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Giraldez, Dember Alexander. "FPGA-aided MAV vision-based estimation". Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/76960.
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Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 79-81).
The process of estimating motion trajectory through an unknown environment from a monocular image sequence is one of the main challenges in Micro Air Vehicle (MAV) navigation. Today MAVs are becoming more and more prevalent in both civilian and military operations. However, with their reduction in size compared to traditional Unmanned Aircraft Vehicles (UAVs), the computational power and payload that can be carried onboard is limited. While there is ample research in motion estimation for systems that are deployed on the ground, have various sensors, as well as multiple cameras, a current challenge consists of deploying minimalistic systems suited specifically for MAVs. This thesis presents a novel approach for six-degrees of freedom motion estimation using a monocular camera containing a Field-Programmable-Gate-Array (FPGA). Most implementations using a monocular camera onboard MAVs stream images to a ground station for processing. However, an FPGA can be programmed for feature extraction, so instead of sending raw images, information is encoded by the FPGA and only frame information, feature locations, and descriptors are transmitted. This onboard precomputation greatly reduces bandwidth usage and ground station processing. The objectives of this research are (1) to show how the raw computing power of an FPGA can be exploited in this application and (2) to evaluate the performance of such a system against a traditional monocular camera implementation. The underlying motivation is to bring MAV systems closer to complete autonomy, meaning all the computation needed for estimation and navigation is carried out autonomously and onboard.
by Dember Alexander Giraldez.
M.Eng.
2
Greenberg, Jacob. "Visual Odometry for Autonomous MAV with On-Board Processing". Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-177290.
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A new visual registration algorithm (Adaptive Iterative Closest Keypoint, AICK) is tested and evaluated as a positioning tool on a Micro Aerial Vehicle (MAV). Captured frames from a Kinect like RGB-D camera are analyzed and an estimated position of the MAV is extracted. The hope is to find a positioning solution for GPS-denied environments. This thesis is focused on an indoor office environment. The MAV is flown manually, capturing in-flight RGB-D images which are registered with the AICK algorithm. The result is analyzed to come to a conclusion if AICK is viable or not for autonomous flight based on on-board positioning estimates. The result shows potential for a working autonomous MAV in GPS-denied environments, however there are some surroundings that have proven difficult. The lack of visual features on e.g., a white wall causes problems and uncertainties in the positioning, which is even more troublesome when the distance to the surroundings exceed the RGB-D cameras depth range. With further work on these weaknesses we believe that a robust autonomous MAV using AICK for positioning is plausible.En ny visuell registreringsalgoritm (Adaptive Iterative Closest Keypoint, AICK) testas och utvärderas som ett positioneringsverktyg på en Micro Aerial Vehicle (MAV). Tagna bilder från en Kinect liknande RGB-D kamera analyseras och en approximerad position av MAVen beräknas. Förhoppningen är att hitta en positioneringslösning för miljöer utan GPS förbindelse, där detta arbete fokuserar på kontorsmiljöer inomhus. MAVen flygs manuellt samtidigt som RGB-D bilder tas, dessa registreras sedan med hjälp av AICK. Resultatet analyseras för att kunna dra en slutsats om AICK är en rimlig metod eller inte för att åstadkomma autonom flygning med hjälp av den uppskattade positionen. Resultatet visar potentialen för en fungerande autonom MAV i miljöer utan GPS förbindelse, men det finns testade miljöer där AICK i dagsläget fungerar undermåligt. Bristen på visuella särdrag på t.ex. en vit vägg inför problem och osäkerheter i positioneringen, ännu mer besvärande är det när avståndet till omgivningen överskrider RGB-D kamerornas räckvidd. Med fortsatt arbete med dessa svagheter är en robust autonom MAV som använder AICK för positioneringen rimlig.
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Tamai, Masatoshi. "Experimental investigations on biologically inspired airfoils for MAV applications". [Ames, Iowa : Iowa State University], 2007.
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Watman, Daniel John Mechanical & Manufacturing Engineering Faculty of Engineering UNSW. "Analysis and optimisation of passive flapping wing propulsion for micro aerial vehicles". Publisher:University of New South Wales. Mechanical & Manufacturing Engineering, 2009. http://handle.unsw.edu.au/1959.4/43715.
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Flapping wing propulsion has the potential to revolutionise the field of Micro Aerial Vehicles (MAVs), but little is known about the effect of flapping motion on the performance of flapping wings. Prototype MAVs have achieved flight with passive flapping wings moving in a sinusoidal flapping motion, but the possible benefits of alternative flapping motions have not been studied in detail. This thesis presents the development of an Integrated Testing System (ITS), which allows the evaluation of flapping wing performance for different flapping motions. A detailed parametric study of the effect of flapping motion on wing performance is performed, and the optimal flapping motion for several passive flapping wings is determined by hardware-in-the-loop optimisation of two wing performance metrics. The developed ITS was able to automatically test a variety of passive flapping wings, and demonstrated precise control of the flapping motion and accurate and repeatable measurements of average lift force, mechanical power, and wing twist angle. The parametric study revealed that of the three flapping motions tested, the sinusoidal flapping motion generated the highest lift force, but a smoothed triangular motion was able to generate lift significantly more efficiently under load. The optimal flapping motion was successfully determined for three flapping wings, and was found to increase the loaded effciency of the wings by an average of 31% over a sinusoidal flapping motion. The determined optimal motion was almost identical for the three tested wings, and was found to strongly resemble the flapping motion of insects These findings demonstrate that significant improvements in the performance of passive flapping wings can be achieved by relatively minor variations of the flapping motion. This increased understanding will ideally lead to more efficient flapping wing MAVs with higher payloads, longer flight times, and improved performance.
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Sreetharan, Pratheev Sabaratnam. "Mechanical Intelligence in Millimeter-Scale Machines". Thesis, Harvard University, 2012. http://dissertations.umi.com/gsas.harvard:10426.
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Advances in millimeter-scale fabrication processes have enabled rapid progress towards the development of flapping wing micro air vehicles with wing spans of several centimeters and a system mass on the order of 100mg. Concerning flight stability and control mechanisms for these mass and power limited devices, this dissertation explores the use of underactuated “mechanically intelligent” systems to passively regulate forces and torques encountered during flight. Several experiments demonstrate passive torque regulation in physical flapping wing systems. Finally, this dissertation concludes with a detailed description of the Printed Circuit MEMS manufacturing process, developed to address the practical problem of building complex insect-scale machines.Engineering and Applied Sciences
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Tan, Lee Meng Mark. "Efficient rectenna design for wireless power transmission for MAV Applications". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Dec%5FTan%5FMark.pdf.
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Thesis (M.S. in Combat Systems and Technologies)--Naval Postgraduate School, December 2005.Thesis Advisor(s): David C Jenn, Richard Harkins. Includes bibliographical references (p.119-122). Also available online.
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Björk, Daniel. "Automated Propulsion Kit Selection for MAV : A Design Process Tool". Thesis, Linköping University, Department of Mechanical Engineering, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-4164.
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This thesis project has been carried out at Linköpings universitet at the Department of Mechanical Engineering. The emphasis of the project lies in the exploration of automatic selection of components for a propulsion kit. Specifically for this project, propulsion based on electric power and meeting the requirements for use in a Micro Aerial Vehicle (MAV). The key features include a systematic selection method based on user criterias and a model for evaluating propeller performance. These are implemented in a program written as a part of the project. The conclusion is that it is possible to make a program capable of a component selection and that the programs usability is mainly reliant on three factors: model for propeller evaluation, method of selection and the quality of the component database.
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Lubbers, Jonathan Louis. "PERCH LANDING MANEUVERS AND CONTROL FOR A ROTATING-WING MAV". UKnowledge, 2011. http://uknowledge.uky.edu/gradschool_theses/152.
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This thesis addresses flight control of the perch landing maneuver for micro-aerial vehicles. A longitudinal flight model is constructed for a pigeon-sized aircraft. In addition to a standard elevator control surface, wing-rotation also considered as a non-standard actuator for increasing low-speed aerodynamic braking. Optimal state and control trajectories for the perch landing maneuver are computed using commercial software. A neighboring optimal control law is then developed and implemented in a set of flight simulations. Simulations are run with both a quasisteady and an unsteady aerodynamic model. The effectiveness of wing rotation and of the neighboring optimal control law is discussed, as is the importance of unsteady aerodynamics during the maneuver. Wing rotation was found to be minimally effective in this case, but it showed potential to be more effective in further research. The unsteady aerodynamic model has significant influence over the success or failure of the maneuver.
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Agrawal, Arun. "Design of bio-inspired flexible flapping wing for MAV application". Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 116 p, 2008. http://proquest.umi.com/pqdweb?did=1654490211&sid=1&Fmt=2&clientId=8331&RQT=309&VName=PQD.
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Heiner, Benjamin K. "Construction of large geo-referenced mosaics from MAV video and telemetry data /". Diss., CLICK HERE for online access, 2009. http://contentdm.lib.byu.edu/ETD/image/etd3045.pdf.
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Gopa, Kumar Anand. "Experimental investigation of bio inspired flapping wings for MAV and NAV applications". [Ames, Iowa : Iowa State University], 2009. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1473212.
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Heiner, Benjamin Kurt. "Construction of Large Geo-Referenced Mosaics from MAV Video and Telemetry Data". BYU ScholarsArchive, 2009. https://scholarsarchive.byu.edu/etd/1804.
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Miniature Aerial Vehicles (MAVs) are quickly gaining acceptance as a platform for performing remote sensing or surveillance of remote areas. However, because MAVs are typically flown close to the ground (1000 feet or less in altitude), their field of view for any one image is relatively small. In addition, the context of the video (where and at what orientation are the objects being observed, the relationship between images) is unclear from any one image. To overcome these problems, we propose a geo-referenced mosaicing method that creates a mosaic from the captured images and geo-references the mosaic using information from the MAV IMU/GPS unit. Our method utilizes bundle adjustment within a constrained optimization framework and topology refinement. Using real MAV video, we have demonstrated our mosaic creation process on over 900 frames. Our method has been shown to produce the high quality mosaics to within 7m using tightly synchronized MAV telemetry data and to within 30m using only GPS information (i.e. no roll and pitch information).
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Pratt, Kevin S. "Analysis of VTOL MAV use during rescue and recovery operations following Hurricane Katrina". [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002209.
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Papapanayotou, Constantin. "Modelisation mathematique de la circulation sanguine cerebrale et application aux malformations arterioveineuses (mav)". Paris 6, 1988. http://www.theses.fr/1988PA066464.
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JOLIOT, MALOISEL VERONIQUE. "Etude des mecanismes molecularies de l'induction des nephroblastomes par le retrovirus aviaire mav". Paris 11, 1992. http://www.theses.fr/1992PA112044.
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Le mav (myeloblastosis associated virus) est un retrovirus aviaire non defectif, depourvu d'oncogene d'origine cellulaire. Il induit chez le poulet de l'osteopetrose, des nephroblastomes et des leucoses lymphoides. Differents mav, genetiquement distincts et induisant majoritairement de l'osteopetrose ou des nephroblastomes, ont ete purifies par dilution limite. Les nephroblastomes induits par le mav representent un modele animal de la tumeur de wilms. La mav-1(n), genetiquement pur, induit specifiquement des nephroblastomes et constitue un bon systeme pour etudier la specificite du pouvoir tumorigene et les mecanismes moleculaires de l'induction des nephroblastomes. L'etude du pouvoir tumorigene de retrovirus recombinants derives du mav-1(n) ou du mav-2(o) a montre que le gene env est implique dans la determination du pouvoir tumorigene. Le clonage moleculaire d'un nouveau mav-2(o) et le sequencage des genomes entier du mav-2(o) et du mav-1(n) n'a revele que des differences restreintes dans les proteines env. Nous proposons que ces proteines determinent le potentiel tumorigene en exercant un effet mitogene specifique. L'etude de la structure des provirus presents dans les tumeurs indique que la progression tumorale est correlee a une augmentation des remaniements viraux. L'etude des sequences cellulaires dans lesquelles sont integres les provirus nous a permis d'identifier un nouveau gene cellulaire (nov) qui est exprime dans tous les nephroblastomes alors qu'il ne l'est pas dans le rein adulte normal. Dans une tumeur l'expression de nov est activee par l'insertion de sequences provirales et l'arn messager initie au niveau du promoteur viral coderait pour un produit delete de l'extremite amino-terminale. Le gene nov normal code pour un produit secrete qui appartient a une nouvelle famille de proteines potentiellement impliquees dans la regulation de la multiplication cellulaire. L'expression du produit nov tronque dans les fibroblastes embryonnaires est suffisante pour induire leur transformation. Le gene nov correspond donc a un nouveau proto-oncogene
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Papapanayotou, Constantin. "Modélisation mathématique de la circulation sanguine cérébrale et application aux malformations artérioveineuses, MAV". Grenoble 2 : ANRT, 1988. http://catalogue.bnf.fr/ark:/12148/cb376172495.
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Everson, Daniel Peter. "Development of a forced oscillation test technique for determination of MAV stability characteristics". College Park, Md. : University of Maryland, 2005. http://hdl.handle.net/1903/3236.
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Thesis (M.S.) -- University of Maryland, College Park, 2005.Thesis research directed by: Dept. of Aerospace Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
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Taylor, Sarah E. "Biologically inspired wing planform optimization". Worcester, Mass. : Worcester Polytechnic Institute, 2009. http://www.wpi.edu/Pubs/ETD/Available/etd-052109-141751/.
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Thesis (M.S.)--Worcester Polytechnic Institute.Keywords: low reynolds; flight; flow visualization; low aspect ratio; micro air vehicles; planform; wings; mav; mavs. Includes bibliographical references (leaves 105-106).
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Banerjee, Soumitra Pinak. "Aeroelastic Analysis of Membrane Wings". Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/34930.
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The physics of flapping is very important in the design of MAVs. As MAVs cannot have an engine that produces the amount of thrust required for forward flight, and yet be light weight, harnessing thrust and lift from flapping is imperative for its design and development. In this thesis, aerodynamics of pitch and plunge are simulated using a 3-D, free wake, vortex lattice method (VLM), and structural characteristics of the wing are simulated as a membrane supported by a rigid frame. The aerodynamics is validated by comparing the results from the VLM model for constant angle of attack flight, pitching flight and plunging flight with analytical results, existing 2-D VLM and a doublet lattice method. The aeroelasticity is studied by varying parameters affecting the flow as well as parameters affecting the structure. The parametric studies are performed for cases of constant angle of attack, plunge and, pitch and plunge. The response of the aeroelastic model to the changes in the parameters are analyzed and documented. The results show that the aerodynamic loads increase for increased deformation, and vice-versa. For a wing with rigid boundaries supporting a membranous structure with a step change in angle of attack, the membrane oscillates about the steady state deformation and influence the loads. For prescribed oscillations in pitch and plunge, the membrane deformations and loads transition into a periodic steady state.Master of Science
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Roberts, James Francis. "Design of an Autonomous Hovering Miniature Air Vehicle as a Flying Research Platform". Thesis, The University of Sydney, 2008. http://hdl.handle.net/2123/2773.
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This thesis, by developing a Miniature Aerial Vehicle (MAV) hovering platform, presents a practical solution to allow researchers and students to implement their theoretical methods for guidance and navigation in the real world. The thesis is not concerned with the development of guidance and navigation algorithms, nor is it concerned with the development of external sensors. There have been some recent advances in guidance and navigation towards developing algorithms and simple sensors for MAVs. The task of developing a platform to test such advancements is the subject of this thesis. It is considered a difficult and time consuming process due to the complexities of autonomous flight control and the strict size, weight and computational requirements of this type of system. It would be highly beneficial to be able to buy a platform specifically designed for this task that already possesses autonomous hovering capability and the expansion connectivity for interfacing your own custom developed sensors and algorithms. Many biological and computer scientists would jump at the opportunity to maximize their research by real world implementation. The development of such a system is not a trivial task. It requires a great deal of understanding in a broad range of fields including; Aeronautical, Microelectronic, Mechanical, Computer and Embedded Software Engineering in order to create a successful prototype. The challenge of this thesis was to design a research platform to enable easy implementation of external sensors and guidance algorithms, in a real world environment for research and education. The system is designed so it could be used for a broad range of testing experiments. After extensive research in current MAV and avionics design it became obvious in several areas the best available products were not sufficient to meet the needs of the proposed platform. Therefore it was necessary to custom design and build; sensors, a data acquisition system and a servo controller. The latter two products are available for sale by Jimonics (www.jimonics.com). It was then necessary to develop a complete flight control system with integrated sensors, processor and wireless communications network which is called ‘The MicroBrain’. ‘The MicroBrain’ board measures only 45mm x 35mm x 11mm and weighs ~11 grams. The coaxial contra-rotating MAV platform design provides a high level of mechanical stability to help minimise the control system complexity. The platform was highly modified from a commercially available remotely controlled helicopter. The system incorporates a novel collision protection system that was designed to also double as a mounting place for external sensors around its perimeter. The platform equipped with ‘The MicroBrain’ is capable of fully autonomous hover. This provides a great base for testing guidance and navigational sensors and algorithms by decoupling the difficult task of platform design and low-level stability control. By developing a platform with these capabilities the researcher can now focus on the guidance and navigation task, as the difficulties in developing a custom platform have been taken care of. This therefore promotes a faster evolution of guidance and navigational control algorithms for MAVs.
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Salomé, Castro Rodrigo Luis. "El Mercado Alternativo de Valores (MAV) y la financiación de la MIPYME en el 2020". Bachelor's thesis, Universidad Peruana de Ciencias Aplicadas (UPC), 2021. http://hdl.handle.net/10757/655988.
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El presente proyecto desarrolla los lineamientos previos necesarios para el estudio de la eficiencia de la normativa del Mercado Alternativo de Valores (MAV) en función a los preceptos del análisis económico del derecho. Inicialmente se realiza una descripción sobre la justificación y objetivos del proyecto de investigación.
Posteriormente, se plantea la premisa de que el MAV no beneficia a las MIPYME y no permite alcanzar la eficiencia por carecer de incentivos reales para su funcionamiento. Para arribar a la anterior hipótesis, se brinda una introducción al sistema del MAV y se halla y explica algunas de las falencias presentes en su regulación. Además, se revisa la literatura relevante en materia de análisis económico del derecho, específicamente en relación a los costos generados por las leyes. Asimismo, se realizó un análisis del funcionamiento del MAV y el impacto que llega a tener en diferentes empresas a través de estudios nacionales e internacionales.This Project develops the necessary preliminary guidelines for the study of the efficiency of the regulations of the Alternative Securities Market (MAV for its acronym in Spanish) according to the precepts of the economic analysis of law. It begins with a description of the justification and objectives of the research project. Afterwards, the project proposes the premise that the MAV does not benefit MSMEs and does not allow them to achieve efficiency due to the lack of real incentives for its operation. In order to arrive at the above mentioned hypothesis, the project provides an introduction to the MAV system and finds and explains some of the shortcomings presents in its regulation. It also reviews relevant literature on the economic analysis of law, specifically in relation to the costs generated by law. Furthermore, it carried out an analysis of the functioning of the MAV and the impact it has on different companies through national and international studies.
Trabajo de investigación
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Jung, SeWoong. "Design and development of a micro air vehicle (MAV) test-bed for vision-based control /". [Gainesville, Fla.] : University of Florida, 2004. http://purl.fcla.edu/fcla/etd/UFE0007361.
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Sampaio, Rafael Coronel Bueno. "Novel morphologies on flying robots: design for field application". Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/18/18149/tde-21072016-223549/.
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Energetic limitations in low scale Unmanned Aerial Vehicles (UAVs) sometimes turns outdoor field applications impractical, which restricts the realization of several tasks that could potentially be improved or benefited from its sounding characteristics. Depending on the mission, Mini Aerial Vehicles (MAVs) energetic resources may be mostly wasted during the round trip from launching base and target point around which a given mission must be accomplished. In this sense, the initial deployment problem becomes prominent, raising new opportunities on how aerial robots may be launched/deployed. This work presents a novel perspective in morphological adaptations for aerial robotics that may potentially minimize initial deployment problem issues. From that perspective, we present three novel morphologies. First refers to a hybrid fixed-wing/quadrotor aiming in-flight launching possibilities. Still looking at in-flight launching, second MAV regards to a new morphology for a quadrotor whose center of gravity is shifted in order to improve passive static stability. Third one relates to a hybrid MAV that combines a watercraft and a quadrotor. The aircraft may navigate on water with low energetic cost through a specially designed structure. It also presents static stability in air and over the ground. We present all details concerning new concepts, development, analysis, design and flight simulation for all three novel platforms. A concise and robust validation of stability control is firstly performed with the ©VICON vision system. Finally, on-the-field evaluation for all three morphologies are extensively carried out, presenting optimistic experimental results of our findings.As limitações energéticas em robótica aérea de campo muitas vezes levam à sua não utilização em tarefas que poderiam se beneficiar substancialmente de suas inúmeras vantagens. Dependendo da complexidade da missão, os recursos energéticos podem ser despendidos prematuramente ainda durante o traslado ao ponto de interesse. Nesse contexto, se evidencia o problema do lançamento inicial de robôs, o que faz surgir novas possibilidades para o desenvolvimento de novas maneiras de lançá-los. Este trabalho propõe uma nova perspectiva para adaptações morfológicas para robótica aérea as quais podem significativamente minimizar os efeitos das limitações energéticas. Sob essa ótica, são propostas três novas morfologias. A primeira consiste de um robô aéreo híbrido asa fixa/quadrotor visando a possibilidade do lançamento em voo. A segunda consiste de uma aeronave de asa rotativa na configuração quadrotora morfologicamente adaptada para reposicionamento do seu centro de gravidade. O aumento da estabilidade estática passiva da aeronave também visa o seu lançamento durante o voo. A terceira se refere a um veículo aéreo híbrido que combina uma estrutura naval e um quadrotor, capaz de navegar em cenários aquáticos com baixo custo energético. O desenho mecânico resultante permite sua operação no ponto ótimo tanto para a navegação aérea quanto aquática, oferecendo estabilidade estática em todos os cenários (terra, ar e água). São apresentados todos os detalhes de conceito, concepção, análise, projeto e simulação em voo das três novas plataformas. Uma validação robusta dos sistemas de controle e estabilidade é realizada por sistema de visão ©VICON. Por fim, ensaios em campo são realizados, apresentando resultados experimentais otimistas para a aplicação das três novas morfologias.
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Vitale, Robert L. "Design and prototype development of a wireless power transmission system for a micro air vehicle (MAV)". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1999. http://handle.dtic.mil/100.2/ADA367272.
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Thesis (M.S. in Electrical Engineering) Naval Postgraduate School, June 1999.Thesis advisor(s): David C. Jenn. "June 1999." Includes bibliographical references (p. 171-172). Also available online.
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KHELIFI, YOUNES CHERAZ. "Caracterisation des sequences virales importantes pour l'induction des nephroblastomes par le retrovirus aviaire mav-1(n)". Paris 6, 1999. http://www.theses.fr/1999PA066266.
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Le mav est un retrovirus competent depourvu d'oncogene d'origine cellulaire. Il induit des nephroblastomes, de l'osteopetrose et des leucoses lymphoides chez la poule. Le mav-1(n), clone moleculairement au laboratoire induit specifiquement des nephroblastomes chez 100% des animaux. Les nephroblastomes viro-induits presentent une histologie tres similaire a celle de la tumeur renale de l'enfant appelee tumeur de wilms. Le mav-1(n) constitue donc un modele animal unique pour l'etude de l'etablissement et du maintien des nephroblastomes. Les recherches que j'ai entreprises dans le laboratoire du pr. Bernard perbal ont eu pour but l'etude des determinants viraux de la specificite et de l'efficacite du pouvoir tumorigene du mav-1(n). Une strategie basee sur la construction de virus recombinants derivant du mav-1(n) et du rsv td-prc nous a permis d'etablir que les sequences ltr sont necessaires et suffisantes pour l'induction de nephroblastomes et que la proteine su est suffisante pour l'induction de l'hyperplasie du blasteme renal. Cette hyperplasie transitoire ne constitue pas une etape pretumorale mais plutot une predisposition. Les sequences ltr etant cruciales pour l'induction des nephroblastomes, nous avons focalise notre etude sur la region u3 du mav-1(n) qui est tres specifique. Nous avons montre par des experiences de retard sur gel l'association des facteurs efi, efiii et c/ebp au niveau des sequences u3. Nous avons realise une mutagenese par deletion de la region u3 afin de determiner les sequences u3 importantes pour l'induction des nephroblastomes. L'etude de l'activite transcriptionnelle des ltr mutants indique que deux deletions reduisent de maniere drastique la trancription. Nous avons construit six virus recombinants a partir des ltr mutants afin d'etudier in vivo l'effet de chacune des deletions sur le potentiel pathogene du mav-1(n). Nos resultats indiquent que trois deletions diminuent l'efficacite du mav-1(n) mais aussi modifient le spectre viral.
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París, i. Bordas Aleix. "Control and estimation strategies for autonomous MAV landing on a moving platform in turbulent wind conditions". Thesis, Massachusetts Institute of Technology, 2020. https://hdl.handle.net/1721.1/127080.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, May, 2020Cataloged from the official PDF of thesis.
Includes bibliographical references (pages 67-74).
Micro aerial vehicles (MAVs) are increasing in popularity both for recreational and commercial purposes. In particular, autonomous MAVs are promising in the field of drone delivery due to their scalability, deployability, and low cost compared to traditional ground delivery. Hybrid systems, which combine MAVs taking off and landing from/to trucks and the ground vehicles themselves to increase package delivery efficiency, present even more advantages. Nevertheless, these systems require reliable control strategies that account for the challenging environment present in the vicinity of moving ground vehicles, as well as techniques to estimate these conditions. This thesis presents a novel planning and control strategy that allows a fast, autonomous landing of a micro aerial vehicle (MAV) on a moving ground vehicle, which will be required for truck-drone delivery systems. The turbulent wind conditions near the landing platform are measured online using small, inexpensive whisker-like sensors. The measurements from these sensors are then used by an unscented Kalman filter to estimate the wind speed acting on the MAV, which is then compensated for by a boundary layer sliding controller. The experiments performed validate the robustness of the approach, which allows fast, dynamic landings of a MAV in moving ground vehicles in challenging environments without the need for hovering above the landing platform first.
by Aleix París i Bordas.
S.M.
S.M. Massachusetts Institute of Technology, Department of Aeronautics and Astronautics
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Kakar, Jaber Ahmad. "UAV Communications: Spectral Requirements, MAV and SUAV Channel Modeling, OFDM Waveform Parameters, Performance and Spectrum Management". Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/53512.
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Unmanned Aerial Vehicles (UAV) are expected to be deployed both by government and
industry. Rules for integrating commercial UAVs into a nation's airspace still need to be
defined, safety being the main concern. As part of this thesis, the communication needs of
UAVs as important requirement for UAV integration into the national airspace is considered.
Motivated by recent prediction of UAV quantities, revealing the importance of Micro UAVs
(MAV) and Small UAVs (SUAV), the thesis determines spectral requirements for control and
non-payload communication (CNPC). We show that spectral efficiency, particularly in the
downlink, is critical to the large-scale deployment of UAVs. Due to the limited range of small
SUAV and MAV systems, communication between air and ground elements of these UAVs is
established through radio Line-of-Sight (LoS) links. Ultimately, efficient LoS UAV systems
are based on a better understanding of channels in the downlink, i.e. air-to-ground (A2G)
channels, and also on efficient waveform as well as spectrum management implementation.
Because of limited research in wideband aeronautical channel modeling, we have derived
an A2G channel prototype applicable to SUAV and MAV. As part of the research at Wire-
less@VT in designing and prototyping Orthogonal Frequency Division Multiplexing (OFDM)
waveforms, this thesis derives the optimal parameters for SUAV and MAV A2G channels.
Finally, the thesis discusses concepts that relate flight route with spectrum management
as well as opportunities for a more dynamic spectrum allocation for UAV communication
systems.Master of Science
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Sharma, Aman. "System Identification of a Micro Aerial Vehicle". Thesis, Luleå tekniska universitet, Rymdteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-73070.
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The purpose of this thesis was to implement an Model Predictive Control based system identification method on a micro-aerial vehicle (DJI Matrice 100) as outlined in a study performed by ETH Zurich. Through limited test flights, data was obtained that allowed for the generation of first and second order system models. The first order models were robust, but the second order model fell short due to the fact that the data used for the model was not sufficient.
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Bachmann, Richard Joseph. "A Hybrid Vehicle for Aerial and Terrestrial Locomotion". Case Western Reserve University School of Graduate Studies / OhioLINK, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=case1232735399.
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Kresge, Jared T. "Telerobotic System Design for a Remotely Operated Lightweight Park Flyer Mirco Aerial Vehicle". Ohio University / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1165012195.
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Barber, Duncan B. "Accurate Target Geolocation and Vision-Based Landing with Application to Search and Engage Missions for Miniature Air Vehicles". BYU ScholarsArchive, 2007. https://scholarsarchive.byu.edu/etd/1313.
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Miniature air vehicles (MAVs) have attracted a large amount of interest recently both from the research community and from the public. New battery technologies as well as rapid developments in embedded processing and MEMS sensor technologies have greatly increased the potential of these vehicles. MAVs have been envisioned playing significant roles in both civil and military applications. Examples include: fire monitoring, search and rescue, traffic monitoring, crop monitoring, convoy protection, border surveillance, troop support, law enforcement, natural disaster relief, and aerial photography. The application of MAVs tends to center on the ability of the MAV to collect and deliver visual information to the user. In many applications it is important to be able to accurately geolocate items of interest in the visual data. However, the inaccuracies associated with MAV platforms have led to relatively large errors in previous attempts at geolocation. The first half of this thesis focuses on increasing the accuracy of geolocation estimates achievable using a hand-launchable MAV. To accomplish this, methods are presented for bias estimation, wind estimation, recursive least squares filtering, and optimal flight path generation. Hardware results are presented which demonstrate the ability to consistently localize targets to within 5 m regardless of wind conditions. The second half of this thesis focuses on using the high accuracy geolocation estimates to complete a search and engage mission. This is a mission in which the MAV not only locates the target, but also accurately delivers a payload to the target site. The focus is on delivering an attached payload via accurate landing at the target site. A vision-based landing approach is presented which is robust to both wind and moving targets. Simulation results are presented which demonstrate the effectiveness of the control.
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Polakowski, Matthew Ryan. "An Improved Lightweight Micro Scale Vehicle Capable of Aerial and Terrestrial Locomotion". Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1334600182.
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Mwongera, Victor Mwenda. "Stability analysis of a flapping wing MAV in hover and forward flight using bifurcation analysis and continuation methods". Thesis, University of Bristol, 2014. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.654468.
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The subject of flapping wing Micro Air Vehicles '(MAVs) has been an area of increasing interest in the fields of aerodynamics and vehicle dynamics and control. The low Reynolds number region in which they operate, coupled with the periodic nature of the inputs to the control surface and the flexibility of the primary force-generating surfaces, has led to body models that are far from conventional, well established models used in the aerospace industry. It is therefore difficult to evaluate stability and sensitivity to design and operational parameters. The objective of the work in this thesis is to investigate the inherent nonlinear behaviour in flapping wing longitudinal flight to gain a deeper understanding of the stability attributes of the flight regime. To this end, a rigid flapping wing model was developed from first principles and analysed using continuation methods to determine the stability deviation with varied design and operating parameters. Additional continuation runs provided solutions trimmed to hover and forward flight, on which further stability and performance studies were carried out. The research revealed the existence of multiple steady-state solution branches within flapping wing flight and provided insight into the variations in behaviour of the nonlinear periodic system as input parameters vary. In particular, the III flapping frequency, the wing lead-lag motion, wing position and vehicle mass were shown to have the largest influence on stability. Further study revealed branches of stable and unstable limit cycles trimmed to hover and forward flight; analysis of which demonstrated that the areas of poor stability characteristics I correspond to low power requirements. Additionally, it was shown that previously stable areas in hover flight underwent per.io d doubling bifurcations with increased forward speed, leading to unstable and undesirable solutions. IV
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Finio, Benjamin. "Roll, Pitch and Yaw Torque Control for a Robotic Bee". Thesis, Harvard University, 2012. http://dissertations.umi.com/gsas.harvard:10218.
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In the last decade, the robotics community has pushed to develop increasingly small, autonomous flapping-wing robotic vehicles for a variety of civilian and military applications. The miniaturization of these vehicles has pushed the boundaries of technology in many areas, including electronics, artificial intelligence, and mechanics; as well as our understanding of biology. In particular, at the insect scale, fabrication, actuation, and flight control of a flapping-wing robot become especially challenging. This thesis addresses these challenges in the context of the “RoboBee” project, which has the goal of creating an autonomous swarm of at-scale robotic bees. A 100mg robot with a 3cm wingspan capable of generating roll, pitch and yaw torques in the range of \(\pm 1\mu Nm\) by using a large, central power actuator to flap the wings and smaller control actuators to steer is presented. A dynamic model is used to predict torque generation capabilities, and custom instrumentation is developed to measure and characterize the vehicle’s control torques. Finally, controlled flight experiments are presented, and the vehicle is capable of maintaining a stable pitch and roll attitude during ascending vertical flight. This is the first successful controlled flight of a truly insect-scale flapping-wing robot.Engineering and Applied Sciences
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Ryan, Mark. "Design Optimization and Classification of Compliant Mechanisms for Flapping Wing Micro Air Vehicles". The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1345403446.
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Botha, Hermanus Van Niekerk. "A Closed Loop Research Platform That Enables Dynamic Control Of Wing Gait Patterns In A Vertically Constrained Flapping Wing - Micro Air Vehicle". Wright State University / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=wright1462801627.
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Nelson, Derek R. "Cooperative Control of Miniature Air Vehicles". BYU ScholarsArchive, 2005. https://scholarsarchive.byu.edu/etd/1095.
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Cooperative control for miniature air vehicles (MAVs) is currently a highly researched topic. There are many application for which MAVs are well suited, including fire monitoring, surveillance and reconaissance, and search and rescue missions. All of these applications can be carried out more effictively by a team of MAVs than by a single vehicle. As technologies for microcontrollers and small sensors have improved so have the capabilities of MAVs. This improvement in MAV performance abilities increases the possibility for cooperative missions. The focus of this research was on cooperative timing missions. The issues faced when dealing with multi-MAV flight include information transfer, real time path planning, and maintenance of a fleet of flight-worthy MAVs. Additional challenges associated with timing missions include path following and velocity control. Two timing scenarios were studied and both of these scenarios were flight tested. The first scenario was a sequenced arrival of the MAVs over a target at a predetermined fly-through heading. The second scenario was a simultaneous arrival of the team ofMAVs over a known target location. The ideas of coordination functions and coordination variables have been employed to achieve coordination. Experimental results verify the feasibility of real time coperative control for a team of MAVs. Initial cooperative timing tests revealed the need for more accurate path following. Accordingly, a new method for path following using vector fields was developed. A vector field of desired ground track headings is calculated and commanded ground track headings are calculated such that ground track heading error and lateral following error decay asymptotically even in the presence of constant wind disturbances. The utilization of ground track heading and ground speed in the path following control, in combination with the vector field methods is what makes this zero-error following possible. Methods for following straight lines and orbits as well as combinations of the lines and circular arcs are presented. The assertions that minimal following errors result when using these methods have been verified experimentally.
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Livise, Ramírez William, i Carrillo Jorge Luis Palomino. "El impacto del Mercado Alternativo de Valores MAV en la gestión financiera de las Pymes, en el Perú, año 2018". Bachelor's thesis, Universidad Peruana de Ciencias Aplicadas (UPC), 2020. http://hdl.handle.net/10757/655086.
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Las Pymes son el principal sector empresarial en el Perú y generadoras de fuentes de empleo en el país pero tienen problemas de acceso al financiamiento a tasas de interés bajas y falta de gestión de calidad, por lo general, debido al desconocimiento de alternativas de financiamiento y falta de profesionalización en la gestión.
La presente investigación tiene como hipótesis que Participar del Mercado Alternativo de Valores mejora la gestión financiera de las Pymes, en el Perú, en el año 2018, debido a que el financiamiento por medio del mercado de capitales tiene una menor tasa de interés en comparación con un banco, brinda una alternativa de financiamiento, poder de negociación frente a los Stakeholders y mejora la gestión por medio de la profesionalización.
Esta Tesis es descriptiva correlacional, de enfoque mixto, de diseño no experimental y transversal. Se describen los conceptos que apoyarán a evaluar la relación que existe entre las variables planteadas. Además, se explican las etapas a seguir para que una Pyme realice todo el proceso de preparación y colocación de obligaciones en el mercado de capitales.
Para validar la hipótesis general y específica se ha realizado 6 entrevistas a profundidad a expertos con experiencia en Pymes y conocimiento del MAV. También se ha realizado treinta encuestas a profesionales con experiencia en Pymes.
En el caso práctico se describen las mejoras en los indicadores y en la gestión financiera, por medio de la participación de la Pyme en el Mercado Alternativo de Valores.Pymes are the main business sector in Peru and generators of sources of employment in the country, but they have problems of access to financing at low interest rates of lack quality management, generally due to ignorance of financing alternatives and lack of professionalization in management. The present research has as a hypothesis that participating in the Alternative Stock Market improves the financial management of Pymes, in Peru, in 2018, due to the fact that financing through the capital market has a lower interest rate compared to a bank, provides a financing alternative, bargaining power Stakeholders and improves management through professionalization. This thesis is descriptive correlational, of mixed approach, of non – experimental and transversal design. The concepts that will support the evaluation of the relationship between the proposed variables are described. In addition, the steps to be followed for a Pyme to carry out the entire process of preparing and placing obligations in the capital market are explained. To validate the general and specific hypothesis, have conducted 6 interviews to depth to experts with experience in Pymes and knowledge of the MAV. Furthermore, have conducted thirty surveys to professionals with experience in Pymes. The practical case describes the improvements in the indicators and financial management, through the participation of the Pyme in the alternative stock market.
Tesis
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Rodriguez, Perez Andres Felipe. "Real-Time Wind Estimation and Video Compression Onboard Miniature Aerial Vehicles". BYU ScholarsArchive, 2009. https://scholarsarchive.byu.edu/etd/1838.
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Autonomous miniature air vehicles (MAVs) are becoming increasingly popular platforms for the collection of data about an area of interest for military and commercial applications. Two challenges that often present themselves in the process of collecting this data. First, winds can be a significant percentage of the MAV's airspeed and can affect the analysis of collected data if ignored. Second, the majority of MAV's video is transmitted using RF analog transmitters instead of the more desirable digital video due to the computational intensive compression requirements of digital video. This two-part thesis addresses these two challenges. First, this thesis presents an innovative method for estimating the wind velocity using an optical flow sensor mounted on a MAV. Using the flow of features measured by the optical flow sensor in the longitudinal and lateral directions, the MAV's crab-angle is estimated. By combining the crab-angle with measurements of ground track from GPS and the MAV's airspeed, the wind velocity is computed. Unlike other methods, this approach does not require the use of a “varying” path (flying at multiple headings) or the use of magnetometers. Second, this thesis presents an efficient and effective method for video compression by drastically reducing the computational cost of motion estimation. When attempting to compress video, motion estimation is usually more than 80% of the computation required to compress the video. Therefore, we propose to estimate the motion and reduce computation by using (1) knowledge of camera locations (from available MAV IMU sensor data) and (2) the projective geometry of the camera. Both of these methods are run onboard a MAV in real time and their effectiveness is demonstrated through simulated and experimental results.
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Venugopal, Chengappa Bharath. "A Study of Evolvable Hardware Adaptive Oscillators for Augmentation of Flapping-Wing Micro Air Vehicle Altitude Control". Wright State University / OhioLINK, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=wright1278968118.
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Owen, Mark Andrew. "Aerial Rendezvous Between an Unmanned Air Vehicle and an Orbiting Target Vehicle". BYU ScholarsArchive, 2011. https://scholarsarchive.byu.edu/etd/2881.
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In this thesis we develop methods that facilitate an aerial rendezvous between two air vehicles. The objective of this research is to produce a method that can be used to insert a miniature air vehicle behind a rendezvous vehicle and then track that vehicle to enable a visual rendezvous. For this research we assume the rendezvous vehicle is following a relatively stable and roughly elliptical orbit. Path planners and controllers have been developed that can be used to effectively intercept the rendezvous vehicle by inserting the MAV onto the orbit of interest. A method for planning and following time-optimal Dubins airplane interception paths between a miniature air vehicle and the rendezvous vehicle is presented. We demonstrate how a vector field path following a scheme can be used for navigation along these time-optimal Dubins airplane paths. A post-orbit insertion tracking method is also presented which can be used to track the target vehicle on an arbitrarily oriented elliptical orbit while maintaining a specified following distance. We also present controllers that can be used for disturbance rejection during the orbit-insertion and interception operations. All of these methods were implemented in simulation and with hardware. Results from these implementations are presented and analyzed.
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Lindholm, Malin. "Samspelet mellan skrift och bild i matematikläroböcker". Thesis, Örebro universitet, Institutionen för naturvetenskap och teknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-69675.
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Många av dagens matematikläroböcker är multimodala som innebär att de innehåller fler kommunikationsformer som exempelvis skrift och bild. Denna studies bidrag var att konstruera verktyget MAV (Multimodalt Analysverktyg) som undersöker och identifierar multimodal text. Studien utgår från en sociosemiotisk teori och dess frågeställningar handlade om att undersöka hur skrift och bild förhåller sig till varandra, vad bilden har för funktion och hur den relaterar till skriften utifrån användning av MAV. Metoden som användes för att konstruera verktyget var att skapa kategorier utifrån begrepp från sociosemiotiken och applicera dem i två kodningsscheman. Kategorierna i det första kodningsschemat var: inramning, avstånd/närhet, överlappning och visuellt rim. Det andra kodningsschemat hade kategorierna: dekorativ, förankringsrelation och avbytesrelation. Resultatet visade att MAV kunde användas som verktyg i läroböckerna. Det visade också att skrift och bild ofta förhåller sig till varandra genom närhet och att de till mestadels skapar en förankringsrelation som innebär att de bidrar med ett likvärdigt matematiskt innehåll. En slutsats är att denna relation kan vara gynnsam för elevernas lärande eftersom innehållet kan vara abstrakt och att både skrift och bild behöver förmedla samma information. Det diskuterades även om vad den dekorativa bilden kan skapa för effekter i elevens lärande.Many of today's mathematics textbooks are multimodal, which means that they contain more forms of communication such as writing and image. This study's contribution was to construct the MAV (Multimodal Analysis Tool) tool that investigates and identifies multimodal text. The study is based on a sociosemiotic theory and its issues were about investigating how the image and image relate to each other, what the image is for function and how it relates to the writing based on the use of MAV. The method used to construct the tool was to create categories based on concepts from socio-chemistry and apply them into two coding schemes. The categories in the first coding scheme were: framing, distance / proximity, overlap and visual rim. The second coding scheme had the categories: decorative, anchor relation, and interchange relation. The result showed that MAV could be used as a tool in the textbooks. It also showed that writing and image often relate to each other by close proximity and that they mostly create an anchoring relationship which means they contribute with an equivalent mathematical content. One conclusion is that this relationship can be beneficial to the students' learning because the content can be abstract and that both the writing and the image need to convey the same information. It was also discussed what the decorative image could create for effects in the student's learning.
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Cjuro, Vera Cinthia. "Apertura y Promoción: Iniciativas en Favor del Desarrollo de Mercado de Valores. Entrevista a la Dra. Lilian Rocca Carbajal". Derecho & Sociedad, 2015. http://repositorio.pucp.edu.pe/index/handle/123456789/118547.
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Lilian Rocca Carbajal, máxima autoridad ejecutiva de la Superintendencia de Mercado de Valores, nos comenta brevemente algunas de las iniciativas promovidas por este organismo en los últimos años, que apuntan a posicionar al Mercado de Valores como una importante alternativa de financiamiento e inversión. Se comentan, entre otros aspectos significativos, las implicancias de la implementación del Mercado Alternativo de Valores (MAV), así como las novedades del nuevo Código de Buen Gobierno Corporativo y de la nueva regulación de Hechos de Importancia.
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Mohan, Arvind Thanam. "Data-Driven Analysis Methodologies for Unsteady Aerodynamics from High Fidelity Simulations". The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1512058039822368.
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Gilson, Maximillian Andrew. "Fault-tolerant mapping and localization for Quadrotor UAV". Wright State University / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435.
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Lindqvist, Björn. "Combined Control and Path Planning for a Micro Aerial Vehicle based on Non-linear MPC with Parametric Geometric Constraints". Thesis, Luleå tekniska universitet, Rymdteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-76212.
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Using robots to navigate through un-mapped environments, specially man-made infrastructures, for the purpose of exploration or inspection is a topic that has gathered a lot of interest in the last years. Micro Aerial Vehicles (MAV's) have the mobility and agility to move quickly and access hard-to-reach areas where ground robots would fail, but using MAV's for that purpose comes with its own set of problems since any collision with the environment results in a crash. The control architecture used in a MAV for such a task needs to perform obstacle avoidance and on-line path-planning in an unknown environment with low computation times as to not lose stability. In this thesis a Non-linear Model Predictive Controller (NMPC) for obstacle avoidance and path-planning on an aerial platform will be established. Included are methods for constraining the available state-space, simulations of various obstacle avoidance scenarios for single and multiple MAVs and experimental validation of the proposed control architecture. The validity of the proposed approach is demonstrated through multiple experimental and simulation results. In these approaches, the positioning information of the obstacles and the MAV are provided by a motion-capture system. The thesis will conclude with the demonstration of an experimental validation of a centralized NMPC for collision avoidance of two MAV's.
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Adams, Leanne M. "MOLECULAR TYPING OF MYCOBACTERIAL ISOLATES CULTURED FROM THE TISSUE OF INFLAMMATORY BOWEL DISEASE (CROHN'S DISEASE) PATIENTS". Master's thesis, University of Central Florida, 2004. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/4450.
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The role of Mycobacterium avium subsp paratuberculosis (MAP) in the etiology and pathogenesis of inflammatory bowel disease (IBD) including Crohn's Disease (CD), has been investigated. The fastidious characteristics and cross reactivity of MAP with other members in Mycobacteria have produced significant challenges in their detection and identification. In this two year pilot study, an array of three PCR molecular assays based on the detection of sequences from the16S rRNA, IS1245, and IS900 genes, belonging to members of the MAC, have been developed and optimized into a common protocol to be used as a rapid and accurate diagnostic tool regarding M. avium complex (MAC) infection. The PCR protocol time was reduced by half, and the sensitivity and specificity of the molecular assays has been significantly improved barring the need for southern hybridization. This improved methodology was employed for the molecular typing of MAC in 100 resected, full-thickness tissue samples removed from IBD patients. The tissue samples were homogenized, decontaminated, and inoculated into two mycobacterial culture media systems. A total of 328 Bactec and Mycobacteria Growth Indicator Tube (MIGT) cultures were evaluated for positive MAC growth. Harvested cells were then subjected to genomic DNA extraction and subsequent PCR typing. The I6 S rRNA-based PCR resulted in detection of 26/28 (93%) MAC in Bactec cultures. Specifically, 25/28 (89%) of positive MAC indicated the presence of IS1245 specific to M. avium subsp avium (MAV), and 6/28 (21%) produced results consistent with the presence of IS900 following nested PCR. Moreover, 20/100 (20%) of MGIT cultures were positive for MAP. Sequence analysis was performed on amplified regions of the IS900 element from seven isolates. A nucleotide alignment revealed that 2/7 isolates demonstrated 100% homology to Bovine MAP and 5/7 isolates showed 96-99% homology to sequenced Bovine MAP published in GenBank. The detection of at least two Bovine derived MAP in IBD tissue will have great impact on the epidemiology and reclassification of IBD. The significant homology of the other five isolates to Bovine derived MAP suggests a diversity in the geographical distribution of MAP regarding Johne's disease and CD. Ultimately, the etiology, diagnosis, and the treatment of IBD as well as control and prevention measures may be enhanced with better tools for investigating emerging infectious diseases.M.S.
Department of Molecular Biology and Microbiology
Health and Public Affairs
Molecular Biology and Microbiology
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Guerra, Elia. "Unmanned Aerial Vehicle (UAV) per applicazioni geomatiche". Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2016.
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La tesi tratta i dispositivi UAV, in particolare i droni di peso inferiore ai 25 kg, facendo riferimento alla normativa ENAC. Vengono descritte le applicazioni pratiche in campo civile, concentrandosi sulle geomatiche, delineando i principali sensori esterni utilizzati come Camere digitali, termiche e multispettrali.
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Geyman, Matthew Kenneth. "Wing/Wall Aerodynamic Interactions in Free Flying, Maneuvering MAVs". University of Dayton / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1335113432.
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Gaston, Zachary Robert. "Computational Investigation of a Hinge-connected Hovering Plate". Wright State University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=wright1344991071.
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