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Dissertations / Theses on the topic 'Aerion'
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1
Insuyu, Erdogan Tolga. "Aero-structural Design And Analysis Of An Unmanned Aerial Vehicle And Its Mission Adaptive Wing." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12611657/index.pdf.
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This thesis investigates the effects of camber change on the mission adaptive wing of a structurally designed unmanned aerial vehicle (UAV). The commercial computational fluid dynamics (CFD) software ANSYS/FLUENT is employed for the aerodynamic analyses. Several cambered airfoils are compared in terms of their aerodynamic coefficients and the effects of the camber change formed in specific sections of the wing on the spanwise pressure distribution are investigated. The mission adaptive wing is modeled structurally to observe the effect of spanwise pressure distribution on the wing structure. For the structural design and analysis of the UAV under this study, commercial software MSC/PATRAN and MSC/NASTRAN are used. The structural static and dynamic analyses of the unmanned aerial vehicle are also performed under specified flight conditions. The results of these analyses show that the designed structure is safe within the flight envelope. Having completed aero-structural design and analysis, the designed unmanned aerial vehicle is manufactured by TUSAS Aerospace Industries (TAI).
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Bouzgou, Kamel. "Contribution à l'architecture, la modélisation et la commande d'un bras manipulateur aérien." Electronic Thesis or Diss., université Paris-Saclay, 2021. http://www.theses.fr/2021UPASG012.
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Les véhicules aériens sans pilote (UAV), de plus en plus utilisés pour différentes applications militaires comme civiles, ont la possibilité de se déplacer dans un environnement 3D en coordonnées cartésiennes pour assister l'homme, inspection des zones cibles ou bien photographier. Parmi ces missions, certaines nécessitent une interaction avec l'environnement comme par exemple la manipulation d'objet en vol. Pour satisfaire ce type de mission, la thèse a permis de choisir et concevoir un double système composé d'un bras manipulateur attaché à la base d'un multirotor. Le problème majeur émanant de cette nouvelle structure concerne la faculté à stabiliser le système simultanément avec un changement permanent de son inertie dû au mouvement du manipulateur. Dans ce manuscrit, une nouvelle conception de manipulateur aérien est proposée, capable de stabiliser le système avec la mise en œuvre d'une articulation prismatique pour agir sur le centre de gravité du système global tout en le maintenant le plus proche possible de l'axe vertical. Une contribution complémentaire a permis de présenter une nouvelle classification des systèmes de manipulation aérienne basée sur une formule symbolique, capable de définir le type et le nombre de multirotors et de manipulateurs utilisés au sein de la structure mécanique. Un nouvel algorithme de calcul des solutions du modèle géométrique inverse, basé sur une approche analytique, est ainsi développé et comparé à des algorithmes itératifs issus de la littérature. Le modèle dynamique du système global est obtenu à l'aide d'outils mathématiques symboliques et de fonctions développées dans ce projet. Deux approches de modélisation, couplées et découplées, sont développées. La partie contrôle-commande est conçue en utilisant trois lois de commande pour un système couplé et appliquées sur différents scénarios, chacun se composant de multiples couches (planification de trajectoire, couche interne de contrôle de position et d'attitude, bloc de contrôle d'entrée virtuelle). L'efficacité de l'articulation prismatique est étudiée et examinée pour différentes valeurs d'angles des articulations du bras manipulateur. Trois approches d'interaction de l'organe terminal du bras robotisé avec l'environnement sont implémentées et simulées. Une étude de cas et l'application du module d'impédance de contrôle sont simulées. Finalement, les approches et méthodes mises en œuvre sont validées à l'aide d'un prototype virtuel dans l'environnement SimMechanics où une interface utilisateur graphique GUI est conçue pour manipuler et visualiser le système lors de scénarios programmés, montrant ainsi l'apport des contributions principales de la thèseUnmanned aerial vehicles (UAVs), progressively used by different military and commercial tasks, have the possibility to move in a 3D environment in Cartesian coordinates to assist humans, inspect dangerous areas or photography. Some of these missions require contact with the environment, such as handling objects in flight. In order to accomplish this kind of mission, that thesis made it possible to consider and design a dual system consisting of a manipulator arm connected to the base of a multirotor. The main problem resulting from this new structure involves the ability to stabilize the mechanism concurrently with a permanent change in its inertia due to the movement of the manipulator. In this manuscript, a new concept of the aerial manipulator is proposed, capable of stabilizing the system with the implementation of a prismatic joint to operate the center of gravity of the whole system while keeping it as close as possible to the vertical axis. A further contribution in this study, when a new classification of aerial manipulation systems based on a symbolic formula is introduced, capable of specifying the type and number of multirotors and manipulators used within the mechanical structure. A new algorithm for calculating the solutions of the inverse geometric model, based on an analytical approach, is thus developed and compared to iterative algorithms presented in the literature. The dynamic model of the overall system is obtained by the use of symbolic mathematical tools and functions developed in this project. Two modeling methods, coupled and decoupled, have been introduced. The control part is designed for a coupled system using three control laws and applied to various scenarios, each consisting of multilayer blocks (trajectory planning, internal layer of position and attitude control, control block of virtual entry). Different values of the angles of the manipulator arm joints are analyzed and tested for the efficiency of the prismatic joint. Three approaches to the interaction of the end organ of the robotic arm with the environment are implemented and simulated. A case study and the application of the control impedance module are simulated. Finally, the approaches and methods implemented in this thesis are validated using a virtual prototype in the SimMechanics environment, where a graphical user interface GUI is designed to manipulate and visualize the system during programmed scenarios, thus demonstrating the interest of the main thesis contributions
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Sonntag, Isabelle. "La concurrence et le transport aerien en Europe /." Thesis, McGill University, 1992. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=60648.
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The treaty of Rome signed in 1957 creating the European Community establishes a common market and this market has to be done by 1993 upon the European Single Act of 1986. Airlines must be governed by the dispositions of the treaty.For a long time, this had not been affirmed, but the European Court of Justice said in 1974 that the general rules of the treaty apply to the air transport sector and precised this decision in the "Nouvelles Frontieres" case of 1986.
Those decisions were a first step towards liberalization and the Council and the Commission of the Community followed the court and adopted measures to liberalize the sector in the first air transport package in December 1987. These decisions and measures are problematic because there are quiet about the external relations of EEC member states with third countries.
The "Saeed" case of 1989 brings a solution, but the second air transport package of July 1990 still stays too quiet about it whereas it liberalises the air transport further. This should be resolved in the third package in 1993.
4
STRUCHLIK, JEAN BATISTE. "De la performance du controle aerien en europe." Palaiseau, Ecole polytechnique, 1999. http://www.theses.fr/1999EPXX0029.
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Le controle de la navigation aerienne en europe traverse actuellement une periode de remise en question. En l'espace de 15 ans, le trafic aerien a plus que double, entrainant des retards quasisystematiques, la congestion de l'espace aerien menacant d'atteindre un niveau inacceptable pour les compagnies aeriennes et les passagers. Les acteurs (pilotes, controleurs, ingenieurs, etc. ) craignent que soit atteint le << mur de la capacite >>, et que les risques d'accidents et la duree des retards explosent. Il faut de l'avis general que le controle aerien europeen devienne plus performant. Cependant, si tout le monde s'accorde pour dire qu'il y a un probleme, les acteurs ont des conceptions differentes de la performance du controle aerien : s'agit-il de securite, de capacite, de cout, de stabilite sociale ? apres une analyse des representations multiples des acteurs, la these procede a une reconstruction de cette performance suivant trois dimensions : la securite, la capacite et les couts, et selon trois registres : le social, l'institutionnel et l'economique. Enfin, apres l'expose de trois cas de reorganisation du controle aerien (privatisation en angleterre, << corporatisation >> en allemagne, creation d'une agence en espagne), la these analyse le pourquoi et le comment de ces changements, avant d'evoquer le cas de la france et les perspectives d'evolution dans le cadre plus general des institutions europeennes. Sur le plan theorique, la these montre comment une notion aussi simple en apparence recouvre une construction collective refletant les roles particuliers des acteurs et les contraintes qu'ils subissent. Sur le plan pratique, la these ne se traduit pas par des recommandations a appliquer de facon mecanique, mais propose un eclairage nouveau de la performance du controle aerien, dont les acteurs peuvent tirer parti pour mettre en place de nouvelles dispositions face a la montee du trafic.
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MEDIONI, FREDERIC. "Methodes d'optimisation pour l'evitement aerien : systemes centralises, systemes embarques." Palaiseau, Ecole polytechnique, 1998. http://www.theses.fr/1998EPXX0050.
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Le controle aerien doit assurer la separation des avions en minimisant les retards. Pour des raisons d'efficacite, des systemes d'evitement automatiques sont envisages avec, la ou le trafic est le moins dense, un transfert de responsabilites des controleurs aux avions. Un systeme d'evitement doit proposer des trajectoires d'evitement (assurant la separation). Il peut etre centralise ou embarque (chaque avion genere sa trajectoire). Nous presentons deux methodes pour generer des trajectoires d'evitement normalisees (definies par des instants de manuvres et des sens de deviation) : un algorithme branch and bound utilisant des methodes d'intervalles et un algorithme a*. Deux approches differentes de chacune de ces methodes sont decrites et testees sur des cas-tests de conflits. L'approche globale genere simultanement les trajectoires de tous les avions (systeme centralise). L'approche sequentielle les genere successivement, selon un ordre de priorite (forme sequentielle d'un systeme embarque). Des trajectoires de bonne qualite sont obtenues. Cependant, l'approche globale des methodes d'intervalles est tres couteuse en temps de calcul et celle de l'algorithme a*, en memoire. L'efficacite des approches sequentielles depend de l'ordre de priorite. L'algorithme a*, contrairement aux methodes d'intervalles, permet de considerer des vitesses variables (avions en montee ou en descente). Testee sur un simulateur de trafic reel, sa version sequentielle donne de bons resultats. Une methode de generation de trajectoires par commande continue (forme reactive d'un systeme embarque) est presentee ensuite. A chaque instant le cap de l'avion est modifie au moyen d'un reseau de neurone. L'apprentissage des reseaux de neurone se fait par algorithme genetique. Trois modes d'apprentissages sont compares : utilisation de bases d'apprentissage fixes et renouvelees, et coevolution. Les meilleurs resultats sont obtenus avec les bases renouvelees.
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Mahoungou, Massila Bernard-Yves. "Le transport aerien vecteur du developpement : l'exemple du congo." Toulon, 1995. http://www.theses.fr/1995TOUL2001.
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Le but de cette these est d'etudier la meilleure demarche possible pour promouvoir le developpement des systemes de transport au congo. Elle montre l'interet pour les pays en voie de developpement de commencer par un mode de transport qui a des effets induits sur les autres. Par ailleurs, pour tenir compte des moyens financiers limites de ces pays, il parait irrealiste d'envisager le developpement de l'ensemble des modes de transport au meme moment. Au congo, l'environnement du transport presente un relief, une flore et une hydrographie inadaptes aux modes de transport de surface. Pour cette raison, seul le transport aerien peut etre facilement developpe et, par la meme, susceptible d'induire le developpement des autres modes de transport. Dans cet esprit, notre these est articulee autour du plan suivant : - l'environnement du transport aerien (chapitre 1) - le marche du transport aerien (chapitre 2) - la gestion du transport aerien (chapitre 3) - les perspectives de developpement du transport aerien (chapitre 4) nous concluons que le transport aerien est veritablement vecteur du developpement au congoThe purpose of this thesis is to study the best and possible in order to promote the development of the transport systems in congo. It show the interests for the developing countries, to start by a mode of transport the development of which has some effects on that of other. Otherwise, to take into account the limited financial means of these countries, it appear unrealist to tackle the development of together systems of transport at the same time. In congo, the environment of transport presents a relief, a vegetation and hydrograph not adapted at the surface modes of transport. For that reason, only the air transport can easily be developed and by the same way can be able to improve of the other modes of transport. In our views, the subject can be overwied around the following planning : - the environment of air transport (chapter 1) - the air transport market (chapter 2) - the managing of air transport (chapter 3) - the perspectives of development of the air transport (chapter 4). We can then conclude that air transport is really a vector of development in congo
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Ebondo, Wa Mandzila Eustache. "Les conditions du developpement du transport aerien en Afrique." Aix-Marseille 3, 1986. http://www.theses.fr/1986AIX32018.
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SUNDRUP, JASON PAUL. "The Effects of Circulating Aeration Systems On VOC Emissions from Aeration Basins." University of Cincinnati / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1163616957.
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Bilgic, Kemal Onder. "Aerial Acoustic Data Communication." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614651/index.pdf.
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Spectrum has been a scarce commodity in RF communication. Acoustic data communication
is an alternative to RF communication where data is transmitted through sound waves.
In this thesis, several different aspects of acoustic data communication are investigated. A
physical test setup is built where the data communication spectrum extends up to 40 kHz.
Impulse response of the acoustic channel is considered in a laboratory environment. Acoustic
spectrum beyond the hearing limit between 25 kHz to 35 kHz is found as a suitable band for
the developed setup. Distance and multipath components are important factors, determining
the communication accuracy. The physical layer for the communication system is built by
taking RF Pager system as a reference. This system is also modified to improve the performance.
Dierent modulation techniques are used in order to evaluate their performances
for acoustic channels. BFSK, BPSK, QPSK, GMSK, OFDM, DSSS and FHSS techniques
are implemented for comparison. Total and effective bit rate are considered for the overall
performance evaluation of differentt modulation techniques. Several experiments are done in
laboratory environment where there are several multipath components. As the distance between
the transmitter and receiver is increased, path loss and multipath increases. It is shown
that certain modulation techniques are more robust to multipath and are better candidates for acoustic communication. While acoustic environment is inefficient in terms of power, it is
still a good candidate for communication in short distances.
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Moore, George G. "Guided aerial image analysis." Thesis, University of Ulster, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.326332.
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Baran, Bridget A. (Bridget Anne). "Engine lubrication oil aeration." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/38713.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.Includes bibliographical references (p. 70).
The lubrication system of an internal combustion engine serves many purposes. It lubricates moving parts, cools the engine, removes impurities, supports loads, and minimizes friction. The entrapment of air in the lubricating oil is called oil aeration. Oil aeration can be detrimental to internal combustion (IC) engines. This study attempts to determine a means to reduce the level of aeration in a typical IC engine. Experiments were performed on a motored Ford 3.0L V6 DOHC engine which was capable of reaching speeds up to 8000 rpm. Oil was sampled from the sump in the pump pick up area. Sump temperature, oil volume, and engine speed were continuously monitored. Aeration measurements were made via an x-ray absorption technique using a machine called Air-X. A repeatability and reproducibility (R&R) study was performed initially. This study determined that the measurement technique was sufficiently repeatable within the tolerance of the Air-X machine. Tests were then performed which varied parameters such as engine speed, oil volume, and hardware design. Specifically, multiple designs of the windage tray, an engine component that separates the oil sump from the rotating crankshaft, were tested. Testing revealed that within the tolerance of the Air-X machine, the extent of the windage tray open area has no significant affect on the aeration level.
by Bridget A. Baran.
S.M.
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Vidmark, Emil. "Autonomous Aerial Void Exploration." Thesis, Luleå tekniska universitet, Datavetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79640.
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Deploying robots in unknown and complex areas for inspection tasks is becoming a real need for various application scenarios. Recently, there has been an increasing interest to develop and use autonomous aerial robots in environments such as urban voids and subterranean mine tunnels, aiming to decrease the human presence in dangerous or inaccessible areas. These areas are characterized by complete darkness and narrow tunnels, where the ground can often be rough and not traversible for mobile vehicles, thus the developments focus on Micro Aerial Vehicles (MAVs). MAVs are mechanically simple and agile platforms that can navigate through cluttered areas and have the potential to perform complex exploration tasks when equipped with proper onboard sensors. One of the key milestones in the development of autonomous robots is self-exploration. The definition of self-exploration according to [7] is "the act of moving through an unknown environment while building a map that can be used for subsequent navigation". By reaching this milestone, robots would be freed from the limitation of requiring already existing maps for navigation. In this thesis, a frontier-based exploration algorithm is established and evaluated to understand how such method could be used to reach the self-exploration milestone. By marking the border between what is known and unknown the method is able to determine the next desired position for the robot to expand the map. The resulting algorithm, together with a path planning method and 3-dimensional mapping framework, the method was tested and examined in simulated environments with different levels of complexity.
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Ma, Juan. "Studies of Bitumen Aeration." Diss., Virginia Tech, 2015. http://hdl.handle.net/10919/72906.
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In the oil sand industry, bitumen is separated from sands by aerating the heavy oil so that it can float out of a flotation vessel, leaving the unaerated sands behind. A bubble-against-plate apparatus equipped with a high-speed camera has been developed to record the optical interference patterns of the wetting films formed on a flat surface and subsequently obtain the temporal and spatial profiles of the films offline using the Reynolds lubrication theory. The technique has been used to study the interaction mechanisms between air bubbles and bitumen. It has been found that the film thinning kinetics increases in the order of asphaltene, bitumen, and maltene, and that the kinetics increases sharply with increasing temperature.
In addition to obtaining kinetic information, the temporal and spatial profiles of the wetting films have been used to derive appropriate hydrodynamic information that can be used to determine the disjoining pressures (∏) in the wetting films. The results obtained in the present work show that ∏ < 0 for maltene and bitumen, while ∏ > 0 for asphaltene at temperatures in the range of 22 to 80 °C. The disjoining pressure data have been analyzed by considering the contributions from the hydrophobic and steric forces in addition to the classical DLVO forces. It has been found that the hydrophobic force increases with increasing temperature, which corroborates well with contact angle data. Dynamic contact angle measurements show that air bubbles attach on bitumen with relatively small contact angles initially but increase sharply to >90° . The extent and the kinetics of contact angle change increase sharply with increasing temperature. These findings suggest that the primary role of temperature may be to increase iii bitumen hydrophobicity and hence hydrophobic force, which is the driving force for bubblebitumen interaction. A thermodynamic analysis carried out on the basis of the Frumkin-Derjaguin isotherm suggests that the disjoining pressure will remain positive (and hence no flotation) until the hydrophobic force becomes strong enough (due to temperature increase) to overcome the positive disjoining pressure created during the course of bitumen liberation.Ph. D.
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Kadzinga, Fadzai. "Venturi aeration of bioreactors." Master's thesis, University of Cape Town, 2015. http://hdl.handle.net/11427/13675.
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Low solubility of oxygen has resulted in high bioreactor energy requirements in order to supply sufficient oxygen to aerobic bioprocesses. It is desirable to reduce energy consumption in bioreactors to benefit environmental sustainability as well as economic feasibility. This is particularly important with the resurgence of interest in bio-based commodity products. Some research has suggested that venturi aeration of bioreactors will reduce energy consumption by eliminating the need for air compression, while at the same time maintaining or improving oxygen transfer rates. On the other hand, there are findings that suggest venturi aeration has lower energy efficiency than conventional sparging and oxygen transfer rates achieved are too low sustain aerobic biological processes. A comparison of the aeration of geometrically-similar reactors using the same analytical methods to determine kLa is not available in the literature. This comparison should also address analysis of energy input including energy used for compressing gas sparged into a stirred tank reactor; the investigation of mass transfer rates at higher flow rates (vvm) in venturi-aerated reactors and resulting cell response to these higher flow rates. This is the topic of the dissertation presented. In this laboratory scale study, venturi aerators were characterised and energy consumption as a function of oxygen mass transfer rates compared with a geometrically identical aerated stirred tank reactor by evaluating the volumetric mass transfer coefficients (kLa). The kLa was investigated in varying reactor setups using the dynamic gassing-in method.
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Fresk, Emil. "Towards Aerial Robotic Workers." Licentiate thesis, Luleå tekniska universitet, Signaler och system, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-26292.
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The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. In the first part of this thesis the main contributions of the previous research approaches will be highlighted, while in the second part of the thesis the corresponding and in full detail articles will be presented.Godkänd; 2015; 20151009 (emifre); Nedanstående person kommer att hålla licentiatseminarium för avläggande av teknologie licentiatexamen. Namn: Emil Fresk Ämne: Reglerteknik/Control Engineering Uppsats: Towards Aerial Robotic Workers Examinator: Biträdande Professor George Nikolakopoulos, Institutionen för system- och rymdteknik, Avdelning: Signaler och system, Luleå tekniska universitet Diskutant: Associate Professor Dimos Dimarogonas, Automatic Control, School of Electrical Engineering, KTH, Stockholm Tid: Onsdag 11 november 2015 kl 10.00 Plats: A109, Luleå tekniska universitet
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Roque, Pedro. "Heterogeneous Collaborative Aerial Manipulation." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-221799.
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Unmanned Vehicles are a fast-growing area of robotics due to theirvast application scenarios and ability to perform tasks otherwise impossible.A particular branch, Unmanned Aerial Vehicles, specificallymultirotors, as seen an increasing interest in research due to their mechanicalsimplicity and agility.Within AEROWORKS, UAVs are explored as aerial workers, capableof doing autonomous reconstruction of structures and transportationof payloads. This works targets heterogeneous collaborative aerialmanipulation, in which two different vehicles are used with two differentmanipulation capabilities - a manipulator and a tether - to transporta rod-like object.We consider two cases, one where the manipulator is free of actuation,and another where the manipulator is locked. Each UAV has aPID controller which gains are calculated through a linearization procedureof the system, and such that they guarantee exponential stability.Experiments provide an insight into the modeled transportationscenario and show that our controller is capable of stabilizing the system.Obemannade fordon är en växande teknik inom robotik på groundav att den kan tillämpas på många områden och uföra uppgifter somtidigare varit omöjliga. En specifik gren är obemannade flygfordon,UAV (Unmanned Aerial Vehicles). Intresset för multirotorer har ökateftersom de har en enkel och smidig konstruktion.Inom AEROWORKS, utforskas att använda UAVs som arbetareoch autonomt utföra uppgifter som att rekonstruera strukturer samttransportera object. Detta arbete inriktar sig mot att manipulera objektmed flera samarbetande drönare med som har olika förmågor att manipuleraobjekt. Två fordon där den ena är utrustad med en robotarmoch den andra en tjudra för att transportera ett stav liknande objekt.Två olika fall undersöks, dels då armen är låst samt då armen tillåtsatt röra sig. Varje UAV har en PID regulator. Förstärkningen beräknasgenom att linearisera systemet så att stabilitet garanteras. En inblicki det modelerade transportscenariot ges med experiment och vi visaratt vår regulator stabiliserar systemet.
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Geoffroy, Marion. "La securite du transport aerien europeen : aspects institutionnels et juridiques." Thesis, McGill University, 2000. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=33064.
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Recently, air transportation has been increasing considerably. If that trend continues, there could be a major accident once a week by the year 2010. European States first joined their aviation policies for geographical and economical reasons. To that end, following the American deregulation, they started liberalizing their air transport. Today, they also work on the safety aspects of this activity. Together with the European Community and the DGCA's, three organisations have a relevant function in the regulation of safety: they help States to coordinate new preventive actions. Furthermore, in order to unify the measures that are currently implemented, a discussion on a single European aviation safety authority has been raised in the last few years.In the course of this thesis, the above-mentioned topics will be studied, whereby a preliminary chapter will focus on the origin of the unification of European air transport and the liberalization aspects, and the three following chapters will review the institutional and legal aspects of the safety of European air transport.
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Foster, Tyler Michael. "Dynamic Stability and Handling Qualities of Small Unmanned-Aerial-Vehicles UNMANNED-AERIAL-VEHICLES." BYU ScholarsArchive, 2004. https://scholarsarchive.byu.edu/etd/219.
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General aircraft dynamic stability theory was used to predict the natural frequencies, damping ratios and time constants of the dynamic modes for three specific small UAVs with wingspans on the scale from 0.6 meters to 1.2 meters. Using USAF DatCom methods, a spreadsheet program for predicting the dynamic stability and handling qualities of small UAVs was created for use in the design stage of new small UAV concept development. This program was verified by inputting data for a Cessna-182, and by then comparing the program output with that of a similar program developed by DAR Corporation. Predictions with acceptable errors were made for all of the dynamic modes except for the spiral mode. The design tool was also used to verify and develop dynamic stability and handling qualities design guidelines for small UAV designers. Using this design tool, it was observed that small UAVs tend to exhibit higher natural frequencies of oscillation for all of the dynamic modes. Comparing the program outputs with military handling qualities specifications, the small UAVs at standard configurations fell outside the range of acceptable handling qualities for short-period mode natural frequency, even though multiple test pilots rated the flying qualities as acceptable. Using dynamic scaling methods to adjust the current military standards for the short period mode, a new scale was proposed specifically for small UAVs. This scale was verified by conducting flight tests of three small UAVs at various configurations until poor handling qualities were observed. These transitions were observed to occur at approximately the boundary predicted by the new, adjusted scale.
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Leon, Parra Suyin, and Negrete Luis Lepe. "Aereo-trans." Tesis, Universidad de Chile, 2018. http://repositorio.uchile.cl/handle/2250/168240.
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TESIS PARA OPTAR AL GRADO DE MAGÍSTER EN ADMINISTRACIÓNLeon Parra, Suyin, [Parte I], Lepe Negrete, Luis, [Parte II]
Actualmente la tasa de pasajeros circulantes por el aeropuerto de Antofagasta es de aproximadamente 1 millón de pasajeros por año. Considerando que la oferta actual de servicios de transporte publico es bastante acotada, restringida en tiempos y con precios altos respecto la calidad del servicio. Este modelo de negocio considera una serie de herramientas de marketing, con objetivo de poder establecer un modelo de introducción de nuevo servicio al mercado, posicionamiento de marca y búsqueda de nuevos segmentos de negocios en el largo plazo. Con base en los antecedentes recolectados y al modelo de negocio a implementar, Aereo-Trans tiene como objetivo poder captar aproximadamente el 10% del mercado total, equivalente aproximadamente a 201 mil pasajeros. Lo que se espera se traduzca en un ingreso anual aproximado de 1 millon de dólares, relativo a un tamaño de mercado de 37 millones de dólares, según las estimaciones efectuadas en el desarrollo de este estudio. Con objetivo de poder dar curso a este proyecto, se requerirá de una inversión inicial de aproximadamente 875 mil dólares, de los cuales un 65% financiará la adquisición de medios de transporte masivos (minibuses) los cuales son un recurso crítico para la ejecución del presente modelo. El 35% restante estará destinado a capital de trabajo, cuyo objetivo será financiar los primeros meses de operación. Se evalúa económicamente el modelo de negocio, entregando resultados satisfactorios con un VAN de MUSD 302, una TIR de 19,3%, un EBIT promedio de 21% (relativo a las ventas) y finalmente un payback de 3 años (recuperación de la inversión). En base a esto último se podrá apreciar que el presente proyecto tiene gran atractivo para el inversionista privado. Finalmente el modelo presentado, considera un escenario base el cual podría verse afectado por las condiciones económicas de la segunda región y el país, pudiendo este volverse aun mas rentable, de lo expuesto en este estudio. Además de esto ultimo, también es posible volver este modelo mas atractivo a través de una estrategia de precio menos agresiva para con su competencia, volviendo al negocio mas rentable en términos unitarios (Margen por ticket).
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Wolf, Eric B. "Low-cost large scale aerial photography and the Upland South Folk Cemetery a thesis presented to the Department of Geology and Geography in candidacy for the degree of Master of Science /." Diss., Maryville, Mo. : Northwest Missouri State University, 2006. http://www.nwmissouri.edu/library/theses/WolfEricB/index.htm.
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Thesis (M.S.)--Northwest Missouri State University, 2006.The full text of the thesis is included in the pdf file. Title from title screen of full text.pdf file (viewed on January 25, 2008) Includes bibliographical references.
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Morales, Quiros Alejandro. "Evaluation of ambient and chilled aeration strategies to maintain the quality of stored grain in tropical climates and during summer in temperate climates." Thesis, Kansas State University, 2017. http://hdl.handle.net/2097/38261.
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Master of ScienceDepartment of Grain Science and Industry
Carlos Campabadal Teran
The use of grain aeration as a tool to minimize post-harvest losses requires lower ambient temperature (≤ 20°C) and relative humidity (≤ 70%) conditions than what is usually available during the summer season in temperate climates and throughout the year in some tropical climate regions. Warm and moist conditions contribute to pest problems and increase dependence on chemical control for pest reduction as part of grain management strategies. The grain chilling technology is a non-chemical alternative to cool grain stored under high risk climatic conditions. For this research project, the grain chilling technology was tested in a 1,350-ton low moisture content wheat silo during the 2015 and 2016 summer harvests in Kansas. The grain temperature was lowered from a maximum of 39°C to a minimum of 17°C in less than 250 hours. The results showed that chilled grain maintained at temperatures under 20°C reduced the development rate of insect pests compared to grain stored at temperatures over 25°C and cooled with ambient aeration. However, the cost of grain chilling was calculated to be between 0.26 and 0.32 $/t higher than using ambient aeration. Through computer simulation it was possible to evaluate the performance of the grain chiller against four different ambient aeration strategies for paddy rice stored under the tropical climatic conditions of the North Pacific coast of Costa Rica. After six months of storage, the minimum grain temperature achieved through ambient aeration was 30.8°C using an aeration strategy based on a grain-ambient temperature differential greater than 10°C. Grain chilling lowered the average grain temperature from 35°C to below 15°C in 117 hours and the maximum average temperature it registered after six months of storage was 15.5°C. The economic evaluation of the simulated ambient aeration and chilling strategy determined that the operational costs of grain chilling were between 2 and 4 $/t lower than ambient aeration plus fumigation. However, the initial cost of the grain chiller made the net present cost (NPC) of the chilling strategy between 0.22 and 0.85 $/t higher than the cost of ambient aeration plus fumigation over a 10-year analysis. Several potential financial options were analyzed to make the grain chiller more economically feasible for a rice miller in Costa Rica. It was concluded that the grain chilling technology can reduce grain temperatures below 20°C in a relatively short period of time, which helps control insect populations and maintain grain quality during summer storage in temperate climates and in tropical climates. Utilizing grain chilling reduced operational costs between 78% and 88% when compared to using chemical control of pests. Additionally, it was determined that an initial cost of $74,700 for the grain chiller would require a 16% discount or at least 10,641 t to be chilled annually to make this technology viable for the Costa Rican rice milling industry. Leasing the grain chiller (ten equal payments of $10,926) or adding a premium sell price of 1 $/t to chilled rice would make this technology feasible compared to the traditional grain management strategies utilized in Costa Rica.
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Evangelista, Dennis Jose. "Aerial Righting, Directed Aerial Descent, and Maneuvering in the Evolution of Flight in Birds." Thesis, University of California, Berkeley, 2013. http://pqdtopen.proquest.com/#viewpdf?dispub=3593829.
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This thesis consists of four major studies: a study of incipient flight behaviors in young birds over ontogeny (chapter 1); a detailed study of maneuvering using physical models of a likely ancestral bird morphology (chapter 2); a comparative study of maneuvering ability in several stem-group birds, within a phylogenetic context (chapter 3); and development of basic engineering theory to quantify the turbulence sensitivity of shapes to environmental turbulence of given scales and spectral content. The studies have identified: 1) shifts in function from asymmetric to symmetric movements in young birds, contrary to predictions from alternative hypotheses and occurring before wing-assisted incline running; 2) shifts in function, tied to angle of attack, of asymmetric appendage postures in creating yawing and rolling moments; and 3) migration of control effectiveness as tails are shortened and other features change, during the early evolution of birds. The work plugs some considerable gaps in current prevailing theories (e.g. Dial, 2003; Tobalske et al., 2011) and provides a test of hypotheses of flight evolution not based in outdated "trees-down'' or "ground-up'' paradigms from the past, but rather based on the universal need of airborne animals to maneuver (Dudley and Yanoviak, 2011; Maynard-Smith, 1953).
This work seeks to understand early flight evolution from a maneuvering perspective; every animal in the air must maneuver, and by understanding "powered'' flight as simply a point along a spectrum of maneuvering flight (Dudley and Yanoviak, 2011), unifying breakthroughs are made. It is hoped that the multifaceted approach taken here, with ontogenetic series, aerodynamic studies, and phylogenetic approaches, is robust against the shortcomings of any one approach individually: confounding ontogeny with evolution (as may be the case in others' studies of alternative hypotheses, e.g. Dial, 2003); inferring implausible functions from paleontological material in the absence of proper benchmarking against live animals; or misdiagnosis of how forms work in the absence of functional studies.
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Simpson, Andrew David. "DEVELOPMENT OF AN UNMANNED AERIAL VEHICLE FOR LOW-COST REMOTE SENSING AND AERIAL PHOTOGRAPHY." UKnowledge, 2003. http://uknowledge.uky.edu/gradschool_theses/191.
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The paper describes major features of an unmanned aerial vehicle, designed undersafety and performance requirements for missions of aerial photography and remotesensing in precision agriculture. Unmanned aerial vehicles have vast potential asobservation and data gathering platforms for a wide variety of applications. The goalof the project was to develop a small, low cost, electrically powered, unmanned aerialvehicle designed in conjunction with a payload of imaging equipment to obtainremote sensing images of agricultural fields. The results indicate that this conceptwas feasible in obtaining high quality aerial images.
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Ashley, Kenneth Ian. "Factors influencing oxygen transfer in diffused aeration systems and their application to hypolimnetic aeration." Thesis, University of British Columbia, 1989. http://hdl.handle.net/2429/27757.
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A series of laboratory and field experiments were conducted to examine the effect of several design variables on the oxygenation capacity of hypolimnetic aeration systems. The laboratory experiments used non-steady state gas transfer methodology to examine the effect of air flow rate, air flow rate per diffuser, orifice size and reduced tank surface area on the overall oxygen transfer coefficient (K[sub L]a₂₀, hr⁻¹); standard oxygen transfer rate (OT₅, g O₂/hr); energy efficiency (E[sub p], g O₂/kW-hr) and transfer efficiency (E[sub o], %). The field experiments examined the effect of diffuser depth, orifice size and reduced separator box surface area on the oxygen input per cycle (mg/L), daily oxygen load (kg O₂/day), transfer efficiency (E[sub o], %), energy efficiency (E[sub p], kg O₂/kW-hr) and water velocity (m/sec) in a full lift hypolimnetic aerator. The laboratory experiments demonstrated that K[sub L]a₂₀, OT₅, E[sub p] and E[sub o] increased with air flow rate in the orifice range of 397 μ to 3175 μ diameter. In the 40 μ and 140 μ diameter orifice range, K[sub L]a₂₀ and OT₅ increased with air flow rate; however, E[sub o] and E[sub p] were not affected. A decrease in orifice size from 3175 μ to 140 μ diameter increased K[sub L]a₂₀, OT₅, E[sub p] and E[sub o]; however, there was no significant difference between the 140 μ and 40 μ diameter silica glass diffusers. Reducing the air flow rate per silica glass diffuser (40 μ and 140μ diameter) significantly increased K[sub L]a₂₀, OT₅, E[sub p] and E[sub o]. A reduction in tank surface area had a minimal effect on K[sub L]a₂₀, OT₅, E[sub p] and E[sub o] in two tank configurations with different surface area to volume ratios (0.94 and 2.2 m⁻¹). The field experiments demonstrated that increased depth of air release increased the oxygen input per cycle and water velocity, which, in turn increased the daily oxygen load, E[sub p] and E[sub o]. Orifice size in the 140 μ range significantly increased oxygen input per cycle, daily O₂ load, E[sub p] and E[sub o]; however, the size range from 794 μ to 3175 μ exhibited similar but reduced gas transfer characteristics. A reduction in surface area in the separator box had no effect on the oxygenation capacity of the hypolimnetic aerator. Design criteria for hypolimnetic aerators are discussed including several modifications which should increase the oxygenation capacity of full lift hypolimnetic aeration systems.Applied Science, Faculty of
Civil Engineering, Department of
Graduate
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CHOI, IN-SUB. "Transport aerien et dereglementation : le cas de la republique de coree." Toulouse 2, 1997. http://www.theses.fr/1997TOU20092.
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Depuis la dereglementation des etats-unis en 1978, les compagnies aeriennes dans le monde sont entrees dans le marche liberal sans protection. Face a ces nouvelles situations, la republique de coree atempere la rigueur de l'acces au marche par l'autorisation d'une deuxieme compagnies "asiana airlines" en 1988. Par la suite, le gouvernement a autorise l'asiana airlines a exploiter vers l'asie du sud-est en 1990 et a supprime la limitation des dessertes des regions en 1994. L'ouverture du marche coreen a realise progressivement des accords bilateraux ou multilateraux. A partir de 1995, les prises de participations des capitaux etrangers dans le transport aerien coreen ont ete autorisees. Concernant les affaires secondaires du transport aerien (services des systemes informatises de reservation, location d'avion, entretien des aeronefs, et livraison des papiers commerciaux), la liberte sera totale jusqu'a 1997. Face a la concurrence internationale, les compagnies coreennes ont accelere leurs strategies de developpement et les accords de cooperation ont permis de realiser des economies d'echelle et d'elargir les reseaux internationaux avec un minimum de frais. En plus, pour renforcer les activites de marketing, korean air et asiana airlines ont developpe respectivement leur sir topas et artis. Enfin, pour faire face a la concurrence, le gouvernement et la compagnie aerienne doivent adopter une attitude positive face au nouvel environnement plus liberal et competitifSince the united states airline deregulation act of 1978, the world aviation companies have gone into the liberal market without protection. Facing a new order, the republic of korea has been pushing for liberalization of his access to market by authorization of the second company "asiana airlines" in 1988. Afterwards, the government has permit the asiana airlines to run towards the southeast asia in 1990 and has removed the limitation of service areas in 1994. The opening of korean aviation market has realized progressively by bilateral or multilateral agreements. From 1995, equity participation of foreing capital in the korean air transport has been permit. Concerning the secondary affairs of air transport (services of the computer reservation systems, operating lease, aircraft maintenance, and delivery of commercial papers), the total opening market will be until 1997. Facing the international competition, korean flag carriers have accelerated their strategy of development and airline alliances have allowed to realize the economies of scale and to widen the international network with a minimum costs. In addition, for strengthen the sales and marketing, the korean air and asiana airlines develop their crs topas and artis. Well, face with competition, the government and aviation company should adopt a positive attitude facing new environment more liberal and competitive
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Ward, Justin M. "Catalysed aeration of reduced ilmenite." Curtin University of Technology, School of Applied Chemistry, 1999. http://espace.library.curtin.edu.au:80/R/?func=dbin-jump-full&object_id=10316.
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A study has been conducted on the aeration of reduced ilmenite with emphasis on increasing the aeration speed and understanding the mechanism of the aeration based on laboratory scale experiments. These issues were highlighted by comparing the currently operating Becher process which incorporates the use of an ammonium chloride catalyst in the aeration process.The speed of production of synthetic rutile from the Becher process is currently dictated by the time the reduced ilmenite remains in the aeration tank. As these times can vary greatly for no obvious reason, experiments were conducted to find which parameters could be changed to increase the speed of leaching. It was found that by increasing the oxygen content to 100 per cent the aeration time was reduced by at least half.By replacing ammonium chloride with various other amine compounds as the catalyst it was found there was a relationship between pK[subscript]a and aeration time. It was also found that the more sterically hindered the amine group, the slower the leaching. The use of ethylenediammonium chloride has shown that, when used at two thirds of the ammonium chloride concentration, aeration can be completed an hour (17%) faster than with the ammonium chloride catalyst. Furthermore, when ethylenediammonium chloride was used with a 100 per cent oxygen gas flow the aeration time was reduced by two thirds.Other compounds that did not contain amine groups were also investigated as catalysts in reduced ilmenite aerations. Of those tested only a citric acid / trisodium citrate mixture managed to aerate the reduced ilmenite substantially faster than the standard ammonium chloride catalyst. Other compounds with similar structure to the citrate ion failed to aid the aeration at all.
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McCarthy, Timothy Mortimer Mark. "Integrating aerial video with G.I.S." Thesis, Birkbeck (University of London), 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.324964.
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El-Jabu, Bashir Ali R. "Cellular communications using aerial platforms." Thesis, University of Southampton, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.299380.
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Wiley, Victor D. "The aerial fleet refueling problem /." (Requires Adobe Acrobat Reader), 2001. http://handle.dtic.mil/100.2/ADA395243.
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Wiley, Victor Duane. "The aerial fleet refueling problem." Access restricted to users with UT Austin EID, 2001. http://wwwlib.umi.com/cr/utexas/fullcit?p3037022.
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Cabezas, Randi. "Large-scale probabilistic aerial reconstruction." Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/117832.
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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2018.This 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 153-167).
While much emphasis has been placed on large-scale 3D scene reconstruction from a single data source such as images or distance sensors, models that jointly utilize multiple data types remain largely unexplored. In this work, we will present a Bayesian formulation of scene reconstruction from multi-modal data as well as two critical components that enable large-scale reconstructions with adaptive resolution and high-level scene understanding with meaningful prior-probability distributions. Our first contribution is to formulate the 3D reconstruction problem within the Bayesian framework. We develop an integrated probabilistic model that allows us to naturally represent uncertainty and to fuse complementary information provided by different sensor modalities (imagery and LiDAR). Maximum-a-Posteriori inference within this model leverages GPGPUs for efficient likelihood evaluations. Our dense reconstructions (triangular mesh with texture information) are feasible with fewer observations of a given modality by relaying on others without sacrificing quality. Secondly, to enable large-scale reconstructions our formulation supports adaptive resolutions in both appearance and geometry. This change is motivated by the need for a representation that can adjust to a wide variability in data quality and availability. By coupling edge transformations within a reversible-jump MCMC framework, we allow changes in the number of triangles and mesh connectivity. We demonstrate that these data-driven updates lead to more accurate representations while reducing modeling assumptions and utilizing fewer triangles. Lastly, to enable high-level scene understanding, we include a categorization of reconstruction elements in our formulation. This scene-specific classification of triangles is estimated from semantic annotations (which are noisy and incomplete) and other scene features (e.g., geometry and appearance). The categorization provides a class-specific prior-probability distribution, thus helping to obtain more accurate and interpretable representations by regularizing the reconstruction. Collectively, these models enable complex reasoning about urban scenes by fusing all available data across modalities, a crucial necessity for future autonomous agents and large-scale augmented-reality applications.
by Randi Cabezas.
Ph. D.
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Pinto, Luis Ramos. "Aerial Multi-hop Sensor Networks." Research Showcase @ CMU, 2018. http://repository.cmu.edu/dissertations/1180.
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Unmanned Aerial Vehicles (UAVs) recently enabled a myriad of new applications spanning domains from personal entertainment and industrial inspection, to criminal surveillance and forest monitoring. A combination of sensor collection, wireless communication and path planning between multiple distributed agents is the natural way to support applications. Several small UAVs working collaboratively can rapidly provide extended reach, at low cost, and efficiently stream sensor information to operators on a ground station. A significant amount of previous work has addressed each of these topics independently, but in this dissertation we propose a holistic approach for joint coordination of networking and topology (placement of mobile nodes). Our thesis is that this approach improves user-interactive control of UAVs for live-streaming applications in terms of throughput, delay and reliability. In order to defend these claims, this dissertation begins by experimentally evaluating and modeling the wireless link between two UAVs, under different conditions. Due to limited link range, and the need for wide-area operation, the model is extended to encompass a multi-hop topology. We show that the performance of such networks using COTS devices is typically poor, and solutions must rely on coordination of network protocol and topology, simultaneously. At the network layer, we introduce a novel Time-division Multiple Access (TDMA) scheme called Distributed Variable Slot Protocol that relies on adaptive slot-length. We prove its convergence as well as its meliorated performance experimentally validated, namely 50% higher packet delivery. In terms of network topology, we show that without node placement control overall performance of the network is severely penalized, due to natural link asymmetries. We propose a novel protocol, named Dynamic Relay Placement, that is able to do both online link quality model-estimation and in a distributed fashion decide the best location for each network node, increasing throughput by 300%. Finally, we demonstrate the end-to-end system in a multi-vehicle monitoring mission. We show that coordination of multiple UAVs increases the sensor sampling rate up to 7 times in wide areas when compared to a naive approach. This work considers environmental constraints such as wind, as well as the intrinsic limitations of the vehicles such as maximum acceleration.
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Pourmoshir, Shirin. "An Aerial Image Registration Tool." Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-372091.
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GeoMemories is a project that aims to digitalize the historical aerial photograph archives of the Aerofototeca Nazionale in Rome. In order to use those photographs in GeoMemories, there is a need to have an application to help with producing better photographs. This study presents different steps of creating this aerial image registration application or what is called GeoImage. GeoImage is a desktop application which is intended to give researchers opportunities to work on aerial historical images easie and more practically. This study describes the reasons for choosing User-Centred Design or UCD as a methodology to help analysing unstructured users’ requirements. Moreover, it presents surveys as a chosen UCD method to help user to focus more on main requirements and they also increase the speed of gathering information from users. The result shows that survey is a key point for success of this project. Furthermore, this research analyses two available applications in the market with similar functionalities, ArcGIS and QGIS from all aspects of the User-Centred Design perspective. The outcome of this analysis helps extensively in the evaluation of the final version of the GeoImage application. Finally, this study can be complemented in the future by adding more functionalities based on the final GeoImage’s goal. Furthermore, all analysed requirements can be gathered in a web-based application for public audience.
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Theyyar, Maalolan Lakshman. "Trusted Unmanned Aerial System Operations." Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/98735.
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Proving the correctness of autonomous systems is challenged by the use of non-deterministic artificial intelligence algorithms and ever-increasing lines of code. While correctness is conventionally determined through analysis and testing, it is impossible to train and test the system for all possible scenarios or formally analyze millions of lines of code. This thesis describes an alternative method that monitors system behavior during runtime and executes a recovery action if any formally specified property is violated. Multiple parallel safety monitors synthesized from linear temporal logic (LTL) formulas capturing the correctness and liveness properties are implemented in isolated configurable hardware to avoid negative impacts on the system performance. Model checking applied to the final implementation establishes the correctness of the last line of defense against malicious attacks and software bugs. The first part of this thesis illustrates the monitor synthesis flow with rules defining a three-dimensional cage for a commercial-off-the-shelf drone and demonstrates the effectiveness of the monitoring system in enforcing strict behaviors. The second part of this work defines safety monitors to provide assurances for a virtual autonomous flight beyond visual line of sight. Distinct sets of monitors are called into action during different flight phases to monitor flight plan conformance, stability, and airborne collision avoidance. A wireless interface supported by the proposed architecture enables the configuration of monitors, thereby eliminating the need to reprogram the FPGA for every flight. Overall, the goal is to increase trust in autonomous systems as demonstrated with two common drone operations.Master of Science
Software code in autonomous systems, like cars, drones, and robots, keeps growing not just in length, but also in complexity. The use of machine learning and artificial intelligence algorithms to make decisions could result in unexpected behaviors when encountering completely new situations. Traditional methods of verifying software encounter difficulties while establishing the absolute correctness of autonomous systems. An alternative to proving correctness is to enforce correct behaviors during execution. The system's inputs and outputs are monitored to ensure adherence to formally stated rules. These monitors, automatically generated from rules specified as mathematical formulas, are isolated from the rest of the system and do not affect the system performance. The first part of this work demonstrates the feasibility of the approach by adding monitors to impose a virtual cage on a commercially available drone. The second phase of this work extends the idea to a simulated autonomous flight with a predefined set of points that the drone must pass through. These points along with the necessary parameters for the monitors can be uploaded over Bluetooth. The position, speed, and distance to nearby obstacles are independently monitored and a recovery action is executed if any rule is violated. Since the monitors do not assume anything about the source of the violations, they are effective against malicious attacks, software bugs, and sensor failures. Overall, the goal is to increase confidence in autonomous systems operations.
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Ress, Jennifer Ann. "The Ecology of Aerial Algae." Bowling Green State University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=bgsu1332874801.
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Jaw, Jen-Jer. "Control surface in aerial triangulation /." The Ohio State University, 1999. http://rave.ohiolink.edu/etdc/view?acc_num=osu148818889444039.
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Dingus, Benjamin Ross. "Development of an Autonomous Unmanned Aerial Vehicle for Aerobiological Sampling." Thesis, Virginia Tech, 2007. http://hdl.handle.net/10919/33119.
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The ability to detect, monitor, and forecast the movement of airborne plant pathogens in agricultural ecosystems is essential for developing rational approaches to managing these habitats. We developed an autonomous (self-controlling) unmanned aerial vehicle (UAV) platform for aerobiological sampling tens to hundreds of meters above agricultural fields. Autonomous UAVs have the potential to extend the range of aerobiological sampling, improve positional accuracy of sampling paths, and enable coordinated flight with multiple aircraft at different altitudes.
We equipped a Senior Telemaster model airplane with two spore-sampling devices and a MicroPilot autonomous system, and we conducted over 60 autonomous microbe-sampling flights at Virginia Techâ s Kentland Farm. To determine the most appropriate sampling path for aerobiological sampling, we explored a variety of different sampling patterns for our autonomous UAVs including multiple GPS waypoints plotted over a variety of spatial scales.
We conducted a total of 25 autonomous aerobiological sampling flights for five different aerobiological sampling patterns. The pattern of a single waypoint exhibited the best flight characteristics with good positional accuracy and standard deviations in altitude from 1.6 to 2.8 meters. The four point pattern configured as a rectangle also demonstrated good flight characteristics and altitude standard deviations from 1.6 to 4.7 meters.Master of Science
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Nagori, Chinmay. "Unmanned Aerial Manipulators in Construction - Opportunities and Challenges." Thesis, Virginia Tech, 2020. http://hdl.handle.net/10919/101663.
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Unmanned Aerial Vehicles (UAVs) have now been accepted as an alternative medium to human workers for data collection processes in various industries. The capabilities of UAVs are now being extended from passive tasks of data collection to active tasks of interacting with the environment by equipping them with robotic arms and function as Unmanned Aerial Manipulators (UAMs).
Research on Unmanned Aerial Manipulators has been growing in the last few years. The applications of UAMs in terms of sensor installation, inspections, door opening, valve turning, pick and drop, etc. have been studied for the oil and gas industry, and civil applications, etc. However, there is a lack of studies in understanding applications of UAMs and their capabilities in construction and in advancing construction activities. The goal of this research is to identify potential opportunities and challenges of the application of UAM in construction projects. The study will undertake an extensive literature review and semi-structured interviews with industry experts to address research questions. This study will have a significant contribution to the introduction and development of new contact-based UAV-guided technologies in construction.Master of Science
Drones or Unmanned Aerial Manipulators have been used in the construction industry to collect visual data in form of images, videos, or to map surveys, and visually inspect the structures. However, if equipped with a robotic arm, they attain the capability of touching and interacting with the environment to effectively function as an Unmanned Aerial Manipulator (UAM). UAMs have researched for various applications such as sensor installation, touch-based sensor inspections, door opening, and closing, and pick up and drop, etc. However, there is a lack of study for their opportunities and challenges in the construction industry. This research focuses on understanding the opportunities and challenges associated with the application of UAMs in the construction industry.
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Bodolec, Caroline. "La voute en aerien dans l'architecture chinoise : des wuliang dian aux yaodong." Paris, CNAM, 2001. http://www.theses.fr/2001CNAM0408.
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Dans l'architecture chinoise, la voute est tres rarement utilisee a l'air libre avec des massifs de culee (en aerien). Les voutes des tombes, des ponts ou des ouvertures de pagodes ou de remparts sont des ouvertures dans des masses, les poussees et charges etant contre-carrees par les masses environnantes. Seuls deux types de batiments sont construits en aerien : les wuliang dian -batiments sans poutre- et les yaodong. Les wuliang dian sont des batiments imperiaux et monastiques construits au tournant du xvii e m e siecle. Douze edifices ont ete recenses, la plupart furent construits par le moine bouddhiste miao feng (1540-1613). Les yaodong sont une variante des habitations troglodytiques du haut plateau de lss et construits sur le meme plan que celles-ci. Les yaodong appareilles, dont les plus anciens datent du xviii e m e siecle, constituent aujourd'hui 80 % des yaodong des provinces du shaanxi et shanxi. Les deux types de batiments presentent d'indeniables parentes techniques. La premiere partie de la these est consacree aux formes, materiaux et techniques de la voute dans l'architecture maconnee, offrant les bases techniques pour comprendre l'emergence de cette forme a la periode ming. Dans la deuxieme partie, les wuliang dian sont etudies pour eux-memes -formes, dates de construction et commanditaires- mais egalement dans le contexte plus large de la construction etatique des xvi e m e-xvii e m e siecles. La question des transmissions de techniques est alors abordee ainsi que le role specifique des maitres-d'uvre par l'etude de la biographie de miao feng. La troisieme partie est consacree aux yaodong. La chronologie des formes et des techniques ainsi que leur place au sein du monde chinois sont etudiees ainsi que la question des influences exterieures ainsi que la transmission des savoir-faire par les manuels techniques. Un lexique des termes d'architecture maconnee a ete realise pour une meilleure comprehension de ce domaine technique.
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OUSSEDIK, SOFIANE. "Application de techniques d'evolution artificielle aux problemes de congestion du trafic aerien." Paris 11, 2000. http://www.theses.fr/2000PA112388.
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Le nombre de vols en europe de l'ouest est passe de 2. 6 millions en 1982 a 4. 5 millions en 1992, une augmentation de 73%l. Ce nombre augmente depuis de pres de 7% par an. Actuellement, il en resulte une congestion du systeme de gestion du trafic. Nos recherches ont pour but la reduction de la congestion de l'espace aerien par modification des creneaux de decollage et des routes des vols. On considere un espace aerien sectorise et un ensemble de vols auxquels des creneaux de decollage et des routes alternatives sont associes. Pour chaque vol, un ensemble de routes alternatives et un ensemble de creneaux de decollage possibles sont definis. On doit determiner les creneaux de decollage ainsi que les routes optimales pour chaque vol et ce dans le but de decroitre les pics de congestion dans les secteurs de controle. Un etat de l'art des methodes d'optimisation montre que ce probleme de bi-allocation est souvent partiellement traite vu la complexite qu'il genere. Une modelisation du probleme par algorithmes d'evolution artificielle a ete developpee et de nouveaux operateurs stochastiques ont ete mis en uvre puis appliques avec succes sur des instances reelles du probleme. Le probleme de sequencement des vols a l'atterrissage sur un aeroport congestionne ainsi que celui de la generation de routes alternatives ont aussi ete traites en fin de rapport.
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Suchatkulvit, Vandee. "La reglementation internationale du transport aerien : vers un nouvel ordre aeronautique international." Paris 1, 1998. http://www.theses.fr/1998PA010293.
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Le systeme juridique de l'aviation civile, au moment de son elaboration, est caracterise par la politique protectionniste des etats. Cette politique est fondee sur le principe de la souverainete de chaque etat sur son espace aerien. Ce principe a ete mis en lumiere, par la convention de paris de 1919 et a ete reaffirme par l'article 1 de la convention de chicago de 1944. Apres l'echec du multilateralisme des echanges de droits commerciaux, c'est le systeme bilateraliste qui se developpe, dans les relations aeriennes internationales, comme le principal instrument juridique des echanges aeriens. Depuis plusieurs annees, les pressions politiques en faveur d'une reforme se font de plus en plus sentir. Plusieurs approches de reforme presentent une nouvelle structure adaptee aux echanges aeriens. Parmi celles-ci, l'une se forme dans le cadre regional. L'europe communautaire ou le multilateralisme regional a remplace le bilateralisme entre les etats membres en fait l'experience. Le regionalisme peut egalement s'etendre au niveau interregional. L'autre approche est d'etablir un cadre multilateral plus large. L'accord general sur le commerce des services est un exemple de liberalisation globale. Cet accord offre un systeme ouvert, sur la base d'un engagement universel et mene en fin de compte a une plus grande liberalisationThe international air transport system, has been characterized, by protectionnist policies of states. These policies have had their roots in the principale of air space sovereignty and became the legal rule which was laid down in the paris convention of 1919 and was repeates in article 1 of the chicago convention of 1944. After the failure to prompt a multilateral exchange of rights of trafic, the bilateral treaty developed as the principal diplomatic and political vehicle for these trades. As objects of the purely bilateral exchange, the freedom of the air were concedes only on the defensive reciprocity. The problems facing international aviation create pressure for regulatory reform. There are several directions in which a new order of air transport international regulation may go. One approch is the development of regionalism. This approch is now put to the test in practice within the europen communities , where mulatiralisme regional replaced the bilateralisme between the member states. The regionalisme could formulate also a common aviation policy to apply between the region and other regions. Another approch, is that of a move towards multilateralism. Given the differing interests of countries around the world. The general agreement on trade in services is an exemple of how liberalisation of several trades can be achieved if they are all negotiated together. This approche could help to liberalize trade in air services
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Schiavette, Marcia Aparecida Ferreira. "Evidencia????o: ??ndice de conformidade aplicado ao setor aeron??utico brasileiro." FECAP - Faculdade Escola de Com??rcio ??lvares Penteado, 2012. http://132.0.0.61:8080/tede/handle/tede/509.
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Previous issue date: 2012-11-07A good look at the evolution of mankind throughout history reveals a litany of key discoveries in the evolution of mankind. Occupying the top echelon of these discoveries albeit distinctive is mankind s ability to communicate with each other via gestures, mime, and speech. Precisely thus rooted on this historical landmark is the entirety of this work based. In addition communication is the backdrop by which ideas, discoveries and goals are conveyed. Each objective is unique and peculiar, subject to communication evolution as required respectively not dissimilar however from accounting. Just as scientists and researchers identify historical milestones, the field of accounting science also experience and witness evolution by means of communicating facts naturally in terms of binding, relevance and timeliness. Regardless of the classification, the information is useful only if it contains the attributes of importance to be defined by different types of users. With the purpose of obtaining the compliance of disclosure index (ECI), this study chose to attribute measurement and disclosure required in notes issued by companies in the airline industry, for the year 2011, members at forty-one (414) pronouncements technical, fifteen (15) interpretations and two guidelines (02) issued by the Accounting Pronouncements Committee (CPC). The methodology of applied research is characterized as qualitative and quantitative and documentary character. As a result of our analysis, the Disclosure Compliance Index was calculated as 76,98% and 76,59% for the TAM and 74,21% and 76,19% for the GOL company, which had 187 and 194 items and 192 and 193 items of disclosure of a total of 252 items required for the years 2010 and 2011 respectively. This paper hopes to contribute to future studies on the adoption of a new index for evaluation of companies in the capital market in Brazil compared with foreign companies that adopted IFRS related to the CPC's policies adopted in Brazil, where companies with a high rate of compliance the disclosure (ICE) have a lower risk and there was a decrease or absence of items volunteers, as expected the increase of the items required
Quando analisamos a evolu????o do Ser Humano, ao longo de sua hist??ria, podemos elencar muitas descobertas importantes. Dentre as muitas registradas, a mais importante ?? aquela que fez com que os homens pudessem, atrav??s dos gestos, m??micas e da fala se comunicarem uns com os outros. ?? exatamente neste marco hist??rico que este trabalho tem a sua raiz. Atrav??s da comunica????o conseguimos transmitir nossas ideias, nossas descobertas, nossos desejos e objetivos. Para cada objetivo existe uma maneira diferente de se comunicar e esta comunica????o precisa evoluir conforme as necessidades, e n??o seria diferente para a Ci??ncia Cont??bil. Assim como os cientistas e pesquisadores identificam marcos na hist??ria, na ??rea de atua????o das ci??ncias cont??beis tamb??m vivenciamos e presenciamos a evolu????o na forma de comunicar os fatos, classificando-os em obrigat??rios, n??o obrigat??rios, relevantes, n??o relevantes, tempestivos ou n??o tempestivos, ou seja, independente da classifica????o, a informa????o s?? ser?? ??til se ela contiver os atributos de import??ncia a ser definida pelos diferentes tipos de usu??rios. Com o prop??sito de auferir o ??ndice de conformidade de evidencia????o (ICE), este trabalho escolheu como atributos a mensura????o e a evidencia????o obrigat??rias publicadas nas notas explicativas das empresas do setor a??reo, referentes aos anos de 2010 e 2011, aderentes aos quarenta e um (41) pronunciamentos t??cnicos (CPC), quinze (15) interpreta????es (ICPC) e duas (02) orienta????es (OCPC), emitidos pelo Comit?? de Pronunciamentos Cont??beis (CPC). A Metodologia da pesquisa aplicada caracteriza-se como quali-quantitativa e de car??ter documental. Como resultado da nossa an??lise, o ??ndice de Conformidade de Evidencia????o apurado foi de 76,98% e 76,59% para a empresa TAM e 74,21% e 76,19% para a empresa GOL, que apresentaram 187 e 194 itens e 192 e 193 itens de evidencia????o de um total de 252 itens obrigat??rios para o ano de 2010 e 2011 respectivamente. Este trabalho espera contribuir para futuros estudos sobre a ado????o de um novo ??ndice para avalia????o das empresas no mercado de capitais no Brasil em compara????o com empresas no exterior que adotaram as IFRS s correlacionadas aos CPC s adotados no Brasil, se as empresas com um alto ??ndice de conformidade de evidencia????o (ICE) possuem riscos menores e se houve uma diminui????o ou n??o dos itens volunt??rios, uma vez que se espera o aumento dos itens obrigat??rios
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Erdem, Elif. "Constructing Panoramic Scenes From Aerial Videos." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12609083/index.pdf.
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In this thesis, we address the problem of panoramic scene construction in which a single image covering the entire visible area of the scene is constructed from an aerial image video.
In the literature, there are several algorithms developed for construction of panoramic scene of a video sequence. These algorithms can be categorized as feature based and featureless algorithms. In this thesis, we concentrate on the feature based algorithms and comparison of these algorithms is performed for aerial videos. The comparison is performed on video sequences captured by non-stationary cameras, whose optical axis does not have to be the same. In addition, the matching and tracking performances of the algorithms are separately analyzed, their advantages-disadvantages are presented and several modifications are proposed.
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Ingebretsen, Thomas. "System Identification of Unmanned Aerial Vehicles." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for fysikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-16776.
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The least squares method has been applied to estimate parameters inan aerodynamic model of a simulated aircraft, using data that can beexpected to available from sensors on an Unmanned Aerial Vehicle. Acombination of two non-linear state observers have been implemented toestimate wind data such as angle of attack, sideslip and dynamic pressure.Simulations have confirmed that the observers are able to estimete thewind data using noisy sensor measurements. Parameter estimation havebeen demonstrated with both measured and estimated wind data.
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Johansen, Ingrid Hagen. "Autopilot Design for Unmanned Aerial Vehicles." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-18458.
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This thesis will present a design of a guidance and control system to use on aircrafts, primarily on UAVs. One control method for heading control and two for pitch and altitude control will be investigated. The control methods are Proportional-Integral-Derivative (PID) and sliding mode control. PID will be tested on both heading and pitch and altitude control, while sliding mode will only be applied to pitch and altitude. There will be presented a path-following method, Line of Sight, for heading guidance and a kinematic controller for altitude reference. The presented methods are implemented in Matlab Simulink while the aircraft model used comes from the flight simulator X-Plane. X-Plane is also used to visualize the performance of the autopilot design.PID and sliding mode control are tested in four different scenarios to investigate which controller who has the best performance. After the simulations, it was observed that the PID had better performances than sliding mode control.
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Carnduff, S. D. "System identification of unmanned aerial vehicles." Thesis, Cranfield University, 2008. http://dspace.lib.cranfield.ac.uk/handle/1826/7583.
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The aim of this research is to examine aspects of system identification for unmanned aerial vehicles
(UAVs). The process for aircraft in general can be broken down into a number of steps,
including manoeuvre design, instrumentation requirements, parameter estimation, model structure
determination and data compatibility analysis. Each of these steps is reviewed and potential
issues that could be encountered when analysing UAV data are identified. Problems which
may be of concern include lack of space within the airframe to mount sensors and a greater
susceptibility to the effects of turbulence in comparison to manned aircraft. These issues are
investigated using measurements from two experimental sources. Firstly, Cranfield University’s
dynamic wind tunnel facility is utilised, in which scale models are flown in semi-free
flight. The control surfaces are actuated so that inputs, similar to those used when flight testing
full-sized aircraft, can be applied and the resultant response of the model is recorded. Measurements
from a 1/12 scale model of the BAe Hawk and a 1/3 scale model of the FLAVIIR project
demonstrator UAV are used. An added benefit of the facility to this work is that the wind tunnel
models are comparable in size to the miniature class of UAVs. Therefore, practical issues,
similar to those faced for these aircraft, are encountered with the wind tunnel experiments. The
second source of experimental data is UAV flight test data supplied by BAE Systems.
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Santamaria, Navarro Àngel. "Visual guidance of unmanned aerial manipulators." Doctoral thesis, Universitat Politècnica de Catalunya, 2017. http://hdl.handle.net/10803/459063.
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The ability to fly has greatly expanded the possibilities for robots to perform surveillance, inspection or map generation tasks. Yet it was only in recent years that research in aerial robotics was mature enough to allow active interactions with the environment. The robots responsible for these interactions are called aerial manipulators and usually combine a multirotor platform and one or more robotic arms.
The main objective of this thesis is to formalize the concept of aerial manipulator and present guidance methods, using visual information, to provide them with autonomous functionalities.
A key competence to control an aerial manipulator is the ability to localize it in the environment.
Traditionally, this localization has required external infrastructure of sensors (e.g., GPS or IR cameras), restricting the real applications. Furthermore, localization methods with on-board sensors, exported from other robotics fields such as simultaneous localization and mapping (SLAM), require large computational units becoming a handicap in vehicles where size, load,
and power consumption are important restrictions. In this regard, this thesis proposes a method to estimate the state of the vehicle (i.e., position, orientation, velocity and acceleration) by means of on-board, low-cost, light-weight and high-rate sensors.
With the physical complexity of these robots, it is required to use advanced control techniques during navigation. Thanks to their redundancy on degrees-of-freedom, they offer the possibility to accomplish not only with mobility requirements but with other tasks simultaneously and hierarchically, prioritizing them depending on their impact to the overall mission success. In this work we present such control laws and define a number of these tasks to drive the vehicle using visual information, guarantee the robot integrity during flight, and improve
the platform stability or increase arm operability.
The main contributions of this research work are threefold: (1) Present a localization technique to allow autonomous navigation, this method is specifically designed for aerial platforms with size, load and computational burden restrictions. (2) Obtain control commands to drive the vehicle using visual information (visual servo). (3) Integrate the visual servo commands into
a hierarchical control law by exploiting the redundancy of the robot to accomplish secondary tasks during flight. These tasks are specific for aerial manipulators and they are also provided.
All the techniques presented in this document have been validated throughout extensive experimentation with real robotic platforms.La capacitat de volar ha incrementat molt les possibilitats dels robots per a realitzar tasques de vigilància, inspecció o generació de mapes. Tot i això, no és fins fa pocs anys que la recerca en robòtica aèria ha estat prou madura com per començar a permetre interaccions amb l’entorn d’una manera activa. Els robots per a fer-ho s’anomenen manipuladors aeris i habitualment combinen una plataforma multirotor i un braç robòtic. L’objectiu d’aquesta tesi és formalitzar el concepte de manipulador aeri i presentar mètodes de guiatge, utilitzant informació visual, per dotar d’autonomia aquest tipus de vehicles. Una competència clau per controlar un manipulador aeri és la capacitat de localitzar-se en l’entorn. Tradicionalment aquesta localització ha requerit d’infraestructura sensorial externa (GPS, càmeres IR, etc.), limitant així les aplicacions reals. Pel contrari, sistemes de localització exportats d’altres camps de la robòtica basats en sensors a bord, com per exemple mètodes de localització i mapejat simultànis (SLAM), requereixen de gran capacitat de còmput, característica que penalitza molt en vehicles on la mida, pes i consum elèctric son grans restriccions. En aquest sentit, aquesta tesi proposa un mètode d’estimació d’estat del robot (posició, velocitat, orientació i acceleració) a partir de sensors instal·lats a bord, de baix cost, baix consum computacional i que proporcionen mesures a alta freqüència. Degut a la complexitat física d’aquests robots, és necessari l’ús de tècniques de control avançades. Gràcies a la seva redundància de graus de llibertat, aquests robots ens ofereixen la possibilitat de complir amb els requeriments de mobilitat i, simultàniament, realitzar tasques de manera jeràrquica, ordenant-les segons l’impacte en l’acompliment de la missió. En aquest treball es presenten aquestes lleis de control, juntament amb la descripció de tasques per tal de guiar visualment el vehicle, garantir la integritat del robot durant el vol, millorar de l’estabilitat del vehicle o augmentar la manipulabilitat del braç. Aquesta tesi es centra en tres aspectes fonamentals: (1) Presentar una tècnica de localització per dotar d’autonomia el robot. Aquest mètode està especialment dissenyat per a plataformes amb restriccions de capacitat computacional, mida i pes. (2) Obtenir les comandes de control necessàries per guiar el vehicle a partir d’informació visual. (3) Integrar aquestes accions dins una estructura de control jeràrquica utilitzant la redundància del robot per complir altres tasques durant el vol. Aquestes tasques son específiques per a manipuladors aeris i també es defineixen en aquest document. Totes les tècniques presentades en aquesta tesi han estat avaluades de manera experimental amb plataformes robòtiques reals
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Merry, Kyle James, Jared Hainsworth, Daniel Schucker, and Chris Wozny. "Autopilot Integration on Micro Aerial Vehicles." Thesis, The University of Arizona, 2012. http://hdl.handle.net/10150/244477.
Full textAbstract:
Micro Air Vehicles (MAVs) are small, unmanned aerial systems that typically have a smaller than 12" wingspan. There are many practical applications for these MAVs, ranging from military use to real estate. In this project, we integrated autopilot control systems onto a pair of Vertical Take-off and Landing (VTOL) MAVs. These control systems are responsible for stabilizing the inherently unstable tail-sitter airframes, allowing for stabilized flight by human operator or automated flight plans. Two autopilot control systems were developed, which were shown to be capable of stabilizing their airframes and executing maneuvers.
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Schucker, Daniel Douglas, Jared Hainsworth, Kyle Merry, and Chris Wozny. "Autopilot Integration on Micro Aerial Vehicles." Thesis, The University of Arizona, 2012. http://hdl.handle.net/10150/244776.
Full textAbstract:
Micro Air Vehicles (MAVs) are small, unmanned aerial systems that typically have a smaller than 12" wingspan. There are many practical applications for these MAVs, ranging from military use to real estate. In this project, we integrated autopilot control systems onto a pair of Vertical Take-off and Landing (VTOL) MAVs. These control systems are responsible for stabilizing the inherently unstable tail-sitter airframes, allowing for stabilized flight by human operator or automated flight plans. Two autopilot control systems were developed, which were shown to be capable of stabilizing their airframes and executing maneuvers.
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DeThomas, Scott V. "Aerial humanitarian operations delivering strategic effects /." CLICK HERE TO VIEW:, 2004. https://research.maxwell.af.mil/papers/ay2004/ari/DeThomas.pdf.
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