Dissertations / Theses on the topic 'Intelligent UAV'
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1
Seyyedhasani, Hasan. "INTELLIGENT UAV SCOUTING FOR FIELD CONDITION MONITORING." UKnowledge, 2018. https://uknowledge.uky.edu/ece_etds/113.
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Precision agriculture requires detailed and timely information about field condition. In less than the short flight time a UAV (Unmanned Aerial Vehicle) can provide, an entire field can be scanned at the highest allowed altitude. The resulting NDVI (Normalized Difference Vegetation Index) imagery can then be used to classify each point in the field using a FIS (Fuzzy Inference System). This identifies areas that are expected to be similar, but only closer inspection can quantify and diagnose crop properties. In the remaining flight time, the goal is to scout a set of representative points maximizing the quality of actionable information about the field condition. This quality is defined by two new metrics: the average sampling probability (ASP) and the total scouting luminance (TSL). In simulations, the scouting flight plan created using a GA (Genetic Algorithm) significantly outperformed plans created by grid sampling or human experts, obtaining over 99% ASP while improving TSL by an average of 285%.
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Lin, Rongbin Lanny. "UAV intelligent path planning for wilderness search and rescue /." Diss., CLICK HERE for online access, 2009. http://contentdm.lib.byu.edu/ETD/image/etd2906.pdf.
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Lin, Rongbin. "UAV Intelligent Path Planning for Wilderness Search and Rescue." BYU ScholarsArchive, 2009. https://scholarsarchive.byu.edu/etd/1759.
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In Wilderness Search and Rescue (WiSAR), the incident commander (IC) creates a probability distribution map of the likely location of the missing person. This map is important because it guides the IC in allocating search resources and coordinating efforts, but it often depends almost exclusively on prior experience and subjective judgment. We propose a Bayesian model that utilizes publicly available terrain features data to help model lost-person behaviors. This approach enables domain experts to encode uncertainty in their prior estimations and also make it possible to incorporate human-behavior data collected in the form of posterior distributions, which are used to build a first-order Markov transition matrix for generating a temporal, posterior predictive probability distribution map. The map can work as a base to be augmented by search and rescue workers to incorporate additional information. Using a Bayes Chi-squared test for goodness-of-fit, we show that the model fits a synthetic dataset well. This model also serves as a foundation of a larger framework that allows for easy expansion to incorporate additional factors such as season and weather conditions that affect the lost-person's behaviors. Once a probability distribution map is in place, areas with higher probabilities are searched first in order to find the missing person in the shortest expected time. When using a Unmanned Aerial Vehicle (UAV) to support search, the onboard video camera should cover as much of the important areas as possible within a set time. We explore several algorithms (with and without set destination) and describe some novel techniques in solving this path-planning problem and compare their performances against typical WiSAR scenarios. This problem is NP-hard, but our algorithms yield high quality solutions that approximate the optimal solution, making efficient use of the limited UAV flying time. The capability of planning a path with a set destination also enables the UAV operator to plan a path strategically while letting the UAV plan the path locally.
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Charvat, Robert C. "Surveillance for Intelligent Emergency Response Robotic Aircraft (SIERRA Project)." University of Cincinnati / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1337888115.
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Persson, Tommy. "Evaluating the use of DyKnow in multi-UAV traffic monitoring applications." Thesis, Linköping University, Department of Computer and Information Science, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-17672.
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This Master’s thesis describes an evaluation of the stream-based knowledge pro-cessing middleware framework DyKnow in multi-UAV traffic monitoring applica-tions performed at Saab Aerosystems. The purpose of DyKnow is “to providegeneric and well-structured software support for the processes involved in gen-erating state, object, and event abstractions about the environments of complexsystems." It does this by providing the concepts of streams, sources, computa-tional units (CUs), entity frames and chronicles.
This evaluation is divided into three parts: A general quality evaluation ofDyKnow using the ISO 9126-1 quality model, a discussion of a series of questionsregarding the specific use and functionality of DyKnow and last, a performanceevaluation. To perform parts of this evaluation, a test application implementinga traffic monitoring scenario was developed using DyKnow and the Java AgentDEvelopment Framework (JADE).
The quality evaluation shows that while DyKnow suffers on the usability side,the suitability, accuracy and interoperability were all given high marks.
The results of the performance evaluation high-lights the factors that affect thememory and CPU requirements of DyKnow. It is shown that the most significantfactor in the demand placed on the CPU is the number of CUs and streams. Italso shows that DyKnow may suffer dataloss and severe slowdown if the CPU istoo heavily utilized. However, a reasonably sized DyKnow application, such as thescenario implemented in this report, should run without problems on systems atleast half as fast as the one used in the tests.
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Du, Ruixiang. "An Intelligent Portable Aerial Surveillance System: Modeling and Image Stitching." Digital WPI, 2013. https://digitalcommons.wpi.edu/etd-theses/859.
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"Unmanned Aerial Vehicles (UAVs) have been widely used in modern warfare for surveillance, reconnaissance and even attack missions. They can provide valuable battlefield information and accomplish dangerous tasks with minimal risk of loss of lives and personal injuries. However, existing UAV systems are far from perfect to meet all possible situations. One of the most notable situations is the support for individual troops. Besides the incapability to always provide images in desired resolution, currently available systems are either too expensive for large-scale deployment or too heavy and complex for a single solder. Intelligent Portable Aerial Surveillance System (IPASS), sponsored by the Air Force Research Laboratory (AFRL), is aimed at developing a low-cost, light-weight unmanned aerial vehicle that can provide sufficient battlefield intelligence for individual troops. The main contributions of this thesis are two-fold (1) the development and verification of a model-based flight simulation for the aircraft, (2) comparison of image stitching techniques to provide a comprehensive aerial surveillance information from multiple vision. To assist with the design and control of the aircraft, dynamical models are established at different complexity levels. Simulations with these models are implemented in Matlab to study the dynamical characteristics of the aircraft. Aerial images acquired from the three onboard cameras are processed after getting the flying platform built. How a particular image is formed from a camera and the general pipeline of the feature-based image stitching method are first introduced in the thesis. To better satisfy the needs of this application, a homography-based stitching method is studied. This method can greatly reduce computation time with very little compromise in the quality of the panorama, which makes real-time video display of the surroundings on the ground station possible. By implementing both of the methods for image stitching using OpenCV, a quantitative comparison in the performance is accomplished."
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Holsinger, Seth D. "Multiple Target Tracking Via Dynamic Point Clustering on a UAV Platform." University of Cincinnati / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1552380066855365.
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Puri, Anuj. "Statistical profile generation of real-time UAV-based traffic data." [Tampa, Fla] : University of South Florida, 2008. http://purl.fcla.edu/usf/dc/et/SFE0002674.
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Hayes, Edwin Laurie. "Machine Learning for Intelligent Control: Application of Reinforcement Learning Techniques to the Development of Flight Control Systems for Miniature UAV Rotorcraft." Thesis, University of Canterbury. Department of Mechanical Engineering, 2013. http://hdl.handle.net/10092/7810.
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This thesis investigates the possibility of using reinforcement learning (RL) techniques to create a flight controller for a quadrotor Micro Aerial Vehicle (MAV).
A capable flight control system is a core requirement of any unmanned aerial vehicle. The challenging and diverse applications in which MAVs are destined to be used, mean that considerable time and effort need to be put into designing and commissioning suitable flight controllers. It is proposed that reinforcement learning, a subset of machine learning, could be used to address some of the practical difficulties.
While much research has delved into RL in unmanned aerial vehicle applications, this work has tended to ignore low level motion control, or been concerned only in off-line learning regimes. This thesis addresses an area in which accessible information is scarce: the performance of RL
when used for on-policy motion control.
Trying out a candidate algorithm on a real MAV is a simple but expensive proposition. In place of such an approach, this research details the development of a suitable simulator environment, in which a prototype controller might be evaluated. Then inquiry then proposes a possible RL-based control system, utilising the Q-learning algorithm, with an adaptive RBF-network providing function approximation.
The operation of this prototypical control system is then tested in detail, to determine both the absolute level of performance which can be expected, and the effect which tuning critical parameters of the algorithm has on the functioning of the controller. Performance is compared against a conventional PID controller to maximise the usability of the results by a wide audience. Testing considers behaviour in the presence of disturbances, and run-time changes in plant dynamics.
Results show that given sufficient learning opportunity, a RL-based control system performs as well as a simple PID controller. However, unstable behaviour during learning is an issue for future analysis.
Additionally, preliminary testing is performed to evaluate the feasibility of implementing RL algorithms in an embedded computing environment, as a general requirement for a MAV flight controller. Whilst the algorithm runs successfully in an embedded context, observation reveals
further development would be necessary to reduce computation time to a level where a controller was able to update sufficiently quickly for a real-time motion control application.
In summary, the study provides a critical assessment of the feasibility of using RL algorithms for motion control tasks, such as MAV flight control. Advantages which merit interest are exposed, though practical considerations suggest at this stage, that such a control system is not a realistic proposition. There is a discussion of avenues which may uncover possibilities to surmount these challenges. This investigation will prove useful for engineers interested in the opportunities which reinforcement learning techniques represent.
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Ernest, Nicholas D. "Genetic Fuzzy Trees for Intelligent Control of Unmanned Combat Aerial Vehicles." University of Cincinnati / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1427813213.
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McManus, Iain Andrew. "A Multidisciplinary Approach to Highly Autonomous UAV Mission Planning and Piloting for Civilian Airspace." Thesis, Queensland University of Technology, 2005. https://eprints.qut.edu.au/16130/1/Iain_McManus_Thesis.pdf.
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In the last decade, the development and deployment of Uninhabited Airborne Vehicles (UAVs) has increased dramatically. This has in turn increased the desire to operate UAVs in civilian-airspace. Current UAV platforms can be integrated into civilian-airspace, with other air traffic, however they place a high burden on their human operators in order to do so. In order to meet the competing objectives of improved integration and low operator workload it will be necessary to increase the intelligence on-board the UAV.
This thesis presents the results of the research which has been conducted into increasing the on-board intelligence of the UAV. The intent in increasing the on-board intelligence is to improve the ability of a UAV to integrate into civilian-airspace whilst also reducing the workload placed upon the UAV's operator. The research has focused upon increasing the intelligence in two key areas: mission planning; and mission piloting.
Mission planning is the process of determining how to fly from one location to another, whilst avoiding entities (eg. airspace boundaries and terrain) on the way. Currently this task is typically performed by a trained human operator. This thesis presents a novel multidisciplinary approach for enabling a UAV to perform, on-board, its own mission planning. The novel approach draws upon techniques from the 3D graphics and robotics fields in order to enable the UAV to perform its own mission planning. This enables the UAV's operator to provide the UAV with the locations (waypoints) to fly to. The UAV will then determine for itself how to reach the locations safely. This relieves the UAV's operator of the burden of performing the mission planning for the UAV.
As part of this novel approach to on-board mission planning, the UAV constructs and maintains an on-board situational awareness of the airspace environment. Through techniques drawn from the 3D graphics field the UAV becomes capable of constructing and interacting with a 3D digital representation of the civilian-airspace environment. This situational awareness is a fundamental component of enabling the UAV to perform its own mission planning and piloting.
The mission piloting research has focused upon the areas of collision avoidance and communications. These are tasks which are often handled by a human operator. The research identified how these processes can be performed on-board the UAV through increasing the on-board intelligence. A unique approach to collision avoidance was developed, which was inspired by robotics techniques. This unique approach enables the UAV to avoid collisions in a manner which adheres to the applicable Civil Aviation Regulations, as defined by the Civil Aviation Safety Authority (CASA) of Australia. Furthermore, the collision avoidance algorithms prioritise avoiding collisions which would result in a loss of life or injury.
Finally, the communications research developed a natural language-based interface to the UAV. Through this interface, the UAV can be issued commands and can also be provided with updated situational awareness information. The research focused upon addressing issues related to using natural language for a civilian-airspace-integrated UAV. This area has not previously been addressed. The research led to the definition of a vocabulary targeted towards a civilian-airspace-integrated UAV. This vocabulary caters for the needs of both Air Traffic Controllers and general UAV operators. This requires that the vocabulary cater for a diverse range of skill levels. The research established that a natural language-based communications system could be applied to a civilian-airspace-integrated UAV for both command and information updates.
The end result of this research has been the development of the Intelligent Mission Planner and Pilot (IMPP). The IMPP represents the practical embodiment of the novel algorithms developed throughout the research. The IMPP was used to evaluate the performance of the algorithms which were developed. This testing process involved the execution of over 3000 hours of simulated flights. The testing demonstrated the high performance of the algorithms developed in this research.
The research has led to the successful development of novel on-board situational awareness, mission planning, collision avoidance and communications capabilities. This thesis presents the development, implementation and testing of these capabilities. The algorithms which provide these capabilities go beyond the existing body of knowledge and provide a novel contribution to the established research. These capabilities enable the UAV to perform its own mission planning, avoid collisions and receive natural language-based communications. This provides the UAV with a direct increase in the intelligence on-board the UAV, which is the core objective of this research. This increased on-board intelligence improves the integration of the UAV into civilian-airspace whilst also reducing the operator's workload.
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McManus, Iain Andrew. "A Multidisciplinary Approach to Highly Autonomous UAV Mission Planning and Piloting for Civilian Airspace." Queensland University of Technology, 2005. http://eprints.qut.edu.au/16130/.
Full textAbstract:
In the last decade, the development and deployment of Uninhabited Airborne Vehicles (UAVs) has increased dramatically. This has in turn increased the desire to operate UAVs in civilian-airspace. Current UAV platforms can be integrated into civilian-airspace, with other air traffic, however they place a high burden on their human operators in order to do so. In order to meet the competing objectives of improved integration and low operator workload it will be necessary to increase the intelligence on-board the UAV. This thesis presents the results of the research which has been conducted into increasing the on-board intelligence of the UAV. The intent in increasing the on-board intelligence is to improve the ability of a UAV to integrate into civilian-airspace whilst also reducing the workload placed upon the UAV's operator. The research has focused upon increasing the intelligence in two key areas: mission planning; and mission piloting. Mission planning is the process of determining how to fly from one location to another, whilst avoiding entities (eg. airspace boundaries and terrain) on the way. Currently this task is typically performed by a trained human operator. This thesis presents a novel multidisciplinary approach for enabling a UAV to perform, on-board, its own mission planning. The novel approach draws upon techniques from the 3D graphics and robotics fields in order to enable the UAV to perform its own mission planning. This enables the UAV's operator to provide the UAV with the locations (waypoints) to fly to. The UAV will then determine for itself how to reach the locations safely. This relieves the UAV's operator of the burden of performing the mission planning for the UAV. As part of this novel approach to on-board mission planning, the UAV constructs and maintains an on-board situational awareness of the airspace environment. Through techniques drawn from the 3D graphics field the UAV becomes capable of constructing and interacting with a 3D digital representation of the civilian-airspace environment. This situational awareness is a fundamental component of enabling the UAV to perform its own mission planning and piloting. The mission piloting research has focused upon the areas of collision avoidance and communications. These are tasks which are often handled by a human operator. The research identified how these processes can be performed on-board the UAV through increasing the on-board intelligence. A unique approach to collision avoidance was developed, which was inspired by robotics techniques. This unique approach enables the UAV to avoid collisions in a manner which adheres to the applicable Civil Aviation Regulations, as defined by the Civil Aviation Safety Authority (CASA) of Australia. Furthermore, the collision avoidance algorithms prioritise avoiding collisions which would result in a loss of life or injury. Finally, the communications research developed a natural language-based interface to the UAV. Through this interface, the UAV can be issued commands and can also be provided with updated situational awareness information. The research focused upon addressing issues related to using natural language for a civilian-airspace-integrated UAV. This area has not previously been addressed. The research led to the definition of a vocabulary targeted towards a civilian-airspace-integrated UAV. This vocabulary caters for the needs of both Air Traffic Controllers and general UAV operators. This requires that the vocabulary cater for a diverse range of skill levels. The research established that a natural language-based communications system could be applied to a civilian-airspace-integrated UAV for both command and information updates. The end result of this research has been the development of the Intelligent Mission Planner and Pilot (IMPP). The IMPP represents the practical embodiment of the novel algorithms developed throughout the research. The IMPP was used to evaluate the performance of the algorithms which were developed. This testing process involved the execution of over 3000 hours of simulated flights. The testing demonstrated the high performance of the algorithms developed in this research. The research has led to the successful development of novel on-board situational awareness, mission planning, collision avoidance and communications capabilities. This thesis presents the development, implementation and testing of these capabilities. The algorithms which provide these capabilities go beyond the existing body of knowledge and provide a novel contribution to the established research. These capabilities enable the UAV to perform its own mission planning, avoid collisions and receive natural language-based communications. This provides the UAV with a direct increase in the intelligence on-board the UAV, which is the core objective of this research. This increased on-board intelligence improves the integration of the UAV into civilian-airspace whilst also reducing the operator's workload.
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Jung, Dongwon Jung. "Hierarchical Path Planning and Control of a Small Fixed-wing UAV: Theory and Experimental Validation." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/19781.
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Thesis (Ph.D)--Aerospace Engineering, Georgia Institute of Technology, 2008.Committee Chair: Tsiotras, Panagiotis; Committee Member: Corban, Eric; Committee Member: Feron, Eric; Committee Member: Johnson, Eric; Committee Member: Vachtsevanos, George.
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Cook, Brandon M. "Multi-Agent Control Using Fuzzy Logic." University of Cincinnati / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1447688633.
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Frantz, Natalie R. "Swarm intelligence for autonomous UAV control." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Jun%5FFrantz.pdf.
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Tantrairatn, Suradet. "Intelligent control agent for autonomous UAS." Thesis, University of Sheffield, 2016. http://etheses.whiterose.ac.uk/13543/.
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A self reconfiguring autopilot system is presented, which is based on a rational agent framework that integrates decision making with abstractions of sensing and actions for next generation unmanned aerial vehicles. The objective of the new intelligent control system is to provide advanced capabilities of self-tuning control for a new UAS airframe or adaptation for an old UAS in the presence of failures in adverse flight conditions. High-level system performance is achieved through on-board dynamical monitoring and estimation associated with controller switching and tuning by the agent. The agent can handle an untuned autopilot or retune the autopilot when dynamical changes occur due to aerodynamic and on-board system changes. The system integrates dynamical modelling, hybrid adaptive control, model validation, flight condition diagnosis, control performance evaluation through software agent development. An important feature of the agent is its abstractions from real-time measurements and also its abstractions from model based on-board simulation. The agent, while tuning and supervising the autopilot, also performs real-time evaluations on the effects of its actions.
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Grimsland, Lars Arne. "UAV Path Planning for Ice Intelligence Purposes using NLP." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-18443.
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As the oil and shipping industry are interested in operating in arctic waters, the need for ice intelligence gathering is rising.The thesis describes the implentation and results of a path planning framework for an UAV used for ice intelligence purposes. THe framework produsces paths based on optimization of a non-linear problem, using the IPOPT library in C++.A model for information uncertainty is implemented, and optimal paths based on minimizing the total information uncertainty are compared to optimal paths based on minimizing distance between UAV and target. Both off line and offline path planning is tested with single and multiple targets.It was found that minimizing information uncertainty can work very well for path planning for ice berg surveillance, or for surveillance of a small search grid.Minimizing information uncertainty generally gave better results than minimizing distance between the UAV and given targets.The implementation should be made more robust, and interfaces towards other UAV sysmets has to be made before the path planning platform has any practical use.
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Gustafsson, Andreas. "Obemannade sensorbärare i urban miljö : En komparativ studie mellan UAV och UGV för förband på stridsteknisk nivå." Thesis, Försvarshögskolan, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-7563.
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Den urbana miljön är en av de mest komplexa miljöer som svenska förband ska kunna strida i. Bristfällig information, tredimensionellt hot, korta stridsavstånd och civila är bara några av de utmaningar soldater ställs inför i urban miljö. Vissa av dessa utmaningar skulle kunna minskas genom nyttjande av obemannade sensorer, som skulle kunna ge chefer en tydligare lägesbild. Studien har genomförts som en komparativ fallstudie, där ett representativt flygande system har jämförts med ett markgående. Syftet med studien är att utröna vilket system har störst militär nytta. Utgångspunkt för jämförelsen är en konceptmodell för militär nytta, där systemen jämförts inom tre dimensioner; militär effektivitet, militär lämplighet samt ekonomisk överkomlighet. Utfallet av studien tyder på att det markgående systemet, UGV, har en något högre militär nytta än det flygande systemet. Vidare påvisar studien att det finns tydliga skillnader i kravuppfyllnad beroende på var och i vilken strid som systemen används. Det flygande har en tydlig fördel utanför byggnader under anfallsstrid, medan det markgående har en fördel inne i byggnader. Studien påvisar även att båda systemen bidrar med militär nytta till förband i urban miljö.The urban environment is one of the most difficult environments that Swedish units are supposed to fight in. Inadequate information, a three-dimensional threat, close range combat and civilians are just a few of the challenges that face soldiers in urban environment. Some of these challenges could be reduced by the use of unmanned sensors, which could enhance the situational awareness. This study has been conducted as a comparative case study, where a representative aerial system has been compared with a ground system. The aim of the study is to determine which system has the highest military utility. The study is based on a concept model for military utility that has compared the systems within three dimensions; military effectiveness, military suitability and affordability. The result of the study indicates that the ground system, UGV, has a slight advantage in military utility compared to the aerial system. Further the study indicates that there are apparent differences between the systems depending on where they are used and in what combat situation. The aerial system has a clear advantage when used outside buildings and in offensive actions, whereas the ground system has an advantage inside buildings. The study also shows that both systems contributes with military utility to units in urban terrain.
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Gunetti, Paolo. "An intelligent agent based autonomous mission management system for UAVs." Thesis, University of Sheffield, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.548379.
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Lawrie, Katherine Mary. "Novel, UV-activated intelligent inks for food packaging." Thesis, Queen's University Belfast, 2012. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.579762.
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This thesis explores novel DV -activated, oxygen-sensitive systems. Thus, photochemical versions of the thermal blue-bottle experiment are used to illustrate the kinetics of PET reactions in homogeneous and heterogeneous photochemistry; the former via the visible light photobleaching of a MB/TEOA solution, and fast recovery in air, and the latter via the DV photobleaching of MB in a Ti02/glucose aqueous dispersion, with slow recovery, but which can be catalysed by Pt. A novel, acetone-based, water-proof Ti02/MB/glycerol/SPS colorimetric oxygen indicating film that coats on hydrophobic polymers is prepared, and is readily photobl~ached but recovers slowly. The rate of photobleaching is dependent upon DV A irradiance, [glycerol], [Ti02] and [MB]. The kinetics of the dark recovery were dependent upon T, %02, and RH. Ethanol replaced acetone, and a Pt catalyst was introduced - i.e. a Pt-Ti02/MB/glycerol/SPS colorimetric oxygen indicator, printable by flexo printing, resulted. The indicator is readily photobleached and recovery times reduced, with linear dependence upon %Pt loading. The recovery kinetics are zero order with respect to [LMB](, moderately dependent upon temperature, and sensitive to relative humidity. Pigment particles (MB and DL-threitol coated onto Ti02) are prepared and extruded in LDPE, to create a water-proof, solvent-based O2 smart plastic film. The blue-coloured indicator is readily photobleached and recovers in ~2.5 days. The rate of photobleaching is dependent upon the irradiance of UV A light. The rate of recovery is dependent upon %02, relative humidity and temperature. A Ti02 colloid is prepared for use with MB in a colorimetric oxygen indicating ink. This ink is suitable for printing onto polyester film by a DOD PU printer. The blue-coloured indicator is readily photobleached and recovers in - 12 hours in ambient air. The rate of recovery is linearly dependent upon the %02, moderately dependent upon relative humidity at 21 "C, and reduced upon reducing temperature.
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Hmidi, Mehdi. "Formation Control and UAV Path Finding Under Uncertainty : A contingent and cooperative swarm intelligence approach." Thesis, Linnéuniversitetet, Institutionen för datavetenskap och medieteknik (DM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-91379.
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Several of our technological breakthroughs are influenced by types of behavior and structures developed in the natural world, including the emulation of swarm in- telligence and the engineering of artificial synapses that function like the human mind. Much like these breakthroughs, this report examines emerging behaviors across swarms of non-communicating, adaptive units that evade obstacles while find- ing a path, to present a swarming algorithm premised on a class of local rule sets re- sulting in a Unmanned Aerial Vehicle (UAV) group navigating together as a unified swarm. Primarily, this method’s important quality is that its rules are local in nature. Thus, the exponential calculations which can be supposed with growing number of drones, their states, and potential tasks are remedied. To this extent, the study tests the algorithmic rules in experiments to replicate the desired behavior in a bounded virtual space filled with simulated units. Simultaneously, in the adaptation of natural flocking rules the study also introduces the rule sets for goal seeking and uncertainty evasion. In effect, the study succeeds in reaching and displaying the desired goals even as the units avoid unknown before flight obstacles and inter-unit collisions with- out the need for a global centralized command nor a leader based hierarchical system.
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Bröms, Andreas. "Är nästa plattform obemannad för svensk signalspaning? : Systemanalys av Global Hawk som potentiell ersättande plattform av Gulfstream G4-SP." Thesis, Försvarshögskolan, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-4715.
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Signalspaning har sedan länge varit en förmåga som Sverige genomfört och under kalla kriget blev det klart att ge-nomförandet av dessa uppdrag inte var helt ofarliga. Med hänsyn till att det nuvarande systemet är påväg att bli äldre bör en planering av ett ersättande system vara lämpligt att genomföra i närtid.Syftet med föreliggande Studie är att genom en systemanalys kunna finna en lämplig ersättare till den nuvarande plattformen för signalspaning, Gulfstream GIV-SP. Det system som har använts som jämförande plattform är den obemannade plattformen Global Hawk vilket är en toppmodern farkost framtagen av USA som en strategisk UAV. Plattformarna har för att få relevans jämförts emot de grundläggande förmågorna Underrättelse/Information, Uthållig-het samt Skydd vilket medför att prestandan kopplas till dessa.Resultatet av uppsatsen påvisar att prestandamässigt kopplat mot de grundläggande förmågorna så är Global Hawk bättre än det nuvarande systemet och de skillnader som en UAV medför är positiva. Vad gäller just underrättelse så är systemen relativt lika potenta men när det gäller uthållighet och skydd är den obemannade plattformen framstående.Slutsatsen av studien är att Global Hawk just nu är en plattform som kostnad sett är för dyr för det svenska försvaret och är på så sätt inte aktuell i närtid. Dock bör det beaktas som ett möjligt ersättande system i framtiden då under-hållskostnader sjunkit och användarantalet på systemet har ökat. Global Hawk har en prestanda som är mycket god kopplat mot de grundläggande förmågorna vilket är en framgångsfaktor vid anskaffning av system.Signal intelligence (SIGINT) has since a period of time been a part of the Swedish armed forces ability and during the Cold War due to events this was not a safe and easy task to perform. Considering that the present system is beginning to become outdated, a plan to replace this system should be at its place in a short amount of time.The purpose with this study is, by using a system analysis method, find a suitable replacer for the present platform which is Gulfstream GIV-SP, carrying signal intelligence equipment. The comparative platform that has been used in this study is the Global Hawk which is a modern strategic UAV. The two platforms that are compared have been linked to the theory of the basic capabilities, the theory is delimited to Intelligence/Information, Endurance and Protection which the performance of the platforms creates.The study result in a conclusion that the Global Hawk fulfills this basic capabilities with most efficiency and the differences of an unmanned platform is positive. In terms of intelligence the platforms is rather equal and causes advantages in their own different ways but in terms of endurance and protection the Global Hawk is more efficient.The study´s conclusion is that the Global Hawk is the more efficient platform for carrying signal intelligence equip-ment but due to the high cost of the system, it is not suitable for the Swedish armed forces. However, it should be considered as a possible replacement platform in the future, as the maintenance cost decreased and the number of user has increased.
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Mohammad, Ammad Uddin. "UAV Routing Protocol (URP) for crop health management." Thesis, Brest, 2017. http://www.theses.fr/2017BRES0147/document.
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Les réseaux de capteurs sans fil sont maintenant un moyen crédible de collecte de données sur les cultures. L'installation d'une structure de communication fixe pour relayer les données surveillées depuis la tête de grappe jusqu'à sa destination finale peut être soit impraticable en raison de la topologie du terrain, soit prohibitive en raison du coût initial élevé. Une solution plausible consiste à utiliser des véhicules aériens sans pilote (UAV) comme moyen alternatif de collecte de données et de contrôle de supervision limité de l'état des détecteurs. Dans cet article, nous considérons le cas des parcelles agricoles disjointes comprenant chacune des grappes de capteurs, organisées de manière prédéterminée en fonction des objectifs d'élevage. Cette recherche vise à trouver une solution optimale pour la recherche de UAV et la collecte de données à partir de tous les capteurs installés dans un champ de culture. En outre, le protocole de routage des capteurs tiendra compte d'un compromis entre la gestion de l'énergie et les frais généraux de diffusion des données. Le système proposé est évalué en utilisant un modèle simulé et il devrait trouver une classe parmi toutes les sous-considérationsWireless sensor networks are now a credible means for crop data collection. The installation of a fixed communication structure to relay the monitored data from the cluster head to its final destination can either be impractical because of land topology or prohibitive due to high initial cost. A plausible solution is to use Unmanned Aerial Vehicles (UAV) as an alternative means for both data collection and limited supervisory control of sensors status. In this paper, we consider the case of disjoint farming parcels each including clusters of sensors, organized in a predetermined way according to farming objectives. This research focuses to drive an optimal solution for UAV search and data gathering from all sensors installed in a crop field. Furthermore, the sensor routing protocol will take into account a tradeoff between energy management and data dissemination overhead.The proposed system is evaluated by using a simulated model and it should find out a class among all under consideration
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Challita, Ursula. "Distributed algorithms for optimized resource management of LTE in unlicensed spectrum and UAV-enabled wireless networks." Thesis, University of Edinburgh, 2018. http://hdl.handle.net/1842/33099.
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Next-generation wireless cellular networks are morphing into a massive Internet of Things (IoT) environment that integrates a heterogeneous mix of wireless-enabled devices such as unmanned aerial vehicles (UAVs) and connected vehicles. This unprecedented transformation will not only drive an exponential growth in wireless traffic, but it will also lead to the emergence of new wireless service applications that substantially differ from conventional multimedia services. To realize the fifth generation (5G) mobile networks vision, a new wireless radio technology paradigm shift is required in order to meet the quality of service requirements of these new emerging use cases. In this respect, one of the major components of 5G is self-organized networks. In essence, future cellular networks will have to rely on an autonomous and self-organized behavior in order to manage the large scale of wireless-enabled devices. Such an autonomous capability can be realized by integrating fundamental notions of artificial intelligence (AI) across various network devices. In this regard, the main objective of this thesis is to propose novel self-organizing and AI-inspired algorithms for optimizing the available radio resources in next-generation wireless cellular networks. First, heterogeneous networks that encompass licensed and unlicensed spectrum are studied. In this context, a deep reinforcement learning (RL) framework based on long short-term memory cells is introduced. The proposed scheme aims at proactively allocating the licensed assisted access LTE (LTE-LAA) radio resources over the unlicensed spectrum while ensuring an efficient coexistence with WiFi. The proposed deep learning algorithm is shown to reach a mixed-strategy Nash equilibrium, when it converges. Simulation results using real data traces show that the proposed scheme can yield up to 28% and 11% gains over a conventional reactive approach and a proportional fair coexistence mechanism, respectively. In terms of priority fairness, results show that an efficient utilization of the unlicensed spectrum is guaranteed when both technologies, LTE-LAA and WiFi, are given equal weighted priorities for transmission on the unlicensed spectrum. Furthermore, an optimization formulation for LTE-LAA holistic traffic balancing across the licensed and the unlicensed bands is proposed. A closed form solution for the aforementioned optimization problem is derived. An attractive aspect of the derived solution is that it can be applied online by each LTE-LAA small base station (SBS), adapting its transmission behavior in each of the bands, and without explicit communication with WiFi nodes. Simulation results show that the proposed traffic balancing scheme provides a better tradeoff between maximizing the total network throughput and achieving fairness among all network ows compared to alternative approaches from the literature. Second, UAV-enabled wireless networks are investigated. In particular, the problems of interference management for cellular-connected UAVs and the use of UAVs for providing backhaul connectivity to SBSs are studied. Speci cally, a deep RL framework based on echo state network cells is proposed for optimizing the trajectories of multiple cellular-connected UAVs while minimizing the interference level caused on the ground network. The proposed algorithm is shown to reach a subgame perfect Nash equilibrium upon convergence. Moreover, an upper and lower bound for the altitude of the UAVs is derived thus reducing the computational complexity of the proposed algorithm. Simulation results show that the proposed path planning scheme allows each UAV to achieve a tradeoff between minimizing energy efficiency, wireless latency, and the interference level caused on the ground network along its path. Moreover, in the context of UAV-enabled wireless networks, a UAV-based on-demand aerial backhaul network is proposed. For this framework, a network formation algorithm, which is guaranteed to reach a pairwise stable network upon convergence, is presented. Simulation results show that the proposed scheme achieves substantial performance gains in terms of both rate and delay reaching, respectively, up to 3.8 and 4-fold increase compared to the formation of direct communication links with the gateway node. Overall, the results of the different proposed schemes show that these schemes yield significant improvements in the total network performance as compared to current existing literature. In essence, the proposed algorithms can also provide self-organizing solutions for several resource management problems in the context of new emerging use cases in 5G networks, such as connected autonomous vehicles and virtual reality headsets.
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Vilchis, Medina José Luis. "Modeling of resilient systems in non-monotonic logic : application to solar power UAV." Thesis, Aix-Marseille, 2018. http://www.theses.fr/2018AIXM0567/document.
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Cette thèse présente un modèle résilient pour piloter un avion basé sur une logique non monotone. Ce modèle est capable de gérer des solutions à partir d’informations incomplètes, contradictoires et des exceptions. C’est un problème très connu en Intelligence Artificial, qui est étudié depuis plus de 40 ans. Pour ce faire, nous utilisons la logique des défauts pour formaliser la situation et trouver des conclusions possibles. Grâce à cette logique, nous pouvons transformer les règles de pilotage en défauts. Ensuite, lorsque nous calculons les solutions, plusieurs options peuvent en résulter. À ce stade, il existe un critère de décision opportuniste pour choisir la meilleure solution. Le contrôle du système se fait via la propriété de résilience. Nous redéfinissons cette propriété comme l’intégration de la logique non monotone dans le modèle de Minsky. En conséquence, il est démontré que le modèle de résilience proposé pourrait être généralisé aux systèmes intégrant une connaissance du monde contenant des situations, des objectifs et des actions. Enfin, nous présentons les résultats expérimentaux et la conclusion de la thèse en discutant des perspectives et des défis pour les orientations futures. Différentes applications dans d’autres domaines sont prises en compte pour l’intérêt du comportement du modèleThis thesis presents a resilient model to pilot an aircraft based on a non-monotonic logic. This model is capable of handling solutions from incomplete, contradictory information and exceptions. This is a very well known problem in Artificial Intelligence, which has been studied for more than 40 years. To do this, we use default logic to formalise the situation and find possible conclusions. Thanks to this logic we can transform the piloting rules to defaults. Then, when we calculate the solutions, several options could result. At this point an opportunistic decision criteria takes place to choose the better solution. The control of the system is done via the property of resilence, we redefine this property as the integration of the non-monotonic logic in the Minsky’s model. As a result, it is shown that the proposed resilient model could be generalised to systems that incorporate a knowledge of the world that contains situations, objectives and actions. Finally, we present the experimental results and conclusion of the thesis discussing the prospects and challenges that exist for future directions. Different applications in other fields are taken into account for the interest of the model’s behavior
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Berntsson, Alexander. "CPM - strategi : Planering, utveckling och implementering utav en övergripande Business intelligence strategi." Thesis, Jönköping University, JIBS, Business Informatics, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-9637.
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Syftet med denna uppsats är att ta fram en Corporate Performance Management strategi som man kan nyttja för att ändra organisationsstrukturen till att uppnå en mer holistisk struktur med hjälp utav Business intelligence verktyg. Helt enkelt hur man skapar en helhet inom organisationen med en Business intelligence strategi. Den forskningsfråga som författaren har fokuserat mest på involverar hur man utvecklar och implementerar en CPM-strategi. De andra frågorna utreder vilka fördelar som finns med att införskaffa en CPM strategi och vilka Business intelligence verktyg som används i en CPM-strategi. I denna uppsats utförs en studie om begreppet Corporate Performance Management och kunskapsbidraget är en strategi för hur man utvecklar och implementerar CPM. Manuella sökningar efter litteratur ifrån olika bibliotek har granskats och både böcker och artiklar har hittats. Internet har självklart använts till att söka efter datorbaserad information och författaren har hittat relevanta artiklar. Forskningsfrågorna har också besvarats genom att utföra intervjuer med leverantörer och en forskare inom CPM. En kognitiv forskningsprocess har bedrivits där en inledande diskussion har inspirerat fram forskningsfrågor som har lett vidare till att en förstudie har genomförts. Informationen ifrån denna har i sin tur lett fram till en problemdiskussion, nya forskningsfrågor och ett nytt syfte.
Fördelarna med en CPM-strategi är att man kan organisera, automatisera och analysera processer och system, detta förenar organisationens olika enheter för att kunna fatta beslut som är det bästa för organisationen som helhet och gör så att användaren kan effektivisera sin arbetsdag och få mer tid för andra viktiga arbetsuppgifter med mera. En CPM-strategi består först utav att man gör en första övergripande analys av verksamheten för att kunna ta fram en strategi. Man jobbar effektivt med taktiska och operativa frågor. Därefter utvecklas en kravspecifikation vilken inkluderar en omfattande kravanalys. Viktiga moment är intervjuer med anställda samt öppna diskussioner med personalen. Nästa moment är att CPM-strategin designas genom att verksamheten modelleras upp och arkitekturen bestäms. I nästa steg utvecklar man systemet, det finns olika lösningar att ta till sig. En lösning är att använda sig utav en lokal leverantör som erbjuder en färdig standardlösning, en annan lösning är att utveckla systemet inhouse eller outsourca till ett låglöneland. Därefter så sker själva implementationen och testningen utav strategin och då finns det ett antal steg som man följer, implementationen bygger dock mycket på erfarenheter ifrån tidigare projekt och det finns inga riktiga mallar för hur detta ska ske. Personalen utbildas därefter på nya lösningar som har utarbetats, utan denna kunskap så kommer de kanske inte att kunna använda den. Då den egna verksamheten och omvärlden förändras hela tiden så måste man hela tiden ha en grupp som stödjer underhållet utav CPM-strategin. Det mest kända Business intelligence verktyget inom CPM är Excel och det vanligaste användandet är olika rapporter.
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Cook, Brandon M. "An Intelligent System for Small Unmanned Aerial Vehicle Traffic Management." University of Cincinnati / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1617106257481515.
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Lopes, Nelson. "O emprego táctico dos Mini UAV nas Unidades de Reconhecimento do Exército Português." Master's thesis, Academia Militar. Direção de Ensino, 2011. http://hdl.handle.net/10400.26/7857.
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O presente trabalho analisa o emprego táctico dos Mini Unmanned Aerial Vehicle nas Unidades de Reconhecimento do nosso Exército. Estando este tipo de equipamentos expressos nos Quadros Orgânicos, ainda em fase de aquisição, pretende-se investigar os requisitos e características que deve m dispor, para um melhor cumprimento das missões e tarefas dos nossos Esquadrões de Reconhecimento do Sistema de Forças Nacional.
É também objectivo deste trabalho efectuar uma pesquisa, de forma a perceber a relação com outras unidades, que contemplam ou têm afinidade com meios Unmanned Aerial Vehicle do nosso Sistema de Forças Nacional, nomeadamente o Batalhão Intelligence, Surveillance, Targeting Acquisition and Reconnaissance, a Bateria de Aquisição de Objectos e seu Pelotão Unmanned Aerial Vehicle Low Altitude Medium Endurance.
Para se atingirem as metas a que este trabalho se propôs, recorreu -se à análise documental para conhecer a realidade Unmanned Aerial Vehicle e sua importância, para além de aprofundar os conhecimentos relativos às missões e tarefas das no ssas unidades de Reconhecimento, para posterior procura de conteúdos quanto ao emprego de Mini Unmanned Aerial Vehicle por parte do Exército dos EUA. Também as entrevistas contribuíram para o esclarecimento de questões no decorrer deste trabalho, bem como para complementar o que as pesquisas bibliográficas não facultaram.
O planeamento de meios Unmanned Aerial Vehicle deverá obedecer aos seus
fundamentos e princípios, bem como ter em conta as suas potencialidades e limitações.
Também os factores Missão, Inimigo, Terreno, Condições Meteorológicas, Meios, Tempo Disponível e Considerações de Natureza Civil são factores que o Comandante apoiado por meios Unmanned Aerial Vehicle e seus respectivos operadores deverão ter em conta aquando a utilização destes equipamentos, nas várias missões que possam vir a desempenhar.
O Mini Unmanned Aerial Vehicle Raven é utilizado pelas Unidades de Reconhecimento
doExército dos EUA em missões e tarefas análogas às que os nossos Esquadrões de Reconhecimento executam. Esta plataforma aérea é empregue em missões de Reconhecimento, Vigilância, monitorização de imagens de dia e de noite, para o apoio da Avaliação da Situação, Aquisição de Objectivos e Avaliação de Danos no Espaço de Batalha. Os Mini Unmanned Aerial Vehicle Raven possibilitam ainda segurança a escoltas,protecção de forças amigas e também dão informação em tempo real sobre a localização Inimiga, tipo de dispositivo e a sua actividade. Ao longo deste trabalho foi possível constatar que há ainda muitas considerações a serem feitas, quanto a requisitos antes da aquisição dos Mini Unmanned Aerial Vehicle e necessidade de uma posterior alteração dos Quadros Orgânicos de 2009. Também a doutrina da parte dos nossos Esquadrões de Reconhecimento terá de ser revista e deverá
sofrer alterações devido à integração deste tipo de equipamentos e seu respectivo emprego táctico, com base na doutrina do Exército dos EUA.Abstract This work analyzes the use of tactical Mini Unmanned Aerial Vehicle in Reconnaissance Units of our Army. Being this type of equipment expressed in Organic Tables, still in the acquisition phase, we investigated the requirements and characteristics that must possess, to better carry on with duties and tasks of our Reconnaissance Squadrons of the System of National Forces. It is also an aim of this paper to do a research in order to understand the relationship with other units, which include or have an affinity with Unmanned Aerial Vehicle means in our System of National Forces, including the Intelligence, Surveillance, Targeting Acquisition and Reconnaissance Battalion, the Targeting Acquisition Battery and their Unmanned Aerial Vehicle Low Medium Altitude Endurance Platoon. To achieve the goals proposed on this paper, we used documental analysis to get to know the Unmanned Aerial Vehicle reality and its importance, in addition to deepening the knowledge the mission and tasks of our Reconnaissance Units, and as well as the employment of Mini Unmanned Aerial Vehicle on U.S. Army. Interviews also contributed to the clarification of issues in this paper, as well as to complement what literary researches have not provided. Planning Unmanned Aerial Vehicle means must conform to its foundations and principles as well as take into account its strengths and limitations. Also factors Mission, Enemy, Terrain, Weather, Troops and Support Available, Time available, and Civil Considerations are factors that the Commander supported by means Unmanned Aerial Vehicle and their operators should take into consideration when using these equipments, in the various missions that may come to play. The Mini Unmanned Aerial Vehicle Raven is used by Reconnaissance Units of the U.S. Army, in missions and tasks similar to those that our Reconnaissance Squadrons perform. This aerial platform is employed in missions of Reconnaissance, Surveillance, day and night Images Monitoring, to support the Situational Awareness, Targeting Acquisition and Battle Damage Assessment. The Mini Unmanned Aerial Vehicle Raven also enables escorts security, protection of friendly forces and also provide s real time information about the Enemy location, array type and its activity. Throughout this paper it was established that there are many considerations to be made, as to the requirements to acknowledge before purchasing the Mini Unmanned Aerial Vehicle and need for a subsequent amendment of the Organic Tables of 2009. Also the doctrine of our Reconnaissance Squadrons has to be revised and should be altered due to the integration of this equipment and its associated tactical employment , based on doctrine of U.S. Army.
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Seger, Johanna. "Coagency of humans and artificial intelligence in sea rescue environments : A closer look at where artificial intelligence can help humans maintain and improve situational awareness in search and rescue operations." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-157439.
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This paper aims to answer the question of how artificial intelligence could help humans maintain and/or improve situational awareness in search and rescue operations at sea, as well as where in such processes artificial intelligence could be incorporated to most efficiently compensate for human vulnerabilities and support human strengths. In order to answer this, a joint cognitive system perspective has been adopted whilst joining in search and rescue practice operations. These operations have been observed and persons participating in them have been interviewed, in order to gather insights about the process and the persons conducting it. The results from these insights coupled with experience with artificial intelligence and automation, show that artificial intelligence could help improve and/or maintain situational awareness by adopting functions which take up unnecessary time from man. According to the joint cognitive system view, these functions should never be solely performed by artificial intelligence however, but in coagency with man; allocated functions should overlap between man and machine. Suggestions have been given regarding which functions in particular an artificial intelligent agent could perform in terms of search and rescue and where these functions occur in the process. None of these suggestions are without man involvement, as they should not be. To summarise, these suggestions include; a UAV equipped with an infrared camera to search large areas quickly, a decision support system equipped with image recognition to analyse images gathered from the UAV, as well as a communication tool which allows for shared search patterns and hotspots between search and rescue units.WARA-PS
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Guo, Xufeng. "Automated scene understanding from aerial imagery." Thesis, Queensland University of Technology, 2018. https://eprints.qut.edu.au/117973/8/Xufeng_Guo_Thesis.pdf.
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This thesis examines the development of vision-based aerial image understanding systems. The proposed systems investigate different abstraction levels of visual features in aerial image processing tasks and adopts UAV forced landing site detection as the main application to examine the feasibility and robustness of the proposed systems. This thesis also proposes an efficient and novel visual feature to improve single image depth prediction performance especially for the depth estimation of small objects in a scene.
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Aggoune, Riad. "Ordonnancement d'ateliers sous contraintes de disponibilité des machines." Metz, 2002. http://docnum.univ-lorraine.fr/public/UPV-M/Theses/2002/Aggoune.Riad.SMZ0219.pdf.
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Nous étudions dans cette thèse des problèmes d'ordonnancement d'ateliers en présence de périodes d'indisponibilité des machines. Nous considérons le contexte d'indisponibilités dues à une activité de maintenance préventive, avec des tâches de maintenance soit fixes, soit flexibles. Les modèles étudiés sont ceux du flow shop et du job shop, avec des nombres quelconques de machines et d'indisponibilités sur chacune d'entre elles. Les opérations à ordonnancer sont strictement non-préemptives. Des algorithmes polynomiaux originaux sont développés pour des problèmes d'ordonnancement à deux travaux et nous nous servons de ces algorithmes généraux. Les méthodes approchées utilisent des méta-heuristiques et les méthodes exactes reposent sur des procédures par séparation et évaluation. Des résultats d'xpériences menées sur des instances générées aléatoirement attestent de l'efficacité des algorithmes proposés.
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Strobel, Pascal. "Conception et réalisation d'un système multicapteurs portable intelligent en vue de la détection des gaz polluants N02, H2S et S02 en mélange de faible concentration." Metz, 2006. http://docnum.univ-lorraine.fr/public/UPV-M/Theses/2006/Strobel.Pascal.SMZ0641.pdf.
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Les systèmes multicapteurs intelligents de gaz (nez électroniques) connaissent actuellement un développement accru pour de nombreux domaines d'applications. Inscrit dans le large domaine de la lutte contre la pollution atmosphérique, notre travail a pour but principal la réalisation et la validation d'un nez électronique portable et autonome. Après avoir situé ce besoin dans le cadre de la mesure en continu des polluants atmosphériques et présenté le principe de nez électronique, nous établissons les propriétés requises du prototype à concevoir. Pour répondre aux critères de flexibilité, faible coût, robustesse et portabilité, nous justifions le choix des capteurs de gaz (six capteurs à oxydes métalliques), de l'unité intelligente (microcontrôleur et mémoire Compact Flash), ainsi que des autres composants et leur assemblage. Le prototype réalisé a été validé en laboratoire pour la détection de trois gaz polluants : H2S, NO2 et SO2 seuls ou en multiples mélanges, en faible concentration correspondant à une pollution industrielle près de sources émissives. Plusieurs paramètres représentatifs des différentes phases et variations des réponses temporelles des capteurs ont été sélectionnés. Une base d'apprentissage est constituée à partir de ces paramètres et exploitée à l'aide d'une méthode de classification supervisée (Analyse Factorielle Discriminante). Nous avons obtenu une très bonne classification de la composition des atmosphères gazeuses étudiées, ainsi que des concentrations de chaque constituant. Les règles de décision établies et implantées dans la mémoire du prototype ont permis l'identification avec succès des échantillons inconnusThe intelligent gas sensor array systems (electronic nose) present an increasing development in many fields of applications. Concerning the campaign against the atmospheric pollution, the principally aim of our work is to realize and to validate a portable and autonomous electronic nose. After a state of the art on real time measurement of pollutant gases and the presentation of the principle of an electronic nose, a nomination of requirements for the engineering of a prototype is indicated. In order to fulfil the criteria of flexibility, cheapness, robustness and portability, we justify the choice of the six metal oxide gas sensors and the intelligent unit (microcontroller and Compact Flash memory) as well as the other components and their assembly. The realized prototype has been validated in laboratory for the detection of three pollutants gases: H2S, NO2 and SO2 in isolated state or in various mixtures with the small concentrations of industrial pollution near of emission sources. We have chosen multiple representative parameters of different phases and variations of the response of all the sensors. These parameters constitute a learning base and they are explored by a supervised classification method (Discriminant Factorial Analysis). We obtain a very good classification of the studied gas atmospheres as well as the concentrations of each atmospheric component. The obtained decision rules, which have been established in the memory of the prototype, allow the successfully identification of unknown gas composition samples
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Balusu, Anusha. "Multi-Vehicle Detection and Tracking in Traffic Videos Obtained from UAVs." University of Cincinnati / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1593266183551245.
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Mérel, Pierre-Paul. "Les problèmes de satisfaction de contraintes : recherche n-aire et parallélisme : application au placement en CAO." Metz, 1998. http://docnum.univ-lorraine.fr/public/UPV-M/Theses/1998/Merel.Pierre_Paul.SMZ9806.pdf.
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Les problèmes de satisfaction de contraintes (CSP) constituent un cadre de formalisation puissant des problèmes d'intelligence artificielle. Un CSP est la donnée d'un ensemble de variables définies sur certains domaines, et d'un ensemble de contraintes reliant ces variables. De nombreuses méthodes ont été définies pour les résoudre. Nous nous intéressons dans ce document, aux méthodes complètes, i. E. Qui permettent toujours de trouver une solution. Les méthodes complètes de résolution les plus performantes pour les csp utilisent un mécanisme de recherche par vérification de consistance "en avant", c-à-d. En filtrant les valeurs incompatibles dans les domaines non instancies lorsqu'une nouvelle instanciation est testée (forward-checking). Cependant, ces méthodes ne sont définies que pour des contraintes binaires. Nous étendons ces méthodes en définissant une notion de consistance n-aire généralisée : la relationnelle-(I,J)-consistance. Nos expérimentation montrent que la résolution n-aire directe est plus rapide que la résolution sur un CSP binaire obtenu apres transformation. Comme la recherche séquentielle est particulièrement couteuse (NP-complete), le parallélisme permet de réduire le temps de calcul. Pour cela, nous definissons un algorithme générique qui permet d'hybrider aussi bien les différentes techniques de recherche séquentielles que les méthodes de parallélisation. Le principe de la recherche reprend le schéma " OU-parallèle". Si la plupart des techniques parallèles classiques restent utilisables pour les CSP, nous définissons différentes techniques destinées à mieux s'adapter aux spécificités des CSP. Ainsi, nous proposons une méthode de répartition initiale de charge, une méthode de division adaptée à la taille des contextes de recherche et une fonction de détermination de la divisibilité d'une tâche. Nous appliquons et spécialisons les algorithmes définis pour la résolution de problèmes de bordereau de coupe en confection, i. E. Le placement de formes quelconques sur une surface restreinteConstraint satisfaction problems (CSP) are a powerfull framework in formalization of artificial intelligence problems. A CSP is given by a set of variables defined on specific domains, and a set of constraints on these variables. Many technics had been defined to solve them. We are interested in this document, in complete methods, i. E. Enabling to find a solution in every case. The most powefull complete solving methods for CSP use a search mecanism with forward checking consistency, i. E. In filtering incompatible values in not yet instantiated domains when a new instantiation is tested. However, these methods are defined only for binary constraints. We extend them in defining a generalized notion of n-ary consistency : relationnal-(I,J)-consistency. Our experimentations show direct n-ary search is faster than search on binary CSP sfter transformation. As sequential search is rather costly (NP-complete), parallelism enables to reduce computation time. To achieve this, we define a generic algorithm allowing to mix different sequential search and parallelization methods. Global principle of resolution is based on “OR-parallel” search. If most of classical parallel technics are usable for CSP, we define different technics to follow CSP specificities. Thus, we propose a load sharing method, a splitting technics adapted for the size of search contexts and a function to evaluate the divisibility of a task. We apply and specialize our algorithms in solving the problem of cutting plan, i. E. Position asignement for random pieces on a restricted area
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Absetz, Erica. "Actual Entities: A Control Method for Unmanned Aerial Vehicles." VCU Scholars Compass, 2013. http://scholarscompass.vcu.edu/etd/3094.
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The focus of this thesis is on Actual Entities, a concept created by the philosopher Alfred North Whitehead, and how the concept can be applied to Unmanned Aerial Vehicles as a behavioral control method. Actual Entities are vector based, atomic units that use a method called prehension to observe their environment and react with various actions. When combining multiple Actual Entities a Colony of Prehending Entities is created; when observing their prehensions an intelligent behavior emerges. By applying the characteristics of Actual Entities to Unmanned Aerial Vehicles, specifically in a situation where they are searching for targets, this emergent, intelligent behavior can be seen as they search a designated area and locate specified targets. They will alter their movements based on the prehensions of the environment, surrounding Unmanned Aerial Vehicles, and targets.
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Crouch, Collier Craig. "Integration of mini-UAVs at the tactical operations level : implications of operations, implementation, and information sharing /." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Jun%5FCrouch.pdf.
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Brangier, Éric. "La modélisation de la cognition dans l'élaboration d'un système expert." Metz, 1991. http://docnum.univ-lorraine.fr/public/UPV-M/Theses/1991/Brangier.Eric.LMZ911.pdf.
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Cette thèse porte sur la modélisation de la cognition lors de l'élaboration d'un système expert d'aide à la décision dans le domaine de l'assurance-vie. La modélisation de la cognition y est vue comme la conception d'une architecture fonctionnelle des concepts et raisonnements de l'expert. Cette dernière consiste en un circuit "programmable" dans lequel les connaissances sont organisées de deux façons complémentaires. D'une part, les concepts sont groupes en catégories. Dans les catégories, qui recouvrent les thèmes de la médecine d'assurance, les concepts sont ranges en classes et en instances de classes. Des relations de subordination et de dépendances conceptuelles précisent les liens que les concepts entretiennent entre eux. D'autre part, les raisonnements sont représentés sous la forme de règles de production et de schémas d'inférences, dont l'activation s'attache a simuler respectivement les activités de diagnostic et de pronostic de l'expert humain. Dans ce cadre, la prise de décision est envisagée comme un processus d'activation du circuit compose par la catégorisation des concepts, les règles de production et les schémas d'inférences. L'activation repose sur la recherche constante des connaissances les plus pertinentes, et s'attache à déclencher des inférences autorisables dans le circuit à partir des formes logiques, syntaxiques et sémantiques que peuvent prendre les connaissances. Ces connaissances particulières ayant des contenus logiques, syntaxiques et sémantiques sont désignées par le terme "d'opérateur cognitif". Enfin, nous avons cherché à valider le modèle de cognition par un test en double aveugle confrontant les avis de trois experts avec les décisions du système expert. Il en ressort que le système expert fournit des décisions et des justifications qui sont jugées globalement acceptables par les experts humainsThis thesis deals with the problem of cognition modelisation when elaborating a decision aiding expert system in the field of life-insurance. We intend to show that this modelisation can be seen as the design of a functional architecture based on the expert's concepts and reasonings. This architecture consists into a "programmable" circuit in which knowledge is organized in two complementary ways. On the first hand concepts are gathered into categories, which cover the various topics of insurance medecine. In each category, concepts are ordered into classes and classes instances and related to each other through subordination or conceptual dependency relations. On the second hand, the expert reasonings are represented by production rules and inference schemes, whose activation tries to simulate respectively the diagnostic and pronostic activities of the human expert. Therefore, the decision making process can be considered as an activation process of the circuit made up of the concepts categorization, the production rules and the inference schemes. The circuit activation is based on the constant search of the most relevant pieces of knowledge, and seeks to trigger inferences allowed for given logical, syntactical and semantical contents of the knowledge in the different places of the circuit. This particular knowledge with logical, syntactical and semantical contents at once, is called "cognitive operators". Finally, we sought to validate our model by comparing the expert system answers with those of three experts. It appeared that the decisions made by the expert system and the explanation given are considered globally acceptable by the human experts
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Bianchi, Eric Loran. "COCO-Bridge: Common Objects in Context Dataset and Benchmark for Structural Detail Detection of Bridges." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/87588.
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Common Objects in Context for bridge inspection (COCO-Bridge) was introduced for use by unmanned aircraft systems (UAS) to assist in GPS denied environments, flight-planning, and detail identification and contextualization, but has far-reaching applications such as augmented reality (AR) and other artificial intelligence (AI) platforms. COCO-Bridge is an annotated dataset which can be trained using a convolutional neural network (CNN) to identify specific structural details. Many annotated datasets have been developed to detect regions of interest in images for a wide variety of applications and industries. While some annotated datasets of structural defects (primarily cracks) have been developed, most efforts are individualized and focus on a small niche of the industry. This effort initiated a benchmark dataset with a focus on structural details. This research investigated the required parameters for detail identification and evaluated performance enhancements on the annotation process. The image dataset consisted of four structural details which are commonly reviewed and rated during bridge inspections: bearings, cover plate terminations, gusset plate connections, and out of plane stiffeners. This initial version of COCO-Bridge includes a total of 774 images; 10% for evaluation and 90% for training. Several models were used with the dataset to evaluate model overfitting and performance enhancements from augmentation and number of iteration steps. Methods to economize the predictive capabilities of the model without the addition of unique data were investigated to reduce the required number of training images. Results from model tests indicated the following: additional images, mirrored along the vertical-axis, provided precision and accuracy enhancements; increasing computational step iterations improved predictive precision and accuracy, and the optimal confidence threshold for operation was 25%. Annotation recommendations and improvements were also discovered and documented as a result of the research.MS
Common Objects in Context for bridge inspection (COCO-Bridge) was introduced to improve a drone-conducted bridge inspection process. Drones are a great tool for bridge inspectors because they bring flexibility and access to the inspection. However, drones have a notoriously difficult time operating near bridges, because the signal can be lost between the operator and the drone. COCO-Bridge is an imagebased dataset that uses Artificial Intelligence (AI) as a solution to this particular problem, but has applications in other facets of the inspection as well. This effort initiated a dataset with a focus on identifying specific parts of a bridge or structural bridge elements. This would allow a drone to fly without explicit direction if the signal was lost, and also has the potential to extend its flight time. Extending flight time and operating autonomously are great advantagesfor drone operators and bridge inspectors. The output from COCO-Bridge would also help the inspectors identify areas that are prone to defects by highlighting regions that require inspection. The image dataset consisted of 774 images to detect four structural bridge elements which are commonly reviewed and rated during bridge inspections. The goal is to continue to increase the number of images and encompass more structural bridge elements in the dataset so that it may be used for all types of bridges. Methods to reduce the required number of images were investigated, because gathering images of structural bridge elements is challenging,. The results from model tests helped build a roadmap for the expansion and best-practices for developing a dataset of this type.
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Lienemann, Matthew A. "Automated Multi-Modal Search and Rescue using Boosted Histogram of Oriented Gradients." DigitalCommons@CalPoly, 2015. https://digitalcommons.calpoly.edu/theses/1507.
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Unmanned Aerial Vehicles (UAVs) provides a platform for many automated tasks and with an ever increasing advances in computing, these tasks can be more complex. The use of UAVs is expanded in this thesis with the goal of Search and Rescue (SAR), where a UAV can assist fast responders to search for a lost person and relay possible search areas back to SAR teams. To identify a person from an aerial perspective, low-level Histogram of Oriented Gradients (HOG) feature descriptors are used over a segmented region, provided from thermal data, to increase classification speed. This thesis also introduces a dataset to support a Bird’s-Eye-View (BEV) perspective and tests the viability of low level HOG feature descriptors on this dataset. The low-level feature descriptors are known as Boosted Histogram of Oriented Gradients (BHOG) features, which discretizes gradients over varying sized cells and blocks that are trained with a Cascaded Gentle AdaBoost Classifier using our compiled BEV dataset. The classification is supported by multiple sensing modes with color and thermal videos to increase classification speed. The thermal video is segmented to indicate any Region of Interest (ROI) that are mapped to the color video where classification occurs. The ROI decreases classification time needed for the aerial platform by eliminating a per-frame sliding window. Testing reveals that with the use of only color data iv and a classifier trained for a profile of a person, there is an average recall of 78%, while the thermal detection results with an average recall of 76%. However, there is a speed up of 2 with a video of 240x320 resolution. The BEV testing reveals that higher resolutions are favored with a recall rate of 71% using BHOG features, and 92% using Haar-Features. In the lower resolution BEV testing, the recall rates are 42% and 55%, for BHOG and Haar-Features, respectively.
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Gancet, Jérémi. "Systèmes multi-robots aériens : architecture pour la planification, la supervision et la coopération." Phd thesis, Institut National Polytechnique de Toulouse - INPT, 2005. http://tel.archives-ouvertes.fr/tel-00011361.
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Les robots aériens (UAV, pour Unmanned Aerial Vehicles) font l'objet d'un intérêt croissant dans la communauté robotique. Ils offrent un large champ d'applications, mais introduisent des modalités d'opération particulières (contraintes logistiques, capacités de déplacement...). Dans ce travail, nous nous intéressons aux systèmes multi-UAV : l'opération conjointe d'un certain nombre d'UAV nécessite de bâtir une architecture multi-robot qui puisse prendre en compte le potentiel et les contraintes des UAV. Dans ce but, nous introduisons une notion de "degré d'autonomie décisionnelle", qui reflète le niveau de délégation de capacités autonomes aux robots par un opérateur du système. Un exécutif générique est proposé pour interfacer, au niveau de chacun des UAV du système, les différentes configurations possibles de délégation de l'autonomie décisionnelle : celui-ci reçoit et traite des plans de tâches produits soit par un centre de contrôle en charge de tous les UAVs (bas degrés d'autonomie), soit par une couche délibérative individuelle, au niveau de chacun des UAV (hauts degrés d'autonomie). Dans ce dernier cas, nous proposons une couche délibérative permettant aux UAVs de planifier et coordonner leurs tâches, afin d'opérer conjointement dans le cadre d'une mission donnée. Cette couche délibérative regroupe un couple planificateur symbolique / raffineurs géométriques, ainsi qu'un gestionnaire d'interactions à base de modèles. Une partie des développements a été testée avec succès dans le cadre du projet européen Comets, avec 3 UAV hétérogènes (deux hélicoptères et un dirigeable). Les autres développements ont donné lieu à des tests en simulation.
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Al, Junaibi Musallem. "A framework for the deployment of traffic safety technologies in Abu Dhabi highways." Thesis, University of Wolverhampton, 2016. http://hdl.handle.net/2436/617566.
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There has been a good effort made in Abu Dhabi for the last couple of years between government stakeholders to develop a road safety strategy, define rules and responsibilities, and gain a fully coordinated and integrated framework to deal with road safety. According to my point of view, the challenges that might be seen as a problem for the future development of Abu Dhabi can be the management and the usage of traffic safety technologies to reduce serious road traffic accidents. This study focused on the relationship between the use of traffic safety technologies and serious road traffic accidents on Abu Dhabi Highways. The motivation for this research is to implement correctly the traffic safety technologies in Abu Dhabi highways as a part of the need to adopt plans, programmes, and preventive measures to reduce or prevent the occurrence of traffic accidents in order to ensure the safety of individuals and property, in addition to preserving the security of the state and its human and economic components. The overall approach to this study is a mixed methodology, which combines quantitative and qualitative methods. A questionnaire is one method used in this regard, and is designed to be quantitative. In the quantitative method, comparing statistics of fatalities and injuries before and after installation of the speed cameras is used. As a result of this study and by making the connectivity between reviewing the results and findings of the literature review, identifying the questionnaire results, and exploring the before and after statistics led to findings which were used to develop a decision support framework that can be used to advise the regional safety strategy to be sustainable. The design framework was also validated through Abu Dhabi highways by a panel of experts, which was carried out using the focus group method, which was qualitative in nature. It is recommended from this research to invest much in traffic safety technologies, focus more on driver support systems and rapid response systems, improve driver behaviour as a priority in Abu Dhabi highways using traffic safety technologies, and integrate the compatibility of all of the above through an integrated system and specific performance indicators that are measured and followed up on an ongoing basis, and supported by geographic information systems (GIS).
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Randriamasy, Malalatiana. "Localisation et transmissions sécurisées pour la communication Véhicule à Infrastructure (V2I) : Application au service de télépéage ITS-G5." Thesis, Normandie, 2019. http://www.theses.fr/2019NORMR011/document.
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La localisation précise des véhicules et la sécurité des échanges sont deux grands axes qui font la fiabilité des services fournis dans les systèmes de transport intelligent. Ces dernières années, elles font l’objet de nombreux projets de recherche pour des champs d’application divers. Dans cette thèse, le contexte d’application est la réalisation d’un service de télépéage utilisant la technologie ITS-G5. Cette technologie de communication sans-fil permet dans un premier temps le partage des informations de sécurité routière entre les véhicules (V2V), le véhicule et l’infrastructure (V2I). Dans cette thèse, on propose une architecture permettant d’échanger des transactions de télépéage utilisant les équipements communicants en ITS-G5 embarqués dans les véhicules connectés et les unités bord de route (UBR) de l’infrastructure. Les problématiques de nos travaux de recherche se concentrent sur la méthode de localisation des véhicules ayant effectué la transaction afin de pouvoir la valider et sur la sécurité de l’architecture proposée pour assurer l’échange de cette transaction. Afin de bien localiser les véhicules lors du passage au péage, notre approche propose la compréhension de la cinématique du véhicule par une modélisation adéquate à partir des données recueillies dans les messages coopératifs (CAM : Cooperative Awareness Message) en approche du péage. Cela améliorera les informations de géolocalisation déjà présentes. Notre objectif est d’arriver à une précision de moins d’un mètre pour distinguer 2 véhicules adjacents. D’autre part, le protocole de sécurité proposé permet d’assurer l’authentification des équipements participant à l’échange et à la validation de la transaction, l’intégrité des données échangées ainsi que la confidentialité des échanges compte tenu du contexte de communication sans-fil et de la sensibilité des données échangées. Une preuve de concept de la solution de télépéage utilisant la technologie ITS-G5 est développée et intègre nos deux contributionsThe precise localization of vehicles and the security of communication are requirements that make almost of the services provided in intelligent transport systems (ITS) more reliable. In recent years, they have been the subject of numerous research projects for various fields of application. In this thesis, the context is the development of an electronic toll service using the ITS-G5 technology. This wireless communication technology initially allows the sharing of traffic safety information between vehicles (V2V), vehicle and infrastructure (V2I). In our work, we propose a tolling application using equipment operating in ITS-G5 embedded in the connected vehicles and roadside units. For this, ensuring both precise geolocation of the vehicles and security of communication are required to validate the transaction.In order to properly locate the vehicles during the toll crossing, our approach is based on the understanding of the kinematics of the vehicle through a suitable modeling from the data collected in the cooperative messages (called CAM: Cooperative Awareness Message). This approach aims to improve the geolocation information already present in the message. Our goal is to achieve vehicle localization with an accuracy lower than one meter to distinguish two adjacent vehicles. On the other hand, the proposed tolling protocol ensures the authentication of the equipment or entities involved in the exchange and the validation of the transaction, the integrity of the transmitted data as well as the confidentiality of the communication. In this way, we take into account the context of the wireless communication and the sensitivity of the exchanged data. Our two contributions are integrated in the implemented Proof of Concept of the tolling application using the ITS-G5 technology
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Lundblad, Oscar. "The autonomous crewmate : A sociotechnical perspective to implementation of autonomous vehicles in sea rescue." Thesis, Linköpings universitet, Interaktiva och kognitiva system, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166452.
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The usage of autonomous vehicles is starting to appear in several different domains and the domain of public safety is no exception. Wallenberg Artificial Intelligence, Autonomous Systems and Software Program (WASP) has created a research arena for public safety (WARA-PS) to explore experimental features, usages, and implementation of autonomous vehicles within the domain of public safety. Collaborating in the arena are several companies, universities, and researchers. This thesis examines, in collaboration with Combitech, a company partnered in WARA-PS, how the implementation of autonomous vehicles affects the sociotechnical system of a search and rescue operation during a drifting boat with potential castaways. This is done by creating a case together with domain experts, analyzing the sociotechnical system within the case using cognitive work analysis and then complementing the analyses with the unmanned autonomous vehicles of WARA-PS. This thesis has shown how the WARA-PS vehicles can be implemented in the case of a drifting boat with potential castaways and how the implementation affects the sociotechnical system. Based on the analyses and opinions of domain experts’ future guidelines has been derived to further the work with sociotechnical aspects in WARA-PS.WARA-PS
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Berrios-Ayala, Mark. "Brave New World Reloaded: Advocating for Basic Constitutional Search Protections to Apply to Cell Phones from Eavesdropping and Tracking by Government and Corporate Entities." Honors in the Major Thesis, University of Central Florida, 2013. http://digital.library.ucf.edu/cdm/ref/collection/ETH/id/1547.
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Imagine a world where someone’s personal information is constantly compromised, where federal government entities AKA Big Brother always knows what anyone is Googling, who an individual is texting, and their emoticons on Twitter. Government entities have been doing this for years; they never cared if they were breaking the law or their moral compass of
human dignity. Every day the Federal government blatantly siphons data with programs from the original ECHELON to the new series like PRISM and Xkeyscore so they can keep their tabs on issues that are none of their business; namely, the personal lives of millions. Our allies are taking note; some are learning our bad habits, from Government Communications Headquarters’ (GCHQ) mass shadowing sharing plan to America’s Russian inspiration, SORM. Some countries are following the United States’ poster child pose of a Brave New World like order of global events. Others like Germany are showing their resolve in their disdain for the rise of tyranny. Soon, these new found surveillance troubles will test the resolve of the American Constitution and its nation’s strong love and tradition of liberty. Courts are currently at work to resolve how current concepts of liberty and privacy apply to the current conditions facing the privacy of society. It remains to be determined how liberty will be affected as well; liberty for the United States of America, for the European Union, the Russian Federation and for the people of the World in regards to the extent of privacy in today’s blurred privacy expectations.B.S.
Bachelors
Health and Public Affairs
Legal Studies
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Huo, Chih-Li, and 火致力. "Multiple Target Path Planning for Intelligent UAV." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/77658807536135056551.
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碩士國立東華大學
電機工程學系
97
This thesis focuses on the development of flight path planning algorithm for Unmanned Aerial Vehicles (UAV). This thesis explores how the UAV flight for the tasks, such as the shortest path, the stable path, and the reduction of fuel depletion in a three-dimensional terrain environment with a single destination and multiple waypoints in order to develop the best path planning algorithm. This thesis proposes the effective methods to extract the topographical features through the analysis of the satellite aerial topographic map; the simple and key factor of the terrain environment characteristic is obtained rapidly. A proper combination of flight path control points is obtained through combination optimization and the adjustment of particle swarm optimizer. The continuous and smooth trajectory can be drawn via B-spline curve in order to provide the best flight path for UAV. The proposed algorithm is verified by experiments in this thesis. The experiment results show that the proposed algorithm can not only reduce the uncertainty of the evolutionary computation caused by the probability model, but also avoid the problem of particles falling into the local optimal area effectively. The proposed algorithm for multiple waypoints path planning is also more efficient than other route planning methods.
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Chen, Chih-Hou, and 陳志豪. "Intelligent Path Planning Based on Evading Air Defense Weapons for UAV." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/uu46eb.
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碩士國立東華大學
電機工程學系
102
This paper discusses an unmanned aerial vehicle (UAV) flight route by itself to evade and passing through the air-defense weapons engagement zones. Making the UAV can be used in Military reconnaissance at the battlefield, electronic warfare interfere, secret assassination, environmental protection, and aerial surveillance. By using particle swarm optimization algorithms, an UAV adjusts its flight route to evade weapon engagement zones. In this experimental study, various types of air-defense weapons were simulated, and the optimal path within a multitarget navigation route was determined by adjusting the flight routes in a 3D space by using a particle swarm optimisation algorithm. Through terrain feature simulations, an algorithm that can be used in simulated experiments to verify the actual air-defense weapon deployment of various countries was developed. The UAV is capable of independently assessing the defensive area of air- defense obstacles. By adjusting flight routes through combinatorial optimization and particle swarm optimization, the UAV achieves a safe landing on the target area without being shot down by the enemy. The focus of this study was to develop an intelligent UAV route-planning algorithm for evading air-defense weapons.
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(8097878), Shulin Li. "APPLYING MULTI AGENT SYSTEM TO TRACK UAV MOVEMENT." Thesis, 2019.
Find full textAbstract:
The thesis
introduces an
innovative UAV detection system. The commercial UAV market is booming.
Meanwhile,
the risks and threats from improper UAV usages are also booming.
CUAS is to protect
the
public and facilities. The problem is a lack of an intelligent platform
which
can adapt many sensors for UAV detection. The hypothesis is that, the
system
can track the UAV’s movement by applying the multi-agent system (MAS) to
UAV route track. The experiment proves that the multi-agent
system benefits for the UAV track.
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HUANG, CHIH-WEI, and 黃智偉. "Investigation the Influence Factors in Intelligent UAV-IR Technology to Inspect Damage Tiles for High-rise Building." Thesis, 2018. http://ndltd.ncl.edu.tw/handle/9f255w.
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碩士中華大學
土木工程學系
106
This study focus on using Non-Destructive inspection technique under various environment’s influence factors for high-rise building damage tiles. Photographing the building envelope by UAV with the infrared sensor. After that, the scanning data will upload to the cloud and deal with tiles peeling off assessment. Combining with UAV and infrared instrument can establish a reliable and inexpensive system to the tall building in order to reduce the detection fee and ensure the employees' safety. Moreover, compared with traditional infrared detection method using UAV to doing horizontal observation can reduce the measurement differences and improve the accuracy of old building's tiles detection. Presently, the technology of infrared and UAV are widely used in different areas. Therefore, the combination of infrared sensor and UAV method can solve the problem of detection old building envelope's tiles.
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(6630713), Shyam Sundar Kannan. "Multi-UAV Coverage Path Planning for Reconstruction of 3D Structures." Thesis, 2019.
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Path planning is the generation of paths for the robots to navigate based on some constraints. Coverage path planning is where the robots needs to cover an entire work space for various applications like sensing, inspection and so on. Though there are numerous works on 2D coverage and also coverage using a single robot, the works on 3D coverage and multi-agents are very limited. This thesis makes several contributions to multi-agent path planning for 3D structures.
Motivated by the inspection of 3D structures, especially airplanes, we present a 3D coverage path planning algorithm for a multi-UAV system. We propose a unified method, where the viewpoints selection and path generation are done simultaneously for multiple UAVs. The approach is scalable in terms of number of UAVs and is also robust to models with variations in geometry. The proposed method also distributes the task uniformly amongst the multiple UAVs involved and hence making the best use of the robotics team. The uniform task distribution is an integral part of the path planner. Various performance measures of the paths generated in terms of coverage, path length and time also has been presented.
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(11023221), Fahad Salamh. "A 3-DIMENSIONAL UAS FORENSIC INTELLIGENCE-LED TAXONOMY (U-FIT)." Thesis, 2021.
Find full textAbstract:
Although many counter-drone systems such as drone jammers and anti-drone guns have been implemented, drone incidents are still increasing. These incidents are categorized as deviant act, a criminal act, terrorist act, or an unintentional act (aka system failure). Examples of reported drone incidents are not limited to property damage, but include personal injuries, airport disruption, drug transportation, and terrorist activities. Researchers have examined only drone incidents from a technological perspective. The variance in drone architectures poses many challenges to the current investigation practices, including several operation approaches such as custom commutation links. Therefore, there is a limited research background available that aims to study the intercomponent mapping in unmanned aircraft system (UAS) investigation incorporating three critical investigative domains---behavioral analysis, forensic intelligence (FORINT), and unmanned aerial vehicle (UAV) forensic investigation. The UAS forensic intelligence-led taxonomy (U-FIT) aims to classify the technical, behavioral, and intelligence characteristics of four UAS deviant actions --- including individuals who flew a drone too high, flew a drone close to government buildings, flew a drone over the airfield, and involved in drone collision. The behavioral and threat profiles will include one criminal act (i.e., UAV contraband smugglers). The UAV forensic investigation dimension concentrates on investigative techniques including technical challenges; whereas, the behavioral dimension investigates the behavioral characteristics, distinguishing among UAS deviants and illegal behaviors. Moreover, the U-FIT taxonomy in this study builds on the existing knowledge of current UAS forensic practices to identify patterns that aid in generalizing a UAS forensic intelligence taxonomy. The results of these dimensions supported the proposed UAS forensic intelligence-led taxonomy by demystifying the predicted personality traits to deviant actions and drone smugglers. The score obtained in this study was effective in distinguishing individuals based on certain personality traits. These novel, highly distinguishing features in the behavioral personality of drone users may be of particular importance not only in the field of behavioral psychology but also in law enforcement and intelligence.