Rozprawy doktorskie: „Autonomous surveillance”

1

Johannsson, Hordur. "Toward autonomous harbor surveillance". Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/60167.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2010.
Includes bibliographical references (p. 105-113).
In this thesis we address the problem of drift-free navigation for underwater vehicles performing harbor surveillance and ship hull inspection. Maintaining accurate localization for the duration of a mission is important for a variety of tasks, such as planning the vehicle trajectory and ensuring coverage of the area to be inspected. Our approach uses only onboard sensors in a simultaneous localization and mapping setting and removes the need for any external infrastructure like acoustic beacons. We extract dense features from a forward-looking imaging sonar and apply pair-wise registration between sonar frames. The registrations are combined with onboard velocity, attitude and acceleration sensors to obtain an improved estimate of the vehicle trajectory. In addition, an architecture for a persistent mapping is proposed. With the intention of handling long term operations and repetitive surveillance tasks. The proposed architecture is flexible and supports different types of vehicles and mapping methods. The design of the system is demonstrated with an implementation of some of the key features of the system. In addition, methods for re-localization are considered. Finally, results from several experiments that demonstrate drift-free navigation in various underwater environments are presented.
by Hordur Johannsson.
S.M.

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Oliver, John Douglas. "Autonomous surveillance in an urban environment". Thesis, University of Warwick, 2009. http://wrap.warwick.ac.uk/3183/.

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A number of algorithms have been developed in the past for the purposes of target tracking, these have generally been for simple polygonal environments. However as the technology for autonomous vehicles develops for use in the real world these tracking algorithms need to be tested in larger more realistic environments. This work investigates the use of tracking algorithms to control a team of road based robotic platforms, tracking pedestrian targets in urban environments. The novelty of this work is in the identification of the aspects of the environment that affect target tracking algorithms, and modifying the algorithms to cope with them. Problems such as the frequent stalemates reached as an algorithms movement is limited by the highly restricted movement space or the identification of “short cuts” in which the target can take much shorter routes between positions than the robots. Algorithms are developed that overcome these limitations and they are tested in a simulation that is an accurate representation of a real environment. The algorithms are partly based on existing work and are developed extensively to be suitable for the environment. These algorithms are tested for their ability to maintain visual contact with the target. The scenario is tested with varying numbers of robots, speeds and locations. Three algorithms were developed and tested, one built as an extension of existing target tracking algorithms (Combined Urban Tracker) and another two algorithms developed specifically for this environment (Short Cut Path, and Branch). It is concluded that the Combined Urban Tracker and Short Cut Path algorithms performed comparably with a less than 0:3% difference in performance between the two both averaging roughly 54% effectiveness overall, however the Branch algorithm fared significantly worse averaging only 43% overall. The areas within the environment that give significant problems are large open spaces and areas that are significantly occluded from the road network. This work provides a platform on which further development in this area can be based in order to progress tracking algorithms towards being of practical use.

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Oh, Hyondong. "Towards autonomous surveillance and tracking by multiple UAVs". Thesis, Cranfield University, 2013. http://dspace.lib.cranfield.ac.uk/handle/1826/8266.

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This research investigates the use of small and low-cost UAVs (Unmanned Aerial Vehicles) for autonomous aerial surveillance, which aims to identify and continuously track suspicious vehicles and disguised threats in the ground traffic. Since typical ground traffic in an urban environment is quite dense and involves numerous vehicles, achieving this surveillance capability by a single mobile plat¬form is unlikely to be feasible in many aspects. In particular, due to physical constraints, it might be difficult for one UAV to cover large areas simultaneously, which is often critical to mission success in a rapidly changing environment. Be¬sides, in order to obtain accurate information of ground traffic, a single UAV platform will need to rely on sensors which are expensive yet vulnerable to the failure of the platform or sensing block by obstacles. Using multiple UAVs with relatively cheap aboard sensors with information fusion techniques enhancing sensing accuracy could resolve above issues of a single platform without signifi¬cantly increasing an operational cost. Therefore, this thesis deals with the surveillance application of multiple air¬borne sensor platforms endowed with an appropriate level of autonomous de¬cision making to support human operators. A group of UAVs become multiple mobile sensor platforms, and tasks/routes of each UAV need to be efficiently and optimally planned to cooperatively achieve mission objectives. Efficient and sophisticated algorithms for data acquisition/analysis, information fusion, path planning and formation reconfiguration ensuring feasible and safe cooperation, and decision making for cooperative missions are essentially to be developed, in order to take advantage of multiple aerial sensing sources for surveillance. Among various techniques for autonomous surveillance as listed above, this the¬sis seeks to develop and (partly) integrate some of important components: search route planning, behaviour identification/recognition, and moving target tracking, while examining benefits and drawbacks of using multiple UAVs. A particular focus is on multi-sensor management and information fusion in consideration of physical constraints of the platform and strict real-time requirements of the applications in uncertain and dynamic environments. This research investigates the use of small and low-cost UAVs (Unmanned Aerial Vehicles) for autonomous aerial surveillance, which aims to identify and continuously track suspicious vehicles and disguised threats in the ground traffic. Since typical ground traffic in an urban environment is quite dense and involves numerous vehicles, achieving this surveillance capability by a single mobile plat-form is unlikely to be feasible in many aspects. In particular, due to physical constraints, it might be difficult for one UAV to cover large areas simultaneously, which is often critical to mission success in a rapidly changing environment. Be-sides, in order to obtain accurate information of ground traffic, a single UAV platform will need to rely on sensors which are expensive yet vulnerable to the failure of the platform or sensing block by obstacles. Using multiple UAVs with relatively cheap aboard sensors with information fusion techniques enhancing sensing accuracy could resolve above issues of a single platform without signifi-cantly increasing an operational cost. Therefore, this thesis deals with the surveillance application of multiple air-borne sensor platforms endowed with an appropriate level of autonomous de-cision making to support human operators. A group of UAVs become multiple mobile sensor platforms, and tasks/routes of each UAV need to be efficiently and optimally planned to cooperatively achieve mission objectives. Efficient and sophisticated algorithms for data acquisition/analysis, information fusion, path planning and formation reconfiguration ensuring feasible and safe cooperation, and decision making for cooperative missions are essentially to be developed, in order to take advantage of multiple aerial sensing sources for surveillance. Among various techniques for autonomous surveillance as listed above, this the¬sis seeks to develop and (partly) integrate some of important components: search route planning, behaviour identification/recognition, and moving target tracking, while examining benefits and drawbacks of using multiple UAVs. A particular focus is on multi-sensor management and information fusion in consideration of physical constraints of the platform and strict real-time requirements of the applications in uncertain and dynamic environments. This thesis firstly proposes a road-network search planning algorithm by which UAVs are able to efficiently patrol every road identified in the map. A mixed integer linear programming problem (MILP) is formulated to find an optimal so¬lution minimising a total flight time, while accommodating physical constraints of the UAV with the Dubins path. To overcome the computational burden of the MILP, an approximation approach is also proposed. By running Monte Carlo sim¬ulation with the randomly generated maps, an efficient UAV team size and path planning method is examined. Secondly, this thesis proposes a behaviour recog¬nition methodology for ground vehicles moving within road traffic to identify abnormal behaviour. Ground vehicle behaviour is first classified into represen¬tative driving modes, and string pattern matching theory is applied to detect suspicious behaviours in the driving mode history. Moreover, a fuzzy decision making process is developed to systematically exploit all available information obtained from a complex environment considering spatiotemporal environment factors as well as several aspects of behaviours. Lastly, to achieve continuous tracking of detected suspicious vehicles for closer and higher-resolution surveil¬lance data, this thesis proposes several coordinated standoff tracking guidance algorithms using multiple UAVs. The effect of the improved target estimation accuracy on the tracking guidance performance is also examined using roadmap information and sensor fusion techniques. From this thesis, it can be identified that following aspects need to be carefully considered to realise autonomous surveillance using multiple UAVs: i) how many UAVs/sensors would be enough to perform a mission in terms of efficiency, es¬timation accuracy and guidance performance, ii) information gathered by UAVs only is enough, or domain knowledge (local context and past experience) might be additionally required, iii) communication structure between UAVs, and iv) com¬putation time. The proposed autonomous surveillance system utilising multiple UAVs is expected to greatly increase the amount of area that can be continuously monitored, while reducing the number of human operators and their workload required to analyse surveillance data and respond to identified targets.

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Cowling, Michael, i n/a. "Non-Speech Environmental Sound Classification System for Autonomous Surveillance". Griffith University. School of Information Technology, 2004. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20040428.152425.

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Sound is one of a human beings most important senses. After vision, it is the sense most used to gather information about the environment. Despite this, comparatively little research has been done into the field of sound recognition. The research that has been done mainly centres around the recognition of speech and music. Our auditory environment is made up of many sounds other than speech and music. This sound information can be taped into for the benefit of specific applications such as security systems. Currently, most researchers are ignoring this sound information. This thesis investigates techniques to recognise environmental non-speech sounds and their direction, with the purpose of using these techniques in an autonomous mobile surveillance robot. It also presents advanced methods to improve the accuracy and efficiency of these techniques. Initially, this report presents an extensive literature survey, looking at the few existing techniques for non-speech environmental sound recognition. This survey also, by necessity, investigates existing techniques used for sound recognition in speech and music. It also examines techniques used for direction detection of sounds. The techniques that have been identified are then comprehensively compared to determine the most appropriate techniques for non-speech sound recognition. A comprehensive comparison is performed using non-speech sounds and several runs are performed to ensure accuracy. These techniques are then ranked based on their effectiveness. The best technique is found to be either Continuous Wavelet Transform feature extraction with Dynamic Time Warping or Mel-Frequency Cepstral Coefficients with Dynamic Time Warping. Both of these techniques achieve a 70% recognition rate. Once the best of the existing classification techniques is identified, the problem of uncountable sounds in the environment can be addressed. Unlike speech recognition, non-speech sound recognition requires recognition from a much wider library of sounds. Due to this near-infinite set of example sounds, the characteristics and complexity of non-speech sound recognition techniques increases. To address this problem, a systematic scheme needs to be developed for non-speech sound classification. Several different approaches are examined. Included is a new design for an environmental sound taxonomy based on an environmental sound alphabet. This taxonomy works over three levels and classifies sounds based on their physical characteristics. Its performance is compared with a technique that generates a structured tree automatically. These structured techniques are compared for different data sets and results are analysed. Comparable results are achieved for these techniques with the same data set as previously used. In addition, the results and greater information from these experiments is used to infer some information about the structure of environmental sounds in general. Finally, conclusions are drawn on both sets of techniques and areas of future research stemming from this thesis are explored.

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Cowling, Michael. "Non-Speech Environmental Sound Classification System for Autonomous Surveillance". Thesis, Griffith University, 2004. http://hdl.handle.net/10072/365386.

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Sound is one of a human beings most important senses. After vision, it is the sense most used to gather information about the environment. Despite this, comparatively little research has been done into the field of sound recognition. The research that has been done mainly centres around the recognition of speech and music. Our auditory environment is made up of many sounds other than speech and music. This sound information can be taped into for the benefit of specific applications such as security systems. Currently, most researchers are ignoring this sound information. This thesis investigates techniques to recognise environmental non-speech sounds and their direction, with the purpose of using these techniques in an autonomous mobile surveillance robot. It also presents advanced methods to improve the accuracy and efficiency of these techniques. Initially, this report presents an extensive literature survey, looking at the few existing techniques for non-speech environmental sound recognition. This survey also, by necessity, investigates existing techniques used for sound recognition in speech and music. It also examines techniques used for direction detection of sounds. The techniques that have been identified are then comprehensively compared to determine the most appropriate techniques for non-speech sound recognition. A comprehensive comparison is performed using non-speech sounds and several runs are performed to ensure accuracy. These techniques are then ranked based on their effectiveness. The best technique is found to be either Continuous Wavelet Transform feature extraction with Dynamic Time Warping or Mel-Frequency Cepstral Coefficients with Dynamic Time Warping. Both of these techniques achieve a 70% recognition rate. Once the best of the existing classification techniques is identified, the problem of uncountable sounds in the environment can be addressed. Unlike speech recognition, non-speech sound recognition requires recognition from a much wider library of sounds. Due to this near-infinite set of example sounds, the characteristics and complexity of non-speech sound recognition techniques increases. To address this problem, a systematic scheme needs to be developed for non-speech sound classification. Several different approaches are examined. Included is a new design for an environmental sound taxonomy based on an environmental sound alphabet. This taxonomy works over three levels and classifies sounds based on their physical characteristics. Its performance is compared with a technique that generates a structured tree automatically. These structured techniques are compared for different data sets and results are analysed. Comparable results are achieved for these techniques with the same data set as previously used. In addition, the results and greater information from these experiments is used to infer some information about the structure of environmental sounds in general. Finally, conclusions are drawn on both sets of techniques and areas of future research stemming from this thesis are explored.
Thesis (PhD Doctorate)
Doctor of Philosophy (PhD)
School of Information Technology
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Recoskie, Steven. "Autonomous Hybrid Powered Long Ranged Airship for Surveillance and Guidance". Thesis, Université d'Ottawa / University of Ottawa, 2014. http://hdl.handle.net/10393/31711.

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With devastating natural disasters on the rise, technological improvements are needed in the field of search and rescue (SAR). Unmanned aerial vehicles (UAVs) would be ideal for the search function such that manned vehicles can be prioritized to distributing first-aid and ultimately saving lives. One of the major reasons that UAVs are under utilized in SAR is that they lack a long flight endurance which compromises their effectiveness. Dirigibles are well suited for SAR missions since they can hover and maintain lift without consuming energy and can be easily deflated for packaging and transportation. This research focuses on extending flight endurance of small-scale airship UAVs through improvements to the infrastructure design and flight trajectory planning. In the first area, airship design methodologies are reviewed leading to the development and experimental testing two hybrid fuel-electric power plants. The prevailing hybrid power plant design consists of a 4-stroke 14cc gasoline engine in-line with a brushless DC motor/generator and variable pitch propeller. The results show that this design can produce enough mechanical and electrical power to support 72 hours of flight compared to 1-4 hours typical of purely electric designs. A power plant configuration comparison method was also developed to compare its performance and endurance to other power plant configurations that could be used in dirigible UAVs. Overall, the proposed hybrid power plant has a 600% increase in energy density over that of a purely electric configuration. In the second area, a comprehensive multi-objective cost function is developed using spatially variable wind vector fields generated from computational fluid dynamic analysis on digital elevations maps. The cost function is optimized for time, energy and collision avoidance using a wavefront expansion approach to produce feasible trajectories that obey the differential constraints of the airship platform. The simulated trajectories including 1) variable vehicle velocity, 2) variable wind vector field (WVF) data, and 3) high grid resolutions were found to consume 50% less energy on average compared to planned trajectories not considering one of these three characteristics. In its entirety, this research addresses current UAV flight endurance limitations and provides a novel UAV solution to SAR surveillance.

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Bernstein, Joshua I. (Joshua Ian) 1974. "System design for a rapid response autonomous aerial surveillance vehicle". Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/50467.

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Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1997.
Includes bibliographical references (p. 145-146).
The MIT/Draper Technology Development Partnership Project was conceived as a collaborative design and development program between MIT and Draper Laboratory. The overall aims of the two year project were to strengthen ties between the two institutions, to provide students with an opportunity to develop a first-of-a-kind system, and to foster a sense of entrepreneurship in the students working on the project. This first design team consisted of a mix of Master of Engineering and Master of Science students, along with undergraduate research assistants. The team began its work by reviewing the needs of the nation and the capabilities possessed by MIT and Draper which could be leveraged to address those needs. Candidate projects were then developed, and several were further refined through brief market assessments. Based on these assessments, a final project was chosen. The selected project, the Wide Area Surveillance Projectile (WASP), called for the development of a small, unmanned aerial vehicle which could be launched from an artillery gun to provide a rapid-response, time-critical reconnaissance capability for small military units or selected civilian applications. This thesis reviews the first year of work completed on the project. A systems view is used throughout, describing the top-level trades which were made to develop a product which would meet all of the user's needs. Specific attention is given to the interactions between the various subsystems and how these interactions contributed to the design solution developed by the team. In addition to this chronological description of the project, management lessons learned from the author's experience as project manager are presented, along with recommended approaches for future projects of a similar nature. These lessons may also find applications in the broader realm of rapid-prototyping engineering projects, as well as future projects undertaken as part of the MIT/Draper Technology Development Partnership Project.
by Joshua I. Bernstein.
M.Eng.

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Behara, Gayatri Mayukha. "Towards Autonomous Depth Perception for Surveillance in Real World Environments". University of Dayton / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1512398919937727.

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Nastasi, Kevin Michael. "Autonomous and Responsive Surveillance Network Management for Adaptive Space Situational Awareness". Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/84931.

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As resident space object populations grow, and satellite propulsion capabilities improve, it will become increasingly challenging for space-reliant nations to maintain space situational awareness using current human-in-the-loop methods. This dissertation develops several real-time adaptive approaches to autonomous sensor network management for tracking multiple maneuvering and non-maneuvering satellites with a diversely populated Space Object Surveillance and Identification network. The proposed methods integrate suboptimal Partially Observed Markov Decision Processes (POMDPs) with covariance inflation or multiple model adaptive estimation techniques to task sensors and maintain viable orbit estimates for all targets. The POMDPs developed in this dissertation use information-based and system-based metrics to determine the rewards and costs associated with tasking a specific sensor to track a particular satellite. Like in real-world situations, the population of target satellites vastly outnumbers the available set of sensors. Robust and adaptable tasking algorithms are needed in this scenario to determine how and when sensors should be tasked. The strategies developed in this dissertation successfully track 207 non-maneuvering and maneuvering spacecraft using only 24 ground and space-based sensors. The results show that multiple model adaptive estimation coupled with a multi-metric, suboptimal POMDP can effectively and efficiently task a diverse network of sensors to track multiple maneuvering spacecraft, while simultaneously monitoring a large number of non-maneuvering objects. Overall, this dissertation demonstrates the potential for autonomous and adaptable sensor network command and control for real-world space situational awareness.
Ph. D.

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Herold, Fredrick W. "Total Border Security Surveillance". International Foundation for Telemetering, 2004. http://hdl.handle.net/10150/605061.

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International Telemetering Conference Proceedings / October 18-21, 2004 / Town & Country Resort, San Diego, California
This paper describes a system of Total Border Surveillance, which is cost effective, closes existing gaps and is less manpower intensive than the current techniques. The system utilizes a fleet of commercially available aircraft converted to unmanned capability, existing GPS and surveillance systems and autonomous ground stations to provide the desired coverage.

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Christensson, Cornelis, i Albin Flodell. "Wildlife Surveillance Using a UAV and Thermal Imagery". Thesis, Linköpings universitet, Reglerteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129586.

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På senare år har tjuvjakten på noshörningar resulterat i ett kritiskt lågt bestånd. Detta examensarbete är en del av ett initiativ för att stoppa denna utveckling. Målet är att använda en UAV, utrustad med GPS och attitydsensorer, samt en värmekamera placerad på en gimbal, till att övervaka vilda djur. Genom att använda en värmekamera kan djuren lätt detekteras eftersom de antas vara varmare än sin omgivning. En modell av marken vid testområdet har använts för att möjliggöra positionering av detekterade djur, samt analys av vilka områden på marken som ses av kameran. Termen övervakning inkluderar detektion av djur, målföljning och planering av rutt för UAV:n. UAV:n ska kunna söka av ett område efter djur. För att göra detta krävs planering av trajektoria för UAV:n samt hur gimbalen ska förflyttas. Flera metoder för detta har utvärderats. UAV:n ska även kunna målfölja djur som har detekterats. Till detta har ett partikelfilter använts. För att associera mätningar till spår har Nearest Neighbor-metoden använts. Djuren detekteras genom att bildbehandla på videoströmmen som ges från värmekameran. För bildbehandlingen har flertalet metoder testats. Dessutom presenteras en omfattande beskrivning av hur en UAV fungerar och är uppbyggd. I denna beskrivs även nödvändiga delar för ett UAV-system. På grund av begränsningar i budgeten har ingen UAV inköpts. Istället har tester utförts från en gondol i Kolmården. Gondolen åker runt i testområdet med en konstant hastighet. Djur kunde lätt detekteras och målföljas givet en kall bakgrund. Då solen värmer upp marken är det svårare att särskilja djuren från marken och fler feldetektioner görs av bildbehandlingen
In recent years, the poaching of rhinoceros has decreased its numbers to critical levels. This thesis project is a part of an initiative to stop this development. The aim of this master thesis project is to use a UAV equipped with positioning and attitude sensors as well as a thermal camera, placed onto a gimbal, to perform wildlife surveillance. By using a thermal camera, the animals are easily detected as they are assumed to be warmer than the background. The term wildlife surveillance includes detection of animals, tracking, and planning of the UAV. The UAV should be able to search an area for animals, for this planning of the UAV trajectory and gimbal attitude is needed. Several approaches for this have been tested, both online and offline planning. The UAV should also be able to track the animals that are detected, for this a particle filter has been used. Here a problem of associating measurements to tracks arises. This has been solved by using the Nearest Neighbor algorithm together with gating. The animals are detected by performing image processing on the images received from the thermal camera. Multiple approaches have been evaluated. Furthermore, a thoroughly worked description of how a UAV is working as well as how it is built up is presented. Here also necessary parts to make up a full unmanned aerial system are described. This chapter can be seen as a good guide for beginners, to the UAV field, interested in knowing how a UAV works and the most common parts of such a system. A ground model of Kolmården, where the testing has been conducted, has been used in this thesis. The use of this enables positioning of the detected animals and checking if an area is occluded for the camera. Unfortunately, due to budget limitations, no UAV was purchased. Instead, testing has been conducted from a gondola in Kolmården traveling across the test area with a constant speed. To use the gondola as the platform, for the sensors and the thermal camera, is essentially the same as using a UAV as both alternatives are located in the air above the animals, both are traveling around the map and both are stable for good weather conditions. The animals could easily be detected and tracked given a cold background. When the sun heats up the ground, it is harder to distinguish the animals in the thermal video, and more false detections in the image processing appear.

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Patel, Ruben. "Surveillance of Marine Resources by use of Stationary Platforms and Autonomous Underwater Vehicle (AUVS)". Doctoral thesis, Norwegian University of Science and Technology, Department of Electronics and Telecommunications, 2007. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-1483.

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In this thesis I investigate, describe and demonstrate new platform technology and its application in fisheries research. The first task was to prepare an Autonomous Underwater Vehicle (AUV) for payload integration (Paper 1). The instrument to be integrated into the AUV was a SIMRAD EK60 scientific echo sounder. Space limitations of the AUV demanded physical modifications. The EK60 software was designed for manual operation. To overcome the associated problem for remote control in accordance with the communication protocol of the AUV, a new version of the EK60 had to be designed and implemented (Paper 2). A field trial was performed to test the payload integration, including steered and autonomous runs; communication between the topside mother vessel and EK60 in the AUV, and the avoidance of the target species in the area (Paper 3).

The application of observation technology, with continuous recordings over time, gives a true representation of the temporal dynamics of density and vertical distribution without spatial resolution. This approach is complementary to snapshot research vessel surveying with area coverage assuming nil temporal effect. It may be particularly useful in areas of high dynamic activity, such as the Ofoten fjord area. An acoustic observatory was established in this area. Calibration of the main transducers needed special attention due to the expected depth effects on performance (Paper 4). The stationary transducers give the collected data an excellent temporal resolution at the sacrifice of spatial resolution. This makes it an ideal tool for studying vertical migration patterns. It is also important to compare these data with those collected from a moving research vessel (RV) (Paper 5). The lack of spatial resolution made it difficult to get any information about the fish school movements. Deploying an Acoustic Doppler Current Profiler (ADCP) as a unit of the observatory (Paper 6) gave this information including the potential of assessing biomass flux in and out of the fjord.

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Thulin, Peter. "Anomaly Detection for Product Inspection and Surveillance Applications". Thesis, Linköpings universitet, Datorseende, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-121467.

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Anomaly detection is a general theory of detecting unusual patterns or events in data. This master thesis investigates the subject of anomaly detection in two different applications. The first application is product inspection using a camera and the second application is surveillance using a 2D laser scanner. The first part of the thesis presents a system for automatic visual defect inspection. The system is based on aligning the images of the product to a common template and doing pixel-wise comparisons. The system is trained using only images of products that are defined as normal, i.e. non-defective products. The visual properties of the inspected products are modelled using three different methods. The performance of the system and the different methods have been evaluated on four different datasets. The second part of the thesis presents a surveillance system based on a single laser range scanner. The system is able to detect certain anomalous events based on the time, position and velocities of individual objects in the scene. The practical usefulness of the system is made plausible by a qualitative evaluation using unlabelled data.

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Tuvskog, Johanna. "Evaluation of Face Recognition Accuracy in Surveillance Video". Thesis, Linköpings universitet, Datorseende, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166758.

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Automatic Face Recognition (AFR) can be useful in the forensic field when identifying people in surveillance footage. In AFR systems it is common to use deep neural networks which perform well if the quality of the images keeps a certain level. This is a problem when applying AFR on surveillance data since the quality of those images can be very poor. In this thesis the CNN FaceNet has been used to evaluate how different quality parameters influence the accuracy of the face recognition. The goal is to be able to draw conclusions about how to improve the recognition by using and avoiding certain parameters based on the conditions. Parameters that have been experimented with are angle of the face, image quality, occlusion, colour and lighting. This has been achieved by using datasets with different properties or by alternating the images. The parameters are meant to simulate different situations that can occur in surveillance footage that is difficult for the network to recognise. Three different models have been evaluated with different amount of embeddings and different training data. The results show that the two models trained on the VGGFace2 dataset performs much better than the one trained on CASIA-WebFace. All models performance drops on images with low quality compared to images with high quality because of the training data including mostly high-quality images. In some cases, the recognition results can be improved by applying some alterations in the images. This could be by using one frontal and one profile image when trying to identify a person or occluding parts of the shape of the face if it gets recognized as other persons with similar face shapes. One main improvement would be to extend the training datasets with more low-quality images. To some extent, this could be achieved by different kinds of data augmentation like artificial occlusion and down-sampled images.

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Kekatos, Nikolaos. "Vérification formelle des systèmes cyber-physiques dans le processus industriel de la conception basée sur modèle". Thesis, Université Grenoble Alpes (ComUE), 2018. http://www.theses.fr/2018GREAM081/document.

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Les systèmes cyber-physiques sont une classe de systèmes complexe, de grande échelle, souvent critiques de sûreté, qui apparaissent dans des applications industrielles variées. Des approches de vérification formelle sont capable de fournir des garanties pour la performance et la sûreté de ces systèmes. Elles nécessitent trois éléments : un modèle formel, une méthode de vérification, ainsi qu’un ensemble de spécifications formelles. En revanche, les modèles industriels sont typiquement informels, ils sont analysés dans des environnements de simulation informels et leurs spécifications sont décrits dans un langage naturel informel. Dans cette thèse, nous visons à faciliter l’intégration de la vérification formelle dans le processus industriel de la conception basé sur modèle.Notre première contribution clé est une méthodologie de transformation de modèle. A partir d’un modèle de simulation standard, nous le transformons en un modèle de vérification équivalent, plus précisément en un réseau d’automates hybrides. Le processus de transformation prend en compte des différences de syntaxes, sémantique et d’autres aspects de la modélisation. Pour cette classe de modèle formel, des algorithmes d’atteignabilité peuvent être appliqués pour vérifier des propriétés de sûreté. Un obstacle est que des algorithmes d’atteignabilité se mettent à l’échelle pour des modèles affines par morceaux, mais pas pour des modèles non linéaires. Pour obtenir des surapproximations affines par morceaux des dynamiques non linéaires, nous proposons une technique compositionnelle d’hybridisation syntaxique. Le résultat est un modèle très compact qui retient la structure modulaire du modèle d’origine de simulation, tout en évitant une explosion du nombre de partitions.La seconde contribution clé est une approche pour encoder des spécifications formelles riches de façon à ce qu’elles peuvent être interprétées par des outils d’atteignabilité. Nous prenons en compte des spécifications exprimées sous forme d’un gabarit de motif (pattern template), puisqu’elles sont proche au langage naturel et peuvent être compris facilement par des utilisateurs non experts. Nous fournissons (i) des définitions formelles pour des motifs choisis, qui respectent la sémantique des automates hybrides, et (ii) des observateurs qui encodes les propriétés en tant qu’atteignabilité d’un état d’erreur. En composant ces observateurs avec le modèle formel, les propriétés peuvent être vérifiées par des outils standards de vérification qui sont automatisés.Finalement, nous présentons une chaîne d’outils semi-automatisée ainsi que des études de cas menées en collaboration avec des partenaires industriels
Cyber-Physical Systems form a class of complex, large-scale systems of frequently safety-critical nature in various industrial applications. Formal verification approaches can provide performance and safety guarantees for these systems. They require three elements: a formal model, a formal verification method, and a set of formal specifications. However, industrial models are typically non-formal, they are analyzed in non-formal simulation environments, and their specifications are described in non-formal natural language. In this thesis, we aim to facilitate the integration of formal verification into the industrial model-based design process.Our first key contribution is a model transformation methodology. Starting with a standard simulation model, we transform it into an equivalent verification model, particularly a network of hybrid automata. The transformation process addresses differences in syntax, semantics, and other aspects of modeling. For this class of formal models, so-called reachability algorithms can be applied to verify safety properties. An obstacle is that scalable algorithms exist for piecewise affine (PWA) models, but not for nonlinear ones. To obtain PWA over-approximations of nonlinear dynamics, we propose a compositional syntactic hybridization technique. The result is a highly compact model that retains the modular structure of the original simulation model and largely avoids an explosion in the number of partitions.The second key contribution is an approach to encode rich formal specifications so that they can be interpreted by tools for reachability. Herein, we consider specifications expressed by pattern templates since they are close to natural language and can be easily understood by non-expert users. We provide (i) formal definitions for select patterns that respect the semantics of hybrid automata, and (ii) monitors which encode the properties as the reachability of an error state. By composing these monitors with the formal model under study, the properties can be checked by off-the-shelf fully automated verification tools.Furthermore, we provide a semi-automated toolchain and present results from case studies conducted in collaboration with industrial partners

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Holdsworth, Robert, i roberth@gil com au. "Autonomous in-flight path planning to replace pure collision avoidance for free flight aircraft using automatic depedent surveillance broadcast". Swinburne University of Technology, 2003. http://adt.lib.swin.edu.au./public/adt-VSWT20060608.141036.

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By the year 2020 the number of aircraft will have increased substantially and will be in �Free Flight�(that is, ATC will be devolved to the aircraft rather than being ground based). As an aid to navigation a more advanced form of collision avoidance will be required. This thesis proposes a method of collision avoidance planning using Automatic Dependent Surveillance-Broadcast (ADS-B) and Dynamic Programming (DP). It in essence enables Air Traffic Control (ATC) from within the cockpit for remote or uncontrolled airspace and is a step toward Free Flight. Free Flight requires quite different strategies than those used in the present collision avoidance schemes. This thesis reviews the approaches to collision avoidance used in the Air traffic navigation and to similar problems in other industries. In particular it considers the extended problem of collision avoidance within the framework of path planning. This is a key departure from the approach to aircraft collision avoidance used in the industry to date. Path planning reflects the real goal of an aircraft, which is to reach a particular destination efficiently and safely. Dynamic Programming is one solution method used in other industries for the problem of path planning to avoid collisions with fixed obstacles. The solution proposed herein for the Aircraft case uses Dynamic Programming applied to the moving obstacle case. The problem is first simplified by assuming fixed (static) obstacles for the cost minimisation algorithms. These fixed obstacles are then moved with time and the minimisation process is repeated at each time increment. Although this method works well in most cases, situations can be constructed where this method fails, allowing a collision. A modified approach is then used, whereby the movement of obstacles is included more explicitly (by modifying the shapes of the obstacles to represent motion) in the cost minimisation algorithm and a safe manoeuvre distance for each aircraft is used (by expanding the object size), to allow space for aircraft to execute safe evasive manoeuvres in difficult cases. This modification allows solutions which are complete (with no known cases of failure � collision situations) and should be considered as an important extension to the current Aircraft and Collision Avoidance System (ACAS). The testing of these solutions is focussed on the most difficult cases, and includes aircraft movement in �real space� (that is simulations using real aircraft dynamics together with dynamic programming algorithms running in discrete time steps).

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Kontitsis, Michail. "Design and implementation of an integrated dynamic vision system for autonomous systems operating in uncertain domains". [Tampa, Fla] : University of South Florida, 2009. http://purl.fcla.edu/usf/dc/et/SFE0002852.

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Hegazy, Tamir A. "A Distributed Approach to Dynamic Autonomous Agent Placement for Tracking Moving Targets with Application to Monitoring Urban Environments". Diss., Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/4901.

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The problem of dynamic autonomous agent placement for tracking moving targets arises in many real-life applications, such as rescue operations, security, surveillance, and reconnaissance. The objective of this thesis is to develop a distributed hierarchical approach to address this problem. After the approach is developed, it is tested on a number of urban surveillance scenarios. The proposed approach views the placement problem as a multi-tiered architecture entailing modules for low-level sensor data preprocessing and fusion, decentralized decision support, knowledge building, and centralized decision support. This thesis focuses upon the modules of decentralized decision support and knowledge building. The decentralized decision support module requires a great deal of coordination among agents to achieve the mission objectives. The module entails two classes of distributed algorithms: non-model-based algorithms and model-based algorithms. The first class is used as a place holder while a model is built to describe agents knowledge about target behaviors. After the model is built and evaluated, agents switch to the model-based algorithms. To apply the approach to urban environments, urban terrain zones are classified, and the problem is mathematically formulated for two different types of urban terrain, namely low-rise, widely spaced and high-rise, closely spaced zones. An instance of each class of algorithms is developed for each of the two types of urban terrain. The algorithms are designed to run in a distributed fashion to address scalability and fault tolerance issues. The class of model-based algorithms includes a distributed model-based algorithm for dealing with evasive targets. The algorithm is designed to improve its performance over time as it learns from past experience how to deal with evasive targets. Apart from the algorithms, a model estimation module is developed to build motion models online from sensor observations. The approach is evaluated through a set of simulation experiments inspired from real-life scenarios. Experimental results reveal the superiority of the developed algorithms over existing ones and the applicability of the online model-building method. Therefore, it is concluded that the overall distributed approach is capable of handling agent placement or surveillance applications in urban environments among other applications.

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Baker, Amanda. "Understanding the Influence of Diverse Media Content on Men’s Body Image: The Moderating Effect of Self-Determination on Male Self-Surveillance, Self-Evaluations, and Cognitive Performance". Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36546.

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Grounded in self-determination theory (Deci & Ryan, 1985, 2000) and objectification theory (Fredrickson & Roberts, 1997), the purpose of this thesis was to investigate the role of dispositional autonomous and controlled motivation in predicting who might be more protected from or more vulnerable to experiencing state self-objectification (Manuscript 1), diminished cognitive functioning or cognitive performance (Manuscript 1 & 2), and poorer self-evaluations (Manuscript 2) following exposure to advertisements portraying one of two leading cultural body ideals: the male muscular ideal (Manuscript 1) or female thin ideal (Manuscript 2). The objectives were to investigate the effects of the two ideals while evaluating the contribution of autonomous and controlled motivation orientation in statistically predicting various body image consequences using five separate male undergraduate samples. Consistent with the overall hypotheses of the thesis, the muscular ideal video and thin ideal video significantly decreased men’s cognitive functioning and cognitive performance compared to men in the neutral video conditions (Manuscript 1 & 2). In addition, men who were primed with the muscular ideal video demonstrated significantly higher levels of self-objectification compared to those in the neutral condition (Manuscript 1: Study 1 and Study 2). Mediation results revealed an indirect effect of the muscular ideal video on men’s cognitive functioning (i.e., appearance schema activation) through self-objectification (Manuscript 1: Study 1), thereby supporting objectification theory as a means of explaining how portrayals of muscular body ideals affect men’s cognitive function. However, inconsistent with previous studies, the female thin ideal did not significantly affect men’s self-evaluations (Manuscript 2: Study 2). Lastly, in line with self-determination theory, all five studies (Manuscript 1 & 2) found that autonomous motivation orientation played a significant moderating role against the cognitive consequences associated with cultural body ideals among young college men. Men who viewed the muscular ideal video and who reported high levels of dispositional autonomous motivation demonstrated less appearance schema activation, less difficulty solving a challenging Soma puzzle, and performed better on the Modified Stroop task compared to men with low levels of dispositional autonomous motivation (Manuscript 1). Similarly, men who reported high levels of dispositional autonomous motivation and viewed the thin ideal also demonstrated less appearance schema activation and less difficulty solving a challenging Soma puzzle compared to men who reported low levels of dispositional autonomous motivation (Manuscript 2). In contrast, controlled motivation orientation was not a significant moderator across all five studies (Manuscript 1 & 2). Collectively, our findings highlight the importance of incorporating autonomous motivation orientation and self-objectification into theoretical models of men’s body image.

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Hallam, Cory R. A. "MIT/DRAPER Technology Development Partnership Program : systems, aerodeceleration, and structural design of a high-G, rapid response, deployable autonomous aerial surveillance vehicle". Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/50470.

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Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1997.
Includes bibliographical references (p. 123-127).
The MIT/Draper Technology Development Partnership Project is a two year initiative between MIT's Department of Aeronautics and Astronautics and Draper Laboratory (the funding customer) to develop an innovative, first-of-a-kind system. Through in-depth market research. concept generation. and reviews with Draper. the Wide Area Surveillance Projectile (WASP) was chosen as the lead technology demonstration project. The WASP is a gun-launched projectile in the 5"/54 NAVY to 155 mm ARMY class of munitions that transforms into a powered flight vehicle after traveling a ballistic trajectory. Once transformed, the WASP performs visual imaging reconnaissance and relays field data to the user via a Satcom or UAV signal link. This thesis covers much of the work conducted in the first year of the program. and focuses on Ballistics and aerodeceleration. Structures, and Systems Interface Design of the WASP. Although the two year timeline for the program precludes building the complete system, a series of "long-poles" are being used to demonstrate the concept functionality and feasibility for possible prototype development. These long-poles include the development of high-g composite structures, deployable flight surfaces. and a two-stroke propulsion system. as well as a virtual ground station with sensors/communications subsystems. and finally a drop-test flyer that will perform the vehicles intended mission scenario.
by Cory R.A. Hallam.
M.Eng.

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Frigui, Farouk Omar. "Contribution au développement d'un système de surveillance des structures en génie civil". Phd thesis, Toulouse, INPT, 2018. http://oatao.univ-toulouse.fr/23892/1/Frigui_omar.pdf.

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Ce travail s’inscrit dans le cadre de la mise en place d’une stratégie de SHM (Structural Health Monitoring) dédiée à la surveillance des structures en génie civil. Il a porté, d’une part, sur l’étude des méthodes de détection et de localisation de l’endommagement du bâti existant et, d’autre part, sur l’élaboration du cahier des charges d’un capteur « intégré » capable de délivrer des informations par transmission compacte des données pour les communiquer à une chaîne SHM. Des études numériques et expérimentales ont été réalisées dans cet objectif. L’état de l’art a clairement mis en évidence plusieurs points faibles des méthodes de détection et de localisation d’endommagements usuelles comme, par exemple, le manque de précision et/ou la complexité de mise en place. On observe aussi que la sensibilité de ces méthodes par rapport à plusieurs paramètres, essentiellement la direction de mesure, le positionnement des capteurs et la sévérité des endommagements, ne permet pas à ce jour de dresser un diagnostic précis de l’état de santé des structures. Pour répondre au cahier des charges d’une chaîne SHM, un Algorithme de Détection et de Localisation (ADL) a été élaboré. Cet algorithme fait appel à des méthodes utilisant les paramètres modaux, essentiellement les fréquences propres et les déformées modales. Leurs mises en œuvre séquentielles et itératives, judicieusement structurées et pilotées,a permis de répondre aux objectifs fixés. Les paramètres modaux requis sont identifiés à l’aide des techniques d’Analyse Modale Opérationnelle (AMO) et à partir de la réponse en accélérations des structures. Deux algorithmes d’AMO ont été utilisés pour leur efficacité et pour leur aptitude à l’automatisation: la méthode stochastique par sous ensemble (SSI), et la méthode de décomposition dans le domaine fréquentiel (FDD). En fusionnant les algorithmes d’AMO avec l’ADL, une chaîne complète de surveillance a été créée. La validation des algorithmes et de la chaîne de surveillance s’est faite à plusieurs niveaux. Tout d’abord, basés sur la théorie des éléments finis, des modèles numériques de la tour de l'Ophite et du pont canadien de la Rivière aux-Mulets ont permis d'évaluer l'ADL. Ces modèles sont endommagés par des signaux sismiques et fournissent les données accélérométriques, données d’entrée du logiciel que nous avons développé. Les résultats obtenus sont tout à fait satisfaisants voire meilleurs que ceux issus des méthodes usuelles. Dans un second temps, nous avons traité des données expérimentales «réelles », issues des mesures accélérométriques sur la tour de l’Ophite. La confrontation entre les résultats d’identification des fréquences propres et des déformées modales issus des algorithmes d’AMO et ceux reportés par la bibliographie, a révélé l’efficacité des algorithmes développés.Enfin, une maquette d’un bâtiment à échelle réduite a également été élaborée et instrumentée.L’application de la chaine de surveillance a permis, d’une part, de détecter et localiser l’endommagement introduit dans la structure et, d’autre part, de mettre en évidence l’intérêt de la surveillance automatique. Finalement, une étude a été menée dans le but de réduire la quantité d’informations enregistrées sur les structures et de faciliter le transfert des données servant comme entrées de la chaîne de surveillance. Les résultats de ces études ont contribué à la spécification d’un nouveau système de surveillance

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Joly, Matthieu. "Conception d'un système d'analyse multi-capteur ISFET pour la surveillance in-situ de l'azote minéral. Application à la culture du blé dur". Thesis, Toulouse, INSA, 2018. http://www.theses.fr/2018ISAT0043.

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L'usage excessif de fertilisants azotés dans les pratiques agricoles modernes est préoccupant car il aboutit, entre autres, à la pollution des nappes phréatiques et à l’eutrophisation des eaux douces et marines. L’analyse du sol peut faciliter la mise en place de nouvelles pratiques agricoles qui tiennent davantage compte des variations temporelles et locales du sol et des plantes. Ces travaux visent donc le développement d’un système d’analyse in-situ, autonome et communicant pour le suivi en temps réel des teneurs en azote minéral du sol. Notre système est basé sur la technologie de microcapteur chimique en silicium lon-Sensitive Field Effect Transistor (ISFET). Une première phase de son développement a été dédiée à la fabrication de microcapteurs génériques pH-ISFET. La problématique de la détermination du pH du sol en insérant les pH-ISFET directement dans le sol a été considérée. Les résultats obtenus par cette méthode in-situ ont été comparés avec la méthode standard et nous avons examiné l’influence de paramètres propres au sol (humidité, texture, pH) et à l’ISFET (durée de vie, dérive temporelle). Dans un second temps, des puces pNH,-ISFET et pNO;-ISFET ont été obtenues en fonctionnalisant les puces génériques pH-ISFET grâce à l'intégration de membranes ionosensibles. La composition de ces membranes a été optimisée jusqu’à obtention de propriétés de détection (sensibilité, sélectivité, stabilité...) en adéquation avec les teneurs en ions ammonium et nitrates typiques des sols cultivés. Des premières caractérisations en conditions in-situ ont alors été effectuées. Finalement, les'capteurs ont été intégrés à un système permettant l’insertion des capteurs dans le sol, leur protection, l’alimentation électrique par batterie et la communication à distance des données de mesure. De premiers résultats, prometteurs, ont été obtenus
Excessive use of nitrogen fertilizers in modern agricultural practices is a concern as it leads to groundwater pollution and eutrophication of fresh and marine waters. Soil testing can enable the introduction of new agricultural practices that take more into account temporal and local variations of soil and plants. This work therefore aims at the development of an in situ, autonomous and communicating analysis system for real-time monitoring of the mineral nitrogen contents of soils.Our system is based on the Ion-sensitive Field Effect Transistor (ISFET) microsensor technology. A first step of its development was dedicated to the fabrication of generic pH-ISFET microsensors. The problem of determining soil pH by inserting pH-ISFETs directly into the soil was considered. Results obtained by this in situ method were compared with the standard method and we examined the influence of soil ( moisture, texture, pH) and IFSET parameters (lifetime, time drift). In a second step, pNH4-ISFET and pNO3-ISFET chips were obtained by functionalizing the generic pH-ISFET chips with ionosensitive membrane. The composition of these membranes has been optimized until detection properties ( sensitivity, selectivity, stability, etc.) were in good accordance with the ammonium and nitrate ion contents of cultivated soils. Characterizations under in situ conditions were then carried out.Finally, the integration in the ground, the protection, the power supply and the remote communication of the sensors were made possible by the integration in a dedicated system. We obtained promising results

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Holt, Ryan S. "Three Enabling Technologies for Vision-Based, Forest-Fire Perimeter Surveillance Using Multiple Unmanned Aerial Systems". BYU ScholarsArchive, 2007. https://scholarsarchive.byu.edu/etd/931.

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The ability to gather and process information regarding the condition of forest fires is essential to cost-effective, safe, and efficient fire fighting. Advances in sensory and autopilot technology have made miniature unmanned aerial systems (UASs) an important tool in the acquisition of information. This thesis addresses some of the challenges faced when employing UASs for forest-fire perimeter surveillance; namely, perimeter tracking, cooperative perimeter surveillance, and path planning. Solutions to the first two issues are presented and a method for understanding path planning within the context of a forest-fire environment is demonstrated. Both simulation and hardware results are provided for each solution.

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Davis, Cledo L. "The systems integration of autonomous behavior analysis to create a "Maritime Smart Environment" for the enhancement of maritime domain awareness". Thesis, Monterey, California : Naval Postgraduate School, 2010. http://edocs.nps.edu/npspubs/scholarly/theses/2010/Jun/10Jun%5FDavis.pdf.

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Thesis (M.S. in Systems Engineering)--Naval Postgraduate School, June 2010.
Thesis Advisor(s): Goshorn, Rachel ; Goshorn, Deborah. "June 2010." Description based on title screen as viewed on June 24, 2010. Author(s) subject terms: Anomaly Detection, Artificial Intelligence, Automation, Behavior Analysis, Distributed Artificial Intelligence, Intelligence-Surveillance-Reconnaissance, Maritime Domain Awareness, Maritime Force Protection, Multi-agent Systems, Network-centric Operations, Network-centric Systems Engineering, Network-centric Warfare, Smart Sensor Networks, Systems Engineering, Systems Integration, System of Systems. Includes bibliographical references (p. 209-212). Also available in print.

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Correa, Diogo Santos Ortiz. "Navegação autônoma de robôs móveis e detecção de intrusos em ambientes internos utilizando sensores 2D e 3D". Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-26082013-100127/.

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Os robôs móveis e de serviço vêm assumindo um papel cada vez mais amplo e importante junto à sociedade moderna. Um tipo importante de robô móvel autônomo são os robôs voltados para a vigilância e segurança em ambientes internos (indoor). Estes robôs móveis de vigilância permitem a execução de tarefas repetitivas de monitoramento de ambientes, as quais podem inclusive apresentar riscos à integridade física das pessoas, podendo assim ser executadas de modo autônomo e seguro pelo robô. Este trabalho teve por objetivo o desenvolvimento dos principais módulos que compõem a arquitetura de um sistema robótico de vigilância, que incluem notadamente: (i) a aplicação de sensores com percepção 3D (Kinect) e térmica (Câmera FLIR), de relativo baixo custo, junto a este sistema robótico; (ii) a detecção de intrusos (pessoas) através do uso conjunto dos sensores 3D e térmico; (iii) a navegação de robôs móveis autônomos com detecção e desvio de obstáculos, para a execução de tarefas de monitoramento e vigilância de ambientes internos; (iv) a identificação e reconhecimento de elementos do ambiente que permitem ao robô realizar uma navegação baseada em mapas topológicos. Foram utilizados métodos de visão computacional, processamento de imagens e inteligência computacional para a realização das tarefas de vigilância. O sensor de distância Kinect foi utilizado na percepção do sistema robótico, permitindo a navegação, desvio de obstáculos, e a identificação da posição do robô em relação a um mapa topológico utilizado. Para a tarefa de detecção de pessoas no ambiente foram utilizados os sensores Kinect e câmera térmica FLIR, integrando os dados fornecidos por ambos sensores, e assim, permitindo obter uma melhor percepção do ambiente e também permitindo uma maior confiabilidade na detecção de pessoas. Como principal resultado deste trabalho foi desenvolvido um iii sistema, capaz de navegar com o uso de um mapa topológico global, capaz de se deslocar em um ambiente interno evitando colisões, e capaz de detectar a presença de seres humanos (intrusos) no ambiente. O sistema proposto foi testado em situações reais com o uso de um robô móvel Pioneer P3AT equipado com os sensores Kinect e com uma Câmera FLIR, realizando as tarefas de navegação definidas com sucesso. Outras funcionalidades foram implementadas, como o acompanhamento da pessoa (follow me) e o reconhecimento de comandos gestuais, onde a integração destes módulos com o sistema desenvolvido constituem-se de trabalhos futuros propostos
Mobile robots and service robots are increasing their applications and importance in our modern society. An important type of autonomous mobile robot application is indoor monitoring and surveillance tasks. The adoption of mobile robots for indoor surveillance tasks allows the execution of repetitive environment patrolling, which may even pose risks to the physical integrity of persons. Thus these activities can be autonomously and safely performed by security robots. This work aimed at the development of key modules and components that integrates the general architecture of a surveillance robotic system, including: (i) the development and application of a 3D perception sensor (Kinect) and a thermal sensor (FLIR camera), representing a relatively low-cost solution for mobile robot platforms; (ii) the intruder detection (people) in the environment, through the joint use of 3D and thermal sensors; (iii) the autonomous navigation of mobile robots within obstacle detection and avoidance, performing the monitoring and surveillance tasks of indoor environments; (iv) the identification and recognition of environmental features that allow the robot to perform a navigation based on topological maps. We used methods from Computer Vision, Image Processing and Computational Intelligence to carry out the implementation of the mobile robot surveillance modules. The proximity and distance measurement sensor adopted in the robotic perception system was the Kinect, allowing navigation, obstacle avoidance, and identifying key positions of the robot with respect to a topological map. For the intruder detection task we used a Kinect sensor together with a FLIR thermal camera, integrating the data obtained from both sensors, and thus allowing a better understanding of the environment, and also allowing a greater reliability in people detection. As a main result of this work, it has been v developed a system capable of navigating using a global topological map, capable of moving itself autonomously into an indoor environment avoiding collisions, and capable of detect the presence of humans (intruders) into the environment. The proposed system has been tested in real situations with the use of a Pioneer P3AT mobile robot equipped with Kinect and FLIR camera sensors, performing successfully the defined navigation tasks. Other features have also been implemented, such as following a person and recognizing gestures, proposed as future works to be integrated into the developed system

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Toueir, Antoine. "Une démarche méthodologique orientée-but pour la conception d'une surveillance auto-gérée dans les systèmes autonomes". Toulouse 3, 2014. http://thesesups.ups-tlse.fr/2618/.

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La surveillance des Systèmes Autonomes est une tâche primordiale puisqu'elle représente la source de la connaissance pour la gestion de ces systèmes. Les décisions prises par le système de gestion et le système fonctionnel qui exploitent la connaissance émanant de la surveillance sont directement affectées par la qualité de cette surveillance, alors nous nous focalisons sur la conception d'une surveillance auto-gérée orientée-but capable de satisfaire des objectifs de qualité de haut niveau concernant la surveillance elle-même. Nos préoccupations principales est d'investir sur les moyens de concevoir une surveillance auto-gérée orientée-but, ainsi que sur l'aide apportée aux administrateurs humains responsables de l'écriture des politiques de gestion représentant l'intelligence de la surveillance. Ces préoccupations ont été abordées par l'application d' une approche méthodologique qui est l' Ingénierie des Exigences ainsi que par la proposition des patrons d'adaptation de la surveillance
The monitoring in Autonomic Systems is a prominent task as it represents the source of the knowledge for the management of those systems. The decisions taken by the management system and the functional system that exploit the knowledge produced by the monitoring system are direcly affected by the quality of that monitoring, thus we are focusing on the design of a self-managed goal-oriented monitoring capable of satisfying high level quality objectives related to the monitoring itself. Our main concerns are about investigating the means of designing a self-managed goal-oriented monitoring, as well as the assistance of human administrators responsibles for writing the management policies representing the intelligence of monitoring. These concerns are addressed by the application of methodological approach that is the Requirements Engineering, as well as by the proposition of monitoring adaptation patterns

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Contreira, Pereira Leonardo. "Capteurs voltammétriques et potentiométriques autonomes : vers la surveillance à long terme de la dynamique biogéochimique du soufre aux interfaces redox". Paris 6, 2012. http://www.theses.fr/2012PA066573.

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Le cycle du soufre a une importance majeure en environnement marin. En particulier, les réactions d'oxydo-réduction impliquant la formation de sulfure par réduction des sulfates de l’eau de mer ou leur oxydation, catalysées par les métabolismes microbiens, jouent un rôle clé dans les transferts d'énergie au sein des écosystèmes et dans les processus de recyclage de la matière organique. Les panaches hydrothermaux caractérisés par le mélange turbulent de fluides riches en sulfure avec l’eau de mer ne sont pas les seules illustrations de ces systèmes dynamiques. Toutes les zones d’interface oxique-anoxiques sous l’influence de forçages hydrodynamique sont soumises à ces instabilités. À ce jour, cependant, la plupart des instruments disponibles pour la mesure in situ de sulfure sont limitées à des mesures sur le court terme (quelques heures), et les outils font largement défaut pour les mesures in situ en continu sur des durées de quelques jours à plusieurs semaines, ou au-delà. Dans ce contexte, les capteurs électrochimiques offrent plusieurs avantages, même si certaines limitations analytiques leur sont reconnues. Dans cette étude, l’électrode potentiométrique Ag/Ag2S, utilisée en laboratoire et in situ de longue date, et une nouvelle méthode voltamétrique basée sur une électrode d’argent ont été adaptées pour des mesures court terme en grande profondeur et appliqués et pour le suivi autonome en continu de la concentration en sulfure dans différents environnements profonds et peu profonds. Les limites et les avantages inhérents à chaque technique sont discutés et comparés, en relation avec différents objectifs scientifiques
Sulfur cycling is of major importance in the functioning of marine ecosystems. Particularly, microbial and chemically catalyzed redox processes involving sulfide formation or oxidation play a key role in energy transfer, including chemoautotrophy and organic matter transformation. The concentration and chemical speciation of this reduced sulfur compounds can change rapidly as a result of chemical, biological and physical processes. Systems driven by turbulent mixing of sulfidic fluids and seawater, such as hydrothermal vent plumes are obvious examples of these variable environments, but not the only ones. Any oxic-sulfidic interface under hydrodynamic control is potentially experiencing such instabilities. To date, however, most instruments available for in situ sulfide measurement are however limited to short-term use, and tools are still largely lacking for continuous in situ measurements over durations ranging from several days to weeks or beyond. In this context, electrochemical instruments offer several advantages, although recognized to suffer from some analytical limitations. In this study, the well-known potentiometric Ag/Ag2S electrode and a new bare-silver voltammetric method, that were previously adapted for short-term in situ sensing, have been applied for autonomous continuous sulfide monitoring in deep-sea and shallow waters. Their performances and advantages for new scientific approaches have been investigated. The limitations and advantages inherent of each technique are discussed and compared, with respect to different scientific purposes. The results are discussed in the light of the capacities of alternative in situ sensing techniques

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28

Bechon, Patrick. "Planification multirobot pour des missions de surveillance avec contraintes de communication". Thesis, Toulouse, ISAE, 2016. http://www.theses.fr/2016ESAE0010/document.

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L’objectif de ce travail est de permettre à une équipe de robots autonomeshétérogènes d’effectuer une mission complexe dans un environnement réel et sous contraintede communication. Cette thèse a donc consisté à créer et à valider une architecturedistribuée à bord des robots et intégrant planification, supervision de l’exécution du planet réparation de ce plan suite à l’occurrence d’aléas. Ce manuscrit présente la conceptiond’un algorithme de planification hybride, dénommé HiPOP, utilisé pour calculer un planinitial, avant le début de la mission, et pour réparer le plan en cours de mission quandun événement perturbateur survient. Il présente aussi la conception d’un algorithme desupervision, dénommé METAL, utilisé pour suivre l’exécution du plan sur chaque robot et,le cas échéant, faisant appel à HiPOP pour réparer le plan. Ces deux algorithmes ont étéimplémentés et ont permis de réaliser des missions de surveillance allant jusqu’à impliquer12 robots, à la fois en simulation et avec de vrais robots
The 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

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29

Mekki-Mokhtar, Amina. "Processus d'identification de propriétés de sécurité-innocuité vérifiables en ligne pour des systèmes autonomes critiques". Phd thesis, Université Paul Sabatier - Toulouse III, 2012. http://tel.archives-ouvertes.fr/tel-00766636.

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Les progrès récents dans la définition de mécanismes décisionnels ont permis de déléguer de plus en plus de responsabilités aux systèmes informatiques. Par exemple, des robots de service travaillent aujourd'hui en interaction avec l'humain et réalisent des tâches de plus en plus complexes. Ce transfert de responsabilité pose alors de manière critique le problème de la sécurité pour l'homme, l'environnement du système, ou le système lui-même. La surveillance en ligne par un moniteur de sécurité indépendant vise à assurer un comportement sûr malgré la présence de fautes et d'incertitudes. Un tel moniteur doit détecter des situations potentiellement dangereuses afin d'enclencher des actions de mise en état sûr et d'éviter les défaillances catastrophiques. Cette thèse traite de l'identification de conditions de déclenchement de sécurité permettant de lancer des actions de mise en état sûr. Un processus systématique permettant d'identifier de telles conditions est défini, en partant d'une analyse de risque HazOp/UML du système fonctionnel. Par ailleurs, une méthode est proposée pour identifier les états du système où des actions de sécurité peuvent être enclenchées simultanément, afin d'être revues et corrigées, en cas de besoin, par un expert du système. L'approche proposée est appliquée à un robot déambulateur.

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30

Mekki, Mokhtar Amina. "Processus d'identification de contraintes de sécurité innocuité vérifiables en ligne pour des systèmes autonomes critiques". Phd thesis, Université Paul Sabatier - Toulouse III, 2012. http://tel.archives-ouvertes.fr/tel-00800859.

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Les progrès récents dans la définition de mécanismes décisionnels ont permis de déléguer de plus en plus de responsabilités aux systèmes informatiques. Par exemple, des robots de service travaillent aujourd'hui en interaction avec l'humain et réalisent des tâches de plus en plus complexes. Ce transfert de responsabilité pose alors de manière critique le problème de la sécurité pour l'homme, l'environnement du système, ou le système lui-même. La surveillance en ligne par un moniteur de sécurité indépendant vise à assurer un comportement sûr malgré la présence de fautes et d'incertitudes. Un tel moniteur doit détecter des situations potentiellement dangereuses afin d'enclencher des actions de mise en état sûr et d'éviter les défaillances catastrophiques. Cette thèse traite de l'identification de conditions de déclenchement de sécurité permettant de lancer des actions de mise en état sûr. Un processus systématique permettant d'identifier de telles conditions est défini, en partant d'une analyse de risque HazOp/UML du système fonctionnel. Par ailleurs, une méthode est proposée pour identifier les états du système où des actions de sécurité peuvent être enclenchées simultanément, afin d'être revues et corrigées, en cas de besoin, par un expert du système. L'approche proposée est appliquée à un robot déambulateur.

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31

Jońca, Justyna Elżbieta. "Méthodes électrochimiques pour la surveillance autonome des espèces chimiques (oxygène et phosphate) dans l'eau de mer : application aux zones de minimum d'oxygène". Toulouse 3, 2012. http://thesesups.ups-tlse.fr/1830/.

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Le développement de nouveaux capteurs pour améliorer notre compréhension des cycles biogéochimiques dans l'océan représente un immense défi. L'électrochimie offre des méthodes de détection sans ajout de réactifs, avec un temps de réponse court, une faible consommation d'energie, la possibilité de miniaturisation et donc d'augmenter significativement nos capacités d'observation de l'océan. Cette étude se concentre sur le phosphate et l'oxygène dissous, deux composés principaux au sein des écosystèmes marins. Une amélioration du capteur STOX pour la mesure des faibles concentrations d'oxygène a été obtenue. Celle-ci repose sur un changement dans la construction du capteur et les résultats préliminaires ont montré une sensibilité plus élevée et un temps de réponse plus rapide. Une nouvelle méthode électrochimique pour la détection des phosphates a été développée. Le procédé est basé sur l'oxydation du molybdène dans l'eau de mer pour former le complexe phosphomolybdique, électrochimiquement détectable sur l'or par ampérométrie ou voltammétrie. Grâce au développement d'une cellule électrochimique adaptée, utilisant la technologie membranaire, la méthode ne nécessite pas d'ajout de réactif liquide et s'affranchit de l'interférence des silicates. La méthode a été testée pendant la campagne en mer Pelagico 1011 à 1012-BIC OLAYA au large du Pérou en 2010. Une analyse des masses d'eaux au large du Pérou a été réalisée grâce aux données recueillies au cours de cette campagne
Developing new sensors for improving our understanding of the coupled biogeochemical cycles constitutes an immense challenge. Electrochemistry provides promising reagentless methods by going further in miniaturization, decreasing the response time and energy requirements and thus increasing our observing capacities in the ocean. This study is focused on phosphate and oxygen, two key compounds of the marine ecosystems. Improvement of the amperometric STOX sensor for ultra-low oxygen detection in seawater is presented. The improvement was achieved by changing sensor construction and preliminary studies showed higher sensitivity and faster response time. A novel electrochemical method for phosphate detection was developed. The method is based on anodic oxidation of molybdenum in seawater in order to form the phosphomolybdic complex, electrochemically detectable by means of amperometry or voltammetry. Thanks to special construction of an electrochemical cell including specific membrane technology, the method does not require addition of reagents and is free from silicate interferences. The method was tested during Pelagico 1011- 12-BIC OLAYA cruise offshore Peru in 2010. The Peruvian water masses analysis was also performed using data collected during this cruise

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32

Mekki, Mokhtar Amina. "Processus d'identification de propriétés de sécurité-innocuité vérifiables en ligne pour des systèmes autonomes critiques". Toulouse 3, 2012. http://thesesups.ups-tlse.fr/1776/.

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Les progrès récents dans la définition de mécanismes décisionnels ont permis de déléguer de plus en plus de responsabilités aux systèmes informatiques. Par exemple, des robots de service travaillent aujourd'hui en interaction avec l'humain et réalisent des tâches de plus en plus complexes. Ce transfert de responsabilité pose alors de manière critique le problème de la sécurité pour l'homme, l'environnement du système, ou le système lui-même. La surveillance en ligne par un moniteur de sécurité indépendant vise à assurer un comportement sûr malgré la présence de fautes et d'incertitudes. Un tel moniteur doit détecter des situations potentiellement dangereuses afin d'enclencher des actions de mise en état sûr et d'éviter les défaillances catastrophiques. Cette thèse traite de l'identification de conditions de déclenchement de sécurité permettant de lancer des actions de mise en état sûr. Un processus systématique permettant d'identifier de telles conditions est défini, en partant d'une analyse de risque HazOp/UML du système fonctionnel. Par ailleurs, une méthode est proposée pour identifier les états du système où des actions de sécurité peuvent être enclenchées simultanément, afin d'être revues et corrigées, en cas de besoin, par un expert du système. L'approche proposée est appliquée à un robot déambulateur
Recent progress in the definition of decisional mechanisms has allowed computer-based systems to become more and more autonomous. For example, service robots can nowadays work in direct interaction with humans and carry out increasingly complex tasks. This transfer of responsibility poignantly raises the issue of system safety towards humans, the environment and the system itself. System surveillance by an independent safety monitor aims to enforce safe behaviour despite faults and uncertainties. Such a monitor must detect potentially dangerous situations in order to trigger safety actions aiming to bring the system towards a safe state. This thesis addresses the problem of identifying safety trigger conditions. A systematic process is proposed for the identification, starting from a HazOp/UML risk analysis. The proposed methodology also allows the identification of system states in which multiple safety actions might be executed concurrently, in order to be checked and, if necessary, corrected by a system expert. The methodology is applied to a robotic rollator

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33

JIMENEZ, VARGAS FERNANDO. "Specification et conception de microsystemes bases sur des circuits asynchrones - etude d'un dispositif multicapteur integre d'enregistrement de contraintes environnementales". Toulouse, INSA, 2000. http://www.theses.fr/2000ISAT0038.

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L'introduction des systemes electroniques embarques et miniaturises dans des nouveaux dispositifs apporte des avantages qui sont ressentis essentiellement comme une reduction des couts reels et une augmentation de la performance. Les impacts les plus importants concernent la reduction de la complexite mecanique (reduction du cablage par exemple), une meilleure operation (par l'augmentation de la flexibilite des fonctionnalites) et une maintenance plus efficace (par une meilleure connaissance de l'etat de vieillissement du systeme). L'electronique etant maitrisee, la competitivite tient dans une conception, qui soit rapide, sans faute, robuste et realisable. Les efforts doivent s'orienter vers la recherche de methodologies et techniques qui puissent supporter l'integration, principal defi propose par la conception de ces nouveaux systemes repartis, communicants et pluridisciplinaires. Cette these presente les modeles et les outils developpes pour aider a la conception de micro systemes, avec des points forts tels que : la conception amont, les systemes asynchrones, la fiabilite et l'integration au systeme de conception structuree descendante. Ces modeles et outils sont bases sur sdl, sa-rt et les reseaux de petri.

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34

Liu, Yinling. "Conception et vérification du système d'Information pour la maintenance aéronautique". Thesis, Lyon, 2019. http://www.theses.fr/2019LYSEI133.

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Le soutien opérationnel est l’un des aspects les plus importants pour la maintenance aéronautique. Il vise essentiellement à fournir un portefeuille de services permettant d’implémenter la maintenance avec un niveau élevé d’efficacité, de fiabilité et d’accessibilité. L’une des principales difficultés du support opérationnel est qu’il n’existe pas de plate-forme intégrant tous les processus de maintenance des avions afin de réduire les coûts et d’améliorer le niveau de service. Il est donc nécessaire de réaliser un système autonome de maintenance des avions dans lequel toutes les informations de maintenance peuvent être collectées, organisées, analysées et gérées de manière à faciliter la prise de décision. Pour ce faire, une méthodologie innovante a été proposée, qui concerne la modélisation, simulation, vérification formelle et analyse des performances du système autonome mentionné. Trois axes ont été abordés dans cette thèse. Premier axe concerne la conception et simulation d'un système autonome pour la maintenance aéronautique. Nous proposons une conception innovante d'un système autonome prenant en charge la prise de décision automatique pour la planification de la maintenance. Deuxième axe vise la vérification de modèles sur des systèmes de simulation. Nous proposons une approche plus complète de la vérification des comportements globaux et des comportements opérationnels des systèmes. Troisième axe porte sur l'analyse de la performance des systèmes de simulation. Nous proposons une approche consistant à combiner un système de simulation à base d’agent avec une approche « Fuzzy Rough Nearest Neighbor », afin de mettre en œuvre la classification et prévision efficaces des pannes pour la maintenance des avions avec des données manquantes. Finalement, des modèles et systèmes de la simulation ont été proposés. Des expérimentations de la simulation illustrent la faisabilité de l’approche proposée
Operational support is one of the most important aspects of aeronautical maintenance. It aims to provide a portfolio of services to implement maintenance with a high level of efficiency, reliability and accessibility. One of the major difficulties in operational support is that there is no platform that integrates all aircraft maintenance processes in order to reduce costs and improve the level of service. It is therefore necessary to build an autonomous aircraft maintenance system in which all maintenance information can be collected, organized, analyzed and managed in a way that facilitates decision-making. To do this, an innovative methodology has been proposed, which concerns modelling, simulation, formal verification and performance analysis of the autonomous system mentioned. Three axes were addressed in this thesis. The first axis concerns the design and simulation of an autonomous system for aeronautical maintenance. We offer an innovative design of an autonomous system that supports automatic decision making for maintenance planning. The second axis is the verification of models on simulation systems. We propose a more comprehensive approach to verifying global behaviours and operational behaviours of systems. The third axis focuses on the analysis of the performance of simulation systems. We propose an approach of combining an agent-based simulation system with the “Fuzzy Rough Nearest Neighbor” approach, in order to implement efficient classification and prediction of aircraft maintenance failures with missing data. Finally, simulation models and systems have been proposed. Simulation experiments illustrate the feasibility of the proposed approach

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35

Jonca, Justyna Elzbieta. "Méthodes électrochimiques pour la surveillance autonome des espèces chimiques (oxygène et phosphate) dans l'eau de mer : Application aux Zones de Minimum d'Oxygène". Phd thesis, Université Paul Sabatier - Toulouse III, 2012. http://tel.archives-ouvertes.fr/tel-00776773.

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Le développement de nouveaux capteurs pour améliorer notre compréhension des cycles biogéochimiques dans l'océan représente un immense défi. L'électrochimie offre des méthodes de détection sans ajout de réactifs, avec un temps de réponse court, une faible consommation énergie, la possibilité de miniaturisation et donc d'augmenter significativement nos capacités d'observation de l'océan. Cette étude se concentre sur le phosphate et l'oxygène dissous, deux composés principaux au sein des écosystèmes marins. Une amélioration du capteur STOX pour la mesure des faibles concentrations d'oxygène a été obtenue. Celle-ci repose sur un changement dans la construction du capteur et les résultats préliminaires ont montré une sensibilité plus élevée et un temps de réponse plus rapide. Une nouvelle méthode électrochimique pour la détection des phosphates a été développée. Le procédé est basé sur l'oxydation du molybdène dans l'eau de mer pour former le complexe phosphomolybdique, électrochimiquement détectable sur l'or par ampérométrie ou voltammétrie. Grâce au développement d'une cellule électrochimique adaptée, utilisant la technologie membranaire, la méthode ne nécessite pas d'ajout de réactif liquide et s'affranchit de l'interférence des silicates. La méthode a été testée pendant la campagne en mer Pelagico 1011 à 1012-BIC OLAYA au large du Pérou en 2010. Une analyse des masses d'eaux au large du Pérou a été réalisée grâce aux données recueillies au cours de cette campagne

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36

Kao, Kung-Chun, i 高孔君. "License Plate Detection on Autonomous Surveillance System". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/64794522132045066604.

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碩士
玄奘大學
資訊管理學系碩士班
98
Autonomous surveillance systems are widely used as an important tool for security control in public areas. Among the numerous targets of the autonomous surveillance system, license plate recognition can help to identify the terrorist in cars. Uneven lighting conditions happen all the time in an autonomous surveillance system. As a result, traditional license plate detection can’t achieve the goal. In this research, we propose a novel method for license plate localization. The features of a license plate is generated in preprocess through the morphology. Then, apply the AdaBoost algorithm to select some weak classifiers from the weak classifier space to construct a strong classifier. Experimental results show that the proposed method can efficiently detect license plates under different illuminations.

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37

Edwards, Stuart Robert. "Autonomous 3D mapping and surveillance of mines with MAVs". Thesis, 2017. https://hdl.handle.net/10539/25005.

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A dissertation Submitted to the Faculty of Science, University of the Witwatersrand, Johannesburg, for the degree of Master of Science. 12 July 2017.
The mapping of mines, both operational and abandoned, is a long, di cult and occasionally dangerous task especially in the latter case. Recent developments in active and passive consumer grade sensors, as well as quadcopter drones present the opportunity to automate these challenging tasks providing cost and safety bene ts. The goal of this research is to develop an autonomous vision-based mapping system that employs quadrotor drones to explore and map sections of mine tunnels. The system is equipped with inexpensive, structured light, depth cameras in place of traditional laser scanners, making the quadrotor setup more viable to produce in bulk. A modi ed version of Microsoft's Kinect Fusion algorithm is used to construct 3D point clouds in real-time as the agents traverse the scene. Finally, the generated and merged point clouds from the system are compared with those produced by current Lidar scanners.
LG2018

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38

Han, David Ching-Wey. "Action selection and coordination of autonomous agents for UAV surveillance". Thesis, 2011. http://hdl.handle.net/2152/ETD-UT-2011-12-4486.

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Agents, by definition, (1) are situated in an environment upon which their actions affect changes and (2) have some level of autonomy from the control of humans or other agents. Being situated requires that the agent have a mechanism for sensing the environment as well as actuators for changing the environment. Autonomy implies that each agent has the freedom to make their own decisions. Rational agents are those agents that decide to execute actions that are in their “best interests” according to their desires, using a model of those desires on which they make those decisions. Action selection is complicated due to uncertainty when operating in a dynamic environment or where other actors (agents) can also influence the environment. This dissertation presents an action selection framework and algorithms that are (1) rational with respect to multiple desires and (2) responsive with respect to changing desires. Agents can use the concept of commitments, and the subsequent communication of those commitments, to coordinate their actions and reduce their uncertainty. Coordination is layered on top of this framework by describing and analyzing how commitments affect the agents’ desires in their action selection models. This research uses the domain of UAV surveillance to experimentally explore the balance between under-commitment and over-commitment. Where previous approaches concentrate on the semantics of commitment, this research concentrates on the pragmatics of commitment, describing how to use utility calculations to enable an agent to decide when making a commitment is in its best interests.
text

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39

Dias, Bruno Miguel Morais. "Integration of a mobile autonomous robot in a surveillance multi-agent system". Master's thesis, 2014. http://hdl.handle.net/10362/14715.

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This dissertation aims to guarantee the integration of a mobile autonomous robot equipped with many sensors in a multi-agent distributed and georeferenced surveillance system. The integration of a mobile autonomous robot in this system leads to new features that will be available to clients of surveillance system may use. These features may be of two types: using the robot as an agent that will act in the environment or by using the robot as a mobile set of sensors. As an agent in the system, the robot can move to certain locations when alerts are received, in order to acknowledge the underlying events or take to action in order to assist in resolving this event. As a sensor platform in the system, it is possible to access information that is read from the sensors of the robot and access complementary measurements to the ones taken by other sensors in the multi-agent system. To integrate this mobile robot in an effective way it is necessary to extend the current multi-agent system architecture to make the connection between the two systems and to integrate the functionalities provided by the robot into the multi-agent system.

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40

Tang, Chien-Huai, i 唐鍵淮. "GPS Guided Positioning and Multi-Point Surveillance Control of Autonomous Unmanned Helicopters". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/62998785879468275944.

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碩士
雲林科技大學
電機工程系碩士班
98
To realize autonomous flight on an unmanned aerial helicopter, this thesis have accomplished the four major objectives: (1) modification of controller gains for the new gasoline vehicle to meet a stable flight requirement; (2) reducing the time required for the design of the trim parameters by catching the expert-setting during the pilot mode and downloading the parameter values to the controller right after the auto mode has been switched; (3) extending the effective communication distance by replacing the wireless networks with RF modules; (4) achieving the point-to-point flight by appropriate switch of flight control mode with the help of the guidance from the ground station. After extensive flight test, the proposed control scheme and its implementation using DSP control board have realized the important point-to-point flight mode control. This is extremely important and meaningful for us to further develop more advanced and sophisticated flight mode control in the future.

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41

Juang, Shih-Yao, i 莊世耀. "Application of smartphone and autonomous mobile robot to real-time indoor surveillance". Thesis, 2012. http://ndltd.ncl.edu.tw/handle/73648515300346238265.

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碩士
國立臺灣海洋大學
通訊與導航工程學系
100
The purpose of this study is to integrate image processing techniques, fuzzy theory, wireless communications, and smart phone to a wheeled mobile robot (WMR) for real-time moving object recognition, tracking and remote surveillance. Image processing and fuzzy control algorithms are coded by C# language. Zigbee is utilized to transmit command signals between the webcam, the WMR, and the computer. The WMR uses webcam to capture its surroundings. Classification of color features is based on Hue-Saturation-Value (HSV) color space. The WMR calculates the relative position of the target object through image processing and distance computation algorithms. Fuzzy system is applied to servo motor of the WMR and robot controller design. In this study, experiments are divided into three parts. In the first part, via Bluetooth communication, a smart phone is utilized to control the WMR forward, backward, turn left, and turn right, directly. The second part put focus on target tracking control. The WMR can track specific target by the HSV algorithm and fuzzy controller. The target can be clearly seen on the smart phone via the webcam on the WMR. In the third part, the WMR is applied to surveillance usage. The WMR can be controlled remotely by a smart phone via WIFI. The WMR uses infrared sensor and fuzzy controller to obstacle avoidance and wall following control. The WMR can perform indoor patrol and monitor its surroundings. The home site conditions can be clearly seen on the smart phone. Experiments show that the proposed control design and system integration of the wheeled mobile robot works well in indoor real-time surveillance.

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42

Tong, Jun-Ming, i 童俊銘. "A Vision-Guided Intelligent Autonomous Vehicle with a Cellphone-Based Remote Surveillance System". Thesis, 2007. http://ndltd.ncl.edu.tw/handle/53932100015293826220.

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碩士
國立成功大學
電機工程學系碩博士班
95
This thesis presents a vision-guided intelligent autonomous vehicle with a cellphone-based remote surveillance system controlled by an ARM9 embedded system. The vehicle provides two types of operation modes: (1) cellphone remote control mode (2) autonomous driving mode. First, in a 3G coverage area, we can remotely start the vehicle by using a 3G cellphone. In the mobile remote control mode, users can drive the vehicle remotely to a desired position according to the environmental information obtained from the video of the 3G cellphone. In addition, users can gain more driving information such as obstacles around the vehicle by controlling the platform of the cellphone with proper commands. The commands are encoded by dual-tone-multiple-frequency (DTMF) signals produced by the phone. In the autonomous driving mode, the vehicle can autonomously perform the following three tasks: (1) trajectory following, (2) object tracking, and (3) obstacle avoidance. The first two tasks require a camera with an image processing algorithm to provide control actions for driving the vehicle. The vehicle is equipped with a collision avoidance system composed by ultrasonic/infrared sensors that assists the vehicle to avoid obstacles. All the required control modules/algorithms are written in C and executed under a Linux operating system in an ARM machine. Finally, our experiments shows that the vehicle can successfully perform the tasks in both modes.

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43

Goodnight, Ryan David. "An Innovative Approach for Data Collection and Handling to Enable Advancements in Micro Air Vehicle Persistent Surveillance". 2009. http://hdl.handle.net/1969.1/ETD-TAMU-2009-08-7052.

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The success of unmanned aerial vehicles (UAV) in the Iraq and Afghanistan conflicts has led to increased interest in further digitalization of the United States armed forces. Although unmanned systems have been a tool of the military for several decades, only recently have advances in the field of Micro-Electro-Mechanical Systems (MEMS) technology made it possible to develop systems capable of being transported by an individual soldier. These miniature unmanned systems, more commonly referred to as micro air vehicles (MAV), are envisioned by the Department of Defense as being an integral part of maintaining America?s military superiority. As researchers continue to make advances in the miniaturization of flight hardware, a new problem with regard to MAV field operations is beginning to present itself. To date, little work has been done to determine an effective means of collecting, analyzing, and handling information that can satisfy the goal of using MAVs as tools for persistent surveillance. Current systems, which focus on the transmission of analog video streams, have been very successful on larger UAVs such as the RQ-11 Raven but have proven to be very demanding of the operator. By implementing a new and innovative data processing methodology, currently existing hardware can be adapted to effectively present critical information with minimal user input. Research currently being performed at Texas A&M University in the areas of attitude determination and image processing has yielded a new application of photographic projection. By replacing analog video with spatially aware high-resolution images, the present MAV handheld ground control stations (GCS) can be enhanced to reduce the number of functional manpower positions required during operation. Photographs captured by an MAV can be displayed above pre-existing satellite imagery to give an operator a lasting reference to the location of objects in his vicinity. This newly generated model also increases the functionality of micro air vehicles by allowing for target tracking and energy efficient perch and stare capabilities, both essential elements of persistent surveillance.

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44

Chu, Chien-Hsing, i 朱建興. "Integration of GPS and E-map to the Design of Surveillance System for an Autonomous Unmanned Helicopter". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/23584627011628917140.

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碩士
國立雲林科技大學
電機工程系碩士班
97
With the progress of the Global Positioning System (GPS) technology, it is getting more and more common to combine GPS with electron map''s guidance application. Numerous conveniences are provided by an electron map. For example, it shows that the location you are, the direction you are in, and the distance to the goal. Besides, it even could help people find out the shortest way between the arrival and the current position as well. For the recent years, there has been a mature condition of the electron maps used in navigation in the domestic. Most of those products are designed for general vehicles; nevertheless, there are few E-maps applied to aerial vehicles in the aviation market. Therefore, the aim of this study is to design a monitor for the automatic unmanned aerial vehicle which integrates GPS with an E-map. The function of it is to find out the possible ways by using GPS to receive the signals from a global satellite in order to obtain accurate information about the longitude and the latitude. This is followed by the information being delivered to ground controls by wireless network mold. Thus, all the information about the precise position, speed and time of the automatic unmanned aerial vehicle can be seen visibly through the electronic map of the unmanned helicopter.

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45

Wang, Jian-Yuan, i 王建元. "A Study on Indoor Security Surveillance by Vision-based Autonomous Vehicle With Omni-cameras on House Ceiling". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/43389970936053285218.

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碩士
國立交通大學
多媒體工程研究所
97
Vision-based methods for security surveillance using an autonomous vehicle with fixed fish-eye cameras on ceilings in an indoor environment are proposed. An autonomous vehicle controllable by wireless communication and equipped with a camera is used as a test bed and navigates in a room space under the surveillance of multiple fisheye cameras affixed on the ceiling. To learn the information of the unknown room environment in advance, a method is proposed for locating the ground regions, identifying the positions of obstacles, and planning the patrolling paths. The data obtained by the method enable the vehicle to navigate in the complicated room space without collisions with obstacles and walls. Also, a height-adaptive space mapping method is proposed, in which the coordinates of corresponding points in 2-D images and 3-D global spaces are computed by interpolation to form a space mapping table for object localization. Appropriate equations are derived to adapt the table to fish-eye cameras affixed to different ceiling heights. Because the vehicle suffers from mechanic errors, a vehicle location and direction correction method is proposed for correcting the errors according to four strategies. Furthermore, a method for detecting and tracking intruding people is proposed. The approximate position of the person can be predicted first, and the exact position is then calculated via a tracking window in images. Some useful features of the intruding person are computed for person identification. To enlarge the area under surveillance using multiple cameras, the camera handoff problem is also solved by using information of the overlapping regions of the cameras’ fields of view. Experiments for measuring the precisions of the proposed methods and tracking intruding persons were conducted with good results proving the feasibility of the proposed methods.

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46

Baião, Pedro Nuno Morgado. "Operação de AUV a partir dos submarinos da classe Tridente: Em missões ISR e Mine Countermeasures". Master's thesis, 2018. http://hdl.handle.net/10400.26/25100.

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Através da eclusa, os submarinos da classe Tridente têm a capacidade de planear, lançar, operar e recolher Autonomous Underwater Vehicles (AUV) do seu interior. Teses anteriores, estudaram e melhoram esta vantagem, dando espaço para pensar nas utilidades destes veículos uma vez no exterior do submarino. Pretende-se projetar um possível método de utilização para dois tipos de operações, Mine Countermeasures (MCM) e Intelligence, Surveillance and Reconnaissance (ISR), que permitam ao AUV ser uma extensão do submarino, sendo mais um instrumento na recolha de informação. A capacidade de operar longe e autonomamente traz a vantagem de se conseguir esclarecer o panorama com risco reduzido para o submarino. A Marinha Portuguesa usa, na atualidade, dois AUV destintos: o SeaCon 2 projetado pela Faculdade de Engenharia da Universidade do Porto (FEUP) e o Gavia 19. Sendo o primeiro um projeto ainda em evolução, procura-se sugerir o próximo estádio do veículo tendo em conta as características operacionais que este devia ter. Assim como propor, tendo em conta as características anteriormente mencionadas, quais os veículos mais adequados, dentro do mercado, para desempenhar os dois tipos de operações. A abordagem ao primeiro tema teve o uso de um exercício de resposta aberta, criado para recolher as ideias de oficiais submarinistas da Marinha Portuguesa sobre como devem operar o submarino para utilizar os AUV. Relativamente ao segundo aspeto, colocou-se questionários com respostas fechadas aos operadores para averiguar quais as características operacionais “ideais” que um AUV deve ter para melhor desempenhar a sua missão.
Through the lock, the Tridente class submarines have the capacity of planning, launching, operating and recovering Autonomous Underwater Vehicles from within. Previous thesis, studied and improved this advantage, giving space to think in the utilities of these vehicles once outside the submarine. It is intended to project a possible method of using the AUV for two kind of operations, Mine Countermeasures and Intelligence, Surveillance and Reconnaissance, that allow the vehicles to be an extension of the submarine, being one more instrument to gather information. The ability to operate far and autonomously enables the advantage of being able to get an overview of the surroundings with minimal risk for the submarine. The portuguese navy, at the present, operates two distinct AUV: SeaCon 2 projected by the Faculdade de Engenharia da Universidade do Porto and Gavia 19. The first, still being an evolving project, it’s suggested a possible next stage of the vehicle in accordance with the operational characteristics it should has. As well as recommend, attending the previously mentioned characteristics, which are the most fitted vehicles, at the market, to perform the two kind of operations. The approach at the first topic had the introduction of an exercise with open answers, created to gather the ideas of portuguese navy’s officers that navigated on submarines about how the submarine should be operated to use AUV. To desenvolve the second aspect, several operators were inquired to discover which were the “ideal” operational characteristics that an AUV should has to better perform its missions.

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47

Mathew, Neil. "Discrete Path Planing Strategies for Coverage and Multi-Robot Rendezvous". Thesis, 2013. http://hdl.handle.net/10012/8169.

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This thesis addresses the problem of motion planning for autonomous robots, given a map and an estimate of the robot pose within it. The motion planning problem for a mobile robot can be defined as computing a trajectory in an environment from one pose to another while avoiding obstacles and optimizing some objective such as path length or travel time, subject to constraints like vehicle dynamics limitations. More complex planning problems such as multi-robot planning or complete coverage of an area can also be defined within a similar optimization structure. The computational complexity of path planning presents a considerable challenge for real-time execution with limited resources and various methods of simplifying the problem formulation by discretizing the solution space are grouped under the class of discrete planning methods. The approach suggests representing the environment as a roadmap graph and formulating shortest path problems to compute optimal robot trajectories on it. This thesis presents two main contributions under the framework of discrete planning. The first contribution addresses complete coverage of an unknown environment by a single omnidirectional ground rover. The 2D occupancy grid map of the environment is first converted into a polygonal representation and decomposed into a set of convex sectors. Second, a coverage path is computed through the sectors using a hierarchical inter-sector and intra-sector optimization structure. It should be noted that both convex decomposition and optimal sector ordering are known NP-hard problems, which are solved using a greedy cut approximation algorithm and Travelling Salesman Problem (TSP) heuristics, respectively. The second contribution presents multi-robot path-planning strategies for recharging autonomous robots performing a persistent task. The work considers the case of surveillance missions performed by a team of Unmanned Aerial Vehicles (UAVs). The goal is to plan minimum cost paths for a separate team of dedicated charging robots such that they rendezvous with and recharge all the UAVs as needed. To this end, planar UAV trajectories are discretized into sets of charging locations and a partitioned directed acyclic graph subject to timing constraints is defined over them. Solutions consist of paths through the graph for each of the charging robots. The rendezvous planning problem for a single recharge cycle is formulated as a Mixed Integer Linear Program (MILP), and an algorithmic approach, using a transformation to the TSP, is presented as a scalable heuristic alternative to the MILP. The solution is then extended to longer planning horizons using both a receding horizon and an optimal fixed horizon strategy. Simulation results are presented for both contributions, which demonstrate solution quality and performance of the presented algorithms.

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