Tesis sobre el tema "Mission Autonomy"
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Morio, Vincent. "Contribution au développement d’une loi de guidage autonome par platitude : application à une mission de rentrée atmosphérique". Thesis, Bordeaux 1, 2009. http://www.theses.fr/2009BOR13797/document.
Texto completoThis thesis deals with the design of an autonomous guidance law based on flatness approach for atmospheric reentry vehicles. The problematic involved by the design of an autonomous guidance law relates to the global organization, the integration and the management of relevant data up to the mastering of the spacecraft during the re-entry mission. The autonomous guidance law proposed in this dissertation is based on flatness concept, in order to perform onboard processing so as to locally assign autonomy and responsibility to the vehicle, thus exempting the ground segment from "low level" operational tasks, so that it can ensure more efficiently its mission of global coordination. The first part of the manuscript deals with the formal characterization of flat outputs for nonlinear systems governed by ordinary differential equations, as well as for linear time-delay systems. Constructive algorithms are proposed in order to compute candidate flat outputs within a standard formal computing environment. In the second part of the manuscript, a global and generic reentry trajectory replanning methodology is proposed in order to provide a fault-tolerance capability to the guidance law, when facing single/multiple control surface failures that could occur during the critical phases of an atmospheric reentry mission. In addition, a superellipsoidal annexion method is proposed so as to convexify the optimal control problem described in the flat outputs space. The proposed guidance law is then applied step by step to an atmospheric reentry mission for the US Space Shuttle orbiter STS-1
Chanthery, Elodie. "Planification de mission pour un véhicule aérien autonome". Phd thesis, Ecole nationale superieure de l'aeronautique et de l'espace, 2005. http://tel.archives-ouvertes.fr/tel-00174631.
Texto completoLe formalisme proposé décrit la sélection d'objectifs associés à des récompences variables et l'optimisation sous contraintes de leur réalisation dans le temps et l'espace.
Le cadre algorithmique, inspiré du A*, et des méthodes d'évaluation de coût, d'élagage et de rangement sont décrits.
Une architecture hybride hiérarchisée en 4 niveaux d'autonomie intègre le planificateur.
36 scénarios simulés sur 16 combinaisons de méthodes testent la partie alorithmique. L'analyse des résultats permet de dégager les méthodes obtenant les meilleurs compromis qualité/temps de calcul.
Chanthery, Élodie. "Planification de mission pour un véhicule aérien autonome". Toulouse, ENSAE, 2005. https://tel.archives-ouvertes.fr/tel-00174631.
Texto completoKubik, Stephen T. "Application of Parent-Child UAV Tasking For Wildfire Detection and Response". DigitalCommons@CalPoly, 2008. https://digitalcommons.calpoly.edu/theses/28.
Texto completoVan, Rooi Leslie Bernard. "In search of ecclesial autonomyy : a church historical and church juridical study of developments in church polity in the Dutch Reformed Mission Church in South Africa (DRMC) and the Dutch Reformed Church in Africa (DRCA) from 1881-1994". Thesis, Stellenbosch : University of Stellenbosch, 2010. http://hdl.handle.net/10019.1/4025.
Texto completoENGLISH ABSTRACT: The Dutch Reformed Mission Church (DRMC) and the Dutch Reformed Church in Africa (DRCA) was established in 1881 and 1910 respectively. As pointed out in this study both these churches grew from the mission endeavours of the Dutch Reformed Church (DRC). In April 1994 the DRMC and the DRCA united in forming the Uniting Reformed Church in Southern Africa (URCSA). This church has as confessional base the Belgic Confession of Faith, the Canons of Dordt and the Heidelberg Catechism as well as the Belhar Confession. The church order of the URCSA is built on these Confessions and in particular on the Belhar Confession. In this study I argue that it was only after the unification of the mentioned churches that a history characterised by guardianship, subordination and semi-autonomy came to an end. However this may be the histories of the DRMC and the DRCA point out that, on a church juridical level, these churches where subordinate and to a large extent directly governed by the DRC. Here the model for the church planting as followed by the DRC will receive attention. By looking into the primary documents through which these churches were governed as well as the documents that formed the church orderly backbone of the mentioned churches in that, through their principles and stipulations, the DRMC and DRCA were organised internally, I attempt to evaluate these documents. These documents include the initial constitutions for the governance of the DRMC and the DRCA, the deeds of agreement between the regional synods of the DRC and the regional synods of the DRCA as well as the Deeds of Agreement between the DRC in South Africa (the Western and Southern Cape Synod of the DRC) the Synod of the DRMC, the first church orders of the DRMC and the DRCA and, to a lesser extent, the church order of the URCSA. Through their histories these churches were granted church juridical liberties. These liberties form the foundation for the initial development in the polity of these churches. The content of the abovementioned documents highlights these liberties as well as the effect it had on the theological identities of the DRMC and the DRCA. As the histories of these churches depict a strong strive towards reaching a position of ecclesial autonomy and the acknowledgment of their autonomy by the DRC, special attention is given to the concept and interpretation of ecclesial autonomy. In this regard I remark on the historical interpretation of ecclesial autonomy as it played out in the histories of the DRMC and the DRCA. Through the works of renowned Reformed theologians, I further look into historical interpretations of this theological principle, which is ecclesial autonomy. In doing this I attempt to formulate a specific understanding of ecclesial autonomy based on a particular interpretation of the Lordship of Christ. As outcome this interpretation shows towards the interdependant relation between churches. It can be argued that this impacts directly on the relation between the DRC, the DRMC and the DRCA, specifically in the ongoing processes of church re-unification. In a final turn in which I affirm vi the interdependent and interrelatedness between churches, I argue towards the building of a vulnerable ecclesiology which impacts directly on an understanding of ecclesial autonomy, the specific polity of a church, as well as on the structures embodied by a community of believers. Some of the tenets and convictions of Reformed church polity, as they are relevant to this study, are discussed in detail. In turn I use these principles in evaluating the church juridical position of the DRMC and the DRCA in the mentioned period. As such I point towards the strong deviations in Reformed church polity as it played out in the history of the churches within the family of Dutch Reformed Churches. In this regard I also point towards the interrelatedness of these churches within the broader social context of South(-ern) Africa. I argue that these unique deviations are to a large extent distinct from the ecclesial context of South(-ern) Africa. Concluding remarks are made in this regard. Through the unpacked notion of what is termed an ecclesiology of vulnerability, built on the interdependent relation between churches, I make brief suggestions regarding the ongoing process of church re-unification between the churches within the family of Dutch Reformed Churches.
AFRIKAANSE OPSOMMING: Die Nederduitse Gereformeerde Sendingkerk (NGSK) en die Nederduitse Gereformeerde Kerk in Afrika (NGKA) het onderskeidelik in 1881 en 1910 tot stand gekom. Soos wat hierdie studie uitwys, het beide hierdie kerke gegroei vanuit die sendingaktiwiteite van die Nederduitse Gereformeerde Kerk (NGK). In April 1994 het die NGSK en die NGKA verenig in die Verenigende Gereformeerde Kerk in Suider-Afrika (VGKSA). Hierdie kerk het as konfessionele basis die Nederlandse Geloofsbelydenis, die Dordtse Leerreëls, die Heidelbergse Kategismus sowel as die Belydenis van Belhar. Die kerkorde van die VGKSA is dan ook gebou op hierdie belydenisskrifte en dan in besonder op die Belydenis van Belhar. In hierdie studie redeneer ek dat dit eers ná die eenwording van die vermelde kerke was dat ’n geskiedenis gekenmerk deur voogdyskap, ondergeskiktheid en semi-outonomie agterweë gelaat is. Dit kan vermeld word dat die geskiedenis van die NGSK en die NGKA duidelik uitwys dat hierdie kerke, op ’n kerkregtelike vlak, ondergeskik was aan, en tot ’n groot mate regeer is deur die NGK. Die model vir die planting van kerke soos gevolg deur die NGK geniet in hierdie verband in die studie aandag. Verder het ek probeer om die inhoud van die primêre dokumente waardeur die NGSK en die NGKA regeer is, sowel as die dokumente wat as kerkordelike basis vir die interne organisering van hierdie kerke gebruik is, te evalueer. Die vermelde dokumentasie sluit in die oorspronklike Grondwette vir die regering van die NGSK en die NGKA, die Aktes van Ooreenkoms tussen die streeksinodes van die NGK en die streeksinodes van die NGKA sowel as die Aktes van Ooreenkoms tussen die NGK in Suid- Afrika (die sogenaamde Kaapse Kerk) en die sinode van die NGSK, die eerste kerkordes van die NGSK en die NGKA, en, tot ’n mindere mate ook die kerkorde van die VGKSA. Deur die verloop van die geskiedenis is daar sekere kerkregtelike vryhede aan die NGSK en die NGKA toegestaan. Hierdie vryhede vorm, myns insiens, die basis van die oorspronklike kerkregtelike ontwikkeling(-e) in die vermelde kerke. Die inhoud van die bovermelde dokumente wys juis hierdie vryhede uit sowel as die effek wat dit op die teologiese identiteite van die NGSK en die NGKA gehad het. Aangesien die geskiedenis van die NGSK en die NGKA ’n sterk strewe na kerklike outonomie en die erkenning van hierdie outonomie deur die NGK uitwys, word spesiale aandag gegee aan die bespreking van die konsep en interpretasie van kerklike outonomie. Die historiese begrip van hierdie term word verduidelik en spesifiek hoe dit uitgespeel het in die geskiedenis van die NGSK en die NGKA. Deur te verwys na die werke van welbekende Gereformeerde teoloë, word daar ook aandag gegee aan die historiese interpretasie van kerklike outonomie as teologiese beginsel. Daarvolgens probeer ek om ’n spesifieke begrip vir kerklike outonomie te formuleer. ’n Bepaalde interpretasie van Christus se heerskappy is hier as basis gebruik. As uitkoms dui hierdie geformuleerde interpretasie van kerklike outonomie op inter-afhanklike verhoudinge tussen kerke. Myns insiens impakteer dit direk op die verhouding tussen die NGK, die NGSK en die NGKA en hier spesifiek dan op die proses van kerklike hereniging tussen hierdie kerke. In ’n finale rondte gaan my argument oor die bou van wat genoem word ‘n kwesbare ekklesiologie. Hierdie argument is gebou op ‘n verstaan van kerklike outonomie wat wys op die inter-afhanklike verhouding tussen kerke. Myns insiens impakteer hierdie argument direk op ’n spesifieke begrip van kerklike outonomie, die spesifieke kerkreg wat uitspeel in ’n kerk, sowel as op die strukture wat beliggaam word in ’n gemeenskap van gelowiges. Van die oortuigings van die Gereformeerde Kerkreg komend vanuit ‘n spesifieke konteks, soos wat dit betrekking het op hierdie studie, word gedetailleerd bespreek. Ek het ook hierdie oortuigings gebruik om die kerkregtelike posisie van die NGSK en die NGKA in die vermelde periode te evalueer. In hierdie verband wys ek op hoe daar in die geskiedenis van hierdie kerke sterk afgewyk was van die Gereformeerde Kerkreg. Melding word in hierdie verband gemaak van die inter-afhanklikheid van hierdie kerke en die breër sosiale konteks van Suid(-er)-Afrika. Myns insiens is hierdie vermelde eiesoortige afwykings tot ’n groot mate uniek aan die kerklike konteks van Suid(-er)-Afrika. Slotopmerkings word in hierdie verband gemaak. Wanneer die konsep van ’n kwesbare ekklesiologie, gebou op ‘n verstaan van die inter-afhaklike verhouding tussen kerke, beskryf word, maak ek kort opmerkings rakende die aangegaande proses van kerkhereniging tussen die kerke binne die familie van NG Kerke.
Dicheva, Svetlana. "Planification de mission pour un système de lancement aéroporté autonome". Phd thesis, Université d'Evry-Val d'Essonne, 2012. http://tel.archives-ouvertes.fr/tel-00878784.
Texto completoSCHAEFFER, VALERIE. "Specification et optimisation de mission pour un robot mobile autonome". Paris 6, 1993. http://www.theses.fr/1993PA066698.
Texto completoLouis, Silvain. "Système robotisé semi-autonome pour l'observation des espèces marines". Thesis, Montpellier, 2018. http://www.theses.fr/2018MONTS043.
Texto completoThe goal of this thesis, in collaboration with a biologists team of Marbec, is to develop a semi-autonomous robotic system for marine species observation. For this, this system will have to perform the known biologist protocols as well as new protocols while proving its effectiveness compared to a diver. To achieve the protocols, we have developed the associated control laws and a mission management system to allow the construction, the formal validation and the execution of a mission. Finally, to answer the problem of feasibility of observation by a robot, we conducted the experiments in Mayotte
Gateau, Thibault. "Supervision de mission pour une équipe de véhicules autonomes hétérogènes". Thesis, Toulouse, ISAE, 2012. http://www.theses.fr/2012ESAE0038/document.
Texto completoMany autonomous robots with specific control oriented architectures have already been developed worldwide.The advance of the work in this field has led researchers wonder for many years to what extent robots would be able to be integrated into a team consisting of autonomous and heterogeneous vehicles with complementary functionalities. However, robot cooperation in a real dynamic environment under unreliable communication conditions remains challenging, especially if these autonomous vehicles have different individual control architectures.In order to address this problem, we have designed a decision software architecture, distributed on each vehicle.This decision layer aims at managing execution and at increasing the fault tolerance of the global system. The mission plan is assumed to be hierarchically structured. ln case of failure detection, the plan repair is done as locally as possible, based on the hierarchical organization.This allows us to restrict message exchange only between the vehicles concerned by the repair process. Knowledge formalisation is also a part of the study permitting the improvement of interoperability between team members. It also provides relevant information all along mission execution, from initial planning computation to plan repair in this multirobot context. The feasibility of the system has been evaluated by simulations and real experiments thanks to the Action project (http://action.onera.fr/welcome/)
Le, Barz Cédric. "Navigation visuelle pour les missions autonomes des petits drones". Thesis, Paris 6, 2015. http://www.theses.fr/2015PA066424/document.
Texto completoIn this last decade, technology evolution has enabled the development of small and light UAV able to evolve in indoor and urban environments. In order to execute missions assigned to them, UAV must have a robust navigation system, including a precise egolocalization functionality within an absolute reference. We propose to solve this problem by mapping the latest images acquired with geo-referenced images, i.e. Google Streetview images.In a first step, assuming that it is possible for a given query image to retrieve the geo-referenced image depicting the same scene, we study a solution, based on relative pose estimation between images, to refine the location. Then, to retrieve geo-referenced images corresponding to acquired images, we studied and proposed an hybrid method exploiting both visual and odometric information by defining an appropriate Hidden Markov Model (HMM), where states are geographical locations. The quality of achieved performances depending of visual similarities, we finally proposed an original solution based on a supervised metric learning solution. The solution measures similarities between the query images and geo-referenced images close to the putative position, thanks to distances learnt during a preliminary step
Vissière, David. "Solution de guidage-navigation-pilotage pour véhicules autonomes hétérogènes en vue d'une mission collaborative". Phd thesis, École Nationale Supérieure des Mines de Paris, 2008. http://pastel.archives-ouvertes.fr/pastel-00004492.
Texto completoMorio, Vincent. "Contribution au développement d'une loi de guidage autonome par platitude. Application à une mission de rentrée atmosphérique". Phd thesis, Université Sciences et Technologies - Bordeaux I, 2009. http://tel.archives-ouvertes.fr/tel-00394728.
Texto completoMorio, Vincent Zolghadri Ali Cazaurang Franck. "Contribution au développement d'une loi de guidage autonome par platitude application à une mission de rentrée atmosphérique /". S. l. : Bordeaux 1, 2009. http://ori-oai.u-bordeaux1.fr/pdf/2009/MORIO_VINCENT_2009.pdf.
Texto completoLeyburn, Susan L. "The missing links in the self-determination process". Instructions for remote access. Click here to access this electronic resource. Access available to Kutztown University faculty, staff, and students only, 2002. http://www.kutztown.edu/library/services/remote_access.asp.
Texto completoSource: Masters Abstracts International, Volume: 45-06, page: 2949. Typescript. Abstract precedes thesis as 2 preliminary leaves. Includes bibliographical references (leaves 68-71).
Noma, Bikibili Paul. "L'administration des biens des Missions catholiques du Cameroun allemand (Kamerun) et du Cameroun français : vers une quête d'autonomie patrimoniale". Thesis, Strasbourg, 2018. http://www.theses.fr/2018STRAK010.
Texto completoThis study examines the administration of the property of Catholic Missions in mission territory, from the perspective of the quest for patrimonial autonomy. It evaluates of the gradual implementation of the patrimonial autonomy of the future Churches to succeed the catholic Missions, through the analysis of sources since the erection on 1622 of the Sacred Congregation of Propaganda Fide in charge of catholic Missions. Its financing efforts announced insufficient. In the nineteenth century it prescribed an administration of property in connection with the quest for patrimonial autonomy. Such a requirement provided for the institution of a native clergy to find their own resources. It established the practice of sending apostolic vicars to mission territories to initiate the quest for patrimonial autonomy. The twenty-five years of administration of the property by the Pallottines ended in financial autonomy, a difficult challenge for the Spiritans
ZEKRI, ERIC Giraudon Gérard. "CONTRIBUTION A L'ETUDE D'UN SYSTEME DE VISION EMBARQUE POUR LES PHASES DE DESCENTE DES MISSIONS PLANETAIRES /". [S.l.] : [s.n.], 1997. http://www.inria.fr/rrrt/tu-0514.html.
Texto completoFincannon, Thomas. "Visuo-spatial abilities in remote perception: A meta-analysis of empirical work". Doctoral diss., University of Central Florida, 2013. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/5632.
Texto completoPh.D.
Doctorate
Psychology
Sciences
Psychology; Human Factors Psychology
Park, Jang-Bum. "A contribution to the development of sense and avoid systems for autonomous flight missions". Göttingen Sierke, 2009. http://d-nb.info/1003131441/04.
Texto completoPonzoni, Carvalho Chanel Caroline. "Planification de perception et de mission en environnement incertain : Application à la détection et à la reconnaissance de cibles par un hélicoptère autonome". Thesis, Toulouse, ISAE, 2013. http://www.theses.fr/2013ESAE0011/document.
Texto completoMobile and aerial robots are faced to the need of planning actions with incomplete information about the state of theworld. In this context, this thesis proposes a modeling and resolution framework for perception and mission planningproblems where an autonomous helicopter must detect and recognize targets in an uncertain and partially observableenvironment. We founded our work on Partially Observable Markov Decision Processes (POMDPs), because it proposes ageneral optimization framework for perception and decision tasks under long-term horizon. A special attention is given tothe outputs of the image processing algorithm in order to model its uncertain behavior as a probabilistic observationfunction. A critical study on the POMDP model and its optimization criterion is also conducted. In order to respect safetyconstraints of aerial robots, we then propose an approach to properly handle action feasibility constraints in partiallyobservable domains: the AC-POMDP model, which distinguishes between the verification of environmental properties andthe information about targets' nature. Furthermore, we propose a framework to optimize and execute POMDP policies inparallel under time constraints. This framework is based on anticipated and probabilistic optimization of future executionstates of the system. Finally, we embedded this algorithmic framework on-board Onera's autonomous helicopters, andperformed real flight experiments for multi-target detection and recognition missions
Morais, Diego Luis Silva. "Trajetória ótima de voo em missão de patrulha marítima com loiter de autonomia máxima". Instituto Tecnológico de Aeronáutica, 2010. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=2818.
Texto completoFalomir, Bagdassarian Ema. "Calcul dynamique de chemin par des drones autonomes en essaim compact dans le cadre de missions en environnements complexes". Thesis, Bordeaux, 2019. http://www.theses.fr/2019BORD0450.
Texto completoDrones are major tools today to perform numerous tasks in a wide range of operations, both for military and civil activities. In order to reduce operators’ workload, some parts of the drones’ missions can be automated, until achieving a full autonomy of the platforms, which will reach their mission without any human intervention. Path planning is a major task to achieve autonomy. Indeed, the drones have to detect obstacles while it discovers its environment and dynamically calculate a path avoiding obstacle and allowing to fulfil their mission. In this context, our main contribution is a path planning method for an autonomous drone evolving in complex environment.Furthermore, the variety of tasks one would like to achieve increases quicker than the capacity of a single UAV, therefore one can use a swarm composed of several autonomous platforms. Usage of several drones increases the number and/or the variety of sensors, and the collaboration between them enhance the global system capabilities by supporting some form of resilience. However, swarming introduced new issues, such as communications and drone avoidance. Our path planning method considers these problematics and then, is adapted for drones forming a swarm
Dumas, Pierre-Yves. "Intégrer la décision humaine lors de la mise à jour d'une mission de drones". Thesis, Paris 6, 2015. http://www.theses.fr/2015PA066732.
Texto completoHumans are still vital after years of automation and the clients of UAV mission systems want to preserve the human user’s key role because human knowledge, experience and judgment provide unique capability to analyze safety risks and to think ahead in uncertain and novel situations. Our first contribution is LOA4, a set of tree levels of automation in four dimensions to assess human involvement in partially automated systems. Previous sets focus too much attention on the computer rather than on the collaboration between the computer and its operator/supervisor. Unlike previous sets, our set systematically assess human involvement: is there none; some sometime; or some anytime. Its simplicity allow to recursively assess the situation of automation of a system based on the situation of automation of its parts. These information can be part of an IHM to increase the situation awareness in real time. Our second contribution is a mission system in which automated systems decide to delegate some decisions to humans. In order to increase the ratio number of “uavs / number of humans”, decisions that are untrusted to humans are mostly both ambivalent and critical. Some minor goals may be discarded to provide humans with more time to make their decisions. We implemented our approach and we report some results
Alami, Rachid. "Robots autonomes : du concept au robot. Architectures, représentations et algorithmes". Habilitation à diriger des recherches, Université Paul Sabatier - Toulouse III, 1996. http://tel.archives-ouvertes.fr/tel-00165562.
Texto completoHessinger, Felix. "Automation of Operation and Testing for European Space Agency's OPS-SAT Mission". Thesis, Luleå tekniska universitet, Rymdteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-76282.
Texto completoZermani, Sara. "Implémentation sur SoC des réseaux Bayésiens pour l'état de santé et la décision dans le cadre de missions de véhicules autonomes". Thesis, Brest, 2017. http://www.theses.fr/2017BRES0101/document.
Texto completoAutonomous vehicles, such as drones, are used in different application areas to perform simple or complex missions. On one hand, they generally operate in uncertain environmental conditions, which can lead to disastrous consequences for humans and the environment. Therefore, it is necessary to continuously monitor the health of the system in order to detect and locate failures and to be able to make the decision in real time. This decision must maximize the ability to meet the mission objectives while maintaining the security requirements. On the other hand, they are required to perform tasks with large computation demands and performance requirements. Therefore, it is necessary to think of dedicated hardware accelerators to unload the processor and to meet the requirements of a computational speed-up.This is what we tried to demonstrate in this dual objective thesis. The first objective is to define a model for the health management and decision making. To this end, we used Bayesian networks, which are efficient probabilistic graphical models for diagnosis and decision-making under uncertainty. We propose a generic model based on an FMEA (Failure Modes and Effects Analysis). This analysis takes into account the different observations on the monitors and the appearance contexts. The second objective is the design and realization of hardware accelerators for Bayesian networks in general and more particularly for our models of health management and decision-making. Having no tool for the embedded implementation of computation by Bayesian networks, we propose a software workbench covering graphical or textual Bayesian networks up to the generation of the bitstream ready for the software or hardware implementation on FPGA. Finally, we test and validate our implementations on the Xilinx ZedBoard, incorporating an ARM Cortex-A9 processor and an FPGA
Schacht, Rodriguez Ricardo. "Planification de la mission des drones basée sur le pronostic et la gestion de la santé". Electronic Thesis or Diss., Université de Lorraine, 2019. http://www.theses.fr/2019LORR0257.
Texto completoRotorcraft Unmanned Aerial Vehicles (UAV) with take-off and vertical landing capabilities or multirotors have proved to be an efficient and low-cost solution for civil flight applications due to significant advances in the development of robust and more efficient altitude and attitude control strategies, planning and re-planning algorithms capable of detecting and avoiding obstacles and Fault Diagnosis & Fault Tolerant Control methods. In most applications where multirotors are used, they develop different task as exploration, photogrammetry, filming, mapping and more recently all those dedicated to precision agriculture such as irrigation and crop monitoring. During the task development, the multirotor executes a mission which consists to fly through a set of paths connected by n reference points (named way-points) inside a known or unknown area. However, during the mission development, different negative factors decrease the multirotor flight performance such as environmental conditions, occurrence of faults or failures in actuators/sensors and energetic limitations due to the power source constraints. The energetic limitation problem in a multirotor are due to power capabilities that on-board battery can supply. Due to power and energy requirements, multirotors are powered by Lithium Polymer batteries which are rechargeable batteries of Lithium-Ion technology. They possess a polymer electrolyte instead of a liquid electrolyte and provide high power and energy densities. However, according to the use due to the number of charge/discharge cycles and other factors like damage provoked by over-discharges, the battery performances tend to decrease. Such decrease or aging causes a reduction in the efficiency of the UAV multirotor flight by the decrease of the total mission time or flight endurance, and leads to maneuverability problem, which increases the risk of crash and collision. This thesis topic addresses the issues concerning to battery performances and its influence into the mission and path planning tasks. By considering model-based prognosis techniques and path planning methods, a hierarchy mission planning strategy based on energy consumption is proposed and validated at simulation level considering different flight situations. The UAV performances, as well as its capability to execute and fulfill a mission is weighted by the computation of the battery State of Health (SoH) which is an index to measure the degradation level of the battery. The SoH helps to estimate the battery Remaining Useful Life (RUL) and establishes the energy limitation by the computation of the Maximum Flight Endurance (MFE). Such information is necessary to path planning generation which not only consider the constraints related to the power source but also the scopes and limitations of the mission to be executed. In addition, the main concern of this thesis are long time-distance missions e.g exploration or inspection of remote areas where it is fundamental to have a proper use of energy aboard the multirotor
Keith, François. "Optimisation du séquencement de tâches avec lissage du mouvement dans la réalisation de missions autonomes ou collaboratives d'un humanoïde virtuel ou robotique". Phd thesis, Université Montpellier II - Sciences et Techniques du Languedoc, 2010. http://tel.archives-ouvertes.fr/tel-00798831.
Texto completoKeith, François. "Optimisation du séquencement de tâches avec lissage du mouvement dans la réalisation de missions autonomes ou collaboratives d’un humanoïde virtuel ou robotique". Thesis, Montpellier 2, 2010. http://www.theses.fr/2010MON20195/document.
Texto completoA general agreed approach on mission and motion planning consists in splitting it into three steps: decomposing the mission into a sequence of tasks (task planning), determining the order of realization and the timing of the tasks (task scheduling) and finally executing the task sequence. This approach maintains the task component in the entire reasoning, using it as a bridge between planning, scheduling and execution.In the sense of task function, a task defines a control law on part of the robot. Hence, for highly redundant systems such as humanoid robots, it is possible to realize several tasks simultaneously using a stack-of-tasks formalism. Though, classical schedulers do not handle the case where the motion is specified not by one, but by a combination of tasks organized into a hierarchy. As a result, the scheduling phase is usually skipped. This thesis aims at reintroducing the scheduling phase, while maintaining the central role of the task.First, the stack-of-tasks formalism is recalled and the continuity of the control law is studied. Particularly, we show that discreet operations (insertion, removal and swap of priority between tasks) create discontinuities in the control. We then present and discuss smoothing methods. Second, we present a task-overlapping based method to optimize not only the scheduling but also the behavior of the tasks of a given sequence, while accounting for the physical constraint of the execution. Finally, we introduce a new perspective in the usage of the task-function approach the task function approach to personalize a task sequence and take into account user preferences.These results are experimented on the humanoid robot platform HRP-2
Gagliardi, Nicolas. "Analisi delle prestazioni di sistemi GNSS per applicazioni su velivoli pilotati da remoto". Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2022.
Buscar texto completoBechon, Patrick. "Planification multirobot pour des missions de surveillance avec contraintes de communication". Thesis, Toulouse, ISAE, 2016. http://www.theses.fr/2016ESAE0010/document.
Texto completoThe goal of this work is to enable a team of heterogeneous autonomous robotsto perform a complex mission in a real environment with communication constraints. Thisapproach was therefore to create and validate a distributed embedded architecture ableto plan, to monitor the execution of a plan and to repair a plan when an unexpectedevent occurs. This document shows the conception of an hybrid planning algorithm, namedHiPOP, used to compute initial plans before the beginning of the mission and to repair theplan during the mission when something unexpected happens. It also shows the conceptionof a monitoring algorithm, named METAL, used to monitor the execution of the planon each robot and, when needed, which calls HiPOP to repair the plan. Both algorithmswere implemented and used to carry out surveillance missions up to 12 robots, both insimulation and in a real life scenario
Laine, Rickard. "To drone, or not to drone : A qualitative study in how and when information from UxV should be distributed in rescue missions at sea". Thesis, Linköpings universitet, Institutionen för datavetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-167054.
Texto completoHireche, Chabha. "Etude et implémentation sur SoC-FPGA d'une méthode probabiliste pour le contrôle de mission de véhicule autonome Embedded context aware diagnosis for a UAV SoC platform, in Microprocessors and Microsystems 51, June 2017 Context/Resource-Aware Mission Planning Based on BNs and Concurrent MDPs for Autonomous UAVs, in MDPI-Sensors Journal, December 2018". Thesis, Brest, 2019. http://www.theses.fr/2019BRES0067.
Texto completoAutonomous systems embed different types of sensors, applications and powerful calculators. Thus, they are used in different fields of application and perform various simple or complex tasks. Generally, these missions are executed in nondeterministic environments with the presence of random events that can affect the mission's progress. Therefore, it is necessary to regularly assess the health of the system and its hardware and software components in order to detect failures using Bayesian Networks.Subsequently, a decision is made by the mission planner by generating a new mission plan that ensures the mission in response to the detected event. This decision is made using the Markov Decision Process model based on constraints such as the mission objective, the health status of sensors and embedded applications, the mission policy "safety policy" or "mission first policy", etc. As autonomous systems perform different tasks that require different performance, it is necessary to consider the use of hardware accelerators on SoC-FPGA in order to meet high-performance computing constraints and unload the CPU if needed
Abdallah, Nissrine. "Etude de développement d'un concept de locomotive hybride à chaîne de traction électrique autonome propre et durable". Phd thesis, Université de Technologie de Belfort-Montbeliard, 2009. http://tel.archives-ouvertes.fr/tel-00607487.
Texto completoArrassen, Wassini. "La microfinance : quelles leçons tirées des expériences des pays en développement ?" Phd thesis, Université Paris Dauphine - Paris IX, 2013. http://tel.archives-ouvertes.fr/tel-00945886.
Texto completoGres, Stéphane. "Contribution à l'épistémologie de la conception sûre pour l'exploration spatiale habitée. Applications aux missions à longue distance et de longue durée à mener en autonomie dans un environnement à demi connu : le cas Mars". Compiègne, 2008. http://www.theses.fr/2008COMP1758.
Texto completoThe thesis is a contribution to safety design in technology applied to Human space exploration involving international cooperation. Co-ordinating security and safety by means of centralized control could become very hazardous in the case of an autonomous complex technological system such as a long duration Mars mission. The work in this thesis is situated in a multidisciplinary context : Human sciences coupled with engineering sciences and identifies the problems posed by the design of an autonomous space system which is interacting with an unknown environment and which is coupled with the on-board team of astronauts. The methodology generates a process of continuous questioning that increases consciousness of dangers and risks. This creates a dynamical learning process of robust safety. The epistemology of safety design makes it possible to transform the design process away from a system-centred design towards a cooperative design that motivates all the authors of the project
Caron, Matthieu. "L'autonomie organisationnelle du gouvernement : recherche sur le droit gouvernemental de la Vème République". Thesis, Lille 2, 2014. http://www.theses.fr/2014LIL20030/document.
Texto completoFrench constitutional doctrine, following the treaties of Jules Poudra and Eugène Pierre, acknowledged that Parliamentary Law represented a positive reality which deserved to be conceptualised and take its full place as a university discipline. It is paradoxical that no in-depth study has ever been carried out on Government to determine if Governmental law really existsBy collecting, gathering and analysing the rules concerning the internal organisation of the Government of the Fifth Republic, this thesis wishes to prove that the Government regulates its own organisation and internal operations in an autonomous manner in much the same way as the Parliament. On the one hand this thesis defends the fact that the Government has a variable scope of autonomy (Residual, shared or complete) when drawing up laws governing its own organisation policy. On the other hand, it points out that the Government exercises full autonomy to regulate the organisation of its administration (Ministries, Offices in charge of coordinating the different Ministries and the Central Administration).The intention of this thesis is not to put forward a general theory on Governmental Law. It is an initial research into constitutional law with a purpose of stimulating doctrinal debate on the existence of Governmental Law and its utility for Democracy
Mouafo, Zanguim Idriss. "Dimensionamento del Sistema Propulsivo Elettrico Puro di un Velivolo Cessna 172k". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/18702/.
Texto completoBerrebi, Johanna. "Contribution à l'intégration d'une liaison avionique sans fil. L'ingénierie système appliquée à une problématique industrielle". Phd thesis, Ecole Polytechnique X, 2013. http://pastel.archives-ouvertes.fr/pastel-00800141.
Texto completoFinlayson, Julie Dianne. "Don't depend on me : autonomy and dependence in an Aboriginal community in North Queensland". Phd thesis, 1991. http://hdl.handle.net/1885/8745.
Texto completo"Utilizing Science and Technology to Enhance a Future Planetary Mission: Applications to Europa". Doctoral diss., 2013. http://hdl.handle.net/2286/R.I.20922.
Texto completoDissertation/Thesis
Ph.D. Geological Sciences 2013
Suresh, M. "UAV Group Autonomy In Network Centric Environment". Thesis, 2013. http://etd.iisc.ernet.in/handle/2005/2596.
Texto completoIndra, A. "Autonomous Spacecraft Mission Planning And Execution In A Petri Net Framework". Thesis, 2011. http://etd.iisc.ernet.in/handle/2005/2353.
Texto completoRapp, Thomas. "Development and Implementation of a Mission Planning Tool for SONATE". Thesis, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-66812.
Texto completoSONATE
Silva, Neuza Sofia Armez. "Relação entre organização aprendente e employee engagement: O papel da autonomia e da missão em organizações com e sem fins lucrativos". Master's thesis, 2020. http://hdl.handle.net/10071/21185.
Texto completoThe 21st century has amplified the structural transformations and automations that mark the most recent realities, therefore contemporary organizations are increasingly required to adapt to change and continuous learning. Despite an eminent literature and research focused on the concept of learning organization, there is a lack of research that investigates the effect of the learning organization in aspects such as concrete positive consequences and with empirical evidence, arising from this investment in creating this type of organization, in particular, consequences related to the involvement of workers with the organization itself - commonly known as employee engagement. Not only does this study intend to analyze the relationships between these variables, it also intends to detect what moderating influence the nature of the organizations have in it (for-profit or nonprofit), which is also an aspect that lacks investigation. The study was developed through the application of an online questionnaire to employees of Portuguese NGOs and profitable organizations, consisting of four instruments, obtaining a sample of 257 participants. The results obtained indicate that the creation of a learning organization is significantly associated with the present employee engagement and, conclusively, applying the mediation model, the hypothesis that both the employees’ autonomy and the connection with the organization’s mission are mediators of the relationship, are supported. It is also added that this model is truer in the reality of profitable organizations, that is, there are significant differences between Portuguese management reality of NGOs and profitable organizations, that should be taken into account when applying new practices.
Kopp, Thomas Joseph. "God first - go forward : the impact of the South Africa General Mission/Africa Evangelical Fellowship on the Africa Evangelical Church, 1962- 994". 2001. http://hdl.handle.net/10500/17118.
Texto completoChristian Spirituality, Church History and Missiology
D.Th. (Missiology)
Ferreira, Ana Luísa Martins. "Caminhos para uma maior autonomia das organizações da economia social em Portugal". Master's thesis, 2017. http://hdl.handle.net/10071/15230.
Texto completoThis study aimed to point out ways for a greater autonomy of Social Economy organizations (SEO) in Portugal, aiming to verify which conditions of reinforcement of that autonomy could mitigate the risk of deviation from their mission. The research was based on the analysis of four Portuguese SEO with distinct management models, namely AMI, for its focus on the diversification of funding sources; "Operação Nariz Vermelho", for maintaining a single focus of intervention; "Sapana", for having a management model based on a hybridization strategy between the for-profit sector and the non-profit sector; and Re-food, an organization that survives exclusively with volunteering. We also sought to assess whether the existence of an organization similar to "Fundación Lealtad", a Spanish non-profit organization that analyzes NGO transparency and good practices, would be relevant in Portugal, and it was concluded that it would be pertinent to replicate the model duly adapted to the national context, since it could contribute to strengthening the autonomy of the SEOs and preserving their mission. The sensitivity of the interviewees allowed to illustrate the relevance of the formulated hypotheses, verifying that all the dimensions of the management model considered in the study contribute to the preservation of the mission of the organizations, resulting in the maintenance of the stakeholders’ trust, in strengthening the credibility of the institutions, in firming the effectiveness and efficiency of organizations in the development of their work, anticipating difficulties and challenges, and involving civil society in solving problems that are common to them.
Ripka, Štěpán. "Pentecostalism among Czech and Slovak Roma: The religiosity of Roma and the practices of inclusion of the Roma in the brotherhood in salvation. Autonomy and Conversions among Roma in Márov". Doctoral thesis, 2014. http://www.nusl.cz/ntk/nusl-332524.
Texto completoNdhlovu, Japhet. "Some missiological challenges facing the Reformed Church in Zambia (RCZ) after Umwini (Church autonomy)". Diss., 1999. http://hdl.handle.net/10500/15587.
Texto completoAutonomy) which brought about the ownership of the Church by Zambians,was a turning point for the life, ministry and mission of the RCZ. Gerdien Verstraelen-Gilhuis (1982) has done a very thorough objective historical study from the perspective of looking at the scope for African leadership and initiative in the history of a Zambian mission Church. This is up to Umwini (April 1966 ). On the other hand Foston Dziko Sakala has examined ( MTh- Church History. Thesis Unisa 1996 ) the development of theological education since the missionary era. A critical analysis is therefore necessary on how the RCZ reacted and continues to react to some of the missiological challenges posed to it after Umwini. Our second purpose is to point out certain challenges which must be pondered seriously by upcoming theologically sensitive young ministers of the Gospel in the RCZ, who desire to have 'a truly African, Contextual Reformed Church In Zambia', indeed a Church that is contextually consistent with the' writing on the wall'. The political independence (1964) of Zambia from the British colonialists created an environment were the RCZ demanded for its autonomy from the Dutch Reformed Church missionaries from South Africa who had established and were running the church with all its services in education and health since 1899. challenge to the Christian Church. The consequent developments politically from colonialism to multi- party politics (which did not live long - 1964 to 1968) to one party participatory democracy( from 1 968 to 1993 ) and since 1994 up to the time of writing this dissertation, to a liberalised economic market system and democratic governance and the declaration of Zambia as a Christian nation all pose specific challenges to the Church's mission. Political, cultural and social changes of Zambia have given a clear on the mission and life of the Reformed Church In Zambia. The Zambian environment has not been the same before and after its political independence and consequently the mission of the RCZ has had its various challenges before and after umwini. It was no longer missionaries directly responsible for determining the mission and growth of the RCZ, it was and has been Zambian people themselves.
Christian Spirituality, Church History and Missiology
M. Th. (Missiology)
Ouellet-Poulin, Roxanne. "La représentation collective des travailleurs autonomes : mission impossible ou défi de taille ? : études de cas". Thèse, 2009. http://hdl.handle.net/1866/3181.
Texto completoGazo, Dominique. "Les missions des bibliothèques publiques autonomes du point de vue des élus municipaux québécois". Thèse, 2009. http://hdl.handle.net/1866/3030.
Texto completoThe legitimacy of an organization is based on its mission, i.e. its raison d’être. Some libraries directors and many researchers fear that the legitimacy of public libraries is challenged in the information society. Moreover, official texts presenting the missions of public libraries are varied and the missions are deliberately not defined there. In Quebec, where a large majority of autonomous public libraries are directly under the supervision of municipalities, public libraries have to define and legitimate their missions with city councillors. The main objective of this research is to understand, via the discourses, the point of view of city councillors in Quebec on the missions of autonomous public libraries, compared to the libraries’ practices in their communities. Using the theory of the social construction of reality, a conceptual framework is proposed not only to study the discourses in their textual dimension, but also to contextualize them and analyze the distance between them and the libraries’practices.The research strategy adopted is that of the multiple case study. The aim is to develop an in-depth analysis of each case as well as a cross-case analysis. The twelve cases (municipalities) were selected according to two criteria of variation (size of the municipality and annual budget allocated by the municipality to the library) and a discriminant criterion (the distance from the Université de Montréal). Interviews were conducted with the city councillors who chair the commissions or the committees on which the public libraries depend. These interviews and the municipal cultural policies were subjected to a discourse analysis. The interviews with the directors of the public libraries and documents were subjected to content analysis. This made possible the triangulation of methods and data sources. Neither the city councillors in Quebec, nor the professionals have a homogenous discourse on the missions of public libraries. However, a model of discourse does emerge. It shows a “limited” discourse compared to the literature, in which a passive image of thelibrary is presented and in which the tradition continues in spite of the context of the information society. But the analysis also revealed that the city councillors base their points of view on their own convictions as individuals, on their role in the management of the municipality as elected officials, and on the image they have of the users of public libraries. Finally, the analysis revealed an axis of differentiation of the points of view according to whether the discourse was based on fundamental values or on the (real or supposed) uses of the library.
FQRSC. Bourse de doctorat en recherche