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Rodrigues, Anna Carolina Natale. "Drones e drone art : poder militar, ética e resistência." Universidade Federal de Mato Grosso, 2015. http://ri.ufmt.br/handle/1/87.
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Aeronaves Remotamente Pilotadas, mais conhecidas como Drones nos textos da imprensa, são aeronaves que funcionam como dispositivos de vigilância e defesa, utilizados pelos Estados Unidos desde a Guerra do Vietnã. Por muito tempo esta tecnologia esteve nas mãos dos israelenses, mas, nos últimos anos, os Estados Unidos tornaram-se o maior produtor desse tipo de aeronave. A utilização desta tecnologia começou a se tornar conhecida no último governo Bush após os ataques de 11 de setembro com a chamada ‘Guerra ao Terror’. Mais recentemente, o governo Obama intensificou o seu uso, com o aumento de investimentos militares, fabricação e circulação desses dispositivos. Por mais que o uso civil desta tecnologia esteja aumentando, o foco da pesquisa ainda em andamento é a utilização dela no contexto militar, principalmente estadunidense. Há quase dois mil conflitos armados ao redor do mundo desde o novo milênio e o número cresce a cada dia. A violência legítima, a criminalidade e o terrorismo tornam-se indistinguíveis um do outro. Em decorrência disso, os termos de validação tendem a entrar em colapso. Os chamados drones podem ser operados a milhares de quilômetros de distância e costumam ser utilizados sem a autorização do espaço aéreo dos governos invadidos. Vive-se em um momento de conflitos difusos de pequenos inimigos em todo lugar e a utilização das Aeronaves Remotamente Pilotadas confirma a ideia da presença de um inimigo constante, e quando a guerra está na base da política, o inimigo tem a função constitutiva de legitimar a vigilância e os ataques. Se o inimigo não é mais concreto, compreensível e localizável sua aura é hostil, facilitando a legitimação daquilo que é na realidade insustentável.
Remotely Piloted Aircrafts also known through the press as Drones, are surveillance and defense devices used by The United States of America since the Vietnam war. For a long time, this technology was in the hands of the Israeli armed forces, but in the last few years, The United States became the largest producer of this aircraft. The use of Drones became known in the last Bush administration, after the attacks of September 11, with the so-called "War on Terror". Moreover, more recently in the Obama administration with the increasing manufacture of such devices. Even though the use of this technology among civilians are increasing, the focus of this ongoing research is its use in military context, mostly American. According to Hardt and Negri (2012), nowadays there are almost two thousand armed conflicts around the world since the new millennium. These numbers keep growing, therefore, the legitimate violence, crime and terrorism became indistinguishable from one another, the terms of validation tend to collapse. The remotely piloted aircrafts can be operated thousands of miles away and often without the airspace permission of the invaded governments. We are in a time of small and intern conflicts with small enemies everywhere. Moreover, using this aircraft confirms the idea of this constant enemy, and when war is at the base of politics, the enemy has the primary function to legitimate surveillance and attacks. If the enemy is no longer concrete, understandable and traceable, then its aura is hostile, facilitating the legitimacy of that is in reality unsustainable.
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Sedlmajer, Kamil. "Uživatelské rozhraní pro řízení dronu s využitím rozšířené virtuality." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2019. http://www.nusl.cz/ntk/nusl-399711.
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The thesis evaluates the current possibilities and problems of drone control and suggests possible solutions. The aim is to control drones more efficiently and easily. The final system is based on third person view and Augmented Virtuality technology where real data from the drone (video-stream, localization information) has been integrated into the virtual 3D model of the surroundings. The model of the surroundings has been created using free data. The application provides the pilot with the means to navigate in the surroundings and to navigate to destinations. It also offers the possibility to define areas with various potential security risks during mission planning, which will be used to navigate in the mission zones, and to visualize the overall situation in the virtual scene extended with online real data.
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Jackman, Anna Hamilton. "Unmanned geographies : drone visions and visions of the drone." Thesis, University of Exeter, 2016. http://hdl.handle.net/10871/26196.
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This thesis approaches the study of the (aerial) military and non-military drone through an examination of the communities that variously compel and propel it into action: that culturally constitute it. Employing the term ‘proponent communities’, this thesis approaches the drone through an empiric-led exploration of such actors, those including: manufacturers, industry, regulators, governments, militaries, trade associations and end users. These proponent communities are accessed through fieldwork at three central sites, namely military and non-military tradeshows, military conferences, and through the completion of numerous industry educational courses. Whilst by no means a homogenous group, such communities remain important in crafting, composing, (re)producing and circulating both technical and cultural knowledges of the drone. In approaching the drone’s cultural constitution, the thesis pursues two distinct analytic foci. First, in response to the tendency of extant scholarship to focus upon what the functioning drone does and its implications, thus treating it like a ‘black box’, the thesis ‘opens’ the drone through an exploration of particular proponent cultures through which it is instituted. Examining both the role of military drone operators and the employment of drones with multi-sensory payloads in emergency service settings, over two chapters the thesis explores the cultures through which the drone comes to function in framing that below it. Second, the thesis explores a series of mechanisms through which the drone is articulated, visualized and otherwise legitimated as a tool, asset, and commodity within military and non-military drone tradeshows. In approaching the drone at the tradeshow, the thesis expands extant analyses of the drone by considering its cultural constitution at such hitherto unexamined sites of consumption. In approaching the cultural constitution of the drone through these two strands of investigation the thesis offers three contributions. First, in working within a research context punctuated with access limitations, the thesis opens up different windows of access at which drone proponent communities gather, form, and (re)compose drone knowledges. Second, in approaching the drone at sites in which it is instituted and traded, the thesis engages with both proponent knowledges of employment, and articulations of expectation and potential therein. It demonstrates that such an engagement facilitates the challenging of several dominant and entrenched narratives surrounding the drone, variously revealing them as inadequate, fractured, or fantastical. Third, whilst the main contribution of this thesis is to geographies, and the wider interdisciplinary field, of drone scholarship, the thesis argues for, and demonstrates the value of, engaging with alternative geographical literatures in developing its argumentation. In situating the drone within such wider discussions and landscapes the thesis thus productively develops distinct frameworks through which to conceptually and empirically engage with the drone.
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Yellapantula, Sudha Ravali. "Synthesizing Realistic Data for Vision Based Drone-to-Drone Detection." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/91460.
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In the thesis, we aimed at building a robust UAV(drone) detection algorithm through which, one drone could detect another drone in flight. Though this was a straight forward object detection problem, the biggest challenge we faced for drone detection is the limited amount of drone images for training. To address this issue, we used Generative Adversarial Networks, CycleGAN to be precise, for the generation of realistic looking fake images which were indistinguishable from real data. CycleGAN is a classic example of Image to Image Translation technique, and we this applied in our situation where synthetic images from one domain were transformed into another domain, containing real data. The model, once trained, was capable of generating realistic looking images from synthetic data without the presence of real images. Following this, we employed a state of the art object detection model, YOLO(You Only Look Once), to build a Drone Detection model that was trained on the generated images. Finally, the performance of this model was compared against different datasets in order to evaluate its performance.Master of Science
In the recent years, technologies like Deep Learning and Machine Learning have seen many rapid developments. Among the many applications they have, object detection is one of the widely used application and well established problems. In our thesis, we deal with a scenario where we have a swarm of drones and our aim is for one drone to recognize another drone in its field of vision. As there was no drone image dataset readily available, we explored different ways of generating realistic data to address this issue. Finally, we proposed a solution to generate realistic images using Deep Learning techniques and trained an object detection model on it where we evaluated how well it has performed against other models.
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Maxe, Paulina, and Josefine Nyberg. "Fast drone deliveries." Thesis, Linköpings universitet, Kommunikations- och transportsystem, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-177542.
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Det finns idag ett växande behov av mobilitet samt en fortsatt urbanisering i världen vilket leder till vissa utmaningar för framtidens logistik och transporter. Utmaningarna handlar om att möta det ökande behovet av att transportera människor och paket utan att bidra till mer trängsel på vägarna. Det finns ett visat intresse för Urban Air Mobility samt luftburna leveranser med drönare, och användandet av dessa tjänster skulle kunna vara en del av lösningen på de framtida problemen. För att detta skall vara möjligt behöver många olika aktörer involveras, men det behöver även finnas ett visat intresse samt en vilja till att ersätta vissa nuvarande leveranser med drönare. Examensarbetets syfte var därför att undersöka intresset för drönarleveranser i Östergötland med utgångspunkt från Norrköping Airport. Syftet inkluderade även en undersökning av hur drönarbaserade leveranser skulle kunna gynna olika organisationer. Detta för att utreda den framtida efterfrågan på drönarleveranser i regionen. Under examensarbetets gång har teori kring bland annat leveranser, drönare, luftrum, regler samt drönares kapacitet samlats in. De metoder som använts i examensarbetet är en litteraturstudie, intervjuer samt en fallstudie. Intresset för drönarleveranser har identifierats genom ett antal semistrukturerade intervjuer med tre olika industriföretag samt Region Östergötland. Möjligheten till att koppla samman drönartrafik med Norrköping Airport har även undersökts genom en intervju med flygplatsens VD. För att djupare svara till hur drönarbaserade leveranser skulle kunna gynna olika organisationer har en fallstudie bestående av två olika fall genomförts. Med hjälp av teori och tidigare forskning funnen genom litteraturstudien har det empiriska materialet analyserats. Utifrån intervjuerna kunde ett intresse identifieras, men med vissa tveksamheter kring drönares kapacitet och säkerhet. Det visade intresset handlade främst om drönares förmåga till snabba leveranser, men varierade i det avseendet att vissa organisationer var intresserade av inkommande gods och andra av utgående gods. Fallstudiens resultat visade att företagen, till viss del, kan gynnas genom tids- och ekonomiska besparingar av att byta ut vissa nuvarande leveranser mot drönarbaserade leveranser. De slutsatser som gjorts i examensarbetet är att drönare lämpar sig för leverans av små och lätta produkter förpackade i paket, att det finns ett visat intresse för drönarleveranser i Östergötland samt att organisationerna framför allt kan gynnas av drönarleveranser utifrån tidsaspekten genom att få eller leverera produkter snabbare än andra transportmedel.Examensarbetet är utfört vid Institutionen för teknik och naturvetenskap (ITN) vid Tekniska fakulteten, Linköpings universitet
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Fall, Abdou Lahat. "Assistive Drone Technology: Using Drones to Enhance Building Access for the Physically Disabled." University of Cincinnati / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1522399761180306.
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Muzaffar, Raheeb. "Routing and video streaming in drone networks." Thesis, Queen Mary, University of London, 2017. http://qmro.qmul.ac.uk/xmlui/handle/123456789/24713.
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Drones can be used for several civil applications including search and rescue, coverage, and aerial imaging. Newer applications like construction and delivery of goods are also emerging. Performing tasks as a team of drones is often beneficial but requires coordination through communication. In this thesis, the communication requirements of video streaming drone applications based on existing works are studied. The existing communication technologies are then analyzed to understand if the communication requirements posed by these drone applications can be met by the available technologies. The shortcomings of existing technologies with respect to drone applications are identified and potential requirements for future technologies are suggested. The existing communication and routing protocols including ad-hoc on-demand distance vector (AODV), location-aided routing (LAR), and greedy perimeter stateless routing (GPSR) protocols are studied to identify their limitations in context to the drone networks. An application scenario where a team of drones covers multiple areas of interest is considered, where the drones follow known trajectories and transmit continuous streams of sensed traffic (images or video) to a ground station. A route switching (RS) algorithm is proposed that utilizes both the location and the trajectory information of the drones to schedule and update routes to overcome route discovery and route error overhead. Simulation results show that the RS scheme outperforms LAR and AODV by achieving higher network performance in terms of throughput and delay. Video streaming drone applications such as search and rescue, surveillance, and disaster management, benefit from multicast wireless video streaming to transmit identical data to multiple users. Video multicast streaming using IEEE 802.11 poses challenges of reliability, performance, and fairness under tight delay bounds. Because of the mobility of the video sources and the high data-rate of the videos, the transmission rate should be adapted based on receivers' link conditions. Rate-adaptive video multicast streaming in IEEE 802.11 requires wireless link estimation as well as frequent feedback from multiple receivers. A contribution to this thesis is an application-layer rate-adaptive video multicast streaming framework using an 802.11 ad-hoc network that is applicable when both the sender and the receiver nodes are mobile. The receiver nodes of a multicast group are assigned with roles dynamically based on their link conditions. An application layer video multicast gateway (ALVM-GW) adapts the transmission rate and the video encoding rate based on the received feedback. Role switching between multiple receiver nodes (designated nodes) cater for mobility and rate adaptation addresses the challenges of performance and fairness. The reliability challenge is addressed through re-transmission of lost packets while delays under given bounds are achieved through video encoding rate adaptation. Emulation and experimental results show that the proposed approach outperforms legacy multicast in terms of packet loss and video quality.
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Santiago, Onofre Juliane Pamela, and Velarde Luis Felipe Gómez. "Proyecto empresarial Agro-drone." Bachelor's thesis, Universidad Peruana de Ciencias Aplicadas (UPC), 2017. http://hdl.handle.net/10757/621811.
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Agro-Drone, surge a partir del interés que tienen los agricultores por ahorrar costos e incrementar su producción en el sector agrícola, con ello buscar una mejora en la calidad de vida. Sin embargo existen ideas que, gracias a la revolución de la tecnología y la promoción de organizaciones mundiales y nacionales en relación al uso de equipos modernos y especializados para el desarrollo de la actividad agrícola, es así que aprovechamos la tendencia de estos últimos tiempos: el boom de los drones.
Muchos agricultores vienen interesándose en nuevas formas de mejorar el proceso de producción agrícola a través de esta alternativa. Hay un nicho de mercado potencial el cual está siendo atendido, sin embargo, la mayor parte del servicio ofrecido existente, se enfoca en brindar sólo el alquiler del servicio de drones (generalmente trabajando con grandes productores) no cubriendo otras necesidades que puedan representar una amenaza para producción de los agricultores y la viabilidad del proyecto que se presenta aquí. Agro-Drone, ha decidido satisfacer la necesidad de todos nuestros agricultores, pero al conformarse como empresa, se compromete a trabajar bajo el enfoque de Responsabilidad Social Empresarial, ya que el servicio ofrecerá un valor agregado al brindar asesoramiento gratuito y permanente a agricultores a cargo de profesionales especializados.
Agro-Drone, estará conformado por un equipo multidisciplinario, lo que nos permitirá contar con un respaldo y confiabilidad ante nuestros clientes. Por eso que nuestra idea de negocio se incrementara con el tiempo, por el nicho de mercado que hemos encontrado a nivel nacional.Agro-Drone, arises from the interest of the farmers to save costs and increase production in agriculture, thereby seek improvement in quality of life. However, there are ideas that thanks to the technology revolution and promoting global and national regarding the use of modern and specialized farming equipment for the development of organizations, so we took advantage of the trend in recent times: the drone´s boom. Many farmers are interested in new ways to improve the process of agricultural production through this alternative. There is a niche market potential which is being treated, however,most of the service offered existing, focuses on providing only rental drones service(usually working with large producers) not covering other needs that may pose a threat for farmer´s production and viability of the project presented here. Agro-Drone, has decided to meet the need of all our farmers, you are committed to working under the approach of Corporate Social Responsibility, as the service will offer benefit by providing free and permanent advice to farmers in charge of specialized professionals. Agro-Drone, will consist of a multidisciplinary team, which will allow us to have a support and reliability to our customers. That is why our business idea will increase over time, because of the niche market that we have found at a national level.
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Norlin, Simon, and David Songmahadthai. "MULTI-DRONE CONTROL SYSTEM." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-42796.
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Planning and controlling traffic for multiple drones in a system without intercommunication betweenthe drones is a daunting proposition. This paper presents a thesis work developing a multi-dronecontrol system capable of planning and executing missions in a 3-D aerial space. Generic 2-D pathplanning algorithms are extended into the 3-D space to handle multiple parts of the path planning,creating highways through a gridded area which is used as obstacles for other drones.Three path planning algorithm are compared with other each other wavefront, Astar and po-tential fields, scheduling is also documented to find the optimal drone amount that the system canhandle given an area of interest, this is done to see how often and for how long drones stand idle.Simulations and equations have been implemented to verify and compare results.
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Chapa, Joseph. "The Virtuous Drone Pilot." Thesis, Boston College, 2014. http://hdl.handle.net/2345/bc-ir:104048.
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Thesis advisor: Kenneth HimesThis thesis responds to two distinct claims about drone (or remotely piloted aircraft) pilots. The first is the general claim that the martial virtues function as a kind of role morality for soldiers; the second, that drone pilots, based on the absence of personal risk and their distance from the battlefield, are unable to meet the demands of such a role morality. Chapter One explains what is meant by role morality, and determines whether the martial virtues do in fact function in a role morality capacity. The second chapter applies this general conception of a role morality for soldiers to military drone pilots in particular. This investigation finds that, insofar as "soldier" is in fact a role that generates a role morality, military drone pilots are as capable of meeting the demands of such a role morality as other military members. The second half of the thesis challenges the premise that drone pilots do not face personal risk. Chapter Three identifies psychological risk among drone pilots and seeks to determine how this kind of non-physical risk may affect the cultivation of the martial virtues. The fourth chapter argues that by placing military drone pilots within domestic territory, drone-capable militaries (such as the US military) have redrawn the battlespace such that it includes the drone operators, wherever they may be, and that as a result, drone pilots do in fact face some physical risk. Finally, in closing, this thesis presents a positive account of the martial virtues that enables military ethicists and strategists to bring centuries of philosophical investigation to bear on contemporary military issues
Thesis (MA) — Boston College, 2014
Submitted to: Boston College. Graduate School of Arts and Sciences
Discipline: Philosophy
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Trichon, Vincent. "A Singing Drone Choir." Thesis, KTH, Robotik, perception och lärande, RPL, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-228612.
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Drones have a new emerging use case: performing in shows and live events. This master thesis has been driven by an artistic project invited to take part in a full-scale operatic performance in the Croatian National Theatre Ivan Zajc in Rijeka, Croatia, in 2019. This project merges technological research with ancient theatrical and operatic traditions by using drones as an opera choir. After describing the process of designing and building a fleet of quadrotors equipped with speakers, we present a reacting and interacting motion planning strategy based on potential fields. We analyse and evaluate our drone design with its control strategy on simulation and on a real drone.Droner har ett nytt framväxande användarfall: att delta i show- och liveevenemang. Detta examensarbete har drivits av ett konstnärligt projekt som inbjudits att delta i ett fullskaligt opera-uppträdande i den kroatiska nationalteatern Ivan Zajc i Rijeka, Kroatien, 2019. Detta projekt förenar teknisk forskning med gamla teatraliska och opera-traditioner genom att använda droner som en operakör. Efter att ha beskrivit processen att designa och bygga en flotta quadrotors utrustade med högtalare presenterar vi en reagerande och interaktiv rörelseplaneringsstrategi baserad på potentiella fält. Vi analyserar och utvärderar vår drone-design med sin kontrollstrategi för simulering och på en riktig drone.
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Gabrielsson, Jonas. "Hacking your drone data." Thesis, Malmö universitet, Malmö högskola, Institutionen för datavetenskap och medieteknik (DVMT), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mau:diva-41403.
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The last couple of years has seen a rapid growth in smart devices. The smart devices are exponentially gaining more popularity both as a complement to our daily lives in the form of IoT products aiding in our everyday tasks and as a way we communicate and work. An estimation of 75.44 billion devices will be connected to the internet by 2025. With the rapid development and normalization of IoT devices, questions regarding privacy has never been more important. This thesis focuses on privacy in relation to one of the most emerging technologies, drones. Drones have been discussed frequently in both governmental and commercial sectors for its inevitable normalization in the airspace. Previously privacy and drones has been researched and discussed from the point of view of which drones are used to infringe on people’s privacy. This thesis explores privacy from another point of view, the view of the drone owner. By exploring privacy from the drone users’ point of view, this thesis shows the importance of better privacy measurements by proposing a conceptual model to existing popular privacy definitions. To investigate privacy in this context, a case has been conducted which proved and validated what kind of data is at risk of being hijacked. The thesis provides a conceptual model that aims to help commercial drone owners to analyze how privacy infringements can occur, why they could occur and how to account for them in the future. Furthermore, the thesis highlights the vulnerability that WIFI dependent devices poses with DDoS attacks. The findings of this thesis show that an infringement of privacy regarding commercial drones requires more clear privacy regulations and definitions, as well as highlighting privacy vulnerabilities in commercial drones.
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Höglund, Gran Tommie, and Erik Mickols. "Hacking a Commercial Drone." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-284573.
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Obemannade luftfarkoster, även kallade drönare, är del av IoT-revolutionen och har uppmärksammats de senaste åren på grund av integritetsfrågor såväl som flygplats- och militär säkerhet. Då de kan flyga samt har implementerat en ökande mängd teknologi, särskilt kamera och annan övervakning, är de attraktiva måltavlor för hackers och penetrationstestare. Ett antal attacker har genomförts i närtid. I detta examensarbete utforskas och attackeras drönaren Parrot ANAFI genom att använda hotmodellering ur ett black box-perspektiv. Hotmodelleringen inkluderar hotidentifiering med STRIDE samt riskvärdering med DREAD. Inga stora svagheter i systemet hittades. Rapporten visar att tillverkaren har en stor säkerhetsmedvetenhet. Exempel på denna medvetenhet är att tidigare rapporterade svagheter har åtgärdats och programkoden har förvrängts. Metoderna och de funna resultaten kan användas för att vidare utforska svagheter i drönare och liknande IoT-enheter.Unmanned aerial vehicles, commonly known as drones, are part of the IoT revolution and have gotten some attention in recent years due to privacy violation issues as well as airport and military security. Since they can fly and have an increasing amount of technology implemented, especially camera and other surveillance, they are attractive targets for hackers and penetration testers. A number of attacks have been carried out over the years. In this thesis the Parrot ANAFI drone is explored and attacked using threat modeling from a black box perspective. The threat modeling includes identifying threats with STRIDE and assessing risks with DREAD. Major vulnerabilities in the system were not found. This report shows that the manufacturer has a high security awareness. Examples of this awareness are that previously reported vulnerabilities have been mitigated and firmware code has been obfuscated. The methods used and results found could be used to further explore vulnerabilities in drones and similar IoT devices.
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Ameho, Yann. "Du pilotage d'une famille de drones à celui d'un drone hybride via la commande adaptative." Thesis, Toulouse, ISAE, 2013. http://www.theses.fr/2013ESAE0031/document.
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Les micro-drones sont des aéronefs sans pilotes de dimensions inférieures à un mètre et de poids inférieur à deux kilogrammes. Ils se distinguent des aéronefs classiques pour plusieurs raisons : un cycle de développement plus court, un coût plus faible, leur facilité d'opération et des configurations de véhicules spécifiques. L'ensemble de ces points attendent une réponse spécifique dans le développement des lois de commandes. Cette thèse s'y intéresse à travers deux problématiques : la commande d'une famille de drones quadrirotors et celle d'un drone hybride. Une famille de drones représente un même concept de véhicule décliné en plusieurs tailles dont on peut faire varier la charge utile ou son emplacement. Les lois de commandes doivent assurer un même niveau de performances malgré ses modifications. Un drone hybride se caractérise par sa capacité à réaliser du vol stationnaire et du vol d'avancement. Ces deux modes de vol ont chacun une dynamique de vol spécifique à laquelle les lois de commandes doivent s'adapter. Cette thèse présente la modélisation de quadrirotors et d'un drone hybride puis détaille une approche de commande adaptative indirecte qui répond aux problèmes introduits. La commande adaptative permet de garantir à l'aide d'un correcteur unique les performances de commande pour de multiples systèmes. Les méthodes d'estimation de paramètres et de synthèse linéaire à paramètres variants du schéma de commande sont décrites, puis, finalement, des résultats d'essais en vol montrent l'apport et les limites de cette approcheMicro Air Vehicle are pilotless aircrafts with dimensions not exceeding one meter and a maximum weight of two kilograms. They are different from classical aircrafts for multiple reasons: a shorter development cycle, a cheaper development, their ease of operation and specific vehicle configurations. All these points expect a specific answer in the development of the control laws of the vehicles. This thesis considers this topic through two particular issues: the control of a family of quadrotors and the control of hybrid micro air vehicle. A family of quadrotor represents a single concept of vehicle but with various sizes, payloads and payload configurations. Control laws must guarantee the same level of performance despite all these modifications. A hybrid micro air vehicle is able to both hover like a helicopter and fly forward like a plane. These two flight modes have specific flight dynamics that the control laws must adapt to. This thesis first presents a model of quadrotors and hybrid micro air vehicle and then details an indirect adaptive control method to tackle both issues. Adaptive control should guarantee performance of multiple controlled systems with a single controller. The parameter estimation and linear parameter varying synthesis method of the adaptive control scheme are described and finally flight test results show the contributions and limits of the approach
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Bronz, Murat. "Conception mini-drone longue endurance." Phd thesis, Toulouse, ISAE, 2012. http://tel.archives-ouvertes.fr/tel-00993465.
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L'objet de cette thèse est de démonter la faisabilité de conception d'un mini-drone longue endurance sans recourir à des véhicules de grande envergure qui nécessite des infrastructures supplémentaires, des systèmes de lancement complexes et un personnel d'exploitation important. Pour ce faire, une approche d'optimisation globale du problème a été utilisée, en s'appuyant sur les spécificités de chacun des aspects de la conception de mini-drones. Ce concept de mini-drone longue endurance doit repousser les limites dans plusieurs disciplines telles que l'aérodynamique, la propulsion, les structures, les sources d'énergies et le stockage, le contrôle et la navigation, ainsi que la miniaturisation de l'électronique embarquée. Un programme de conception baptisé Cdsgn a été développé et prend en compte les problèmes spécifiques de chaque discipline consacrées aux mini-drones. Il permet de voir l'influence de chaque paramètre de conception sur la performance finale de la conception, menant à la sélection optimale des paramètres. Cdsgn génère et analyse rapidement de nombreuses configurations de l'avion tout en simulant la performance de chaque configuration pour un pro fil de mission donnée. Un outil de post-traitement a également été développé afin de filtrer et sélectionner de manière interactive les paramètres de conception parmi les nombreuses configurations pour répondre à des applications pratiques. Le programme proposé a été utilisé dans le développement et la conception de plusieurs projets, tels que Solar Storm, premier mini-drone hybride au monde à énergie solaire d'une envergure de cinquante centimètre, SPOC, un mini-drone longue distance conçu pour voler au-dessus de la mer Méditerranée de Nice jusqu'en Corse (Calvii) et enfin Eternity, mini-drone de longue endurance d'une envergure d'un mètre, avec une configuration classique. Capable d'une autonomie de quatre heures avec les batteries embarquées, son temps de vol peut être amélioré jusqu'à huit heures avec l'utilisation de l'énergie solaire. En utilisant les évaluations de chaque projet, Cdsgn a été amélioré à la fois pour l'exactitude des calculs et pour la performance opérationnelle afin de développer le plus petit véhicule aérien pour une mission d'endurance donnée.
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Rabby, Md Hasib Mahmud. "Tethered drone for rescue boats." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-290819.
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Human has a great interest in aerial devices from very ancient days. The journey was started by kites and is still going on with the invention of airplane, helicopter, rocket,and many more. Drone is the latest field of scientist’s research which is a miniature of a helicopter. It has a great impact on military unit, navigation, and rescue mission. Inrecent days we can see its use in defense and attack strategies among the developed countries. There are many ways in which the use of drones in practical circumstances can be further explored. For example, in rescue missions, it is sometimes difficult for rescuers to reach the spot of the accident, which might be in the middle of a sea or an ocean. A navigation technology that will lead them towards the destination therefore can be of immense use. Rescue organizations like the Swedish Sea Rescue Society (SSRS) are in lack of such a technology that can assist them further in their mission. A tethered drone can act as navigation guidance for them to reach the destination very quickly. It will save time and fuel by reaching the destination via the shortest possible way. Its birds’ eye technology and sensor will broaden the chances of successful rescues. The current similar technologies have some drawbacks. An ordinary drone is generally powered by a battery and therefore has limited flight time. During the flight, it can record and sends a live video stream to a base station via the mobile network. The information collected is intended to be used to assist in crucial rescue decisions such as which boat to use, rescue crew size, what instruments to carry, and so forth. A tethered drone can fly longer than the average flight time. Due to being powered from the ground with wire, the drone gets constant power supply that does not depend on batteries with limited life. The main aim of this thesis is to design a system in which a drone can fly longer in a fixed position and altitude and to find suitable wire for wiring up and ensure the drone’s weight balance. Da-Jiang Innovations spark drone has been used for implementing the project as a model drone and the task is divided into few parts by testing process. Dronesflight time limitations have been overcome and longer flight time has been achieved. Also, because of testing, a few other limitations have been found.Människan har alltid haft ett stort intresse för flygande objekt sedan långt tillbaka.Resan började med drakar och intresset pågår fortfarande med uppfinnigar somflygplan, helikopter, raket och många fler. Drönare är det senaste forskningsområdetsom är en miniatyr av en helikopter. Det har stor inverkan på militära enheter,navigering och räddningsuppdrag. Under de senaste dagarna kan vi se dess användningi försvars- och attackstrategier bland de utvecklade länderna.Det finns många sätt på vilket användningen av drönare under praktiska omständigheterkan utforskas ytterligare. Till exempel i räddningsuppdrag är det ibland svårt förräddare att nå platsen för olyckan, som till exempel kan vara mitt i ett hav.Navigeringsteknik som leder räddningstjänsten mot destinationen kan därför vara tillstor nytta. Räddningsorganisationer som Swedish Sea Rescue Society saknar sådanteknik som kan hjälpa dem ytterligare i deras uppdrag. En kabel bunden drönare kanfungera som navigeringsvägledare för dem att nå destinationen snabbare. Det spararbåde tid och bränsle genom att nå destinationen på kortast möjliga väg. Dessfågelperspektiv och sensor kommer att öka chanserna till framgångsrika räddningar.Den nuvarande liknande tekniken har vissa nackdelar. En vanlig drönare drivsvanligtvis av ett batteri och har därför begränsad flygtid. Under flygningen kan denspela in och skicka en live videoström till en basstation via mobilnätet. Den insamladeinformationen är avsedd att användas för att hjälpa till med viktiga räddningsbeslut somtill exempel vilken båt som ska användas, räddningsbesättningens storlek, vilkainstrument som ska bäras och så vidare.En bunden drönare kan flyga längre än den genomsnittliga flygtiden på grund av attden drivs från marken med kabel får drönaren konstant strömförsörjning som inte berorpå batterier med begränsad livslängd.Huvudsyftet med denna avhandling är att utforma ett system där en drönare kan flygalängre i en fast position och höjd och att hitta en lämplig ledare för kabeldragning ochsäkerställa drönarens viktbalans. Da-Jiang Innovations drönare Spark har använts föratt genomföra projektet som en model drönare och uppgiften är uppdelad i få delargenom testprocess. Drönarnas flygtidsbegränsningar har övervunnits och längre flygtidhar uppnåtts. Dessutom har ny begränsningar hittats efter flera tester har utförts.
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Öman, Lundin Gustav. "Supervision for drone flight safety." Thesis, Toulouse, ISAE, 2020. http://www.theses.fr/2020ESAE0006.
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L'utilisation croissante des drones et leur intégration dans le trafic aérien nécessite de fournir un certain nombrede garanties de sûreté et de preuves de fonctionnement. La sécurité du vol est directement tributaire de laprécision et de la fiabilité de la localisation qui est généralement obtenue par une fusion multi-capteurs, réaliséeà l'aide d'un filtre estimateur. Ce travail de thèse s'intéresse au problème de la navigation tolérante aux défautset aux pannes capteurs dans le cas de capteurs non redondés. L'objectif principal est de proposer des méthodeset des architectures d'estimations de l'attitude et de la position qui permettent de préserver la justesse del'estimation, mais aussi d'améliorer sa consistance et son intégrité, même en cas de perturbations prolongéesdes capteurs. Un premier axe de travail concerne l'estimation et le rejet de biais multiples et fréquents sur uncapteur de position, comme peut y être soumis un récepteur GNSS (multi-trajets), ou un capteur visuel (erreurde poursuite). Une architecture de détection et de correction de l'estimation de position a été développée pourcela et vient compléter les méthodes existantes basées sur le GLR. Un second axe de travail a été de proposerune architecture d'estimation de l'attitude qui soit robuste aux perturbations magnétiques et aux accélérationsspécifiques. Elle comporte principalement trois briques: (1) Des modèles de performance permettent d'estimer lessorties capteurs nettoyées au mieux des perturbations; (2) Une étape de consolidation de mesures utilise des testsstatistiques pour sélectionner les signaux à fusionner entre les mesures brutes ou nettoyées, ou simplement rejeterles signaux dans les cas où la consolidation échoue; (3) Un estimateur d'attitude basé sur un filtre de Kalmanfusionne les mesures consolidées, avec des propriétés de découplage vis-à-vis des perturbations résiduelles, ainsiqu'un modèle de biais saturé. Les algorithmes d'estimation de position et attitude ont été validés en simulationet séparément lors de diverses campagnes d'essais expérimentalesThe ever-increasing use of drones and their integration within the existing air trafic demand a certain number ofguarantees of safety and functional proofs. The flight safety is directly impacted by the precision and reliability ofthe localisation which is achieved most of the time by a multi-sensor fusion, itself provided by a state estimatingfilter. The work of this thesis focuses on the problem of fault tolerant navigation and sensor fault in the nonredundantsensor case. The main objective is to propose methods and architectures for attitude and positionestimation providing a correct estimation, but also improving its consistency and integrity, even in the case oflong lasting sensor perturbations. A first line of work concerns the estimation and rejection of multiple andfrequent biases on a position sensor, which is often the case for a GNSS receiver (multi-path errors), or a visualsensor (tracking errors). An architecture for bias detection and correction of the estimated position has beendeveloped to this end, to complement standard methods based on the GLR. A second line of work has beento propose an attitude estimation architecture robust to magnetic disturbances and specific accelerations. It isdivided into three principal blocks: (1) Sensor performance models allowing the estimation of sensor outputscleaned as well as possible from perturbations; (2) A measurement consolidation stage utilises statistical teststo select the signals to fuse between the raw measurements and the cleaned ones, or simply reject the signalsin case the consolidation fails; (3) An attitude estimator based on a Kalman filter merges the consolidatedmeasurements, with decoupling properties to mitigate the effect of residual perturbations, and a saturated biasmodel. The algorithms for position and attitude estimation have been validated in simulation and separatelyduring various experimental test campaigns
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KUGELBERG, EDVIN, and OSCAR ANDERSSON. "Wind Vector Estimation by Drone." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-280285.
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An original approach for measuring wind speed and direction by the use ofdrones was proposed and compared to an existing one. The original approach allowed the drone to drift with the wind and use the translatory velocity for input into a non-linear estimator, while the existing approach used a stationary hovering drone and its tilt for input to an estimator. A simulation environment was set up in Simulink and Matlab and validated using outputs from previous researchers performing similar tasks. The first test exposed the two approaches to wind tunnel-like environment with a strictly horizontal wind, while the second test used real wind data collected on-board a meteorological research vessel. Results showed that the original approachperformed better for estimating both direction and speed, but it required a largearea to drift in during operation.En egen teknik för att mäta vindhastighet och vindrikting med en drönare föreslogs och jämfördes med en befintlig teknik. Det egna sättet tillät drönaren att driva med vinden och använde dess egna hastighet för att estimera vinden, medan den existerande tekniken höll drönarens position konstant och estimerade vinden med hjälp av farkostens lutning. En simuleringsmiljö inrättades i Simulink och Matlab som validerades medhjälp av resultat från tidigare liknande forskning. Det första testet som genomfördes exponerade de två tillvägagångsätten för vindtunnel-liknande förhållanden, medan det andra testet använde verklig vinddata som samlats in ombordett meteorologiskt forskningsfartyg. Resultaten visade att den egna teknikenproducerade noggrannare upskattningar av både vindhastighet och riktning,men krävde betydligt större fritt flygrum.
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Gérard, Julien. "Drone recognition with Deep Learning." Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPASG002.
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Cette thèse étudie la reconnaissance de signaux radar micro-Doppler de drones par des méthodes d’apprentissage profond (Deep Learning). Le phénomène micro-Doppler est un ensemble de modulations de fréquence créé par les mouvements internes de la cible observée. Tout d’abord, nous avons analysé les différentes données existantes : simulations, données collectées accessibles. Nous examinons alors les limites de ces données. Afin de s’en affranchir, nous avons effectué une campagne de mesure adaptée. Une fois les données collectées, nous avons étudié l’impact des différents espaces de représentation afin de proposer à la communauté un format standard pour un usage Deep Learning. Nous abordons alors un problème majeur en radar : le manque de données. Nous explorons alors la piste de l’augmentation de données par des GANs. Nous proposons une mesure de la qualité de ces algorithmes basés sur des critères d’utilités de la génération et non du réalisme de celle-ci. Avec cette mesure, nous avons observé une amélioration statistiquement significative des performances de classification grâce aux signaux générées par GAN. Encouragé par ce résultat, nous implémentons des GANs plus avancés combinant vérité terrain et signaux réels. Nos expériences nous permettent alors d’atteindre les performances précédentes. Actuellement, nous identifions des axes de résolutions, que nous prévoyons de développer, pour les dépasserWe work on the recognition of radar micro-Doppler signals of drones thanks to Deep Learning tools. The micro-Doppler phenomenon consists in a frequency modulation set created by the intern movements of the observed target. First, we analyze the different existing data : simulations, collected data available. We examine their limitations and carry out a measurement campaign to tackle them. Once our data is collected, we study the impact of the different space representations to propose a standard format adapted for Deep Learning. We continue our research on a major radar problem : the lack of data. Thus, we explore the data augmentation with GANs. We propose a measure of the quality of these algorithms based on utility criteria, and not on the realism of generated data. We observe a statistically significant improvement of classifications thanks to the signals generated by our GANs. Encouraged by this result, we implement more advanced GANs conjugating ground truth and real data. As we identified possible resolution axes we currently develop them
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Hanström, Anna, and Jet Verheij. "Positioning and Tracking of Target Drone." Thesis, Linköpings universitet, Kommunikationssystem, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-174172.
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This master thesis studied methods for tracking and localising a moving target from an autonomous seeker drone. Feasible methods for automatic control of the seeker drone and different antenna configurations were explored as well. Two different tracking filters and two different controllers were tested for this purpose. The algorithm was developed in Python and MATLAB. The evaluation of the filters and controllers was done both theoretically with simulations but also practically with flight tests. Performance and robustness were measured by examining the estimated target position and the smoothness of the seeker path. Both filters performed satisfactorily, the same conclusion could be made for the automatic controllers as well. Regardless of the sufficient results, for future work there are several aspects which can be improved. The communication with the drone’s motors, the noise models and one of the automatic controllers are all examples of areas which canbe improved further.
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Ciullo, Vito. "Measurements of wildland fires by drone." Thesis, Corte, 2020. http://www.theses.fr/2020CORT0005.
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Les travaux menés dans cette thèse concernent le développement d’un dispositif de mesure des caractéristiques géométriques de feux de végétation en utilisant un système de stéréovision multimodale porté par drone. A partir d’images stéréoscopiques aériennes acquises dans les domaines du visible et de l’infrarouge, les points 3D de feux sont calculés et les caractéristiques géométriques tels que sa position au sol, vitesse de propagation, hauteur, longueur, largeur, inclinaison de flamme et surface sont estimées.La première contribution importante de cette thèse est le développement d’un système de stéréovision multimodale portable par drone. Ce dispositif intègre des caméras travaillant dans les domaines du visible et de l’infrarouge, un ordinateur Raspberry Pi, des batteries électriques, des récepteurs GPS et une carte inertielle. Il permet d’obtenir des images stéréoscopiques multimodales géoréférencées.La seconde contribution importante de cette thèse est la méthode d’estimation des caractéristiques géométriques de feux à partir d’images stéréoscopiques aériennes.Le dispositif d’estimation de caractéristiques géométriques a été évalué en utilisant une voiture de dimensions connues et les résultats obtenus confirment la bonne précision du système. Il a été également testé avec succès sur un feu extérieur ne se propageant pas. Les résultats obtenus pour des feux de végétation se propageant sur un terrain de pente variable sont présentés en détailThis thesis presents the measurement of geometrical characteristics of spreading vegetation fires with a multimodal stereovision system carried by an Unmanned Aircraft Vehicle.From visible and infrared stereoscopic images, 3D fire points are computed and fire geometrical characteristics like position on the ground, rate of spread, height, length, width, flame tilt angle and surface are estimated.The first important contribution of this thesis is the development of a multimodal stereovision portable drone system. This device integrates cameras working in the visible and infrared domains, a Raspberry Pi computer, electric batteries, GPS receptors and an Inertial Measurement Unit. It allows to obtain georeferenced stereoscopic multimodal images.The second important contribution of this thesis is the method for the estimation of the fire geometrical characteristics from aerial stereoscopic images.The geometrical characteristics estimation framework have been evaluated on a car of known dimensions and the results obtained confirm the good accuracy of the device. It was also successfully tested on an outdoor non propagating fire. The results obtained from vegetation fires propagating on terrain with slope changes are presented in detail
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Brenner, Elvira, and Oscar Hultmar. "Robust Drone Mission in the Arctic." Thesis, Uppsala universitet, Signaler och system, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-415123.
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During environmental research projects in the Arctic region AFRY has come across an unproportionally high number of cases where the navigation of drones have not worked as intended, compared to other regions. The main objective of this thesis is to investigate the cause of these navigational problems and determine the main cause. A second objective is to design a solution that can mitigate these observed errors and improve the navigation. To establish the main error sources flight logs from flight tests performed at Svalbard are analyzed. The drone considered in this project is a quadcopter with a Pixhawk Cube flight controller and the Ardupilot software. A Pixhawk Here+ module is used for external sensors. The data logs show several cases of drones having troubles flying along a straight line. Analyzing the sensor data for the flights show that many of the flights suffer from the gyroscope drifting around the z-axis. The data show that the varying temperature on the IMU board is the cause of the drifting gyroscope. The on-board heaters did not manage to keep the temperature constant due to a too high target temperature and low outside temperatures. The system is aided with information from the magnetometer to estimate the drift around the z-axis. Results show that the estimation system is having trouble correctly estimating large drifts. To investigate why the magnetometer cannot properly compensate for the gyroscope, simulations of the magnetometer and estimation system are made. The results show that an increasing angle of inclination increases the gyroscope bias estimation errors. The large angle of inclination causes the horizontal components of the magnetic field to become too small for the magnetometer to measure correctly. The solution consists of instructions on how to operate the drone to properly use the on-board heaters, as well as an external module consisting of multiple magnetometers. Multiple magnetometers reduced the variance in the readings, but did not reach the accuracy needed to replace the external magnetometers on the drone. A better calibration method could be explored in the future, or another solution such as an improved magnetometer, a gyro compass, a GPS compass or dual GNSS antennas.
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Merrell, Thomas William Jr. "Evaluation of Consumer Drone Control Interface." Wright State University / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=wright1526381891672951.
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Rubbestad, Gustav, and William Söderqvist. "Hacking a Wi-Fi based drone." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-299887.
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Unmanned Aerial Vehicles, often called drones or abbreviated as UAVs, have been popularised and used by civilians for recreational use since the early 2000s. A majority of the entry- level commercial drones on the market are based on a WiFi connection with a controller, usually a smart phone. This makes them vulnerable to various WiFi attacks, which are evaluated and tested in this thesis, specifically on the Ryze Tello drone. Several threats were identified through threat modelling, in which a set of them was selected for penetration testing. This is done in order to answer the research question: How vulnerable is the Ryze Tello drone against WiFi based attacks? The answer to the research question is that the Ryze Tello drone is relatively safe, with the exception of it not having a default password for the network. A password was set for the network, however it was still exploited through a dictionary attack. This enabled attacks such as injecting flight instructions as well as the ability to gain access to the video feed of the drone while simultaneously controlling it through commands in terminal.Drönare, eller UAV från engelskans Unmanned Aerial Vehicle, har ökat i popularitet bland privatpersoner sedan tidigt 2000tal. En majoritet av drönare för nybörjare är baserade på WiFi och styrs med en kontroll som vanligtvis är en smart phone. Detta innebär att dessa drönare kan vara sårbara för olika typer av attacker på nätverket, vilket utvärderas och testas i denna rapport på drönaren Ryze Tello. Flera hot identifierades med hotmodellering och ett flertal valdes ut för penetrationtest. Detta genomförs med syftet att svara på forskningsfrågan: Hur sårbar är Ryze Tello mot WiFi baserade attacker? Svaret på forskningsfrågan är att drönaren Ryze Tello är relativt säker, med undantaget att den inte har ett standardlösenord. Ett lösenord sattes på nätverket, men lösenordet knäcktes ändå med en ordboksattack. Detta möjliggjorde attacker så som instruktionsinjicering och förmågan att se videoströmmen från drönaren samtidigt som den kan kontrolleras via kommandon i terminalen.
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Shaw, Ian. "The Spatial Politics of Drone Warfare." Diss., The University of Arizona, 2011. http://hdl.handle.net/10150/145131.
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This dissertation investigates drone warfare, which is the military's use of unmanned planes to strike enemy targets, an integral and relatively new strategy in the `war on terror'. The dissertation is composed of three unique research papers. The first gets to grips with how this warfare is represented in video games. These virtual spaces contain carefully crafted aesthetics that are important for widespread cultural participation, recruitment, and legitimization. The second paper investigates the use of U.S. military drones in the tribal regions of Pakistan, a historically `exceptional' territory that today finds itself the continued subject of colonial violence. The paper is motivated by understanding the logic of the legislation that enables such warfare, as well as the military's `fetishization' of the drone as an actor devoid of social relations. The third paper builds upon the second to take seriously the drone as an object of extreme political importance. The analytic is driven by `object-oriented philosophy' and argues that drones are metaphysical objects responsible for slicing and dicing the world into their own image. Overall, the main contribution of the dissertation is to signal and review the political importance of a new and deadly military zeitgeist: one that encroaches upon everyday life, geopolitics, and reality itself.
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AUSONIO, ELENA. "Drone Swarm System in Firefighting Activities." Doctoral thesis, Università degli studi di Genova, 2022. http://hdl.handle.net/11567/1082825.
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Defence against forest fires generally takes place through a variety of air/ground interventions, and is based on the coordination of various actors, such as civil protection, fire brigades, police forces, and volunteers.
The recent technological development of Unmanned Aerial Vehicles (UAV), also called drones, and their ability to handle situations that are too dangerous for humans can provide a breakthrough in fighting wildland fires. Compared to a single UAV, a cooperative UAV system can perform complex tasks with more safety and efficiency.
In this thesis, an innovative forest firefighting system, based on the use of a platform managing a swarm of UAVs, is proposed and investigated. Owing to the various modular subsystems of the platform, such as landing pads as well as cartridge and hive, drones are served, supplied, and housed. Moreover, automatic battery and payload replacement along with extinguishing liquid refilling ensure the continuity of the action.
The validity of the approach in Mediterranean scrub fires is illustrated, first computing the critical water flow rate, then simulating the fire spread in a Cellular Automata model both in the absence of firefighting efforts and in the event of an intervention of drones able to generate a continuous flow of extinguishing liquid on the fire front. The fire spread is also simulated by means of a Level Set model, and Model Predictive Control is applied to control the fire front modified by water drop patterns.
Moreover, such a drone-platform system could be used for 24-hour monitoring of an area using video and thermal cameras. Again, in this scenario, drones can spray liquids, water and/or retardants, to mitigate any critical situations of drought and low humidity of vegetation, or even extinguish identified outbreaks. However, managing a large number of drones on one or more platforms requires determining the optimal sequence of drone landings so that the gap between target and actual landing times is minimized, and so that drones have their batteries changed and receive the required payloads. Therefore, the drone scheduling issue is studied by formulating linear optimization problems related to drone landings and take-offs on single and multiple platforms.
Finally, practical experiments in cooperation with the spin-off Inspire of the University of Genoa have been carried out and, in particular, the issue of precision landing with Real Time Kinematic positioning technology has been tested.
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Dur-e-Aden, Aden. "To drone or not to drone : a comparative analysis of the effectiveness of the US's drone policy of targeted killing in the contexts of Pakistan and Yemen." Thesis, University of British Columbia, 2014. http://hdl.handle.net/2429/51246.
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Drones are the new game in the town of counter-terrorism. For their proponents, drones do the dirty job of killing the “bad guys” without causing much harm to the civilians. For their critics, drones desensitize the killing of human beings by creating a “PlayStation mentality.” In a world where the threat levels from transnational terrorist organizations are continuously evolving, and the mistakes of the past policies continue to haunt, it is important to critically analyze the effects of the new tools of counter-terrorism before arguing for or against their continuous use.
For the purposes of this paper, I review the existing literature on the issue of targeted killing (the primary reason for which drones are employed), and build up on those arguments to formulate a drone-specific theoretical framework. In order to test my hypotheses, I conduct a “structured, focused case comparison” of the US’s drone policy of targeted killing in the contexts of Pakistan and Yemen. I find that drones are an effective tool of targeted killing against a hierarchical organization which has a predatory and violent relationship with the population in which it operates.
However, due to the secrecy surrounding this issue and its high political salience, current datasets are incomplete and suffer from significant errors, making this study only a start of a future project which will look into this issue more rigorously. I conclude this paper by mentioning these caveats, along with the suggestions on which variables future research should focus on, in order to thoroughly evaluate the effectiveness of the targeted killing strategy using drones.Arts, Faculty of
Political Science, Department of
Graduate
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Falomir, Bagdassarian Ema. "Calcul dynamique de chemin par des drones autonomes en essaim compact dans le cadre de missions en environnements complexes." Thesis, Bordeaux, 2019. http://www.theses.fr/2019BORD0450.
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Les drones sont aujourd’hui devenus des outils incontournables dans de nombreux domaines, aussi bien civils que militaires. Afin de diminuer la charge de travail de leurs opérateurs, certaines étapes des missions qui leur sont confiées peuvent être automatisées, jusqu’à atteindre l’autonomie complète de la plateforme qui opèrera sans intervention humaine. La mobilité en environnement complexe est une problématique majeure à traiter lorsqu’il est question d’autonomie. En effet, un drone qui découvre son environnement au fur et à mesure de ses déplacements doit régulièrement calculer un chemin vers son point cible, chemin qui doit éviter les obstacles présents sur le trajet. Dans ce contexte, la contribution principale de cette thèse est une méthode de calcul de chemin pour un drone autonome évoluant en environnement complexe. De plus, si la mission est trop complexe pour être réalisée par un seul drone (par exemple car elle nécessite l’utilisation de nombreux capteurs ou se déroule sur une zone étendue), alors on utilise un essaim composé de plusieurs appareils autonomes, qui pourront, collaborativement, remplir la mission donnée. En revanche, même si l’utilisation conjointe de plusieurs plateformes collaboratives permet d’augmenter les performances du système global, de nouvelles problématiques apparaissent, telles que la gestion des communications et l’évitement des drones voisins. La méthode de calcul de chemin que nous proposons prend en compte ces problématiques et est donc adaptée à l’utilisation par les drones d’un essaimDrones are major tools today to perform numerous tasks in a wide range of operations, both for military and civil activities. In order to reduce operators’ workload, some parts of the drones’ missions can be automated, until achieving a full autonomy of the platforms, which will reach their mission without any human intervention. Path planning is a major task to achieve autonomy. Indeed, the drones have to detect obstacles while it discovers its environment and dynamically calculate a path avoiding obstacle and allowing to fulfil their mission. In this context, our main contribution is a path planning method for an autonomous drone evolving in complex environment.Furthermore, the variety of tasks one would like to achieve increases quicker than the capacity of a single UAV, therefore one can use a swarm composed of several autonomous platforms. Usage of several drones increases the number and/or the variety of sensors, and the collaboration between them enhance the global system capabilities by supporting some form of resilience. However, swarming introduced new issues, such as communications and drone avoidance. Our path planning method considers these problematics and then, is adapted for drones forming a swarm
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Hintze, Joshua. "Autonomous landing of a rotary unmanned aerial vehicle in a non-cooperative environment using machine vision /." Diss., CLICK HERE for online access, 2004. http://contentdm.lib.byu.edu/ETD/image/etd359.pdf.
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Li, Bo Lim Alvin S. "Multiple UAV simulation with multiresolution multistage models and decision support." Auburn, Ala., 2008. http://hdl.handle.net/10415/1547.
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Bertrand, Sylvain. "Commande de drone miniature à voilure tournante." Phd thesis, Université Nice Sophia Antipolis, 2007. http://tel.archives-ouvertes.fr/tel-00702441.
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L'utilisation de drones miniatures à voilure tournante est limitée par leur grande sensibilité face aux perturbations aérologiques. Cette particularité, ajoutée à la non linéarité de leur dynamique, rend complexe le développement de lois de commande pour de tels véhicules. Afin de permettre une automatisation de leur vol en tenant compte de ces difficultés, deux classes d'approches pour la synthèse de lois de commande sont étudiées dans cette thèse : la commande prédictive, puis la synthèse de lois de commande non linéaires via une analyse par fonctions de Lyapunov dans le cas o'u les vitesses du véhicule ne sont pas mesurées. Des contrôleurs de nature prédictive ont été proposés dans la littérature, mais sans considérer simultanément un modèle suffisamment représentatif de la dynamique d'un drone miniature à voilure tournante et une approche de commande garantissant la stabilité. A ce titre, nous proposons ici plusieurs algorithmes de commande prédictive ainsi que leur adaptation au développement de lois de guidage-pilotage de drone en considérant un modèle non linéaire à six degrés de liberté et en réalisant conjointement une analyse de la stabilité. Plusieurs applications sont présentées : stabilisation autour d'un point fixe, suivi de trajectoire en présence ou non de perturbations, évitement d'obstacles. Lors de certaines utilisations pratiques ou expérimentales d'un drone miniature, les mesures en vitesses du véhicule ne sont pas toujours disponibles. Des techniques de commande avec accès partiel à l'état ou utilisant des observateurs peuvent être alors appliquées. Afin de concilier ces deux classes d'approches, et d'obtenir simultanément de bonnes performances du système bouclé et une réduction de la complexité de la méthode utilisée (temps de calcul, analyse de la stabilité), nous proposons ici une méthode de synthèse de lois de commandes via une analyse par fonctions de Lyapunov. Cette méthode est basée sur l'introduction d'états virtuels au sein de la dynamique du système. Notre contribution réside également dans l'analyse de la stabilité, par la théorie des perturbations singulières, d'une approche de commande hiérarchique permettant la synthèse successive des lois de commande en position et en attitude.
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Jamieson, Jonathan. "Trajectory generation and tracking for drone racing." Thesis, University of Strathclyde, 2018. http://digitool.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=29520.
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In this thesis trajectory generation for quadrotors, a type of rotorcraft UAV (Unmanned Aerial Vehicle), is considered with two diverent methods. The first applies the Maximum Principle of optimal control to derive closed-form analytical functions that describe the translational states for two different cases of nonholonomic constraints. Parametric optimisation is used to find the trajectories. Reachable sets are found numerically and a simple obstacle avoidance method is demonstrated for both cases. The second motion planning method found trajectories with polynomial basis functions that are parametrised by an abstract function between zero and one. This virtual time domain trajectory satisfied conditions placed on the boundary derivatives and followed a sequenceof desired waypoints. A process for finding a mapping function that converts the virtual domain trajectory into one on the standard time domain is developed to minimise the trajectory time whilst ensuring the motion remained feasible by enforcing bounds on the thrust required from each rotor. An algorithm that uses additional waypoints where necessary to ensure the trajectory does not collide with the gates that define the course is developed. A method for minimising the accumulated angular acceleration of the heading angle whilst remaining within a desired tolerance of the velocity vector angle is also described. Trajectory tracking is considered by modifying an existing quadrotor tracking controller on the Special Euclidean group SE(3) to include a Linear Extended State Observer that estimates and counteracts translational disturbances. The modified controller is shown to reduce the position tracking error in the presence of square wave, sinusoidal and wind disturbances.
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Melancon, Andree-Anne. "Discrimination in the age of drone warfare." Thesis, University of Sheffield, 2018. http://etheses.whiterose.ac.uk/21172/.
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Gross, Lee M. Eng Massachusetts Institute of Technology. "Multi-touch through-the-lens drone control." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106016.
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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.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 (page 53).
Drones are often used for aerial photography. The main way people currently control them is using a joystick that controls the pitch, yaw, roll and throttle of the drone. With the joystick, a user has to think not only in terms of the desired image but also how the drone needs to move in order to capture it. We implemented a gestural system that would allow the user to control a drone in a more intuitive manner that abstracts away low-level motor controls. The idea is to allow a user to manipulate the current frame using touch gestures to indicate the intended shot. The four gestures we support are dragging, pinching, two finger rotation and two finger drag. The feedback consists of the live feed from the camera, as well as a preview of the image transformation that was indicated. When the user lifts their fingers, the commands are sent to the drone so it can execute the movements that will result in the desired image. The system works but has some limitations that are imposed by the drones flight-path API. These limitations deal with the path and the heading used during flight. The drone's final view is qualitatively close to the desired image as indicated by the gesture.
by Lee Gross.
M. Eng.
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Miller, James J., and Philip H. Tannenholz. "AN IMPROVED DRONE TRACKING CONTROL SYSTEM TRANSPONDER." International Foundation for Telemetering, 1990. http://hdl.handle.net/10150/613789.
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International Telemetering Conference Proceedings / October 29-November 02, 1990 / Riviera Hotel and Convention Center, Las Vegas, NevadaImproved performance has been achieved in the new Herley design of the Model MD700C-1 Drone Tracking and Control System, C-band Command and Control Transponder. The approach for obtaining better radio frequency rejection, automatic gain control, local oscillator stability, and power supply efficiency is described. New hybrid microwave integrated circuit application techniques were used to design a small local oscillator, tunable over the 5400 to 5900 MHz range with a frequency drift of less than ± 1 MHz. This low frequency drift allowed the use of a 4 pole immediate amplifier filter, 60 dB down, at 40 MHz bandwidth, which, when coupled with the three cavity radio frequency preselector filter, provides 7 pole out of band rejection for unwanted radar signals operating at close frequencies. To augment the out of band rejection, a new form of 75 dB dynamic range automatic gain control was used, which combines signal attenuation with a circuit that reduces immediate frequency noise with increasing signal. This allows rejection of the radars own in-band multipath signals by reducing the gain and threshold sensitivity. To reduce power consumption and heat while operating over a wide voltage range, a switching mode regulator and a nonsaturating core power supply was designed to operate at 80% efficiency. Compared to units in field use over the past 10 years, the new design shows improvements of 400 percent in local oscillator frequency stability, 30 percent in out of band frequency rejection, 66 percent in the automatic gain control dynamic range, and 60 percent in power supply efficiency. The MD700C-1 was developed by Herley Industries for the USAF SMALC, and is currently in production.
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Uscuvilca, Flores Jaqueline Gina, Vilchez Elvis Steve Alfaro, Mayta Kevin Luiggi Campos, and Cáceres Daysi Diana Saavedra. "Proyecto empresarial servicio de fotografia con drone." Bachelor's thesis, Universidad Peruana de Ciencias Aplicadas (UPC), 2018. http://hdl.handle.net/10757/624925.
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La gran acogida de las aeronaves convierte el pilotaje de drones en una salida para diversificar actividades de foto y filmación. Los drones se pueden definir como un vehículo comandado remotamente, en otras palabras, no tripulado capaz de realizar diversas labores. La palabra dron nace de la necesidad de cumplir tareas sin arriesgar la vida de un ser humano. Los drones reemplazan al ser humano en operaciones de alto riesgo haciéndolas de una manera efectiva. El primer drone, fue creado por el ingeniero israelí, Abraham E. Karem. Se le llamó Predator, inicialmente era un drone armado completamente funcional, y fue usado por la CIA.
Estos Drones son de distintos tipos, y distintas funciones como máquinas de aseo, grúas, aviones, helicópteros, carros, lanchas que funcionan remotamente. A pesar de que son relativamente nuevas, estas evolucionan más rápido de lo que se piensa. Cada día se están dogmatizando más cosas y se implementan nueva tecnología creando nuevos Drones con diferentes funciones.
El creciente desarrollo de soluciones drones en el ámbito civil está propiciando que muchas empresas incorporen estas aeronaves a su actividad, con la consiguiente necesidad de captar a profesionales cualificados que cuentan con la formación necesaria para manipularlos. Ya sea para uso recreativo o profesional, el empleo de estas aeronaves se ha multiplicado en los últimos años lo que convierte al piloto de drones en una salida laboral a tener en cuenta en el futuro.
El presente trabajo consiste en presentar nuestra idea de negocio donde generamos innovadoras estrategias para llevar a cabo nuestra idea teniendo como objetivo desarrollar todos los conocimientos alcanzados al llevar satisfactoriamente los cursos anteriores y desarrollar habilidades que hemos adquirido durante la carrera.
Mediante una lluvia de ideas más conocido como brainstorming hemos debatido analizado y con la ayuda de nuestro asesor hemos elegido la mejor idea para llevar a cabo el análisis y desarrollo durante el curso.The great reception of these aircraft has turned the piloting of drones into an outlet to diversify photo and filming activities. Drones can be defined as a remotely commanded vehicle, in other words, unmanned capable of performing various tasks. The word drone is born from the need to accomplish tasks without risking the life of a human being. The drones have replaced the human being in high risk operations doing them in an effective way. The first drone, was created by the Israeli engineer, Abraham E. Karem. It was called Predator, initially it was a fully functional armed drone, and was used by the CIA. These Drones are of different types, and different functions such as cleaning machines, cranes, airplanes, helicopters, cars, boats that work remotely. Although they are relatively new, they evolve faster than you think. Every day more things are being dogmatized and new technology is implemented creating new Drones with different functions. The growing development of drones solutions in the civil field is causing many companies to incorporate these aircraft into their activity, with the consequent need to attract qualified professionals who have the necessary training to handle them. Whether for recreational or professional use, the use of these aircraft has multiplied in recent years which makes the drone pilot a work outlet to consider in the future. The present work consists of presenting our business idea where we generate innovative strategies to carry out our idea having as objective to develop all the knowledge reached by satisfactorily carrying the previous courses and developing skills that we have acquired during the race. Through a brainstorming we have discussed discussed and with the help of our adviser we have chosen the best idea to carry out the analysis and development during the course.
Trabajo de investigación
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Soskova. "THE DIFFERENCE BETWEEN SATELLITE AND DRONE MONITORING." Thesis, Київ 2018, 2018. http://er.nau.edu.ua/handle/NAU/33911.
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Sfard, Nathan. "Towards Autonomous Localization of an Underwater Drone." DigitalCommons@CalPoly, 2018. https://digitalcommons.calpoly.edu/theses/1866.
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Autonomous vehicle navigation is a complex and challenging task. Land and aerial vehicles often use highly accurate GPS sensors to localize themselves in their environments. These sensors are ineffective in underwater environments due to signal attenuation. Autonomous underwater vehicles utilize one or more of the following approaches for successful localization and navigation: inertial/dead-reckoning, acoustic signals, and geophysical data. This thesis examines autonomous localization in a simulated environment for an OpenROV Underwater Drone using a Kalman Filter. This filter performs state estimation for a dead reckoning system exhibiting an additive error in location measurements. We evaluate the accuracy of this Kalman Filter by analyzing the effect each parameter has on accuracy, then choosing the best combination of parameter values to assess the overall accuracy of the Kalman Filter. We find that the two parameters with the greatest effects on the system are the constant acceleration and the measurement uncertainty of the system. We find the filter employing the best combination of parameters can greatly reduce measurement error and improve accuracy under typical operating conditions.
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Friedman, Brianna. "Drone Imagery Applied to Enhance Flood Modeling." Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/103612.
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Accessible flood modeling for low-resource, data-scarce communities currently does not exist. This paper proposes using drone imagery to compensate for the lack of other flood modeling data (i.e. streamflow measurements). Three flood models were run for Dzaleka Refugee Camp, located in Dowa, Malawi. Two of the models (the Soil and Water Assessment Tool (SWAT) and the Hydrologic Engineering Center River Analysis System (HEC-RAS)) are commonly used hydrological-hydraulic based models. The third model, the Water Caused Erosion Patterns (WCEP) model, was proposed by the author to capitalize on the high-resolution drone imagery using geological-geomorphological information. The drone imagery used in this study has a resolution of 3.5cm and shows erosion patterns throughout the refugee camp. By comparing the erosion patterns to flow direction of the surface, the erosion patterns were determined to be water caused or not water caused, the erosion patterns considered water caused were defined as high-risk flood areas, creating the WCEP model.
The three models were compared using locations of collapsed houses throughout the camp. It was found that the WCEP model represents the location of collapsed houses significantly better (misclassification rate below 17%) than the SWAT or HEC-RAS models (misclassification rate below 54%, and 67% respectively). The WCEP model was combined with the best hydrological-hydraulic model (SWAT) to create a hydrogeomorphological model which capitalizes on both the drone imagery and the hydrological process.Master of Science
The negative impact flooding has on communities can be reduced through flood modeling. But commonly used flood models are not accessible to data-scarce communities because of the historical data the models require. This paper explores using aerial imagery taken by a drone to make-up for the lack of historical data at Dzaleka Refugee Camp located in Dowa, Malawi. Drone imagery has a very high spatial resolution (3.5cm), so it is able to provide a lot of details, including marks that show an increase of flooding in certain areas and elevation information. The flood model presented in this paper is created using the found flood marks in drone imagery. The presented model is then compared to two commonly used flood models, and all three flood models are compared to locations of houses that collapsed from flooding throughout the refugee camp. The model created using drone imagery did the best job predicting high-risk locations with misclassification rates below 17%. The drone imagery model was then combined with a commonly used model to create a more comprehensive flood model, capitalizing on all available data.
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Shahzaad, Babar. "Drone-Based Delivery Services in Smart Cities." Thesis, The University of Sydney, 2022. https://hdl.handle.net/2123/29818.
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We propose a novel service framework to effectively provision drone-based delivery services, called Drone-as-a-Service (DaaS), in a skyway network. This service framework provides a high-level service-oriented architecture and an abstraction to model the drone service from both functional and non-functional perspectives. We focus on spatio-temporal aspects as key parameters to query the drone services under a range of requirements, including drone capabilities, flight duration, and payloads. We propose to reformulate the problem of drone delivery service composition as a problem of finding an optimal set of drone delivery services from a designated take-off station (e.g., a warehouse rooftop) to a landing station (e.g., a recipient’s landing pad) by selecting and composing drone services that provide the best quality of delivery service in terms of payload, time, and cost under a range of intrinsic and extrinsic environmental (i.e., context-aware) factors, such as battery life and uncertain wind conditions, respectively. In this regard, we propose a constraint-aware composition approach that incorporates the intrinsic and extrinsic constraints on drone delivery services. Moreover, failures may occur due to extrinsic factors (e.g., weather conditions) and fluctuating QoS parameters. Therefore, we propose a novel resilient composition that considers the runtime failures of drone services and recomposes the services, taking into consideration the failure’s effect. Congestion is a natural phenomenon in a resource-constrained dynamic network. Congestion at recharging stations may impact the amount of time taken to deliver a package. We propose a game-theoretic model to mitigate this problem. Uncertainty is another aspect that presents fundamental challenges in terms of qualitative factors, such as the availability of recharging pads at stations. To counter this, we propose a robust composition approach using dynamic features, such as uncertainty surrounding the availability of recharging stations. Furthermore, we optimise the delivery of packages in skyway networks using heuristic-based top-k and context-aware composition approaches. In addition to the single package delivery, recent developments in drone technology show that drones are capable of carrying multiple packages. In this case, we propose a novel service-oriented architecture for drone-based multi-package delivery in a skyway network. We design graph-based heuristics to reduce the search space for optimal selection and composition of multi-package drone delivery services. Finally, we propose a just-in-time service composition model for delivering multiple packages using a single drone in one trip under a dynamic environment. This research builds an efficient drone service selection and composition infrastructure and sets the scene for a new air delivery market using drones in a skyway network.
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Hermansson, Grobgeld Alex. "Network Drone Control using Deep Reinforcement Learning." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-272111.
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In this work, a reinforcement learning approach is adopted to control a drone in a cellular network. The goal is to find paths between arbitrary locations such that low radio quality areas, defined with respect to signal-to-interference-plus-noise-ratio, are avoided with the cost of longer flight paths. The controlling agent learns to take decisions without having access to any propagation model, learning only through feedback in the form of a reward signal evaluating its behavior. In the reward function, designed for this particular problem, there are simple parameters for modifying the focus of the agent to put more emphasis on short paths, or paths with high radio quality. The proposed agent uses a learning algorithm that combines Double Deep Q-Networks with Hindsight Experience Replay to handle the stochastic environment with multiple goals. A neural network is used to approximate the optimal Q-values and the experiences are collected using a Boltzmann exploration policy. Three different scenarios are studied: flight trajectories on constant altitude, with and without measurement noise in the radio quality, and flight trajectories on varying altitudes with measurement noise. In all scenarios, simulation results show that the agent successfully avoids low radio quality areas by taking longer flight paths, as desired. The probability of flying through areas with low radio quality is reduced by between 62 and 75 percent compared to the baseline agent, that flies greedily toward the goal. In 90 percent of the evaluation instances, for all three scenarios, the flight paths are shorter than two times the shortest possible path and the median length is around 1.3 times the shortest path. Thus, the reinforcement learning agent holds a clear advantage over the baseline for applications were the radio quality is of high importance. In the case of constant flight altitude, it is also possible to visualize and gain insight into the decision making process through the learned value function. It is evident that this function reflects the radio quality as one ca see patterns resembling those of the underlying signal distribution.I detta arbete används reinforcement learning for att styra en drönare i ett cellulärt nätverk. Målet är att hitta rutter mellan godtyckliga positioner, samtidigt som områden med låg radiokvalitet, med avseende på signal-to-interference-plus-noise-ratio, undviks till kostnad av längre flygsträckor. Den styrande agenten lär sig att ta beslut utan att ha tillgång till någon propageringsmodell, enbart genom återkoppling i form av en belöningssignal som utvärderar dess agerande. I belöningsfunktionen som är konstruerad för detta specifika problem, finns enkla parametrar som kan användas för att modifiera ett önskat fokus på korta flygsträckor eller rutter med hög radiokvalitet. Den föreslagna agenten använder en inlärningsalgoritm som kombinerar Double Deep Q-Networks med Hindsight Experience Replay för att hantera den stokastiska miljön med varierande målpositioner. Ett neuralt nätverk används för att approximera de optimala Q-värdena och erfarenheterna samlas in med en Boltzmann utforskningspolicy. Tre olika scenarier studeras: flygrutter på konstant altitud, med och utan mätningsbrus i radiokvaliteten samt flygrutter på varierande altitud med mätningsbrus. I alla scenarier visar simuleringsresultaten att agenten med framgång lär sig att undvika områden med låg radiokvalitet genom att flyga längre rutter, vilket är det önskade beteendet. Sannolikheten att flyga genom områden med låg radiokvalitet reduceras med mellan 62 och 75 procent jämfört med en basnivåagent som flyger raka vägen till målpositionen. I 90 procent av evalueringsfallen, för alla tre scenarier, är flygrutterna kortare än två gånger den kortast möjliga rutten och medianen ligger kring 1.3 gånger den kortast möjliga rutten. Alltså är agenten klart fördelaktig i jämförelse med basnivån i applikationer där radiokvaliten är högst betydande. I fallet med konstant altitud är det möjligt att visualisera och få insikt i beslutsprocessen genom den inlärda värdefunktionen. Det är tydligt att denna funktion reflekterar radiokvaliteten eftersom man kan se mönster som liknar de som finns i den underliggande signaldistributionen.
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Escareno, Juan Antonio. "Conception, modélisation et commande d'un drone convertible." Compiègne, 2008. http://www.theses.fr/2008COMP1746.
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Le but de cette thèse est de développer un véhicule convertible non piloté. Le projet est divisé en trois objectifs : la conception, la modélisation et la commande du véhicule. La conception de l'aéronef est un compromis entre un véhicule à voilure fixe (de type avion) et un véhicule à voilure tournant (de type hélicopte��re), grâce à cette combinaison il offre une grande versatilité pour envisager de différents types de taches. La modélisation est obtenue à partir des formulations Newton-Euler et Lagrange. Au niveau des commandes, les aéronefs convertibles exigent des algorithmes spécifiques de commande pour manipuler le décollage, le vol stationnaire, le vol vers l'avant aussi bien que la transition entre les deux modes de fonctionnementThe goal of this thesis is developing a convertible unmanned aerial vehicle (UAV). The project is divided in three objects : the design, the modeling and the control of the vehicle. The design of the vehicle is a trade-off between a fixed-wing vehicle (airplane) and a rotary-wing vehicle (helicopter), thanks to this combination it offers a great versatility to face different kind of missions. The modeling is obtained through the Newton-Euler and Lagrange formulation. In terms of control, the convertible aircraft require specific algorithms to manipulate the take-off, the haver, the forward flight and the transition between both operation modes
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Novak, Dora. "Drone(s) trajectory optimization for mapping missions." Electronic Thesis or Diss., université Paris-Saclay, 2024. http://www.theses.fr/2024UPASG069.
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L'utilisation des drones dans le contexte de l'agriculture de précision peut optimiser la gestion de l'exploitation et augmenter la productivité agricole tout en protégeant l'environnement. Toutefois, les drones présentent certaines limites qui doivent être prises en compte lors du développement de solutions de sa mission. Le cadre du problème de la cartographie avec un ou plusieurs drones peut être divisé en deux sous-problèmes : la planification de la mission de cartographie et la pilotage du drone. La première étape définit la trajectoire à suivre pour couvrir la zone d'intérêt de manière efficace compte tenu des limites du drone, tandis que la seconde garantit que le suivi de la trajectoire planifiée est effectué avec succès. Afin d'augmenter l'efficacité temporelle et d'assurer une mission à faible dépense énergétique, une nouvelle approche pour l'optimisation de la gestion de la batterie du drone lors de la planification de la mission de cartographie est proposée dans ce travail. La stratégie développée optimise l'utilisation des batteries disponibles pour la mission de cartographie en minimisant la distance de vol totale et en réduisant le nombre de remplacements de batteries. La suppression des remplacements de batterie inutiles réduit la durée totale de la mission, mais évite également les cycles redondants de recharge de la batterie. La distribution des points d'intérêt résultant de la planification de la mission représente les sous-chemins de survol d'un drone doté de plusieurs batteries. Afin de suivre la trajectoire planifiée avec une erreur de suivi minimale, une approche de commande prédictive non linéaire pour un suivi de trajectoire robuste est développée. Cette approche est finalement étendue à une mission de cartographie impliquant plusieurs drones coopératifs, où la sécurité de la mission est assurée principalement en tenant compte de l'évitement des collisionsUsing Unmanned Aerial Vehicles (UAVs) in the context of Precision Agriculture (PA) can optimize farming management and increase agricultural productivity while protecting the environment. However, UAVs have certain limitations that must be considered when developing solutions. The problem framework for conducting mapping with a single or multiple UAVs can be divided into two subproblems: mapping mission planning, and UAV control. The former step defines the path for covering the area of interest in an efficient manner considering the UAV limitations, while the latter ensures that trajectory tracking of the planned path is successfully completed. In order to increase time efficiency and ensure an energy-aware mission, a novel approach for UAV battery management optimization of the mapping mission planning is proposed in this work. The developed strategy optimizes the use of batteries available for the mapping mission by minimizing the total flight distance and reducing the number of battery replacements. Removing unnecessary battery replacements reduces the overall mission time, but also avoids redundant battery recharging cycles. The resulting waypoint distribution from the mission planning represents the subpaths for a UAV with multiple batteries. In order to follow the planned path with minimal tracking error, a nonlinear predictive control approach for robust trajectory tracking is developed. This approach is finally extended to a mapping mission involving multiple cooperative UAVs, where mission safety is ensured primarily by considering collision avoidance
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Strubel, David. "Couverture d'un chemin planifié composé de points de passage à optimiser avec des algorithmes évolutionnaires." Thesis, Bourgogne Franche-Comté, 2019. http://www.theses.fr/2019UBFCK015/document.
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L'objectif de cette thèse est d'optimiser la couverture visuelle d'une zone vaste et complexe de façon à ce que ses images puissent composer une mosaïque à partir d'un drone.Pour trouver les meilleurs points de passage, deux méthodes ont été étudiées : l'optimisation par essaims particulaires (PSO) et les algorithmes génétiques (GA).Notre étude a prouvé que le GA est la méthode offrant de meilleures performances en raison de ses performances et de sa capacité d'adaptation.Après avoir réalisé des expériences pour comparer les algorithmes, une hybridation de GA et PSO a été réalisée et étudiée.La méthode proposée peut être appliquée sur de grandes surfaces de formes irrégulières, comme les terrains agricoles, et fournit un nombre réduit de points de passage qui doivent être survolés par un véhicule aérien de type drone (UAV).Des essais ont été réalisés pour simuler le vol d'un drone dans un environnement intérieur, les images générées pendant la simulation sont utilisées pour représenter une image de la totalité de l'environnement sous la forme d'une mosaïque.La méthode proposée est également appliquée dans de vastes zones extérieures. Des images satellitaires sont utilisées pour visualiser la couverture du trajet qui a été planifié.Les expériences valident l'efficacité de la méthode proposée pour trouver le nombre et la position des points de passageThe goal of this paper is to optimize the coverage of a vast and complexarea such that its mosaic image can be created. To find the best waypoints, twomethods have been investigated: Particle Swarm Optimization (PSO) and GeneticAlgorithms (GA). Our investigation proved that GA is a better method due toits performance and adaptability. After having performed experiments to compare the algorithms, a hybridization of GA and PSO is investigated.The proposed method can be applied on large areas with irregular shapes, such as agricultural fields, and it provides a minimized number of waypoints that must be flown over by the Unmanned Aerial Vehicle (UAV). The experiments were made to simulate the flight of the UAV in an indoor environment, and the images generated during the simulated flight have been used to show the final mosaic. The proposed method is also applied in the vast outdoor area using satellite images to visualize the final result of the coverage path planning. The experiments validate the efficiency of the proposed method for finding the number and the poses of the waypoints. The solution proposed to approach the problem of coverage path planning is rather different than the stateof the art by dividing the Coverage Path Planning on independent sub-problems to optimize and then using GA and later on GAPSO
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Yang, Kwangjin. "Efficient path planning and control for an RUAV in complex environment." Thesis, The University of Sydney, 2010. https://hdl.handle.net/2123/28151.
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This thesis describes the algorithmic design of a path planning and control architecture for a Rotary Wing Unmanned Aerial Vehicle (RUAV) conducting a navigation task in a highly cluttered natural environments. Autonomous navigation in unknown cluttered environments is a challenging problem. To achieve this task, the vehicle must be able to
build an environment representation, generate a safe and feasible path, and execute the plan reliably. This thesis primarily focuses on the latter two issues. Various path planning techniques have been proposed for computing a collision free path amongst obstacles but conventional methods focus only on obstacles which are recognized as environmental constraints. Environmental constraints can be expressed in configuration space, although the
differential constraints such as nonholonomic constraints cannot be represented as forbidden zones in configuration space. The different characteristics of external environmental constraints and vehicle dynamic constraints complicate the planning problem.
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Kesana, Maheshbabu. "Multi-Hop Protocols for Drone-to-Ground Communications." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.
Find full textAbstract:
A drone, in a technological context, is an unmanned aircraft. Drones are more formally known as unmanned aerial vehicles(UAVs). The common applications for the drone have included drone surveillance and drone journalism, as unmanned aircraft systems can often access locations that would be impossible for a human to get go. In the thesis, we consider the video surveillance application using drone flying over the area to be monitored and sending the video to the control sender. All network devices are presumed to be equipped with IEEE 802.11s air interfaces. In this thesis work, the performance of the IEEE 802.11s standard routing protocol was analyzed to optimize their performance in the different type of scenarios. The IEEE 802.11s standard proposes Hybrid Wireless Mesh Routing Protocol (HWMP) composed of a proactive tree- based routing and the reactive Radio Metric Ad-hoc On-Demand Distance Vector (RM-AODV) scheme to support mesh networks.
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Grip, Linnea. "Vision based indoor object detection for a drone." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-208890.
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Drones are a very active area of research and object detection is a crucial part in achieving full autonomy of any robot. We investigated how state-of-the-art object detection algorithms perform on image data from a drone. For the evaluation we collected a number of datasets in an indoor office environment with different cameras and camera placements. We surveyed the literature of object detection and selected to research the algorithm R-FCN (Region based Fully Convolutional Network) for the evaluation. The performances on the different datasets were then compared, showing that using footage from a drone may be advantageous in scenarios where the goal is to detect as many objects as possible. Further, it was shown that the network, even if trained on normal angled images, can be used for detecting objects in fish eye images and that usage of a fisheye camera can increase the total number of detected objects in a scene.Drönare är ett mycket aktivt forskningsområde och objektigenkänning är en viktig del för att uppnå full självstyrning för robotar. Vi undersökte hur dagens bästa objektigenkänningsalgoritmer presterar på bilddata från en drönare. Vi gjorde en literatturstudie och valde att undersöka algoritmen R-FCN (Region based Fully Convolutional Network). För att evaluera algoritmen spelades flera dataset in i en kontorsmiljö med olika kameror och kameraplaceringar. Prestandan på de olika dataseten jämfördes sedan och det visades att användningen av bilder från en drönare kan vara fördelaktig då målet är att hitta så många objekt som möjligt. Vidare visades att nätverket, även om det är tränat på bilder från en vanlig kamera, kan användas för att hitta objekt i vidvinklade bilder och att användningen av en vidvinkelkamera kan öka det totala antalet detekterade objekt i en scen.
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Choudhary, Abhishek. "Autonomous Exploration and Data Gathering with a Drone." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-223448.
Full textAbstract:
Unmanned Aerial Vehicles (UAV) are agile and are able to fly in and out of areas that are either dangerous for humans or have complex terrains making ground robots unsuitable. For their autonomous operation, the ability to explore unmapped areas is imperative. This has applications in data gathering tasks, search and rescue etc. The objective of this thesis is to ascertain that it is, in fact, possible and feasible to use UAVs equipped with 2D laser scanners to perform autonomous exploration tasks in indoor environments. The system is evaluated by testing it in different simulated and real environments. The results presented show that the system is capable of completely and safely exploring unmapped and/or unexplored regions.Obemannade flygfarkoster (UAV) är smidiga och kan flyga in och ut ur områden som är farliga för människor eller är svårtillgängliga för markrobotar. För att nå höga nivåer av autonomitet måste en UAV kunna utforska och kartlägga ett okänt område på egen hand. Det finns flera tillämpningar för detta, så som räddningsuppdrag och datainsamling. Målet med denna avhandling är att visa attdet är möjligt att använda en UAV utrustad med 2D-laserskannrar för att utföra autonoma kartläggningsuppdrag i inomhusmiljöer. Systemet utvärderas genom att testa det i olika simulerade och verkliga miljöer. De presenterade resultaten visar att systemet kan utforska okända områden på ett säkert sätt.
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Pospischil, Alexis. "MULTIHOP ROUTING OF TELEMETRY DATA IN DRONE SWARMS." International Foundation for Telemetering, 2017. http://hdl.handle.net/10150/627003.
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In 2015, a group of Naval Postgraduate School (NPS) professors and students set the record for largest fixed-wing unmanned aerial vehicle (UAV) swarm flown at one time. The swarm had 50 vehicles flying simultaneously and successfully demonstrated distributed decision-making with all processing occurring on swarm vehicles rather than a centralized control station. Much of the decision-making is based on telemetry data that is continuously streamed from all the nodes. At that time all telemetry data was broadcast in a single-hop radio environment using 802.11 in AdHoc mode. In the future, drone swarm distribution and mobility patterns will necessitate multi-hop communications for this telemetry data. This paper models the network currently used by the NPS drone swarm as well as potential future topologies and evaluates candidate multihop routing protocols for this application.
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Greenwood, Dan. "THE APPLICATION OF NEURAL NETWORKS TO DRONE CONTROL." International Foundation for Telemetering, 1990. http://hdl.handle.net/10150/613800.
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International Telemetering Conference Proceedings / October 29-November 02, 1990 / Riviera Hotel and Convention Center, Las Vegas, NevadaThe FAA Sponsored a six months research program to investigate the application of neural networks to controlling aircraft. It was found that properly configured neural networks offer powerful new computationally robust methods to generate command vectors corresponding to collision free routes. Methods using neural networks which capture the expertise employed by controllers in resolving conflicts were formed. This paper shows that many of the neural network techniques applied to ATC can also be applied to drone control. Two different networks are presented: a multi-layer feed-forward network using back-propagation and a method using a potential field where a gradient measure is employed to maintain the aircraft separation in real time.