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Dissertations / Theses on the topic 'UGKS'
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Vigier, Thomas. "Méthodes numériques préservant l’asymptotique pour des modèles aux moments de la physique des plasmas." Electronic Thesis or Diss., Bordeaux, 2024. http://www.theses.fr/2024BORD0477.
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Dans le cadre de la recherche pour la production d’énergie par fusion par confinement inertiel, le développement de nouvelles méthodes numériques est primordial. En effet, les simulations permettent non seulement d’affiner la compréhension des phénomènes physiques complexes ayant lieu sous les conditions thermodynamiques extrêmes nécessaires à la fusion, mais aussi d’aider à la conception de nouveaux dispositifs expérimentaux. Au sein des simulations numériques pour la fusion, le calcul du flux de chaleur des électrons est un enjeu central. Du fait des conditions extrêmes de la matière, la théorie usuelle de Spitzer-Härm devient insuffisante pour décrire la conduction thermique. Aussi pour restituer les effets cinétiques à moindre coût, des modèles aux moments à l’échelle mésoscopique sont utilisés à la place pour décrire le comportement des électrons. Ce manuscrit de thèse se concentre sur la résolution numérique de ces modèles aux moments ; tout d’abord dans le cadre simplifié du transport linéaire puis dans celui du transport électronique. La nature multi-échelle de ces modèles complique l’élaboration de schémas numériques, capables de correctement résoudre tous les régimes : pour ce faire, une classe particulière de méthodes, dites préservant l’asymptotique, a émergé. Une des plus récentes et des plus prometteuses est l’Unified Gas Kinetic Scheme (UGKS) : ce schéma volumes finis pour les équations cinétiques de type relaxation s’appuie sur la solution intégrale obtenue à partir de la méthode des caractéristiques. Dans ce manuscrit, une méthode est proposée pour obtenir des schémas cinétiques préservant l’asymptotique pour des modèles aux moments à partir d’UGKS. L’idée principale introduite est d’appliquer une fermeture à l’échelle numérique dans les flux d’UGKS. Dans les deux cas d’application étudiés, cette nouvelle méthode se révèle particulièrement performante et la poursuite de son développement semble pertinent dans l’objectif de résoudre des modèles physiques plus complexes. De plus, son caractère générique et sa flexibilité en font une alternative intéressante aux schémas usuels préservant l’asymptotique. Des premiers résultats de stabilité sont notamment démontrés sur ce nouveau schéma et une extension sur maillage non structuré est proposéeAs part of the research on energy production through inertial confinement fusion, the development of new numerical methods is crucial. Indeed, simulations not only allow to refine the understanding of complex physical phenomena occurring under the extreme thermodynamic conditions necessary for fusion but also permit to assist in the design of new experimental devices. Within numerical simulations for fusion, the calculation of the electron heat flux is a central issue. Due to the extreme conditions of matter, the conventional Spitzer-Härm theory becomes insufficient to describe thermal conduction. Thus, to capture kinetic effects at a lower computational cost, moment models at the mesoscopic scale are used instead to describe the electron behaviour. This thesis manuscript focuses on the numerical resolution of these moment models, first in the simplified framework of linear transport and then in the context of electronic transport. The multi-scale nature of these models complicates the development of numerical schemes, which must accurately resolve all regimes : to do this, a particular class of methods, known as asymptoticpreserving methods, has emerged. One of the most recent and promising one is the Unified Gas Kinetic Scheme (UGKS) : this finite volume scheme for relaxation-type kinetic equations relies on the integral solution obtained from the method of characteristics. In this manuscript, a method is proposed to derive asymptotic-preserving kinetic schemes for moment models based on UGKS. The main idea which is introduced is to apply a closure at the numerical scale in the UGKS fluxes. In the two studied application cases, this new method reveals to be particularly effective and continuing its development seems relevant in order to solve more complex physical models. Moreover, its generic nature and flexibility make it a pertinent alternative to conventional asymptotic-preserving schemes. Moreover, some stability results are also demonstrated for this new scheme, and an extension to unstructured meshes is proposed
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Kim, Perry M. "UDP-glucuronosyltransferases (UGTS) in chemically-initiated toxicity." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0010/NQ41448.pdf.
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Lind, Linus. "Deep learning navigation for UGVs on forests paths." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-224790.
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Artificial intelligence and machine learning have seen great progress in recent years. In this work, we will look at the application of machine learning in visual navigational systems for unmanned vehicles in natural environments. Previous works have focused on navigational systems with deep convolutional neural networks (CNNs) for unmanned aerial vehicles (UAVs). In this work, we evaluate the robustness and applicability of these methods for unmanned ground vehicles (UGVs). To evaluate the robustness and applicability of this machine learning approach for UGV two experiments where performed. In the first, data from Swiss trails and photos collected in Swedish forests where used to train deep CNNs. Several models are trained using data collected in different environments at different heights. By cross evaluating the trained models on the other datasets the impact of changing camera position and switching environment can be evaluated. In the second experiment, a navigational system using the trained CNN models were constructed. By evaluating the ability of the system to autonomously follow a forest path an understanding of the applicability of these methods for UGVs in general can be obtained. There where several results from the experiments. When comparing models trained on different datasets, we could see that the environment has an effect on the performance of the navigation, but even more so, the approach is sensitive to the camera position. Finally, an online test to evaluate the applicability of this approach as an end-to-end navigation system for UGVs is done. This experiment showed that these methods, on their own, are not a viable option for an end-to-end navigational system for UGVs in forest environments.Artificiell intelligens och maskininlärning har gjort stora framsteg de senaste åren. I detta arbete tittar vi på tillämpningen av maskininlärning i visuella navigationssystem för obemannade fordon i naturliga miljöer. Tidigare verk har fokuserat på navigeringssystem med djupa ``convolutional neural networks'' (CNNs) för obemannade luftfarkoster. I detta arbete, utvärderar vi hur pass applicerbara och robusta dessa metoder är som navigationssystem för obemannade markfordon (UGVs). För att utvärdera hur pass applicerbara och robusta dessa maskininlärningsmetoder är för UGVs så utfördes två experiment. I det första experimentet utvärderas hur systemet reagerar på nya miljöer och kamerapositioner. Ett redan existerande dataset, med med foton från stigar i de schweiziska alperna, kompletterade med två nya dataset. Dessa två nya samlingar består av foton från svenska skogsstigar insamlade på två olika höjder. Dessa tre olika dataset användes för att träna tre olika olika modeller. Genom att korsutvärdera de tränade modellerna på de olika dataseten kan effekten av att förändrad kameraposition samt att byta miljö utvärderas. I det andra experimentet utrustades en UGV med ett navigationssystem byggt på dessa tränade modeller. Genom att utvärdering hur pass autonomt denna UGV kan följa en skogsstig så ges en förståelse för hur pass applicerbara dessa metoder är för UGVs generellt. Experimentet gav flera resultat. Korsutvärderingen visade att dessa metoder är känsliga för både kameraposition och miljö. Där byte av kameraposition har en större negativ påverkan på navigationsresultatet, än byte av miljö. Slutligen visade ett online-test att dessa metoder, i sin naiva form, inte är ett lämpligt alternativ för navigationssystem för UGVs i skogsmiljöer.
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Lindefelt, Anna, and Anders Nordlund. "A Path Following Method with Obstacle Avoidance for UGVs." Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-11242.
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The goal of this thesis is to make an unmanned ground vehicle (UGV) follow a given reference trajectory, without colliding with obstacles in its way. This thesis will especially focus on modeling and controlling the UGV, which is based on the power wheelchair Trax from Permobil.
In order to make the UGV follow a given reference trajectory without colliding, it is crucial to know the position of the UGV at all times. Odometry is used to estimate the position of the UGV relative a starting point. For the odometry to work in a satisfying way, parameters such as wheel radii and wheel base have to be calibrated. Two control signals are used to control the motion of the UGV, one to control the speed and one to control the steering angles of the two front wheels. By modeling the motion of the UGV as a function of the control signals, the motion can be predicted. A path following algorithm is developed in order to make the UGV navigate by maps. The maps are given in advance and do not contain any obstacles. A method to handle obstacles that comes in the way is presented.
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Edwards, Dustin L. Bevly David M. "Parameter estimation techniques for determining safe vehicle speeds in UGVs." Auburn, Ala., 2008. http://repo.lib.auburn.edu/EtdRoot/2008/SPRING/Mechanical_Engineering/Thesis/Edwards_Dustin_24.pdf.
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Ugus, Osman [Verfasser]. "Secure and Reliable Remote Programming in Wireless Sensor Networks / Osman Ugus." Hagen : Fernuniversität Hagen, 2013. http://d-nb.info/1033801496/34.
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Gatti, Miriam. "Detoxification of mycotoxins as a source of resistance to Fusarium Head blight : from Brachypodium distachyon to Triticum aestivum." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS551.
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La fusariose des épis, causée majoritairement par le champignon pathogène Fusarium graminearum (Fg), est une des principales maladies du blé tendre (Triticum aestivum). Pendant son cycle infectieux, l’agent pathogène produit des mycotoxines appartenant principalement aux trichothécènes de type B, tel que le déoxynivalénol (DON), qui sont toxiques pour l’homme et l’animal. Plusieurs loci à caractère quantitatif (QTLs) impliqués dans la résistance à la fusariose des épis ont été identifiés. Certains ont été corrélés avec une détoxication de la mycotoxine, principalement par conjugaison du DON en DON-3-O-glucose (D3G), une réaction enzymatique catalysée par des UDP-glucosyltransferases (UGT). Néanmoins, peu d’études ont conduit des analyses fonctionnelles dans des plantes hôtes de la maladie afin de relier directement la glucosylation de la mycotoxine avec la résistance à la maladie in planta, et aucune d’entre elles n'a été effectuée sur des gènes de détoxication du blé tendre. Notre équipe, à l'aide de la céréale modèle Brachypodium distachyon, a démontré que l'UGT Bradi5g03300 est capable de conférer une tolérance au DON par glucosylation en DON 3-O-glucose et qu’elle est impliquée dans l'établissement précoce d'une résistance quantitative à la fusariose des épis. Le présent travail avait pour objectif de transférer les analyses fonctionnelles menées sur la céréale modèle Brachypodium distachyon au blé tendre. Dans une première approche, le gène Bradi5g03300 a été introduit dans la variété de blé Apogée, sensible à la fusariose. Les analyses phénotypiques effectuées sur les lignées de blé transgéniques exprimant constitutivement le gène Bradi5g03300, montrent une résistance plus élevée à la maladie ainsi qu'une tolérance à la mycotoxine par rapport à la lignée contrôle. Parallèlement, en utilisant une approche de synténie entre les génomes de B. distachyon et du blé tendre, nous avons identifié un gène de blé, orthologue au gène Bradi5g03300.La transformation de l’écotype de B. distachyon sensible à la fusariosepar ce gène candidat a été effectuée pour déterminer rapidement sa capacité à conjuguer le DON in planta et son implication dans la résistance à la fusariose. En conclusion, ce projet contribue à accroître les connaissances concernant la relation fonctionnelle entre la glucosylation DON et la résistance à la fusariose dans le blé tendre et à fournir des gènes candidats à inclure dans les processus de sélectionFusarium head blight (FHB) caused by fungi of the Fusarium genus is a widespread disease of wheat (Triticum aestivum) and other small-grain cereal crops. The main causal agent of FHB, Fusarium graminearum, can produce mycotoxins mainly belonging to type B trichothecenes, such as deoxynivalenol (DON) that can negatively affect humans, animals and plants. Several quantitative trait loci (QTLs) for resistance to FHB have been identified some of which have been correlated with efficient DON detoxification, mainly through the conjugation of DON into DON-3-O-glucose (D3G), a reaction catalyzedby UDP-glucosyltransferases (UGTs). Nevertheless, only few studies have conducted functional analyses to directly correlate DON glucosylation and resistance in planta and none were performed on wheat UGT gene(s). Our team, using the model cereal species Brachypodium distachyon, has recently demonstrated that the Bradi5g03300 UGT is able to confer tolerance to DON following glucosylation of DON into DON 3-O-glucose and is involved in the early establishment of quantitative resistance to FHB. In the present work, we transferred the functional analyses conducted on the model species Brachypodium distachyon to bread wheat. In a first approach the B. distachyon Bradi5g03300 gene has been introduced through biolistic-mediated transformation in the wheat variety Apogee, susceptible to FHB. The phenotypic analyses conducted on homozygous transgenic wheat constitutively expressing the Bradi5g03300 gene showed that they exhibit higher resistance to FHB as well as increased root tolerance to DON compared to the control line. In parallel, using a synteny approach between B. distachyon and bread wheat genomes we identified a wheat candidate gene orthologous to the B. distachyon Bradi5g03300 gene. This wheat gene after validation through gene expression pattern during wheat infection, was introduced by transformation into B. distachyon to rapidly determine its ability to conjugate DON into D3G in planta and its involvement in FHB resistance. In conclusion, this project contributes to increase the knowledge concerning the functional relationship between DON glucosylation and FHB resistance in wheat and provide candidate genes to include in selection processes
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Sewe, Kwesi Babipina. "Assessing the prospects of digitisation at the University of Ghana Library System (UGLS)." Diss., University of Pretoria, 2016. http://hdl.handle.net/2263/63621.
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The basic aim of this mini-dissertation was to explore the prospects of digitisation at the University of Ghana Library System (UGLS). The research followed a qualitative approach and a case study research design was adopted. A thorough literature study was conducted. The primary purpose of the literature was to inform the research on the questions and objectives raised on the aspects of digitisation to understand the dynamics and complexity of digitisation. Six staff from the UGLS digitisation programme were purposively sampled for in-depth interviews for their direct involvement in the UGLS digitisation programme. Semi-structured interviews were then conducted with UGLS digitisation managers and the current IT and digitisation operations staff to collect data.
During the interviews, the following issues associated with digitisation were addressed: policy, planning, goals and priorities, selection criteria, skills and expertise, digital preservation and long-term access, issues and challenges; solutions and recommendations to digitisation constraints of the UGLS. These issues were used to identify and develop themes where thematic analyses of research data were done. Specific recommendations were also develop to share with UGLS to address the digitisation policy and planning issues, selection issues, human resource and skills requirements; the critical challenges, resource requirements, long-term preservation and access of digitised content and the sustainability of digitisation programme. Final recommendations were made based on the findings and conclusions of the research to advise on the sustainability of the UGLS digitisation programme.Mini Dissertation (MIT)--University of Pretoria, 2016.
Information Science
MIT
Unrestricted
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Adam, Alkayal. "Laser scanning of overbreak and deformation for crosscuts at Malmbergetmine : uGPS Rapid Mapper™." Thesis, Luleå tekniska universitet, Geoteknologi, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-82986.
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Paulusch, Stefan [Verfasser]. "The Role of microRNAs in the Regulation of Human UDP-glucuronosyltransferases (UGTs) / Stefan Paulusch." Bonn : Universitäts- und Landesbibliothek Bonn, 2021. http://d-nb.info/1239729871/34.
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Operaña, Theresa Necesito. "A tale of two drug metabolizing enzymes the CYP1A1-GFP transgenic mouse and the promiscuous nature of UGTs /." Diss., Connect to a 24 p. preview or request complete full text in PDF format. Access restricted to UC campuses, 2008. http://wwwlib.umi.com/cr/ucsd/fullcit?p3304162.
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Thesis (Ph. D.)--University of California, San Diego, 2008.Title from first page of PDF file (viewed June 16, 2008). Available via ProQuest Digital Dissertations. Vita. Includes bibliographical references.
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Mouheiche, Jinane. "Nouvelles données sur la morphine, son catabolisme et sa protéine de liaison dans le système nerveux central." Thesis, Strasbourg, 2014. http://www.theses.fr/2014STRAJ022.
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La morphine constitue l'un des analgésiques les plus utilisés en milieu hospitalier pour soulager les douleurs aiguës et chroniques. Elle exerce ses effets analgésiques en se liant aux récepteurs opioïdes μ (MOR) présents au niveau central et périphérique et possède des effets secondaires, incluant la tolérance, qui limitent son usage à long terme. La première partie de mes travaux avait pour objectif d'étudier le phénomène de tolérance à la morphine et d'en déterminer les mécanismes sous-jacents. A l'heure actuelle, ce phénomène est décrit comme résultant d'une désensibilisation des MOR conduisant à leur endocytose. Nos résultats montrent qu'en cas de tolérance, le catabolisme de la morphine est exacerbé au niveau du système nerveux central. Mes travaux ont également porté sur la caractérisation de la Créatine Kinase (CK) comme étant une protéine liant la morphine à très haute affinité. Nos résultats montrent que la CK possède 2 sites de liaison pour la morphine avec des affinités similaires. En étudiant l'effet potentiel de la CK sur l'analgésie induite par la morphine in vivo, nous avons mis en évidence, que les peptides correspondant aux 2 sites de liaison à la morphine étaient par eux-mêmes analgésiques et que cette analgésie semblait dépendre des récepteurs opioïdesMorphine is one of the most used analgesics in hospitals to relieve acute and chronic pain. Morphine exerts its analgesic effects by binding central and peripheral μ opioid receptors (MORs) and has many side effects that limit its long-term use including tolerance. The first part of my thesis was aimed to study the phenomenon of morphine tolerance and to determine the underlying mechanisms. Previously, this phenomenon was explained as resulting !rom MORs desensitization by endocytosis. However, our results show that in case of tolerance, the catabolism of morphine is exacerbated in the central nervous system in particular in astocytes. The second part of my work has focused on the characterization of the Creatine Kinase (CK) as a novel protein that binds morphine with a high affinity. Our results showed that CK has two binding sites with a similar affinity for morphine. Surprisingly, by studying the potential effect of CK on morphine-induced analgesia in vivo, we noticed that the two peptides corresponding to morphine binding sites are analgesics and such analgesia seems to be mediated by opioid receptors
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Chamoumi, Mostafa. "Nouvelle génération de catalyseurs supportés par valorisation d'un résidu d'enrichissement (procédé UGS) d'une scorie de TiO2 : le catalyseur Ni-UGSO appliqué au reformage de méthane." Thèse, Université de Sherbrooke, 2017. http://hdl.handle.net/11143/10379.
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La société Rio Tinto Fer et Titane (RTFT), filiale à 100 % de Rio Tinto, a développé un procédé appelé UGS (upgraded slag) afin d’enrichir sa scorie de dioxyde de titane de 80% à 94,5% massique. Ce procédé génère une quantité non négligeable de résidu d’oxydes UGS (notés dans ce projet par UGSO), envoyé directement au dépôt des résidus miniers pour finir en enfouissement. Afin d’éviter cette dernière opération, RTFT a essayé sans grand succès différentes solutions.
La composition chimique de ce déchet est considérée par le groupe de recherche développant ce projet (Université de Sherbrooke et Université Laval) comme étant à priori un support idéal pour des catalyseurs à base de nickel destinés au reformage des hydrocarbures car, de par leur nature, ils contiennent déjà les oxydes reconnus par la communauté scientifique pour leur capacité à éviter la formation de carbone, principale cause de désactivation de ces catalyseurs. En utilisant le nickel comme métal actif, un premier catalyseur, Ni-UGSO, est mis en œuvre par calcination à 900°C d’un mélange d’UGSO et d’un précurseur de nickel (du nitrate de nickel hexahydraté : Ni(NO3)2.6H2O). Le mélange est préparé selon un nouveau procédé à l’état solide amélioré développé au laboratoire (demande de brevet en internationale N° PCT/CA2016/050844 déposée le 19 juillet 2016).
Dans ce travail, une première application du nouveau catalyseur Ni-UGSO à la production d’hydrogène via les procédés de reformage à sec, vaporeformage et reformage mixte du méthane (CH4) a été étudiée. Des conversions de CH4 de l’ordre de 87% avec des rendements de 81% ont été obtenus lors du reformage à sec à 810°C après 4 h de réaction avec un ratio CO2/CH4 stœchiométrique. Par vaporeformage, également avec un ratio H2O/CH4 stœchiométrique, les conversions atteignent les 98% après 4h de réaction à 900°C. Les ratios H2/CO proche de 1 (reformage à sec) et de 3 (vaporeformage) indiquent que les réactions se déroulent proche de l’équilibre thermodynamique. De même, dans les deux cas de figure, les catalyseurs ont montré une stabilité exceptionnelle pendant 7 jours de réaction continue et une facilité de régénération. D’autres performances, également intéressantes, ont été obtenues par reformage mixte du CH4. De surcroît, les différentes techniques de caractérisation n’ont détecté aucune trace de carbone dans les catalyseurs usés. Le reformage à sec du CH4 a également été simulé grâce à un modèle basé sur une cinétique de Langmuir–Hinshelwood.
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Lindell, Monica. "Expression of Genes Encoding for Drug Metabolism in the Small Intestine." Doctoral thesis, Uppsala : Acta Universitatis Upsaliensis : Univ.-bibl. [distributör], 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-3601.
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Sandgren, Linn, and Sandra Jonsson. "Vardadagsdestruktivt ledarskap : En kvalitiativ studie om UGLs påverkan på ledarskap." Thesis, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-67499.
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Forskning kring ledarskapsutbildningen Utveckling av Grupp och Ledare (UGL) är ett område där fåtaliga studier gjorts. Vår studie syftar till att bygga vidare på forskning kring denna ledarskapsutbildning. Studier kring ett destruktivt ledarskap som påverkar vardagen i en arbetsgrupp är gles och vi saknar en vidareutveckling av begreppet destruktivt ledarskap, något vi vill förändra genom denna studie. Studiens syfte är därför att studera hur ledarskapsutbildningen UGL påverkar ledarskapet. Ytterligare ett syfte är att studera ledarbeteende som sker i det vardagliga arbetet i arbetsgrupper. För att uppnå studiens syfte anser vi att det behövs insikt kring flera delar ur en ledares beteende. Genom kvalitativa intervjuer har vi sökt teman, mönster och återkommande termer, genom att tolka ord och meningar. Studien har utgått från tre frågeställningar. Dessa handlar om de positiva effekterna av just denna utbildning, tre till fem år efter avslutad utbildning. Hur förekomsten av destruktivt ledarskap upplevs i stort. Studiens avslutande frågeställning handlar om medarbetarna upplever att UGL reducerar destruktivt ledarskap. Studien innehåller definition av begreppet ledare, ett avsnitt som förklarar företeelsen kompetensutveckling, för att läsaren ska få en grund att stå på vid fortsatt läsning av studien. Det presenteras en beskrivning av utbildningen Utveckling av Grupp och Ledare samt dess effekter. Studien innehåller ett avsnitt som presenterar personlighetsteorier samt i vår tolkning, motsatsen till destruktivt ledarskap, det utvecklande ledarskapet. Efter genomförandet av denna studie har vi kommit fram till att medarbetarna till ledare som genomgått UGL för tre till fem år sedan, inte upplever de positiva effekterna lika starkt, som efter sex månader efter avslutad utbildning, vi kommer fram till att medarbetare till ledare som har gått UGL upplever att utbildningen har en positiv inverkan på ledarbeteenden. Destruktiva ledarbeteenden upplevs förekomma utifrån medarbetarnas synvinkel, där vissa beteenden är mer vanligt förekommande än andra. Vidare har vi kommit fram till att utbildningen reducerar det destruktiva ledarskapet
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Journault, Kim. "Étude du métabolisme du flavopiridol par les enzymes UDP-glucuronosyltransférases(UGTs) humains /." 2002. http://proquest.umi.com/pqdweb?did=766443901&sid=3&Fmt=2&clientId=9268&RQT=309&VName=PQD.
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Murilhas, Luis Carlos Margaço. "Development of a new system to control and monitor ground vehicles using heterogeneous mobile networks." Master's thesis, 2015. http://hdl.handle.net/10071/11482.
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The Unmanned Vehicle Systems (UVS) are growing in large proportions and are an emerging technology but there are some limitations that still need to be overcome in order to get the best effectiveness. One of the limitations is the reception area for vehicle operation. Most vehicles operate in line-of-sight (LOS). A very significant improvement would be to allow behind line-of-sight (BLOS) operation via wireless networks. This thesis proposes to overcome this difficulties using wireless networks: Wi-Fi and third generation (3G) and fourth generation (4G) of mobile networks to operate an Unmanned Ground Vehicle (UGV), also called a rover. This way, the vehicle will not have a theoretical range operation, turning into a vehicle operated in BLOS. This thesis also includes the study of the reliability and efficiency of wireless heterogeneous networks solution for UGVs operation in real time.
As prove of concept for described objectives, an Unmanned Ground System (UGS) was developed. This system is capable of control and monitoring multiple vehicles through wireless networks: Wi-Fi, 3G and 4G mobile networks. The communication between the vehicle and the operator is made through a ground control station (GCS), an Android application running on a mobile device. Its aim is to centralize all the information from the vehicle(s). Present on the vehicle is a Raspberry Pi (RPI) acting like a proxy, thus enabling the communication between the GCS application and the UGV’s board controller, the Ardupilot Mega (APM). The RPI receives telemetry from APMviaMicro Air Vehicle Communication Protocol (MAVLink) and captures video through an external camera and sends it all to the GCS.
In order to evaluate the system performance, several tests were done for data collection, namely values of network latency, bitrate, packet error ratio (PER) and signal strength varying with speed, altitude and location of the vehicle.Os Unmanned Vehicle Systems (UVS) estão em crescimento exponencial e, como tecnologia emergente, existem algumas limitações que necessitam de ser ultrapassadas de modo a obter uma maior eficácia dos mesmos. Um bom exemplo é o raio de alcance para operação do veículo. Como muitos operam em Line-of-Sight (LOS), uma melhoria significativa seria passar a operá--lo Behind Line-of-Sight (BLOS). Esta dissertação tem como objectivo ultrapassar esta limitação, recorrendo a redes sem fios: Wi-Fi e 3ª (3G) e 4ª geração (4G) de redes móveis para operar um Unmanned Ground Vehicle (UGV), também chamado rover. Desta forma o veículo não terá, teoricamente, um limite de alcance no seu manuseamento. Esta tese também inclui o estudo da fiabilidade e eficácia da solução das redes sem-fios heterogéneas para operar um UGV em tempo real. Como prova de conceito foi desenvolvido um Unmanned Ground System (UGS). Este tem capacidade de controlar e monitorizar múltiplos veículos através das redes sem-fios: Wi-Fi e redes móveis 3G e 4G. A comunicação entre o veículo e operação é estabelecida através de uma Ground Control Station (GCS), nada mais que uma aplicação desenvolvida no sistema operativo Android, executada num dispositivo móvel. No veículo está presente um Raspberry Pi (RPI) a actuar como um proxy, permitindo o estabelecimento da ligação entre a GCS e a placa de controlo do veículo, um Ardupilot Mega (APM). O RPI recebe telemetria vinda do APM através do protocolo de comunicação Micro Air Vehicle Link (MAVLink), captura vídeo através de uma câmara e envia ambos para a GCS. Por forma a avaliar a performance do sistema, foram executados vários testes para recolha de dados como: latência de rede, ritmo binário, Packet Error Ratio (PER) e potência de sinal. Este foram analisados com a variação da velocidade, altitude e localização do veículo.
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Chen, Chih-Chung, and 陳致中. "A Scheduling Mechanism in Multi-channel HFC Network for non-UGS Services." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/50042216413965190629.
Full textAbstract:
碩士逢甲大學
資訊工程所
92
Hybrid Fiber Coaxial (HFC) Network is essentially a shared media with multiple channels and requires an algorithm to manage data transmission within each channel. Since the Data-Over-Cable Service Interface Specification (DOCSIS) protocol does not specify the scheduling algorithm, it is open for vendors and researchers. So, many algorithms were proposed, but the operation of the non-UGS data in the multi-channel HFC network is omitted by all these algorithms. In this paper, we propose one feasible multi-channel scheduling algorithm that optimizes the scheduling delay time of each transmission non-UGS request. This algorithm manages the amount of data transmission in each upstream channel according to the whole network load and available bandwidth in each channel. We analyze this algorithm mathematically, perform several simulations, and discuss the results.
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"Expression of UDP-glucuronosyltransferases (UGTs) in rat liver cells induced by an aqueous extract of licorice root." 2001. http://library.cuhk.edu.hk/record=b6073336.
Full textAbstract:
Leung Yuet Kin.Thesis (Ph.D.)--Chinese University of Hong Kong, 2001.
Includes bibliographical references (p. 147-162).
Electronic reproduction. Hong Kong : Chinese University of Hong Kong, [2012] System requirements: Adobe Acrobat Reader. Available via World Wide Web.
Mode of access: World Wide Web.
Abstracts in English and Chinese.
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Liu, Chen, and 劉蓁. "An Efficient Scheduling Algorithm for Multiple MSSs with UGS Service in IEEE 802.16e Networks." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/54697952353519506907.
Full textAbstract:
碩士大同大學
資訊經營學系(所)
97
The mobile subscriber station (MSS) are provided in IEEE 802.16e to support network mobility. To support QoS requirement of different users, five QoS classes were defined in IEEE 802.16e. However, only one of the QoS classes, UGS, has the benefit to reduce bandwidth waste when sending request, which is an advantage of UGS service class. In view of the related works, they assign time used for one MSS with UGS service, which didn’t consider multi MSSs, or consider multi MSSs but the operation of UGS connections is not UGS anymore. Therefore, this paper proposed a scheme to assign time slots used by MSSs with UGS connections to separate time used by them and keep the UGS operation of each MSS.
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TAN, CHIN-PING, and 陳鏡坪. "A Research of Bandwidth and Channel Assignment Scheme in Multi-Channel Cable Network for UGS Service Provisioning." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/s8ubxh.
Full textAbstract:
碩士逢甲大學
資訊工程所
91
With the popularity of personal computers and Internet, more and more real-time multimedia services are introduced to us. For these time-critical applications, sufficient bandwidth, speedy accessing time, and guaranteed quality of service (QoS) are all desired. These years, many solutions have been proposed; by evaluating these proposals and the current environment in Taiwan, cable network is an elegant solution due to its abundant bandwidth, low investment costs, and high popularity. Currently, the most popular standard used in cable network is the DOCSIS protocol. For supporting the emerging multimedia applications, several QoS mechanisms and service types are defined in DOCSIS. DOCSIS, however, does not clearly specify how to schedule these QoS-enabled traffics due to the consideration that scheduling schemes belong to implementation details and should be designed by each vendor to distinguish advantages of their products. Thus, this thesis offers a priority-based scheduling scheme with dynamic channel assignment to accomplish the system. By considering the tolerated jitter and throughput of each request, we define certain priority equations and channel assignment rules for the service scheduling. According to simulation results, our solution, named Priority-based Channel Assignment Scheme (P-CAS), provides high service delivery rate, decent channel utilization ratio, great channel load balance, and fair bandwidth utilization. Moreover, the proposed architecture is located in the network side and left customs untouched, and hence update expense can be saved.
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Ugas, Carrión Ruperto Antonio [Verfasser]. "Investigation of stabilizing agents in thin sol-gel zirconium oxide anti-corrosion coatings on iron materials / eingereicht von Ruperto A. Ugas Carrión." 2010. http://d-nb.info/1008245658/34.
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Oliveira, Beatriz Costa. "Studying cultural ecosystem services in a portuguese city: valuing people’s perception in local policy making." Master's thesis, 2019. http://hdl.handle.net/10773/28423.
Full textAbstract:
This work is focused on studying cultural ecosystem services (CES) and mapping them in the Portuguese municipality of Almada in order to understand how to incorporate this knowledge in urban planning and environmental policy-making processes. Cultural ecosystem services are the “nonmaterial benefits people obtain from ecosystems through spiritual enrichment, cognitive development, reflection, recreation, and aesthetic experiences” (Millennium Ecosystem Assessment, 2005). CES sometimes can be more important to society when compared to material benefits, being their intangible and subjective features indispensable to human well-being and part of the structures and functions humans need and want. Some benefits of CES are the reduction of urban population stress, the development of concentration and cognitive capacities, the increase of physical activity, and the boost of social and health benefits for the population. CES studies benefit urban planning, design and management. This research aims to further assess the type of uses and the negative characteristics of urban green spaces (UGS) in this municipality. The main research objectives are to map the perception of citizens about the role of CES in Almada; to understand the different uses of CES in the urban green and blues spaces; and finally to understand how ecosystems services are considered in the spatial planning instruments and local public policies of the municipality in order to find opportunities for improvement and for strengthening the valorization of CES at the local level. The mapping was done through a social valuation method (participatory approach) with the use of a GIS online survey – PPGIS method to Almada’s residents. Hotspots maps and correlations analyses were done through statistical tests and QGIS heatmaps to understand better were CES, type of UGS uses and negative characteristics are located, correlations between CES and uses, and frequency of them. This research work allows to give new information to Almada municipality about their UGS and to provide some recommendations on how to improve planning and management of the municipality territory. Also, this research can be replicated in other municipalities with interests to improve their UGS management and planning.Este trabalho é focado no estudo dos serviços de ecossistema culturais (SEC) e na avaliação dos mesmos no município português de Almada com o objetivo de perceber a sua relevância para o planeamento urbano e os processos de políticas públicas de ambiente no município. SEC são os benefícios não materiais que as pessoas obtêm dos ecossistemas através de enriquecimento espiritual, desenvolvimento cognitivo, reflexão, lazer, e experiências estéticas. Os SEC por vezes são mais importantes para a sociedade do que os benefícios materiais que deles retiramos, sendo as características de intangibilidade e subjetividade o que os torna indispensáveis para as estruturas e funções que o ser humano precisa e quer. Alguns benefícios dos SEC são a redução do stress da população, o desenvolvimento da concentração e capacidade cognitiva, o favorecimento da atividade física, e a contribuição para o bem-estar social e para a saúde da população. Compreender e avaliar os SEC de uma cidade beneficia o planeamento, o design e a gestão urbana. Este estudo pretende avaliar os SEC e os diferentes tipos de usos e características negativas dos espaços verdes e azuis urbanos (EVU) deste município. As principais objetivos são: o mapeamento da perceção dos cidadãos sobre os SEC que usufruem em Almada e dos diferentes usos que disfrutam dos espaços verdes e azuis urbanos, e a compreensão de como os serviços de ecossistemas são considerados no planeamento urbano e nas políticas públicas em Almada de forma a contribuir para encontrar oportunidades para melhorar o planeamento e as políticas locais que valorizem os SEC a nível local. O mapeamento foi feito a partir do método de avaliação social (abordagem participativa) com o uso de um inquérito online GIS – método PPGIS aplicado aos residentes de Almada. Mapas de hotspots e análise de correlações foram feitas através de testes estatísticos e de mapas de calor com o software QGIS para compreender melhor a localização e tipologia dos SEC, os usos dos espaços verdes e azuis urbanos, assim como as correlações entre os SEC e os tipos de usos. Esta investigação permitiu dar nova informação ao município de Almada sobre os seus EVU e propor algumas recomendações para fortalecer o processo de planeamento e de políticas públicas do território. Esta investigação pode ser replicada noutros municípios com interesse em melhorar a gestão e o planeamento dos seus EVU.
Mestrado em Ciência Política
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Gamroth, Emmett. "Design, implementation and testing of an underwater global positioning system." Thesis, 2009. http://hdl.handle.net/1828/1394.
Full textAbstract:
The purpose of this research project was to design, implement, and evaluate a prototype underwater positioning system which extends the reach of the terrestrial Global Positioning System (GPS) underwater. The GPS does not function underwater because the high-frequency low-power signals used by the GPS are not able to penetrate more than several meters in water. The Underwater Global Positioning System (UGPS), presented in this work, provides underwater position data to an unlimited number of underwater assets, such as autonomous vehicles. The user requirements are discussed and a design is presented that incorporates a topside surface buoy (satellite) and a subsurface receiver. The satellite is responsible for receiving GPS data and relaying the data, via acoustic signals, to the subsurface receiver. The receiver calculates its position using the coded acoustic signals. The implementation of the prototype UGPS satellite and subsurface receiver are discussed in detail; the custom electronics, software, data acquisition systems and mechanical housings are described. The key operating characteristics of the UGPS are investigated both experimentally and through the analysis of a model describing the entire UGPS. Employing the prototype UGPS, a series of sea-trials were performed that provides essential design data for developing the next version of the system. The main characteristics that were experimentally investigated were: the long and short-range accuracy; the repeatability; and the resolution. The experimental data was also employed to confirm the UGPS model performance. The prototype system demonstrated the feasibility of the UGPS concept and showed that a position accuracy of 6.5m should be attainable for an unlimited number of underwater receivers operating within a one square kilometer workspace. The accuracy can be enhanced to sub-meter by employing more accurate GPS receivers in the satellites and using a sound velocity meter to measure the sound velocity profile of the acoustic workspace.