To see the other types of publications on this topic, follow the link: Drones.
Dissertations / Theses on the topic 'Drones'
Create a spot-on reference in APA, MLA, Chicago, Harvard, and other styles
Consult the top 50 dissertations / theses for your research on the topic 'Drones.'
Next to every source in the list of references, there is an 'Add to bibliography' button. Press on it, and we will generate automatically the bibliographic reference to the chosen work in the citation style you need: APA, MLA, Harvard, Chicago, Vancouver, etc.
You can also download the full text of the academic publication as pdf and read online its abstract whenever available in the metadata.
Browse dissertations / theses on a wide variety of disciplines and organise your bibliography correctly.
1
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.
Full textAbstract:
Submitted by Nádia Paes (nadia66paes@gmail.com) on 2016-09-30T14:19:37Z
No. of bitstreams: 1
DISS_2015_Anna Carolina Natale Rodrigues.pdf: 1941878 bytes, checksum: 83d67286141efc175526c206f4b5d8a9 (MD5)Approved for entry into archive by Jordan (jordanbiblio@gmail.com) on 2016-09-30T16:16:19Z (GMT) No. of bitstreams: 1 DISS_2015_Anna Carolina Natale Rodrigues.pdf: 1941878 bytes, checksum: 83d67286141efc175526c206f4b5d8a9 (MD5)
Made available in DSpace on 2016-09-30T16:16:19Z (GMT). No. of bitstreams: 1 DISS_2015_Anna Carolina Natale Rodrigues.pdf: 1941878 bytes, checksum: 83d67286141efc175526c206f4b5d8a9 (MD5) Previous issue date: 2015-05-06
CAPES
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.
2
Agarwal, Girish. "Droneopticon: privacy implications of civilian drones in the EU." Doctoral thesis, Universitat Pompeu Fabra, 2021. http://hdl.handle.net/10803/671726.
Full textAbstract:
Civilian drones are increasing in their use. One of the reasons for their rising popularity and increased use, is affordability. They are used for recreational photography, delivering medicines, dousing fire, spraying crops, and even surveillance of individuals.
As is the fate with all inventions, drones are also being regulated. Legislation is the most obvious armour against the negative social impacts of technology, in this case, visual privacy. But there are other negative social impacts, for example, property trespass, which may in combination with others, change the arithmetic of the legal liability.
Therefore, this study investigates the impact on visual privacy of individuals, by the increasing use of civilian drones, and the nature of liability. This study also investigates the adequacy of the existing solutions to fight the violations of visual privacy by drones and their remote pilots.El uso de drones civiles está aumentando. Una de las razones de su creciente popularidad y de su mayor uso es su asequibilidad. Los drones civiles se utilizan para, entre otras finalidades, fotografía recreativa, entrega de medicamentos, extinción de incendios, fumigación de cultivos e incluso vigilancia de personas. Como ocurre con el destino de todas las invenciones, los drones también están siendo regulados. La legislación es la herramienta más obvia contra los impactos sociales negativos de esta tecnología, viii en este caso, sobre la privacidad visual. Más allá de estos, existen otros impactos sociales negativos de los drones civiles, por ejemplo, las invasiones físicas en propiedades ajenas, que, en combinación con otros, pueden cambiar la aritmética de la responsabilidad civil. Este estudio investiga el impacto que tiene el uso creciente de drones civiles en la privacidad visual de las personas, así como la naturaleza de la responsabilidad legal que se deriva de ello. Este estudio también investiga la adecuación de las soluciones existentes para combatir las intromisiones en la privacidad visual por parte de los drones y sus pilotos remotos.
L’ús de drons civils està augmentant. Una de les raons de la seva creixent popularitat i del seu major ús és la seva assequibilitat. Els drons civils s’utilitzen per a, entre d’altres finalitats, fotografia recreativa, lliurament de medicaments, extinció d’incendis, fumigació de cultius i fins i tot vigilància de persones. Com passa amb el destí de totes les invencions, els drons també estan sent regulats. La legislació és l’eina més òbvia contra els impactes socials negatius d’aquesta tecnologia, en aquest cas, sobre la privacitat visual. Més enllà d’aquests, hi ha altres impactes socials negatius dels drons civils, per exemple, les invasions físiques en propietats alienes, que en combinació amb altres, poden canviar l’aritmètica de la responsabilitat civil. Aquest estudi investiga l’impacte que té l’ús creixent de drons civils en la privacitat visual de les persones, així com la naturalesa de la responsabilitat legal que se’n deriva. Aquest estudi també investiga l’adequació de les solucions existents per a combatre les intromissions en la privacitat visual per part dels drons i els seus pilots remots.
3
Olsson, Sofia. "Drones in Arctic Environments: Development of Automatic Water Sampler for Aerial Drones." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-236506.
Full textAbstract:
The purpose of the thesis is to develop a water samplingsolution to use with an aerial drone for remote water sampling and to investigate the feasibility of the system. The actuating hypothesis is that using a drone for this application will have many benefits over the manual methods, for example to reach inhospitable areas, improve data gathering and offer a safer work situation for the researchers. The research method has been empirical and exploring, by rapidly develop prototypes based on a pre-study, test the full test system and draw conclusions regarding the feasibility of the application based on the tests. Through the pre-study of the current water sampling process through interviews and a survey, a general user case was created. It was studied with a mechatronic perspective to understand how the current water sampling process could be adjusted to function remotely with a drone. The main focuses when developing the water sampler was to design a product independent from the drone with full automatic function, and to maximize its water volume capacity while minimizing the weight of the sampler to manage the drones barload constraints of 1 kg. Through workshop activities and methods from TRIZ theory, several concepts were evaluated. The main idea was to integrate the laboratory bottle with the water sampler. Two physical prototypes were designed to test the function of the concepts and evaluate them against the Ruttner sampler. The first prototype, the Wheel, has a simple design, is lightweight and mechanic while the second prototype, the Combination, is more complex, heavier and uses a mechatronic system. The prototypes were evaluated through functional tests to investigate its design and suitability to be used with a drone for water sampling. The behavior of the full test system, consisting of the Wheel sampler and a drone, was observed and analyzed through drone data when gathering water samples. The thesis demonstrates through field tests that the system, consisting of drone and developed water sampler, succeeds in gathering water samples remotely. Through tests of the water samplers, the thesis also shows the benefits and disadvantages of their proposed design for water sampling.
4
ADER, MARIA, and DAVID AXELSSON. "Drones in arctic environments." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-217918.
Full textAbstract:
This is a master thesis by Maria Ader and David Axelsson, students at the Master of Science in Engineering degree program in Design and Product Realization at KTH, within the master program Integrated Product Design. The thesis work will benefit ÅF and the EU project ɪɴᴛᴇʀᴀᴄᴛ. The ɪɴᴛᴇʀᴀᴄᴛ project is part of the EU’s effort to forward climate research, and aims to “coordinate and harmonize research and monitoring efforts that will greatly contribute to our knowledge and understanding of changes occurring in the arctic environment.” One out of 12 subprojects within ɪɴᴛᴇʀᴀᴄᴛ aims to “increase awareness of drone technology and sensors among researchers and research station managers while making industry aware of innovative potential uses requiring drone and sensor development.” A drone is an unmanned aerial system/vehicle (UAS/UAV), i.e. an airborne vehicle without a human pilot aboard. This master thesis examines the need of drones at the ɪɴᴛᴇʀᴀᴄᴛ research stations and how arctic climates affect drone technology and the ergonomics of piloting a drone. The thesis also provides an overview of the current state of the drone market and the laws and regulations that affect the use of drones. A survey was distributed within ɪɴᴛᴇʀᴀᴄᴛ to map the researchers’ need of, and attitudes towards, drones, followed by exhaustive interviews with researchers and other key figures. Field testing at Tarfala Research Station provided complementing data. The primary insight from the study was that the researchers’ need, as well as the tasks and methods that they employ, vary greatly. Another insight was that many researchers want to use drones primarily as a sensor platform to collect data from large areas in a short time span. A situation-based drone recommendation and a concept proposal for a simple water sampling solution were made based on the results of the studyDetta är ett examensarbete utfört av Maria Ader och David Axelsson, studenter på civilingenjörsprogrammet Design och Produktframtagning på KTH, med masterinriktning Teknisk Design. Arbetet är utfört åt ÅF i syfte att bidra till EU-projektet ɪɴᴛᴇʀᴀᴄᴛ. Iɴᴛᴇʀᴀᴄᴛ är EU:s satsning på klimatforskning i Arktis och syftar till att “koordinera och harmonisera forskning och miljöbevakning som bidrar till vår kunskap och förståelse av förändringar som sker i de arktiska miljöerna.” Ett av tolv delprojekt inom ɪɴᴛᴇʀᴀᴄᴛ-projektet syftar till att öka medvetenheten om drönarteknologi och sensorer bland forskare och föreståndare på forskningsstationerna inom ɪɴᴛᴇʀᴀᴄᴛ, samt att göra drönarindustrin medveten om nya potentiella användningsområden. En drönare är ett obemannat luftfartyg, d.v.s. en flygfarkost utan pilot ombord. Drönare benämns ibland som “UAS” och “UAV”. I den här rapporten används främst den engelska termen “drones”. Detta examensarbete undersöker behovet av drönare på de forskningsstationer som är delaktiga i ɪɴᴛᴇʀᴀᴄᴛ och hur det arktiska klimatet påverkar drönartekniken och ergonomin. Arbetet kartlägger även drönarmarknaden och de lagar och regler som påverkar användandet av drönare. En utförlig studie genomfördes, där forskarnas behov av drönare undersöktes. En enkät skickades ut inom ɪɴᴛᴇʀᴀᴄᴛ och utförliga intervjuer genomfördes med forskare och andra nyckelpersoner. Ett studiebesök på Tarfala forskningsstation kompletterade med fältdata. Den främsta insikten från studien var att behov, arbetsuppgifter och metoder varierar mycket mellan de olika forskarna. En annan insikt var att många ville använda drönare som sensorbärare, och på så sätt insamla data från stora områden på kort tid. Resultatet från studien låg till grund för en situationsbaserad drönarrekommendation samt ett konceptförslag för en enkel vattenprovtagningslösning.
5
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.
Full text
6
Alvané, Tiago Alexandre Gonçalves. "Navegação de drones via GPS." Master's thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/14569.
Full textAbstract:
Mestrado em Engenharia Eletrónica e TelecomunicaçõesAtualmente vivemos numa era onde a evolução tecnológica cresce exponencialmente e onde novos conceitos surgem diariamente para gáudio de uns e desagrado de outros. Uma das tecnologias mais emergentes e com maior impacto nos últimos anos é a comercialização de quadcopters de pequena dimensão, também denominados de drones pertencendo à categoria de Unmanned Aerial Vehicle (UAV). A possibilidade de estes poderem ser tripulados através de controladores capacitados de comunicações rádio ou mais recentemente por simples tablets ou smartphones, fez com que o interesse de aquisição atingisse valores sem precedentes, ao ponto de os departamentos de defesa e segurança de vários países sentirem a necessidade de legislar, de modo a preservar a segurança e privacidade. Esta necessidade prede-se com o facto de a maioria dos drones comerciais permitem alcançar uma altitude considerável e estão maioritariamente equipados com câmaras com alta definição. Com a comercialização de drones das mais variadas dimensões, não tardaram a surgir uma infinidade de aplicações civis para cenários de qualquer índole. À medida que as aplicações surgiram, surgiu também a necessidade de integração de vários sensores que contribuíssem para um voo mais controlado, libertando o piloto da necessidade de um controlo total sobre o drone. A inclusão de tecnologias de localização GPS surgem assim como uma mais-valia no controlo através o posicionamento geográfico, tal como a possibilidade de serem realizados voos completamente autónomos, ficando do lado do utilizador a decisão de definir o trajeto a realizar pelo drone, sendo possível a introdução de vários pontos de passagem (waypoints) ao longo de um percurso definido. Como tal, o objetivo do trabalho desenvolvido e descrito neste documento foi o de desenvolver uma aplicação que permitisse a introdução de waypoints em formato de coordenadas geográficas em graus decimais, ficando do lado da aplicação a capacidade de receção de mensagens de localização através de um recetor GPS, análise das variáveis de controlo do drone e envio de comandos de navegação. São ainda gerados algoritmos de segurança, salvaguardando assim o sistema de possíveis erros de leitura ou falhas de comunicação.
Nowadays, we live in an era where the technological evolution is growing exponentially. New concepts come out daily for the delight of some and the displeasure of other. In the last two years, one of the most emerging technologies with a huge impact on people’s life was the put up for sale of quadcopters which is a class of Unmanned Aerial Vehicles (UAV) and also known as drones. The fact that they can be controlled by a RC command or more recently by tablets or smartphones resulted in an unprecedented rise of the drone’s purchase. In many countries, this reality forced the defense and security departments to be alert and create laws to ensure the security and privacy of everyone. This need to protect the privacy and security stemmed from the fact that most recent drones are provided with high definition cameras and can achieve a considerable altitude. Due to the drone’s commercialization with the most varied dimensions, many civil applications were taking shape for any type of scenarios. As new applications emerged, also came up the need for the integration of sensors to allow smoother flights with a better control, liberating the pilot from the need to take full control of the drone. Thus, the inclusion of navigation systems, such as GPS, becomes a very powerful tool. This technology allows a better control over the location of the drone, as well as the option of fully autonomous flight. This feature made the piloting task easier, being only essential to define the flight path through the introduction of waypoints. Therefore, the purpose of the work developed and presented in this document is to develop an application which allows the instruction of waypoints coordinates in decimal format. The application receives coordinates from a GPS receiver, analyses the control variables and sends the navigation commands to the drone. The application also contains a security system, to circumvent eventual communication failures.
7
Ay, Emre. "Ego-Motion Estimation of Drones." Thesis, KTH, Robotik, perception och lärande, RPL, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-210772.
Full textAbstract:
To remove the dependency on external structure for drone positioning in GPS-denied environments, it is desirable to estimate the ego-motion of drones on-board. Visual positioning systems have been studied for quite some time and the literature on the area is diligent. The aim of this project is to investigate the currently available methods and implement a visual odometry system for drones which is capable of giving continuous estimates with a lightweight solution. In that manner, the state of the art systems are investigated and a visual odometry system is implemented based on the design decisions. The resulting system is shown to give acceptable estimates.För att avlägsna behovet av extern infrastruktur så som GPS, som dessutominte är tillgänglig i många miljöer, är det önskvärt att uppskatta en drönares rörelse med sensor ombord. Visuella positioneringssystem har studerats under lång tid och litteraturen på området är ymnig. Syftet med detta projekt är att undersöka de för närvarande tillgängliga metodernaoch designa ett visuellt baserat positioneringssystem för drönare. Det resulterande systemet utvärderas och visas ge acceptabla positionsuppskattningar.
8
Babenko, A. "Are weareable drones our future?" Thesis, Sumy State University, 2015. http://essuir.sumdu.edu.ua/handle/123456789/40481.
Full textAbstract:
Unmanned aerial vehicles (UAVS), also known as drones,
are aircraft either controlled by 'pilots' from the ground or
increasingly, autonomously following a pre-programmed mission.
When people firstly hear about drones, they think only about the
ability to take a selfie or reconnaissance and surveillance purposes,
however, there are bigger things on the horizon for little flying
machines.
9
Ursulian, Alexander-Albert, and Олександр-Альберт Ігорович Урсулян. "Last mile delivery by drones." Thesis, National Aviation University, 2021. https://er.nau.edu.ua/handle/NAU/50554.
Full textAbstract:
1. Organization for economic co-operation and development (OECD), Delivering The Goods: 21st Century Challenges to Urban Goods Transport, 2003, p. 7-17, Available at: https://www.itf-oecd.org/sites/default/files/docs/03deliveringgoods.pdf
2. Hassanalian, M., & Abdelkefi, A. (2017). Classifications, applications, and design challenges of drones: A review. Progress in Aerospace Science, p. 91. Available at: https://doi.org/10.1016/j.paerosci.2017.04.003
3. Goodchild, A., & Toy, J. (2017). Delivery by drone: An evaluation of unmanned aerial vehicle technology in reducing CO2emissions in the delivery service industry. Transportation Research Part D: Transport and Environment, p. 61. Available at: https://doi.org/10.1016/ j.trd.2017.02.017.
4. Singireddy, R. S. R., & Daim, T. U. (2018). Technology Roadmap : Drone Delivery – Amazon Prime Air. In T. Daim & C. L. EJ (Eds.), Infrastructure and Technology Management. Innovation, Technology, and Knowledge Management (pp. 387–412).Transportation is one of the core foundations of global economies, consisting of a variety of individual networks and their interconnections that are designed to meet people's and goods' mobility needs. Transportation systems are made up of a large number of physical and organizational components and are characterized by a high level of inherent complexity that’s why very often organization infrastructure and logistics of a city can’t always keep up with increased consumer demand. One option of solution would be to use ecologic and effective drones for urban deliveries.
Транспорт є однією з основних основ світової економіки, що складається з різноманітних окремих мереж та їх взаємозв’язків, призначених для задоволення потреб у мобільності людей та товарів. Транспортні системи складаються з великої кількості фізичних та організаційних компонентів і характеризуються високим рівнем властивої їм складності, тому дуже часто організаційна інфраструктура та логістика міста не завжди можуть встигати за зростанням споживчого попиту. Одним із варіантів рішення було б використовувати екологічні та ефективні безпілотники для міських перевезень.
10
Duffy, Sean David. "Why the Rise in Drones." Wright State University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=wright1440338245.
Full text
11
Carvalho, António Jorge Dinis da Silva de. "Wireless power transmission for drones." Master's thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/14553.
Full textAbstract:
Mestrado em Engenharia Eletrónica e TelecomunicaçõesDrones are unmanned aerial vehicles that have proliferated the market due to their low cost and the many applications that can already be associated to them. Besides the common use of these devices for playful activities, as aerial event recording, they demonstrate an enormous potential in other applications, such as military, as search and rescue or reconnaissance missions, or commercial, for example: surveillance and inspection of crops. However, most commercial devices currently available suffer from a major drawback in terms of their dependence of batteries which, in consequence of the large energy demand supplied to the drone's engines, quickly discharge. In addition, the weight of these batteries typically implies that more power is needed to keep the drone flying. This drawback can be overcome, or attenuated, using dedicated wireless power transmission systems that enable the devices to maintain flight without the need of batteries or simply charging them while in use. Throughout this dissertation a microwave wireless power transmission system working at 5.8 GHz will be described in detail, with emphasis on the design of the microstrip antenna array developed to allow directive transmission and the rectenna proposed for reception and power conversion. The proposed system allows the used quadcopter to boot and link with its remote control and demonstrates the potential to be adapted for other purposes.
Drone é a designação normalmente atribuída a veículos aéreos não tripulados que se têm proliferado no mercado devido ao seu baixo custo e inúmeras aplicações. Além do seu uso em actividades lúdicas, como o já comum registo aéreo de eventos, demonstram um enorme potencial noutras aplicações, tanto militares, missões de busca e salvamento e reconhecimento de terreno, como comerciais, sendo exemplo a vigilância e inspecção de campos de colheita. No entanto, maioria dos dispositivos comerciais actualmente disponíveis padecem de uma grande limitação no que toca à sua dependência de baterias que, de modo a alimentar os motores do drone, rapidamente se descarregam. Além disso, o peso que estas baterias implicam levam a que seja necessária uma maior potência para que o drone se mantenha a voar. Estes problemas podem ser contornados, ou atenuados, recorrendo a sistemas de transmissão dedicada de energia electromagnética que possibilitem aos dispositivos manter vôo sem recurso a baterias ou carregando-as quando em uso. Ao longo desta dissertação será descrito em detalhe um sistema de transferência de energia sem fios projectado para trabalhar à frequência de 5.8 GHz, dando ênfase ao desenho de um agregado de antenas microstrip, desenvolvido para possibilitar uma transmissão directiva, e a rectenna proposta para recepção da energia electromagnética e sua conversão em corrente contínua. O sistema proposto possibilita ao quadricóptero ter energia suficiente para se conseguir ligar e estabelecer comunicação com o seu controlo remoto sendo que a arquitectura proposta demonstra potencial para ser adaptada em futuras abordagens.
12
Cozinheiro, João Lucas Neves. "Onboard image processing in drones." Master's thesis, Universidade de Aveiro, 2016. http://hdl.handle.net/10773/17153.
Full textAbstract:
Mestrado em Engenharia Electrónica e TelecomunicaçõesA visão e um dos mais importantes sentidos humanos. Desde que nasce, um humano tem a capacidade de guardar um grande número de imagens na sua memória, criando padrões ao longo do tempo que o permitem diferenciar coisas. No entanto, o mesmo processo não é assim tão simples quando comparado a sistemas computacionais. Apesar da complexidade do processamento de imagens através de computadores, hoje em dia, as máquinas usam câmaras digitais como seus principais sensores. Mais recentemente, um tipo de robot tem vindo a destacar-se: os drones, também conhecidos por veículos aéreos não tripulados. De modo a processar imagens, os drones têm consigo uma unidade computacional destinada a esse m. Esta tese estuda a e ciência de vários microcomputadores no uso de processamento de imagem. Os resultados experimentais permitem ver que é possível integrar um destes sistemas num drone permitindo um processamento de imagem em tempo real. O caso de estudo escolhido para esta tese destina-se a monitorizar parques de estacionamento usando um drone. O drone tem a missão de voar sobre o parque e recolher algumas imagens. De seguida, estas irão ser processadas pelo microcomputador a bordo, detectando e contando quantos carros existem num parque de estacionamento num dado momento.
The sight is one of the most important human senses. Since we were born, the human collects a great amount of image data that, throughout time, creates object standards that allow differentiate things. Nevertheless, the same is not so simple using computers. Despite the difficulty of process images using computers, robots use nowadays digital cameras as main sensors. More recently, one type of robots is gathering more attention: Drones, also known by unmanned aerial vehicle. In order to process digital images, drones have to have a computational unit. This thesis studies the efficiency of several single-boards computers when used to process digital images. Experimental results shows that it is possible to have a single-board attached to the drones allowing real-time image processing. The case study chosen for this thesis is to use a drone to monitor parkings. The drone has the mission of ying above it and take images. Then, the single-board will process the images and try to detect cars on it, counting the total number of cars on parking car.
13
Slabá, Tereza. "Legality of use of drones." Master's thesis, Vysoká škola ekonomická v Praze, 2015. http://www.nusl.cz/ntk/nusl-205077.
Full textAbstract:
The thesis analyses the legality of the use of drones in warfare based on the examination of three specific case studies. Firstly the use of armed drones in Afghanistan 2001 and 2002, then Pakistan drone strikes ongoing since 2004 and lastly the Yemen case study. A developed legal framework is used to assess the legality of the use of drones. Furthermore, it briefly touches upon the aspects of morality and ethics of the use of the unmanned aerial vehicles in combat.
14
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.
Full textAbstract:
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.
15
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.
Full textAbstract:
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
16
Castañeda, Bastida Oscar Fernando. "Análisis Jurídico del uso de Drones." Tesis de maestría, Universidad Autonoma del Estado de México, 2019. http://hdl.handle.net/20.500.11799/99170.
Full textAbstract:
Durante las últimas décadas se incursiono en el desarrollo de los drones, esto dio como resultado un progreso nunca antes visto en la tecnología militar, donde inclusive expertos en el ramo afirman que los drones se están convirtiendo en una amenaza mayor que la de las armas nucleares, por lo tanto gracias a los drones el balance de poder en el mundo ha cambiado y las naciones están concentrado grandes cantidades de recursos en su utilización y desarrollo.
El uso civil no se queda fuera del cuadro, ya que se proyecta que el uso de drones produzca una enorme cantidad de empleos y sea una fuente solida de generación de riqueza. Debido a su reciente surgimiento a nivel local e internacional se encuentran amplias lagunas legales y es responsabilidad tanto de México como de la comunidad internacional el procurar la evolución del derecho para poder cubrirlas. Es allí donde se detecta la imperiosa necesidad de conocer los antecedentes de los drones y poder a través de un análisis vislumbrar el futuro jurídico de los mismos.El mundo moderno se encuentra inmerso en un ambiente tecnológico cambiante y en crecimiento, en los últimos 100 años se han registrado mayores avances y descubrimientos que en toda la historia registrada de la humanidad. Dado el grado de avance tecnológico han surgido tecnologías como lo es la tecnología drone, con la cual se logra operar una aeronave a distancia para cumplir con un sin número de fines y con una versatilidad de uso absolutamente amplia. Es responsabilidad del mundo jurídico el garantizar la estabilidad social y una procuración por el respeto a los derechos de los gobernados es por ello que con cada invento, creación y avance social o tecnológico han surgido marcos jurídicos para regularlos y en su caso limitarlos o promocionar su crecimiento. Por ello es necesario analizar jurídicamente las posibilidades, necesidades y futuro de la tecnología drone.
17
Akeel, Hosam. "Remotely Operated VoIP Radio for Drones." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-290598.
Full textAbstract:
Nowadays, search and rescue organizations are considering using drones to aid in rescue missions. To ensure the drones work properly, we need to design a reliable and stable systems. One of these systems is the communication system, which creates a link between the drone and the operator. There are many communication technologies used in rescue missions, such as Voice over Internet Protocol (VoIP). VoIP uses the Internet to send and receive traditional telephony services such as voice, video, and other media sessions. In this project, we investigate the performance of Software Defined Radio (SDR) in implementing the VoIP technology on the drones to stream video by using Fourth Generation of Telecommunication Systems (4G) Long-Term Evolution (LTE). In addition, the SDR should also communicate in the sea using marine Very High Frequency (VHF) voice-radio for sea rescue missions. To verify and evaluate the system, we used BladeRF xA4 to run Qradiolink and srsLTE to simulate the communication system as the hardware platform. In this experiment, we use a BladeRF SDR as a base station. The test procedure is designed to evaluate the performance of the 4G LTE and marine VHF links. We conducted tests in three different environments to evaluate the performance of the system and show the impacts of different environments. In the 4G LTE measurements we evaluate the Signal to Noise Ratio (SNR), Reference Signal Received Power (RSRP), jitter, delay, and packet loss. In the marine VHF measurement we evaluate the Received Signal Strength Indicator (RSSI). The experimental result shows that it is possible to use SDR to implement the suggested communication system. However, there are some restrictions that are related to the power source and the BladeRF xA4 hardware design. Based on the experimental results, we create a scaling graph to show the baseline of the hardware specifications to achieve the desired performance. We also discussed in details the cost to implement this communication system. Finally, we conclude that it is cost-effective to use SDR as the communication system if there are no off-the-shelf products that cost 15000 SEK.Nu for tiden overvager sok- och raddningsorganisationer att anvanda dronare iraddningsuppdrag. For att sakerstalla att dronarna fungerar ordentligt maste videsigna palitliga och stabila system. Ett av dessa system ar kommunikationssystemet,som skapar en lank mellan dronaren och operatoren. Det finns mangakommunikationstekniker som anvands i raddningsuppdrag, sasom Rost overInternet Protokoll (VoIP). VoIP anvander Internet for att skicka och ta emottraditionella telefonitjanster som rost-, video- och andra mediasessioner. I dethar projektet undersoker vi prestanda for Mjukvara Definierade Radio (SDR)vid implementering av VoIP-teknik pa dronare for att stromma video med FjardeGenerationen av Telekommunikation System ( 4G) Langsiktig Utveckling(LTE). Dessutom bor SDR ocksa kommunicera i havet med hjalp av marineMycket Hog Frekvens (VHF) rostradio for sjoraddningsuppdrag. For att verifieraoch utvardera systemet anvande vi BladeRF xA4 for att kora Qradiolinkoch srsLTE for att simulera kommunikationssystemet som hardvaruplattform.I detta experiment anvander vi en BladeRF SDR som basstation. Testforfarandetar utformat for att utvardera prestanda for 4G LTE- och marineVHFlankar.Vi genomforde tester i tre olika miljoer for att utvardera systemets prestandaoch visa effekterna av olika miljoer. I 4G LTE-matningarna utvarderarvi signal brusforhallande (SNR), referenssignal mottagen effekt (RSRP), jitter,fordrojning och paketforlust. I VHF-matningen utvarderar vi mottagen signalstyrkaindikator (RSSI).Det experimentella resultatet visar att det ar mojligt att anvanda SDR for attimplementera det foreslagna kommunikationssystemet. Det finns dock vissabegransningar som ar relaterade till stromkallan och BladeRF xA4-maskinvarudesignen.Baserat pa experimentresultaten skapar vi en skalningsdiagram for att visa baslinjenfor hardvaruspecifikationerna for att uppna onskad prestanda. Vi diskuteradeocksa i detaljkostnaderna for att implementera detta kommunikationssystem.Slutligen drar vi slutsatsen att det ar kostnadseffektivt att anvanda SDRsom kommunikationssystem om det inte finns nagra hylla produkter som kostar15 000 SEK.
18
Tang, Zhiqi. "Commande référencée vision de drones aériens." Thesis, Université Côte d'Azur, 2021. http://www.theses.fr/2021COAZ4018.
Full textAbstract:
Cette thèse propose de nouvelles commandes basées sur un retour visuel pour le guidage de drones. Elle considère à la fois des scénarios impliquant un seul ou plusieurs véhicules. Pour le cas du guidage d'un seul véhicule, de nouvelles approches d'asservissement visuel basées image (IBVS) sont proposées pour les drones de type avion (fixed-wing) et les drones de type VTOL (Vertical Take-Off and Landing) opérant en environnements urbains ou encombrés. Des tâches de navigation dans un environnement complexe avec des capacités d'évitement d'obstacle sont considérées. Il s'agit en particulier de l'atterrissage de drones de type fixed-wing sur une piste d'atterrissage et l'atterrissage de drones de type VTOL-UAV en incluant une stratégie d'évitement d'obstacle. L'originalité de l'étude réside dans l'exploitation directe de la centroïde de l'image du motif observé et du flux optique permettant ainsi d'éliminer la nécessité l'estimation de la position et la vitesse du drone. Pour le cas du contrôle de plusieurs véhicules en formation, de nouveaux contrôleurs à base de la mesure de direction entre véhicules sont également proposés pour des formations ayant une interaction topologique orientées ou non orientées. Le flux optique est également exploité dans certains cas afin d'éviter les collisions entre différents agents pendant l'évolution de la formation. Afin d'assouplir les conditions classiques requises par la théorie de la rigidité d'une formation à partir de l'information de direction et lever par la même occasion l'ambiguïté du facteur d'échelle causée par les mesures de directions, la notion de la persistance de l'excitation associée à la formation de référence est explorée. La méthodologie proposée est soutenue par des outils mathématiques rigoureux (impliquant des systèmes dynamiques non linéaires et analysés à l'aide de la théorie de Lyapunov afin de prouver formellement la stabilité asymptotique (ou exponentielle) du système, de garantir la robustesse et enfin d'assurer le bon fonctionnement du système en boucle fermée) et par des expériences réelles et/ou des résultats de simulationThis thesis proposes novel vision-based controllers for the guidance of Unmanned Aerial Vehicles (UAVs). It considers scenarios involving both single and multiple vehicles. For the case of a single-vehicle, novel Image-based visual servo control (IBVS) approaches are proposed for both fixed-wing and vertical take-off and landing (VTOL) UAVs operating in urban or congested environments. Navigation tasks in a complex environment with obstacle avoidance capabilities are considered. In particular, the landing of fixed-wing UAVs on an airstrip and the landing of VTOL-UAVs that includes an obstacle avoidance strategy are considered. The originality of the study lies in the direct exploitation of the centroid of the image of the observed pattern together with the optical flow, thereby eliminating the need to estimate the position and the velocity of the UAV.For multiple vehicles, novel bearing formation controllers are designed for formations under both directed and undirected interaction topologies. Optical flow is explored in the bearing formation control laws in order to achieve collision avoidance between different agents during the formation progression.In order to relax the classical conditions required by bearing rigidity theory and to lift the scale ambiguity caused by bearings, persistence of excitation of the desired bearing reference is explored. The proposed methodology is supported by rigorous mathematical tools (This involves nonlinear dynamical systems and analysis using Lyapunov theory to formally prove the asymptotic (or exponential) stability of the system, guarantee robustness, and finally ensure good performance of the closed-loop system). Further support is provided by real experiments and/or simulation results
19
Moura, Deolinda Rosa. "Comunicações e redes entre drones aquáticos." Master's thesis, Universidade de Aveiro, 2017. http://hdl.handle.net/10773/23489.
Full textAbstract:
Mestrado em Engenharia Eletrónica e TelecomunicaçõesOs drones têm-se tornado cada vez mais comuns no dia-a-dia da nossa sociedade uma vez que podem ser utilizados para inúmeras aplicações. Dado que a maior parte da superfície do planeta Terra e coberta por água, os drones aquáticos podem-se revelar grandes aliados na monitorização do meio aquático. Para tal é necessário um número elevado de drones em constante comunicação, para assim se poderem auto-organizar de acordo com as suas missões, sendo também importante que as informações recolhidas pelos seus sensores cheguem a estações fixas em terra. Esta dissertação propõe um mecanismo que determina e avalia a qualidade da ligação entre os drones com base na força de sinal, na estabilidade da ligação e na sua largura de banda. Esta qualidade da ligação pode ser usada como um parâmetro relevante no sistema de controlo dos drones, para que estes se consigam organizar de forma a manterem uma rede de boa qualidade. Como esperado, verifica-se que a qualidade da ligação decresce com a distância entre drones, tendo sido possível comunicaçã em água a uma distância máxima de 110 metros com a tecnologia Wi-Fi. Este mecanismo de avaliação da qualidade de ligação entre drones e posteriormente integrado no processo de encaminhamento numa DTN, para o transporte de informação de sensores de forma e ciente dentro de um cluster de drones. Para o efeito são propostas três estratégias de encaminhamento: 1 - Encaminhamento através do primeiro contacto de vizinho recebido; 2 - Encaminhamento através do contacto com melhor Qualidade; e 3 - Encaminhamento através do contacto com melhor Qualidade para a Gateway. De forma a avaliar o desempenho das estratégias propostas foram efectuados testes em dois cenários, um onde os drones se encontram em posições fixas e outro onde existem drones móveis. A estratégia de encaminhamento que considera o contacto com melhor Qualidade para a Gateway e a que apresenta melhor desempenho em cenários de drones aquáticos.
Drones have become increasingly commonplace in our daily basis since they can be used for numerous applications. Most of the Earth surface is covered by water, and therefore, aquatic drones can become great assets in aquatic environment monitoring tasks. Thus, we need to guarantee a persistent communication among a high number of drones required to assure the drones' self-control, according to their tasks, as well as to make sure that sensors data can reach the xed gateway placed ashore. This dissertation proposes a mechanism to calculate and assess the link quality between drones based on the signal strength, stability of the connection and its bandwidth. This link quality can be used as a relevant parameter to the drones control system, for them to be able to maintain a good quality network by self-organizing. The link quality is therefore used as an input parameter of the drones control system, to maintain the connectivity of the entire cluster. Real scenario results have shown that it is possible to maintain an acceptable level of communication in water up to a maximum distance of 110 meters with the Wi-Fi technology. This quality evaluation mechanism is integrated in the routing process of a DTN for an e cient transport data information inside the cluster. In this approach, three routing strategies are proposed: 1 - Routing through the rst contact received by the neighbour; 2 - Routing through the best Quality contact; 3 - Routing through the best Quality contact to the Gateway. To evaluate the performance of the proposed routing strategies, two distinct scenarios were adopted, with and without movement, and the results have shown that strategy \Best Quality Contact to the Gateway" presents the best results, in both scenarios, when compared to other routing strategies
20
Skowronski, Robin. "Perception visuelle pour les drones légers." Thesis, Bordeaux 1, 2011. http://www.theses.fr/2011BOR14345/document.
Full textAbstract:
Dans cette thèse, en collaboration avec l'entreprise AéroDRONES, le Laboratoire Bordelais de Recherche en Informatique et l'INRIA, nous abordons le problème de la perception de l'environnement à partir d'une caméra embarquée sur un drone léger. Nous avons conçu, développé et validé de nouvelles méthodes de traitement qui optimisent l'exploitation des données produites par des systèmes de prise de vue aéroportés bas coût. D'une part, nous présentons une méthode d'autocalibrage de la caméra et de la tourelle d'orientation, sans condition spécifique sur l'environnement observé. Ensuite nous proposons un nouvel algorithme pour extraire la rotation de la caméra calibrée entre deux images (gyroscope visuel) et l'appliquons à la stabilisation vidéo en temps réel. D'autre part, nous proposons une méthode de géoréférencement des images par fusion avec un fond cartographique existant. Cette méthode permet d'enrichir des bases de données de photos aériennes, en gérant les cas de non-planéité du terrainThe last decade has seen the emergence of many Unmanned Aerial Vehicles (UAV) which are becoming increasingly cheap and miniaturized. A mounted video-camera is standard equipment and can be found on any such UAVs. In this context, we present robust techniques to enhance autonomy levels of airborne vision systems based on mini-UAV technologies. First, we present a camera autocalibration method based on central projection based image \dimension{2}-invariants analysis and we compare it to classical Dual Image of the Absolute Conic (DIAC) technique. We present also a method to detect and calibrate turret's effectors hierarchy. Then, we propose a new algorithm to extract a calibrated camera self-rotation (visual gyroscope) and we apply it to propose a real-time video stabilizer with full perspective correction
21
Theolin, Henrik. "Video compression optimized for racing drones." Thesis, Luleå tekniska universitet, Datavetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-71533.
Full textAbstract:
This thesis is a report on the findings of diifferent video coding techniques and their suitability for a low powered lightweight system mounted on a racing drone. Low latency, high consistency and a robust videostream is of the utmost importance. The literature consists of multiplecomparisons and reports on the effciency for the most commonly used video compression algorithms. These reports and findings are mainly not used on a low latency system but are testing in a laboratory environment with settings unusable for a real-time system. The literature that deals with low latency video streaming and network instability shows that only a limited set of each compression algorithms are available to ensure low complexity and no added delay to the coding process. The findings resulted in that AVC/H.264 was the most suited compression algorithm and more precise the x264 implementation was the most optimized to be able to perform well on the low powered system. To reduce delay each frameneeds to be divided into sub-frames so that encoding and decoding may be done in parallel independently of other sub-parts of the frame. This also improves error propagation when used together with an All-Intra (AI) mode that doesn't utilize any motion prediction techniques.
22
Rozel, Milan. "Polarimetric detection of endo-clutter UAV in a low-grazing geometry." Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPAST147.
Full textAbstract:
La miniaturisation de l'électronique embarqué a permis le développement de drones de petites tailles et d'un large marché civil pour ces drones. La simplicité d'utilisation et le bas coût de ces drones en font des outils redoutables pour des personnes ou organisations mal intentionnées. Dans ce contexte, les systèmes radar peuvent jouer un rôle important pour contrecarrer une attaque menée avec un ou plusieurs drones. Néanmoins, les drones volent généralement à faible vitesse et proche du sol. De plus, ils ont généralement une faible surface équivalente radar. Ces cibles posent donc des problèmes aux systèmes radar qui ont du mal à les différencier du sol.Le but de cette thèse est d'améliorer les capacités de détection endo-clutter des drones en utilisant la polarisation. Nous présentons une méthode permettant d'étudier les propriétés du clutter terrestre polarimétrique. Nous proposons des méthodes de simulation permettant d'identifier le meilleur détecteur dans une scène avec un clutter changeant sur les axes temporel et spatial. Nous étudions les avantages des détecteurs polarimétriques par rapport aux détecteurs mono-polarimétriques à l'aide d'une méthode de comparaison des détecteurs qui permet de choisir le meilleur détecteur en fonction des propriétés du clutter.Pour atteindre cet objectif, nous analysons les propriétés spatio-temporelles du clutter à l'aide des données d'une campagne de mesure radar en environnement semi-urbain. Cette campagne de mesure nous permet de mettre en exergue des propriétés importantes du clutter telles que : la non-réciprocité du clutter polarimétrique pour un radar dont les antennes de réception des différentes polarisations sont distinctes, l'existence d'un temps d'intégration Doppler optimisant la stabilité du clutter et une instabilité de la signature polarimétrique du clutter. Nous proposons de modéliser l'évolution temporelle du clutter en utilisant conjointement, la distribution des valeurs propres de sa matrice de covariance, et, l'angle entre les matrices de covariances d'une même case clutter à deux instants différents. Cet angle est appelé "angle de désadaptation".Dans une deuxième phase nous comparons un ensemble de détecteurs polarimétriques et mono-polarimétriques pour des détections endo-clutter. Pour cela :- Nous étudions l'influence du rang efficace de la matrice de covariance du clutter - contrôlé par le temps d'intégration Doppler - sur les performances des détecteurs et montrons que la minimisation du rang effectif améliore les performances des détecteurs.- Ensuite, nous étudions les effet de l'angle de désadaptation sur les performances des détecteurs en fonction du clutter sélectionné.- Nous constatons que les détecteurs filtrant le clutter ont des performances qui diminuent avec l'intervalle de temps entre l'estimation des propriétés du clutter et la réalisation du test de détection, alors que les autres détecteurs ont des performances qui ne sont pas affectées par cet intervalle de temps.- Enfin, nous montrons que les détecteurs polarimétriques sont plus adaptés aux détections de drones endo-clutter que les détecteurs mono-polarimétriques.Les méthodes d'analyse que nous avons présentées permettent d'optimiser le temps d'intégration Doppler et peuvent être utilisées dans les système radar pour déterminer, de manière adaptative, le meilleur détecteur, en fonction du clutter étudiéIn the past decades, Unmanned Aerial Vehicles have benefited from the miniaturization of electronic components, allowing for cheap and small drone designs, and allowing a rapid development of the civilian market. Unfortunately, due to their low cost, high availability and ease of use, these systems have become a tool of choice for malicious actors, and have become a force multiplier for such actors. In this context, radars can play a significant role in the effort to thwart an attack with one or several UAVs. However, UAVs usually fly at slow speed and close to the ground and have a low radar cross section, which makes them difficult to detect as radar systems may have troubles to differentiate them from the ground.This thesis aims at addressing this challenge with the use of polarization. In this thesis, we aim at improving endo-clutter detection of UAVs. We study the advantages of polarimetric detectors over mono-polarimetric detectors, proposing a method to compare the detectors and choosing the best performing one according to clutter's properties.In order to do so, we first analyse the spatio-temporal properties of polarimetric ground clutter thanks to a measurement campaign in semi-urban environment. This campaign outlines important properties of the clutter such as: the non-reciprocity of polarimetric clutter for quasi-monostatic radar with separated transmit and receive antennas, the existence of an optimal Doppler integration time and the instability of the clutter polarimetric signature with time. We propose to model the temporal evolution of the clutter using both the distribution of the eigenvalues of the covariance matrix and a measure of the mismatch angle between covariance matrices.Then, we implement a benchmark of polarimetric and mono-polarimetric detectors to assess the performances of endo-clutter detection under spatio-temporal varying clutters. We compare the robustness of the polarimetric detectors to choose the best performing detector for a given clutter:- First, we study the influence of the effective rank of the clutter - controlled by the Doppler integration time - on the performances of detectors and confirm that it is useful to minimize the effective rank of the covariance matrix to improve the detection performances.- Then, we analyse the influence of the mismatch angle on the performances of the detectors using simulated clutter in order to select the best detector, for a given time varying clutter. It turns out that endo-clutter detectors based on clutter filtering depend on the time delay between clutter estimation and detection test, while other detectors are time independent. Furthermore, this study shows the sensitivity of the detector performances to the eigenvalue distribution of the clutter.- Finally, we show a clear improvement with polarimetric detectors over single polarization detectors for endo-clutter detection of UAVs in a low grazing geometry.From these results, we conclude that multi-polarimetric detectors enable better performances for endo-clutter UAV detections. In addition we present a metric to optimize the effective-rank of the clutter with by adjusting Doppler integration time to increase the detection performances. Then, we determine that the shorter the time interval is between the clutter estimation and the detection test, the higher performances are. These results give a clear plan for polarimetric detections of endo-clutter UAVs, minimizing effective rank and the time interval between estimation and detection. We conclude that simulation methods described in this thesis could be used in a radar system to adaptively estimate the best polarimetric detector for a given clutter cell and target
23
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.
Full textAbstract:
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.
24
Theodorakopoulos, Panagiotis. "Suivi de cibles terrestres par des drones." Phd thesis, Université Paul Sabatier - Toulouse III, 2009. http://tel.archives-ouvertes.fr/tel-00392776.
Full textAbstract:
La plupart des applications des avions drones sont liées à l'observation d'événements au sol. En particulier, les suivi de cibles terrestres mobiles, qu'elles soient statiques, lentes ou rapides, est une tâche essentielle pour un drone. L'objectif global de la thèse est de proposer des méthodes qui permettent à un drone de suivre une cible terrestre, dans les conditions suivantes: - Le drone est de type voilure fixe équipé d'une caméra monoculaire. - Présence d'obstacles qui occultent la visibilité de zones au sol. - Existence de zones d'exclusion aérienne qui limitent le mouvement aérien. - Restrictions sur le champ de vue du capteur qui assure le suivi (caméra) - Différents comportements de la cible : elle peut évoluer librement ou sous contraintes dynamiques (cas d'une voiture par exemple), et peut être neutre ou évasive~: dans ce dernier cas, elle peut exploiter la présence d'obstacles pour éviter d'être perçue par le drone. Trois approches pour aborder ce problème sont proposées dans la thèse : - Une méthode basée aux lois de contrôle et de la navigation, - Une méthode basée sur la prédiction des déplacements de la cible, - Et une approche basée sur la théorie des jeux. Des résultats obtenus par des simulations réalistes et avec un drone sont présentés, pour évaluer et comparer les avantages et inconvénients de chacune des approches. Des extensions au cas "multi-drones" sont aussi proposées.
25
Maillot, Thibault. "Planification de trajectoire pour drones de combat." Phd thesis, Toulon, 2013. http://tel.archives-ouvertes.fr/tel-00954584.
Full textAbstract:
L'objectif principal de ce travail est l'étude de la planification de trajectoires pour des drones de type HALE ou MALE. Les modèles cinématiques de ces drones sont étudiés. Les drones HALE sont modélisés par le système de Dubins. Pour les drones MALE, le modèle est construit en étudiant le repère cinématique du drone. Nous considérons les problèmes de planification de trajectoires point-point et point-pattern. Il s'agit, à partir de la position courante du drone, de rejoindre un point ou une figure prédéfinie dans l'espace. La planification point-point est abordée sous forme d'un problème de contrôle optimal. Deux méthodes sont proposées pour résoudre le problème point-pattern. D'abord nous présentons la synthèse en temps minimal pour le système de Dubins. Ensuite, nous développons une méthode basée sur le principe de LaSalle. La première méthode est utilisée au sein d'un algorithme de planification pour des drones HALE. La deuxième permet de stabiliser les deux types de drones considérés vers un pattern. Nous proposons une extension des algorithmes de planification développés, basée sur une discrétisation del'espace grâce aux graphes de Voronoï et une méthode de planification discrète, pour construire des trajectoiresdans des milieux encombrés. Nous étudions également le problème de couplage drone/capteur. Il s'agit de calculer une trajectoire permettant de satisfaire les objectifs du drone et de son capteur (une caméra). L'algorithme proposé est construit à partir de la résolution d'un problème quadratique sous contraintes.Dans une seconde partie, nous analysons un problème de contrôle optimal inverse. Celui-ci permet d'améliorer les résultats des méthodes de planification en s'inspirant du comportement des pilotes. Après avoir posé le problème, les résultats théoriques sont exposés et le cas particulier du système de Dubins est étudié en pratique.
26
Elmagri, Loay Hatem Rajab. "Architecture and Drones: Accomodating Unmanned Aerial Vehicles." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/87584.
Full textAbstract:
Through out history, technological advancements have reshaped the built environment and its Architecture. The cities that we live in today were only made possible by the technologies of the first, second, and third industrial revolutions. Today, we are witnessing another technological revolution based on open source data and artificial intelligence.
As there is an enormous amount of prosperous innovations that would directly impact Architecture design tools, building and finishing materials, and construction methods, there are also other innovations that would require spaces, buildings, and cities to be designed to accommodate them. Among the latter mentioned innovations is the Unmanned Aerial Vehicle (UAV), also know as drones.
Like the automobile, drone technology will influence not only the way we live but also our design thinking and the components of our built environment. Along with drone�s ability to fly, UAV�s digital infrastructure is much more flexible and most importantly, invisible. Autonomous Drones� intelligent abilities allow them to provide a wide range of services in various fields such as; freight and delivery, transportation, infrastructure and buildings maintenance, survey, surveillance, policing, fire fighting, agriculture, and even construction, all of which will effectively reduce the amount of ground vehicle traffic, especially in populated cities. Today, as these possibilities are available and constantly under development, it is important for Architecture and Urban Design disciplines to address the challenge and provide comprehensive solutions to accommodate such a technology and allow its possibilities to prosper even further.
The intent of this thesis is to study UAV technology and design a mix-use complex that embraces and accommodates UAV services such as; delivery, transport, freight, and maintenance. The complex hosts a residential tower, a vertical garden tower, ground level commercial spaces, and an underground drone hub.MArch
27
Camarneiro, Manuel. "Vehicle detection in images captured by drones." Master's thesis, Universidade de Aveiro, 2016. http://hdl.handle.net/10773/17206.
Full textAbstract:
Mestrado em Engenharia Electrónica e TelecomunicaçõesHoje em dia, drones e vis~ao por computador s~ao ambos temas em con- stante explora c~ao. Aliar estas duas tecnologias permite obter diferentes perspetivas sobre o mundo e captur a-las com c^amaras digitais a bordo de drones. Combinando ainda o processamento a bordo das imagens adquiri- das potencia a recolha de informa c~ao relevante, permitindo ao drone uma a c~ao aut onoma aplic avel em in umeros contextos. Esta tese foca-se no desenvolvimento de algoritmos de vis~ao por computador tendo em vista uma solu c~ao inovadora e escal avel para gest~ao de parques de estacionamento. Desenvolver uma solu c~ao destas exige conhecer as caracter sticas mais rel- evantes dos drones e das c^amaras digitais, bem como capturar imagens de forma adequada a este prop osito. No que diz respeito ao processamento de imagem e necess ario um estudo sobre as t ecnicas de vis~ao por computa- dor, de maneira a que o software possa avaliar corretamente os parques de estacionamento. Neste documento ser a apresentado o estudo sobre as quest~oes mencionadas anteriormente. E ainda proposto um algoritmo para dete c~ao de ve culos, tendo por base imagens adquiridas por drones a baixa altitude. O software permite o c alculo de taxas de ocupa c~ao e est a preparado para ser usado em diferentes tipos de parque, quer em rela c~ao a sua geometria quer ao material que comp~oe o piso. Os testes aos algoritmos desenvolvidos foram feitos em diferentes parques de estacionamento no Campus da Universidade de Aveiro, sob diferentes condi c~oes de ilumina c~ao para veri car a abilidade e requisitos de proces- samento. Os resultados experimentais detalhados s~ao apresentados nesta tese e a base de dados de imagens adquiridas foi disponibilizada para futura investiga c~ao.
Drones and Computer Vision are both hot topics nowadays. Allying these two technologies enables having different perspectives of the world and cap- turing them with digital cameras onboard drones. Combining onboard pro- cessing of the acquired images might provide extremely useful information from different scenarios, allowing the drones to perform autonomously with applications in several contexts. This thesis focuses on the development of computer vision algorithms point- ing towards an innovative and scalable solution for parking lots management, detecting parked vehicles in lots to determine occupancy rates. Creating such a solution implies knowing the most important properties of drones and digital cameras, as well as how to capture aerial images for this pur- pose. Regarding image processing, a study on computer vision techniques is required in order the software to correctly evaluate parking lots. This document presents all the study regarding the above mentioned issues and proposes an algorithm for vehicle detection, based on low altitude im- ages captured by drones. The software is also able to compute occupancy rates and it is prepared to be used in different types of parking lots, both in terms of their geometry and pavement type. Tests performed with the developed algorithms were done in different park- ing lots across the University Campus under different lighting conditions to check their accuracy and processing requirements. Detailed experimental results are presented in this thesis and an image database was produced in order to allow future experiments by other researchers.
28
Hably, Ahmad. "Approches bornées pour la commande des drones." Phd thesis, Grenoble INPG, 2007. http://www.theses.fr/2007INPG0167.
Full textAbstract:
Les drones et les micro-drones font actuellement l’objet de développements très rapides. L’objectif principal de ce sujet de recherche est le développement de lois de commande permettant de contrôler deux systèmes sous actionnés classiques : l’avion à décollage et à atterrissage verticaux et le "quadrirotor" ou hélicoptère à quatre rotors fixes. La spécificité des approches développées est que les limites des actionneurs sont prises en compte tout en assurant un coût de calcul compatible avec une implantation et une exécution en temps réel sur un système informatique embarqué. La commande de l’assiette et de la position sont abordées dans ce travail. Les commandes proposées sont basées sur la stabilisation globale des chaînes d’intégrateurs linéaires et sur les techniques de commande prédictive rapideThe control and design of mini aerial robots have received much attention within the automatic control community throughout the last decade. The main objective of this thesis is the control of two classical under-actuated systems : Planar Vertical Take-Off and Landing aircraft (PVTOL) and the quadrotor, a helicopter with four fixed rotors. The control laws developed take into consideration the bounds on the inputs with a very low computational cost which is crucial in real-time applications with limited embedded capabilities. Both the attitude and position control are considered in this thesis. The control laws are based on the global stabilization of multiple integrators with bounded control and fast predictive control
29
Hably, Ahmad. "Approches bornées pour la commande des drones." Phd thesis, Grenoble INPG, 2007. http://tel.archives-ouvertes.fr/tel-00235438.
Full textAbstract:
Les drones et les micro-drones font actuellement l'objet de développements très rapides. L'objectif principal de ce sujet de recherche est le développement de lois de commande permettant de contrôler deux systèmes sous actionnés classiques : l'avion à décollage et à atterrissage verticaux et le "quadrirotor" ou hélicoptère à quatre rotors fixes. La spécificité des approches développées est que les limites des actionneurs sont prises en compte tout en assurant un coût de calcul compatible avec une implantation et une exécution en temps réel sur un système informatique embarqué. La commande de l'assiette et de la position sont abordées dans ce travail. Les commandes proposées sont basées sur la stabilisation globale des chaînes d'intégrateurs linéaires et sur les techniques de commande prédictive rapide.
30
Homburg, Nick Jr. "Aerial eyewitness: A pilot study of drone use in journalism." Thesis, Kansas State University, 2017. http://hdl.handle.net/2097/35372.
Full textAbstract:
Master of ScienceDepartment of Journalism and Mass Communications
Tom Hallaq
Unmanned Aerial Systems (UAS), or drones as they are commonly known, could allow journalists to report the news like never before. A drone is a tool with great potential, yet fraught with controversy as the result of its military past. In 2012, the Unmanned Aerial System had become domesticated and could have become the hottest new technology since the cell phone. The first unmanned systems came to service gathering intelligence and in the delivery of lethal and non-lethal payloads for the military. With the domestication of UAS technologies, not only have numerous commercial uses been revealed for the UAS, the drone has made it to the hands of the general public, raising concerns of how this technology is to be used. At the time of this thesis, in the United States, the only legal use of UAS was by hobbyists. Also, at the time of this thesis, the Federal Aviation Administration (FAA) had not provided comprehensive regulations or guidelines regarding the commercial use of UAS platforms (FAA, 2015). Of the many uses purposed for UAS platforms, one use of interest for journalists is the increased potential for newsgathering and surveillance. With UAS/drone technologies becoming increasingly more available, concerns are raised about safety, privacy, context, and the integrity of news source or (conflict of interest). The researcher interviewed working journalists from four major networks with stations located in states mandated as test sites by the FAA. The journalists were asked about their concerns pertaining to the ethical uses of drone for journalistic newsgathering. The interviews reveled that with proper training, regulations, and common sense the concerns about safety, privacy, context, and conflict of interest could be moderated.
31
Jackman, Anna Hamilton. "Unmanned geographies : drone visions and visions of the drone." Thesis, University of Exeter, 2016. http://hdl.handle.net/10871/26196.
Full textAbstract:
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.
32
Vignogna, Antoniangelo. "Swarm of Drones: il futuro delle tecnologie autonome." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/20385/.
Full textAbstract:
Partendo dalla definizione di APR “aeromobile a pilotaggio remoto”, meglio conosciuto come DRONE, questo lavoro di tesi si propone di esaminare gli aspetti principali di tale tecnologia e di osservare come si è evoluta nel tempo, cominciando dalle origini fino ad arrivare alla nascita dei droni con intelligenza artificiale. Successivamente, viene posta l’attenzione sugli “Swarm of Drones”, droni autonomi capaci di volare in gruppo interagendo con l’ambiente circostante ma senza interferire tra di loro. Viene, poi, presentato il concetto di “Swarm Intelligence”, analizzando la sua precisione, affidabilità e vulnerabilità. A questo punto vengono esaminati i vari ambiti di utilizzo, partendo da quello civile e scientifico fino ad arrivare a quello militare e della sicurezza. A seguire, viene posta particolare attenzione sui futuri casi d’impiego che hanno già suscitato non poche polemiche e sugli aspetti etici che già dividono l’opinione pubblica, analizzano, infine, le possibili soluzioni per disciplinare e controllare tali tecnologie. Tra i risultati che questo lavoro di tesi ha portato alla luce spicca il fatto che opere di elevata tecnologia quali i droni emulino dei fattori biologici. Il loro sviluppo, infatti, ha avuto origine dallo studio delle dinamiche comportamentali degli insetti sociali. I ricercatori, tramite l’osservazione di questi fenomeni naturali sono riusciti a creare degli algoritmi per la risoluzione di problemi complessi che sono poi stati utilizzati per la creazione degli sciami di droni, spesso impiegati anche in azioni militari. Ovviamente, sono emersi anche i vantaggi e gli svantaggi di tali creazioni. Tra gli svantaggi emerge la costruzione e lo sviluppo delle armi autonome che fa porre l’attenzione sugli aspetti etici del loro utilizzo. Per quanto concerne i vantaggi, sicuramente l’utilizzo dei droni in campo medico potrà essere di vitale importanza per lo sviluppo di un innovativo sistema in grado di combattere le cellule tumorali.
33
Ma, Xiaoyan. "Data collection of mobile sensor networks by drones." Phd thesis, Toulouse, INPT, 2017. http://oatao.univ-toulouse.fr/19492/1/MA_Xiaoyan.pdf.
Full textAbstract:
Data collection by autonomous mobile sensor arrays can be coupled with the use of drones which provide a low-cost, easily deployable backhauling solution. These means of collection can be used to organize temporary events (sporting or cultural) or to carry out operations in difficult or hostile terrain. The aim of this thesis is to propose effective solutions for communication between both mobile sensors on the ground and on the edge-to-ground link. For this purpose, we are interested in scheduling communications, routing and access control on the sensor / drone link, the mobile collector. We propose an architecture that meets the constraints of the network. The main ones are the intermittence of the links and therefore the lack of connectivity for which solutions adapted to the networks tolerant to the deadlines are adopted. Given the limited opportunities for communication with the drone and the significant variation in the physical data rate, we proposed scheduling solutions that take account of both the contact time and the physical flow rate. Opportunistic routing is also based on these two criteria both for the selection of relay nodes and for the management of queues. We wanted to limit the overhead and propose efficient and fair solutions between mobile sensors on the ground. The proposed solutions have proved superior to conventional scheduling and routing solutions. Finally, we proposed a method of access combining a random access with contention as well as an access with reservation taking into account the aforementioned criteria. This flexible solution allows a network of dense mobile sensors to get closer to the performance obtained in an oracle mode. The proposed solutions can be implemented and applied in different application contexts for which the ground nodes are mobile or easily adapted to the case where the nodes are static.
34
Khattar, Fawzi. "Enriching Remote Labs with Computer Vision and Drones." Thesis, Pau, 2018. http://www.theses.fr/2018PAUU3031/document.
Full textAbstract:
Avec le progrès technologique, de nouvelles technologies sont en cours de développement afin de contribuer à une meilleure expérience dans le domaine de l’éducation. En particulier, les laboratoires distants constituent un moyen intéressant et pratique qui peut motiver les étudiants à apprendre. L'étudiant peut à tout moment, et de n'importe quel endroit, accéder au laboratoire distant et faire son TP (travail pratique). Malgré les nombreux avantages, les technologies à distance dans l’éducation créent une distance entre l’étudiant et l’enseignant. Les élèves peuvent avoir des difficultés à faire le TP si aucune intervention appropriée ne peut être prise pour les aider. Dans cette thèse, nous visons à enrichir un laboratoire électronique distant conçu pour les étudiants en ingénierie et appelé «LaboREM» (pour remote laboratory) de deux manières: tout d'abord, nous permettons à l'étudiant d'envoyer des commandes de haut niveau à un mini-drone disponible dans le laboratoire distant. L'objectif est d'examiner les faces-avant des instruments de mesure électroniques, à l'aide de la caméra intégrée au drone. De plus, nous autorisons la communication élève-enseignant à distance à l'aide du drone, au cas où un enseignant serait présent dans le laboratoire distant. Enfin, le drone doit revenir pour atterrir sur la plate-forme de recharge automatique des batteries, quand la mission est terminée. Nous proposons aussi un système automatique pour estimer l'état de l'étudiant (frustré / concentré..) afin de prendre les interventions appropriées pour assurer un bon déroulement du TP distant. Par exemple, si l'élève a des difficultés majeures, nous pouvons lui donner des indications ou réduire le niveau de difficulté de l’exercice. Nous proposons de faire cela en utilisant des signes visuels (estimation de la pose de la tête et analyse de l'expression faciale). De nombreuses évidences sur l'état de l'étudiant peuvent être acquises, mais elles sont incomplètes, parfois inexactes et ne couvrent pas tous les aspects de l'état de l'étudiant. C'est pourquoi nous proposons dans cette thèse de fusionner les preuves en utilisant la théorie de Dempster-Shafer qui permet la fusion de preuves incomplètesWith the technological advance, new learning technologies are being developed in order to contribute to better learning experience. In particular, remote labs constitute an interesting and a practical way that can motivate nowadays students to learn. The student can at any time, and from anywhere, access the remote lab and do his lab-work. Despite many advantages, remote technologies in education create a distance between the student and the teacher. Without the presence of a teacher, students can have difficulties, if no appropriate interventions can be taken to help them. In this thesis, we aim to enrich an existing remote electronic lab made for engineering students called “LaboREM” (for remote Laboratory) in two ways: first we enable the student to send high level commands to a mini-drone available in the remote lab facility. The objective is to examine the front panels of electronic measurement instruments, by the camera embedded on the drone. Furthermore, we allow remote student-teacher communication using the drone, in case there is a teacher present in the remote lab facility. Finally, the drone has to go back home when the mission is over to land on a platform for automatic recharge of the batteries. Second, we propose an automatic system that estimates the affective state of the student (frustrated/ confused/ flow..) in order to take appropriate interventions to ensure good learning outcomes. For example, if the student is having major difficulties we can try to give him hints or reduce the difficulty level. We propose to do this by using visual cues (head pose estimation and facial expression analysis). Many evidences on the state of the student can be acquired, however these evidences are incomplete, sometimes inaccurate, and do not cover all the aspects of the state of the student alone. This is why we propose to fuse evidences using the theory of Dempster-Shafer that allows the fusion of incomplete evidence
35
Petkova, Mia. "Deploying drones for autonomous detection of pavement distress." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106049.
Full textAbstract:
Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 57-61).
Road repair expenditure comprises a significant portion of US federal and municipal budgets. Inspection and timely maintenance are crucial preventative measures against pavement distress formation that can lower the monetary burden of repairs. Yet state of the art road inspection techniques still employ technicians to perform distress measurements manually. These methods are often too costly, time-consuming, labor-intensive and require technical expertise. Meanwhile, autonomous systems are increasingly deployed in place of human operators where tasks are monotonous and where risk of exposure to hostile conditions is great. As a time-consuming but highly repetitive task, road inspection presents a promising candidate for task automation. Automating road inspection can present significant efficiency gains that can aid agencies in responding to early signs of erosion in a timely manner. In this work, I explore the capacity of drones to perform autonomous pavement inspections. I develop a system that dispatches drones to survey an area, diagnose the presence of pavement distress in real time, and record imagery and coordinates of locations requiring repair. This system presents an alternative to on-ground inspections and tools that draw on crowd-sourced mechanisms to identify potholes. It builds on other recent technological solutions that employ remote sensing to collect and interpret data on pavement health. The results from this mission will be visualized through a web platform that can not only aid cities in consolidating a fragmented and costly data collection process, but also in minimize human error in the identification and prioritization of problem areas.
by Mia Petkova.
S.M.
36
Franke, Ulrike Esther. "The unmanned revolution : how drones are revolutionising warfare." Thesis, University of Oxford, 2018. http://ora.ox.ac.uk/objects/uuid:ab40b722-2613-478a-912c-5b06307a3435.
Full textAbstract:
Are drones revolutionary? Reading about military unmanned aerial vehicles (UAVs), or 'drones', one could be led to believe that drones are a revolutionary technology, set to fundamentally change warfare. Their fast proliferation, the association with Science Fiction, combined with the secrecy that surrounds drone use has led many to conclude that the 'Unmanned Revolution' is upon us. This thesis studies the Unmanned Revolution. It develops a framework based on the concept of the 'Revolution in Military Affairs' and applies it to the study of three countries' drone uses and integration into their armed forces. It furthermore explores the role that the designation as revolutionary has played for the integration and use of UAVs in the United States, Germany, and the United Kingdom. It shows that drones have proven their worth in military operations and compares the three countries' experiences. This thesis' detailed assessment of how the different countries have adopted drones and what implication this adoption has had, makes it a work of reference, in particular with regard to the German and British case studies. Assessing five types of changes - operational, doctrinal, strategic, organisational, and social and societal - this thesis argues that the most fundamental, and possibly revolutionary, change caused by military drones is social, namely, the fundamentally changed experience of war by combatants. In addition, it highlights country-specific changes. It concludes that the designation of drones as revolutionary has had an important impact in one country, Germany, although in the opposite way than initially expected. Namely, the intense debate around UAVs has hindered drone procurement and doctrinal thinking. In the other two countries, the Unmanned Revolution narrative was less prevalent and hence less influential. As drones are proliferating globally, I hope my thesis can be of use to policy-makers, military decision-makers as well as researchers worldwide.
37
Hoppe, Lars. "Le statut juridique des drones : aéronefs non habités." Aix-Marseille 3, 2006. http://www.theses.fr/2006AIX32073.
Full textAbstract:
Le temps faisant, de nombreuses technologies tombent en obsolescence. C’est le cas aujourd’hui des systèmes civils et militaires utilisés pour certaines missions à risque ou requérrant une forte continuité en endurance. Pour pallier ce phénomène précis, et depuis plusieurs décennies, les drones, aéronefs non habités, préprogrammés ou télé pilotés sont employés plus régulièrement et en plus grand nombre. Cette utilisation croissante, ces dix dernières années, pose un problème juridique. Le cadre existant et afférant aux aéronefs traditionnels est insuffisant car non adapté aux drones. Ce vide s’observe au niveau des législations nationales, où constructeurs et exploitants ne disposent que d’une analogie, et sur le plan international où presque aucun texte ne régule la production, la vente et l’utilisation. Il est donc difficile d’évaluer les attitudes adoptables en cas d’accidents ou d’usage non conforme comme ceux effectués par les groupes terroristes. Mais au-delà de cet aspect, le drone est un outil d’espionnage, et l’on peut se demander si les libertés individuelles ne souffriront pas. Pour l’instant il existe encore un vide à combler dans ce domaine. La question posée ici sera celle du cadre juridique lui-même, applicable aujourd’hui et pour l’avenir. Pourra-t-on simplement adapter le cadre existant aux drones, ou sera-t-il nécessaire de procéder à des ajustements technologiques et juridiques pour permettre une insertion dans l’espace aérien civil ? En définitive, et à partir de cadres existants, de recherches, d’avis sur la question, c’est un ensemble de propositions et de recommandations qui seront faitesDuring the time, a lot of technologies have become obsolete. This is especially true for some civil and military systems recently used for missions with a high risk involved or requesting a very high endurance. In order to reduce the mission risks and to increase endurance pre-programmed or piloted by distance UAVs (“unmanned aerial vehicles”) have been ensuring more and more since some decades. However, the increased use of UAVs during the last ten years does come along with some legal problems. The existing airworthiness and air traffic regulations for traditional manned air planes are insufficient and not adapted to UAVs. This empty space of clear regulations is observed at the level of national regulations where constructors and operators are only able to base their interests on an analogy to the existing regulations. On an international level, nearly no rules exist for production, selling and utilisation of UAVs. This situation does not allow evaluating how to handle problems with UAVs in the case of an accident or the abuse of UAVs which can be imagined for terrorist goals. Another aspect is the possibility to attend human individual laws, because the UAVs could also be used for spying. At this moment this empty space concerning UAV-regulations shall be filled. One of the main issues tackled in this paper is to what extent, and in which way, the current airworthiness regulations are still applicable and whether the existing regulations will remain applicable in the future. Is it possible to adapt the existing rules to UAVs or is it necessary to proceed to some technical and law adjustments to permit the insertion of UAVs in civil air space? Based on the existing rules, research and advisory opinion, detailed proposals and recommendations will be made in order to create suitable traffic regulations and to attract the reader’s interest to these problems
38
Srinivasan, Aditi(Aditi H. ). "Measuring and optimizing for network conditions on drones." Thesis, Massachusetts Institute of Technology, 2021. https://hdl.handle.net/1721.1/130715.
Full textAbstract:
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, February, 2021Cataloged from the official PDF of thesis.
Includes bibliographical references (pages 43-44).
As drones emerge as viable vehicles for mobile computation, a world where we can deploy a fleet of drones to execute tasks, like streaming real-time video, sounds less like sci-fi and more like a quickly-approaching reality. In order to take full advantage of the capability of drones, we must understand the state of network conditions in the air and determine how we can best optimize for them. Here, we contribute twofold. First, we developed and deployed a set of tools to collect network data on a flying drone and then process it to characterize the network conditions the drone experienced. Second, we developed a simulator to play back the collected network traces and help understand how to harness the power of a fleet of drones working in coordination to compensate for unstable network conditions in the air.
by Aditi Srinivasan.
M. Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
39
Hoppe, Lars. "Le statut juridique des drones aéronefs non habités /." Aix-en-Provence : Presses universitaires d'Aix-Marseille, 2008. http://catalogue.bnf.fr/ark:/12148/cb41277750k.
Full textAbstract:
Texte remanié de: Thèse de doctorat--Droit privé et public--Aix-Marseille 3, 2006.En appendice, choix de documents dont plusieurs en anglais et un en allemand. Bibliogr. p. 486-489. Webliogr. p. 490-491.
40
Pretorius, Jeanique A. "Armed drones : transparency and accountability under international law." Diss., University of Pretoria, 2014. http://hdl.handle.net/2263/46123.
Full textAbstract:
This dissertation does not challenge the legality of armed drones as weapons in themselves as it has been widely accepted that armed drones may well prove an appropriate and proportionate tool in a number of legitimate civilian and military operations. However, the use of force by States, via armed drones specifically, is the subject of ever-growing controversy and international media scrutiny. Therefore, although the legality of armed drones is not at stake, their use is.
Issues have been raised concerning jus ad bello and jus in bello. Regarding jus ad bello, experts have argued that the current armed drone strikes are being conducted on the territory of another State without that State’s consent, without the requisite UN security council authorisation and does not amount to a legitimate use of self-defence and thus amounts to a violation of State sovereignty. Jus in bello relates to the protection of people in times of armed conflict. The troubling absence of transparency and accountability in relation to States’ lethal force policies involving armed drones are just two of the issues which fall under the broader regime of jus in bello.
Another important issue which has been raised concerning armed drone strikes is which legal regime applies. In this regard, it is submitted that States are broadening the definitions of self-defence and non-international armed conflicts to suit their own narrow and short-term interests in order to apply international humanitarian law (IHL), which provides less stringent rules for when life may be taken, in situations where the higher standards provided in international human rights law (IHRL) should apply. This may eventually degrade the security of civilians globally as more and more States acquire armed drone technology, they may claim for themselves these expanded rights, and the world may become a stage in which armed drones are used to “police” situations in other States.
Concerning IHL, concerns have been raised that armed drone strikes may not always be complying with the principles of distinction, proportionality and precaution. However, since armed drones are not illegal weapons in themselves, the legality of each strike must be assessed on a case by case basis. In terms of accountability, civilian casualties must be determined and should be disclosed and there exists an
obligation to investigate and punish those responsible in respect of cases of alleged war crimes. Although an issue facing accountability for violations of IHL using drone strikes is that they are currently only being conducted in non-international armed conflicts (NIACs), in terms of which the rules are very limited, it will be shown that many of the rules pertaining to international armed conflicts (IACs) have been extended to apply to NIACs in terms of customary international law.
In terms of IHRL, which applies in times of peace and continues to apply in times of armed conflict, the right to life entails that no one may be arbitrarily deprived of life. Concerns have been raised by NGOs and legal experts alike that the current drone programmes may violate the right to life of those who are targeted. Regarding accountability under IHRL the modern concept of human rights is based on the fundamental principle that those responsible for violations must be held accountable and a failure to investigate and punish those responsible for violations of human rights constitutes a violation of that right in itself.
The controversy surrounding the use of armed drones has revealed a degree of public anguish worldwide about this method of targeted killing, which is perceived as being shrouded in secrecy and lacking not only transparency and accountability, but perhaps lacking a legitimate legal basis. This dissertation examines the mechanisms available under international law for holding those responsible for violations of IHRL and IHL involving the use of armed drones accountable. An important aspect of transparency and accountability is investigations into alleged violations and therefore the interplay between IHL and IHRL, specifically regarding the investigation of violations will also be examined to determine which standard is applicable to armed drone strikes.Mini Dissertation (LLM)--University of Pretoria, 2014.
tm2015
Public Law
LLM
Unrestricted
41
Maxa, Jean-Aimé. "Architecture de communication sécurisée d'une flotte de drones." Thesis, Toulouse 3, 2017. http://www.theses.fr/2017TOU30102/document.
Full textAbstract:
Grâce aux progrès de miniaturisation des systèmes embarqués, les mini-drones qu'on appelle en anglais Small Unmanned Aerial Vehicle (UAVs) sont apparus et permettent de réaliser des applications civiles à moindres coûts. Pour améliorer leurs performances sur des missions complexes (par exemple, pour contourner un obstacle), il est possible de déployer une flotte de drones coopératifs afin de partager les tâches entre les drones. Ce type d'opération exige un niveau élevé de coopération entre les drones et la station de contrôle. La communication entre les drones de la flotte est donc un enjeu important dans la réalisation des opérations d'une flotte de drones. Parmi les différentes architectures de communication qui existent, le réseau ad hoc s'avère être une solution efficace et prometteuse pour l'opération d'une flotte de drones. Un réseau ad hoc de drones ou UAV Ad hoc Network (UAANET) est un système autonome constitué d'une flotte de mini-drones et d'une ou plusieurs station(s) sol. Ce réseau peut être considéré comme une sous-catégorie d'un réseau ad hoc mobile (MANET) avec des caractéristiques spécifiques (vitesse importante des nœuds, modèle de mobilité spécifique, etc.) qui peuvent engendrer des baisses de performance du protocole de routage utilisé. Par ailleurs, la nature partagée du support de transmission et l'absence d'une infrastructure fixe pour vérifier l'authenticité des nœuds et des messages posent un problème de sécurité des communications. Compte tenu du caractère critique des données de charge utile échangées (en effet, un attaquant peut capturer un drone et l'utiliser à des fins malveillantes), il est important que les messages échangés soient authentifiés et qu'ils n'ont pas été modifiés ou retardés par un attaquant. L'authentification des messages est donc un des objectifs à atteindre pour garantir la sécurité du système Unmanned Aerial System (UAS) final. Diverses solutions de sécurité ont été conçues pour les réseaux sans fil, puis ont ensuite été adaptées aux réseaux MANET. Ces solutions peuvent s'étendre à des applications pour les réseaux UAANET, c'est pourquoi nous proposons dans cette thèse une architecture de communication fiable et sécurisée pour les flottes des drones. Dans ce travail, nous avons étudié en premier lieu l'application d'un réseau ad hoc mobile pour les flottes de drones. Nous examinons en particulier le comportement des protocoles de routage ad hoc existants dans un environnement UAANET. Ces solutions sont ainsi évaluées pour permettre d'identifier le protocole adéquat pour l'échange des données. Cela nous amène dans un deuxième temps, à proposer un protocole de routage intitulé Secure UAV Ad hoc routing Protocol (SUAP) qui garantit l'authentification des messages et détecte l'attaque wormhole. Cette attaque peut être définie comme un scénario dans lequel un attaquant enregistre les paquets en un point, et les rejoue à un autre point distant. L'attaque wormhole est particulièrement dangereuse lorsqu'un protocole de routage réactif (qui utilise le nombre de sauts comme métrique d'une route) est utilisé. Pour contrer cette attaque, le protocole SUAP permet d'une part d'assurer des services de livraison de donnés (une vidéo de télésurveillance) entre un drone distant et une station sol. D'autre part, le protocole SUAP possède également des partitions de sécurisation qui se basent sur une signature et une fonction de hachage pour assurer l'authentification et l'intégrité des messages. En ce qui concerne l'attaque wormhole, une technique qui consiste à corréler le nombre de sauts et la distance relative entre deux nœuds voisins est utilisée. Ce mécanisme permet de déduire la présence ou non d'un tunnel wormhole dans le réseau. En outre, cette architecture de communication est conçue avec une méthodologie de prototypage rapide avec l'utilisation d'une méthode orientée modèle pour tenir compte du besoin de validation du système UAS finalAdvances in miniaturization of embedded systems have helped to produce small Unmanned Aerial Vehicles (UAVs) with highly effective capacity. In order to improve their capability in civilian complex missions (for instance, to bypass an obstruction), it is now possible to deploy UAV swarms, in which cooperative UAVs share different tasks. This type of operations needs a high level of coordination between UAVs and Ground Control Station (GCS) through a frequent exchange of information. The communication capabilities are therefore an important objective to achieve for effective UAV swarm operations. Several communication architectures can be used to allow communication between UAVs and GCS. Ad hoc network is one of them and is an effective and promising solution for multi-UAV systems. Such a network is called UAANET (UAV Ad hoc Network) and is an autonomous system made of a UAV swarm and one or several GCS (Ground Control Station). This network can also be considered as a sub category of the well-known MANET (Mobile Ad hoc network). However, it has some specific features (such as node velocity, specific mobility model) that can impact performance of routing protocols. Furthermore, the nature of the wireless medium, along with the lack of fixed infrastructure, which is necessary to verify node and message authentication, create security breaches. Specifically, given the critical characteristic of the real-time data traffic, message authentication proves to be an important step to guarantee the security of the final UAS (composed of UAV swarm). Security of routing protocols has been widely investigated in wired networks and MANETs, but as far as we are aware, there is no previous research dealing with the security features of UAANET routing protocols. Those existing solutions can be adapted to meet UAANET requirements. With that in mind, in this thesis, we propose a secure and reliable communication architecture for a UAV swarm. In this work, the creation of UAANET has first been concieved. In order to do this, we studied the impact of existing MANET routing protocols into UAANET to assess their performance and to select the best performer as the core of our proposed secure routing protocol. Accordingly, we evaluated those existing routing protocols based on a realistic mobility model and realistic UAANET environment. Based on this first study, we created a secure routing protocol for UAANET called SUAP (Secure UAV Ad hoc routing Protocol). On the one hand, SUAP ensures routing services by finding routing paths between nodes to exchange real time traffic (remote monitoring video traffic). On the other hand, SUAP ensures message authentication and provides detection to avoid wormhole attack. The SUAP routing protocol is a reactive routing protocol using public key cryptography and hash chains. In order to detect wormhole attack, a geographical leash-based algorithm is used to estimate the correlation between the packet traveled distance and the hop count value. We also contribute to the certification of the secure communication system software through a Model-Driven Development (MDD) approach. This certification is needed to validate the operation of the UAV swarm, especially in cases where it is used to exchange control and command traffic. We used Simulink and Stateflow tools and formal verification tools of Matlab Software to design SUAP routing protocol. The evaluation of the effectiveness of SUAP has been executed both through emulation and real experiment studies. Our results show that SUAP ensures authentication and integrity security services and protects against a wormhole attack. It also provides an acceptable quality of service for real-time data exchanges
42
Dahlman, Elsa, and Karin Lagrelius. "A Game of Drones : Cyber Security in UAVs." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-259295.
Full textAbstract:
As Unmanned Aerial Vehicles (UAVs) are getting more popular and their area of use is expanding rapidly, the security aspect becomes important to investigate. This thesis is a systematic literature review that examines which type of cyber attacks are most common among attacks directed at civilian use UAVs and what consequences they bring. All cyber attacks presented in the report are categorized using the STRIDE threat model, which risk they pose and what equipment is required for the adversary to follow through with the attack. The findings are that Spoofing and Denial of Service attacks are the most common cyber attack types against UAVs and that hijacking and crashing are the most common results of the attacks. No equipment that is difficult to access is required for either of the attack types in most cases, making the result an indicator that the security state for civilian use UAVs today needs improving.Obemannade luftburna farkoster (OLF) blir mer vanliga allteftersom deras användningsområde utökas, vilket innebär att cybersäkerhetsaspekten behöver studeras. Detta arbete är en systematisk litteraturstudie som undersöker vilka typer av cyberattacker riktade mot drönare som är vanligast och vilka risker de medför. Attackerna i rapporten är kategoriserade med hjälp av metoden STRIDE samt efter vilka mål attackerna haft och vilken utrustning som krävs. Resultatet är att Spoofing och Denial of Service-attacker är vanligast och att de medför att attackeraren kan kapa eller krascha drönaren. Ingen svåråtkomlig utrustning krävs för någon av dessa attacktyper vilket indikerar att säkerhetsläget för civila drönare behöver förbättras.
43
Jiang, Ziwen M. EngMassachusetts Institute of Technology. "An autonomous landing and charging system for drones." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/123029.
Full textAbstract:
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2019
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 69-71).
A sensor-equipped consumer-grade drone can help collect data about the world. However, a drone's flight time today is measured in tens of minutes. Charging multiple drones in a network also requires manual assistance. In this thesis, we develop an integrated system with an autonomous charging pad that a drone can accurately land on. At the same time, the charging system allows the drone to land in environments with low visibility, especially during the nighttime. This research combined vision-based marker detection and flight control algorithms to create accurate landing procedures with different camera modules. Two charging platform designs of wireless and wired contact charging were built with the marker. The autonomous charging system enables a drone to land more accurately than the GPS-based navigation and gets charged without human assistance.
by Ziwen Jiang.
M. Eng.
M.Eng. Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science
44
Boukraa, Djaber. "Sur la conception, la génération de trajectoires et la commande d'un avion autonome de faible dimension." Evry-Val d'Essonne, 2006. http://www.biblio.univ-evry.fr/theses/2006/Interne/2006EVRY0027.pdf.
Full textAbstract:
Mes travaux de thèse s'inscrivent dans le cadre des activités de recherche sur les drones; ils portent sur la conception , la planification de trajectoires et la commande d'un drone type avion pour des applications civiles. Ce manuscrit est organisé en trois parties principales dont la première est consacrée au procesus de conception et à la modélisation du drone. La deuxième partie concerne la génération de trajectoires et présente deux algorithmes. Le premier permet de déterminer les conditions d'une trajectoire d'équilibre. Cet algorithme tient compte de la dynamique du véhicule et des différentes contraintes et limitations auxquelles il est soumis. Le deuxième algorithme est générateur de trajectoires basé sur la notion de trajectoires d'équilibre. Ce type de trajectoires a l'avantage de simplifier le modèle mathématique. Dans la génération des trajectoires, l'algorithme utilise une stratégie tout ou rien (Bang-Bang). Dans la dernière partie nous synthétisons une loi de commande non linéaire pour le suivi de trajectoire de référence. Cette technique est basée sur le bouclage de sortie linéarisantThis work deals with the fixed wings unmanned aerial vehicle (UAV) design, trajectories planning and control. The manuscript is organized as follows : The first part presents the process of design and the UAV modelling. In the second part we propose two algorithms. The first one allows to determining the trim configurations (state and control vectors) for different constraints and limitations to which it is subjected. The second algorithm is a trajectories planner; it uses like primitives a set of trim trajectories to reduce the complexity of the dynamical model. It generates the optimal trajectory by using bang-bang strategy. The last part of this manuscript presents a control technique based on output feedback linearization. This approach transforms the system into an equivalent linear system. This makes possible the use, after that, of any linear control approach
45
Taralle, Florent. "Guidage Gestuel pour des Robots Mobiles." Thesis, Paris Sciences et Lettres (ComUE), 2016. http://www.theses.fr/2016PSLEM096/document.
Full textAbstract:
Utiliser une interface visuo-tactile peut être une gêne lorsqu'il est nécessaire de rester mobile et conscient de son environnement. Cela s'avère particulièrement problématique en milieu hostile comme pour la commande d'un drone militaire de contact.Dans ces travaux nous faisons l'hypothèse que le geste est une modalité de commande moins contraignante puisqu'elle n'impose pas de visualiser ni de manipuler une interface physique.Ainsi, différents travaux nous ont permis de confirmer d'une part, les avantages pratiques, et d'autre part, la faisabilité technique de la commande d'un robot mobile par geste.Tout d'abord, l'étude théorique du geste a permis de construire un modèle d'interaction. Celui-ci consiste en l'activation de commandes automatiques par la réalisation de gestes sémaphoriques normalisés. Des messages sonores permettent de renseigner l'opérateur et un mécanisme de confirmation sécurise l'interaction.Ensuite, le dictionnaire des gestes à utiliser a été constitué. Pour cela, une méthodologie a été proposée et appliquée : des utilisateurs proposent puis élisent les gestes les plus pertinents.Notre modèle d'interaction et le vocabulaire gestuel ont ensuite été évalués. Une étude en laboratoire nous a permis de montrer que l'interaction gestuelle telle que proposée est simple à apprendre et utiliser et qu'elle permet de conserver une bonne conscience de l'environnement.Un système interactif complet a ensuite été développé. Son architecture a été déduite du modèle d'interaction et une brique de reconnaissance gestuelle a été mise en oeuvre. En marge des méthodes classiques, la brique proposée utilise un principe de description formelle des gestes avec une grammaire régulière.Finalement, ce système a été évalué lors de tests utilisateurs. L'évaluation par des participants militaires a confirmé notre hypothèse de la pertinence du geste pour une interaction visuellement et physiquement moins contraignanteUsing a visuo-tactil interface may be restrictive when mobility and situation awareness are required. This is particularly problematic in hostile environment as commanding a drone on a battlefield.In the work presented here, we hypothesize that gesture is a less restrictive modaility as it doesn't require to manipulate nor to look at a device.Thus we followed a user-centered approach to confirm practical advantages and technical feasibility of gestural interaction for drones.First, the theoretical study of gestures allowed us to design an interaction model. It consists on activating commands by executing standardized semaphoric gestures. Sound messages inform the user and a confirmation mechanism secure the interaction.Second, a gestural vocabulary has been built. To do so, a methodology has been proposed and used : end users elicited then elected the most appropriate gestures.Then, the interaction model and the selected gestures have been evaluated. A laboratory study showed that they are both easy to learn and use and helps situation awareness.An interactive system as then been developed. It's architecture has been deducted from our interaction model and a gesture recognizer as been buit. Different from usual methods, the recognizer we proposed is based on formal description of gestures using regular expressions.Finaly, we conducted a user testing of the proposed system. The evaluation by end-users confirmed our hypothesis that gestures are a modality less distractive both visualy and physicaly
46
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.
Full textAbstract:
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
47
Laplace, Rémi. "Applications et services DTN pour flotte collaborative de drones." Phd thesis, Université Sciences et Technologies - Bordeaux I, 2012. http://tel.archives-ouvertes.fr/tel-00795890.
Full textAbstract:
Les travaux présentés dans cette thèse effectuée au LaBRI portent sur la mise en place d'une flotte de drones et le portage sur celle-ci d'applications collaboratives distribuées utilisant des communications asynchrones non sûres. Ces applications sont formalisées grâce au modèle de réétiquetage de graphes Asynchronous Dynamicity Aware Graph Relabeling System (ADAGRS) que nous proposons. Au delà des contributions théoriques, ces travaux ont débouché sur la mise en place du démonstrateur CARUS dans lequel cinq drones se partagent la surveillance d'une grille de 15 points d'incidents potentiels (au sol). Lorsqu'un drone détecte un incident, il s'en rapproche pour le traiter. Le reste de la flotte doit alors prendre en charge les points que ce drone ne traite plus.Les réorganisations nécessaires de la flotte se font en totale autonomie vis-à-vis du sol et sous hypothèse de perte éventuelle de drones et de messages.
48
Wikström, Anders. "Resource allocation of drones flown in a simulated environment." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-105379.
Full textAbstract:
In this report we compare three different assignment algorithms in how they can be used to assign a set of drones to get to a set of goal locations in an as resource efficient way as possible. An experiment is set up to compare how these algorithms perform in a somewhat realistic simulated environment. The Robot Operating system (ROS) is used to create the experimental environment. We found that by introducing a threshold for the Hungarian algorithm we could reduce the total time it takes to complete the problem while only sightly increasing total distance traversed by the drones.
49
Damien, Eynard. "Capteur de stéréovision hybride pour la navigation des drones." Phd thesis, Université de Picardie Jules Verne, 2011. http://tel.archives-ouvertes.fr/tel-00652615.
Full textAbstract:
La connaissance de l'attitude, de l'altitude, de la segmentation du sol et du mouvement est essentielle pour la navigation d'un drone, en particulier durant les phases critiques de décollage et d'atterrissage. Dans ce travail de thèse, nous présentons un système stéréoscopique hybride composé d'une caméra fisheye et d'une caméra perspective pour estimer les paramètres de navigation d'un drone. À partir de ce capteur, une approche systémique est proposée. Contrairement aux méthodes classiques de stéréovision basées sur l'appariement de primitives, nous proposons des méthodes qui évitent toute mise en correspondance entre les vues hybrides. Une technique de plane-sweeping est suggérée pour déterminer l'altitude et détecter le plan du sol. La rotation et la translation du mouvement sont ensuite découplés : la vue fisheye contribue à évaluer l'attitude et l'orientation tandis que la vue perspective contribue à apporter l'échelle métrique de la translation. Le mouvement peut ainsi être estimé de façon robuste et à l'échelle métrique grâce à la connaissance de l'altitude. Cette méthode repose sur l'algorithme des 2-points complété par un filtre de Kalman. Nous proposons des approches robustes, temps réel et précises, exclusivement basées sur la vision avec une implémentation C++. Bien que cette approche évite l'utilisation de capteurs autres que les caméras, ce système peut également être appuyé par une centrale inertielle.
50
Hammer, Strand Mads Peter. "Phase detection for attitude determination In quadrotors or 'drones'." Thesis, Mittuniversitetet, Avdelningen för elektronikkonstruktion, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:miun:diva-29677.
Full textAbstract:
This thesis aims to prove that it is possible to use phase difference detection as a means of determining an objects attitude in relation to a signal source. A correlation between orientation and phase-detector output is proved, and it is concluded that with further work on algorithms and signal filtering, an attitude determination system could be made. As Quadrotors or ’drones’ are controlled by a system that could benefit by another reference system, accuracy of the phase-detector system is compared with the navigation systems currently used in drones.