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Bernberg, Josefine, Martin Hellkvist, Erik Persson, and August Tynong. "Camera-based Autonomous System." Thesis, Uppsala universitet, Institutionen för teknikvetenskaper, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-297825.
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Paniagua, Cristina. "Architectural approach for Autonomous System of Systems Interoperability." Licentiate thesis, Luleå tekniska universitet, EISLAB, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-73743.
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The current technological environment is evolving increasingly fast, and the development of new devices, technologies, and architectures has opened an emergent era where the digital and physical world work together. The implementation and use of systems based on a service-oriented architecture (SOA) in conjunction with the Internet of Things (IoT) and cyberphysical systems (CPS) have been extended during the last decades in numerous scenarios in industry and other domains. However, some of the major barriers to this approach are the lack of interoperability and the amount of engineering effort required for their integration. The research presented in this thesis targets issues related to digitalization and automation. It is framed by the Industry 4.0 paradigm, which promotes the rise of efficiency and sustainability on industrial production. The interoperability between heterogeneous systems and different domains is one of the main challenges of Industry 4.0. The quest for solutions that help to increase interoperability is an important part of this research. This thesis proposes a set of architectural design principles and tools in order to reduce engineering effort by means of finding solutions that enable autonomous integration and increase interoperability without human intervention. The research is focused on the IoT field, taking into account resource-constrained devices, system of systems integration, and data models. A detailed investigation of various interoperability mismatch problems is presented in this thesis. The proposed solution is an adapter system that can aid in the generation of new service consumer interfaces at both compile-time and run-time. The proposed approach requires a new point of view in the service description field that can provide a holistic description of the information required for the generation of consumer interfaces. In addition, aspects related to interoperability, such as the multiple IoT frameworks in the current market, naming conventions, syntactic modeling and translation, and security, are also partially analyzed. On a separate track, service composition in resource-constrained devices is analyzed in terms of latency, using the orchestration provided by the Arrowhead Framework.
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Sonbul, O., M. Byamukama, S. Alzebda, and A. N. Kalashnikov. "Autonomous intrusion detection information system." Thesis, Сумський державний університет, 2012. http://essuir.sumdu.edu.ua/handle/123456789/28777.
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Abstract – Implementation of security arrangements for insecure premises, for example, for temporary exhibitions or infrequent public events, usually results in substantial security personnel costs which can be potentially reduced by employing an easily installable ad hoc intrusion detection information system. In the paper we described the architecture, design and experimental results for a fully prototyped information system that utilizes ultrasonic sensors operating in the pulse echo mode for the perimeter control and ZigBee transceivers for wireless networking. The system consists of inexpensive autonomous sensor nodes with the component cost of less than £25 and a control terminal with a graphical user interface controlled by a touch screen. The nodes are programmed wirelessly to detect intrusion within any user set distance up to the operating distance of the node, and can operate unattended for days.
When you are citing the document, use the following link http://essuir.sumdu.edu.ua/handle/123456789/28777
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Manii, Esfandiar. "AUTONOMOUS TRACKING AND FOLLOWING OF SHARKS WITH AN AUTONOMOUS UNDERWATER VEHICLE." DigitalCommons@CalPoly, 2012. https://digitalcommons.calpoly.edu/theses/729.
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This thesis presents the integration of an acoustic tracking system within an autonomous underwater AUV (AUV) to enable real-time tracking of sharks tagged with artificial acoustic sources. The tracking system consists of two hydrophones and a receiver unit that outputs a measurement of the relative angle to the tagged shark. Since only two hydrophones are used, the sign of the relative angle measurement is unknown. To overcome this ambiguity, a particle filter algorithm was developed to estimate the position of the acoustic source. When combined with an active control system that drives vehicle to obtain different orientations with respect to the acoustic source, real-time autonomous localization, tracking, and following of a tagged shark is shown to be possible. Four types of ocean experiments were used to validate the system including: 1) AUV tracking of a stationary tag, 2) AUV tracking of a tagged kayak, 3) AUV tracking of a tagged AUV, and 4) AUV tracking of a tagged shark. These experiments were analyzed with respect to the localization error, associated error variance, and distance between the AUV and the tag. The final shark tracking experiments took place in SeaPlane Lagoon, Los Angeles, CA, where the AUV was able to autonomously track and follow a tagged Leopard Shark for several hours.
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Tuma, Fischer Sebastian, and Jojje Sundblad. "Autonomous Compaction Roller : Temporarily convert a non autonomous compaction machine to become autonomous during endurance testing." Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-16728.
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How can a non-autonomous compaction roller be converted to become temporarily autonomous while it performs a 500hours endurance test? Particularlysince the compaction rollers in question is not built to be autonomous and shall not be autonomous after the endurance test is completed. The autonomous system shall also be adaptable to all compaction rollers which Dynapac is developing and shall be moved to another machine when the endurance test is completed. In this thesis a concept is engineered of how the whole autonomous system will work and a prototype is fabricated of how to convert the current manual mechanical steering to be performed by a computer. The steering prototype has been tested on a Dynapac CC4200 double drumasphalt compaction roller and worked as intended. To develop this, anextensive risk analysis is also established andwith it a requirements list of what's needed to be fulfilled when performing autonomous testing of a compaction roller. The work has been done using the method “design thinking” which is a collection of multiple methods to create new concepts and ideas. The final concept resulted in a navigation system which uses GNSS for path planning and limitation of the operation area. It also uses radar to detect foreign objects in its path to prevent a collision. Multiple systems arealso proposed to be used for malfunction detection of the roller, which is a major part of a human operator’sjob when testing out new machines. The test track for the machine was undefined and also hadto be engineeredas part of the concept. It resultedin closing the area of operation with a mesh fence to prevent access to the area from unauthorised personnel and geo-fence to prevent the machine from escaping. Access to the area is only granted to authorized personnel and only when the autonomous rolleris shut off. Due to the machines in question isn’t fully developed, theycan’t be trusted enough to have people inside the area of operation asthe autonomous machineis operating.Hur kanen icke-autonom vägvältomvandlas tillatt bli tillfälligt autonom medan den utför ett 500timmar långttidsprov?Särskilt sedanvägvältenifrågainte ärbyggd för att vara autonom och ska intevara autonom efter attlångtidsprovetär slutfört. Det autonoma systemet skaävenkunna anpassas tillalla vältar som Dynapac utvecklar och ska flyttas till en annan maskin närlångtidsprovetär klart. Idenna avhandling konstrueras ett koncept för hur hela det autonoma systemet kommer att fungera ochenprototyp tillverkaspå hur man konverterar den nuvarande manuella mekaniska styrningen till attstyras av en dator. Styrprototypen testades på en Dynapac CC4200 asfaltsvält med dubbla valsar ochfungerade bra. En omfattande riskanalys utvecklades ochlika såen kravlista över vad som behöveruppnås vid autonom testning av en vägvält. Arbetet har gjorts med hjälp av metoden “designthinking”, vilket är en samling av flera metoder för att skapa nya koncept och idéer. Det slutgiltigakonceptet resulterade i ett navigationssystem som använder GNSS för navigering och begränsning avkörområdet. Den använder också radar för att upptäcka främmande föremål i sin vägvilketförhindrarkollision. Flera system föreslås användasförfunktionsfelsdetektering på välten, vilket är en viktig delav en mänskligoperatörs arbetevid provning av nya maskiner. Maskinen kommer att vara i ett slutetområde som är avskilt med ett nätstängsel.Tillträde till området ges endast till behörig personal ochendast när den autonoma välten är avstängd. På grund avmaskinerna ifråga inte är fullt utvecklade,kan de inte litas på tillräckligt för att ha personer inom körområdet medan det autonoma systemet är idrift.
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Brunke, Shelby Scott. "Nonlinear filtering and system identification algorithms for autonomous systems /." Thesis, Connect to this title online; UW restricted, 2001. http://hdl.handle.net/1773/7095.
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Holzmann, Clemens. "Spatial awareness of autonomous embedded systems." Wiesbaden Vieweg + Teubner, 2008. http://d-nb.info/992304865/04.
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Kraft, Justin (Justin A. ). "A flexible design framework for autonomous mowing." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/70803.
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Thesis (S.M. in Engineering and Management)--Massachusetts Institute of Technology, Engineering Systems Division, System Design and Management Program, 2011.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 93-95).
This work outlines the creation of a flexible design framework for autonomous mowing to meet changing customer needs and functionality across a spectrum of applications from residential areas to sport complexes. The thesis has the objective of creating an optimized architecture to meet a range of functionality that delivers value in diverse customer mission segments. Additionally, autonomous mowing is supported by fast moving technology domains that create the need for technology selection strategies that anticipate future trends in critical metrics. Currently an early dominant design has been produced, but increasing competition is actively advancing the current state of the art for autonomous mowing. An analysis to determine where the value lies in the system, much like the evolution of the PC, determines when to shift between modular and integrated designs. As designs become modular and flexible the importance of knowing which areas of the system capture value and lead to revenue is critical for a company's continued success in the domain. Using this framework Pareto frontiers were developed using genetic algorithms that clearly show the sensitivity between manufacturing costs and total life cycle cost to the consumer using 970 generations. A platform architecture analysis provided a 9% increase in a portfolio Net Present Value by determining an optimum commonality and differentiation plan over that of individually optimized customer segment offerings. This analysis also determines if an open source approach to innovation is viable for increased customer satisfaction while supporting increased manufacturer revenues (Hippel, 2005).
by Justin Kraft.
S.M.in Engineering and Management
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Akhtar, Naseem. "Control system development for autonomous soaring." Thesis, Cranfield University, 2010. http://dspace.lib.cranfield.ac.uk/handle/1826/6899.
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Thermal and dynamic soaring are two techniques commonly used by birds to extract
energy from the atmosphere. This enables them to reduce, energy used during flight
and increases their endurance. The thermal soaring technique involves extraction of
energy from thermal updrafts and in dynamic soaring energy is extracted from wind
shear. These techniques are investigated in this thesis using point mass and non-linear
6DoF models of an unmanned powered sailplane.
The key challenges of autonomous thermal soaring are the ability to identify remote
thermal activity using on-board sensors and to position correctly in a thermal. In
dynamic soaring, a real-time fuel saving trajectory generation technique along with a
trajectory following control system is needed.
A hand held IR camera was used to assess the feasibility to observe hot spots associated
with thermals. The thermal positioning capability was demonstrated in a 6DoF model
using a positioning algorithm. The inverse Dynamics Virtual Domain (IDVD) technique
was used to generate real-time trajectories for dynamic soaring applications using
a point mass model of a powered unmanned sailplane and the fuel saving trajectories
were validated using a high fidelity 6DoF model and a classical controller.
An important outcome of the research is the fact that energy saved during dynamic
soaring flight was also realized due to a sinusoidal manoeuvre using reduced thrust.
In this manoeuvre the kinetic energy is converted into potential energy by gaining
altitude and by reducing airspeed. Then initial values of altitude and speed are gained
by loosing the altitude. In this process a horizontal distance is travelled by using
reduced thrust.
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Tang, Robert. "A Semi-autonomous Wheelchair Navigation System." Thesis, University of Canterbury. Mechanical Engineering, 2012. http://hdl.handle.net/10092/6472.
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Many mobility impaired users are unable to operate a powered wheelchair safely, without causing harm to themselves, others, and the environment. Smart wheelchairs that assist or replace user control have been developed to cater for these users, utilising systems and algorithms from autonomous robots. Despite a sustained period of research and development of robotic wheelchairs, there are very few available commercially.
This thesis describes work towards developing a navigation system that is aimed at being retro-fitted to powered wheelchairs. The navigation system developed takes a systems engineering approach, integrating many existing open-source software projects to deliver a system that would otherwise not be possible in the time frame of a master's thesis.
The navigation system introduced in this thesis is aimed at operating in an unstructured indoor environment, and requires no a priori information about the environment. The key components in the system are: obstacle avoidance, map building, localisation, path planning, and autonomously travelling towards a goal. The test electric wheelchair was instrumented with the following: a laptop, a laser scanner, wheel encoders, camera, and a variety of user input methods. The user interfaces that have been implemented and tested include a touch screen friendly graphical user interface, keyboard and joystick.
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Bleck, Olaf 1967. "A precision autonomous parachute delivery system." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/26901.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.Includes bibliographical references (leaf 39).
Based on previous projects within the author's engineering group and his own experience as a sport parachute jumper, a robotic parachute system was designed and flight tests were conducted to evaluate flight performance in deep brakes, for eventual use in autonomous accuracy landing approaches for targets two meters in size or smaller. Numerous design improvements were evaluated and/or implemented, and additional improvements are suggested. Using the implemented system, flight tests gathered GPS data used to evaluate canopy glide ratio changes, stall characteristics, and in-flight rotational oscillations in deep brakes flight, a region of the flight envelope not used in previous work. Results show that the low-porosity canopy used exhibits adequate glide ratio changes for closed loop glide path control, but has poor stability in deep brakes flight. The investigation suggests that canopies with higher porosity fabrics would perform superbly.
by Olaf Bleck.
S.M.
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Lizarraga, Mariano I. "Autonomous landing system for a UAV." Thesis, Monterey California. Naval Postgraduate School, 2004. http://hdl.handle.net/10945/1655.
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Approved for public release, distribution is unlimitedThis thesis is part of an ongoing research conducted at the Naval Postgraduate School to achieve the autonomous shipboard landing of Unmanned Aerial Vehicles (UAV). Two main problems are addressed in this thesis. The first is to establish communication between the UAV's ground station and the Autonomous Landing Flight Control Computer effectively. The second addresses the design and implementation of an autonomous landing controller using classical control techniques. Device drivers for the sensors and the communications protocol were developed in ANSI C. The overall system was implemented in a PC104 computer running a real-time operating system developed by The Mathworks, Inc. Computer and hardware in the loop (HIL) simulation, as well as ground test results show the feasibility of the algorithm proposed here. Flight tests are scheduled to be performed in the near future.
Lieutenant Junior Grade, Mexican Navy
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Pekdur, Ömer Keçeci Emin Faruk. "Autonomous Solid Waste Separation System Design/." [s.l.]: [s.n.], 2006. http://library.iyte.edu.tr/tezlerengelli/master/makinamuh/T000522.pdf.
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Lizarraga, Mariano. "Autonomous landing system for a UAV /." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Mar%5FLizarraga.pdf.
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Thesis (M.S. in Electrical Engineering)--Naval Postgraduate School, March 2004.Thesis advisor(s): Roberto Cristi, Isaac Kaminer. Includes bibliographical references (p. 125). Also available online.
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Hölscher, Karsten. "Autonomous units as a rule based concept for the modeling of autonomous and cooperating process." Berlin Logos, 2008. http://d-nb.info/992076374/04.
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Brancovici, George-Sava. "Architecture and framework for trustworthy autonomous systems /." München : Verl. Dr. Hut, 2009. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=017311064&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.
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Brancovici, George-Sava. "Architecture and framework for trustworthy autonomous systems." München Verl. Dr. Hut, 2008. http://d-nb.info/993259138/04.
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McNeal, William B. "Simulation of the autonomous combat systems robot optical detection system." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1997. http://handle.dtic.mil/100.2/ADA342228.
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Thesis (M.S. in Applied Physics) Naval Postgraduate School, December 1997."December 1997." Thesis advisor(s): Gordon Schacher, Donald Brutzman. Includes bibliographical references (p. 131). Also available online.
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Ding, Xu Chu. "Real-time optimal control of autonomous switched systems." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/31725.
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Thesis (Ph.D)--Electrical and Computer Engineering, Georgia Institute of Technology, 2010.Committee Chair: Egerstedt, Magnus; Committee Co-Chair: Wardi, Yorai; Committee Member: Riley, George; Committee Member: Taylor, David; Committee Member: Tovey, Craig; Committee Member: Yezzi, Anthony. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Gkiala, Fikari Stamatia. "Modeling and Simulation of an Autonomous Hybrid Power System." Thesis, Uppsala universitet, Fasta tillståndets fysik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-267767.
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In this report, the modeling process and operation of an autonomous hybrid power system is studied. It is built based on a hypothetical case study of electrification of a remote village of 100 inhabitants in Kenya. The power demand is estimated and the costs of equipment components are specified after extensive research, so that the techno-economical design of the system can be carried out. The microgrid consists of photovoltaics, wind turbine, batteries, diesel genset, basic loads and water pumping and purification load. The system is modeled and simulated in terms of power management and its operation as well as the performance of the dispatch strategy is assessed. Problems like the management of extra power or tackling the deficit of power in the system are addressed. The model represents reliably the behavior of the microgrid and several improving actions are suggested.
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RAHMAN, SHAHNUR. "Visual Perception in Autonomous Vehicles." Thesis, KTH, Hållbarhet och industriell dynamik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-189346.
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The human factor accounts for nine out of ten out of all traffic accidents, and because more vehicles are being deployed on the roads, the number of accidents will increase. Because of this, various automated functions have been implemented in vehicles in order to minimize the human factor in driving. In recent year, this development has accelerated and vehicles able to perform the complete driving task without any human assistance have begun to emerge from different projects around the world. However, the autonomous vehicle still has many barriers to overcome before safe driving in traffic becomes a reality. One of these barriers is the difficulty to visually perceive the surrounding. This is partly because of the fact that something can cover the camera sensors, but it is also problematic to translate the perceived data, that the sensors are collecting, into something valuable for the passenger. The situation could be improved if wireless communications were available to the autonomous vehicle. Instead of trying to understand the surrounding by the use of camera sensors, the autonomous vehicle could obtain the necessary data via wireless communication, which was the subject of this study. The study showed that wireless communication will be significant for the autonomous vehicle in the future. The conclusion is based on the fact that wireless communication was a solution in other transport systems that have had the similar barrier as for the autonomous vehicle. There are also plans on managing the barrier via wireless communication in pilot projects related to autonomous vehicles.Den mänskliga faktorn står för nio av tio utav alla trafikolyckor, och eftersom att allt fler fordon kommer ut på vägarna så leder det till att olycksantalet ökar. På grund av detta så har olika automatiserade funktioner applicerats i fordonet för att undvika den mänskliga faktorn i körningen. Denna utveckling har accelererat och fordon som ska kunna utföra hela det dynamiska framförandet utan mänsklig assistans har börjat utvecklas i olika projekt runt om i världen. Dock så har det autonoma fordonet många barriärer kvar att övervinna, för säkert framförande, varav en av dessa barriärer är fordonets förmåga att visuellt uppfatta omgivningen. Dels genom att något kan täcka kamerasensorerna men även att kunna omsätta det sensorerna uppfattar till något värdefullt för passageraren. Situationen skulle dock kunna förbättras om trådlös kommunikation gjordes tillgänglig för det autonoma fordonet. Istället för att försöka uppfatta omgivningen via kamerasensorer, skulle det autonoma fordonet kunna få den information som behövs via trådlös kommunikation, vilket är vad denna studie behandlade. Studien visade att trådlös kommunikation kommer att ha en betydelse för det autonoma fordonet i framtiden. Slutsatsen grundar sig på att trådlös kommunikation varit en lösning inom andra transportsystem som haft en liknande barriär som för det autonoma fordonet. Man planerar dessutom på att hantera det autonoma fordonets barriär via trådlös kommunikation i pilotprojekt i dagsläget
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Sjöberg, Mikael, and Jonas Xu. "A.D.D : Autonomous Drink Dispenser." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264511.
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The purpose of this report was to evaluate the feasibility of an autonomous drink dispenser where it can complement the waitstaff in their many duties. The prototype can accurately dispense a wide variety of drinks without the intervention of a human operator. The focus of the project was to pour a wide variety of drinks as accurately as possible. This can be achieved without the need for trained staff through automation. Many different components were required in order to make the prototype as consistent and safe as possible. It was discovered that so many components negatively affected the end result. The final prototype can dispense liquids from six different sources. Numerous different tests were done with the maximum deviation from the expected volume being 7.7%. This was a vast improvement on the standard deviation in alcohol content in drinks, which is 42%. The prototype can dispense up to 116 drinks per hour.Syftet med denna rapport var att utvärdera genomförbarheten av en autonom dryckesautomat där den kunde komplettera servitören i sina många uppgifter. Prototypen kan med hög noggrannhet hälla upp en stor variation av drycker utan behovet av en mänsklig operatör. Projektets fokus var att kunna hälla ett stort antal drycker med så hög precision som möjligt. Genom automatisering kan detta uppnås utan behov av utbildad personal. Många olika slags komponenter krävdes för att göra prototypen så konsekvent och säker som möjligt. Det visade sig att denna variation skapade problem och hade en negativ effekt på det önskade slutresultatet. Den slutliga prototypen kan hälla upp vätskor från sex olika källor. Många tester gjordes med en maximal avvikelse från den förväntade volymen på 7.7%. Detta var en stor förbättring på standardavvikelsen i alkoholhaltiga drycker, vilket är 42%. Prototypen kan hälla upp till 116 drycker per timme.
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Dag, Antymos. "Autonomous Indoor Navigation System for Mobile Robots." Thesis, Linköpings universitet, Programvara och system, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-129419.
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With an increasing need for greater traffic safety, there is an increasing demand for means by which solutions to the traffic safety problem can be studied. The purpose of this thesis is to investigate the feasibility of using an autonomous indoor navigation system as a component in a demonstration system for studying cooperative vehicular scenarios. Our method involves developing and evaluating such a navigation system. Our navigation system uses a pre-existing localization system based on passive RFID, odometry and a particle filter. The localization system is used to estimate the robot pose, which is used to calculate a trajectory to the goal. A control system with a feedback loop is used to control the robot actuators and to drive the robot to the goal. The results of our evaluation tests show that the system generally fulfills the performance requirements stated for the tests. There is however some uncertainty about the consistency of its performance. Results did not indicate that this was caused by the choice of localization techniques. The conclusion is that an autonomous navigation system using the aforementioned localization techniques is plausible for use in a demonstration system. However, we suggest that the system is further tested and evaluated before it is used with applications where accuracy is prioritized.
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Perepetchai, Valeri. "Global positioning system receiver autonomous integrity monitoring." Thesis, McGill University, 2000. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=29400.
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This thesis is concerned with a theoretical development of Receiver Autonomous Integrity Monitoring (RAIM) algorithms. Integrity characterizes a navigation system ability to provide timely warning to users when the Global Positioning System (GPS) should not be used for navigation. RAIM algorithms detect, identify GPS anomalies and satellite failures and provide the Horizontal Protection Level (HPL). HPL means the smallest detectable horizontal position error with given probabilities of a false alert and missed detection. The developed algorithms use carrier phase measurements, which compared with code measurements can provide precise positioning and an extremely high level of GPS integrity due to setting a very tight fault detection threshold and HPL. First the linear model based on accumulating a few epochs of single difference carrier phase measurements is presented. Then the estimated integer ambiguities available from the positioning solution are used to develop the other single difference linear model. The typical fault detection and identification methods, used for code measurements, are applied to these linear models, leading to various single difference algorithms. The double difference method is also derived. The maximum position separation technique is used to derive the position space based method, implemented through a set of Kalman filters. Finally, computer simulations are performed to compare the developed various algorithms.
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Svensson, Fredrik. "Nonparametric System Identification of an Autonomous Helicopter." Thesis, KTH, Reglerteknik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-143181.
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The unmanned helicopter Skeldar relies on model based control to per form its tasks. System identification is an integral component in the process of deriving models of helicopter dynamics. This thesis aims to investigate how nonparametric methods of system identification can support the current modelling and system identification practices at Saab. Nonparametric system identification does not require a pre-defined model structure. Models estimated with this methodology may be used to validate parametric models, which are necessary for the implemen- tation of the model based control system. This thesis examines several nonparametric methods of system identification in both the frequency and time domains. The theory of these methods is presented and their performance is analyzed on data from flight tests as well as from simu- lated systems. Analysis of the results shows that models are highly dependent on the choice of input signal spectrum. To best take advantage of nonpara- metric system identification in this application, experiments should be designed with special regard to the system properties sought to be mod- elled. Nonparametric system identification can then be used to provide a good understanding of the system properties in the excited frequency region. In the specific case of helicopter dynamics, of which the principles are very well understood at Saab, it can be concluded that the exist- ing system identification process is sufficient to provide well performing models. However, a nonparametric model could be estimated and used as a tool for comparison and validation in the process of identifying a paramteric model.
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Sammon, Russell (Russell Pratt) 1976. "A mapping system for an autonomous helicopter." Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/55065.
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Thesis (M.Eng. and S.B.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.Includes bibliographical references (p. 127-128).
Acknowledgments: This thesis was prepared at The Charles Stark Draper Laboratory, Inc., under Internal Research & Development No. 18598. Publication of this thesis does not constitute approval by Draper or the sponsoring agency of the findings or conclusions contained herein. It is published for the exchange and stimulation of ideas. The work that is described in this document was by no means done all by myself. There are many people that I would like to thank for their support of my education here at MIT and Draper Laboratory during the past few years. I would like to thank the members of the helicopter team, who have greatly influenced my development as an engineer: Paul Debitetto, Christian Trott, Bob Butler, Long Phan, Mike Piedmonte, and Anthony Lorusso. Special thanks goes to Paul Debitetto for his thoughtful critiquing and leadership. Long Phan was my close partner in the design of the scanning laser rangefinder, and this thesis would not have been possible without his inspiration and expertise. During my work on the mapping system, a number of Draper staff took time out of their own busy schedules to help me. I am especially indebted to Chris Sanders, Chris Smith, John Plump. Linda Leonard, John Danis, and Dave Hauger for their patience and helpfulness over the last year. I would also like to thank my MIT advisor, Seth Teller, for helping me to graduate this year. Other Draper fellows and students in the autonomous vehicle lab have also provided me with both technical expertise and encouragement. I would like to thank Mohan Gurunathan, Jonah Peskin, and Bill Kaliardos for their advice and moral support. Finally, I would like to thank my entire family for years of encouragement and support. It is to my mother, father, and sister that I dedicate this thesis. Rusty Sammon May, 1999.
by Russell Sammon.
M.Eng.and S.B.
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Avenant, Gerrit Christiaan. "Autonomous flight control system for an airship." Thesis, Stellenbosch : University of Stellenbosch, 2010. http://hdl.handle.net/10019.1/4090.
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Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2010.ENGLISH ABSTRACT: In recent years, the use of airships has become popular for observation purposes since they provide a cost effective alternative to other aircraft. For this project a lateral and longitudinal flight control system are required for waypoint navigation flight of an 8m long, non-rigid airship. The airship’s actuators include a rudder, elevator and a propulsion system which can be vectored longitudinally. Two airship models are evaluated for this project. A chosen model is linearised and a modal analysis is done. The modal analysis is compared to a previous modal study done on the YEZ-2A airship and is found to compare well. Each airship mode is discussed and the linear behaviour is compared to the behaviour of the non-linear model. A fuzzy logic controller design approach was undertaken for the design of speed, heading and height controllers. These non-linear controllers were designed for the non-linear model, due to the following reasons: Fuzzy logic controllers show tolerance to model inaccuracies. Complexity of design is simple. Controllers can be adjusted intuitively. Fuzzy logic controllers can be combined with conventional control techniques. Simulation results showed adequate lateral and longitudinal performance, even when subjected to light wind conditions and disturbances. The inertial measuring unit implemented in a previous project is used and additional hardware is designed and implemented for the control of the airship’s actuators. Several improvements are made to the groundstation software to allow for activation of different controllers as well as for setting up the desired flight plan. The controller performance is tested through flight tests and shows adequate performance as well as controller potential. Although further work is still required for improving the controllers’ performance, this thesis acts as a platform for future research.
AFRIKAANSE OPSOMMING: In die afgelope paar jaar het die gebruik van die lugskepe gewild geword vir waarnemings doeleindes aangesien dit ’n koste effektiewe alternatief vir ander lugvaartuie bied. In hierdie projek word ’n laterale en longitudinale beheerstelsel benodig vir merker navigasie vlugte met ’n 8m lang, nierigiede lugskip. Die lugskip se aktueerders sluit in ’n rigtingroer, hoogteroer asook ’n aandrywing stelsel wat oorlangs gestuur kan word. Vir hierdie projek is twee lugskip modelle geïmplementeer. Die gekose model is gelineariseer en ’n modale analise is gedoen. Die modale analise is met ’n vorige modale studie vir die YEZ-2A lugskip vergelyk en wys soortegelyke linieêre gedrag. Die lugskip modusse is bespreek en die linieêre gedrag word met die gedrag van die nie-linieêre model vergelyk. Daar is op ’n fuzzy logiese beheerder ontwerp besluit vir die ontwerp van spoed, rigting en hoogte beheerders. Hierdie nie-linieêre beheerders is ontwerp vir die nie-linieêre model a.g.v. die volgende redes: Fuzzy logiese beheerders toon toleransie vir modellering of meetfoute. Kompleksiteit van die ontwerp is eenvoudig. Beheerders kan intuïtief aangepas word. Fuzzy logiese beheerders kan met konvensionele beheertegnieke gekombineer word. Simulasie resultate toon voldoende werkverrigtinge, selfs in die teenwoordigheid van ligte wind sowel as ander versteurings. Die inersiële metings eenheid, wat geïmplementeer is in ’n vorige projek, is gebruik en addisionele hardeware vir die beheer van die lugskip is aktueerders is ontwerp en geïmplementeer. Talle verbeterings is aangebring aan die grondstasie sagteware vir die aktiveer van die beheerders sowel as die uitleg van die gekose vlugplan. Die beheerders se werksverrigtinge is getoets gedurende vlugtoetse en toon voldoende beheer vermoë sowel as beheerder potensiaal. Alhoewel verdere werk steeds nodig is vir die verbetering van die beheerders, dien hierdie tesis as ’n platform vir toekomstige navorsing.
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Sindle, Timothy Grant. "An autonomous, omnidirectional, digital, borehole imaging system." Thesis, Stellenbosch : Stellenbosch University, 2005. http://hdl.handle.net/10019.1/50260.
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Thesis (MScEng)--University of Stellenbosch, 2005.ENGLISH ABSTRACT: This thesis documents the research, design, implementation and successful testing of a prototype camera probe to survey the inside of hard rock boreholes. Rock core images are intended to aid mine geologists in recording the borehole rock layers. The system consists of a wide-angle fisheye lens mounted onto a CMOS digital image sensor. The image data is read in and processed by an FPGA, then stored on a removable sn flash memory card. All of the aforementioned components are mounted inside a watertight Perspex tube. Application specific PC software is used to process the data to form strip images of the borehole wall. Using mathematical correlation, these images are stitched together into a virtual core that is a flattened representation of the rock inside the borehole. The probe contains its own power and light source which enables it to be deployed easily with no external wires needed for operation. The storage capacity, image quality, and lighting design can be improved in future design revisions.
AFRIKAANSE OPSOMMING: Die inhoud van hierdie tesis behels die navorsmg, ontwerp, implementering, en suksesvolle toetsing van 'n prototipe kameraprobe wat dit moontlik maak om die binnewand van boorgate in harde rots te besigtig. Beelde van die rotskern vergemaklik die taak van myngeoloë wat die rotslae, waardeur die boorgat strek, moet opteken. Die stelsel behels 'n wyehoek bollens wat op 'n CMOS digitale sensor gemonteer is. Die data gewerf vir die vorming van die beeld word deur 'n FPGA ingelees en verwerk, waarna dit op 'n verwyderbare SD flits geheuekaart gestoor word. Die bogenoemde komponente word alles binne 'n waterdigte Perspexbuis monteer. Gebruikerspesifieke sagteware vir persoonlik rekenaars word gebruik om die data te verwerk en sodoende strookbeelde van die binnewand van die boorgat te vorm. Met gebruik van wiskundige korrelasie word hierdie beelde aan mekaar gelas om 'n virtuele kern te vorm, wat 'n voorstelling is van die rots binne die boorgat. Die probe bevat self krag en ligbronne, wat toelaat dat dit maklik bruikbaar is sonder enige eksterne bedrading. Toekomstige hersienings van die ontwerp sal verbeterde data geheue, beeldgehalte en beligting kan bewerkstellig.
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Van, der Kolf Gideon. "Flight control system for an autonomous parafoil." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/85757.
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Thesis (MScEng)-- Stellenbosch University, 2013.ENGLISH ABSTRACT: This thesis presents the development of a flight control system (FCS) for an unmanned, unpowered parafoil and the integration with an existing parafoil system in collaboration with a team at the University of Cape Town (UCT). The main goal of the FCS is to autonomously guide the parafoil from an arbitrary deployment position to a desired landing target. A nonlinear 8 degrees of freedom (8-DOF) parafoil model by C. Redelinghuys is incorporated into a MATLAB Simulink simulation environment. The non-linear model is numerically linearised and modal decomposition techniques are used to analyse the natural modes of motion. All modes are determined to be stable but a poorly damped lateral payload relative twist mode is present which causes large payload yaw oscillations. The FCS is divided into stability augmentation, control and guidance subcomponents. Stability augmentation is proposed in the form of a yaw rate damper which provides artificial damping for the oscillatory payload twist mode. For control, a yaw rate controller is designed with the aim of a fast response while not exciting the payload twist oscillation. Subsequently, an existing guidance method is implemented for path following. Autonomous path planning and mission control logic is created, including an energy management (EM) method to eliminate excess height and a terminal guidance (TG) phase. The TG phase is the final turn before landing and is the last chance to influence landing accuracy. A TG algorithm is implemented which generates an optimal final turn and can be replanned en route to compensate for unknown wind and other disturbances. The FCS is implemented on existing avionics, integrated with the parafoil system and verified with hardware in the loop (HIL) simulations. Flight tests are presented but are limited to remote control (RC) tests that verify the integration of the avionics and the parafoil system and test preliminary FCS components.
AFRIKAANSE OPSOMMING: Hierdie tesis dra die ontwikkeling voor van ‘n vlug-beheerstelsel (VBS) vir ’n onbemande, onaangedrewe valskerm-sweeftuig (parafoil), asook die integrasie daarvan met ’n bestaande stelsel. Die projek is in samewerking met ’n span van die Universiteit van Kaapstad (UCT) uitgevoer. Die VBS se hoof doel is om die sweeftuig outonoom vanaf ’n arbitrêre beginpunt na ’n gewensde landingsteiken te lei. ’n Nie-lineêre 8 grade van vryheid sweeftuig model deur C. Redelinghuys is in die MATLAB Simulink omgewing geïnkorporeer. Die nie-lineêre model is numeries gelineariseer om ’n lineêre model te verkry, waarna die natuurlike gedrag van die tuig geanaliseer is. ’n Swak gedempte laterale draai ossillasie van die loonvrag is geïdentifiseer. Die VBS is opgedeel in stabiliteitstoevoeging, beheer en leiding. ’n Giertempo-demper (yaw rate damper) is as stabiliteitstoevoeging om die loonvrag ossillasie kunsmatig te demp, voorgestel. ’n Giertempo-beheerder is ontwerp met die klem op ’n vinnige reaksie terwyl die opwekking van die loonvrag ossillasie terselfdetyd verhoed word. Daarna is ’n bestaande metode vir trajekvolging geïmplementeer. Outonome padbeplanning en oorhoofse vlugplan logika is ontwikkel, insluitend ’n energie-bestuur (EB) metode, om van oortollige hoogte ontslae te raak, asook ’n terminale leiding (TL) metode. Die TL fase verwys na die finale draai voor landing en is die laaste kans om die landingsakkuraatheid te beïnvloed. ’n Bestaande TL algoritme is geïmplementeer wat ’n optimale trajek genereer en in staat is om vir wind en ander versteurings te kompenseer deur die trajek deurgaans te herbeplan. Die VBS is op bestaande avionika geïmplementeer, met die sweeftuigstelsel geïntegreer en met behulp van hardeware in die lus (HIL) simulasies geverifieer. Vlugtoetse is voorgedra, maar is egter beperk tot radio beheer vlugte wat die korrekte integrasie van die avionika en die voertuig toets, asook ’n beperkte aantal voormalige VBS toetse.
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Alves, Daniel F. Jr, and Edward L. Keith. "A GPS-Based Autonomous Onboard Destruct System." International Foundation for Telemetering, 1995. http://hdl.handle.net/10150/611611.
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International Telemetering Conference Proceedings / October 30-November 02, 1995 / Riviera Hotel, Las Vegas, NevadaThis paper examines the issues involved in replacing the current Range safety infrastructure with an autonomous range safety system based on GPS (Global Positioning Satellite) integrated navigation system solutions. Range safety is required in the first place because current launch vehicle navigation systems cannot meet a level of trust needed to determine if the mission is really under control and on course. Existing launch vehicle navigation is generally based on attitude and acceleration sensing instrumentation that are subject to drift, initialization errors and failures. Thus, a launch vehicle can easily be under the control of a seemingly operating navigation system, yet be steering the launch vehicle along an incorrect and dangerous flight path. Inertial-based navigation systems are good, but they cannot be trusted. The function of Range safety is to assure that untrustworthy navigation is backed up with a trusted system that has positive knowledge of the launch vehicle location, and the intelligence to decide when and where a launch vehicle must be destroyed. Combining inertial navigation, GPS derived position information and knowledge-based computer control has the potential to provide trusted and autonomous Range safety functions. The issues of autonomous Range safety are addressed in this paper.
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Biondani, Luca. "Control system for agricultural autonomous electric vehicle." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021.
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The subject of this thesis is the realization of the control system of an autonomous electric vehicle for agricultural applications. The robot will be used for field experimentation of innovative agricultural techniques.
The software is developed in LabVIEW programming language, and is employed on an embedded system manufactured by National Instruments that is used as Platform Control Unit. MATLAB and Simulink software are used for simulations and processing of the collected experimental data.
As a secondary activity, the electrical circuit was realized including both high-power and signal control wiring harness.
The result of the thesis is a working prototype that will be used in a first section of the experimental plant, located at the DISTAL Experimental Center in Cadriano.
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Adolfsson, Alexander, and Daniel Arrhenius. "Overseeing Intersection System for Autonomous Vehicle Guidance." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-254219.
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Intersections represents one of the most common accident sites in traffic today. The biggest cause of accidents is obstructed view and subpar communication between vehicles. Since autonomous vehicles rely on sensors that require a direct view intersections are some of the most complex situations. Where the potential for inter vehicular communication exists between modern vehicles, it is absent in the older generation. An overseeing intersection system can fill this function during the transition period to fully autonomous traffic. This project aimed to implement an intersection system to assist autonomous vehicles through a crossroad. The assist system’s objective was to collect and transmit data from cars close to the junction to the autonomous vehicles nearby. The concept was tested in simulations by having models traverse a crossroad to evaluate how it utilised the external information. No persistent conclusion could be made due to insufficient simulation environment and vehicle model control.
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Hickle, Mark, Alexander Wilson, Joshua Kientzy, and Matthew Myers. "Design of a Semi-Autonomous Quadrotor Aircraft." International Foundation for Telemetering, 2012. http://hdl.handle.net/10150/581745.
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ITC/USA 2012 Conference Proceedings / The Forty-Eighth Annual International Telemetering Conference and Technical Exhibition / October 22-25, 2012 / Town and Country Resort & Convention Center, San Diego, CaliforniaThis paper describes the design and construction of a semi-autonomous quadrotor aircraft approximately 1 meter in diameter. Because of the mechanical simplicity of the aircraft, the design challenges primarily centered on the electrical and computer engineering (ECE) tasks, and was used as a capstone design experience in an undergraduate ECE program. An onboard microcontroller based system uses a network of digital sensors and differential thrust for autonomous attitude control. A wireless telemetry and command link allows a user to monitor the vehicle, control its direction of flight, and for flight safety control.
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Chen, Qi. "Studies in autonomous ground vehicle control systems structure and algorithms /." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1165959992.
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Kaba, Mohamed. "Controlled Autonomous Vehicle Drift Maneuvering." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1557195355216909.
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Kaddouh, Bilal. "A resource allocation system for heterogeneous autonomous vehicles." Thesis, University of Manchester, 2017. https://www.research.manchester.ac.uk/portal/en/theses/a-resource-allocation-system-for-heterogeneous-autonomous-vehicles(75d829dc-e51e-4a73-8c8b-e7ab2dee4af0).html.
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This research aims to understand the different requirements of civilian multiple autonomous vehicle systems in order to propose an adequate solution for the resource allocation problem. A new classification of unmanned system applications is presented with focus on unmanned aerial vehicles (UAVs). The main resource allocation systems requirements in each category are presented and discussed. A novel dynamic resource allocation model is introduced for efficient sharing of services provided by ad hoc assemblies of heterogeneous autonomous vehicles. A key contribution is the provision of capability to dynamically select sensors and platforms within constraints imposed by time dependencies, refuelling, and transportation services. The resource allocation problem is modelled as a connected network of nodes and formulated as an Integer Linear Program (ILP). Solution fitness is prioritized over computation time. Simulation results of an illustrative scenario are used to demonstrate the ability of the model to plan for sensor selection, refuelling, collaboration and cooperation between heterogeneous resources. Prioritization of operational cost leads to missions that use cheaper resources but take longer to complete. Prioritization of completion time leads to shorter missions at the expense of increased overall resource cost. Missions can be successfully re-planned through dynamic reallocation of new requests during a mission. Monte Carlo studies on systems of increasing complexity show that good solutions can be obtained using low time resolutions, with small time windows at a relatively low computational cost. In comparison with other approaches, the developed ILP model provides provably optimal solutions at the expense of longer computation time. Flight test procedures were developed for performing low cost experiments on a small scale, using commercial off the shelf equipment, with ability to infer conclusions on the large-scale implementation. Flight test experiments were developed and performed that assessed the performance of the developed ILP model and successfully demonstrated its main capabilities.
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Moon, Jongki. "Mission-based guidance system design for autonomous UAVs." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/31797.
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Thesis (Ph.D)--Aerospace Engineering, Georgia Institute of Technology, 2010.Committee Chair: Prasad, JVR; Committee Member: Costello, Mark; Committee Member: Johnson, Eric; Committee Member: Schrage, Daniel; Committee Member: Vela, Patricio. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Cederholm, Lars, and Niklas Pettersson. "Stereo Vision System for an Autonomous Robotic Platform." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-12610.
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Ata, Ali. "Wireless IR Image Transfer System for Autonomous Vehicle." Thesis, Monterey, California. Naval Postgraduate School, 2003. http://hdl.handle.net/10945/45365.
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Approved for public release; distribution is unlimitedA wireless IR image transfer mechanism was developed and tested for eventual employment on the NPS autonomous ground vehicle. Tests were conducted inside a building as a rough simulation of an urban environment. Two common ISM frequency bands were explored. Experiments results proved that the 915 MHz band was best suited for this effort. Data revealed that minimal signal loss occurs at Line of Site out to several hundred meters. Signal loss through obstructions: Cement, wood, and metal proved significant, on the order of 10 –15 dB per obstruction. But the image transfer was successful through multiple obstructions at range of 400 meters. Further work includes integration into the autonomous vehicle and testing of the performance.
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Sadafi-Chaghooshi, Farshad. "Is international commercial arbitration an autonomous legal system?" Thesis, McGill University, 2014. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=121482.
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In recent decades, the nature of international commercial arbitration has been transformed from a method of dispute resolution to an autonomous legal system. Globalization and a shift of power from states to private actors have resulted in the emergence of an international arbitration community that eventually produced this kind of transition. This movement has generated a dynamic discussion over the legality and systematicity of the arbitral legal system. By applying various legal theories, scholars of different legal systems have analyzed the legality of the arbitral legal system. A few scholars have advocated the concept of this system based on a transnational legal positivism theory. In contrast, others, because of a lack of essential qualities of law and structural deficiencies in international arbitration, refuse to recognize it as an autonomous legal system. The main objective of the present work is to study the major legal theories about the legality and systematicity of international commercial arbitration, and then to take an overview of the adverse and advantageous consequences of applying the concept of the arbitral legal system.Au cours des dernières décennies, l'arbitrage commercial international a subi de grandes transformations : longtemps utilisé comme simple méthode de résolution des différends internationaux, il est en voie de devenir un système de droit autonome. Avec la globalisation des échanges et des activités humaines et la décentralisation du pouvoir des États vers des acteurs privés, une nouvelle catégorie d'arbitres internationaux a fait son apparition, de nouveaux arbitres qui deviennent à leur tour des agents de changement. La pluralité de leurs opinions a poussé ces nouveaux acteurs à se questionner sur la viabilité à long terme de la mise en place d'un nouvel ordre juridique arbitral. Diverses théories juridiques mises de l'avant par des experts issus de différents domaines du droit ont permis d'en étudier la légalité et la systématicité. Ce nouvel ordre juridique a ses défenseurs et ses détracteurs. Certains le défendent en invoquant la théorie positiviste du droit basée sur les règles de droit transnationales. D'autres refusent de le considérer comme un système autonome parce certaines règles de droit essentielles n'y sont pas définies et qu'il existe des lacunes structurelles flagrantes en arbitrage international. Ce sont là quelques-unes des grandes questions qui seront débattues dans le présent ouvrage. L'auteur y fera d'abord l'analyse des principaux courants théoriques traitant de la légitimité et de la systématicité de l'arbitrage commercial international et de la mise en place d'un régime juridique dans ce domaine, pour se concentrer ensuite sur les avantages et les désavantages que sa reconnaissance en tant que système de droit autonome pourrait représenter.
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Tan, Chiew Seon. "A collision avoidance system for autonomous underwater vehicles." Thesis, University of Plymouth, 2006. http://hdl.handle.net/10026.1/2258.
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The work in this thesis is concerned with the development of a novel and practical collision avoidance system for autonomous underwater vehicles (AUVs). Synergistically, advanced stochastic motion planning methods, dynamics quantisation approaches, multivariable tracking controller designs, sonar data processing and workspace representation, are combined to enhance significantly the survivability of modern AUVs. The recent proliferation of autonomous AUV deployments for various missions such as seafloor surveying, scientific data gathering and mine hunting has demanded a substantial increase in vehicle autonomy. One matching requirement of such missions is to allow all the AUV to navigate safely in a dynamic and unstructured environment. Therefore, it is vital that a robust and effective collision avoidance system should be forthcoming in order to preserve the structural integrity of the vehicle whilst simultaneously increasing its autonomy. This thesis not only provides a holistic framework but also an arsenal of computational techniques in the design of a collision avoidance system for AUVs. The design of an obstacle avoidance system is first addressed. The core paradigm is the application of the Rapidly-exploring Random Tree (RRT) algorithm and the newly developed version for use as a motion planning tool. Later, this technique is merged with the Manoeuvre Automaton (MA) representation to address the inherent disadvantages of the RRT. A novel multi-node version which can also address time varying final state is suggested. Clearly, the reference trajectory generated by the aforementioned embedded planner must be tracked. Hence, the feasibility of employing the linear quadratic regulator (LQG) and the nonlinear kinematic based state-dependent Ricatti equation (SDRE) controller as trajectory trackers are explored. The obstacle detection module, which comprises of sonar processing and workspace representation submodules, is developed and tested on actual sonar data acquired in a sea-trial via a prototype forward looking sonar (AT500). The sonar processing techniques applied are fundamentally derived from the image processing perspective. Likewise, a novel occupancy grid using nonlinear function is proposed for the workspace representation of the AUV. Results are presented that demonstrate the ability of an AUV to navigate a complex environment. To the author's knowledge, it is the first time the above newly developed methodologies have been applied to an A UV collision avoidance system, and, therefore, it is considered that the work constitutes a contribution of knowledge in this area of work.
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Ghanea-Hercock, Robert Alan. "An adaptive control system for autonomous mobile robots." Thesis, University of Salford, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.244867.
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Pan, Lilan. "Autonomous rock science analysis system for planetary exploration." Thesis, Aberystwyth University, 2015. http://hdl.handle.net/2160/c0987737-548b-4365-8679-8c0bc889c88e.
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A major mission driver for space exploration is to minimise groundbased human intervention and hence associated operations costs, thereby maximising science data return. Future robotic exploration such as the ESA ExoMars mission will require rovers to be equipped with greater autonomy. In line with such a requirement, a new autonomous system named Autonomous Rock Science Analysis System (ARSAS) is proposed in this thesis for the purpose of identifying and accessing scienti c rocks during exploration. ARSAS consists of three components: rock detection, rock science value evaluation and related executive agent. Three approaches are presented in the rock detection component. A number of image processing and machine learning techniques have been employed, including multispectral sampling, fuzzy-rough feature selection, classi cation, clustering, thresholding and saliency methods. The rock science evaluation component is primed by a human planetary geology expert. Some visual features are selected as the indicators of some geological attributes and then a fuzzy expert system is used to convert the rock attributes to corresponding science value. In contrast with previous works, the proposed science evaluation mechanism is more autonomous and geology-oriented. The executive agent mainly consists of a pair of cameras and a robotic arm, together with a series of algorithms for coordinate transformation. It serves as a platform to support the previous two components. Experiments have been conducted on this platform to demonstrate the usefulness, stability and repeatability of the proposed system. The details of design, implementation and experimentation of all components are elaborated in the thesis.
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Elhassan, Amro. "Autonomous driving system for reversing an articulated vehicle." Thesis, KTH, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-175373.
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Articulated vehicles are widely used in the economically vital cargo industry as they provide a greater maneuverability than their rigid counterparts. Hence, autonomous driving systems for articulated vehicles have become the subject of intense research in the robotic community. This thesis analyzes the reverse motion of an articulated vehicle, namely a tractor-trailer with one on-axle hitched semitrailer, and develops a full autonomous driving system that enables reverse parking in the presence of static obstacles. The motion controller used in the autonomous driving system is based on a two-level feedback control system, with a path stabilization controller in the first level and a hitch angle controller in the second level. The path planner used is a modified RRT planner where the Dubins path has been incorporated in order to enable the planning towards a goal pose rather than merely a goal region. The modifications made have resulted in several improvements, such as more accurate planning and higher computational efficiency. Using a 1:32 scale remote controlled tractor-trailer, and a Qualisys motion capture system for pose estimation, the autonomous driving system was successfully implemented and validated.
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Bananga, L. A. "Information technology of autonomous drone control system design." Master's thesis, Sumy State University, 2021. https://essuir.sumdu.edu.ua/handle/123456789/86926.
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Ram, Prakash Rohith Raj. "FPGA Based Lane Tracking system for Autonomous Vehicles." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-273269.
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The application of Image Processing to Autonomous driving has drawn significant attention in recently. However, the demanding nature of the image processing algorithms conveys a considerable burden to any conventional realtime implementation. On the other hand, the emergence of FPGAs has brought numerous facilities toward fast prototyping and implementation of ASICs so that an image processing algorithm can be designed, tested and synthesized in a relatively short period in comparison to traditional approaches. This thesis investigates the best combination of current algorithms to reach an optimum solution to the problem of lane detection and tracking, while aiming to fit the design to a minimal system. The proposed structure realizes three algorithms, namely Edge Detector, Hough Transform, and Kalman filter. For each module, the theoretical background is investigated and a detailed description of the realization is given followed by an analysis of both achievements and shortages of the design. It is concluded by describing the advantages of implementing this architecture and the use of these kinds of systems.Tillämpningen av bildbehandling inom autonoma fordon har fått stor uppmärksamhet den senaste tiden. Emellertid förmedlar den krävande karaktären hos bildbehandlingsalgoritmerna en stor belastning på vilken konventionell realtidsimplementering som helst. Å andra sidan har framväxten av FPGAer medfört många möjligheter till snabb prototypering och implementering av ASICar så att en bildbehandlingsalgoritm kan utformas, testas och syntetiseras på relativt kort tid jämfört med traditionella tillvägagångssätt. Denna avhandling undersöker den bästa kombinationen av nuvarande algoritmer för att uppnå en optimal lösning på problemet med spårning och fildetektering, med målet att krympa designen till ett minimalt system. Den föreslagna strukturen realiserar tre algoritmer, nämligen Edge Detector, Hough Transform och Kalman filter. För varje modul undersöks den teoretiska bakgrunden och en detaljerad beskrivning av realiseringen ges följd av en analys av både fördelar och brister i konstruktionen. Avhandlingen avslutas med en beskrivning av fördelarna med att implementera lösningen på det sätt den görs och hur dessa system kan användas.
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Tweedy, Phillip. "Analysis of Hybrid Electric Autonomous Tactical Support System." Thesis, Virginia Tech, 2011. http://hdl.handle.net/10919/76877.
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The modern day expeditionary warfighter faces extraordinary challenges in the battle field and being a beast of burden should not be one of them. Currently the dismounted warfighter is impeded with carrying over 100lbs of tactical gear and supplies for multiday missions in remote territory. Expeditionary forces are also facing an energy and logistical crisis getting water, fuel, and batteries to the tip of the spear. Finding ways to enable self-sufficiency and reducing resupply tethers for small unit operations is a high priority for the armed forces. The Hybrid Electric Autonomous Tactical Support System directly and efficiently tackles both problems head on by synergizing efforts to lighten the load and self sustaining base power by combining the capabilities of the Ground Unmanned Support Surrogate (GUSS) and the Experimental Forward Operating Base projects. Hybridization of the drivetrain of the GUSS vehicle will provide the reliable power for onboard autonomous systems and also enable silent operation modes. The hybrid onboard generator can efficiently provide generous amounts of exportable DC and AC power on demand and is an ideally sized backup/primary power system for small unit bases and forward command posts. The vehicle's onboard energy storage and generator system can also be linked with renewable energy sources to demonstrate the tactical smart mini grid concept. This thesis develops the power requirements for an autonomous system, GUSS mission derived hybrid electric drivetrain specifications, and Marine Corps small echelon bases for the development of the multifunction Hybrid Electric Autonomous Tactical Support System.Master of Science
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Morimoto, Eiji. "Vision Based Navigation System for Autonomous Transportation Vehicle." Kyoto University, 2003. http://hdl.handle.net/2433/148981.
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Kyoto University (京都大学)0048
新制・課程博士
博士(農学)
甲第10255号
農博第1327号
新制||農||866(附属図書館)
学位論文||H15||N3776(農学部図書室)
UT51-2003-H676
京都大学大学院農学研究科地域環境科学専攻
(主査)教授 梅田 幹雄, 教授 笈田 昭, 教授 池田 善郎
学位規則第4条第1項該当
49
Ata, Ali. "Wireless IR image transfer system for autonomous vehicles." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Dec%5FAta.pdf.
Full textAbstract:
Thesis (M.S. in Applied Physics)--Naval Postgraduate School, December 2003.Thesis advisor(s): Gamani Karunasiri, Richard M. Harkins. Includes bibliographical references (p. 31). Also available online.
50
Kurita, Hiroki. "AUTONOMOUS UNLOADING SYSTEM FOR HEAD-FEEDING COMBINE ROBOT." Kyoto University, 2013. http://hdl.handle.net/2433/180370.
Full textAbstract:
Kyoto University (京都大学)0048
新制・課程博士
博士(農学)
甲第17832号
農博第2017号
新制||農||1016(附属図書館)
学位論文||H25||N4789(農学部図書室)
30647
京都大学大学院農学研究科地域環境科学専攻
(主査)教授 飯田 訓久, 教授 近藤 直, 教授 清水 浩
学位規則第4条第1項該当