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Brekke, Snorre Eskeland. "Autonomous Bicycle". Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-11995.
Pełny tekst źródłaLopez, Franco Ignacio. "Autonomous pseudomonoids". Thesis, University of Cambridge, 2009. https://www.repository.cam.ac.uk/handle/1810/219201.
Pełny tekst źródłaNorheim, Øyvind Hansen. "Autonomous Language". Thesis, Umeå universitet, Designhögskolan vid Umeå universitet, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-110754.
Pełny tekst źródłaKosas, Karolis. "Autonomous Systems". VCU Scholars Compass, 2013. http://scholarscompass.vcu.edu/etd/3053.
Pełny tekst źródłaDeputy, Xander, Kevin Fox, Christopher Meyer, Cody Mitts i Jiaxiang Wang. "AUTONOMOUS MAPPING". International Foundation for Telemetering, 2016. http://hdl.handle.net/10150/624237.
Pełny tekst źródłaBoczar, Ludvig, i Felix Myrsten. "Autonomous Counterbalance Forklift : Autonomous forklift capable of transporting pallets". Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264498.
Pełny tekst źródłaDenna avhandling undersökte möjligheten att använda linjeföljningsteknologi för att automatisera gaffeltruckar i ett varuhus. Detta gjordes med målet att minska behovet på att alltid ha personal närvarande. En gaffeltrucksprototyp konstruerades med tre hjul, bakhjulsdrift och styrning på bakhjulet. För att styra gaffeltrucken användes en Arduino Uno. Linjeföljningen utfördes av IR sensorer. Tester utfördes på olika konfigurationer av linjeföljarsensorerna för att uppnå linjeföljning. Utformningen på arbetsområdet testades också. Linjeföljning visade sig fungera bäst när två sensorer var placerade framför framhjulen när man körde framåt och två vid bakhjulet när man backade. Slutsatsen blev att fyra sensorer var tillräckligt för att uppnå linjeföljningsförmåga. Den bästa utformningen på arbetsytan konstaterades vara en X-formad yta. Att använda 90° hörn visade sig vara lättast att navigera genom.
Seydaoglu, Muaz. "Splitting methods for autonomous and non-autonomous perturbed equations". Doctoral thesis, Universitat Politècnica de València, 2016. http://hdl.handle.net/10251/71358.
Pełny tekst źródła[ES] Esta tesis aborda el tratamiento de problemas perturbados con métodos de escisión (splitting). Tras motivar el origen de este tipo de problemas en el capítulo 1, introducimos los objetivos, varias técnicas básicas y métodos existentes en capítulo 2. En el capítulo 3 consideramos la integración numérica de ecuaciones no autónomas separables y parabólicas usando métodos de splitting de orden mayor que dos usando coeficientes complejos (métodos con coeficientes reales de orden mayor de dos necesariamente tienen coeficientes negativos). Proponemos una clase de métodos que permite evaluar todos los operadores con dependencia temporal en valores reales del tiempo lo cual genera esquemas estables y fáciles de implementar. Si el sistema se puede considerar como una perturbación de un problema resoluble de forma exacta y si el flujo de la parte dominante se avanza usando coeficientes reales, es posible construir métodos altamente eficientes para este tipo de problemas. Demostramos la eficiencia de estos métodos en varios ejemplos numéricos. En el capítulo 4 proponemos métodos de splitting para el cálculo de la exponencial de matrices perturbadas que se pueden escribir como suma A = D + epsilon*B de una matriz dispersa y eficientemente exponenciable con exponencial dispersa exp(D) y una matriz densa epsilon*B de noma pequeña. El algoritmo predominante se basa en escalar la matriz grande con un número pequeño 2^(-s) para poder exponenciar el resultado con métodos eficientes de Padé o Taylor y finalmente obtener la aproximación a la exponencial elevando al cuadrado repetidamente. En este contexto, el coste computacional proviene de las multiplicaciones de matrices densas y presentamos una cuadratura modificada aprovechando la estructura perturbada para reducir el número de productos. Resultados teóricos sobre errores locales y propagación de error para métodos de splitting son complementados con experimentos numéricos y muestran una clara mejora sobre métodos existentes a precisión media. En el capítulo 5, consideramos la integración numérica de la ecuación de Hill perturbada. Resonancias paramétricas pueden aparecer y esta propiedad es de gran interés en muchas aplicaciones físicas. Habitualmente, las ecuaciones de Hill provienen de una función hamiltoniana y la solución fundamental es una matriz simpléctica, una propiedad muy importante que preservar con los integradores numéricos. Presentamos nuevos integradores simplécticos exponenciales de orden seis y ocho tallados a la ecuación de Hills. Estos métodos se basan en una aproximación simpléctica eficiente a la exponencial de osciladores armónicos acoplados de dimensión alta y dan lugar a resultados precisos para problemas oscilatorios a un coste computacional bajo y varios ejemplos numéricos ilustran su rendimiento. Conclusiones e indicadores para futuros estudios se detallan en el capítulo 6.
[CAT] La present tesi està enfocada al tractament de problemes perturbats utilitzant, entre altres, mètodes d'escisió (splitting). Comencem motivant l'oritge d'aquest tipus de problems al capítol 1, i a continuació introduïm el objectius, diferents tècniques bàsiques i alguns mètodes existents al capítol 2. Al capítol 3, consideram la integració numèrica d'equacions no autònomes separables i parabòliques utilitzant mètodes d'splitting d'ordre major que dos utilitzant coeficients complexos (mètodes amb coeficients reials d'ordre major que dos necesariament tenen coeficients negatius). Proposem una clase de mètodes que permeten evaluar tots els operadors amb dependència temporal explícita amb valors reials del temps. Esta forma de procedir genera esquemes estables i fàcils d'implementar. Si el sistema es pot considerar com una perturbació d'un problema exactament resoluble, i la part dominant s'avança utilitzant coeficients reials, es posible construir mètodes altament eficients per aquest tipus de problemes Demostrem la eficiència d'estos mètodes per a diferents exemples numèrics. Al capítol 4, proposem mètodes d'splitting per al càcul de la exponencial de matrius pertorbades que es poden escriure com suma A = D + epsilon*B (una matriu que es pot exponenciar fàcilment i eficientemente, com es el cas d'algunes matrius disperses exp(D), i una matriu densa epsilon*B de norma menuda). L'algorisme predominant es basa en escalar la matriu gran amb un nombre menut 2^(-s) per a poder exponenciar el resultat amb mètodes eficients de Padé o Taylor i finalment obtindre la aproximació a la exponencial elevant al quadrat repetidament. En este context, el cost computacional prové de les multiplicacions de matrius denses i presentem una quadratura modificada aprofitant la estructura de matriu pertorbada per reduir el nombre de productes. Resultats teòrics sobre errors locals i propagació d'error per a mètodes d'splitting son analitzats i corroborats amb experiments numèrics, mostrant una clara millora respecte a mètodes existens quan es busca una precisió moderada. Al capítol 5, considerem la integració numèrica de l'ecuació de Hill pertorbada. En este tipus d'equacions poden apareixer resonàncies paramètriques i esta propietat es de gran interés en moltes aplicacions físiques. Habitualment, les equacions de Hill provenen d'una función hamiltoniana i la solució fonamental es una matriu simplèctica, siguent esta una propietat molt important a preservar pels integradors numèrics. Presentams nous integradors simplèctics exponencials d'orden sis i huit construits especialmente per resoldre l'ecuació de Hill. Estos mètodes es basen en una aproxmiació simplèctica eficient a la exponencial d'osciladors harmònics acoplats de dimensió alta i donen lloc a resultats precisos per a problemas oscilatoris a un cost computacional baix. La eficiencia dels mètodes s'il.lustra en diferents exemples numèrics. Conclusions i indicadors per a futurs estudis es detallen al capítol 6.
Seydaoglu, M. (2016). Splitting methods for autonomous and non-autonomous perturbed equations [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/71358
TESIS
Tuma, Fischer Sebastian, i Jojje Sundblad. "Autonomous Compaction Roller : Temporarily convert a non autonomous compaction machine to become autonomous during endurance testing". Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-16728.
Pełny tekst źródłaHur kanen icke-autonom vägvältomvandlas tillatt bli tillfälligt autonom medan den utför ett 500timmar långttidsprov?Särskilt sedanvägvältenifrågainte ärbyggd för att vara autonom och ska intevara autonom efter attlångtidsprovetär slutfört. Det autonoma systemet skaävenkunna anpassas tillalla vältar som Dynapac utvecklar och ska flyttas till en annan maskin närlångtidsprovetär klart. Idenna avhandling konstrueras ett koncept för hur hela det autonoma systemet kommer att fungera ochenprototyp tillverkaspå hur man konverterar den nuvarande manuella mekaniska styrningen till attstyras av en dator. Styrprototypen testades på en Dynapac CC4200 asfaltsvält med dubbla valsar ochfungerade bra. En omfattande riskanalys utvecklades ochlika såen kravlista över vad som behöveruppnås vid autonom testning av en vägvält. Arbetet har gjorts med hjälp av metoden “designthinking”, vilket är en samling av flera metoder för att skapa nya koncept och idéer. Det slutgiltigakonceptet resulterade i ett navigationssystem som använder GNSS för navigering och begränsning avkörområdet. Den använder också radar för att upptäcka främmande föremål i sin vägvilketförhindrarkollision. Flera system föreslås användasförfunktionsfelsdetektering på välten, vilket är en viktig delav en mänskligoperatörs arbetevid provning av nya maskiner. Maskinen kommer att vara i ett slutetområde som är avskilt med ett nätstängsel.Tillträde till området ges endast till behörig personal ochendast när den autonoma välten är avstängd. På grund avmaskinerna ifråga inte är fullt utvecklade,kan de inte litas på tillräckligt för att ha personer inom körområdet medan det autonoma systemet är idrift.
Zimmerli, Laurent. "Rating autonomous systems". Zurich : ETH, Swiss Federal Institute of Technology, Department of Computer Engineering and Networks Laboratory (TIK), 2008. http://e-collection.ethbib.ethz.ch/show?type=dipl&nr=424.
Pełny tekst źródłaAksaray, Derya. "Autonomous Hopping Rotochute". Thesis, Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/39578.
Pełny tekst źródłaBelin, Siderov Mitkov. "AUTONOMOUS MINING VEHICLE". Thesis, KTH, Industriell produktion, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215965.
Pełny tekst źródłaBlom, Jonatan. "Autonomous Hauler Loading". Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-21921.
Pełny tekst źródłaI det här examensarbetet har designat och implementerat komponenter till ettsystem för automatiserad materialhantering i anläggningsbranschen, en autonomhjullastare. Examensarbetet avslutas med en uppvisning av den prototyp somvi implementerat våra komponenter på. Vårt främsta bidrag till systemet är enny mjukvarudesign, med det nya upplägget har det blivit enklare att integreranya komponenter i systemet. Förutom plattformen så har vi tagit fram komponenteroch lösningar för era delsystem som krävs för autonom operation medhjullastaren, dessa har vi listat några av dessa nedan. Tillståndsmaskin för hantering av övergripande uppdrag. Bildbehandlingsalgoritmer, som utifrån LiDAR data parametriserar lastmottagaren(i detta examensarbete en dumper) Dynamisk translationsalgoritm, denna används för att genomföra en tömningssekvenspå en godtycklig koordinat.Mycket jobb har även lagts på utveckling av underliggande system och funktionalitet,bland annat har vi implementerat kommunikations protokoll och APIför en LiDAR skanner samt ett API för en servo controller. Vi har också konstrueraten mekanisk vagga för LiDAR skannern och servomotorn i CAD, dennakonstruktion tillverkade vi senare i en CNC fräs.
Wilson, Ian. "Believable autonomous characters". Thesis, University of Westminster, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.509300.
Pełny tekst źródłaGenot, Anthony. "DNA autonomous devices". Thesis, University of Oxford, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.543551.
Pełny tekst źródłaNarendran, Kailas 1979. "Autonomous stair climbing". Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/29701.
Pełny tekst źródłaIncludes bibliographical references (p. 71-73).
As the face of warfare changes, the military has started to explore the application of robotics on the battlefield. Robots give soldiers a flexible, technologically advanced, disposable set of eyes and ears to assist them with their goal. This thesis deals with the design and implementation of a system to allow a small highly mobile tactical robot to climb stairs autonomously. A subsumption architecture is used to coordinate and control the maneuver. Various approaches to the problem including evolved architectures and use of contraction analysis are explored. Code was written and tested for functionality with basic test software. The functionality of parts of the system and control architecture was tested on the robot in a simulated operational environment.
by Kailas Narendran.
M.Eng.
Stelzer, Roland. "Autonomous sailboat navigation". Thesis, De Montfort University, 2012. http://hdl.handle.net/2086/7364.
Pełny tekst źródłaSiderov, Mitkov Belin. "AUTONOMOUS MINING VEHICLE". Thesis, KTH, Industriell produktion, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-200894.
Pełny tekst źródłaAutomation i gruvindustrin är ett av de viktigaste forsknings- och tillämpningsområdena för artificiell intelligens. Det är också ett av nyckelområdena för autonom fordonsteknik. För att åstadkomma autonom körning, behöver forskare ta hjälp från många olika områden såsom t.ex. datavetenskap, maskinteknik, matematik men även psykologi. Med den nuvarande teknikutvecklingshastigheten så kommer det inom en snar framtid vara fullt möjligt för autonom körning att bli verklighet inom områden såsom t.ex. gruvnäringen samt offentliga och privata transporter. Det är uppenbart att förflyttning med autonoma fordon kommer vara en viktig typ av transport när fördelarna med autonoma fordon går upp för allmänheten. Detta arbete fokuserar på ett belysningssystem för ett autonomt gruvfordon, ett område som inte tidigare blivit särskilt ordentligt studerat. I denna studie har ett modernt belysningssystem utformats och testats för användande i autonoma gruvfordon. Studien täcker inte bara belysningssystemet utan även rengöringssystem för belysningsenheter, sensorer och kameror. Två patentansökningar har lämnats in. Även samspelet mellan människa och fordon har studerats.
Peterson, John Ryan. "Autonomous Source Localization". Diss., Virginia Tech, 2020. http://hdl.handle.net/10919/97954.
Pełny tekst źródłaDoctor of Philosophy
This work discusses the use of unmanned aerial and ground vehicles to autonomously locate radioactive materials. Using radiation detectors onboard each vehicle, they are commanded to search the environment using a method that incorporates measurements as they are collected. A mathematical model allows measurements taken from different vehicles in different positions to be combined together. This approach decreases the time required to locate sources by using previously collected measurements to improve the quality of later measurements. This approach also provides a best estimate of the location of a source as data is collected. This algorithm was tested in an experiment conducted at Savannah River National Laboratory. Further numerical experiments were conducted testing different reward functions and exploration algorithms.
Almer, Casino Ana, i Vicente Miguel Ángel Sempere. "Autonomous medical robot". Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-18602.
Pełny tekst źródłaSteiner, Neil Joseph. "Autonomous Computing Systems". Diss., Virginia Tech, 2008. http://hdl.handle.net/10919/26758.
Pełny tekst źródłaPh. D.
Morales, Néstor, i Manuel Serrano. "Autonomous Robotics Platforms". Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-17261.
Pełny tekst źródłaKryvozub, Pavlo. "Autonomous city form". Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/123591.
Pełny tekst źródłaCataloged from PDF version of thesis.
Includes bibliographical references (pages 104-105).
Innovations in transportation give us a chance to rethink and redefine the art of city design, centered as much on the quality of public space as on economic efficiency. Transportation is the backbone of urbanism. What is a city if not a group of buildings distributed in space and thus functioning together. Historically, innovations in transportation challenged the temporal and spatial qualities of the city. The automobile expanded the city in breadth. The elevator built it up in height. However, with the expansion of the city size, density and prosperity, we have sacrificed public domain, and worsened of the quality of the urban form. This thesis looks into the relationships between transportation technology as a driver and space as a medium of urban design. With the rapid introduction of new technologies in transportation (autonomous vehicles) there is an opportunity to rethink the aesthetics of the urban form and its perception. Through design research, this thesis seeks to synthesize principles of spatial design and propose potential alternatives to the future of urbanism. Keywords: Aesthetic urbanism, Perception of space, Autonomous Transportation
by Pavlo Kryvozub.
S.M. in Architecture Studies (Urbanism)
S.M.inArchitectureStudies(Urbanism) Massachusetts Institute of Technology, Department of Architecture
BRUN, DANIEL, i SAN KHAFFAF. "Autonomous Beverage Dispenser". Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-232967.
Pełny tekst źródłaUnder de senaste 50 åren har teknologin inom automa-tisering ökat kraftigt, vilket speglas i dagens samhälle där många produkter helt eller delvis är automatiserade. Den främsta anledningen till detta är att intresset inom området ökat i samband med att priser på ingående komponenter minskat. Idag finns det ett stort spektrum av olika komplexa au-tomatiserade produkter, men vad denna rapport riktar in sig pa˚ är att ge en förståelse för grunderna inom ett autonomt system och hur denna byggs upp av olika ingående komponenter. För att konkretisera detta kommer en auto-nom dryckesautomat konstrueras, vilken ska fylla ett glas med en godtycklig form till en given nivå. Syftet med denna rapport är således att konstruera en prototyp som ska konkretisera hur individuella ingående komponenter kan bygga upp ett autonomt system. Detta möjliggörs genom att systemet delas upp i två moduler. I den första modulen ingår en ultraljudssensor och en peristaltik pump som tillsammans ska fylla glaset med den givna nivån av vätska. Den andra modulen består av en ultraljudssensor och en linjäraktuator och dessa används för att göra systemet mer anpassbar till glas av olika storlekar. Detta upplägg och kombinationen av komponenter kommer att skapa ett autonomt system genom att koppla samman modulerna med hjälp av en mikrokontroller. Systemets prestanda mäts genom att utföra tester på med hur bra precision systemet kan leverera en önskad mängd vätskenivå till olika glas. Utöver detta test kommer ytterligare två individuella tester genomföras på de två modulerna. De utförda experimenten uppnådde godkända resultat som var inom projektets ramar, men en vidareutveckling av projektet skulle kunna främja en ökad förståelse av autonoma system samt minska felen.
Thomaschewski, Sonja [Verfasser]. "Form methods for autonomous and non-autonomous Cauchy problems / Sonja Thomaschewski". Ulm : Universität Ulm. Fakultät für Mathematik und Wirtschaftswissenschaften, 2003. http://d-nb.info/1015354769/34.
Pełny tekst źródłaParry, Aled John. "Autonomous and non-autonomous regulation of chromatin structure during cellular senescence". Thesis, University of Cambridge, 2018. https://www.repository.cam.ac.uk/handle/1810/273926.
Pełny tekst źródłaTamborski, Janina. "Understanding cell-autonomous and non-autonomous signalling events in stomatal immunity". Thesis, University of East Anglia, 2018. https://ueaeprints.uea.ac.uk/69670/.
Pełny tekst źródłaPark, Junghee Ph D. Massachusetts Institute of Technology. "A homotopy-based hierarchical framework for semi-autonomous/autonomous vehicle navigation". Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/103481.
Pełny tekst źródłaCataloged from PDF version of thesis.
Includes bibliographical references (pages 223-234).
Semi-autonomous and autonomous vehicles have been of interest for reasons such as safety, efficiency, and convenience. The thesis proposes a homotopy-based hierarchical motion planning and control framework for vehicle navigation. A homotopy is, roughly speaking, a set of trajectories with the same high-level navigation decision. The motivation of the proposed hierarchical framework based on homotopy class is twofold: compatibility with humans decision and computational benefits. The approach explicitly identifies and enumerates feasible homotopy classes corresponding to different navigation decisions allowing for interaction with a human operator/ supervisor. Also, the approach has computational benefits, specifically enabling a divide-and-conquer strategy. In a collision-free trajectory generation problem, the presence of obstacles serves to creating discontinuities in the set of feasible trajectories. However, the complexity can be reduced significantly if we independently consider multiple distinct continuous sets of feasible trajectories, where no discontinuity is created. The thesis first presents a method for enumeration and representation of the navigation decisions by cell sequences to divide a collision-free vehicle navigation problem using cell decomposition. Then, it proposes a sampling-based method to evaluate the desirability of each navigation decisions in terms of control input safety margin. In order to make a vehicle navigate safely within a chosen navigation decision, a model predictive control framework is utilized with a corresponding navigation decision constraint. The constraint is non-convex, but a sequence of convex cells is prescribed in advance. An efficient formulation of the problem into mixed integer programming is proposed and validated in the thesis. Finally, a user study in a driving simulator shows that users accept semi-autonomous/ autonomous vehicles based on the proposed framework on highways as much as regular vehicles.
by Junghee Park.
Ph. D.
Petillo, Stephanie Marie. "Autonomous & adaptive oceanographic feature tracking on board autonomous underwater vehicles". Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/97772.
Pełny tekst źródłaThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis. Vita.
Includes bibliographical references (pages 203-213).
The capabilities of autonomous underwater vehicles (AUVs) and their ability to perform tasks both autonomously and adaptively are rapidly improving, and the desire to quickly and efficiently sample the ocean environment as Earth's climate changes and natural disasters occur has increased significantly in the last decade. As such, this thesis proposes to develop a method for single and multiple AUVs to collaborate autonomously underwater while autonomously adapting their motion to changes in their local environments, allowing them to sample and track various features of interest with greater efficiency and synopticity than previously possible with preplanned AUV or ship-based surveys. This concept is demonstrated to work in field testing on multiple occasions: with a single AUV autonomously and adaptively tracking the depth range of a thermocline or acousticline, and with two AUVs coordinating their motion to collect a data set in which internal waves could be detected. This research is then taken to the next level by exploring the problem of adaptively and autonomously tracking spatiotemporally dynamic underwater fronts and plumes using individual and autonomously collaborating AUVs.
by Stephanie Marie Petillo.
Ph. D.
Prasanna, Bhubalan Suriya, i Damian Dziadak. "Autonomous Filming of Test Cars : Application integration and autonomous control approach". Thesis, Blekinge Tekniska Högskola, Institutionen för tillämpad signalbehandling, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-18527.
Pełny tekst źródłaManii, Esfandiar. "AUTONOMOUS TRACKING AND FOLLOWING OF SHARKS WITH AN AUTONOMOUS UNDERWATER VEHICLE". DigitalCommons@CalPoly, 2012. https://digitalcommons.calpoly.edu/theses/729.
Pełny tekst źródłaOlafsson, Asgrimur. "Autonomous Mobile Robot Cooperation". Thesis, University of Skövde, Department of Computer Science, 1997. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-242.
Pełny tekst źródłaThis project is concerned with an investigation of simple communication between ANN-controlled mobile robots. Two robots are trained on a (seemingly) simple navigation task: to stay close to each other while avoiding collisions with each other and other obstacles.
A simple communication scheme is used: each of the robots receives some of the other robots’ outputs as inputs for an algorithm which produces extra inputs for the ANNs controlling the robots.
In the experiments documented here the desired cooperation was achieved. The different problems are analysed with experiments, and it is concluded that it is not easy to gain cooperation between autonomous mobile robots by using only output from one robot as input for the other in ANNs.
Bru, Leif Hamang. "Autonomous Remote Controlled Helicopter". Thesis, Norwegian University of Science and Technology, Department of Computer and Information Science, 2005. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9199.
Pełny tekst źródłaUnmanned Aerial Vehicles (UAVs) have a tremendous appeal. One can imagine a large number of applications such as search-and-rescue, traffic monitoring, aerial mapping, etc. Helicopters are particularly attractive due to their Vertical Take Off and Landing (VTOL) capabilities. The research on UAVs has shown rapid development in recent years, and offers a great number of challenges. This thesis is the result of a project which is a part of the Autonomous Remote Controlled Helicopter (ARCH) project at the Department of Computer and Information Science, Norwegian University of Science and Technology. The ARCH project has already gained public interest, when it was featured on a television program (Schrödingers katt, NRK. September 2004). The object of this thesis is divided into three main sections. Firstly, it is to create and describe a remote control system for controlling the UAV in semi-autonomous mode, that will also enable the UAV to autonomously follow objects (pursuit-mode). Secondly, it is to create and describe a virtual cockpit which is to be used with the remote control system. Finally, it is to create and describe an image stabilization system, which can stabilize the visual information sent from the UAV to the ground and the virtual cockpit. These three components have been combined and integrated into the client prototype called ARCH Groundstation. Together, these three components provides a platform for an operator to control the ARCH UAV in semi-autonomous mode.
Snis, Niklas. "Actuators for autonomous microrobots". Doctoral thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-8720.
Pełny tekst źródłaMcLearn, Greg. "Autonomous Cooperating Web Crawlers". Thesis, University of Waterloo, 2002. http://hdl.handle.net/10012/1080.
Pełny tekst źródłaNavas, Medrano Samuel. "Autonomous Wheel Loader Simulator". Thesis, Örebro universitet, Institutionen för naturvetenskap och teknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-38053.
Pełny tekst źródłaGuasti, Courtney Allen Gale W. F. "An autonomous digging vehicle". Auburn, Ala., 2006. http://repo.lib.auburn.edu/2006%20Summer/Theses/GUASTI_COURTNEY_0.pdf.
Pełny tekst źródłaDeng, Xiao Yan. "Cost-driven autonomous mobility". Thesis, Heriot-Watt University, 2007. http://hdl.handle.net/10399/2071.
Pełny tekst źródłaGrima, Alexander, i Jonathan Fagerström. "Creating an Autonomous Octocopter". Thesis, KTH, Skolan för teknikvetenskap (SCI), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-152801.
Pełny tekst źródłaBingham, Brian S. (Brian Steven) 1973. "Precision autonomous underwater navigation". Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/29629.
Pełny tekst źródłaIncludes bibliographical references (p. 175-185).
Deep-sea archaeology, an emerging application of autonomous underwater vehicle (AUV) technology, requires precise navigation and guidance. As science requirements and engineering capabilities converge, navigating in the sensor-limited ocean remains a fundamental challenge. Despite the logistical cost, the standards of archaeological survey necessitate using fixed acoustic transponders - an instrumented navigation environment. This thesis focuses on the problems particular to operating precisely within such an environment by developing a design method and a navigation algorithm. Responsible documentation, through remote sensing images, distinguishes archaeology from salvage, and fine-resolution imaging demands precision navigation. This thesis presents a design process for making component and algorithm level tradeoffs to achieve system-level performance satisfying the archaeological standard. A specification connects the functional requirements of archaeological survey with the design parameters of precision navigation. Tools based on estimation fundamentals - the Cram6r-Rao lower bound and the extended Kalman filter - predict the system-level precision of candidate designs. Non-dimensional performance metrics generalize the analysis results. Analyzing a variety of factors and levels articulates the key tradeoffs: sensor selection, acoustic beacon configuration, algorithm selection, etc. The abstract analysis is made concrete by designing a survey and navigation system for an expedition to image the USS Monitor. Hypothesis grid (Hgrid) is both a representation of the sensed environment and an algorithm for building the representation. Range observations measuring the line-of-sight distance between two acoustic transducers are subject to multipath errors and spurious returns.
The quality of this measurement is dependent on the location of the estimator. Hgrids characterize the measurement quality by generating a priori association probabilities - the belief that subsequent measurements will correspond to the direct-path, a multipath, or an outlier - as a function of the estimated location. The algorithm has three main components: the mixed-density sensor model using Gaussian and uniform probability distributions, the measurement classification and multipath model identification using expectation-maximization (EM), and the grid-based spatial representation. Application to data from an autonomous benthic explorer (ABE) dive illustrates the algorithm and shows the feasibility of the approach.
by Brian Steven Bingham.
Ph.D.
Johannsson, Hordur. "Toward autonomous harbor surveillance". Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/60167.
Pełny tekst źródłaIncludes 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.
Dryer, Jay E. (Jay Edward) 1970. "Robust autonomous vehicle navigation". Thesis, Massachusetts Institute of Technology, 2002. http://hdl.handle.net/1721.1/91363.
Pełny tekst źródłaCrous, C. B. "Autonomous robot path planning". Thesis, Stellenbosch : University of Stellenbosch, 2009. http://hdl.handle.net/10019.1/2519.
Pełny tekst źródłaIn this thesis we consider the dynamic path planning problem for robotics. The dynamic path planning problem, in short, is the task of determining an optimal path, in terms of minimising a given cost function, from one location to another within a known environment of moving obstacles. Our goal is to investigate a number of well-known path planning algorithms, to determine for which circumstances a particular algorithm is best suited, and to propose changes to existing algorithms to make them perform better in dynamic environments. At this stage no thorough comparison of theoretical and actual running times of path planning algorithms exist. Our main goal is to address this shortcoming by comparing some of the wellknown path planning algorithms and our own improvements to these path planning algorithms in a simulation environment. We show that the visibility graph representation of the environment combined with the A* algorithm provides very good results for both path length and computational cost, for a relatively small number of obstacles. As for a grid representation of the environment, we show that the A* algorithm produces good paths in terms of length and the amount of rotation and it requires less computation than dynamic algorithms such as D* and D* Lite.
Bernberg, Josefine, Martin Hellkvist, Erik Persson i August Tynong. "Camera-based Autonomous System". Thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-297825.
Pełny tekst źródłaParadkar, Aniket D. "GPS guided autonomous robot". Thesis, California State University, Long Beach, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10116163.
Pełny tekst źródłaThis project focused on building a GPS controlled 6-wheel autonomous robot. It is a self-guided autonomous robot, which can be maneuvered with the help of GPS module and compass together interfaced with the microcontroller Arduino Mega. The 6-wheels of the robot are interfaced with monster motor shield and then connected to the Arduino Mega. The speed of the robot is controlled using PWM signals sent from the Arduino board. When the robot starts, it locates its current position using the GPS module. The destination coordinates are already given in the code. Once the current location is fixed, it calculates the distance and heading between the two points. The compass module tells the current heading of the robot. The final heading is calculated by taking the difference between actual heading and current heading. With the help of final heading angle, the robot moves towards its desired location. As the robot moves close to the destination the distance reduces. The minimum distance is predefined as 5 meters in the algorithm since the precision of GPS module is within the range of 5 to 6 meters. Once the distance is less than 5 meters the robot stops, assuming it has reached to the destination location.
The purpose of building this robot was to guide the robot to multiple locations autonomously with the destination locations predefined in the algorithm. To maneuver the robot to the multiple locations it is very important to calculate the accurate distance and heading. For this project, the main task was to design an algorithm that can calculate the exact distance between any two locations and guide the robot in the proper direction. The motors used for this project have high torque and the updating speed of the GPS module is slow. It was very important to keep the speed of the motor very low and change the speed of the motor only when there was a need to change the direction of the robot. The algorithm designed was able to fulfill these tasks and guided the robot to multiple locations and reach the final destination.
Björk, Friström Viking, i Ludvig Bjärkeback. "Autonomous Rubik's Cube Solver". Thesis, KTH, Mekatronik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-190859.
Pełny tekst źródłaDagens industrier blir allt mer och mer automatiserad. Varje maskin behöver en algoritm för att fungra, och vissa maskiner måste även ta beslut om hur de ska utföra sin uppgift på bästa vis. Dessa problem kan vara allt från stora transportproblem, till att lösa små pussel. 3D pusslet Rubiks Kub har fänglsat miljoner människor sedan det skapades i mitten av 1970-talet. Med 43 Kvin-tiljoner möjliga kombinationer är Rubiks Kub ett komplicerat problem som kräver både logiskt tänkande och memorisering. Senaste trenden är att skapa robotar som löser kuben automatiskt.Målet med detta kandiatprojekt är att utreda kopplingen mellan val av lös-ningsalgoritm och energiåtgången för ett mekaniskat system. För att genomföra utredningen ska vi andvända oss av en kubiks kub lösare som kan automatiskt lösa en kub från alla positioner. Den fungerar genom att kuben läses in optiskt och så skapas en virituell kopia. Två olika lösningsalgoritmer kommer att köras för att lösa kuben och deras resultat i energiåtgång kommer att gämföras. Från denna data kommer slutsatser att dras om de två algoritmerna. En mer kom-pliserad algoritm som kräver färre drag kommer att vara mer energie˙ektivt, åtminstånde när man ignorerar beräkningskostnad och dess energi. Vi kom fram till att en optimerad algoritm andvände bara 8% av energin jämför med en simplare algoritm.
Pérez, Tellez Adriel, i Jonas Roth. "Mobile autonomous ground vehicles". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-199348.
Pełny tekst źródłaArutselvan, Kuralamudhan. "Assistive Autonomous Ground Vehicles". Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-200530.
Pełny tekst źródłaLundquist, Martin. "Autonomous Bus Passenger Experience". Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-149064.
Pełny tekst źródłaHinsz, Lee. "An Autonomous Reconfigurable Antenna". Thesis, North Dakota State University, 2019. https://hdl.handle.net/10365/29883.
Pełny tekst źródłaVidmark, Emil. "Autonomous Aerial Void Exploration". Thesis, Luleå tekniska universitet, Datavetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79640.
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