. The UAV should be able to search an area for animals, for this planning of the UAV trajectory and gimbal attitude is needed. Several approaches for this have been tested, both online and offline planning. The UAV should also be able to track the animals that are detected, for this a particle filter has been used. Here a problem of associating measurements to tracks arises. This has been solved by using the Nearest Neighbor algorithm together with gating. The animals are detected by performing image processing on the images received from the thermal camera. Multiple approaches have been evaluated. Furthermore, a thoroughly worked description of how a UAV is working as well as how it is built up is presented. Here also necessary parts to make up a full unmanned aerial system are described. This chapter can be seen as a good guide for beginners, to the UAV field, interested in knowing how a UAV works and the most common parts of such a system. A ground model of Kolmården, where the testing has been conducted, has been used in this thesis. The use of this enables positioning of the detected animals and checking if an area is occluded for the camera. Unfortunately, due to budget limitations, no UAV was purchased. Instead, testing has been conducted from a gondola in Kolmården traveling across the test area with a constant speed. To use the gondola as the platform, for the sensors and the thermal camera, is essentially the same as using a UAV as both alternatives are located in the air above the animals, both are traveling around the map and both are stable for good weather conditions. The animals could easily be detected and tracked given a cold background. When the sun heats up the ground, it is harder to distinguish the animals in the thermal video, and more false detections in the image processing appear.
Patel, Ruben. "Surveillance of Marine Resources by use of Stationary Platforms and Autonomous Underwater Vehicle (AUVS)." Doctoral thesis, Norwegian University of Science and Technology, Department of Electronics and Telecommunications, 2007. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-1483.
Full textIn this thesis I investigate, describe and demonstrate new platform technology and its application in fisheries research. The first task was to prepare an Autonomous Underwater Vehicle (AUV) for payload integration (Paper 1). The instrument to be integrated into the AUV was a SIMRAD EK60 scientific echo sounder. Space limitations of the AUV demanded physical modifications. The EK60 software was designed for manual operation. To overcome the associated problem for remote control in accordance with the communication protocol of the AUV, a new version of the EK60 had to be designed and implemented (Paper 2). A field trial was performed to test the payload integration, including steered and autonomous runs; communication between the topside mother vessel and EK60 in the AUV, and the avoidance of the target species in the area (Paper 3).
The application of observation technology, with continuous recordings over time, gives a true representation of the temporal dynamics of density and vertical distribution without spatial resolution. This approach is complementary to snapshot research vessel surveying with area coverage assuming nil temporal effect. It may be particularly useful in areas of high dynamic activity, such as the Ofoten fjord area. An acoustic observatory was established in this area. Calibration of the main transducers needed special attention due to the expected depth effects on performance (Paper 4). The stationary transducers give the collected data an excellent temporal resolution at the sacrifice of spatial resolution. This makes it an ideal tool for studying vertical migration patterns. It is also important to compare these data with those collected from a moving research vessel (RV) (Paper 5). The lack of spatial resolution made it difficult to get any information about the fish school movements. Deploying an Acoustic Doppler Current Profiler (ADCP) as a unit of the observatory (Paper 6) gave this information including the potential of assessing biomass flux in and out of the fjord.
Thulin, Peter. "Anomaly Detection for Product Inspection and Surveillance Applications." Thesis, Linköpings universitet, Datorseende, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-121467.
Full textTuvskog, Johanna. "Evaluation of Face Recognition Accuracy in Surveillance Video." Thesis, Linköpings universitet, Datorseende, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166758.
Full textKekatos, Nikolaos. "Vérification formelle des systèmes cyber-physiques dans le processus industriel de la conception basée sur modèle." Thesis, Université Grenoble Alpes (ComUE), 2018. http://www.theses.fr/2018GREAM081/document.
Full textCyber-Physical Systems form a class of complex, large-scale systems of frequently safety-critical nature in various industrial applications. Formal verification approaches can provide performance and safety guarantees for these systems. They require three elements: a formal model, a formal verification method, and a set of formal specifications. However, industrial models are typically non-formal, they are analyzed in non-formal simulation environments, and their specifications are described in non-formal natural language. In this thesis, we aim to facilitate the integration of formal verification into the industrial model-based design process.Our first key contribution is a model transformation methodology. Starting with a standard simulation model, we transform it into an equivalent verification model, particularly a network of hybrid automata. The transformation process addresses differences in syntax, semantics, and other aspects of modeling. For this class of formal models, so-called reachability algorithms can be applied to verify safety properties. An obstacle is that scalable algorithms exist for piecewise affine (PWA) models, but not for nonlinear ones. To obtain PWA over-approximations of nonlinear dynamics, we propose a compositional syntactic hybridization technique. The result is a highly compact model that retains the modular structure of the original simulation model and largely avoids an explosion in the number of partitions.The second key contribution is an approach to encode rich formal specifications so that they can be interpreted by tools for reachability. Herein, we consider specifications expressed by pattern templates since they are close to natural language and can be easily understood by non-expert users. We provide (i) formal definitions for select patterns that respect the semantics of hybrid automata, and (ii) monitors which encode the properties as the reachability of an error state. By composing these monitors with the formal model under study, the properties can be checked by off-the-shelf fully automated verification tools.Furthermore, we provide a semi-automated toolchain and present results from case studies conducted in collaboration with industrial partners
Holdsworth, Robert, and roberth@gil com au. "Autonomous in-flight path planning to replace pure collision avoidance for free flight aircraft using automatic depedent surveillance broadcast." Swinburne University of Technology, 2003. http://adt.lib.swin.edu.au./public/adt-VSWT20060608.141036.
Full textKontitsis, Michail. "Design and implementation of an integrated dynamic vision system for autonomous systems operating in uncertain domains." [Tampa, Fla] : University of South Florida, 2009. http://purl.fcla.edu/usf/dc/et/SFE0002852.
Full textHegazy, Tamir A. "A Distributed Approach to Dynamic Autonomous Agent Placement for Tracking Moving Targets with Application to Monitoring Urban Environments." Diss., Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/4901.
Full textBaker, Amanda. "Understanding the Influence of Diverse Media Content on Men’s Body Image: The Moderating Effect of Self-Determination on Male Self-Surveillance, Self-Evaluations, and Cognitive Performance." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36546.
Full textHallam, Cory R. A. "MIT/DRAPER Technology Development Partnership Program : systems, aerodeceleration, and structural design of a high-G, rapid response, deployable autonomous aerial surveillance vehicle." Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/50470.
Full textIncludes bibliographical references (p. 123-127).
The MIT/Draper Technology Development Partnership Project is a two year initiative between MIT's Department of Aeronautics and Astronautics and Draper Laboratory (the funding customer) to develop an innovative, first-of-a-kind system. Through in-depth market research. concept generation. and reviews with Draper. the Wide Area Surveillance Projectile (WASP) was chosen as the lead technology demonstration project. The WASP is a gun-launched projectile in the 5"/54 NAVY to 155 mm ARMY class of munitions that transforms into a powered flight vehicle after traveling a ballistic trajectory. Once transformed, the WASP performs visual imaging reconnaissance and relays field data to the user via a Satcom or UAV signal link. This thesis covers much of the work conducted in the first year of the program. and focuses on Ballistics and aerodeceleration. Structures, and Systems Interface Design of the WASP. Although the two year timeline for the program precludes building the complete system, a series of "long-poles" are being used to demonstrate the concept functionality and feasibility for possible prototype development. These long-poles include the development of high-g composite structures, deployable flight surfaces. and a two-stroke propulsion system. as well as a virtual ground station with sensors/communications subsystems. and finally a drop-test flyer that will perform the vehicles intended mission scenario.
by Cory R.A. Hallam.
M.Eng.
Frigui, Farouk Omar. "Contribution au développement d'un système de surveillance des structures en génie civil." Phd thesis, Toulouse, INPT, 2018. http://oatao.univ-toulouse.fr/23892/1/Frigui_omar.pdf.
Full textJoly, Matthieu. "Conception d'un système d'analyse multi-capteur ISFET pour la surveillance in-situ de l'azote minéral. Application à la culture du blé dur." Thesis, Toulouse, INSA, 2018. http://www.theses.fr/2018ISAT0043.
Full textExcessive use of nitrogen fertilizers in modern agricultural practices is a concern as it leads to groundwater pollution and eutrophication of fresh and marine waters. Soil testing can enable the introduction of new agricultural practices that take more into account temporal and local variations of soil and plants. This work therefore aims at the development of an in situ, autonomous and communicating analysis system for real-time monitoring of the mineral nitrogen contents of soils.Our system is based on the Ion-sensitive Field Effect Transistor (ISFET) microsensor technology. A first step of its development was dedicated to the fabrication of generic pH-ISFET microsensors. The problem of determining soil pH by inserting pH-ISFETs directly into the soil was considered. Results obtained by this in situ method were compared with the standard method and we examined the influence of soil ( moisture, texture, pH) and IFSET parameters (lifetime, time drift). In a second step, pNH4-ISFET and pNO3-ISFET chips were obtained by functionalizing the generic pH-ISFET chips with ionosensitive membrane. The composition of these membranes has been optimized until detection properties ( sensitivity, selectivity, stability, etc.) were in good accordance with the ammonium and nitrate ion contents of cultivated soils. Characterizations under in situ conditions were then carried out.Finally, the integration in the ground, the protection, the power supply and the remote communication of the sensors were made possible by the integration in a dedicated system. We obtained promising results
Holt, Ryan S. "Three Enabling Technologies for Vision-Based, Forest-Fire Perimeter Surveillance Using Multiple Unmanned Aerial Systems." BYU ScholarsArchive, 2007. https://scholarsarchive.byu.edu/etd/931.
Full textDavis, Cledo L. "The systems integration of autonomous behavior analysis to create a "Maritime Smart Environment" for the enhancement of maritime domain awareness." Thesis, Monterey, California : Naval Postgraduate School, 2010. http://edocs.nps.edu/npspubs/scholarly/theses/2010/Jun/10Jun%5FDavis.pdf.
Full textThesis Advisor(s): Goshorn, Rachel ; Goshorn, Deborah. "June 2010." Description based on title screen as viewed on June 24, 2010. Author(s) subject terms: Anomaly Detection, Artificial Intelligence, Automation, Behavior Analysis, Distributed Artificial Intelligence, Intelligence-Surveillance-Reconnaissance, Maritime Domain Awareness, Maritime Force Protection, Multi-agent Systems, Network-centric Operations, Network-centric Systems Engineering, Network-centric Warfare, Smart Sensor Networks, Systems Engineering, Systems Integration, System of Systems. Includes bibliographical references (p. 209-212). Also available in print.
Correa, Diogo Santos Ortiz. "Navegação autônoma de robôs móveis e detecção de intrusos em ambientes internos utilizando sensores 2D e 3D." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-26082013-100127/.
Full textMobile robots and service robots are increasing their applications and importance in our modern society. An important type of autonomous mobile robot application is indoor monitoring and surveillance tasks. The adoption of mobile robots for indoor surveillance tasks allows the execution of repetitive environment patrolling, which may even pose risks to the physical integrity of persons. Thus these activities can be autonomously and safely performed by security robots. This work aimed at the development of key modules and components that integrates the general architecture of a surveillance robotic system, including: (i) the development and application of a 3D perception sensor (Kinect) and a thermal sensor (FLIR camera), representing a relatively low-cost solution for mobile robot platforms; (ii) the intruder detection (people) in the environment, through the joint use of 3D and thermal sensors; (iii) the autonomous navigation of mobile robots within obstacle detection and avoidance, performing the monitoring and surveillance tasks of indoor environments; (iv) the identification and recognition of environmental features that allow the robot to perform a navigation based on topological maps. We used methods from Computer Vision, Image Processing and Computational Intelligence to carry out the implementation of the mobile robot surveillance modules. The proximity and distance measurement sensor adopted in the robotic perception system was the Kinect, allowing navigation, obstacle avoidance, and identifying key positions of the robot with respect to a topological map. For the intruder detection task we used a Kinect sensor together with a FLIR thermal camera, integrating the data obtained from both sensors, and thus allowing a better understanding of the environment, and also allowing a greater reliability in people detection. As a main result of this work, it has been v developed a system capable of navigating using a global topological map, capable of moving itself autonomously into an indoor environment avoiding collisions, and capable of detect the presence of humans (intruders) into the environment. The proposed system has been tested in real situations with the use of a Pioneer P3AT mobile robot equipped with Kinect and FLIR camera sensors, performing successfully the defined navigation tasks. Other features have also been implemented, such as following a person and recognizing gestures, proposed as future works to be integrated into the developed system
Toueir, Antoine. "Une démarche méthodologique orientée-but pour la conception d'une surveillance auto-gérée dans les systèmes autonomes." Toulouse 3, 2014. http://thesesups.ups-tlse.fr/2618/.
Full textThe monitoring in Autonomic Systems is a prominent task as it represents the source of the knowledge for the management of those systems. The decisions taken by the management system and the functional system that exploit the knowledge produced by the monitoring system are direcly affected by the quality of that monitoring, thus we are focusing on the design of a self-managed goal-oriented monitoring capable of satisfying high level quality objectives related to the monitoring itself. Our main concerns are about investigating the means of designing a self-managed goal-oriented monitoring, as well as the assistance of human administrators responsibles for writing the management policies representing the intelligence of monitoring. These concerns are addressed by the application of methodological approach that is the Requirements Engineering, as well as by the proposition of monitoring adaptation patterns
Contreira, Pereira Leonardo. "Capteurs voltammétriques et potentiométriques autonomes : vers la surveillance à long terme de la dynamique biogéochimique du soufre aux interfaces redox." Paris 6, 2012. http://www.theses.fr/2012PA066573.
Full textSulfur cycling is of major importance in the functioning of marine ecosystems. Particularly, microbial and chemically catalyzed redox processes involving sulfide formation or oxidation play a key role in energy transfer, including chemoautotrophy and organic matter transformation. The concentration and chemical speciation of this reduced sulfur compounds can change rapidly as a result of chemical, biological and physical processes. Systems driven by turbulent mixing of sulfidic fluids and seawater, such as hydrothermal vent plumes are obvious examples of these variable environments, but not the only ones. Any oxic-sulfidic interface under hydrodynamic control is potentially experiencing such instabilities. To date, however, most instruments available for in situ sulfide measurement are however limited to short-term use, and tools are still largely lacking for continuous in situ measurements over durations ranging from several days to weeks or beyond. In this context, electrochemical instruments offer several advantages, although recognized to suffer from some analytical limitations. In this study, the well-known potentiometric Ag/Ag2S electrode and a new bare-silver voltammetric method, that were previously adapted for short-term in situ sensing, have been applied for autonomous continuous sulfide monitoring in deep-sea and shallow waters. Their performances and advantages for new scientific approaches have been investigated. The limitations and advantages inherent of each technique are discussed and compared, with respect to different scientific purposes. The results are discussed in the light of the capacities of alternative in situ sensing techniques
Bechon, Patrick. "Planification multirobot pour des missions de surveillance avec contraintes de communication." Thesis, Toulouse, ISAE, 2016. http://www.theses.fr/2016ESAE0010/document.
Full textThe goal of this work is to enable a team of heterogeneous autonomous robotsto perform a complex mission in a real environment with communication constraints. Thisapproach was therefore to create and validate a distributed embedded architecture ableto plan, to monitor the execution of a plan and to repair a plan when an unexpectedevent occurs. This document shows the conception of an hybrid planning algorithm, namedHiPOP, used to compute initial plans before the beginning of the mission and to repair theplan during the mission when something unexpected happens. It also shows the conceptionof a monitoring algorithm, named METAL, used to monitor the execution of the planon each robot and, when needed, which calls HiPOP to repair the plan. Both algorithmswere implemented and used to carry out surveillance missions up to 12 robots, both insimulation and in a real life scenario
Mekki-Mokhtar, Amina. "Processus d'identification de propriétés de sécurité-innocuité vérifiables en ligne pour des systèmes autonomes critiques." Phd thesis, Université Paul Sabatier - Toulouse III, 2012. http://tel.archives-ouvertes.fr/tel-00766636.
Full textMekki, Mokhtar Amina. "Processus d'identification de contraintes de sécurité innocuité vérifiables en ligne pour des systèmes autonomes critiques." Phd thesis, Université Paul Sabatier - Toulouse III, 2012. http://tel.archives-ouvertes.fr/tel-00800859.
Full textJońca, Justyna Elżbieta. "Méthodes électrochimiques pour la surveillance autonome des espèces chimiques (oxygène et phosphate) dans l'eau de mer : application aux zones de minimum d'oxygène." Toulouse 3, 2012. http://thesesups.ups-tlse.fr/1830/.
Full textDeveloping new sensors for improving our understanding of the coupled biogeochemical cycles constitutes an immense challenge. Electrochemistry provides promising reagentless methods by going further in miniaturization, decreasing the response time and energy requirements and thus increasing our observing capacities in the ocean. This study is focused on phosphate and oxygen, two key compounds of the marine ecosystems. Improvement of the amperometric STOX sensor for ultra-low oxygen detection in seawater is presented. The improvement was achieved by changing sensor construction and preliminary studies showed higher sensitivity and faster response time. A novel electrochemical method for phosphate detection was developed. The method is based on anodic oxidation of molybdenum in seawater in order to form the phosphomolybdic complex, electrochemically detectable by means of amperometry or voltammetry. Thanks to special construction of an electrochemical cell including specific membrane technology, the method does not require addition of reagents and is free from silicate interferences. The method was tested during Pelagico 1011- 12-BIC OLAYA cruise offshore Peru in 2010. The Peruvian water masses analysis was also performed using data collected during this cruise
Mekki, Mokhtar Amina. "Processus d'identification de propriétés de sécurité-innocuité vérifiables en ligne pour des systèmes autonomes critiques." Toulouse 3, 2012. http://thesesups.ups-tlse.fr/1776/.
Full textRecent progress in the definition of decisional mechanisms has allowed computer-based systems to become more and more autonomous. For example, service robots can nowadays work in direct interaction with humans and carry out increasingly complex tasks. This transfer of responsibility poignantly raises the issue of system safety towards humans, the environment and the system itself. System surveillance by an independent safety monitor aims to enforce safe behaviour despite faults and uncertainties. Such a monitor must detect potentially dangerous situations in order to trigger safety actions aiming to bring the system towards a safe state. This thesis addresses the problem of identifying safety trigger conditions. A systematic process is proposed for the identification, starting from a HazOp/UML risk analysis. The proposed methodology also allows the identification of system states in which multiple safety actions might be executed concurrently, in order to be checked and, if necessary, corrected by a system expert. The methodology is applied to a robotic rollator
JIMENEZ, VARGAS FERNANDO. "Specification et conception de microsystemes bases sur des circuits asynchrones - etude d'un dispositif multicapteur integre d'enregistrement de contraintes environnementales." Toulouse, INSA, 2000. http://www.theses.fr/2000ISAT0038.
Full textLiu, Yinling. "Conception et vérification du système d'Information pour la maintenance aéronautique." Thesis, Lyon, 2019. http://www.theses.fr/2019LYSEI133.
Full textOperational support is one of the most important aspects of aeronautical maintenance. It aims to provide a portfolio of services to implement maintenance with a high level of efficiency, reliability and accessibility. One of the major difficulties in operational support is that there is no platform that integrates all aircraft maintenance processes in order to reduce costs and improve the level of service. It is therefore necessary to build an autonomous aircraft maintenance system in which all maintenance information can be collected, organized, analyzed and managed in a way that facilitates decision-making. To do this, an innovative methodology has been proposed, which concerns modelling, simulation, formal verification and performance analysis of the autonomous system mentioned. Three axes were addressed in this thesis. The first axis concerns the design and simulation of an autonomous system for aeronautical maintenance. We offer an innovative design of an autonomous system that supports automatic decision making for maintenance planning. The second axis is the verification of models on simulation systems. We propose a more comprehensive approach to verifying global behaviours and operational behaviours of systems. The third axis focuses on the analysis of the performance of simulation systems. We propose an approach of combining an agent-based simulation system with the “Fuzzy Rough Nearest Neighbor” approach, in order to implement efficient classification and prediction of aircraft maintenance failures with missing data. Finally, simulation models and systems have been proposed. Simulation experiments illustrate the feasibility of the proposed approach
Jonca, Justyna Elzbieta. "Méthodes électrochimiques pour la surveillance autonome des espèces chimiques (oxygène et phosphate) dans l'eau de mer : Application aux Zones de Minimum d'Oxygène." Phd thesis, Université Paul Sabatier - Toulouse III, 2012. http://tel.archives-ouvertes.fr/tel-00776773.
Full textKao, Kung-Chun, and 高孔君. "License Plate Detection on Autonomous Surveillance System." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/64794522132045066604.
Full text玄奘大學
資訊管理學系碩士班
98
Autonomous surveillance systems are widely used as an important tool for security control in public areas. Among the numerous targets of the autonomous surveillance system, license plate recognition can help to identify the terrorist in cars. Uneven lighting conditions happen all the time in an autonomous surveillance system. As a result, traditional license plate detection can’t achieve the goal. In this research, we propose a novel method for license plate localization. The features of a license plate is generated in preprocess through the morphology. Then, apply the AdaBoost algorithm to select some weak classifiers from the weak classifier space to construct a strong classifier. Experimental results show that the proposed method can efficiently detect license plates under different illuminations.
Edwards, Stuart Robert. "Autonomous 3D mapping and surveillance of mines with MAVs." Thesis, 2017. https://hdl.handle.net/10539/25005.
Full textThe mapping of mines, both operational and abandoned, is a long, di cult and occasionally dangerous task especially in the latter case. Recent developments in active and passive consumer grade sensors, as well as quadcopter drones present the opportunity to automate these challenging tasks providing cost and safety bene ts. The goal of this research is to develop an autonomous vision-based mapping system that employs quadrotor drones to explore and map sections of mine tunnels. The system is equipped with inexpensive, structured light, depth cameras in place of traditional laser scanners, making the quadrotor setup more viable to produce in bulk. A modi ed version of Microsoft's Kinect Fusion algorithm is used to construct 3D point clouds in real-time as the agents traverse the scene. Finally, the generated and merged point clouds from the system are compared with those produced by current Lidar scanners.
LG2018
Han, David Ching-Wey. "Action selection and coordination of autonomous agents for UAV surveillance." Thesis, 2011. http://hdl.handle.net/2152/ETD-UT-2011-12-4486.
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Dias, Bruno Miguel Morais. "Integration of a mobile autonomous robot in a surveillance multi-agent system." Master's thesis, 2014. http://hdl.handle.net/10362/14715.
Full textTang, Chien-Huai, and 唐鍵淮. "GPS Guided Positioning and Multi-Point Surveillance Control of Autonomous Unmanned Helicopters." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/62998785879468275944.
Full text雲林科技大學
電機工程系碩士班
98
To realize autonomous flight on an unmanned aerial helicopter, this thesis have accomplished the four major objectives: (1) modification of controller gains for the new gasoline vehicle to meet a stable flight requirement; (2) reducing the time required for the design of the trim parameters by catching the expert-setting during the pilot mode and downloading the parameter values to the controller right after the auto mode has been switched; (3) extending the effective communication distance by replacing the wireless networks with RF modules; (4) achieving the point-to-point flight by appropriate switch of flight control mode with the help of the guidance from the ground station. After extensive flight test, the proposed control scheme and its implementation using DSP control board have realized the important point-to-point flight mode control. This is extremely important and meaningful for us to further develop more advanced and sophisticated flight mode control in the future.
Juang, Shih-Yao, and 莊世耀. "Application of smartphone and autonomous mobile robot to real-time indoor surveillance." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/73648515300346238265.
Full text國立臺灣海洋大學
通訊與導航工程學系
100
The purpose of this study is to integrate image processing techniques, fuzzy theory, wireless communications, and smart phone to a wheeled mobile robot (WMR) for real-time moving object recognition, tracking and remote surveillance. Image processing and fuzzy control algorithms are coded by C# language. Zigbee is utilized to transmit command signals between the webcam, the WMR, and the computer. The WMR uses webcam to capture its surroundings. Classification of color features is based on Hue-Saturation-Value (HSV) color space. The WMR calculates the relative position of the target object through image processing and distance computation algorithms. Fuzzy system is applied to servo motor of the WMR and robot controller design. In this study, experiments are divided into three parts. In the first part, via Bluetooth communication, a smart phone is utilized to control the WMR forward, backward, turn left, and turn right, directly. The second part put focus on target tracking control. The WMR can track specific target by the HSV algorithm and fuzzy controller. The target can be clearly seen on the smart phone via the webcam on the WMR. In the third part, the WMR is applied to surveillance usage. The WMR can be controlled remotely by a smart phone via WIFI. The WMR uses infrared sensor and fuzzy controller to obstacle avoidance and wall following control. The WMR can perform indoor patrol and monitor its surroundings. The home site conditions can be clearly seen on the smart phone. Experiments show that the proposed control design and system integration of the wheeled mobile robot works well in indoor real-time surveillance.
Tong, Jun-Ming, and 童俊銘. "A Vision-Guided Intelligent Autonomous Vehicle with a Cellphone-Based Remote Surveillance System." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/53932100015293826220.
Full text國立成功大學
電機工程學系碩博士班
95
This thesis presents a vision-guided intelligent autonomous vehicle with a cellphone-based remote surveillance system controlled by an ARM9 embedded system. The vehicle provides two types of operation modes: (1) cellphone remote control mode (2) autonomous driving mode. First, in a 3G coverage area, we can remotely start the vehicle by using a 3G cellphone. In the mobile remote control mode, users can drive the vehicle remotely to a desired position according to the environmental information obtained from the video of the 3G cellphone. In addition, users can gain more driving information such as obstacles around the vehicle by controlling the platform of the cellphone with proper commands. The commands are encoded by dual-tone-multiple-frequency (DTMF) signals produced by the phone. In the autonomous driving mode, the vehicle can autonomously perform the following three tasks: (1) trajectory following, (2) object tracking, and (3) obstacle avoidance. The first two tasks require a camera with an image processing algorithm to provide control actions for driving the vehicle. The vehicle is equipped with a collision avoidance system composed by ultrasonic/infrared sensors that assists the vehicle to avoid obstacles. All the required control modules/algorithms are written in C and executed under a Linux operating system in an ARM machine. Finally, our experiments shows that the vehicle can successfully perform the tasks in both modes.
Goodnight, Ryan David. "An Innovative Approach for Data Collection and Handling to Enable Advancements in Micro Air Vehicle Persistent Surveillance." 2009. http://hdl.handle.net/1969.1/ETD-TAMU-2009-08-7052.
Full textChu, Chien-Hsing, and 朱建興. "Integration of GPS and E-map to the Design of Surveillance System for an Autonomous Unmanned Helicopter." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/23584627011628917140.
Full text國立雲林科技大學
電機工程系碩士班
97
With the progress of the Global Positioning System (GPS) technology, it is getting more and more common to combine GPS with electron map''s guidance application. Numerous conveniences are provided by an electron map. For example, it shows that the location you are, the direction you are in, and the distance to the goal. Besides, it even could help people find out the shortest way between the arrival and the current position as well. For the recent years, there has been a mature condition of the electron maps used in navigation in the domestic. Most of those products are designed for general vehicles; nevertheless, there are few E-maps applied to aerial vehicles in the aviation market. Therefore, the aim of this study is to design a monitor for the automatic unmanned aerial vehicle which integrates GPS with an E-map. The function of it is to find out the possible ways by using GPS to receive the signals from a global satellite in order to obtain accurate information about the longitude and the latitude. This is followed by the information being delivered to ground controls by wireless network mold. Thus, all the information about the precise position, speed and time of the automatic unmanned aerial vehicle can be seen visibly through the electronic map of the unmanned helicopter.
Wang, Jian-Yuan, and 王建元. "A Study on Indoor Security Surveillance by Vision-based Autonomous Vehicle With Omni-cameras on House Ceiling." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/43389970936053285218.
Full text國立交通大學
多媒體工程研究所
97
Vision-based methods for security surveillance using an autonomous vehicle with fixed fish-eye cameras on ceilings in an indoor environment are proposed. An autonomous vehicle controllable by wireless communication and equipped with a camera is used as a test bed and navigates in a room space under the surveillance of multiple fisheye cameras affixed on the ceiling. To learn the information of the unknown room environment in advance, a method is proposed for locating the ground regions, identifying the positions of obstacles, and planning the patrolling paths. The data obtained by the method enable the vehicle to navigate in the complicated room space without collisions with obstacles and walls. Also, a height-adaptive space mapping method is proposed, in which the coordinates of corresponding points in 2-D images and 3-D global spaces are computed by interpolation to form a space mapping table for object localization. Appropriate equations are derived to adapt the table to fish-eye cameras affixed to different ceiling heights. Because the vehicle suffers from mechanic errors, a vehicle location and direction correction method is proposed for correcting the errors according to four strategies. Furthermore, a method for detecting and tracking intruding people is proposed. The approximate position of the person can be predicted first, and the exact position is then calculated via a tracking window in images. Some useful features of the intruding person are computed for person identification. To enlarge the area under surveillance using multiple cameras, the camera handoff problem is also solved by using information of the overlapping regions of the cameras’ fields of view. Experiments for measuring the precisions of the proposed methods and tracking intruding persons were conducted with good results proving the feasibility of the proposed methods.
Baião, Pedro Nuno Morgado. "Operação de AUV a partir dos submarinos da classe Tridente: Em missões ISR e Mine Countermeasures." Master's thesis, 2018. http://hdl.handle.net/10400.26/25100.
Full textThrough the lock, the Tridente class submarines have the capacity of planning, launching, operating and recovering Autonomous Underwater Vehicles from within. Previous thesis, studied and improved this advantage, giving space to think in the utilities of these vehicles once outside the submarine. It is intended to project a possible method of using the AUV for two kind of operations, Mine Countermeasures and Intelligence, Surveillance and Reconnaissance, that allow the vehicles to be an extension of the submarine, being one more instrument to gather information. The ability to operate far and autonomously enables the advantage of being able to get an overview of the surroundings with minimal risk for the submarine. The portuguese navy, at the present, operates two distinct AUV: SeaCon 2 projected by the Faculdade de Engenharia da Universidade do Porto and Gavia 19. The first, still being an evolving project, it’s suggested a possible next stage of the vehicle in accordance with the operational characteristics it should has. As well as recommend, attending the previously mentioned characteristics, which are the most fitted vehicles, at the market, to perform the two kind of operations. The approach at the first topic had the introduction of an exercise with open answers, created to gather the ideas of portuguese navy’s officers that navigated on submarines about how the submarine should be operated to use AUV. To desenvolve the second aspect, several operators were inquired to discover which were the “ideal” operational characteristics that an AUV should has to better perform its missions.
Mathew, Neil. "Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous." Thesis, 2013. http://hdl.handle.net/10012/8169.
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