Дисертації з теми "Drones (UAV)"
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ADER, MARIA, and DAVID AXELSSON. "Drones in arctic environments." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-217918.
Повний текст джерелаDetta är ett examensarbete utfört av Maria Ader och David Axelsson, studenter på civilingenjörsprogrammet Design och Produktframtagning på KTH, med masterinriktning Teknisk Design. Arbetet är utfört åt ÅF i syfte att bidra till EU-projektet ɪɴᴛᴇʀᴀᴄᴛ. Iɴᴛᴇʀᴀᴄᴛ är EU:s satsning på klimatforskning i Arktis och syftar till att “koordinera och harmonisera forskning och miljöbevakning som bidrar till vår kunskap och förståelse av förändringar som sker i de arktiska miljöerna.” Ett av tolv delprojekt inom ɪɴᴛᴇʀᴀᴄᴛ-projektet syftar till att öka medvetenheten om drönarteknologi och sensorer bland forskare och föreståndare på forskningsstationerna inom ɪɴᴛᴇʀᴀᴄᴛ, samt att göra drönarindustrin medveten om nya potentiella användningsområden. En drönare är ett obemannat luftfartyg, d.v.s. en flygfarkost utan pilot ombord. Drönare benämns ibland som “UAS” och “UAV”. I den här rapporten används främst den engelska termen “drones”. Detta examensarbete undersöker behovet av drönare på de forskningsstationer som är delaktiga i ɪɴᴛᴇʀᴀᴄᴛ och hur det arktiska klimatet påverkar drönartekniken och ergonomin. Arbetet kartlägger även drönarmarknaden och de lagar och regler som påverkar användandet av drönare. En utförlig studie genomfördes, där forskarnas behov av drönare undersöktes. En enkät skickades ut inom ɪɴᴛᴇʀᴀᴄᴛ och utförliga intervjuer genomfördes med forskare och andra nyckelpersoner. Ett studiebesök på Tarfala forskningsstation kompletterade med fältdata. Den främsta insikten från studien var att behov, arbetsuppgifter och metoder varierar mycket mellan de olika forskarna. En annan insikt var att många ville använda drönare som sensorbärare, och på så sätt insamla data från stora områden på kort tid. Resultatet från studien låg till grund för en situationsbaserad drönarrekommendation samt ett konceptförslag för en enkel vattenprovtagningslösning.
Duffy, Sean David. "Why the Rise in Drones." Wright State University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=wright1440338245.
Повний текст джерелаElmagri, Loay Hatem Rajab. "Architecture and Drones: Accomodating Unmanned Aerial Vehicles." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/87584.
Повний текст джерелаMArch
Loureiro, Ricardo Samuel Rodrigues. "Sistema SDR para comunicação com UAV." Master's thesis, Universidade de Aveiro, 2018. http://hdl.handle.net/10773/23785.
Повний текст джерелаOs veículos aéreos não tripulados (UAV) são extremamente versáteis e capazes de desempenhar funções nos mais diversos campos de ação. A sua aplicabilidade tem registado um aumento em inúmeros setores, desde drones militares a agrícolas passando por drones de transporte de mercadorias. Os UAVs são compostos por vários subsistemas dos quais alguns beneficiam da capacidade do mesmo transmitir grande quantidade de informação, por exemplo, para uma estação base. A elevada mobilidade aliada à variabilidade do canal usado para a transmissão de informação requer que sejam adotadas técnicas de modulação adequadas a este cenário. Nesta dissertação é apresentado o desenvolvimento de um transmissor baseado em sistemas SDR. Estes sistemas apresentam as vantagens de serem reconsagráveis e eficientes, sendo esta última característica muito importantes em aparelhos voadores. A cadeia do transmissor desenvolvida é baseada no protocolo IEEE 802.11p, atualmente usado em comunicações veiculares onde os problemas inerentes às comunicações com grande mobilidade e com o ar como canal transmissão são mitigados. Este protocolo e baseado em OFDM que oferece uma imunidade à variabilidade do canal e implementa métodos de correção ativa de erros. O transmissor foi projetado com o intuito de fazer de um transcetor flexível em termos de frequência de operação, largura banda e o tipo de informação que permite enviar, mantendo um tamanho, característica importante para sistemas a implementar em UAVs.
Unmanned aerial vehicles (UAV) are extremely versatile and capable of performing functions in the most diverse elds of action. Its applicability has increased in many sectors, from military drones to agricultural drones all the way to freight drones. UAVs are composed of several subsystems, some of which bene t from the capability of transmitting large amounts of information, for example to a base station. The high mobility coupled with the variability of the channel used in the transmission of information requires the adoption of appropriate modulation techniques. In this dissertation the development of a transmitter based on SDR systems is presented. These systems have the advantages of being recon gurable, small and e cient. These last two characteristics are very important for aerial devices. The developed transceiver chain is adapted from the IEEE 802.11p protocol currently used in vehicular communications where the inherent problems in highly mobile communications and with air as channel transmission are mitigated. This protocol is based on OFDM that provides immunity to channel variability and implements methods of active error correction. The transmitter was designed in order to develop a transceiver exible in terms of operating frequency, bandwidth and the type of information allowed, maintaining a small size, an important feature for systems implemented in UAVs.
Dahlman, Elsa, and Karin Lagrelius. "A Game of Drones : Cyber Security in UAVs." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-259295.
Повний текст джерелаObemannade luftburna farkoster (OLF) blir mer vanliga allteftersom deras användningsområde utökas, vilket innebär att cybersäkerhetsaspekten behöver studeras. Detta arbete är en systematisk litteraturstudie som undersöker vilka typer av cyberattacker riktade mot drönare som är vanligast och vilka risker de medför. Attackerna i rapporten är kategoriserade med hjälp av metoden STRIDE samt efter vilka mål attackerna haft och vilken utrustning som krävs. Resultatet är att Spoofing och Denial of Service-attacker är vanligast och att de medför att attackeraren kan kapa eller krascha drönaren. Ingen svåråtkomlig utrustning krävs för någon av dessa attacktyper vilket indikerar att säkerhetsläget för civila drönare behöver förbättras.
Rautu, Dorin Marian. "Déploiement temporaire d'une infrastructure de communication à base de drones." Thesis, Toulouse, INPT, 2019. http://www.theses.fr/2019INPT0086.
Повний текст джерелаRecently, the use of drones is booming in many areas, newly in parcel or meal shippement. Analogue to this deployment,the flexibility and resilience requirements of cellular networks are not always met by terrestrial base stations, mainly in the case of unforeseen events, such as natural disasters, gatherings or sports events. One promising solution is to benefit from the availability of drones in order to fulfill the temporary failures of cellular networks by helping them to meet the demands by extending the coverage using the access points installed onboard the UAVs. Although drones offer rapid deployment, the placement becomes one of the key issues. In this thesis we focus on this type of networks and in the drone placement by proposing a deployment method based on an analogy with Coulomb's law, the users and the drones acting like electric charges, the drones being attracted by users
Theodorakopoulos, Panagiotis. "Suivi de cibles terrestres par des drones." Phd thesis, Université Paul Sabatier - Toulouse III, 2009. http://tel.archives-ouvertes.fr/tel-00392776.
Повний текст джерелаPlinval, Henry de. "Commande référencée vision pour drones à décollages et atterrissages verticaux." Thesis, Toulouse, ISAE, 2014. http://www.theses.fr/2014ESAE0002/document.
Повний текст джерелаThe computers miniaturization has paved the way for the conception of Unmanned Aerial vehicles - "UAVs"- that is: flying vehicles embedding computers to make them partially or fully automated for such missions as e.g. cluttered environments exploration or replacement of humanly piloted vehicles for hazardous or painful missions. A key challenge for the design of such vehicles is that of the information they need to find in order to move, and, thus, the sensors to be used in order to get such information. A number of such sensors have flaws (e.g. the risk of being jammed). In this context, the use of a videocamera offers interesting prospectives. The goal of this PhD work was to study the use of such a videocamera in a minimal sensors setting: essentially the use of visual and inertial data. The work has been focused on the development of control laws offering the closed loop system stability and robustness properties. In particular, one of the major difficulties we faced came from the limited knowledge of the UAV environment. First we have studied this question under a small displacements assumption (linearity assumption). A control law has been defined, which took performance criteria into account. Second, we have showed how the small displacements assumption could be given up through nonlinear control design. The case of a trajectory following has then been considered, with the use of a generic error vector modelling with respect to an unknown reference point. Finally, an experimental validation of this work has been started and helped validate a number of steps and challenges associated to real conditions experiments. The work was concluded with prospectives for future work
Strubel, David. "Couverture d'un chemin planifié composé de points de passage à optimiser avec des algorithmes évolutionnaires." Thesis, Bourgogne Franche-Comté, 2019. http://www.theses.fr/2019UBFCK015/document.
Повний текст джерелаThe goal of this paper is to optimize the coverage of a vast and complexarea such that its mosaic image can be created. To find the best waypoints, twomethods have been investigated: Particle Swarm Optimization (PSO) and GeneticAlgorithms (GA). Our investigation proved that GA is a better method due toits performance and adaptability. After having performed experiments to compare the algorithms, a hybridization of GA and PSO is investigated.The proposed method can be applied on large areas with irregular shapes, such as agricultural fields, and it provides a minimized number of waypoints that must be flown over by the Unmanned Aerial Vehicle (UAV). The experiments were made to simulate the flight of the UAV in an indoor environment, and the images generated during the simulated flight have been used to show the final mosaic. The proposed method is also applied in the vast outdoor area using satellite images to visualize the final result of the coverage path planning. The experiments validate the efficiency of the proposed method for finding the number and the poses of the waypoints. The solution proposed to approach the problem of coverage path planning is rather different than the stateof the art by dividing the Coverage Path Planning on independent sub-problems to optimize and then using GA and later on GAPSO
Costa, Andreia Graça da. "Sistema de rádio comunicações para UAV." Master's thesis, Universidade de Aveiro, 2015. http://hdl.handle.net/10773/15968.
Повний текст джерелаOs veículos aéreos não tripulados, mais conhecidos por drones, têm tomado atualmente uma posição importante na sociedade. Para além da sua importância no meio militar, têm sido cada vez mais utilizados para meios comerciais uma vez que o seu custo é relativamente baixo e podem ser utilizados para inúmeras aplicações. Devido à sua importância em missões de salvamento, reconhecimento de terreno e até mesmo de ataque, é fundamental uma boa comunicação entre a aeronave e a estação terrestre. Sendo a antena um dos principais elementos do sistema de comunicação, esta dissertação centrou-se no desenvolvimento de uma agregado de antenas a operar à frequência de 2.45GHz. Pretende-se que este agregado apresente polarização circular direita bem como um ganho e largura de banda elevados. Com o objetivo de se obter uma comunicação mais eficiente entre a aeronave e a estação terrestre, o agregado permitirá o redirecionamento do feixe principal do diagrama de radiação. Para tal, serão analisadas três abordagens distintas recorrendo a linhas de atraso e switches, permitindo que seja efetuado beamforming.
Unmanned aerial vehicles, better known as drones, have now taken an important position in society. Apart from their importance in the military field, they have been increasingly used for commercial area, since its low cost and can be used for different applications. Because of its importance in rescue missions, recognition of land and even attack, is essential a good communication between the drone and the ground station. The antenna is one of the main elements in a communication system, so this dissertation is focused on the development an antenna array for a frequency operation of 2.45GHz. It is intended that this antenna array to present right hand circular polarization and a high gain and wide band. In order to obtain a more eficient communication between the drone and the ground station, the antenna array will allow beamforming. For this purpose, three different approaches will be analyzed using delay lines and switches.
Walton, Michael Tanner. "Mesh Networking for Inter-UAV Communications." Thesis, University of North Texas, 2019. https://digital.library.unt.edu/ark:/67531/metadc1505208/.
Повний текст джерелаErsson, Lisbet, and Emma Olsson. "Drones to the Rescue : A literary study of Unmanned Aerial Systems within healthcare." Thesis, Uppsala universitet, Kulturgeografiska institutionen, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-425866.
Повний текст джерелаRabaça, Tomás. "O Uso de Drones na Atual Conflitualidade: Uma Análise ao Nível Estratégico e Tático." Master's thesis, Academia Militar. Direção de Ensino, 2014. http://hdl.handle.net/10400.26/7468.
Повний текст джерелаAbstract Nowadays, technology is an essential variable in the evolution of mankind giving us a guarantee of greater efficiency. In the current conflictuality, the characteristics of the battle space and all its surrounding environment require the use of means which may not require the direct use of the soldier. UAV (Unmanned Aerial Vehicles), or simply drones, are nowadays employed sometimes in theaters almost inaccessible to the presence of armed forces. Idealized for military (but not exclusively) purposes, the drones are now a qualified way of providing a force, with a clear advantage both tactical and operational or in a strategic level. These means may be employed in the areas of military intelligence, support and control of artillery fire, air support to troops of infantry and cavalry on the battlefield, missile control, among others. This study aims to determine how it is that the drones have changed the way we understand and make the war through their contributions to the strategic and tactical level, and to determine their potential and limitations, and expose the advantages and disadvantages that can be withdrawn from its job in the military context. The methodology is based on the three phases of the research process: conceptual, methodological and empirical. This is a quantitative study of deductive nature, with a sample of three military with expertise in the area of UAV. Exploratory interviews, directed for the Commander of the 1st Mechanized Infantry Battalion, the Commander of the L'Escadrille SAL 33 / Escadron de Reconnaissance 1/33 Belfort and a teacher / researcher at the École Spéciale Militaire de Saint-Cyr and Coëtquidan were performed. After the development of the study concluded that the drones are now a useful tool in the conduct of operations. Depending on the type and purpose of the operation there are numerous of these means which may be used. However, there are certain points to meet established in international norms analyzed in this study.
Harris, Kathryn Elizabeth. "Asymmetric Strategies and Asymmetric Threats: A Structural-realist Critique of Drone Strikes in Pakistan, 2004-2014." Thesis, Virginia Tech, 2016. http://hdl.handle.net/10919/64516.
Повний текст джерелаMaster of Arts
Baskaya, Elgiz. "Détection & diagnostic de pannes pour les drones utilisant la machine learning." Thesis, Toulouse 3, 2019. http://www.theses.fr/2019TOU30043.
Повний текст джерелаThis new era of small UAVs currently populating the airspace introduces many safety concerns, due to the absence of a pilot onboard and the less accurate nature of the sensors. This necessitates intelligent approaches to address the emergency situations that will inevitably arise for all classes of UAV operations as defined by EASA (European Aviation Safety Agency). Hardware limitations for these small vehicles point to the utilization of analytical redundancy, rather than to the usual practice of hardware redundancy in manned aviation. In the course of this study, machine learning practices are implemented in order to diagnose faults on a small fixed-wing UAV to avoid the burden of accurate modeling needed in model-based fault diagnosis. A supervised classification method, SVM (Support Vector Machines) is used to classify the faults. The data used to diagnose the faults are gyro and accelerometer measurements. The idea to restrict the data set to accelerometer and gyro measurements is to check the method's classification ability, with a small and inexpensive chip set and without the need to access the data from the autopilot, such as the control input information. This work addresses the faults in the control surfaces of a UAV. More specifically, the faults considered are the control surface stuck at an angle and the loss of effectiveness.First, a model of an aircraft is simulated. This model is not used for the design of Fault Detection and Diagnosis (FDD) algorithms, but is instead utilized to generate data. Simulated data are used instead of flight data in order to isolate the probable effects of the controller on the diagnosis, which may complicate a preliminary study on FDD for drones. The results show that for simulated measurements, SVM gives very accurate results on the classification of the loss of effectiveness faults on the control surfaces. These promising results call for further investigation so as to assess SVM performance on fault classification with flight data. Real flights were arranged to generate faulty flight data by manipulating the open source autopilot, Paparazzi. All data and the code are available in the code sharing and versioning system, Github. Training is held offline due to the need for labeled data and the computational burden of the tuning phase of the classifiers. Results show that from the flight data, SVM yields an F1 score of 0.98 for the classification of control surface stuck faults. For the loss of efficiency faults, some feature engineering, involving the addition of past measurements is needed in order to attain the same classification performance. A promising result is discovered when spinors are used as features instead of angular velocities. Results show that by using spinors for classification, there is a vast improvement in classification accuracy, especially when the classifiers are untuned. Using spinors and a Gaussian Kernel, an untuned classifier gives an F1 score of 0.9555, which was 0.2712 when gyro measurements were used as features. In summary, this work shows that SVM gives a satisfactory performance for the classification of faults on the control surfaces of a drone using flight data
Saif, Osamah. "Reactive navigation of a fleet of drones in interaction." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2269/document.
Повний текст джерелаNowadays, applications of autonomous quadrotors are increasing rapidly. Surveillance and security of industrial sites, geographical zones for agriculture for example are some popular applications of Unmanned Aerial Vehicles (UAVs). Nowadays, researchers and scientists focus on the deployment of multi-UAVs for the inspection and the surveillance of large areas. The objective of this thesis is to design algorithms and techniques to perform a real-time distributed/decentralized multi-UAVs flight formation control, from a system of systems perspective. Firstly, we reviewed recent works of the literature about flight formation control and the control of quadrotors. We presented a brief introduction about systems of systems, their definition and characteristics. Then, we introduced the flight formation control with its most used structures in the literature, some existing works dealing with flocking. Finally, we presented the most used modeling methodologies for quadrotors and some control approaches that are used to stabilize quadrotors. Secondly, we used the behavioral-based control structure to achieve a multiple UAV flocking. We conceived a behavior intending to address the control design towards a successful achievement of the flocking task without fragmentation. The proposed behavior treats the flocking problem from a global perspective, that is, we included a tendency of separated UAVs to form a flock.System of systems challenges motivated us to look for flocking and consensus algorithms introduced in the literature that could be helpful to answer to these challenges. This led us to propose four flocking control laws aiming at being compatible with the nonlinear model of quadrotors and at being implemented on experimental platforms. The control laws were run aboard each quadrotor in the flock. By running the control law, each quadrotor interacts with its neighbors to ensure a collision-free flocking. Finally, we validated our proposed control laws by simulations and real-time experiments. For the simulation, we used a PC-based simulator of flock of multiple quadrotors which was developed at Heudiasyc laboratory. For experiments, we implemented our control laws on ArDrone2 quadrotors evolved in an indoor environment equipped with an Optitrack motion capture system
Elloumi, Mouna. "Surveillance de cibles mobiles fondée sur un réseau de drones." Thesis, Toulouse, INPT, 2019. https://oatao.univ-toulouse.fr/25918/1/Elloumi_Mouna.pdf.
Повний текст джерелаUAV-based systems are an appropriate solution for surveillance, especially for mobile targets. The high mobility of UAVs, their low maintenance costs, their easy deployment and their hovering capability make them an attractive solution for mobile target monitoring. Our first contribution deals with the scenario where a single UAV monitors a single moving target. For this case, we have proposed a method to manage the mobility of the UAV, which ensures a continuous monitoring of a mobile target and which reduces the energy consumption of the UAV. The trajectories of the UAV were calculated according to the distance between the position of the target and the center of the UAV's field of view. We have considered three zones, and depending on the position of the target in those three zones, the UAV makes different adjustments to minimize unnecessary movements. Our second contribution deals with the scenario where several drones monitor multiple moving targets. For this case, we proposed adaptive methods to manage the placement and movement of UAVs. We applied these methods in the context of road traffic monitoring. The trajectories of UAVs have been adapted according to the positions of the groups of vehicles, or according to the positions of the events of the road (traffic jams and speeding violations). These methods ensure the coverage of vehicles, the detection of abnormal events and the reduction of energy consumption of UAVs. We have used a combination of the centralized architecture and the distributed architecture, indeed the communications between the UAVs and with the central point are all possible. The communication is done via LTE links. We were interested in real mobility traces of vehicles and mobility traces generated by a vehicular mobility model that uses real road maps. We studied the influence of vehicle mobility traces on the performance of UAV mobility management methods
Schacht, Rodriguez Ricardo. "Planification de la mission des drones basée sur le pronostic et la gestion de la santé." Electronic Thesis or Diss., Université de Lorraine, 2019. http://www.theses.fr/2019LORR0257.
Повний текст джерелаRotorcraft Unmanned Aerial Vehicles (UAV) with take-off and vertical landing capabilities or multirotors have proved to be an efficient and low-cost solution for civil flight applications due to significant advances in the development of robust and more efficient altitude and attitude control strategies, planning and re-planning algorithms capable of detecting and avoiding obstacles and Fault Diagnosis & Fault Tolerant Control methods. In most applications where multirotors are used, they develop different task as exploration, photogrammetry, filming, mapping and more recently all those dedicated to precision agriculture such as irrigation and crop monitoring. During the task development, the multirotor executes a mission which consists to fly through a set of paths connected by n reference points (named way-points) inside a known or unknown area. However, during the mission development, different negative factors decrease the multirotor flight performance such as environmental conditions, occurrence of faults or failures in actuators/sensors and energetic limitations due to the power source constraints. The energetic limitation problem in a multirotor are due to power capabilities that on-board battery can supply. Due to power and energy requirements, multirotors are powered by Lithium Polymer batteries which are rechargeable batteries of Lithium-Ion technology. They possess a polymer electrolyte instead of a liquid electrolyte and provide high power and energy densities. However, according to the use due to the number of charge/discharge cycles and other factors like damage provoked by over-discharges, the battery performances tend to decrease. Such decrease or aging causes a reduction in the efficiency of the UAV multirotor flight by the decrease of the total mission time or flight endurance, and leads to maneuverability problem, which increases the risk of crash and collision. This thesis topic addresses the issues concerning to battery performances and its influence into the mission and path planning tasks. By considering model-based prognosis techniques and path planning methods, a hierarchy mission planning strategy based on energy consumption is proposed and validated at simulation level considering different flight situations. The UAV performances, as well as its capability to execute and fulfill a mission is weighted by the computation of the battery State of Health (SoH) which is an index to measure the degradation level of the battery. The SoH helps to estimate the battery Remaining Useful Life (RUL) and establishes the energy limitation by the computation of the Maximum Flight Endurance (MFE). Such information is necessary to path planning generation which not only consider the constraints related to the power source but also the scopes and limitations of the mission to be executed. In addition, the main concern of this thesis are long time-distance missions e.g exploration or inspection of remote areas where it is fundamental to have a proper use of energy aboard the multirotor
ioannidis, ioannis. "Unmanned Aerial Vehicles and remote sensing in search and rescue missions in Sweden." Thesis, KTH, Fastigheter och byggande, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-266775.
Повний текст джерелаAsplund, Thidlund Peter. "The good and the bad: UCAV counterinsurgency : how are the UCAV theories reflected in the counterinsurgency in Afghanistan and Pakistan?" Thesis, Försvarshögskolan, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-6199.
Повний текст джерелаEaton, William H. "Automated taxiing for unmanned aircraft systems." Thesis, Loughborough University, 2017. https://dspace.lboro.ac.uk/2134/33502.
Повний текст джерелаGustafsson, Hanna, and Lea Zuna. "Unmanned Aerial Vehicles for Geographic Data Capture: A Review." Thesis, KTH, Geodesi och satellitpositionering, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-210039.
Повний текст джерелаInom GIS ar datainsamling en av de mest tidskrävande processerna. Både hur data samlas in samt kvaliteten ar av hög vikt. Några av de vanligaste metoderna för datainsamling idag är GPS, LiDAR, totalstation och fotogrammetri. Obemannade flygfarkoster, UAVs, har de senaste åren blivit allt vanligare och användningsområdena fortsätter att öka. I takt med att tekniken hela tiden utvecklas finns idag flertalet satt att med hjälp av UAVs samla in geografisk data. Med kamerautrustade obemannade flygfarkoster och fotogrammetriska programvaror ar det bland annat möjligt att skapa tredimensionella modeller samt ortofoton av markytan. Detta kandidatexamensarbete innehaller en jämförelse mellan terrestra- samt flygburna metoder för datainsamling och obemannade flygburna metoder. Syftet är att undersöka hur UAVs kan anvandas för att samla in geografisk data samt möjligheten att ersätta eller komplettera existerande metoder, samt att presentera en overgripande bild av UAVs anvandningsomåden. Denna studie bygger pa en litteraturstudie samt intervjuer. Litteraturstudien syftar till en djupare inblick i anvandningsområden för UAV tekniken med fokus på tre huvudområden: miljöövervakning, urbana miljöer och infrastruktur samt naturliga resurser. Under intervjuerna intervjuades företag och andra aktörer inom branschen med syftet att göra en nulägesanalys av hur UAVs används för insamling av geografisk data i Sverige. Det insamlade materialet analyserades med avseende pa användningsområden, för- och nackdelar, hinder, kostnader, noggrannhet samt möjlig framtida användning och utveckling av tekniken. Studien är gjord i samarbete med företaget Digpro Solutions AB som är verksamma inom geografisk IT. Målet är att efter studien kunna ge förslag på hur data insamlad med UAV kan appliceras på Digpros applikationer. Information fran intervjuerna och litteraturen har visat att UAV täcker ett stort spann mellan terrestra- och flygburna metoder, och att den kan ersätta eller utgöra ett komplement till många mät- och datainsamlingsmetoder. Användningen av UAVs innebär möjlighet till att samla in data på ett nära avstånd till objekt utan att vara bunden till marken. Den medför även arbetsmiljövinster då farliga, svårtillgängliga områden kan nås från avstånd. Data kan samlas in snabbare, enklare, billigare och mer frekvent. Tisdbesparingar sker i inmätningsskedet men jämfört med terrestra mätmetoder krävs dock mer tid för efterbearbetning av mätdatat. Användningen i Sverige begränsas av svårigheter kopplade till Svensk lagstiftning gällande kameraövervakning, samt långa väntetider på de tillstånd som kravs för att få flyga. Dock väntas en ändring i kameraövervakningslagen som innebär att drönare inte innefattas i lagen. Detta kan komma att medföra stora fördelar för samtliga inom branschen samt en fortsatt utveckling av tekniken samt användningen av UAVs.
Neuman, Malin. "Mätningar av koldioxid- och metankoncentrationer över skogsbestånd med mobila mätsystem - en litteratur- och surveystudie för att kartlägga dagens teknikutveckling och framtidsutsikter." Thesis, Linnéuniversitetet, Institutionen för skog och träteknik (SOT), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-104834.
Повний текст джерелаBonnin, Vincent. "From Albatrosses to Long Range UAV Flight by Dynamic Soaring." Thesis, Toulouse, ISAE, 2015. http://www.theses.fr/2015ESAE0016/document.
Повний текст джерелаDynamic Soaring is a flight technique which extracts energy from the wind through particular maneuvers. It is directlyinspired by the flight of Albatrosses, which manage to sustain non-flapping flight for hundred of miles. The types ofrequired maneuvers as well as dimensions of the bird suggest a potential to transpose Dynamic Soaring to small dimensionvehicles. This PhD investigates the feasibility to extract energy by Dynamic Soaring in the purpose of long enduranceautonomous flight. Models and simulation are conducted in order to investigate the physics of this particular flight as wellas the feasibility to derive a trajectory which keep the vehicle aloft without internal energy contribution. Then the researchfocuses on the influence of environment variables and of travel heading on Dynamic Soaring performances
Persson, Emil. "A systematic literature review on drones’ application in last-mile delivery." Thesis, Högskolan i Gävle, Avdelningen för industriell ekonomi, industridesign och maskinteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-36733.
Повний текст джерелаDelamer, Jean-Alexis. "Planification d'une stratégie de navigation et de guidage pour des drones autonomes dans des milieux encombrés." Thesis, Toulouse, ISAE, 2019. http://www.theses.fr/2019ESAE0028.
Повний текст джерелаWith the growing demand for the use of UAVs in urban environments, the safetyand effectiveness of these missions must be guaranteed. It is known that in these environmentsthe high density of obstacles can put flight at risk in the case collision. The navigation capacity- estimation of the position and therefore the execution error - of these UAVs depends onthe availability and performance of their on-board sensors, which vary in the environment.In this context, this thesis proposes a safe and effective path planning framework for UAVsin clustered environments. We based our work on the Mixed Observability Markov DecisionProcesses (MOMDP) because it allows us to model long-term decision processes while takinginto account environmental uncertainty and mixed observability. We propose a planning modelthat integrates the guidance, navigation and control system (GNC), in order to better representthe dynamics of the state transition for a drone, as well as the associated execution error. Theprobable availability, known a priori, of on-board sensors is also considered in the model. Inorder to ensure safety constraints, we propose a cost function that allows us to reason in termsof maximum allowable collision rate. This allows the planner to compute policies that are botheffective - minimizing flight time - and safe, by choosing paths that comply with the definedmaximum collision rate. In addition, due to the complexity of the planning problem, we proposea new "POMCP-GO" resolution algorithm, which is based on two state-of-the-art algorithms.We have thoroughly evaluated this algorithm for our application framework
Lundquist, Joel. "Killing Terrorists - Armed Drones and the Ethics of War." Thesis, Malmö högskola, Fakulteten för kultur och samhälle (KS), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:mau:diva-22322.
Повний текст джерелаLaplace, Rémi. "Applications et services DTN pour flotte collaborative de drones." Phd thesis, Université Sciences et Technologies - Bordeaux I, 2012. http://tel.archives-ouvertes.fr/tel-00795890.
Повний текст джерелаPrévost, Carole Gabrielle. "UAV Optimal Cooperative Obstacle Avoidance and Target Tracking in Dynamic Stochastic Environments." Thesis, Université Laval, 2011. http://www.theses.ulaval.ca/2011/27964/27964.pdf.
Повний текст джерелаValentini, Alice. "Evaluation of deep learning techniques for object detection on embedded systems." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018. http://amslaurea.unibo.it/15478/.
Повний текст джерелаTellez, guzman Jose juan. "Navigation autonome d'un drone en intérieur basée sur les images." Thesis, Université Grenoble Alpes (ComUE), 2019. http://www.theses.fr/2019GREAT034.
Повний текст джерелаThis thesis presents the design and practical implementation of aquadrotor indoor navigation system using a vision system whose inputdata are obtained from environment information acquired by an embedded camera placed on quadrotor system. Actually, some used techniquesare mono vision, stereo vision, SLAM among others. For our researchwe propose to work with mono vision system, due the limited payload ofa quadrotor system. Properties in image perspective are used to designthe embedded vision system which aim is to extract visual information,to fly placed always in the center of a corridor. Camera rotation matrix is obtained by means of orthogonal directions extracted by vanishingpoints, which directions define a common structured environment. Then,to control and to stabilize our quadrotor system, a quaternion boundedcontrol scheme is presented, which stabilize quadrotor’s orientation, andalso is used to control its heading direction merging visual information.Quadrotor estimation positions with respect to world reference in y andz-axes are used as input for the bounded position control to pose it atdesired position. It should be mentioned that vision strategy is not ableto estimate x-axis, thus this axis is controlled manually.In order to corroborate ours results, mathematical model, control lawand vision system are simulated to corroborate the closed-loop system’sstability and for test our result in real world some platforms have beendeveloped, proposing a new quasi-virtual system that merge virtual worldwith real platform
Spaenlehauer, Ariane. "Decentralized monocular-inertial multi-UAV SLAM system." Thesis, Compiègne, 2019. http://www.theses.fr/2019COMP2494.
Повний текст джерелаIn this thesis, we provide a scheme for localization of a fleet of autonomous UAVs (unmanned autonomous vehicles) within a Technological System-of-Systems architecture. Specifically, we aim for a fleet of autonomous UAVs to localize themselves and to obtain a map of an unknown environment using a minimal set of sensors on each UAV: A front monocular camera and an Inertial Measurement Unit. This is a critically important problem for applications such as exploration of unknown areas, or search and rescue missions. The choices for designing such a system are supported by an extensive study of the scientific literature on two broad fronts: First, about the multi-robot systems performing localization, mapping, navigation and exploration, and second, about the monocular, real-time and inertial-monocular SLAM (Simultaneous Localization and Mapping) algorithms. Processing monocular camera frames suffers the drawback of lacking the capability of providing metric estimates as the depth dimension is lost when the frames are photographed by the camera. Although, it is usually not a critical problem for single-robot systems, having accurate metric estimates is required for multi-robot systems. This requirement becomes critical if the system is designed for control, navigation and exploration purposes. In this thesis, we provide a novel approach to make the outputs of monocular SLAM algorithms metric through a loosely-coupled fusion scheme by using the inertial measurements. This work also explores a design for a fleet of UAVs to localize each robot with minimal requirements: No a priori knowledge about the environment, information about neither the position nor the moment in time the UAV takes off and land is required. Moreover, the system presented in the thesis handles aggressive UAV trajectories having dramatic changes in speed and altitude. In multi-robot systems, the question of the coordinate frames require more attention than in single robot systems. In many studies, the coordinate frame problem is simplified to the representation of the fleet and the expression of the measurements in a global coordinate frame. However, this kind of hypothesis implies either the use of additional sensors to be able to measure the transformations to the global coordinate frame or additional experimental constraints, for example about the starting position of the robots. Our system does not require absolute measurements like GNSS positioning or knowledge about the coordinate frame of each UAV. As each UAV of the fleet estimates its location and produces a map in its own coordinate frame, relations between those coordinate frames are found by our scheme. For that purpose, we extend the well known concept of loop-closures in single-robot SLAM approaches, to multi-robot systems. In this research work, we also provide an overview of the new effects due to the extended definition of loop-closures we provide in comparison with the loop-closures scheme that can be found in single robot SLAM algorithms. In addition to the coordinate frame problem, we provide experimental results about the possibilities for improving the location estimate of a fleet by considering the places visited by several UAVs. By searching for similar places using each UAV imagery, using the 2-D information encapsulated in the images of the same sceneryfrom different view points, and the 3-D map locally estimated by each UAV, we add new constraints to the SLAM problem that is the main scheme that can be used to improve the UAV location estimates. We included experiments to assess the accuracy of the inter-UAV location estimation. The system was tested using datasets with measurements recorded on board UAVs in similar conditions as the ones we target
Lugo, Cárdenas Israel. "Autonomous take-off and landing for a fixed wing UAV." Thesis, Compiègne, 2017. http://www.theses.fr/2017COMP2364/document.
Повний текст джерелаThis 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
Волков, Ілля Андрійович. "Метод побудови програмного забезпечення безпілотного вантажного літального апарату". Master's thesis, КПІ ім. Ігоря Сікорського, 2021. https://ela.kpi.ua/handle/123456789/46836.
Повний текст джерелаThis dissertation considers one of the possible ways to automate the courier delivery process - delivery of parcels to the final recipient using unmanned aerial vehicles, which could perform such tasks in a very short time, regardless of the congestion of roads and public transport systems. This system can significantly reduce the time of delivery of goods to the end user, reduce the amount of infrastructure needed to maintain its efficiency and reduce the number of service personnel. Also, full automation of the delivery process reduces the impact of the human factor on the quality of service. Currently, several such systems have been implemented, but none of them is completely secure and does not meet all the requirements for an automatic courier system. Also, none of these developments has an architecture that fully covers the functionality of the unmanned aerial vehicle ecosystem. Also in this work, a number of ready-made architectural solutions designed to build similar software, taken from similar research. However, none of them also meets all the requirements for this software, or has significant shortcomings that prevent its software implementation, implementation or application in practice. In connection with all the above factors, it was decided to develop its own architecture for the implementation of the software package of the ecosystem of cargo unmanned aerial vehicles. And to confirm the efficiency of this architecture and prove its effectiveness, appropriate software was developed using the proposed method of development. The purpose of this research is to develop a method for building software ecosystems of unmanned aerial vehicles, one that will improve and enhance existing approaches to UAV programming both in terms of the process of their implementation and in terms of use of the final product. The main tasks that were performed during this study: ˗ study and analysis of ready-implemented software products-analogues in order to identify their main advantages and disadvantages; ˗ study and analysis of similar research to explore ways to solve the main problems of building UAV software; ˗ creation of own method of construction of the software of the cargo UAV, taking into account results of preliminary research of subject area; ˗ writing software based on this method, analyzing its main advantages and disadvantages, and proving its effectiveness. The object of this research is the software architecture of the cargo UAV ecosystem and approaches to the implementation of this architecture. The subject of the research is the methods and ways of building the software of the cargo UAV ecosystem. During this study, the method of systematic mapping study was used to study and analyze the subject area of this study from textual sources of information and the method of case study to analyze the developed method of software construction. The scientific novelty of the obtained method of software construction is that for the first time the UAV is considered as an actor in the ecosystem of unmanned aerial vehicles and for the first time a software architecture was developed for this ecosystem. Also, for the first time, the very concept of the unmanned aerial vehicle ecosystem was introduced. The practical significance of the obtained results is that a simple, effective and comprehensive approach for solving the problem of building a UAV software was developed, which can easily be used to solve commercial problems of targeted delivery of small cargo. The results of this study were presented at the VI All-Ukrainian scientificpractical conference of young scientists and students "Information Systems and Control Technologies" (ISCT-2021). This dissertation consists of an abstract, introduction, main part divided into 4 sections, conclusions and appendices that include a list of program code and graphics. The main part of this work contains 105 pages, 28 figures, 18 tables and 19 references.
Boche, Adèle. "Méthodes indirectes d'adaptation et de décision pour la sécurisation du vol des drones à voilure fixe." Thesis, Toulouse, ISAE, 2018. http://www.theses.fr/2018ESAE0043/document.
Повний текст джерелаMajor security risks appear with the increase of the number of UAV in the air space. Thus, UAV security is more and more important and Fault Tolerant Control (FTC) methods could support the achievement of acceptable security level. The aims of this research is to develop a FTC method which combines two approaches : Automatic Control approach which is based on model which have a continuous representation of the system and Artificial Intelligence approach which is based on discrete or logical model to represent the system. Thus, the first contribution of this thesis is the development of a generic fault tolerant control method which uses discrete and continuous frameworks. The idea was to combine a continuous framework to estimate the state and fault parameters and a discrete framework to take on line a decision about the controller. The continuous estimation provides more knowledge on the fault whereas a discrete model allows the use of different optimization tools which are more adapted to decision task. The second contribution is the development and the validation of a method for fault detection and diagnosis. For its potential, a Kalman filter is adapted in order to be sensitive to abrupt faults and used for state and fault parameters estimation. These estimates are then used in a probabilistic way to detect and identify the fault. Once the fault is detected, the control system should react to compensate the fault. Thus, the third contribution of this thesis is the improvement of the trajectory tracking by reconfiguration of the control system. The aim is to combine switching and adaptive methods in order to limit the number of controllers by using adaptive controllers for degraded modes while having convenient controllers. Optimization tools are then used to take the decision on the controller to use. Finally, the method has to be validated before being implemented on line. The last contribution is the evaluation of the ability of the method to follow its trajectory despite the apparition of actuator or sensor faults during a landing approach
RODRIGUEZ, MILLIAN JULIAN DARIO. "Towards the application of UAS forroad maintenance at the Norvik Port." Thesis, KTH, Bro- och stålbyggnad, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-254252.
Повний текст джерелаBronz, Murat. "Conception mini-drone longue endurance." Phd thesis, Toulouse, ISAE, 2012. http://tel.archives-ouvertes.fr/tel-00993465.
Повний текст джерелаLarge, Anne-Claire. "Concevoir l'interaction avec des systèmes de drones militaires : une approche incarnée et située." Thesis, Montpellier 3, 2015. http://www.theses.fr/2015MON30090.
Повний текст джерелаCette thèse s’inscrit dans une approche incarnée et située de la cognition humaine et de l’ergonomie des interfaces Homme-Machine (IHM). En rupture avec les théories computo-symboliques, cette approche considère que la cognition a pour seule vocation l’action dans le but de s’adapter au monde. Appliquée à l’ergonomie des IHM, elle met l’accent sur la perception, l’action et le contexte comme éléments clés de l’interaction Homme-Machine. Cette vision de l’ergonomie est ici mise au service de la conception de stations sol de drones militaires, sur lesquelles le manque de sollicitations perceptivo-motrices et le caractère isolé des opérateurs contribuent à une accidentologie symptomatique. L’objet de cette thèse est donc de montrer en quoi l’approche incarnée et située permet de guider une démarche ergonomique et, en particulier, la conception de deux stations sol de drones militaires développés par Airbus Defence and Space. Dans un premier temps, une analyse centrée sur les aspects moteurs, perceptifs et contextuels de l’activité des opérateurs de drones est réalisée. La seconde étape est dédiée à la définition d’une organisation matériel-logiciel standardisée pour tous types de drones. Cette organisation repose sur l’exploitation de processus perceptivo-moteurs, notamment au moyen du paradigme Stimulus-Response Compatibility (SRC). En troisième lieu, est présentée la conception matérielle et logicielle de deux stations sol de drones adaptées à leurs contextes respectifs d’utilisation. Des moyens de vérification (e.g. tests utilisateurs) sont mis en œuvre pour valider les solutions proposées. Les résultats obtenus montrent que la démarche adoptée permet d’améliorer significativement certains aspects de l’activité des opérateurs de drones, en particulier en termes de performances et de charge mentale. D’autre part, ces travaux soulignent l’intérêt de l’approche incarnée et située, et sa forte valeur applicative tant au sein de la démarche ergonomique que dans un cycle de conception industrielle
Mohammad, Ammad Uddin. "UAV Routing Protocol (URP) for crop health management." Thesis, Brest, 2017. http://www.theses.fr/2017BRES0147/document.
Повний текст джерелаWireless sensor networks are now a credible means for crop data collection. The installation of a fixed communication structure to relay the monitored data from the cluster head to its final destination can either be impractical because of land topology or prohibitive due to high initial cost. A plausible solution is to use Unmanned Aerial Vehicles (UAV) as an alternative means for both data collection and limited supervisory control of sensors status. In this paper, we consider the case of disjoint farming parcels each including clusters of sensors, organized in a predetermined way according to farming objectives. This research focuses to drive an optimal solution for UAV search and data gathering from all sensors installed in a crop field. Furthermore, the sensor routing protocol will take into account a tradeoff between energy management and data dissemination overhead.The proposed system is evaluated by using a simulated model and it should find out a class among all under consideration
Truong, Victor. "DIGUE : Détection d’Interférences Gnss pour U.a.v autonomE." Electronic Thesis or Diss., Institut polytechnique de Paris, 2020. http://www.theses.fr/2020IPPAS018.
Повний текст джерелаThis study is part of the field of GNSS interference detection, in particular spoofing interferences. Spoofing consist in inducing a false position to a receiver, i.e a position different from the receiver's true position. The study's aim is to propose an approach for detecting spoofing interferences on an autonomous UAV using data directly available on the receivers. With the study of the state of the art of spoofing detection methods, the monitoring of the clock bias seemed like a potential method. A numerical modeling of a spoofing attack on a receiver showed that the clock bias undergoes jumps when it switch from the GNSS constellation to the spoofing constellation. By replicating this attack on a commercial receivers using real signals, the clock bias shows higher jumps than expected by the model and in some cases the clock drift also show some jumps. These jumps have been observed on different more or less subtle attack scenarios, however the amplitude of the jumps seems random.To go further than the simple spoofing detection, an approach using a communicating drone formation has been proposed. This method is based on a movement protocol allowing to delimit a space area where the spoofer is supposed to be located. The current protocol is not yet fully completed but it offers a promising basis.The study of the behavior of the clock bias highlighted its interest in a GNSS spoofing detection strategy. Based on this observation, further work could be carried out on the development and implementation on a UAV of a detection algorithm based on the monitoring of the clock bias. The study of the use of a drone formation for the localization of a spoofer led to the basis of a promising solution. Further work could be carried out in order to complete the movement protocol and to validate its efficiency against different types of spoofers
Quentel, Alain. "Développement d'un LIDAR à balayage pour la détection et la poursuite longue portée de drones." Thesis, Normandie, 2021. http://www.theses.fr/2021NORMR011.
Повний текст джерелаMisuse of civil drones, or UAVs (unmanned aerial vehicles) has been a rising concern in the past few years. As a response, multiple systems including optics, electronics and even acoustics technologies have been developed for detection and tracking. Unfortunately, UAVs represent a challenging target to detect and track due to their small, decimetric size and large variability of shapes and behaviors. In this PhD, we developed and optimized a LiDAR (light detection and ranging) system to tackle this issue to distances up to a kilometer. In our system, range is acquired using the time of flight principle, and imagery done by sequentially scanning the scene with a dual-axis galvanometer. We took advantage of the scanning versatility to develop several operating modes. A standard detection mode captures the image of the scene using a raster-scan of large _eld of view. Tracking mode is based on a local pattern surrounding the target, which is updated at a very high rate to keep the target within its boundaries. Efforts were put into a theoretical and numerical optimization study of the numerous parameters involved in our scanning LiDAR, so as to reach su_cient performances in term of maximal range, localization resolution and rate. Pattern optimization for both detection and tracking mode was a primary focus, using the target probability of detection as the function to maximize. Target size, speed and re_ectivity was also introduced in the probability of detection, giving a complete overview of the system performance. On our LiDAR platform, developed from the ground up, each component was characterized to enrich and validate our models. This prototype was tested for UAVs detection and tracking during several weeks of trials. Following this success, a pre-industrial integration process was launched and supervised by the candidate
Srinivasan, K. Venkatesh. "Implementation of an Unmanned Aerial Vehicle for New Generation Peterbilt Trucks." Thesis, University of North Texas, 2016. https://digital.library.unt.edu/ark:/67531/metadc849706/.
Повний текст джерелаRousseau, Gauthier. "Optimal trajectory planning and predictive control for cinematographic flight plans with quadrotors." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLC086/document.
Повний текст джерелаThis thesis focuses on the autonomous performance of cinematographic flight plans by camera equipped quadrotors. These flight plans consist in a series of waypoints to join while adopting various camera behaviors, along with speed references and flight corridors. First, an in depth study of the nonlinear dynamics of the drone is proposed, which is then used to derive a linear model of the system around the hovering equilibrium. An analysis of this linear model allows us to emphasize the impact of the inertia of the propellers when the latter are tilted, such as the apparition of a nonminimum phase behavior of the pitch or roll dynamics. Then, two algorithms are proposed to generate smooth and feasible cinematographic trajectories. The feasibility of the trajectory is ensured by constraints on its time derivatives, suited for cinematography and obtained with the use of the nonlinear model of the drone. The first algorithm proposed in this work is based on a bi-level optimization of a piecewise polynomial trajectory, in order to find the fastest feasible minimum jerk trajectory to perform the flight plan. The second algorithm consists in the generation of feasible, minimum time, non-uniform B-spline trajectories. For both solutions, a study of the initilization of the optimization problem is proposed, as well as a discussion about their advantages and limitations. To this aim, they are notably confronted to simulations and outdoor flight experiments. Finally, a predictive control law is proposed to smoothly and accurately control the onboard camera
Duberg, Daniel. "Safe Navigation of a Tele-operated Unmanned Aerial Vehicle." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-221701.
Повний текст джерелаObemannad luftfarkoster (UAV:er) kan navigera i inomhusmiljöer och genom miljöer som är farliga eller svåra att nå för människor. Detta gör dem lämpliga för användning i sök- och räddningsuppdrag och av akutmottagning och rättsväsende genom ökad situationsmedvetenhet. Dock är det även för en erfaren UAV-teleoperatör krävande och svårt att kontrollera en UAV i dessa situationer utan att kollidera med hinder. Denna avhandling presenterar ett människa-UAV-gränssnitt tillsammans med en kollisionsundvikande metod, båda optimerade för en mänsklig teleoperatör. Målet är att förenkla uppgiften att navigera en UAV i inomhusmiljöer. Utvärdering av systemet görs genom att testa det mot ett antal användningsfall och en användarstudie. Resultatet av denna avhandling är en kollisionsundvikande metod som lyckas skydda UAV från hinder och samtidigt tar hänsyn till operatörens avsikter.
Mahdoui, Chedly Nesrine. "Communicating multi-UAV system for cooperative SLAM-based exploration." Thesis, Compiègne, 2018. http://www.theses.fr/2018COMP2447/document.
Повний текст джерелаIn 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
Gavrilovic, Nikola. "Endurance improvement of mini UAVs through energy harvesting from atmospheric gusts." Thesis, Toulouse, ISAE, 2018. http://www.theses.fr/2018ESAE0024/document.
Повний текст джерелаThis thesis aims at discovering the feasibility and potential of energy-harvesting from atmospheric gusts for micro and mini unmanned aerial vehicles. The atmosphere serves as a great source of energy that can be harvested in order to increase performance of small UAVs in form of extended endurance and range. It is well known that many bird species use various flight techniques for achieving astonishing flight performances. Considering the fact that aforementioned vehicles share size and flight speed with natural flyers, this thesis can be considered as an application of bioinspired flight techniques for man made vehicles. This three-year study set out to establish a theoretical derivation of equations that describe flight dynamics of an aircraft in presence of gusty environment. The first achievement was demonstration of energy harvesting mechanism and influencing parameters through simulations that describe aircraft point mass model flight with optimized control of elevator in presence of sinusoidal and stochastic wind profile. The next achievement is related to a biologically inspired sensory system that uses wing pressure measurements for local angle of attack estimation. That particular system found purpose in wind field estimation, as decisive mechanism and stall protection. Finally, last contributions are related to experience and results gained from flight tests which aimed to prove increase in energy state of the aircraft while performing energy harvesting maneuvers. The first flight test campaign was performed with commercially available mini UAV equipped with multi-hole probes and custom designed controller. This campaign demonstrated the raise in energy state within strong horizontal wind gradient. The second flight test campaign was done with a flying wing equipped with pressure sensing system for wind field estimation. This campaign also involved additional insight savings in electrical power consumption during energy harvesting flights
Ciullo, Vito. "Measurements of wildland fires by drone." Thesis, Corte, 2020. http://www.theses.fr/2020CORT0005.
Повний текст джерелаThis thesis presents the measurement of geometrical characteristics of spreading vegetation fires with a multimodal stereovision system carried by an Unmanned Aircraft Vehicle.From visible and infrared stereoscopic images, 3D fire points are computed and fire geometrical characteristics like position on the ground, rate of spread, height, length, width, flame tilt angle and surface are estimated.The first important contribution of this thesis is the development of a multimodal stereovision portable drone system. This device integrates cameras working in the visible and infrared domains, a Raspberry Pi computer, electric batteries, GPS receptors and an Inertial Measurement Unit. It allows to obtain georeferenced stereoscopic multimodal images.The second important contribution of this thesis is the method for the estimation of the fire geometrical characteristics from aerial stereoscopic images.The geometrical characteristics estimation framework have been evaluated on a car of known dimensions and the results obtained confirm the good accuracy of the device. It was also successfully tested on an outdoor non propagating fire. The results obtained from vegetation fires propagating on terrain with slope changes are presented in detail
Leroux, Boris. "Fusion de données LiDAR et photographiques pour le géoréférencement direct d’un lever topographique par micro-drone aérien." Thesis, Le Mans, 2019. http://www.theses.fr/2019LEMA1024.
Повний текст джерелаWithin the development of systems dedicated to mobile mapping, spatial data production takes a growing part. For users, this spatial data is particularly interesting when computing digital models which are used to manage efficiently the resource, they are responsible for. To collect this data Hélicéo company especially offers an aerial solution which can embed a camera or a LiDAR sensor. Like every platforms dedicated to dynamic mapping, this system needs to geo-referencing the collected data in a coordinate reference frame.Most of the mobile mapping systems perform direct georeferencing using the trajectory determined from coupled GNSS receiver and inertial measurement unit (IMU). Even if this method is well known et operational for Airborne Laser Scanning (ALS) and Mobile Mapping Systems (MMS), it is hard to transpose for lightweight platforms like drones which require special payloads.To suit this constrains, drones use Micro-Electro Mechanical Systems (MEMS) which are light, compact and require low power. However, the accuracy of the attitude computed from this MEMS sensors is degraded compared to the tactical sensors so that it does not correspond to the accuracy level expected for topographic surveys.The goal of our study was to establish and validate a new methodology based on a camera and visual odometry (VO) computing. This thesis describes the theoretical approach to compute attitude from images taken by a camera and how LiDAR points are georeferenced using GNSS receiver coupled to VO. In the second part, this thesis describes the different experiments and the process we follow to validate this method and the comparison with traditional GNSS/IMU method
Zhou, Yilin. "Métrologie 100 % automatique par photogrammétrie aéroportée légère et GPS de précision permanent et embarqué : application au suivi de digues." Thesis, Paris Est, 2019. http://www.theses.fr/2019PESC2033.
Повний текст джерелаThe development of unmanned aerial vehicle (UAV) platform makes it nowadays avaluable source of data for inspection, surveillance, mapping and 3D modeling issues. UAV photogrammetry opens various new applications in close-range aerial domain and introduces a low-cost alternative to classical manned vehicle photogrammetry. Corridor mapping, one of the fields with substantial importance for UAV photogrammetry, is largely demanded in the surveillance and management of infrastructure assets – highways, railways, waterways and pipelines. Due to the special geometry of the scene, corridor mapping is one case that needs taking precautions. Errors accumulate easily on the longer dimension of the scene and a bowl effect is often observed; the flatness of the scene introduces strong correlations between parameters to be determi-ned, these two factors together, make it more difficult to obtain high accuracy results in corridor configuration than in block one. This thesis is a research project initiated by a river concessionary, which has the responsibility of maintenance and surveillance of its hydraulic facility – the dikes. The objective is to apply UAV photogrammetry, which is faster, cheaper and offers a continuous geometric surveillance, for the monitoring of dikes. While maintaining a high surveying accuracy, a reduced field work, i.e. the number of ground control points (GCPs) is expected.In the first place, simulations are carried out to gain an insight of several problems of corridor mapping that interest us. Then, thorough investigations are conducted on three aspects that interest us the most. The first study focuses on the aerial acquisition geometry, discussions are given on the influence of oblique images, nadir images of different flight heights as well as the possibility of an in-flight camera calibration and its application on unfavourable acquisition geometry. The second study aims to improve the acquisition performance for high-end metric cameras. The image deformation introduced by camera temperature variation is investigated and modelled. A method for the correction of this thermal effect is proposed, its performance is evaluated on both terrestrial and aerial datasets of corridor configuration. The last study interests in the rolling shutter effect for consumer-grade cameras with rolling shutter, which is commonly seen in UAV platforms on the market. Two methods are presented to calibrate the camera readout time, a property that is often not given by camera manufacturers. A two-step method is proposed for the correction of rolling shutter effect, its performance is evaluated in both block and corridor configurations
Tournadre, Vincent. "Métrologie par photogrammétrie aéroportée légère : application au suivi d'évolution de digues." Thesis, Paris Est, 2015. http://www.theses.fr/2015PESC1131/document.
Повний текст джерелаBy embarking a good quality consumer grade camera on an Unmanned Aerial Vehicle (UAV) or on an ultralight system, it is possible to create – fully automatically – 3D models that are visually ''perfect'', or at least sufficient for visual or communication purposes. However, the accuracy of these methods is still a concern, especially if the resulting models are to be used as measuring tools. Linear acquisitions – also known as corridor mapping – are a striking example of the uncontrolled error propagation. A bowl effect is often observed, requiring multiple ground measurements to be overcome. These effects restrict the interest of such acquisitions. They are a challenge for the photogrammetrists community, the emerging civil UAV market, as well as many industrials interested in systems able to monitor ground deformations with an accuracy within a few millimeters (railway network surveillance, erosion of agricultural land, embankments monitoring,…).This thesis is an applied research project, led with a river concessionary which has the responsibility to maintain and keep under surveillance its containment dykes network. The purpose is to use light aerial systems as a mean for a monitoring system which is faster, cheaper, and more detailed than the topometric solutions used so far. First of all, we present a comparative study to understand, between UAVs and ultralight system, which tool is the most adapted for a specific need. We propose refined acquisition procedures, than can be used to limit operationally the drifts. In a second phase, we identify the internal camera model as the weak link, and propose a three steps auto-calibration procedure. Our tests led on linear acquisitions demonstrate that the external orientations accuracy are noticeably improved (from decimetric or even metric disparities, reduced to a few centimeters or less). In a third part, we propose an optimization of the adjustment on the ground control points, which is a way to limit the amount of ground measurements necessary. Finally, we present methods to control 3D models uncertainty, and through a diachronic analysis, examples of how such data can be used to monitor such structures through time