Teses / dissertações sobre o tema "Exploration and mapping"
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Mata, Roxana. "Persistent autonomous exploration, mapping and localization". Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/113127.
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 (pages 103-106).
In this thesis, we investigate methods for exploration, persistent autonomy, and simultaneous localization and mapping tasks for an autonomous mobile robot with battery constraints. First, we present modifications to baseline frontier exploration on an occupancy grid that makes the robot's frontier exploration more efficient. Second, we describe the new software structure and recovery behavior for an autonomous robot to navigate to its dock despite errors of uncertainty in its map. Third, we implemented a landmark-based topological mapping method using a state-of-the-art toolbox that maps the environment using visually unique tags to compare with metric mapping methods. Our analysis shows that the robot explores its environment more efficiently using our method than with previous frontier exploration methods, and that graph based mapping outperforms metric mapping against ground-truth accuracy tests.
by Roxana Mata.
M. Eng.
Valencia, Carreño Rafael. "Mapping, planning and exploration with Pose SLAM". Doctoral thesis, Universitat Politècnica de Catalunya, 2013. http://hdl.handle.net/10803/117471.
Texto completo da fonteFan, Yuantao, e Maytheewat Aramrattana. "Exploration and Mapping of Warehouses Using QuadrotorHelicopters". Thesis, Högskolan i Halmstad, Sektionen för Informationsvetenskap, Data– och Elektroteknik (IDE), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-24007.
Texto completo da fonteAutomatic Inventory and Mapping of Stock
Fåk, Joel, e Tomas Wilkinson. "Autonomous Mapping and Exploration of Dynamic Indoor Environments". Thesis, Linköpings universitet, Reglerteknik, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-97609.
Texto completo da fonteDetta exjobb beskriver delarna som krävs för att för bygga ett komplett system som autonomt kartlägger inomhusmiljöer i tre dimensioner. Robotplattformen är en Segway, som är kapabel att röra sig i ett plan. Segwayn, tillsammans med en tröghetssensor, två Microsoft Kinects och en bärbar dator utgör grunden till systemet, som kan delas i tre delar: En lokaliserings- och karteringsdel, som i grunden är en SLAM-algoritm (simultan lokalisering och kartläggning) baserad på registreringsmetoden Iterative Closest Point (ICP). Kartan som byggs upp är i tre dimensioner och ska dessutom hantera kartläggningen av dynamiska miljöer, något som orginalforumleringen av SLAM problemet inte klarar av. En automatisk planeringsdel, som består av två delar. Dels ruttplanering som går ut på att hitta en väg från sin nuvarande position till det valda målet och dels målplanering som innebär att välja ett mål att åka till givet den nuvarande kartan och robotens nuvarande position. Systemets tredje del är regler- och kollisionssystemen. Dessa system har inte varit i fokus i detta arbete, men de är ändå högst nödvändiga för att ett autonomt system skall fungera. Detta examensarbete bidrar med följande: Octomap, ett ramverk för kartläggningen i 3D, har utökats för att hantera kartläggningen av dynamiska miljöer; En ny metod för målplanering, baserad på bildbehandling läggs fram; En kalibreringsprocedur för roboten är framtagen som ger den fullständiga posen i förhållande till roboten för varje Kinect. Resultaten visar att vår kalibreringsprocedur ger en nogrann pose for för varje Kinect, vilket är avgörande för att systemet ska fungera. Metoden för kartläggningen av dynamiska miljöer visas prestera bra i grundläggande situationer som uppstår vid kartläggning av dynamiska miljöer. Vidare visas att målplaneringsalgoritmen ger ett snabbt och enkelt sätt att planera mål att åka till. Slutligen utvärderas hela systemets autonoma kartläggningsförmåga, som ger lovande resultat. Dock lyfter resultat även fram problem som begränsar systemets prestanda, till exempel Kinectens onoggranhet och korta räckvidd samt brus som läggs till och förstärks av de olika subsystemen.
Alberts, Ernst Patrick. "Horizon mapping in exploration seismology using artficial intelligence". Thesis, Imperial College London, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.272160.
Texto completo da fonteFisher, Roderick John. "Pole-potential mapping and synthetic arrays in electrical exploration". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/NQ59056.pdf.
Texto completo da fonteWilson, Brenda G. "Exploration of mind mapping as an organizational change tool". Thesis, Pepperdine University, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10100912.
Texto completo da fonteMind mapping is a communication tool that has been around for decades though it is rarely discussed as a tool for facilitating organizational change. It is possible for this underutilized communication tool and the ever-present challenge of organizational change to work in harmony on a more consistent basis. This exploratory research asked Change Leaders and Change Participants about their current mind mapping usage or experience, and requested their input on the use of mind mapping for organizational change efforts. There were 76 Change Leaders and 11 others who self-described themselves as Change Participants who responded to a virtual data collection process. Overall change readiness levels were predominantly at the moderate level, 37% of Change Leaders and 45% of Change Participants, an encouraging statistic for organizations considering change. Respondents reported that mind mapping is mostly used as a personal tool for organization, planning events, setting goals, and writing papers. Change Leaders (n=20) who reported using mind mapping professionally, commented they used it primarily for communication and collaboration, and project and systems planning and design. Specific practices included coaching, clarifying objectives, evaluating and monitoring projects, assessing lessons learned, redesigning curriculum, realigning resources, setting expectations, objectives and goals, and establishing timelines. One study conclusion was that these change practitioners understood how change is inevitable, and indicated their willingness to actively participate. This makes it important for organizations to capitalize on change participants’ knowledge and enthusiasm to enable successful change and enhance employee well-being. Concluding that attitudes, behaviors, and feelings toward change vary based on the role one plays, Change Leaders can benefit from the efforts of Change Participants by simply respecting their role and knowledge and involving them in the entire process, from planning to implementation. It is a foregone conclusion that communication is essential for any change process regardless of what specific tool is used, but the importance of selecting an appropriate method(s) based on the situation, message, and the recipients is critical. Using mind mapping as a change management tool specifically designed for certain aspects of organizational change is highly recommended, as it allows for both linear and non-linear communication.
Keywords: mind mapping, organizational change, Organizational Change Readiness Assessment, OCRA, visual communication
Gregory, R. G. "Soil gas emanometry and hydrothermal mineralisation in southwest England". Thesis, University of Exeter, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.377311.
Texto completo da fonteOlson, Jacob Moroni. "Collaborative UAV Planning, Mapping, and Exploration in GPS-Denied Environments". BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/8703.
Texto completo da fonteJiang, Dayou. "An exploration of BMSF algorithm in genome-wide association mapping". Kansas State University, 2013. http://hdl.handle.net/2097/15505.
Texto completo da fonteDepartment of Statistics
Haiyan Wang
Motivation: Genome-wide association studies (GWAS) provide an important avenue for investigating many common genetic variants in different individuals to see if any variant is associated with a trait. GWAS is a great tool to identify genetic factors that influence health and disease. However, the high dimensionality of the gene expression dataset makes GWAS challenging. Although a lot of promising machine learning methods, such as Support Vector Machine (SVM), have been investigated in GWAS, the question of how to improve the accuracy of the result has drawn increased attention of many researchers A lot of the studies did not apply feature selection to select a parsimonious set of relevant genes. For those that performed gene selections, they often failed to consider the possible interactions among genes. Here we modify a gene selection algorithm BMSF originally developed by Zhang et al. (2012) for improving the accuracy of cancer classification with binary responses. A continuous response version of BMSF algorithm is provided in this report so that it can be applied to perform gene selection for continuous gene expression dataset. The algorithm dramatically reduces the dimension of the gene markers under concern, thus increases the efficiency and accuracy of GWAS. Results: We applied the continuous response version of BMSF on the wheat phenotypes dataset to predict two quantitative traits based on the genotype marker data. This wheat dataset was previously studied in Long et al. (2009) for the same purpose but used only direct application of SVM regression methods. By applying our gene selection method, we filtered out a large portion of genes which are less relevant and achieved a better prediction result for the test data by building SVM regression model using only selected genes on the training data. We also applied our algorithm on simulated datasets which was generated following the setting of an example in Fan et al. (2011). The continuous response version of BMSF showed good ability to identify active variables hidden among high dimensional irrelevant variables. In comparison to the smoothing based methods in Fan et al. (2011), our method has the advantage of no ambiguity due to difference choices of the smoothing parameter.
Knowles, Alia Karraz. "Mapping the subject : exploration of identity construction through autobiographical reflection". Master's thesis, University of Cape Town, 2002. http://hdl.handle.net/11427/3591.
Texto completo da fonteBELO, FELIPE AUGUSTO WEILEMANN. "EXPLORATION AND VISUAL MAPPING ALGORITHMS DEVELOPMENT FOR LOW COST MOBILE ROBOTS". PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2006. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=9142@1.
Texto completo da fonteAo mesmo tempo em que a autonomia de robôs pessoais e domésticos aumenta, cresce a necessidade de interação dos mesmos com o ambiente. A interação mais básica de um robô com o ambiente é feita pela percepção deste e sua navegação. Para uma série de aplicações não é prático prover modelos geométricos válidos do ambiente a um robô antes de seu uso. O robô necessita, então, criar estes modelos enquanto se movimenta e percebe o meio em que está inserido através de sensores. Ao mesmo tempo é necessário minimizar a complexidade requerida quanto a hardware e sensores utilizados. No presente trabalho, um algoritmo iterativo baseado em entropia é proposto para planejar uma estratégia de exploração visual, permitindo a construção eficaz de um modelo em grafo do ambiente. O algoritmo se baseia na determinação da informação presente em sub-regiões de uma imagem panorâmica 2-D da localização atual do robô obtida com uma câmera fixa sobre o mesmo. Utilizando a métrica de entropia baseada na Teoria da Informação de Shannon, o algoritmo determina nós potenciais para os quais deve se prosseguir a exploração. Através de procedimento de Visual Tracking, em conjunto com a técnica SIFT (Scale Invariant Feature Transform), o algoritmo auxilia a navegação do robô para cada nó novo, onde o processo é repetido. Um procedimento baseado em transformações invariáveis a determinadas variações espaciais (desenvolvidas a partir de Fourier e Mellin) é utilizado para auxiliar o processo de guiar o robô para nós já conhecidos. Também é proposto um método baseado na técnica SIFT. Os processos relativos à obtenção de imagens, avaliação, criação do grafo, e prosseguimento dos passos citados continua até que o robô tenha mapeado o ambiente com nível pré-especificado de detalhes. O conjunto de nós e imagens obtidos são combinados de modo a se criar um modelo em grafo do ambiente. Seguindo os caminhos, nó a nó, um robô pode navegar pelo ambiente já explorado. O método é particularmente adequado para ambientes planos. As componentes do algoritmo proposto foram desenvolvidas e testadas no presente trabalho. Resultados experimentais mostrando a eficácia dos métodos propostos são apresentados.
As the autonomy of personal service robotic systems increases so has their need to interact with their environment. The most basic interaction a robotic agent may have with its environment is to sense and navigate through it. For many applications it is not usually practical to provide robots in advance with valid geometric models of their environment. The robot will need to create these models by moving around and sensing the environment, while minimizing the complexity of the required sensing hardware. This work proposes an entropy-based iterative algorithm to plan the robot´s visual exploration strategy, enabling it to most efficiently build a graph model of its environment. The algorithm is based on determining the information present in sub-regions of a 2- D panoramic image of the environment from the robot´s current location using a single camera fixed on the mobile robot. Using a metric based on Shannon s information theory, the algorithm determines potential locations of nodes from which to further image the environment. Using a Visual Tracking process based on SIFT (Scale Invariant Feature Transform), the algorithm helps navigate the robot to each new node, where the imaging process is repeated. An invariant transform (based on Fourier and Mellin) and tracking process is used to guide the robot back to a previous node. Also, an SIFT based method is proposed to accomplish such task. This imaging, evaluation, branching and retracing its steps continues until the robot has mapped the environment to a pre-specified level of detail. The set of nodes and the images taken at each node are combined into a graph to model the environment. By tracing its path from node to node, a service robot can navigate around its environment. This method is particularly well suited for flat-floored environments. The components of the proposed algorithm were developed and tested. Experimental results show the effectiveness of the proposed methods.
Mandelli, Marcelo Grandi. "Exploration of runtime distributed mapping techniques for emerging large scale MPSoCs". Pontifícia Universidade Católica do Rio Grande do Sul, 2015. http://hdl.handle.net/10923/7585.
Texto completo da fonteMPSoCs with hundreds of cores are already available in the market. According to the ITRS roadmap, such systems will integrate thousands of cores by the end of the decade. The definition of where each task will execute in the system is a major issue in the MPSoC design. In the literature, this issue is defined as task mapping. The growth in the number of cores increases the complexity of the task mapping. The main concerns in task mapping in large systems include: (i) scalability; (ii) dynamic workload; and (iii) reliability. It is necessary to distribute the mapping decision across the system to ensure scalability. The workload of emerging large MPSoCs may be dynamic, i. e., new applications may start at any moment, leading to different mapping scenarios. Therefore, it is necessary to execute the mapping process at runtime to support a dynamic workload. Reliability is tightly connected to the system workload distribution. Load imbalance may generate hotspots zones and consequently thermal implications, which may result in unreliable system operation. In large scale MPSoCs, reliability issues get worse since the growing number of cores on the same die increases power densities and, consequently, the system temperature. The literature presents different task mapping techniques to improve system reliability. However, such approaches use a centralized mapping approach, which are not scalable. To address these three challenges, the main goal of this Thesis is to propose and evaluate distributed mapping heuristics, executed at runtime, ensuring scalability and a fair workload distribution. Distributing the workload and the traffic inside the NoC increases the system reliability in long-term, due to the minimization of hotspot regions. To enable the design space exploration of large MPSoCs the first contribution of the Thesis lies in a multi-level modeling framework, which supports different models and debugging capabilities that enrich and facilitate the design of MPSoCs. The simulation of lower level models (e. g. RTL) generates performance parameters used to calibrate abstract models (e. g. untimed models). The abstract models pave the way to explore mapping heuristics in large systems. Most mapping techniques focus on optimizing communication volume in the NoC, which may compromise reliability due to overload processors. On the other hand, a heuristic optimizing only the workload distribution may overload NoC links, compromising its reliability. The second significant contribution of the Thesis is the proposition of dynamic and distributed mapping heuristics, making a tradeoff between communication volume (NoC links) and workload distribution (CPU usage). Results related to execution time, communication volume, energy consumption, power traces and temperature distribution in large MPSoCs (144 processors) confirm the tradeoff hypothesis. Trading off workload and communication volume improves system reliably through the reduction of hotspots regions, without compromising system performance.
MPSoCs com centenas de processadores já estão disponíveis no mercado. De acordo com o ITRS, tais sistemas integrarão milhares de processadores até o final da década. A definição de onde cada tarefa será executada no sistema é um desafio importante na concepção de MPSoCs. Na literatura, tal desafio é definido como mapeamento de tarefas. O aumento do número de processadores aumenta a complexidade do mapeamento de tarefas. As principais preocupações em mapeamento de tarefas em grandes sistemas incluem: (i) escalabilidade; (ii) carga dinâmica de trabalho; e (iii) confiabilidade. É necessário distribuir a decisão do mapeamento pelo sistema para garantir escalabilidade. A carga de trabalho em MPSoCs pode ser dinâmica, ou seja, novas aplicações podem iniciar a execução a qualquer momento, levando a diferentes cenários de mapeamento. Portanto, é necessário executar o processo de mapeamento em tempo de execução para suportar uma carga de trabalho dinâmica. Confiabilidade é diretamente relacionada à distribuição da carga de trabalho no sistema. Desequilíbrio de carga pode gerar zonas de hotspots e implicações termais, que podem resultar em uma operação do sistema não confiável. Em MPSoCs de grande dimensão problemas de confiabilidade se agravam, uma vez que o crescente número de processadores no mesmo chip aumenta o consumo de energia e, consequentemente, a temperatura do sistema. A literatura apresenta diferentes técnicas de mapeamento de tarefas para melhorar a confiabilidade do sistema. No entanto, tais técnicas utilizam uma abordagem de mapeamento centralizado, a qual não é escalável. Em função destes três desafios, o principal objetivo desta Tese é propor e avaliar heurísticas de mapeamento distribuído, executadas em tempo de execução, garantindo escalabilidade e uma distribuição de carga de trabalho uniforme. Distribuir a carga de trabalho e o tráfego da NoC aumenta a confiabilidade do sistema no longo prazo, devido à minimização das regiões de hotspot. Para permitir a exploração do espaço de projeto em MPSoCs, a primeira contribuição desta Tese consiste em um ambiente de modelagem multi-nível, que suporta diferentes modelos e capacidades de depuração que enriquecem e facilitam o projeto de MPSoCs. A simulação de modelos de mais baixo nível (por exemplo, RTL) gera parâmetros de desempenho utilizados para calibrar modelos mais abstratos. Os modelos abstratos facilitam a exploração de heurísticas de mapeamento em grandes sistemas. A maioria das técnicas de mapeamento se concentram na otimização do volume comunicação na NoC, o que pode comprometer a confiabilidade, devido à sobrecarga de processadores. Por outro lado, uma heurística que visa a otimização apenas da distribuição de carga de trabalho pode sobrecarregar canais da NoC, comprometendo a sua confiabilidade. A segunda contribuição significativa desta Tese é a proposição de heurísticas de mapeamento dinâmico e distribuídos, fazendo um compromisso entre o volume de comunicação (canais da NoC) e distribuição de carga de trabalho (uso da CPU). Os resultados relacionados a tempo de execução, volume de comunicação, consumo de energia, distribuição de potência e temperatura em grandes MPSoCs (256 processadores) confirmam a hipótese deste compromisso. Fazer um compromisso entre carga de trabalho e volume de comunicação melhora a confiabilidade do sistema através da redução de regiões hotspots, sem comprometer o desempenho do sistema.
Grandi, Mandelli Marcelo. "EXPLORATION OF RUNTIME DISTRIBUTED MAPPING TECHNIQUES FOR EMERGING LARGE SCALE MPSOCS". Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS217/document.
Texto completo da fonteMPSoCs with hundreds of cores are already available in the market. According to the ITRS roadmap, such systems will integrate thousands of cores by the end of the decade. The definition of where each task will execute in the system is a major issue in the MPSoC design. In the literature, this issue is defined as task mapping. The growth in the number of cores increases the complexity of the task mapping. The main concerns in task mapping in large systems include: (i) scalability; (ii) dynamic workload; and (iii) reliability. It is necessary to distribute the mapping decision across the system to ensure scalability. The workload of emerging large MPSoCs may be dynamic, i.e., new applications may start at any moment, leading to different mapping scenarios. Therefore, it is necessary to execute the mapping process at runtime to support a dynamic workload. Reliability is tightly connected to the system workload distribution. Load imbalance may generate hotspots zones and consequently thermal implications, which may result in unreliable system operation. In large scale MPSoCs, reliability issues get worse since the growing number of cores on the same die increases power densities and, consequently, the system temperature. The literature presents different task mapping techniques to improve system reliability. However, such approaches use a centralized mapping approach, which are not scalable. To address these three challenges, the main goal of this Thesis is to propose and evaluate distributed mapping heuristics, executed at runtime, ensuring scalability and a fair workload distribution. Distributing the workload and the traffic inside the NoC increases the system reliability in long-term, due to the minimization of hotspot regions. To enable the design space exploration of large MPSoCs the first contribution of the Thesis lies in a multi-level modeling framework, which supports different models and debugging capabilities that enrich and facilitate the design of MPSoCs. The simulation of lower level models (e.g. RTL) generates performance parameters used to calibrate abstract models (e.g. untimed models). The abstract models pave the way to explore mapping heuristics in large systems. Most mapping techniques focus on optimizing communication volume in the NoC, which may compromise reliability due to overload processors. On the other hand, a heuristic optimizing only the workload distribution may overload NoC links, compromising its reliability. The second significant contribution of the Thesis is the proposition of dynamic and distributed mapping heuristics, making a tradeoff between communication volume (NoC links) and workload distribution (CPU usage). Results related to execution time, communication volume, energy consumption, power traces and temperature distribution in large MPSoCs (144 processors) confirm the tradeoff hypothesis. Trading off workload and communication volume improves system reliably through the reduction of hotspots regions, without compromising system performance
Xu, Fengliang. "Mapping and localization for extraterrestrial robotic explorations". Connect to this title online, 2004. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1095695679.
Texto completo da fonteDocument formatted into pages; contains xvi, 158 p. Includes bibliographical references. Abstract available online via OhioLINK's ETD Center; full text release delayed at author's request until 2005 Sep. 20.
Mattisson, Andreas, e Mathias Börjesson. "Distributed exploration of virtual environments". Thesis, Blekinge Tekniska Högskola, Avdelningen för programvarusystem, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-4261.
Texto completo da fonteLakshminarayana, Avinash. "Evaluation Techniques for Mapping IPs on FPGAs". Thesis, Virginia Tech, 2010. http://hdl.handle.net/10919/34645.
Texto completo da fonteMaster of Science
Rodriguez-Gallegos, Hugo Benigno. "Exploration of Very High Spatial Resolution Data for Vegetation Mapping using Cartographic Ontologies: Identifying Life Forms to Mapping Formations". Diss., The University of Arizona, 2009. http://hdl.handle.net/10150/194484.
Texto completo da fonteTayob, Huda. "Exploring city spaces : an exploration into mapping practices and rule based design". Master's thesis, University of Cape Town, 2010. http://hdl.handle.net/11427/19083.
Texto completo da fonteKleiner, Alexander. "Mapping and exploration for search and rescue with humans and mobile robots". [S.l. : s.n.], 2007.
Encontre o texto completo da fonteHanson, Christopher Jon. "Exploration of the Gossypium raimondii Genome Using Bionano Genomics Physical Mapping Technology". BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/6854.
Texto completo da fonteMa, Donglin. "Exploration of Ray Mapping Methodology in Freeform Optics Design for Non-Imaging Applications". Diss., The University of Arizona, 2015. http://hdl.handle.net/10150/594394.
Texto completo da fonteBender, Asher. "Autonomous Exploration of Large-Scale Natural Environments". Thesis, The University of Sydney, 2013. http://hdl.handle.net/2123/9450.
Texto completo da fonteAhsan, Nasir. "Combining Exploration and Exploitation in Active Learning". Thesis, The University of Sydney, 2013. http://hdl.handle.net/2123/10144.
Texto completo da fonteÖzkahraman, Özer. "Multi-Agent Control of Autonomous Surface Vehicles for Shallow Water Exploration and Depth Mapping". Thesis, KTH, Robotik, perception och lärande, RPL, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-209948.
Texto completo da fonteAtt ha tillgång till en karta över ett område är en förutsättning för många olika aktiviteter, och därför har det skapats allt mer exakta kartor över de flesta landområden. För hav och sjöar har man skapat mer ungefärliga djupkartor för att undvika grundstötningar för sjöfart. Grundare områden har däremot ofta undvikits av stora djupmätningsfartyg, och är därför i hög grad okarterade.I denna rapport föreslås och analyseras en metod för att kartera djupet i grunda områden med hjälp av en grupp autonoma ytfarkoster. Givet en polygon inom vilken man vill ha botten karterad skall gruppen autonomt söka av området med få ytterligare antaganden. Gaussiska processer används för att styra farkosterna mot områden med stora mätosäkerheter, och algoritmen utvärderas i riktiga experiment.Resultaten jämförs med befintliga metoders prestanda, med avseende på kartkvalitet och tid för kartering. Resultaten visar att en av de föreslagna metoderna är snabb men mindre noggrann, medan den andra ger en bättre avvägning mellan kvalitet och uppdragstid.
Nguyen, Van Cuong. "Exploration de la cartographie par analyse d'association («Association Mapping») chez l'orge (Hordeum vulgare L.)". Thesis, Université Laval, 2012. http://www.theses.ulaval.ca/2012/29300/29300.pdf.
Texto completo da fonteKim, Jonghoek. "Simultaneous cooperative exploration and networking". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/39536.
Texto completo da fonteThai, Ba chien. "Tone Mapping Operators for High Dynamic Range Images". Thesis, Sorbonne Paris Cité, 2018. http://www.theses.fr/2018USPCD082.
Texto completo da fonteHe conversion of High Dynamic Range (HDR) image into Low Dynamic Range (LDR) image is investigated so that the visual rendering of the latter is of good quality. The first contribution focused on the contrast enhancement of the tone mapped image using a piecewise linear function as a non-uniform histogram equalization adjustment to mode! the "s-shaped" curve of the human visual adaptation. The second and third contributions are concerned with the details preservation of the HDR image on the tone mapped image. Separable and non-separable multiresolution approaches based on essential non-oscillatory strategies, taking into account the HDR image singularities in the mathematical mode! derivation, are proposed. The fourth contribution not only preserves details but also enhances the contrast of the HDR tone mapped image. A separable "near optimal" lifting scheme using an adaptive powerful prediction step is proposed. The latter relies on a linear weighted combination depending on the neighbouring coefficients to extract the relevant fin est details on the HDR image at each resolution level. A piecewise linear mapping is then applied on the coarse reconstruction. Simulation results provide good performance, both in terms of visual quality and Tone Mapped Quality Index (TMQI) metric, compared to existing competitive tone mapping approaches. The impact of the TMQI parameters on the visual quality of the tone mapped images is discussed. The proposed parameters show a strong correlation between the modified metric and
Yang, Jin. "Exploration geochemical mapping in the north-eastern sector of the Morokweng impact structure, South Africa". Thesis, University of the Western Cape, 2006. http://etd.uwc.ac.za/index.php?module=etd&action=viewtitle&id=gen8Srv25Nme4_8373_1189147095.
Texto completo da fonteThe Morokweng impact structure which is located in the North West province of South Africa, has attracted attention as a potential host for Ni-PGE mineralization. Geochemical exploration techniques using hydroxylamine partial extraction were used to determine the nature and source of surface geochemical anomalies known to occur in the overlying aeolian sang regolith. About 40 aeolian samples were taken from an area of about 35 square kilometer, located in the north eastern sector of the Morokweng impact structure. The samples were sieved to various grain size fractions and partially extracted using varying concentration of hydroxylamine hydrochloride at 50°
C.
de, Pomereu Jean. "The exploration of 'indlandsis' : a cultural and scientific history of ice sheets to 1970". Thesis, University of Exeter, 2015. http://hdl.handle.net/10871/18332.
Texto completo da fonteWiik, Linus, e Jennie Bäcklin. "Collaborative Exploration of Unknown Terrain Utilizing Real-Time Kinematic Positioning". Thesis, Linköpings universitet, Reglerteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-167103.
Texto completo da fonteKeep, Stephanie Alexandra. "Space exploration mapping students' perception of the Smith College campus : a project based upon independent investigation /". Click here for text online. Smith College School for Social Work website, 2007. http://hdl.handle.net/10090/986.
Texto completo da fonteThesis submitted in partial fulfillment for the degree of Master of Social Work. Includes bibliographical references (leaves 60-62).
Crosta, Alvaro Penteado. "Mapping of residual soils by remote sensing for mineral exploration in SW Minas Gerais State, Brazil". Thesis, Imperial College London, 1990. http://hdl.handle.net/10044/1/47830.
Texto completo da fonteCruz, Barbosa Raúl. "Generative manifold learning for the exploration of partially labeled data". Doctoral thesis, Universitat Politècnica de Catalunya, 2009. http://hdl.handle.net/10803/78053.
Texto completo da fonteResum de la tesi (màxim 4000 caràcters. Si se supera aquest límit, el resum es tallarà automàticament al caràcter 4000) En muchos problemas de aplicación del mundo real, la disponibilidad de etiquetas de datos para aprendizaje supervisado es bastante limitada. La existencia de conjuntos de datos etiquetados de manera incompleta es común en muchas de las bases de datos generadas en algunas de las áreas de investigación actualmente más activas. Es frecuente que un número limitado de casos etiquetados venga acompañado de un número mucho mayor de datos no etiquetados. Éste es el contexto en el que opera el aprendizaje semi-supervisado, en el cual enfoques no-supervisados prestan ayuda a problemas supervisados y vice versa. Un modelo de aprendizaje de variaciones (manifold learning, en inglés), llamado Mapeo Topográfico Generativo (GTM, en acrónimo de su nombre en inglés), es la base de los métodos desarrollados en esta tesis. La no-linealidad del mapeo que GTM genera hace que éste sea propenso a errores de fiabilidad y continuidad, los cuales pueden reducir la fidelidad de la representación de los datos, especialmente para conjuntos de datos de geometría intrincada. En esta tesis, una extensión de GTM que utiliza una aproximación vía grafos a la métrica geodésica es definida en primer lugar. Este modelo es capaz de representar datos con geometrías intrincadas. En él, el GTM estándar es modificado para priorizar relaciones de vecindad a lo largo de la variación generada. Esto se logra penalizando las divergencias existentes entre las distancias Euclideanas de los datos a los prototipos del modelo y las correspondientes distancias geodésicas a lo largo de la variación. Se muestra que el modelo Geo-GTM resultante mejora la continuidad y fiabilidad de la representación generada y que se comporta de manera robusta en presencia de ruido. Más adelante, la tesis nos lleva a la definición y desarrollo de versiones semi-supervisadas de GTM para la exploración de conjuntos de datos parcialmente etiquetados. Como un primer paso en esta dirección, se presenta un procedimiento de agrupamiento en dos etapas que utiliza información de pertenencia a clase. Una extensión de GTM enriquecida con información de pertenencia a clase, llamada class-GTM, produce una primera descripción de grupos de los datos. El número de grupos definidos por GTM es normalmente grande para propósitos de visualización y no corresponde necesariamente con la estructura de clases global. Por ello, en una segunda etapa, los grupos son aglomerados usando el algoritmo K-means con diferentes estrategias de inicialización novedosas las cuales se benefician de la definición probabilística de GTM. Evaluamos si el uso de información de clase influye en la separabilidad de clase por grupos. Una extensión robusta de GTM que detecta datos atípicos a un tiempo que minimiza de forma efectiva su impacto negativo en el proceso de agrupamiento es evaluada también en este contexto. Se procede después a la definición de un nuevo modelo semi-supervisado, SS-Geo-GTM, que extiende Geo-GTM para ocuparse de problemas semi-supervisados. En SS-Geo-GTM, los prototipos del modelo son vinculados al vecino más cercano a la variación construída por Geo-GTM. El grafo de proximidad resultante es utilizado como base para un algoritmo de propagación de etiquetas de clase. El rendimiento de SS-Geo-GTM es valorado experimentalmente, comparando positivamente tanto con la contraparte de este modelo basada en la distancia Euclideana como con el método alternativo Laplacian Eigenmaps. Finalmente, los modelos desarrollados (el procedimiento de agrupamiento en dos etapas y los modelos semi-supervisados) son aplicados al análisis de un conjunto de datos de tumores cerebrales humanos (obtenidos mediante Espectroscopia de Resonancia Magnética Nuclear), donde las tareas a realizar son el agrupamiento de datos y el modelado de pronóstico de supervivencia.
Svensson, Martin. "Accelerated Volumetric Next-Best-View Planning in 3D Mapping". Thesis, Linköpings universitet, Datorseende, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-111905.
Texto completo da fonteChiconela, Domingos Rubão. "Geochemical exploration in tropical terrains with special reference to base metals". Thesis, Rhodes University, 1996. http://hdl.handle.net/10962/d1005565.
Texto completo da fonteVanapalli, Arun. "Montessori Grade 9 Students and Their Use of an Online Concept Mapping Website: A Case Study Exploration". Thesis, Université d'Ottawa / University of Ottawa, 2019. http://hdl.handle.net/10393/39517.
Texto completo da fonteSkabar, Andrew Alojz. "Inductive learning techniques for mineral potential mapping". Thesis, Queensland University of Technology, 2001.
Encontre o texto completo da fonteCosta, Marco António Bernardino Raimundo. "Calibration, selection and mosaicing of SMART-1 AMIE images". Master's thesis, Faculdade de Ciências e Tecnologia, 2013. http://hdl.handle.net/10362/10802.
Texto completo da fonteSmall Missions for Advanced Research in Technology (SMART-1), represented European Space Agency (ESA) first mission to the moon. It fulfilled the goal of improving the scientific knowledge of earth’s natural satellite, while testing new technologies that had never been used in space exploration. Among the on board instruments of SMART-1 was the Advanced Moon micro-Imager Experiment (AMIE). It was an imaging equipment whose mission was to map the lunar surface providing state-of-the-art resolution. Containing six filters inside its visual scope AMIE allowed the study of the surface composition by multispectral imaging. This thesis aims at building a set of maps covering approximately all the Moon surface as it was mapped by the SMART-1 spacecraft, using the 31945 images captured by the AMIE instrument. During the Earth escape phase the instrument’s CCD was damaged by radiation, causing the accumulation of dark current and invalidating the laboratorial image calibration algorithm. The acquired dataset also suffered from scattered light that got beneath the CCD filters and reduced their contrast. In order to overcome this problem, a new calibration procedure was developed using the in-flight collected data and theoretical models, as well as a method to compensate for the reduced contrast in the filters. For building the lunar maps, the images were individually analysed and classified accordingly to their visual quality and grouped by their illumination conditions, allowing the creation of visually balanced maps. Image mosaicing and projection techniques were used to compensate the geometrical distortions and compose the calibrated images into a set of 88 maps of the Moon. Increasing the flexibility of the process, a comprehensive tool that allows the edition of the images in the mosaiced maps, as well as brightness and contrast correction and adjustment is also presented.
Easton, Adam. "From mobile robot localisation to multi-robot exploration : a Gaussian approach to localisation and mapping in large environments". Thesis, University of Oxford, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.442398.
Texto completo da fonteHook, Simon John. "An evaluation of NS-001 and TIMS data for lithological mapping and mineral exploration in weathered vegetated terrain". Thesis, Durham University, 1989. http://etheses.dur.ac.uk/6520/.
Texto completo da fonteChowdhury, Urmee. "An exploration of adult visitors' engagement in suburban neighbourhood park settings". Thesis, Queensland University of Technology, 2022. https://eprints.qut.edu.au/235149/1/Urmee%2BChowdhury%2BThesis%281%29.pdf.
Texto completo da fonteFarineau, Anne. "Diamonds in the Rough : Remote predictive mapping using multispectral satellite imagery for kimberlite exploration on northeast Banks Island, NT". Thesis, Stockholms universitet, Institutionen för naturgeografi, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:su:diva-125966.
Texto completo da fonteKoorts, Christie. "A qualitative exploration and cognitive mapping of retail consumers sensitivity regarding the use of personal and behavioural information in relationship marketing tactics". Thesis, Stellenbosch : Stellenbosch University, 2015. http://hdl.handle.net/10019.1/97340.
Texto completo da fonteENGLISH ABSTRACT: In a global era of growing consumer economies, retailers rely extensively on the exploitation of consumers’ personal and behavioural information, in order to successfully execute and sustain their business models and strategic objectives. The gathering and mining of consumers’ personal and behavioural information represent tremendous potential in the application of relationship marketing tactics, towards consumer intimacy, and ultimately towards competitive advantage. However, in their quest to understand consumers better, retailers need to be acutely aware of consumers’ views regarding the gathering and use of their personal and behavioural information, in order to derive the associated benefits whilst mitigating the risk of alienating consumers. To this end, the main objective of this research assignment was to understand the thoughts and feelings of a selected sample of retail consumers, regarding the use of their personal and behavioural information in relationship marketing tactics. The research aim was achieved through a qualitative exploration of the thoughts and feelings of thirty millennial retail consumers who shared their individual views in written format and small group interviews. Cognitive mapping was used as the central technique for the coding and interpretation of written and interview data, depicting the central themes of consumer rationale, as well as the causal relationships of the concepts, which influenced their sentiment and decisions. The insights produced by the cognitive mappings were triangulated using additional techniques of sentiment analysis and word frequency analysis. The combination of research techniques produced robust overarching insights of universal value, coupled with insights of specific subtleties alluding to consumer groups with differentiated engagement needs. Universal insights included strong negative sentiment whenever consumer participants considered the possibility that retailers with whom they engage on the basis of their personal information could potentially share such personal information with third-party entities outside of their explicit or implicit relationship with a particular trusted retailer. Similarly, the personally intrusive nature of telemarketing as an engagement and communication channel was met with universal disdain at every mention thereof, clearly eliminating it as a viable channel for any retailer who would seek to build and sustain trusted consumer relationships. The sample of participants revealed four broad groups of millennial consumers, each with different preferences of engagement with retailers. The majority of the participants across two groups recognised a conditional and transactional basis for exchanging varying degrees of personal information for a variety of derived benefits. A small group of participants indicated a clear preference towards avoiding engagement on a personal basis and sharing of personal information with retailers. A similarly small group of participants exhibited general openness and willingness to engage retailers and share personal and behavioural information with little restraint or concern. The insights derived from this research assignment provide a solid foundational exploration for future research on the specific and related topics, whilst the application of the cognitive mapping technique provided profound multi-dimensional insights. Businesses stand to gain potential material benefit through the careful consideration of the terms of engagement with their consumers, as provided through the universal and specific insights of this research assignment.
Sarraf, Niloufar. "Mapping the neural activities and affective dimensions of the ISP model: Correlates in the search exploration, formulation, and collection stages". Thesis, Queensland University of Technology, 2019. https://eprints.qut.edu.au/127009/2/Niloufar_Sarraf_Thesis.pdf.
Texto completo da fonteMahdoui, Chedly Nesrine. "Communicating multi-UAV system for cooperative SLAM-based exploration". Thesis, Compiègne, 2018. http://www.theses.fr/2018COMP2447/document.
Texto completo da fonteIn the aerial robotic community, a growing interest for Multi-Robot Systems (MRS) appeared in the last years. This is thanks to i) the technological advances, such as better onboard processing capabilities and higher communication performances, and ii) the promising results of MRS deployment, such as increased area coverage in minimum time. The development of highly efficient and affordable fleet of Unmanned Aerial Vehicles (UAVs) and Micro Aerial Vehicles (MAVs) of small size has paved the way to new large-scale applications, that demand such System of Systems (SoS) features in areas like security, disaster surveillance, inundation monitoring, search and rescue, infrastructure inspection, and so on. Such applications require the robots to identify their environment and localize themselves. These fundamental tasks can be ensured by the exploration mission. In this context, this thesis addresses the cooperative exploration of an unknown environment sensed by a team of UAVs with embedded vision. We propose a multi-robot framework where the key problem is to cooperatively choose specific regions of the environment to be simultaneously explored and mapped by each robot in an optimized manner in order to reduce exploration time and, consequently, energy consumption. Each UAV is able to performSimultaneous Localization And Mapping (SLAM) with a visual sensor as the main input sensor. To explore the unknown regions, the targets – selected from the computed frontier points lying between free and unknown areas – are assigned to robots by considering a trade-off between fast exploration and getting detailed grid maps. For the sake of decision making, UAVs usually exchange a copy of their local map; however, the novelty in this work is to exchange map frontier points instead, which allow to save communication bandwidth. One of the most challenging points in MRS is the inter-robot communication. We study this part in both topological and typological aspects. We also propose some strategies to cope with communication drop-out or failure. Validations based on extensive simulations and testbeds are presented
Vidal, Garcia Eduard. "Online 3D view planning for autonomous underwater exploration". Doctoral thesis, Universitat de Girona, 2019. http://hdl.handle.net/10803/668814.
Texto completo da fonteEls robots autònoms submarins s'utilitzen actualment en moltes aplicacions. Una d'elles és el mapeig d'una zona concreta de l'oceà. Quan el robot ha de cobrir la zona d'interès sense utilitzar informaciò prèvia sobre l'entorn a mapejar, s'utilitzen algorismes d'exploració robòtica. Aquesta tesi desenvolupa un algorisme d'exploració robòtica per a robots autònoms submarins. L'algorisme proposat permet explorar un entorn 2D o 3D en la seva totalitat, utilitzant sensors acústics, com per exemple un sonar perfilador o multifeix, i càmeres òptiques. La validesa de l'algorisme es demostra en experiments portats a terme a diferents entorns de la costa catalana, utilitzant múltiples vehicles i múltiples sensors
Hamann, Maike. "Mapping social-ecological systems and human well-being : A spatial exploration of the links between people and the environment in South Africa". Licentiate thesis, Stockholms universitet, Stockholm Resilience Centre, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:su:diva-102860.
Texto completo da fonteGovernance of ecosystem services under scenarios of change in southern and eastern Africa
Merrick, Meg. "Opening Black Boxes and Following Traces: An Exploration of the Coalition for a Livable Future's Regional Equity Atlas Actor-World, 2003-2007". PDXScholar, 2011. https://pdxscholar.library.pdx.edu/open_access_etds/298.
Texto completo da fonteMacConville, Una. "Mapping a social landscape : an exploration of lay and professional understandings of a 'good death' and palliative care in an Irish setting". Thesis, University of Bath, 2004. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.404710.
Texto completo da fonte