Tesis sobre el tema "Avoidance Map"
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Pinard, Clément. "Robust Learning of a depth map for obstacle avoidance with a monocular stabilized flying camera". Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLY003/document.
Texto completoCustomer unmanned aerial vehicles (UAVs) are mainly flying cameras. They democratized aerial footage, but with thei success came security concerns.This works aims at improving UAVs security with obstacle avoidance, while keeping a smooth flight. In this context, we use only one stabilized camera, because of weight and cost incentives.For their robustness in computer vision and thei capacity to solve complex tasks, we chose to use convolutional neural networks (CNN). Our strategy is based on incrementally learning tasks with increasing complexity which first steps are to construct a depth map from the stabilized camera. This thesis is focused on studying ability of CNNs to train for this task.In the case of stabilized footage, the depth map is closely linked to optical flow. We thus adapt FlowNet, a CNN known for optical flow, to output directly depth from two stabilized frames. This network is called DepthNet.This experiment succeeded with synthetic footage, but is not robust enough to be used directly on real videos. Consequently, we consider self supervised training with real videos, based on differentiably reproject images. This training method for CNNs being rather novel in literature, a thorough study is needed in order not to depend too moch on heuristics.Finally, we developed a depth fusion algorithm to use DepthNet efficiently on real videos. Multiple frame pairs are fed to DepthNet to get a great depth sensing range
Reed, Caleb M. "Experiments in Real-time Path Planning for Riverine Environments". Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/31877.
Texto completoMaster of Science
Barceló, Vicens Jaume. "Carrier sense multiple acces with enhanced collision avoidance". Doctoral thesis, Universitat Pompeu Fabra, 2009. http://hdl.handle.net/10803/7553.
Texto completoThis thesis suggests the use of a deterministic backoff after successful transmissions in the MAC protocol of WLANs. Since those stations that successfully transmitted in their last collision attempt cannot collide among them in their next transmission attempt, the number of collisions is reduced. Hence, the protocol is called Carrier Sense Multiple Access with Enhanced Collision Avoidance. The protocol is modelled and simulations are used to assess its performance in a variety of scenarios. It is concluded that the proposed protocol performs always equal or better than the legacy one.
Loy, Alisson Moscato. "Identificando padrões comportamentais do tipo avoidance em trajetórias de objetos móveis". reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2011. http://hdl.handle.net/10183/32870.
Texto completoWith the increasing availability and considerable price reduction of technologies that allow the collection of moving object data, the offering of trajectory data becomes abundant. The study of these trajectories has the objective to allow a better understanding of the data, as well as the extraction of new knowledge using computational techniques. One of the possible studies is the analysis of the behavior of moving objects. The study on behavior patterns in trajectories has focused on agglomeration and similarity of entities moving in space or space and time. This work proposes the formalization of a new behavior pattern that indicates when a moving object is avoiding some determined spatial region, here called avoidance. The study and identification of this behavior may be of interest in many application areas, like security, electronic games, social behavior, and so on. Initially, this work presents an heuristic based on the observations of avoidance events, and based on this heuristic we define the formalization of this new kind of trajectory behavior pattern. This work also presents an algorithm to automatically identify this behavior in trajectories of moving objects. To evaluate the effectiveness of this algorithm, experiments were performed on trajectory datasets, collected by pedestrians in a park, and by vehicles at several places in the cities of Porto Alegre and Xangri-lá.
Yuen, Barry King Bong. "Disputes of avoidance in electrical and mechanical contract in Hong Kong". access abstract and table of contents access full-text, 2006. http://libweb.cityu.edu.hk/cgi-bin/ezdb/dissert.pl?ma-slw-b21986034a.pdf.
Texto completo"City University of Hong Kong, School of Law, LW6409 Dissertation" Title from PDF t.p. (viewed on 29 Jun, 2007) Includes bibliographical references.
Kwong, John Ka Sing. "Conflict avoidance and dispute resolution methods for public works contracts and the adoption of dispute resolution advisor system and adjudication in Hong Kong". access abstract and table of contents access full-text, 2005. http://libweb.cityu.edu.hk/cgi-bin/ezdb/dissert.pl?ma-slw-b20833659a.pdf.
Texto completoKufskie, Kathy L. "Family functioning and parental divorce as predictors of attachment styles and sexual attitudes in college students". Diss., St. Louis, Mo. : University of Missouri--St. Louis, 2009. http://etd.umsl.edu/r4602.
Texto completoGhasemi, Saeed y Moussa Haisam El-hajj. "Fair Medium Access Control Mechanism Reducing Throughput Degradation in IEEE 802.11s Wireless Mesh Networks". Thesis, Malmö högskola, Fakulteten för teknik och samhälle (TS), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:mau:diva-20052.
Texto completoThis thesis rapport deals with the performance issues of the newly standardized Wireless mesh protocol (IEEE 802.11s). In this thesis, we work on improving the conditions that results in throughput degradation in a chain of nodes topology. The mesh standard is very promising with many advantages for both IoT systems and home wireless networks.We work on the issue of unfairness when CSMA/CA is applied, which causes throughput degradation due to packet loss and indicates starvation. We analyze the implication of the Collision Avoidance (CA) mechanism and propose a replacement for the CA that is both fair and able to maintain collision avoidance. We implement this in a simulator and the result shows significantly higher end-to-end throughput compared to the original CSMA/CA and no packet loss due to buffer overflow.
Wei-TingChou y 周威廷. "Obstacle avoidance for non-convex map and dynamic environment". Thesis, 2017. http://ndltd.ncl.edu.tw/handle/93dqmf.
Texto completoLien, Po-Ching y 連柏菁. "Obstacle Avoidance by Fuzzy Map Building for Automatic Guided Vehicle". Thesis, 2004. http://ndltd.ncl.edu.tw/handle/55938833157303620030.
Texto completo國立臺北科技大學
電機工程系碩士班
92
In order to control the automatic guided vehicle (AGV) following a preset target and avoiding obstacle along the process, a fuzzy attraction force regulator and a fuzzy repulsive force regulator are proposed to control the AGV moving around the obstacle until attaining the preset target. A fuzzy attraction force regulator applies the heading orientation of mobile robot and target angle to provide attraction angle to achieve a preset target. A map building scheme utilizing fuzzy logic is applied in a fuzzy repulsive force regulator. The location of obstacle along the route is identified through map building. According to the estimated obstacle location, a repulsive density function and a fuzzy inference method of sonar range are cooperated to determine the obstacle avoiding direction. Due to the fact that sonar model and map building are mixed and incomplete, it will cause noise on the edge of the fuzzy map. We present fuzzy filter and mixed filtering method to improve map building.
Liou, Yeu-Chen y 劉宇誠. "Low Altitude Flight Collision Avoidance with Using Digital Terrain Map Information". Thesis, 1999. http://ndltd.ncl.edu.tw/handle/33800365602214153605.
Texto completo國立成功大學
航空太空工程學系
87
An avionic flight-warning system is one of the key factors in avionics safety. The traditional systems are relied on the position reports from either incoming flight or the radar detection. These are basically in the field of point-by-point computation. This study adopts a volume search approach with the aids from the digital terrain map (DTM). Due to a lot of civil avionic accidents occurred in mountain clash, the research scenario is set to be low attitude, low visibility, and rapid change in the circumstance. The main goal of this study is to design a flight warning system with 3D capability in which the positions of the studied vehicle are derived from GPS with the terrain information from the aerial photographs. The designed system has the process procedures including data extraction, distance computation, and graphic display. The whole process time has to be within an acceptable time interval. The designed system is tested by a simulated helicopter flight with using a true DTM data. Three data extraction approaches are adopted: full, static, and dynamic extractions. The dynamic extraction provides the best result with the total computation time under 0.09 seconds with 2-meter resolution. When the resolution requirement rise up to 8-meter, the computation time is within 0.006 seconds. Three flight conditions are also considered. The air speed is the main factor in the consideration. There are three levels: 0~80, 80~160, and > 160 km/hr. The designed response time is set to be 5 seconds. The system provides different resolutions of DTM according to various velocities.
(11178675), Reza Soltani. "COLLISION AVOIDANCE FOR AUTOMATED VEHICLES USING OCCUPANCY GRID MAP AND BELIEF THEORY". Thesis, 2021.
Buscar texto completoSoltani, Reza. "Collision Avoidance for Automated Vehicles Using Occupancy Grid Map and Belief Theory". Thesis, 2021. http://dx.doi.org/10.7912/C2/60.
Texto completoThis thesis discusses occupancy grid map, collision avoidance system and belief theory, and propose some of the latest and the most effective method such as predictive occupancy grid map, risk evaluation model and OGM role in the belief function theory with the approach of decision uncertainty according to the environment perception with the degree of belief in the driving command acceptability. Finally, how the proposed models mitigate or prevent the occurrence of the collision.
Yang, Yao Hong y 楊曜鴻. "Map Construction and Obstacle Avoidance of an Omni-Directional Vehicle Using Optimization Methods". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/75248435985245085267.
Texto completo長庚大學
機械工程學系
98
The purpose of this thesis is to develop an omni-directional mobile platform for the advance of intelligent vehicles. The system integrates 2-dimensional map construction technologies with obstacle avoidance rules to enable the vehicle to construct geometric model of unknown environment without bumping into obstacles. The system utilizes URG-04LX laser range finder、provided by Hokuyo Inc.、to detect distances between the sensor and surrounding objects. The scanned dada are transmitted through wireless communication to a console PC to construct global map in real time. The map offers a remote operator a clear understanding of the environment surrounding the vehicle. As global map is constructed gradually from the corresponding matching between local maps、the downhill simplex optimization algorithm is used to find the best match. Furthermore、the distance transform are applied to maps to provide gradients for cost value evaluation. Experimental results show that the tasks of 2-D map construction and obstacle avoidance can be achieved without encoder if the environment includes only flat ground with asymmetrical obstacles or walls.
Tony, Lima Agnel. "Mid-Air Collision Avoidance of Unmanned Aerial Vehicles". Thesis, 2021. https://etd.iisc.ac.in/handle/2005/5349.
Texto completoSong, Siejheng y 宋協政. "Mobi-MAC: A Collision-Avoidance MAC Protocol for Mobile Underwater Sensor Networks". Thesis, 2011. http://ndltd.ncl.edu.tw/handle/72937499855105578460.
Texto completo國立臺北大學
通訊工程研究所
99
Underwater Sensor Networks (UWSNs) got a lot of attention recently because of Global Climate Change. Communication carrier of UWSNs is acoustic wave, so propagation speed of acoustic signals in underwater environments is much lower than Radio Frequency (RF) propagation in terrestrial environment. Underwater sensors are also affected by ocean current, sensors are moving by push generated from differences of temperature and density. Propagation delay is varying as a result of underwater sensors affected by ocean current. The propagation delay of UWSNs is not fixed so data transmission scheme in UWSNs is more difficult. In this paper, we propose a collision avoidance MAC called Mobi-MAC protocol for mobile UWSNs. The aim of this protocol is designed to overcome varying propagation delay which generates unpredictable data transmission collision. A data transmission scheduling based on TDMA-based MAC that improves network throughput of UWSNs proposed. All different moving patterns are found via researching the moving state between any two sensor nodes. Different moving state gets different relative velocity that is a main factor of propagation delay variation. Then nodes can schedule data transmission according to propagation delay variation, and then reduce the data collision probability by the prime-hopping (PH) data scheduling proposed in this paper. Finally, compare performance with existing MAC protocol for UWSNs via simulations and then results show Mobi-MAC protocol can achieve better than existing MAC protocol in terms of the network throughput.
Lu, YenFu y 盧彥甫. "Collision Avoidance 802.11 MAC Protocol with Signal Variation and Masking Effect". Thesis, 2014. http://ndltd.ncl.edu.tw/handle/40740642151337130180.
Texto completo逢甲大學
資訊工程學系
102
IEEE 802.11 DCF is widely used and able to avoid the collisions of the hidden terminal problem in a wireless network. However, there may be collisions existing in the DCF MAC protocol. That is, when a node in NAV state does not receive any control signal, a collision may occur after the node ends the NAV period. In this paper, to solve this collision problem, a detailed analysis about the problem is given. Afterwards, according to the analysis, we utilize the “mask-ing effect” and the detection of signal variation to design the MAC collision avoidance protocol. With the received signal strength and the varia-tion of received signal strength of a node, the node can determine whether there are other transmissions occurring in the transmission range. Therefore, a node can determine whether the period of NAV state can be extended to avoid collisions. Simulation results show that our pro-posed MAC protocol can efficiently reduce 60% and 41% collisions than the IEEE 802.11 DCF protocol and OCS-MD. In addition, our pro-posed MAC protocol also shows shorter trans-mission delay and lower retransmissions than the 802.11 DCF and OCS-MD to have better network throughput.
Fang, Yan-Siang y 方彥翔. "A Power Control MAC Protocol for Collision Avoidance in Underwater Acoustic Networks". Thesis, 2012. http://ndltd.ncl.edu.tw/handle/99113162817366160730.
Texto completo淡江大學
資訊工程學系資訊網路與通訊碩士班
100
Wireless technology has been developed and used for many years. Due to the nature of water, instead of radio wave, sound wave is used for underwater transmission. However, it will waste a lot of time for propagation at every transmission. Recently, IEEE 802.11 DCF is the most famous MAC protocol but is not suitable for underwater scenarios. We figure out the attenuation of acoustic in underwater and interference problem through our analysis. Therefore, this proposal mainly focuses on how to modify the MAC protocol for underwater acoustic network. It can avoid collisions by power control when sending control packets in our proposed protocol. In simulation, our protocol can outperform than other protocols in network throughput and number of collisions.
(5930747), Brian P. McCarthy. "Characterization of Quasi-Periodic Orbits for Applications in the Sun-Earth and Earth-Moon Systems". Thesis, 2019.
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