Tesi: "Remotely piloted vehicles"

1

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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2

Woolsey, Aaron L. "Information exchange architecture for integrating unmanned vehicles into maritime missions". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Jun%5FWoolsey.pdf.

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Abstract (sommario):

Thesis (M.S. in Systems Technology (Joint Command, Control, Communications, and Intelligence (JC4I)))--Naval Postgraduate School, June 2004.
Thesis advisor(s): Orin Marvel. Includes bibliographical references (p. 35-37). Also available online.

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3

Daily, Robert L. Bevly David M. "Stream function path planning and control for unmanned ground vehicles". Auburn, Ala, 2008. http://repo.lib.auburn.edu/EtdRoot/2008/SUMMER/Mechanical_Engineering/Dissertation/Daily_Robert_45.pdf.

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4

Roberts, Scott D. "Stability analysis of a towed body for shipboard unmanned surface vehicle recovery". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Mar%5FRoberts.pdf.

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5

Krejtschi, Jürgen Klaus. "In service above ground storage tank inspection with a Remotely Operated Vehicle (ROV)". Thesis, University of South Wales, 2005. https://pure.southwales.ac.uk/en/studentthesis/in-service-above-ground-storage-tank-inspection-with-a-remotely-operated-vehicle-rov(bfb370ee-4306-49be-bc1b-16e841c8f76c).html.

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Refineries, the chemical industry, airports etc. have an existing stock of thousands of storage tanks, the majority of which were manufactured in the sixties. Depending on the field of industry they are used in, these tanks contain environmentally harmful fluids such as gasoline or petroleum oil in the petrochemical industry or acids in the chemical industry. Other than in newly constructed tanks, there are few possibilities in preventive leak detection in older tank constructions, as the bottom plate is in direct contact to the ground. Hidden corrosion in this structural element has caused a series of catastrophic petroleum spills in the past. In response to these spills, guidelines which specify how and when to inspect tanks have been established globally to guarantee their structural integrity. To allow the inspection of the tank's bottom plate in particular, using state of the art techniques and equipment, the tanks are taken out of service and prepared for the inspection. This preparation process requires draining, washing, degassing and ventilating the tank which is a very polluting, time consuming and expensive process. A review of existing approaches has shown that automated inspection systems where a crawler carries the inspection probes, while the tank remains filled, can circumvent the need for the preparation process. However, there are some serious limitations to such systems as the crawlers used are in direct contact with the tank's structure, where obstacles inside the tanks present a problem. To make such remotely operated vehicular systems more flexible and reliable, this study investigates the fundamental requirements and replaces the crawler with a remotely operated submersible. The critical review of currently available ROVs showed that it would be difficult to procure such a vehicle and so it was decided to develop a new ROV, where aspects of operational environment (use in different petrochemical fluids), high lateral stability as well as advantageous design with respect to the subsequent controller design have been taken into account. It has been shown that this design strategy led to a vehicle where linear controller design strategies could be applied. An analysis of its suitability for use in different petrochemical fluids is provided by a detailed study of the materials that have been used and the flexibility to adjust its buoyancy which has been built in. The lateral stability of the vehicle which is a prerequisite to performing the desired plate thickness measurement is demonstrated and the reliability and robustness of the control system that was employed is also considered. A final field experiment has shown the reliable interaction of the system components and that the inspection system provides a useful and desirable capability for use under field conditions. Finally, an analysis of the system's performance has also shown its economic viability.

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6

Steele, Melissa J. "Agent-based simulation of unmanned surface vehicles : a force in the fleet". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Jun%5FSteele.pdf.

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Thesis (M.S. in Applied Science (Operations Research))--Naval Postgraduate School, June 2004.
Thesis advisor(s): Susan M. Sanchez. Includes bibliographical references (p. 79-80). Also available online.

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7

Lienard, David E. "Autopilot design for autonomous underwater vehicles based on sliding mode control". Thesis, Monterey, California : Naval Postgraduate School, 1990. http://edocs.nps.edu/npspubs/scholarly/theses/1990/Jun/90Jun_Lienard.pdf.

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Thesis (M.S. in Mechanical Engineering and Mechanical Engineer)--Naval Postgraduate School, June 1990.
Thesis Advisor(s): Papoulias, Fotis A. ; Healey, Anthony J. "June 1990." Description based on title screen as viewed on 19 October 2009. DTIC Descriptor(s): Automatic Pilots, Control, Control Theory, Degrees Of Freedom, Depth Control, Guidance, Line Of Sight, Mathematical Models, Nonlinear Systems, Range (Extremes), Self Operation, Sliding, Underwater Vehicles, Velocity. DTIC Indicator(s): Autonomous, Underwater vehicles, Guidance, Control. Author(s) subject terms: Autonomous, Underwater vehicles, AUV, Guidance, Control. Includes bibliographical references (p. 116-117). Also available in print.

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8

Mahon, Ian. "Vision-based navigation for autonomous underwater vehicles". Thesis, The University of Sydney, 2008. http://hdl.handle.net/2123/17834.

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This thesis investigates the use of vision sensors in Autonomous Underwater Vehicle (AUV) navigation, which is typically performed using a combination of dead-reckoning and external acoustic positioning systems. Traditional dead-reckoning sensors such els Doppler Velocity Logs (DVLs) or inertial systems are expensive and result in drifting trajectory estimates. Acoustic positioning systems can be used to correct dead-reckoning drift, however they are time consuming to deploy and have a limited range of operation. Occlusion and multipath problems may also occur when a vehicle operates near the seafloor, particularly in environments such as reefs, ridges and canyons, which are the focus of many AUV applications. Vision-based navigation approaches have the potential to improve the availability and performance of AUVs in a wide range of applications. Visual odometry may replace expensive dead-reckoning sensors in small and low-cost vehicles. Using onboard cameras to correct dead-reckoning drift will allow AUVs to navigate accurately over long distances, without the limitations of acoustic positioning systems. This thesis contains three principal contributions. The first is an algorithm to estimate the trajectory of a vehicle by fusing observations from sonar and monocular vision sensors. The second is a stereo-vision motion estimation approach that can be used on its own to provide odometry estimation, or fused with additional sensors in a Simultaneous Localisation And Mapping (SLAM) framework. The third is an efficient SLAM algorithm that uses visual observations to correct drifting trajectory estimates. Results of this work are presented in simulation and using data collected during several deployments of underwater vehicles in coral reef environments. Trajectory estimation is demonstrated for short transects using the sonar and vision fusion and stereo-vision approaches. Navigation over several kilometres is demonstrated using the SLAM algorithm, where stereo-vision is shown to improve the estimated trajectory produced by a DVL.

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9

Spritzer, Zachary Wilson. "Comparison of path-planning and search methods for cooperating unmanned aerial vehicles". Morgantown, W. Va. : [West Virginia University Libraries], 2004. https://etd.wvu.edu/etd/controller.jsp?moduleName=documentdata&jsp%5FetdId=3303.

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Thesis (M.S.)--West Virginia University, 2004.
Title from document title page. Document formatted into pages; contains xi, 179 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 98-101).

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10

Baravik, Keith Andrew. "Object localization and ranging using stereo vision for use on autonomous ground vehicles". Thesis, Monterey, Calif. : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/theses/2009/Jun/09Jun%5FBaravik.pdf.

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Thesis (M.S. in Physics)-- Naval Postgraduate School, June 2009.
Thesis Advisor(s): Harkins, Richard ; Haegel, Nancy. "June 2009." Description based on title screen as viewed on July 13, 2009. Author(s) subject terms: Robotic Vision, Unmanned Ground Vehicle. Includes bibliographical references (p. 69-70). Also available in print.

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11

Miranda, Ricardo E. "Development of a nonlinear 6-degree of freedom miniature rotary-wing unmanned aerial vehicle software model and PID flight path controller using Mathworks Simulink simulation environment". Thesis, Monterey, California : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/theses/2009/Sep/09Sep%5FMiranda.pdf.

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Thesis (M.S. in Electrical Engineering)--Naval Postgraduate School, September 2009.
Thesis Advisor(s): Hutchins, Robert G. ; Dobrokhodov, Vladimir ; Kitsios, Ioannis. "September 2009." Description based on title screen as viewed on November 5, 2009. Author(s) subject terms: Hardware in the Loop (HIL), Software in the Loop (SIL) Simulation Environment, 6-Degree of Freedom (6-DOF) Rotary-wing Unmanned Aerial Vehicle (RW UAV) model , PID Flight Path Controllers Includes bibliographical references (p. 111). Also available in print.

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12

Lechliter, Matthew C. "Decentralized control for UAV path planning and task allocation". Morgantown, W. Va. : [West Virginia University Libraries], 2004. https://etd.wvu.edu/etd/controller.jsp?moduleName=documentdata&jsp%5FetdId=3314.

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Thesis (M.S.)--West Virginia University, 2004.
Title from document title page. Document formatted into pages; contains x, 198 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 134-138).

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13

Hazelton, Jennifer Beth. "Comparison of partially decoupled and combined methods of path planning and task allocation". Morgantown, W. Va. : [West Virginia University Libraries], 2004. https://etd.wvu.edu/etd/controller.jsp?moduleName=documentdata&jsp%5FetdId=3400.

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Thesis (M.S.)--West Virginia University, 2004.
Title from document title page. Document formatted into pages; contains viii, 83 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 45-46).

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14

Lewis, Laird-Philip Ryan. "Rapid motion planning and autonomous obstacle avoidance for unmanned vehicles". Thesis, (1.57 MB), 2006. http://bosun.nps.edu/uhtbin/hyperion.exe/06Dec%5FLewis.pdf.

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Thesis (M.S.)--Naval Postgraduate School, 2006.
"December 2006." Includes bibliographical references (p. 137-141). Also available online from the Web site of the Naval Postgraduate School (http://www.nps.edu).

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15

Duhan, Daniel. "Tactical decision aid for unmanned vehicles in maritime missions /". Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Mar%5FDuhan.pdf.

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Thesis (M.S. in Operations Research)--Naval Postgraduate School, March 2005.
Thesis Advisor(s): Russell Gottfried, Steven E. Pilnick. Includes bibliographical references (p. 65-66). Also available online.

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16

Rivera, Pablo Abraham. "Development of an autonomous rover for the Nevada student satellite program". abstract and full text PDF (free order & download UNR users only), 2007. http://0-gateway.proquest.com.innopac.library.unr.edu/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1446452.

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17

Rufus, Freeman Jr. "Intelligent approaches to mode transition control". Diss., Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/13281.

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18

McChesney, Nevin A. "Three-dimensional feature reconstruction with dual forward looking sonars for unmanned underwater vehicle navigation". Thesis, Monterey, Calif. : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/theses/2009/Mar/09Mar%5FMcChesney.pdf.

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Thesis (M.S. in Electrical Engineering)--Naval Postgraduate School, March 2009.
Thesis Advisor(s): Horner, Doug ; Cristi, Roberto. "March 2009." Description based on title screen as viewed on May 6, 2009. Author(s) subject terms: Unmanned Vehicles, Forward Looking Sonar, REMUS, UUV, Occupancy Grid, 3D Reconstruction, Three-Dimensional Mapping Includes bibliographical references (p. 63-64). Also available in print.

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19

Hurni, Michael A. "An information-centric approach to autonomous trajectory planning utilizing optimal control techniques". Monterey, Calif. : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/dissert/2009/Sep/09Sep%5FHurni%5FPhD.pdf.

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Dissertation (Ph.D. in Mechanical Engineering)--Naval Postgraduate School, September 2009.
Dissertation supervisor: Ross, I. Michael. "September 2009." Description based on title screen as viewed on 5 November 2009. Author(s) subject terms: Optimal control, pseudospectral, autonomous trajectory planning, unmanned ground vehicles, real-time, path planning, DIDO. Includes bibliographical references (p. 267-273). Also available in print.

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20

Salmons, James Dale. "Developmental flight testing of a half scale unmanned air vehicle". Thesis, Monterey, California : Naval Postgraduate School, 1990. http://handle.dtic.mil/100.2/ADA240347.

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Thesis (M.S. in Aeronautical Engineering)--Naval Postgraduate School, September 1990.
Thesis Advisor(s): Howard, Richard M. Second Reader: Pagenkopf, Eric L. "September 1990." Description based on title screen as viewed on December 18, 2009. DTIC Descriptor(s): Unmanned, Flight Testing, Angles, Steady State, Measurement, Vibration, Maneuverability, Marine Corps, Aircraft, Scale Models, Structural Properties, Tail Assemblies, Theses, Angle Of Attack, Estimates, Fuels, Endurance(General), Flight, Response, Scale, Weight, Airframes, Airspeed, Instrumentation, Recording Systems, Sideslip, Maneuvers, Behavior, Flow, Vehicles, Wings, Altitude, Failure(Mechanics), Radio Signals, Remote Control, Control Surfaces, Directional, Booms(Equipment), Propellers, Data Bases, Data Processing. DTIC Identifier(s): Remotely Piloted Vehicles, Unmanned Air Vehicles, Aerodynamic Control Surfaces, Aerodynamic Characteristics, Flight Testing, Pitch(Motion). Yaw, Flight Maneuvers, Theses. Includes bibliographical references (p. 55). Also available in print.

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21

Van, Daalen Corne Edwin. "Conflict detection and resolution for autonomous vehicles". Thesis, Stellenbosch : University of Stellenbosch, 2010. http://hdl.handle.net/10019.1/3994.

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Thesis (PhD (Electrical and Electronic Engineering))--University of Stellenbosch, 2010.
ENGLISH ABSTRACT: Autonomous vehicles have recently received much attention from researchers. The prospect of safe and reliable autonomous vehicles for general, unregulated environments promises several advantages over human-controlled vehicles, including increased efficiency, reliability and capability with the associated decrease in danger to humans and reduction in operating costs. A critical requirement for the safe operation of fully autonomous vehicles is their ability to avoid collisions with obstacles and other vehicles. In addition, they are often required to maintain a minimum separation from obstacles and other vehicles, which is called conflict avoidance. The research presented in thesis focuses on methods for effective conflict avoidance. Existing conflict avoidance methods either make limiting assumptions or cannot execute in real-time due to computational complexity. This thesis proposes methods for real-time conflict avoidance in uncertain, cluttered and dynamic environments. These methods fall into the category of non-cooperative conflict avoidance. They allow very general vehicle and environment models, with the only notable assumption being that the position and velocity states of the vehicle and obstacles have a jointly Gaussian probability distribution. Conflict avoidance for fully autonomous vehicles consists of three functions, namely modelling and identification of the environment, conflict detection and conflict resolution. We present an architecture for such a system that ensures stable operation. The first part of this thesis comprises the development of a novel and efficient probabilistic conflict detection method. This method processes the predicted vehicle and environment states to compute the probability of conflict for the prediction period. During the method derivation, we introduce the concept of the flow of probability through the boundary of the conflict region, which enables us to significantly reduce the complexity of the problem. The method also assumes Gaussian distributed states and defines a tight upper bound to the conflict probability, both of which further reduce the problem complexity, and then uses adaptive numerical integration for efficient evaluation. We present the results of two simulation examples which show that the proposed method can calculate in real-time the probability of conflict for complex and cluttered environments and complex vehicle maneuvers, offering a significant improvement over existing methods. The second part of this thesis adapts existing kinodynamic motion planning algorithms for conflict resolution in uncertain, dynamic and cluttered environments. We use probabilistic roadmap methods and suggest three changes to them, namely using probabilistic conflict detection methods, sampling the state-time space instead of the state space and batch generation of samples. In addition, we propose a robust and adaptive way to choose the size of the sampling space using a maximum least connection cost bound. We then put all these changes together in a proposed motion planner for conflict resolution. We present the results of two simulation examples which show that the proposed motion planner can only find a feasible path in real-time for simple and uncluttered environments. However, the manner in which we handle uncertainty and the sampling space bounds offer significant contributions to the conflict resolution field
AFRIKAANSE OPSOMMING: Outonome voertuie het die afgelope tyd heelwat aandag van navorsers geniet. Die vooruitsig van veilige en betroubare outonome voertuie vir algemene en ongereguleerde omgewings beloof verskeie voordele bo menslik-beheerde voertuie en sluit hoër effektiwiteit, betroubaarheid en vermoëns asook die gepaardgaande veiligheid vir mense en laer bedryfskoste in. ’n Belangrike vereiste vir die veilige bedryf van volledig outonome voertuie is hul vermoë om botsings met hindernisse en ander voertuie te vermy. Daar word ook dikwels van hulle vereis om ’n minimum skeidingsafstand tussen hulle en die hindernisse of ander voertuie te handhaaf – dit word konflikvermyding genoem. Die navorsing in hierdie tesis fokus op metodes vir effektiewe konflikvermyding. Bestaande konflikvermydingsmetodes maak óf beperkende aannames óf voer te stadig uit as gevolg van bewerkingskompleksiteit. Hierdie tesis stel metodes voor vir intydse konflikvermyding in onsekere en dinamiese omgewings wat ook baie hindernisse bevat. Die voorgestelde metodes val in die klas van nie-samewerkende konflikvermydingsmetodes. Hulle kan algemene voertuig- en omgewingsmodelle hanteer en hul enigste noemenswaardige aanname is dat die posisie- en snelheidstoestande van die voertuig en hindernisse Gaussiese waarskynliksheidverspreidings toon. Konflikvermyding vir volledig outonome voertuie bestaan uit drie stappe, naamlik modellering en identifikasie van die omgewing, konflikdeteksie en konflikresolusie. Ons bied ’n argitektuur vir so ’n stelsel aan wat stabiele werking verseker. Die eerste deel van die tesis beskryf die ontwikkeling van ’n oorspronklike en doeltreffende metode vir waarskynliksheid-konflikdeteksie. Die metode gebruik die voorspelde toestande van die voertuig en omgewing en bereken die waarskynlikheid van konflik vir die betrokke voorspellingsperiode. In die afleiding van die metode definiëer ons die konsep van waarskynliksheidvloei oor die grens van die konflikdomein. Dit stel ons in staat om die kompleksiteit van die probleem beduidend te verminder. Die metode aanvaar ook Gaussiese waarskynlikheidsverspreiding van toestande en definiëer ’n nou bogrens tot die waarskynlikheid van konflik om die kompleksiteit van die probleem verder te verminder. Laastens gebruik die metode aanpasbare integrasiemetodes vir vinnige berekening van die waarskynlikheid van konflik. Die eerste deel van die tesis sluit af met twee simulasies wat aantoon dat die voorgestelde konflikdeteksiemetode in staat is om die waarskynlikheid van konflik intyds te bereken, selfs vir komplekse omgewings en voertuigbewegings. Die metode lewer dus ’n beduidende bydrae tot die veld van konflikdeteksie. Die tweede deel van die tesis pas bestaande kinodinamiese beplanningsalgoritmes aan vir konflikresolusie in komplekse omgewings. Ons stel drie veranderings voor, naamlik die gebruik van waarskynliksheid-konflikdeteksiemetodes, die byvoeg van ’n tyd-dimensie in die monsterruimte en die generasie van meervoudige monsters. Ons stel ook ’n robuuste en aanpasbare manier voor om die grootte van die monsterruimte te kies. Al die voorafgaande voorstelle word saamgevoeg in ’n beplanner vir konflikresolusie. Die tweede deel van die tesis sluit af met twee simulasies wat aantoon dat die voorgestelde beplanner slegs intyds ’n oplossing kan vind vir eenvoudige omgewings. Die manier hoe die beplanner onsekerheid hanteer en die begrensing van die monsterruimte lewer egter waardevolle bydraes tot die veld van konflikresolusie

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22

Johnson, Jada E. "Mission tasking of unmanned vehicles". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Jun%5FJohnson%5FJada.pdf.

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Thesis (M.S. in Systems Technology (Command, Control, and Communications))--Naval Postgraduate School, June 2004.
Thesis advisor(s): Orin Marvel. Includes bibliographical references (p. 41-43, 45-46). Also available online.

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23

Evans, Emily C. "A simulation optimization approach to the design of unmanned aerial vehicles". Wright-Patterson AFB, OH : Air Force Insititute of Technology, 2008. http://handle.dtic.mil/100.2/ADA482457.

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24

Nevin, Andrew Bevly David M. Roppel Thaddeus A. Hodel A. Scottedward. "Registration and tracking of objects with computer vision for autonomous vehicles". Auburn, Ala, 2009. http://hdl.handle.net/10415/1633.

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25

Chambers, John R. "Longitudinal dynamic modeling and control of powered parachute aircraft /". Online version of thesis, 2007. http://hdl.handle.net/1850/3928.

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26

Masek, Theodore. "Acoustic image models for navigation with forward-looking sonars". Thesis, Monterey, Calif. : Naval Postgraduate School, 2008. http://edocs.nps.edu/npspubs/scholarly/theses/2008/Dec/08Dec%5FMasek.pdf.

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Thesis (M.S. in Software Engineering)--Naval Postgraduate School, December 2008.
Thesis Advisor(s): Kolsch, Mathias. "December 2008." Description based on title screen as viewed on January 30, 2009. Includes bibliographical references (p. 51-52). Also available in print.

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27

Murphey, Robert A. "Integrated assignment and path planning". [Gainesville, Fla.] : University of Florida, 2005. http://purl.fcla.edu/fcla/etd/UFE0010051.

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28

McLain, Brian K. "Steady and unsteady aerodynamic flow studies over a 1303 UCAV configuration". Thesis, Monterey, California : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/theses/2009/Sep/09Sep%5FMcLain.pdf.

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Thesis (M.S. in Mechanical Engineering)--Naval Postgraduate School, September 2009.
Thesis Advisor(s): Chandrasekhara, M. S. "September 2009." Description based on title screen as viewed on November 5, 2009. Author(s) subject terms: Unmanned Combat Air Vehicle, UCAV, UCAV 1303 Includes bibliographical references (p. 57-58). Also available in print.

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Letourneau, Jon P. "Incorporating multi-criteria optimization and uncertainty analysis in the model-based systems engineering of an autonomous surface craft". Thesis, Monterey, California : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/theses/2009/Sep/09Sep%5FLetourneau.pdf.

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Thesis (M.S. in Systems Engineering and M.S. in Mechanical Engineering)--Naval Postgraduate School, September 2009.
Thesis Advisor(s): Whitcomb, Clifford ; Papoulias, Fotis. "September 2009." Description based on title screen as viewed on 5 November 2009. Author(s) subject terms: Autonomous, unmanned vehicle, USV, UV sentry, model-based, multi-criteria, model-based decision making, MCDM, unmanned surface vessel, model-based systems engineering, MBSE, uncertainty. Includes bibliographical references (p. 91-92). Also available in print.

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30

Hing, James T. Oh Paul Yu. "Mixed-reality for unmanned aerial vehicle operations in near earth environments /". Philadelphia, Pa. : Drexel University, 2010. http://hdl.handle.net/1860/3210.

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31

Kresge, Jared T. "Telerobotic system design for a remotely operated lightweight park flyer micro aerial vehicle". Ohio : Ohio University, 2006. http://www.ohiolink.edu/etd/view.cgi?ohiou1165012195.

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32

Krueger, Darrell R. Johnes Peter D. "Investigation of lateral performance of an ATV tire on natural, deformable surfaces". Auburn, Ala., 2007. http://hdl.handle.net/10415/1350.

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Henderson, Harold Paulk Bevly David M. "Relative positioning of unmanned ground vehicles using ultrasonic sensors". Auburn, Ala, 2008. http://repo.lib.auburn.edu/EtdRoot/2008/SPRING/Mechanical_Engineering/Thesis/Henderson_Harold_55.pdf.

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34

Rosenberg, Abigail Stella. "An Evaluation of a UAV Guidance System with Consumer Grade GPS Receivers". Diss., The University of Arizona, 2009. http://hdl.handle.net/10150/194506.

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Remote sensing has been demonstrated an important tool in agricultural and natural resource management and research applications, however there are limitations that exist with traditional platforms (i.e., hand held sensors, linear moves, vehicle mounted, airplanes, remotely piloted vehicles (RPVs), unmanned aerial vehicles (UAVs) and satellites). Rapid technological advances in electronics, computers, software applications, and the aerospace industry have dramatically reduced the cost and increased the availability of remote sensing technologies.Remote sensing imagery vary in spectral, spatial, and temporal resolutions and are available from numerous providers. Appendix A presented results of a test project that acquired high-resolution aerial photography with a RPV to map the boundary of a 0.42 km2 fire area. The project mapped the boundaries of the fire area from a mosaic of the aerial images collected and compared this with ground-based measurements. The project achieved a 92.4% correlation between the aerial assessment and the ground truth data.Appendix B used multi-objective analysis to quantitatively assess the tradeoffs between different sensor platform attributes to identify the best overall technology. Experts were surveyed to identify the best overall technology at three different pixel sizes.Appendix C evaluated the positional accuracy of a relatively low cost UAV designed for high resolution remote sensing of small areas in order to determine the positional accuracy of sensor readings. The study evaluated the accuracy and uncertainty of a UAV flight route with respect to the programmed waypoints and of the UAV's GPS position, respectively. In addition, the potential displacement of sensor data was evaluated based on (1) GPS measurements on board the aircraft and (2) the autopilot's circuit board with 3-axis gyros and accelerometers (i.e., roll, pitch, and yaw). The accuracies were estimated based on a 95% confidence interval or similar methods. The accuracy achieved in the second and third manuscripts demonstrates that reasonably priced, high resolution remote sensing via RPVs and UAVs is practical for agriculture and natural resource professionals.

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35

Ingalls, Stephen A. "Application of concurrent engineering methods to the design of an autonomous aerial robot". Thesis, Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/12222.

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36

Garratt, Matthew A. "Biologically inspired vision and control for an autonomous flying vehicle /". View thesis entry in Australian Digital Theses Program, 2007. http://thesis.anu.edu.au/public/adt-ANU20090116.154822/index.html.

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Onochie, Cyprian Ogonna. "Development and stabilization of an unmanned vertical takeoff and landing technology demonstrator platform". Thesis, Cape Peninsula University of Technology, 2017. http://hdl.handle.net/20.500.11838/2529.

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Thesis (MTech (Mechanical Engineering))--Cape Peninsula University of Technology, 2017.
Small and micro unmanned aerial vehicles (UAV) are rapidly becoming viable platforms for surveillance, aerial photography, firefighting and even package delivery. While these UAVs that are of the rotorcraft type require little to no extra infrastructure for their deployment, they are typically saddled with short ranges and endurance, thus placing a restriction on their usage. On the other hand, UAVs that are of fixed wing type generally have longer range and endurance but often require a runway for take-off and landing which places a restriction on their usage. This project focuses on the development of a vertical take-off and landing (VTOL) UAV demonstrator suitable for integration on a small or mini flying wing UAV (a fixed wing UAV) to counteract the take-off and landing limitations of fixed wing type UAVs. This thesis first presents a propulsion characterisation experiment designed to determine the thrust and moment properties of a select set of propulsion system components. The results of the characterisation experiment identified that the propulsion set of a Turnigy C6374 – 200 brushless out runner electric motor driving a 22 x 10 inch three bladed propeller will provide approximately 79N (8kg) of thrust at 80% throttle (4250rpm). Therefore, two of these propulsion set would satisfy the platform requirement of 12kg maximum take-off mass (MTOM). The result of the abovementioned experiment, together with the VTOL platform requirements were then used as considerations for the selection of the suitable VTOL method and consequently the design of the propulsion configuration. Following a comparison of VTOL methods, the tilt-rotor is identified as the most suitable VTOL method and a variable speed twin prop concept as the optimal propulsion configuration.

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Lytle, Alan Marshall. "The development of a remotely piloted vehicle (RPV) with real-time position measurement (RtPM) for hazardous waste site characterization". Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-06082009-171206/.

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39

Rosenwasser, Jon Jason. "Governance structure and weapon innovation : the case of unmanned aerial vehicles /". Thesis, Connect to Dissertations & Theses @ Tufts University, 2004.

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Thesis (Ph.D.)--Tufts University, 2004.
Adviser: Robert L. Pfaltzgraff, Jr. Submitted to the Fletcher School of Law and Diplomacy. Includes bibliographical references (leaves 421-445). Access restricted to members of the Tufts University community. Also available via the World Wide Web;

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40

Hurd, William R. "Application of copper indium gallium diselenide photovoltaic cells to extend the endurance and capabilities of unmanned aerial vehicles". Thesis, Monterey, California : Naval Postgraduate School, 2009. http://edocs.nps.edu/npspubs/scholarly/theses/2009/Sep/09Sep%5FHurd.pdf.

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Thesis (M.S. in Electrical Engineering)--Naval Postgraduate School, September 2009.
Thesis Advisor(s): Michael, Sherif. "September 2009." Description based on title screen as viewed on 5 November 2009. Author(s) subject terms: Thin-Film photovoltaics, CIGS, unmanned aerial systems, UAV, solar plane, Maximum Power Point Tracker (MPPT), lithium polymer. Includes bibliographical references (p. 115-125). Also available in print.

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41

Muppidi, Shashidhar. "Development of a low cost controller and navigation system for unmanned ground vehicle". Morgantown, W. Va. : [West Virginia University Libraries], 2008. https://eidr.wvu.edu/etd/documentdata.eTD?documentid=5916.

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Thesis (M.S.)--West Virginia University, 2008.
Title from document title page. Document formatted into pages; contains x, 141 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 76-78).

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Mercer, Anthony Scott. "Autonomous unmanned ground vehicle for non-destructive testing of fiber reinforced polymer bridge decks". Morgantown, W. Va. : [West Virginia University Libraries], 2006. https://eidr.wvu.edu/etd/documentdata.eTD?documentid=4943.

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Thesis (M.S.)--West Virginia University, 2006.
Title from document title page. Document formatted into pages; contains x, 100 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 83-86).

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43

Fung, Pearl Haiyan. "Flow control over a micro unmanned aerial vehicle using synthetic jet actuators". Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/16950.

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44

Howard, Stephen P. "Special Operations Forces and Unmanned Aerial Vehicles Sooner or Later? /". Maxwell AFB, Ala. : Air University Research Coordinator Office, 1998. http://www.au.af.mil/au/database/research/ay1995/saas/howardsp.htm.

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Thesis (M.M.A.S.)--School of Advanced Airpower Studies, 1995.
Subject: An analysis of whether Special Operations Forces should use Unmanned Aerial Vehicles to support intelligence, surveillance, reconnaissance, communications and re-supply capability deficiencies. Cover page date: June 1995. Vita. Includes bibliographical references.

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Gopalaswamy, Sundeep Lim Alvin S. "Dynamic clustering protocol based on relative speed in mobile ad hoc networks for intelligent vehicles". Auburn, Ala., 2007. http://repo.lib.auburn.edu/2007%20Fall%20Theses/GOPALASWAMY_SUNDEEP_4.pdf.

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46

Bahr, Alexander. "Cooperative localization for autonomous underwater vehicles". Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/55326.

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Thesis (Ph. D.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), February 2009.
Includes bibliographical references (p. 133-140).
Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position computation. Thus Autonomous Underwater Vehicle (AUV) applications typically require the pre-deployment of a set of beacons.This thesis examines the scenario in which the members of a, group of AUVs exchange navigation information with one another so as to improve their individual position estimates. We describe how the underwater environment poses unique challenges to vehicle navigation not encountered in other environments in which robots operate and how cooperation can improve the performance of self-localization. As intra-vehicle communication is crucial to cooperation, we also address the constraints of the communication channel and the effect that these constraints have on the design of cooperation strategies. The classical approaches to underwater self-localization of a single vehicle, as well as more recently developed techniques are presented. We then examine how methods used for cooperating land-vehicles can be transferred to the underwater domain. An algorithm for distributed self-localization, which is designed to take the specific characteristics of the environment into account, is proposed. We also address how correlated position estimates of cooperating vehicles can lead to overconfidence in individual position estimates. Finally, key to any successful cooperative navigation strategy is the incorporation of the relative positioning between vehicles. The performance of localization algorithms with different geometries is analyzed and a distributed algorithm for the dynamic positioning of vehicles, which serve as dedicated navigation beacons for a fleet of AUVs, is proposed.
by Alexander Bahr.
Ph.D.

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47

Kuppa, Subrahmanyam. "End plate gap effects on a half-wing model". Thesis, Virginia Tech, 1987. http://hdl.handle.net/10919/44054.

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Differences in the aerodynamic performance data obtained at different test facilities were observed for the Wortmann FX-63-l37 airfoil. Earlier investigations found that the size of the hysteresis loop was affected by the tunnel environment and that single strut mounting of a three dimensional wing model interfered negligibly with the wing. Theoretical and experimental evaluations of a half wing model mounted with an end plate gap were done. Vortex panel method was used in the theoretical evaluation. The results from this indicated an effect of reduced aspect ratio with increase in end plate gap size.

Tests were conducted in the VPI Stability Tunnel at low Reynolds numbers for different gap sizes including sealed gap. Results from the experiments showed that even very small gaps produce substantial changes in zero lift angle of attack (Î±u) and the change in Î±u, was reduced as Reynolds number increased. Sealed gap test results did not show such a behavior. Flow visualization of the flow through the gap showed a significant flow through the gap even at very low Reynolds number and small gap size.

Master of Science

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Sir, Cristián. "Real-time wind estimation and display for chem/bio attack response using UAV data /". Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Jun%5FSir.pdf.

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Thesis (M.S. in Aeronautical Engineering)--Naval Postgraduate School, June 2003.
Thesis advisor(s): Isaac Kaminer, Vladimir Dobrokhodov. Includes bibliographical references (p. 67). Also available online.

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Murphy, Christopher Alden. "Lossy compression and real-time geovisualization for ultra-low bandwidth telemetry from untethered underwater vehicles". Thesis, Online version of original thesis, 2008. http://hdl.handle.net/1912/2557.

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Thesis (S.M.)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science; and the Woods Hole Oceanographic Institution), 2008.
"September 2008." Bibliography: p. 79-83.

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Sir, Cristian. "Real-time wind estimation and display for chem/bio attack response using UAV data". Thesis, Monterey, California. Naval Postgraduate School, 2003. http://hdl.handle.net/10945/906.

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Approved for public release; distribution is unlimited
The defense response to a Chemical and Biological attack would be importantly based on predicting the dispersion of a toxic cloud. Considering that an Unmanned Air Vehicle would provide the capability for embedding and positioning inertial and air data sensors geographically as required, real-time wind estimation can be performed for every actual position of the flying device in order to predict the plume moving direction. The efforts in this thesis concentrate on the demonstration and validation of procedures for obtaining Wind Estimation close to real-time and its instantaneous display. The presented work is based on a particular UAV platform available at the NPS Aeronautical Department and it aims to establish a general methodology, which may be used on other flying devices with similar available sensors. An accurate estimation of real wind for a particular combat scenario will enable operational units to have a near real-time decision aid. This final result could be integrated into a Command and Control net, to assist in a focused way the response to a Chemical and Biological attack and to map the source or the region to be affected.
Lieutenant Commander, Chilean Navy

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Tesi sul tema "Remotely piloted vehicles"

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