Teses / dissertações sobre o tema "Automatic landing"
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Bole, Michael. "Design of an automatic landing system for twin rotor vertical take-off and landing unmanned air vehicle". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape3/PQDD_0015/MQ47834.pdf.
Texto completo da fonteGising, Andreas. "MALLS - Mobile Automatic Launch and Landing Station for VTOL UAVs". Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-15980.
Texto completo da fonteThe market for vertical takeoff and landing unmanned aerial vehicles, VTOL UAVs, is growing rapidly. To reciprocate the demand of VTOL UAVs in offshore applications, CybAero has developed a novel concept for landing on moving objects called MALLS, Mobile Automatic Launch and Landing Station. MALLS can tilt its helipad and is supposed to align to either the horizontal plane with an operator adjusted offset or to the helicopter skids. Doing so, eliminates the gyroscopic forces otherwise induced in the rotordisc as the helicopter is forced to change attitude when the skids align to the ground during landing or when standing on a jolting boat with the rotor spun up. This master’s thesis project is an attempt to get the concept of MALLS closer to a quarter scale implementation. The main focus lies on the development of the measurement methods for achieving the references needed by MALLS, the hori- zontal plane and the plane of the helicopter skids. The control of MALLS is also discussed. The measurement methods developed have been proved by tested implementations or simulations. The theories behind them contain among other things signal filtering, Kalman filtering, sensor fusion and search algorithms. The project have led to that the MALLS prototype can align its helipad to the horizontal plane and that a method for measuring the relative attitude between the helipad and the helicopter skids have been developed. Also suggestions for future improvements are presented.
Caldeira, Fabrício Reis. "Design of an automatic landing system using linear quadratic tracker". Instituto Tecnológico de Aeronáutica, 2008. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=725.
Texto completo da fonteLai, Khai Ping. "A deep learning model for automatic image texture classification: Application to vision-based automatic aircraft landing". Thesis, Queensland University of Technology, 2016. https://eprints.qut.edu.au/97992/4/Khai_Ping_Lai_Thesis.pdf.
Texto completo da fonteHill, Steven James. "DGPS/ILS integration for an automatic landing system using Kalman Filtering". Ohio University / OhioLINK, 1996. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1178311128.
Texto completo da fonteAribal, Seckin. "Development Of An Autopilot For Automatic Landing Of An Unmanned Aerial Vehicle". Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613391/index.pdf.
Texto completo da fonteSteepest Descent&rdquo
Algorithm according to the dynamic characteristics of the aircraft. Optimal altitude trajectory is used together with a lateral guidance against cross-wind disturbance. Finally, simulations including landing under crosswind, tailwind, etc., are run and the results are analyzed in order to demonstrate the performance and effectiveness of the controllers.
Magnus, Vestergren. "Automatic Takeoff and Landing of Unmanned Fixed Wing Aircrafts : A Systems Engineering Approach". Thesis, Linköpings universitet, Datorteknik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133078.
Texto completo da fonteTrittler, Martin [Verfasser]. "Automatic Landing for Fixed-Wing Unmanned Aerial Vehicles with Optical Sensors / Martin Trittler". Aachen : Shaker, 2018. http://d-nb.info/1162794321/34.
Texto completo da fonteHermansson, Joel. "Vision and GPS based autonomous landing of an unmanned aerial vehicle". Thesis, Linköping University, Automatic Control, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-57735.
Texto completo da fonteA control system for autonomous landing of an unmanned aerial vehicle (UAV)with high precision has been developed. The UAV is a medium sized model he-licopter. Measurements from a GPS, a camera and a compass are fused with anextended Kalman filter for state estimation of the helicopter. Four PID-controllers,one for each control signal of the helicopter, are used for the helicopter control.During the final test flights fifteen landings were performed with an average land-ing accuracy of 35 cm. A bias in the GPS measurements makes it impossible to land the helicopter withhigh precision using only the GPS. Therefore, a vision system using a camera anda pattern provided landing platform has been developed. The vision system givesaccurate measurement of the 6-DOF pose of the helicopter relative the platform.These measurements are used to guide the helicopter to the landing target. Inorder to use the vision system in real time, fast image processing algorithms havebeen developed. The vision system can easily match up the with the camera framerate of 30 Hz.
Ett kontrolsystem för att autonomt landa en modellhelikopter har utvecklats.Mätdata från en GPS, en kamera samt en kompass fusioneras med ett Extend-ed Kalman Filter för tillståndsestimering av helikoptern. Fyra PID-regulatorer,en för varje kontrolsignal på helikoptern, har används för regleringen. Under densista provflygningen gjordes tre landingar av vilken den minst lyckade slutade35 cm från målet. På grund av en drift i GPS-mätningarna är det omöjligt att landa helikopternmed hög precision med bara en GPS. Därför har ett bildbehandlingssystem som an-vänder en kamera samt ett mönster på platformen utvecklats. Bidbehandlingssys-temet mäter positionen och orienteringen av helikoptern relativt platformen. Dessamätningar används kompensera för GPS-mätningarnas drift. Snabba bildbehan-dlingsalgoritmer har utvecklats för att kunna använda bildbehandlingssystemet irealtid. Systemet är mycket snabbare än 30 bilder per sekund vilket är kameranshastighet.
Lugo, Cárdenas Israel. "Autonomous take-off and landing for a fixed wing UAV". Thesis, Compiègne, 2017. http://www.theses.fr/2017COMP2364/document.
Texto completo da fonteThis work studies some of the most relevant problems in the direction of navigation and control presented in a particular class of mini‐aircraft. One of the main objectives is to build a lightweight and easy to deploy vehicle in a short period of time, an unmanned aerial vehicle capable of following a complete mission from take‐o⁄ to the following waypoints and complete the mission with an autonomous landing within a delimitated area using a graphical interface in a computer. The Trajectory Generation It is the part that tells the drone where it must travel and are generated by an algorithm built into the drone. The classic result of Dubins is used as a basis for the trajectory generation in 2D and we have extended it to the 3D trajectory generation. A path following strategy developed using the Lyapunov approach is presented to pilot a fixed wing drone across the desired path. The key concept behind the tracking controller is the reduction of the distance between the center of mass of the aircraft p and the point q on the path to zero, as well as the angle between the velocity vector and the vector tangent to the path. In order to test the techniques developed during the thesis a customized C # .Net application was developed called MAV3DSim (Multi‐Aerial Vehicle 3D Simulator). The MAV3DSim allows a read / write operation from / to the simulation engine from which we could receive all emulated sensor information and sent to the simulator. The MAV3DSim consists of three main elements, the simulation engine, the computation of the control law and the visualization interface. The simulation engine is in charge of the numeric integration of the dynamic equations of the vehicle, we can choose between a quadrotor and a xed wing drone for use in simulation. The visualization interface resembles a ground station type of application, where all variables of the vehicle s state vector can be represented on the same screen. The experimental platform functions as a test bed for the control law prototyping. The platform consists of a xed wing aircraft with a PX4 which has the autopilot function as well as a Raspberry PI mini‐computer which to the implementation of the generation and trajectory tracking. The complete system is capable of performing an autonomous take‐o⁄and landing, through waypoints. This is accomplished by using each of the strategies developed during the thesis. We have a strategy for take‐o⁄ and landing, which is generated by the navigationon part that is the trajectory generator. Once we have generated the path, it is used by the trajectory tracking strategy and withthat we have landing and take‐o⁄ autonomously
Saläng, Björn, e Henrik Salomonsson. "Vision based pose estimation for autonomous helicopter landing". Thesis, Linköping University, Department of Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-15988.
Texto completo da fonteThe market for unmanned aerial vehicles (UAVs) is growing rapidly. In order to meet the demand for marine applications CybAero AB has recently started a project named Mobile Automatic Launch and Landing Station (MALLS). MALLS enables the uav to land on moving targets such as ships. This thesis studies a system that estimates the pose of a helicopter in order to land on a moving target.
The main focus has been on developing a pose estimation system using computer vision. Two different methods for estimating the pose have been studied, one using homography and one using an Extended Kalman Filter (ekf). Both methods have been tested on real flight data from a camera mounted on a RC-helicopter. The accuracy of the pose estimation system has been verified with data from a test with the camera mounted on an industrial robot. The test results show that the ekf-based system is less sensitive to noise than the homography-based system. The ekf-based system however requires initial values which the homography-based system does not. The accuracy of both systems is found to be good enough for the purpose.
A novel control system with control rules for performing an autonomous landing on a moving target has been developed. The control system has not been tested during flight.
Marknaden for obemannade autonoma luftburna farkoster (UAV:er) växer snabbt. För att möta behovet av marina tillämpningar har CybAero AB nyligen startat ett projekt som kallas Mobil Automatisk Start- och Landningsstation (MALLS). Syftet med malls är att möjliggöra autonom start och landning på objekt i rörelse, som till exempel ett fartyg. I det här examensarbetet studeras ett system för att bestämma position och attityd för en helikopter relativt en helikopterplatta, för att möjliggöra landning på ett ojekt i rörelse.
Fokus har främst legat på att utveckla ett positionerings- och attitydbestämningssystem. Ett datorseende positionerings- och attitydbestämningssystem har utvecklats. Två olika metoder har undersökts, ett system som bygger på homografi och ett annat som bygger på Extended Kalman Filter (EKF). Båda metoderna har testats med verklig data från en kamera monterad på en RC helikopter. Noggrannheten i positionsbestämmelsen har undersökts med hjälp av data från en industrirobot. Testresultaten visar att det EKF-baserade systemet är mindre bruskänsligt än det homografibaserade systemet. En nackdel med det ekf-baserade systemet är däremot att det kräver initialvillkor vilket det homografibaserade systemet inte gör. Noggrannheten på båda systemen finner vi tillfredsställande för syftet.
Ett enkelt styrsystem med styrlagar för att genomföra landningar på ett rörligtobjekt har utvecklats. Styrsystemet har dock inte testats under verklig flygning.
Alatorre, Sevilla Armando. "Landing of a fixed-wing unmanned aerial vehicle in a limited area". Electronic Thesis or Diss., Compiègne, 2024. http://www.theses.fr/2024COMP2801.
Texto completo da fonteThe development of this thesis consists of designing some control strategies that allow a fixedwing drone with classical configuration to perform a safe landing in a limited area. The main challenge is to reduce the aircraft’s airspeed avoiding stall conditions. The developed control strategies are focused on two approaches: the first approach consists of the designing airspeed reduction maneuvers for a fixed-wing vehicle to be captured by a recovery system and for a safe landing at a desired coordinate. The next approach is focused on landing a fixed-wing drone on a moving ground vehicle. A dynamic landing trajectory was designed to lead a fixedwing vehicle to the position of a ground vehicle, reaching its position in a defined distance. Moreover, this trajectory was used in a cooperative control design. The control strategy consists of the synchronization of both vehicles to reach the same position at a desired distance. The aerial vehicle tracks the dynamic landing trajectory, and the ground vehicle controls its speed. In addition, we will propose a control architecture with a different focus, where the ground vehicle performs the tracking task of the aerial vehicle’s position in order to be captured. And, the drone’s task is to track a descending flight until the top of the ground vehicle. However, considering the speed difference between both vehicles. Therefore, we propose a new control architecture defining that the aircraft performs an airspeed reduction strategy before beginning its landing stage. The aircraft will navigate to a minimum airspeed, thus, allowing the ground vehicle to reach the fixed-wing drone’s position by increasing its speed. The control laws of each strategy were determined by developing the Lyapunov stability analysis, thus, the stability is guaranteed in each flight stage. Finally, the control strategies were implemented on prototypes allowing us to validate their performance and obtain satisfactory results for safe landing of a fixed-wing drone with classical configuration
PEREZ, MONTENEGRO CARLOS NORBERTO. "NAVIGATION, GUIDANCE AND CONTROL FOR PLANETARY LANDING". Doctoral thesis, Politecnico di Torino, 2014. http://hdl.handle.net/11583/2557338.
Texto completo da fonteFlorin, Charles Henri. "Automated Traffic Control for Smart Landing Facilities". Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/36095.
Texto completo da fonteMaster of Science
Needham, Jennifer M. "Human-automation interaction for lunar landing aimpoint redesignation". Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/46556.
Texto completo da fonteIncludes bibliographical references (leaves 86-89).
Human-automation interactions are a critical area of research in systems with modem automation. The decision-making portion of tasks presents a special challenge for human-automation interactions because of the many factors that play a role in the decision-making process. This is prominent in human spaceflight, where the astronaut must continually interact with the vehicle systems. In future lunar landings, astronauts working in conjunction with automated systems will need to select a safe and achievable landing aimpoint. Ultimately, this decision could risk the safety of the astronauts and the success of their mission. Careful study is needed to ascertain the roles of both the human and the automation and how design can best support the decision making process. The task of landing on the moon was first achieved by the Apollo program in 1969, but technological advances will provide future landings with a greater variety and extensibility of mission goals. The modem task of selecting a landing aimpoint is known as landing point redesignation (LPR), and this work capitalizes on an existing LPR algorithm in order to explore the effects on landing point selection by altering the levels of automation. An experiment was designed to study the decision-making process with three different levels of automation. In addition, the effect of including a human-generated goal that was not captured by the automation was studied. The experimental results showed that the subjects generally used the same decision strategies across the different levels of automation, and that higher levels of automation were able to eliminate earlier parts of the decision strategy and allow the subjects to select a landing aimpoint more quickly. In scenarios with the additional human goal, subjects tended to sacrifice significant safety margins in order to achieve proximity to the point of interest. Higher levels of automation allowed them to maintain high levels of safety margins in addition to achieving their external goal. Thus, it is concluded that with a display design supporting human goals in a decision-making task, automated decision aids that make recommendations and assist communication of the automation's processes are highly beneficial.
by Jennifer M. Heedham.
S.M.
Lönnberg, Erika. "Autonom landning med UAV". Thesis, Linköping University, Department of Electrical Engineering, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1660.
Texto completo da fontePå SAAB AB pågår projekt vilka har till syfte att utveckla en obemannad flygfarkost (UAV) som komplement till vanliga flygplan, exempelvis Gripen. För att kunna göra detta behöver SAAB samla kunskaper om UAV:er i allmänhet och detta examensarbete är en del i denna process.
Detta examensarbete har utförts hos SAAB AB, avdelningen Future Products i Linköping. Syftet var att ta fram styrlagar som möjliggör autonom landning för en UAV. Även en kortare utredning om vilka sensorer som kan komma att behövas ingick i examensarbetet.
Slutsatserna visar att ytterligare förbättringar behövs innan en autonom landning kan genomföras med den algoritm som tagits fram inom ramen för detta examensarbete. Bland annat behöver man ta hänsyn till turbulens. Vad gäller val av sensorer kan man i början använda sig av standard produkter som är kommersiellt tillgängliga för att reducera kostnaderna i projektet.
At SAAB AB there are projects running whose purpose is to develop an Unmanned Aerial Vehicle (UAV) to be used as a complement to ordinary aircrafts like Gripen. In order to do this SAAB has to collect generic knowledge about UAV:s and this final thesis is a part of this process.
This final thesis has been performed at SAAB AB in the department for Future Products in Linköping. The purpose was to develop control algorithms which makes autonomous landing possible for UAV:s. A brief investigation about which sensors that may have to be used was also performed as a part of the final thesis.
The conclusions show that further improvements are needed before an autonomous landing can be carried out with the algorithm that was developed within the scope of this thesis. Among other things, turbulence must be taken into consideration. Regarding the sensors, it is possible to start out with commercial of the shelf (COTS) products in order to decrease costs in the project.
Mackay, Justin Keith. "Automated Landing Site Determination for Unmanned Rotocraft Surveillance Applications". BYU ScholarsArchive, 2014. https://scholarsarchive.byu.edu/etd/5531.
Texto completo da fonteEng, Pillar C. S. "Path planning, guidance and control for a UAV forced landing". Thesis, Queensland University of Technology, 2011. https://eprints.qut.edu.au/43898/1/Pillar_Eng_Thesis.pdf.
Texto completo da fonteHainley, Christopher James Jr. "Lunar landing : dynamic operator interaction with multi-modal automation systems". Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/65170.
Texto completo da fonteThis 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.
Includes bibliographical references (p. 103-114).
The ability of operators to "gracefully transition" (maintaining control and awareness of the system without excessive workload or decrements in flight performance) between levels of automation (LOA) in several case studies and in a simulated lunar landing was investigated in anticipation of future lunar missions. Endsley's situation awareness model (extended to apply to supervisory control systems) and the Sheridan/Verplank and Proud/Hart LOA scales were used to analyze six maritime, aviation, and aerospace case studies and formulate design guidelines for enhancing mode transitions. These motivated an experiment in which thirteen subjects with flight simulator experience flew 24 approach trajectories (half including a landing point redesignation) that transitioned from a fully automatic flight control mode to either: pitch rate-control/attitude hold (RC/AH) with automatic rate-of-descent (ROD), roll-pitch-yaw (RPY) RC/AH with automatic ROD, or RPY RC/AH with incremental ROD. Subjective and objective workloads were measured using a Modified Bedford Scale and secondary task response time, respectively. A tertiary task - verbal callouts of altitude, fuel, and location, provided a measure of pilot situation awareness. Flight performance was evaluated using the pitch axis tracking error. Friedman pairwise tests demonstrated that secondary task response time significantly increased following the mode transition. Subjects' workload ratings, when ranked, showed unanimous agreement that workload was lowest prior to the transition, and highest during. The accuracy of the situation awareness verbal callouts decreased significantly after the transition. The immediate effect of redesignation was statistically concordant across subjects. Pitch axis tracking mean square error following a mode transition was greater in trials with redesignations (p = 0.0005), and increased consistently with control mode difficulty (p = 0.025) in runs with no redesignation, but not in runs with redesignations. Using callouts to assess the dynamics of situation awareness is a novel technique. Dramatic changes in subjective and objective workload and situation awareness occur after mode transitions, depending on control mode difficulty, that have an apparently reciprocal relationship. The case studies and experimental results suggested a dozen guidelines for design of supervisory control systems intended to promote transition gracefulness.
by Christopher James Hainley, Jr.
S.M.
Wen, Hui Ying. "Human-automation task allocation in lunar landing: simulation and experiments". Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/85813.
Texto completo da fonteCataloged from PDF version of thesis.
Includes bibliographical references (pages 59-62).
Task allocation, or how tasks are assigned to the human operator(s) versus to automation, is an important aspect of designing a complex vehicle or system for use in human space exploration. The performance implications of alternative task allocations between human and automation can be simulated, allowing high-level analysis of a large task allocation design space. Human subject experiments can then be conducted to uncover human behaviors not modeled in simulation but need to be considered in making the task allocation decision. These methods were applied here to the case scenario of lunar landing with a single human pilot. A task analysis was performed on a hypothetical generic lunar landing mission, focusing on decisions and actions that could be assigned to the pilot or to automation during the braking, approach, and touchdown phases. Models of human and automation task completion behavior were implemented within a closed-loop pilot-vehicle simulation for three subtasks within the landing point designation (LPD) and final approach tasks, creating a simulation framework tailored for the analysis of a task allocation design space. Results from 160 simulation runs showed that system performance, measured by fuel usage and landing accuracy, was predicted to be optimized if the human performs decision making tasks, and manual tasks such as flying the vehicle are automated. Variability in fuel use can be attributed to human performance of the flying task. Variability in landing accuracy appears to result from human performance of the LPD and flying tasks. Next, a human subject experiment (11 subjects, 68 trials per subject) was conducted to study subjects' risk-taking strategy in designating the landing point. Results showed that subjects designated landing points that compensated for estimated touchdown dispersions and system-level knowledge of the probabilities of manual versus automated flight. Also, subjects made more complete LPD compensations when estimating touchdown dispersion from graphical plots rather than from memories of previous simulated landings. The way in which dispersion information is presented affected the consistency with which subjects adhered to a risk level in making landing point selections. These effects could then be incorporated in future human performance models and task allocation simulations.
by Hui Ying Wen.
S.M.
Klomparens, Dylan. "Automated Landing Site Evaluation for Semi-Autonomous Unmanned Aerial Vehicles". Thesis, Virginia Tech, 2008. http://hdl.handle.net/10919/34641.
Texto completo da fonteMaster of Science
Chua, Zarrin K. "System design considerations for human-automation function allocation during lunar landing". Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/52179.
Texto completo da fonteVomočil, Jan. "Systém pro automatické přistávání quadrocopteru". Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2012. http://www.nusl.cz/ntk/nusl-219707.
Texto completo da fonteGuo, Xufeng. "Automated scene understanding from aerial imagery". Thesis, Queensland University of Technology, 2018. https://eprints.qut.edu.au/117973/8/Xufeng_Guo_Thesis.pdf.
Texto completo da fonteKügler, Martin Enno [Verfasser]. "Robust Automation of Take-off and Landing - Demonstrated on a Medium-Sized Unmanned Aircraft / Martin Enno Kügler". München : Verlag Dr. Hut, 2019. http://d-nb.info/1198542586/34.
Texto completo da fonteIrwin, Shaun George. "Optimal estimation and sensor selection for autonomous landing of a helicopter on a ship deck". Thesis, Stellenbosch : Stellenbosch University, 2014. http://hdl.handle.net/10019.1/95894.
Texto completo da fonteENGLISH ABSTRACT: This thesis presents a complete state estimation framework for landing an unmanned helicopter on a ship deck. In order to design and simulate an optimal state estimator, realistic sensor models are required. Selected inertial, absolute and relative sensors are modeled based on extensive data analysis. The short-listed relative sensors include monocular vision, stereo vision and laser-based sensors. A state estimation framework is developed to fuse available helicopter estimates, ship estimates and relative measurements. The estimation structure is shown to be both optimal, as it minimises variance on the estimates, and flexible, as it allows for varying degrees of ship deck instrumentation. Deck instrumentation permitted ranges from a fully instrumented deck, equipped with an inertial measurement unit and differential GPS, to a completely uninstrumented ship deck. Optimal estimates of all helicopter, relative and ship states necessary for the autonomous landing on the ship deck are provided by the estimator. Active gyro bias estimation is incorporated into the helicopter’s attitude estimator. In addition, the process and measurement noise covariance matrices are derived from sensor noise analysis, rather than conventional tuning methods. A full performance analysis of the estimator is then conducted. The optimal relative sensor combination is determined through Monte Carlo simulation. Results show that the choice of sensors is primarily dependent on the desired hover height during the ship motion prediction stage. For a low hover height, monocular vision is sufficient. For greater altitudes, a combination of monocular vision and a scanning laser beam greatly improves relative and ship state estimation. A communication link between helicopter and ship is not required for landing, but is advised for added accuracy. The estimator is implemented on a microprocessor running real-time Linux. The successful performance of the system is demonstrated through hardware-in-the-loop and actual flight testing.
AFRIKAANSE OPSOMMING: Hierdie tesis bied ’n volledige sensorfusie- en posisieskattingstruktuur om ’n onbemande helikopter op ’n skeepsdek te laat land. Die ontwerp van ’n optimale posisieskatter vereis die ontwikkeling van realistiese sensormodelle ten einde die skatter akkuraat te simuleer. Die gekose inersie-, absolute en relatiewe sensors in hierdie tesis is op grond van uitvoerige dataontleding getipeer, wat eenoogvisie-, stereovisieen lasergegronde sensors ingesluit het. ’n Innoverende raamwerk vir die skatting van relatiewe en skeepsposisie is ontwikkel om die beskikbare helikopterskattings, skeepskattings en relatiewe metings te kombineer. Die skattingstruktuur blyk optimaal te wees in die beperking van skattingsvariansie, en is terselfdertyd buigsaam aangesien dit vir wisselende mates van skeepsdekinstrumentasie voorsiening maak. Die toegelate vlakke van dekinstrumentasie wissel van ’n volledig geïnstrumenteerde dek wat met ’n inersiemetingseenheid en ’n differensiële globale posisioneringstelsel (GPS) toegerus is, tot ’n algeheel ongeïnstrumenteerde dek. Die skatter voorsien optimale skattings van alle vereiste helikopter-, relatiewe en skeepsposisies vir die doeleinde van outonome landing op die skeepsdek. Aktiewe giro-sydige skatting is by die posisieskatter van die helikopter ingesluit. Die proses- en metingsmatrikse vir geruiskovariansie in die helikopterskatter is met behulp van ’n ontleding van sensorgeruis, eerder as gebruiklike instemmingsmetodes, afgelei. ’n Volledige werkingsontleding is daarna op die skatter uitgevoer. Die optimale relatiewe sensorkombinasie vir landing op ’n skeepsdek is met Monte Carlo-simulasie bepaal. Die resultate toon dat die keuse van sensors hoofsaaklik van die gewenste sweefhanghoogte gedurende die voorspellingstadium van skeepsbeweging afhang. Vir ’n lae sweefhanghoogte is eenoogvisie-sensors voldoende. Vir hoër hoogtes het ’n kombinasie van eenoogvisie-sensors en ’n aftaslaserbundel ’n groot verbetering in relatiewe en skeepsposisieskatting teweeggebring. ’n Kommunikasieskakel tussen helikopter en skip is nie ’n vereiste vir landing nie, maar word wel aanbeveel vir ekstra akkuraatheid. Die skatter is op ’n mikroverwerker met intydse Linux in werking gestel. Die suksesvolle werking van die stelsel is deur middel van hardeware-geïntegreerde simulasie en werklike vlugtoetse aangetoon.
Felux, Michael [Verfasser], Florian [Akademischer Betreuer] Holzapfel, Jiyun [Gutachter] Lee e Florian [Gutachter] Holzapfel. "Total System Performance of GBAS-based Automatic Landings / Michael Felux ; Gutachter: Jiyun Lee, Florian Holzapfel ; Betreuer: Florian Holzapfel". München : Universitätsbibliothek der TU München, 2018. http://d-nb.info/1166850943/34.
Texto completo da fonteFelux, Michael Verfasser], Florian [Akademischer Betreuer] [Holzapfel, Jiyun [Gutachter] Lee e Florian [Gutachter] Holzapfel. "Total System Performance of GBAS-based Automatic Landings / Michael Felux ; Gutachter: Jiyun Lee, Florian Holzapfel ; Betreuer: Florian Holzapfel". München : Universitätsbibliothek der TU München, 2018. http://nbn-resolving.de/urn:nbn:de:bvb:91-diss-20180816-1396325-1-1.
Texto completo da fonteTagebrand, Emil, e Ek Emil Gustafsson. "Dataset Generation in a Simulated Environment Using Real Flight Data for Reliable Runway Detection Capabilities". Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-54974.
Texto completo da fonteWatts, Robert Michael. "Development and evaluation of an automated path planning aid". Thesis, Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33839.
Texto completo da fonteNam, Amadou Sylla. "Increasing capacity by the use of optimal runway exits, automated landing, roll out and turnoff in an airport environment". Thesis, Virginia Polytechnic Institute and State University, 1986. http://hdl.handle.net/10919/90951.
Texto completo da fonteM.S.
Olender, Bogdan, e Богдан Андрійович Олендер. "Computer traction management system in the mode of landing on a short runway". Thesis, National Aviation University, 2021. https://er.nau.edu.ua/handle/NAU/50741.
Texto completo da fonteAnalysis of European airfields in small towns shows that today airfields with "short runways" are the largest group, and in the future their number will only increase due to: the desire to bring airfields to densely populated areas, as well as due to low , compared with the "elite" airfields, construction costs. This trend is accompanied by the emergence of short take-off and landing aircraft SR, as well as the implementation of automated control systems (ACS) and such aircraft modern methods of landing control on "short runways". Based on the analysis of the experience of developing such ACS, the following requirements for onboard short-landing systems can be determined: information support of the approach to landing on a steep glide path with a landing point located at the beginning of the runway, while implementing high-precision guidance to the point of contact; direct control of the thrust of the power plant, with the optimal combination of the action of the chassis brakes and reverse thrust at the stage of the run of the aircraft on the runway.
Аналіз європейських аеродромів у малих містах показує, що сьогодні аеродроми з «короткими злітно-посадковими смугами» є найбільшою групою, і в майбутньому їх кількість буде лише збільшуватися через: бажання довести аеродроми до густонаселених районів, а також через низькі, порівняно з "елітними" аеродромами, витрати на будівництво. Ця тенденція супроводжується появою літаків короткого зльоту і посадки SR, а також впровадженням автоматизованих систем управління (САУ) і таких літаків сучасними методами керування посадкою на "коротких злітно-посадкових смугах". На основі аналізу досвіду розробки такої САУ можна визначити наступні вимоги до бортових систем короткої посадки: інформаційне забезпечення підходу до посадки на крутому ковзаючому шляху з точкою посадки, розташованою на початку злітно-посадкової смуги, тоді як здійснення високоточного наведення до точки контакту; безпосереднє керування тягою силової установки, з оптимальним поєднанням дії гальм шасі і зворотної тяги на етапі запуску літака на злітно-посадкову смугу.
Sklar, Alexander Gabriel. "Channel Modeling Applied to Robust Automatic Speech Recognition". Scholarly Repository, 2007. http://scholarlyrepository.miami.edu/oa_theses/87.
Texto completo da fonteJavůrek, František. "Regálový zakladač pro ukládání palet v automatickém skladu". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229163.
Texto completo da fonteAUSONIO, ELENA. "Drone Swarm System in Firefighting Activities". Doctoral thesis, Università degli studi di Genova, 2022. http://hdl.handle.net/11567/1082825.
Texto completo da fonteChien, Li-Hsiang, e 簡立翔. "Stability Analysis of Intelligent Automatic Landing Control System". Thesis, 2007. http://ndltd.ncl.edu.tw/handle/59942368780157330421.
Texto completo da fonte國立臺灣海洋大學
通訊與導航工程系
95
Abstract According to flight records, most aircraft accidents occurred during final approach. Among these accidents, some causes are attributed to weather and human factors. Nowadays, most aircraft have installed the Automatic Landing System (ALS) which helps aircraft landing safely and reduces pilot’s work loading greatly. But control schemes of the conventional ALS usually use gain-scheduling and adaptive control techniques. If the flight conditions are beyond the preset envelope, the ALS is disabled and the pilot takes over. In order to improve the performance of the ALS, this paper presents three intelligent controllers (Resource Allocation Network Controller, Recurrent Neural Network Controller, and Fuzzy Neural Controller) to replace conventional controller and guide the aircraft to a safe landing. Moreover, stability of the proposed automatic landing control system is guaranteed by Lyapunov theorem. Optimal learning rates are derived by convergence theorem. Furthermore, we propose back-propagation through time algorithm with linearization inverse aircraft model to train the automatic landing control system. Finally, from theory analysis and simulation results, the proposed intelligent controllers can enable the aircraft to adapt to wide range of wind disturbances and guide the aircraft to a safe landing. Keywords: neural network, Lyapunov theorem, stability analysis
Osório, José Joaquim Vergueiro de Sousa Pereira. "Automatic Landing Control Design for Unmanned Aerial Vehicles". Master's thesis, 2016. https://repositorio-aberto.up.pt/handle/10216/85551.
Texto completo da fonteHuang, Yu-Tang, e 黃毓棠. "Implementation of UAV Automatic Landing Using Machine Vision". Thesis, 2016. http://ndltd.ncl.edu.tw/handle/22095008425616605244.
Texto completo da fonte國立高雄應用科技大學
電機工程系博碩士班
104
Unmanned Aerial Vehicle (UAV) has been widely used in various fields during the past decades. Using machine vision to achieve the automatic photographing and automatic landing becomes an active research area. In this thesis, we use Speeded-Up Robust Features (SURF) to find the feature points of the heliport, and then use Random Sample Consensus (RANSAC) to find the affine transform model between template image and real-time image to find the heliport. In order to locate the heliport more accurately, we use contours finding and image thinning algorithms to reduce noises and use Hough transform to locate the heliport. Our method uses ROI to reduce the processing area, so the processing speed and detection rate can be improved. The results show that the proposed system has high processing speed and detection rate for real-time automatic landing system.
Osório, José Joaquim Vergueiro de Sousa Pereira. "Automatic Landing Control Design for Unmanned Aerial Vehicles". Dissertação, 2016. https://repositorio-aberto.up.pt/handle/10216/85551.
Texto completo da fonteCho, Jung-Er, e 卓榮二. "Automatic Take-off/Landing Control Design For Unmanned Helicopter". Thesis, 2010. http://ndltd.ncl.edu.tw/handle/12536767894243922245.
Texto completo da fonte高苑科技大學
電子工程研究所
99
In this research, the PIC16F877A MCU is used as control center. The altitude data is pickup by the super sonic sensor to control the RPM of BLDC motor, and to achieve the automatic landing/take-off control goals. The altitude data is transferred from super sonic sensor to PIC16F877A by IIC (Inter-Integrated Circuit) port. Based on the altitude of the vehicle, the MCU will create a square wave PWM signal and adjust the duty cycle of this PWM signal. The ESC (Electronic Speed Controller) decodes this PWM signal from MCU to control the RPM of the motor to achieve the desire altitude. In this system, a desktop computer is used to monitor the working status of this system. The visual control interface of the desktop computer is developed by using the Visual Basic software. The MCU uses the RS-232 USART (Universal Synchronous Asynchronous Receiver Transmitter) to communicate the desktop computer.
Bole, Michael. "Design of an automatic landing system for twin rotor vertical take-off and landing unmanned air vehicle". Thesis, 1999. http://spectrum.library.concordia.ca/939/1/MQ47834.pdf.
Texto completo da fonteChiu, Jen-Chun, e 邱仁君. "Applications of Fuzzy Neural Networks to Aircraft Automatic Landing Control". Thesis, 2002. http://ndltd.ncl.edu.tw/handle/71958502154828437937.
Texto completo da fonte國立海洋大學
航運技術研究所
90
Fuzzy neural networks have been applied to flight control for their better adaptability and robustness for unmodeled systems and hardware implementation capability. Fuzzy neural networks can increase the flight controller’s adaptation to different environments. Currently, most of the improvements in the Automatic Landing System (ALS) have involved the guidance instruments. Using improved calculation methods and highly accurate instruments, these systems provide more accurate flight data to the ALS to make the landing smoother. However, these researches do not include weather factors such as wind shear. There have not been many researches on the problem of intelligent landing control. The purpose of this thesis is to apply a fuzzy neural network controller to an aircraft automatic landing system. In this research, we investigate a fuzzy neural network system that combines the advantages of the fuzzy logic and neural network systems. The Backpropagation Through Time algorithm is implemented into the network learning process. A complete landing phase is divided into several stages (intervals). Each stage uses the same fuzzy neural network controller. The Linearized Inverse Aircraft Model calculates the error signals that will be used to back propagate through the controller to obtain the weight changes in each stage. The error continues to be back propagated through all of the stages and weight changes for the controller are computed at each stage. The weight changes from all obtained stages from the delta learning rule are added together for the overall update. Simulation results show that the trained controller can guide the aircraft to land safely through wind disturbances and successfully expand the controllable environment in severe wind disturbances.
Shiu, Jiun-Shiang, e 許竣翔. "Computer Vision Automatic Landing Assistant System for Fixed-Wing UAV". Thesis, 2016. http://ndltd.ncl.edu.tw/handle/m78x3n.
Texto completo da fonte元智大學
機械工程學系
105
The most critical phase of a UAV flight mission is landing. It’s not only hard to recognize the runway from camera in dusk or overcast environments, even at night, but also the pilot is difficult to do visual approach and landing manually. This paper present a computer vision-based automatic landing assistant system for fixed-wing UAV. By recognizing four red runway lights on the edges of the runway to estimate the lateral offset, vertical height, horizontal distance relative to runway head, and three attitude angles. The advantages are to gain flexible usage and not to need to survey runway completely. At a distance of 400m from runway head, the estimation error of lateral offset less than 2m with frame rate greater than 24fps. Also discussed the effect between the angle of setting camera error and pose estimation, and the recognition ability in the different luminance of environment.
Chang, Wu-pen, e 張務本. "A Study of Neural Network Applications to Automatic Landing System". Thesis, 2000. http://ndltd.ncl.edu.tw/handle/83207787399097646951.
Texto completo da fonte國立海洋大學
航運技術研究所
88
The purpose of this thesis is to apply neural network controller to aircraft automatic landing system. Most of the studies regarding flight control are based on conventional modern control theories with optimal or adaptive control methods. Typically these techniques involve linearizing the aircraft dynamics about several operating conditions through out the flight envelope, designing linear controllers for each condition, and gain-scheduling approach. The disadvantages are that it require extensive computations, memory utilization, and memory space. Furthermore, conventional controllers are not capable of handling environmental disturbances (such as wind shear and wind turbulence). It is noted that existing automatic landing system work reliably only within a carefully specified operational safety envelope. A conventional autopilot has difficulties in severe wind disturbances during the landing phase. Thus, to increase the safety of landing it would be desirable if new method could expand the operational envelope to include safe responses under different environmental conditions. Artificial neural networks, which have the ability to approximate continuous nonlinear functions, offer the potential to overcome these problems. In this study, a multi layer feedforward neural network is applied to the aircraft landing control. The neural network controller can learn different flight conditions off-line. Simulation results show that the trained controller can guide the aircraft landing safely through wind disturbances. The analysis of using different numbers of hidden unit are included. Through the simulations, the combination of the training data and scaling skill are found. Also, strength ranges of wind turbulence and wind shear for a safety landing are suggested.
Lee, Chia-Ling, e 李佳霖. "Applications of Hybrid CMAC and DSP Controllers to Automatic Landing System". Thesis, 2008. http://ndltd.ncl.edu.tw/handle/98034157829946488167.
Texto completo da fonte國立臺灣海洋大學
通訊與導航工程系
96
Severe weather condition is a threat in flights especially when airplanes are entering the taking off or landing phase. According to a survey of the National Transportation Safety Board, 11 % of aircraft accidents in the years of 2000 to 2006 were weather related. When aircraft approaches landing phase the altitude is low and the speed is slow. If the aircraft encountered wind shear or turbulence while landing it could cause altitude loss, heading variation and even crash. Nowadays, most aircraft have installed the Automatic Landing System (ALS) which helps aircraft landing stably and reduces pilot’s working load greatly. But control schemes of the conventional ALS usually use gain-scheduling and adaptive control techniques. If the flight conditions are beyond the preset envelope, the ALS is disabled and the pilot takes over. This thesis presents an aircraft automatic landing control scheme that uses hybrid fuzzy CMAC as controller. Furthermore, a real-valued type genetic algorithm is used to adjust control gains of the pitch autopilot. The proposed intelligent controller can enhance the ALS adaptability to adapt to wider range of disturbances. Comparisons of aircraft landing performance on the basis of different control schemes are provided. In addition, via TMS320C6713 DSP set, we accomplish real-time simulation process. We utilize CCS to compile program and transfer to DSP’s flash memory through JATG. Real time automatic landing control is realized successfully by the embedded floating-point DSP controller.
Yang, Teng-Chieh, e 楊登傑. "Adaptive CMAC Control and Stability Analysis of Intelligent Automatic Landing System". Thesis, 2009. http://ndltd.ncl.edu.tw/handle/16891242439216753225.
Texto completo da fonte國立臺灣海洋大學
通訊與導航工程系
97
According to flight records, most aircraft accidents occurred during final approach. According to a survey of the National Transportation Safety Board, 12 % of aircraft accidents in the years of 1950 to 2008 were weather related. Among these accidents, some causes are attributed to weather and human factors. When aircraft approaches landing phase the altitude is low and the speed is slow. If the aircraft encountered wind shear or turbulence while landing it could cause altitude loss, heading variation and even crash. Nowadays, most aircraft have installed the Automatic Landing System (ALS) which relies on the Instrument Landing System (ILS) to help aircraft landing safely and reduces pilot’s work loading greatly. But control schemes of the conventional ALS usually use gain-scheduling and conventional adaptive control techniques. If the flight conditions are beyond the preset envelope, the ALS is disabled and the pilot takes over. In order to improve the performance of the ALS, this paper presents several hybrid CMACs to replace conventional controller and guide the aircraft to a safe landing. Moreover, stability of the proposed automatic landing control system is guaranteed by Lyapunov theorem. Optimal learning rates are derived by convergence theorem. Finally, from theory analysis and simulation results, the proposed intelligent controllers can enable the aircraft to adapt to wide range of wind disturbances and guide the aircraft to a safe landing.
Abu, Jbara Khaled F. "A Robust Vision-based Runway Detection and Tracking Algorithm for Automatic UAV Landing". Thesis, 2015. http://hdl.handle.net/10754/552539.
Texto completo da fonteLiao, Wan-Ting, e 廖婉婷. "Development of an Image Based Augmented Automatic Landing System for Unmanned Aerial Helicopter". Thesis, 2013. http://ndltd.ncl.edu.tw/handle/wj9z99.
Texto completo da fonte國立臺北科技大學
機電整合研究所
101
Recently unmanned aerial vehicle (UAV) are more widely applied so that those demanding of function upgrade is required, such as increasing the payload, reducing its weight, the stability of control system, and battery life. In this study, there two key areas, landing target and embedded system, are focused to improve the UAV system. This study uses specific landing mark to provide better guidance information to UAV control system. The landing mark, which combines color and geometry, is designed for image processing algorithms so that the control system can estimate position and direction of the landing target for modifying landing position. On the other hand, embedded system is ideally suited for the development of UAV flight system, because there are several features, for example, small size, light weight, low power consumption, processing speed and stability. The purpose of this research is to develop a machine vision system which can help unmanned aerial helicopter (UAH) can takeoff and landing automatically by identifying the landing mark by using the embedded system hardware architecture, and developing the required program through image recognition algorithms.
Chen, Ying-Jhen, e 陳映蓁. "Development of an Embedded Vision System for Unmanned Aerial Helicopter Automatic Landing Guidance". Thesis, 2014. http://ndltd.ncl.edu.tw/handle/qeeb6q.
Texto completo da fonte國立臺北科技大學
機電整合研究所
102
Recently, the demand of unmanned aerial vehicle(UAV) becomes more popular in many fields, and automatic landing is an important and challenging issue for UAV. Because of the advantages of the unmanned aerial helicopter(UAH), such as high mobility, vertical takeoff and landing, and hovering mode, this study proposed to develop the automatic landing guidance system for unmanned aerial helicopter. Moreover, the machine vision has been used in many systems to retrieve the image information of environment with noncontact and nondestructive methods. This is helpful to get the information of the attitudes and location of the unmanned aerial helicopter. On the other hand, embedded system is ideal for the development of UAV flight system. Because there are several features, for instance, small size, light weight, low power consumption, highly processing speed and stability. The purpose of this study is to develop a machine vision system which can provide the estimated attitudes and relative distance to the designated landing position of unmanned aerial helicopter for automatic landing. In this study, a digital camera is used to identify the landing mark with an embedded system hardware architecture. Through the techniques of image processing, this study develops the required program to calculate the relationship of the image and landing mark.
Lin, Feng-Chu, e 林峰助. "A Simulation Model of Intelligent Automatic Landing Control System and its Realization with DSP". Thesis, 2004. http://ndltd.ncl.edu.tw/handle/42048053932296458323.
Texto completo da fonte國立臺灣海洋大學
導航與通訊系
92
In a flight, take-off and landing are the most difficult operations in regard to safety issues. Airplane pilots must not only be acquainted with the operation of instrument boards, but also need flight sensitivity to the ever-changing environment, especially in landing phase when turbulence is encountered. The Automatic Landing system (ALS) can help to alleviate the pilot’s work during landing process but with limited conditions. Conventional flight controllers usually utilize gain-scheduling techniques, if the landing environment is beyond predefined conditions the ALS must disable and the pilot has to operate the aircraft manually. To improve the controller of the ALS this research uses a neural network called RAN, which can grow the hidden units automatically, and uses a real-valued genetic algorithm to search the control gains of the pitch autopilot. The proposed intelligent controller can enable the airplane to adapt to more extensive turbulences and guide the airplane to a safe landing. In addition, the Simulink and VisSim softwares, which have the property of dynamical simulation, are used to construct the flight control system. Since these softwares have graphical user interface the control system can easily be expanded by adding new modules. Environmental influences to the airplane can be observed through the visual flight simulation model. This paper also utilizes the VisSim/ TI C2000 Rapid Prototyper to develop an embedded control system that uses a fixed-point DSP controller. Thus realization of on-line real-time control can be achieved.