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Dissertations / Theses on the topic 'Non-mobile'

Author: Grafiati
Published: 19 February 2023

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1

Fraulini, Katia. "Riconoscimento vocale mobile per non udenti." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2014. http://amslaurea.unibo.it/7216/.

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2

Walter, Michael [Verfasser]. "Scattering in non-stationary mobile-to-mobile communications channels / Michael Walter." Ulm : Universität Ulm, 2016. http://d-nb.info/1099086795/34.

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3

Forsberg, Johan. "Mobile robot navigation using non-contact sensors." Doctoral thesis, Luleå tekniska universitet, EISLAB, 1998. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-26184.

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This thesis concerns localization and control of mobile robots using range measurements from optronic sensors, in particular scanning time-of-flight lasers. The thesis covers the localization algorithms, on-line sensor calibration and tele-operation for semi-autonomous control of mobile robots. A real-world application of an autonomous mobile robot equipped with an arm for surface finishing operations is also developed. The Range Weighted Hough/Radon transform is introduced for robust detection of walls and extraction of geometric parameters. Thus a robot can automatically create a map of its environment and update it using an extended Kalman filter. The required association of observations with the map features uses a Bayesian classifier. New walls are added to the map as they are observed and classified as new. Navigation is performed with typical fluctuations of 1 cm and 1 degree (standard deviation) at speeds of 0.5 m/s. The navigation is robust even in cluttered environments and with several persons moving around. Sheet-of-light range cameras have also been tested for mobile robot navigation. A calibration algorithm for simultaneous calibration and localization integrates the calibration into the localization system. The only absolute reference needed by the calibration algorithm is the relative motion of the robot. The resulting system performs calibration during normal operation without lowering the localization performance. The algorithms above were applied to two applications: - A mobile robot capable of autonomously spray-plastering the walls and ceiling of a room. The prototype was successfully tested at construction sites. - A semi-autonomous robot tele-operated using tele-commands. The tele- commands include navigation along corridors, through open doors, following walking persons and automatic map generation of the remote site.

Godkänd; 1998; 20061122 (haneit)

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4

Cheung, Daniel Chi Man. "Mobile telephone system and non-wire line network /." Online version of thesis, 1985. http://hdl.handle.net/1850/9171.

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5

Nadrag, Paul. "Faciliter la téléopération d'un robot mobile non-holonome." Phd thesis, Université d'Evry-Val d'Essonne, 2011. http://tel.archives-ouvertes.fr/tel-00875810.

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Le maintien de personnes âgées au domicile le plus longtemps possible est censé apporter une réponse à la croissance de l'espérance de vie en occident et a des coûts toujours croissants pour la société. ce travail de thèse a été réalisé dans le cadre du projet CompanionAble, qui vise a fournir une solution intégrée maison intelligente - robot aux personnes âgées, vivant seules. L'objectif est de maintenir un confort en fin de vie à un niveau élevé et à traiter les situations dangereuses pour elles, comme les chutes, avant que les conséquences ne deviennent trop importantes. Les éléments qui m'intéressent dans ce cadre sont le robot et l'opérateur, qui se trouve à l'extérieur de la maison, et qui peut téléopérer le robot en vue d'interagir avec la personne âgée, soit pour des activités ludiques (visioconférence, exercices de stimulation cognitive), soit pour des situations d'urgence (chute, perte de connaissance... de la personne âgée). Pour maintenir les coûts du système à un niveau raisonnable, on a envisagé l'utilisation de l'internet public pour la connexion entre le site maître (où se trouve l'opérateur) et le site esclave (où se trouve le robot). Une autre spécificité du notre système est le fait que les utilisateurs ne sont pas des spécialistes de la téléopération. J'ai donc cherché à faciliter la tâche de pilotage du robot, dans ce contexte spécifique. Du côté de l'interface, on a cherché à aider l'opérateur traitant les problèmes liés aux délais de transmission (possibles à cause de l'utilisation de l'internet) et lui donner la possibilité d'utiliser une interface écologique, qui utilise des éléments de réalité augmentée. Du côté du robot, on a rajouté un nouveau mode de commande, semi-autonome, pour que l'opérateur soit plus à l'aise pendant qu'il le déplace. Pour finir, on a examiné la possibilité de passer d'un mode de commande à un autre, pour que l'opérateur soit le moins affecté que possible par des perturbations et que les performances du système restent acceptables. Les solutions proposées ont été implantée sur un système réel et évaluées au laboratoire et en situations réelles dans le cadre du projet européen CompanionAble.
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6

Karatzouni, Sevasti. "Non-intrusive continuous user authentication for mobile devices." Thesis, University of Plymouth, 2014. http://hdl.handle.net/10026.1/3225.

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The modern mobile device has become an everyday tool for users and business. Technological advancements in the device itself and the networks that connect them have enabled a range of services and data access which have introduced a subsequent increased security risk. Given the latter, the security requirements need to be re-evaluated and authentication is a key countermeasure in this regard. However, it has traditionally been poorly served and would benefit from research to better understand how authentication can be provided to establish sufficient trust. This thesis investigates the security requirements of mobile devices through literature as well as acquiring the user’s perspectives. Given the findings it proposes biometric authentication as a means to establish a more trustworthy approach to user authentication and considers the applicability and topology considerations. Given the different risk and requirements, an authentication framework that offers transparent and continuous is developed. A thorough end-user evaluation of the model demonstrates many positive aspects of transparent authentication. The technical evaluation however, does raise a number of operational challenges that are difficult to achieve in a practical deployment. The research continues to model and simulate the operation of the framework in an controlled environment seeking to identify and correlate the key attributes of the system. Based upon these results and a number of novel adaptations are proposed to overcome the operational challenges and improve upon the impostor detection rate. The new approach to the framework simplifies the approach significantly and improves upon the security of the system, whilst maintaining an acceptable level of usability.
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7

Ibrahim, Fadi. "Commande prédictive non linéaire d'un lit mobile simulé." Grenoble INPG, 2006. https://tel.archives-ouvertes.fr/tel-00168334.

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Dans ce travail, une nouvelle stratégie de commande prédictive non linéaire est proposée pour la commande d'un procédé de séparation chromatographique dit « le lit mobile simulé ». Ce procédé permet de séparer deux composants se trouvant initialement mélangés dans une charge liquide. L'objectif de la commande est de faire en sorte que les puretés obtenues correspondent aux puretés désirées tout en minimisant certains critères économiques (réduire la consommation du solvant, augmenter de l'efficacité et respecter les dates de livraison). L'optimisation des critères non convexes associée à la commande prédictive non linéaire est distribuée dans le temps afin de pouvoir appliquer la commande en ligne. L'algorithme développé permet de réaliser les puretés désirées tout en état très flexible quant aux critères économiques à minimiser
Ln this work, a new strategy of nonlinear predictive control is proposed for the control of a chromatographic separation process called « the simulated moving bed ». This process is destined for the separation a mixture of two fractions. The objective of the control is achieving the desired product purities while minimizing some economical cost functions (achieving low cost, improving efficiency, respecting deadlines). The key feature of the proposed scheme is that the non convex optimization associated to the nonlinear predictive control scheme is distributed on the plant life time. Furthermore, the economical cost functions may be easily handled and online changed according the production scheduling context
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8

Taïx, Michel. "Planification de mouvement pour robot mobile non-holonome." Toulouse 3, 1991. http://www.theses.fr/1991TOU30065.

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Les travaux exposes dans cette these traitent de la planification de trajectoires sans collision pour un robot mobile. L'etude prend en compte la contrainte cinematique qui impose au robot d'avoir une direction toujours tangente a sa trajectoire (cas d'une voiture): une telle contrainte est dite non-holonome. Cette etude se base sur la propriete de controlabilite du systeme: s'il existe une solution au probleme holonome, c'est-a-dire sans prise en compte de la contrainte cinematique, qui donne une trajectoire sans collision ni contact alors il existe une solution pour le systeme non-holonome. Dans un premier temps, on etudie une structure de courbes (courbes de reeds et shepp) qui permet d'obtenir les plus courts chemins pour un point dont le mouvement est contraint par un rayon de giration minimum. La longueur de ces courbes induit une metrique particuliere dans l'espace des configurations. On prouve une propriete topologique permettant d'utiliser les courbes de reeds et shepp pour obtenir une trajectoire faisable a partir de n'importe quelle trajectoire sans collision ni contact pour le systeme holonome associe. Le schema d'algorithme qui en decoule est alors instantie a partir d'un planificateur geometrique base sur la construction exacte de la frontiere de l'espace des configurations libres qui permet de resoudre le probleme holonome. Le planificateur iteratif non-holonome general est alors decrit. Enfin nous montrons le lien etroit existant entre la planification geometrique d'une trajectoire et le controle d'execution de cette trajectoire. Pour cela nous introduisons une methode originale d'evitement d'obstacle prenant en compte la contrainte cinematique et se basant sur des informations proximetriques. De nombreux exemples illustrent les differentes methodes de planification proposees
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9

Rohmer, Kai Verfasser], and Thorsten [Akademischer Betreuer] [Grosch. "Coherent augmented reality rendering for mobile and non-mobile devices / Kai Rohmer ; Betreuer: Thorsten Grosch." Clausthal-Zellerfeld : Technische Universität Clausthal, 2019. http://d-nb.info/1231363460/34.

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10

Friedrich, Markus. "Design of miniature mobile robots for non-destructive evaluation." Thesis, University of Strathclyde, 2007. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=24265.

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Small, high performance and low cost inspection vehicles, working together as teams of autonomous agents, are well suited to remote inspection tasks in areas that are only accessible through narrow passageways or are hazardous for humans. In particular, the evaluation of complex infrastructures that consist of numerous components with small structural dimensions motivate the application of robotic micro systems for inspection and on-site manipulation. This thesis describes the development of a synergetic multi-robot inspection system for Non-Destructive evaluation (NDE) of engineering structures, enabling magnetic (flux leakage and eddy current), ultrasonic and visual techniques in a complementary fashion. Particular emphasis is placed on the design of the miniature autonomous climbing vehicles, the Eddy Current and Magnetic Flux Leakage payload, the positioning and host system and the fusion of the different NDE data.
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11

Perrier, Clotilde. "Génération de mouvements pour un manipulateur mobile non-holonome." Montpellier 2, 1998. http://www.theses.fr/1998MON20109.

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L'evolution de la robotique ces dernieres annees s'est tournee vers des systemes presentant a la fois des degres de mobilite et de manipulation. De tels systemes sont appeles manipulateurs mobiles. La tache a realiser dans le cadre de cette these est une tache de positionnement de l'extremite de l'effecteur, - en position et en orientation -, en vue de saisir un objet. Le systeme considere, compose d'une part d'un vehicule de type voiture presentant une contrainte de non-holonomie et d'autre part d'un bras manipulateur, est redondant par rapport a la tache a realiser. Deux approches de generation de mouvements sont presentees. La premiere, dite locale tente a chaque instant de se rapprocher du but sans contrainte a priori sur le type de trajectoire finale obtenue. La seconde approche, dite globale, considere la trajectoire globale du systeme et calcule les variables articulaires telles que la trajectoire globale soit realisable. Apres avoir obtenu une sequence de points de passage et de variables articulaires du generateur cite ci-dessus, la question du suivi de trajectoire a l'aide du prototype de manipulateur mobile du lirmm est posee. Un asservissement dans l'espace articulaire est presente, accompagne de resultats experimentaux. Un asservissement dans les espaces de calcul est egalement propose et discute.
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12

Johnson, Anthony Morris. "MobileEssence : a mobile non-invasive platform for meeting notes capture." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/54627.

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Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, September 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 64-70).
MobileEssence provides a light-weight, ubiquitous meeting capture tool which affords the user the ability to capture all important information, including recording what was just said, who said it, and what is being said at the moment. Traditional methods and tools for meeting information recording have often focused on the meeting-room as the nexus for useful information exchange. Instead, MobileEssence uses the mobile phone as a ubiquitous interface allowing notes to be captured anytime, anywhere while not requiring the user to change their focus. MobileEssence allows users to only record the important information and annotate this in real-time, instead of only allowing post-processing. We show that MobileEssence produces more effective meetings and post-meeting collaborations: User studies showed that users are not distracted by MobileEssence during meetings when compared to pen and pencil, and that they are better able to recollect events which were discussed during meetings.
by Anthony Morris Johnson.
S.M.
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13

Rodwell, Philip Maurice. "Non-intrusive subscriber authentication for next generation mobile communication systems." Thesis, University of Plymouth, 2006. http://hdl.handle.net/10026.1/2072.

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The last decade has witnessed massive growth in both the technological development, and the consumer adoption of mobile devices such as mobile handsets and PDAs. The recent introduction of wideband mobile networks has enabled the deployment of new services with access to traditionally well protected personal data, such as banking details or medical records. Secure user access to this data has however remained a function of the mobile device's authentication system, which is only protected from masquerade abuse by the traditional PIN, originally designed to protect against telephony abuse. This thesis presents novel research in relation to advanced subscriber authentication for mobile devices. The research began by assessing the threat of masquerade attacks on such devices by way of a survey of end users. This revealed that the current methods of mobile authentication remain extensively unused, leaving terminals highly vulnerable to masquerade attack. Further investigation revealed that, in the context of the more advanced wideband enabled services, users are receptive to many advanced authentication techniques and principles, including the discipline of biometrics which naturally lends itself to the area of advanced subscriber based authentication. To address the requirement for a more personal authentication capable of being applied in a continuous context, a novel non-intrusive biometric authentication technique was conceived, drawn from the discrete disciplines of biometrics and Auditory Evoked Responses. The technique forms a hybrid multi-modal biometric where variations in the behavioural stimulus of the human voice (due to the propagation effects of acoustic waves within the human head), are used to verify the identity of a user. The resulting approach is known as the Head Authentication Technique (HAT). Evaluation of the HAT authentication process is realised in two stages. Firstly, the generic authentication procedures of registration and verification are automated within a prototype implementation. Secondly, a HAT demonstrator is used to evaluate the authentication process through a series of experimental trials involving a representative user community. The results from the trials confirm that mUltiple HAT samples from the same user exhibit a high degree of correlation, yet samples between users exhibit a high degree of discrepancy. Statistical analysis of the prototypes performance realised early system error rates of: FNMR = 6% and FMR =:= 0.025%. The results clearly demonstrate the authentication capabilities of this novel biometric approach and the contribution this new work can make to the protection of subscriber data in next generation mobile networks. iii
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14

Allayiotis, Elias. "Characterization of Mobile Web Quality of Experience using a non-intrusive, context-aware, mobile-to-cloud system approach." Thesis, University of Central Lancashire, 2017. http://clok.uclan.ac.uk/20734/.

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This study presents a modelling approach for quantifying the Mobile Web Quality of Experience (MWQoE). It builds on current QoE and Web QoE research, and by fusing together data that is available on modern mobile devices, constructs a novel MWQoE model that is user-centered, context-aware and non-intrusive (does not depend on user feedback). This study identifies the factors which affect Web QoE and measures their effect on it in mobile scenarios. Moreover, this study explores scenarios in which Web QoE can be effectively characterized and enhanced, delivering a novel Mobile-to-Cloud system for the continuous evaluation of MWQoE in real-world environments. The significance of defining and evaluating MWQoE is identified. Specifically, MWQoE can be used by online providers to uncover customer insights and illustrate how the experience in using their products is perceived by their customers. In fact, MWQoE can be considered an important key performance indicator showing the technology acceptance or satisfiability of customers for a specific web product or service.
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15

Scheuer, Alexis. "Planification de chemins à courbure continue pour robot mobile non-holonome." Phd thesis, Grenoble INPG, 1998. http://tel.archives-ouvertes.fr/tel-00001746.

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Le travail présenté dans cette thèse vise à améliorer la planification de chemins pour un robot similaire à une voiture. Ainsi, seul l'aspect géométrique du mouvement est considéré (les vitesses sont ignorées) et le robot est soumis à deux contraintes qui limitent ses déplacements : sa direction instantanée de déplacement reste parallèle à son axe principal, et son rayon de braquage est minoré. Les travaux antérieurs sur ce sujet n'ont donné lieu qu'à des solutions produisant des chemins (dits chemins de Dubins) formés d'arcs de cercles de rayon minimum reliés tangentiellement par des segments. Ces chemins sont localement optimaux, mais la discontinuité de leur courbure ne permet pas à un véhicule de les suivre correctement (le véhicule doit s'arrêter à chaque discontinuité pour réorienter ses roues directrices). C'est pourquoi on a développé une approche qui permet de produire des chemins ayant un profil de courbure continu et une dérivée bornée de la courbure (cette dernière contrainte correspond au fait que la vitesse de rotation du volant du véhicule est elle aussi bornée). La contribution majeure de cette thèse est donc de définir des chemins respectant ces contrain tes, tout en étant très proches des chemins de Dubins localement optimaux. Ce mémoire de thèse est constitué de trois parties. La première s'appuie sur une analyse de l'existant en matière de planification de chemins en robotique mobile, pour fixer précisément les caractéristiques du problème de planification abordé (en termes de commandabilité du robot et de nature des chemins optimaux) et pour justifier l'approche choisie. La seconde partie du mémoire de thèse présente une première approche de planification de chemins à courbure continue, dans laquelle seule la contrainte de continuité de la courbure est ajoutée au problème classique de planification de chemins sans manoeuvre. La dernière partie du mémoire de thèse reprend dans son intégralité le problème énoncé dans la première partie, et propose une solution sous-optimale. Dans les parties deux et trois, un planificateur local (non complet) est d'abord défini, puis un planificateur global (complet) est construit à partir de ce planificateur local. Les résultats obtenus sont illustrés par des expérimentations en simulation et sur véhicule.
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16

Balagtas-Fernandez, Florence. "Easing the Creation Process of Mobile Applications for Non-Technical Users." Diss., lmu, 2011. http://nbn-resolving.de/urn:nbn:de:bvb:19-126759.

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17

Rathinam, Karthikeyan Siddharth. "Mobile Payments - A Comparative study between European and Non-European Market." Thesis, KTH, Skolan för informations- och kommunikationsteknik (ICT), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-143495.

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Mobile Payments’ is a new technological mantra not only for researchers, innovators, company executives, but also for every household across the globe. True to the statement, Mobile payments are in the verge of taking a giant leap towards a cashless society. Accordingly, mobile payment services are still followed in both developed and developing countries. In the developing economies, mobile based payment services has reached a pinnacle of success in a short span of time due to the favouring conditions such as very few banked people with more mobile phone penetration etc. But in the developed markets such as Europe, USA etc., with more advanced technology and payment solutions find it difficult to reach a steady growth. In this thesis, the main objective is to find out the factors that are hindering the uptake of mobile payments in European market. This is done by comparing the Non-European market with the European one and analysing the factors for success in the developing market and this success factors are considered for the European market which can be the lessons learnt for a better uptake of mobile payments. For this, four countries are selected in each of the markets. This analysis is made by diving into two phases. In the first phase, different cases of mobile payment present in both the markets are taken and analysed. In the second phase, factors considered for influencing the success of mobile payments such as Socio-economic conditions, Technology and Hardware used, Actors involvement, Pricing, Regulatory issues and Consumer acceptance are collected, analysed for both the markets. The analysis is done for two phases and for each phase a separate framework is used. Once the analyses are done, a summary of the results are produced. Based upon the summary of both the phases, the overlying factors causing success in Non-European market are identified and explained. Then they are compared with the European market to identify where certain suitable lessons can be learnt from the developing market. The identified factors are considered as the lessons to be learnt for a big break in mobile payment industry. In the future work section, Contactless mobile payments (CMP) is explained and their future scope in mobile payment ecosystem is discussed.
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18

Lonmo, Victor. "Dynamics based control of a mobile robot with non-holonomic constraints." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1996. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp04/mq26344.pdf.

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19

Smith, Michael. "Non-parametric workspace modelling for mobile robots using push broom lasers." Thesis, University of Oxford, 2011. http://ora.ox.ac.uk/objects/uuid:50224eb9-73e8-4c8a-b8c5-18360d11e21b.

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This thesis is about the intelligent compression of large 3D point cloud datasets. The non-parametric method that we describe simultaneously generates a continuous representation of the workspace surfaces from discrete laser samples and decimates the dataset, retaining only locally salient samples. Our framework attains decimation factors in excess of two orders of magnitude without significant degradation in fidelity. The work presented here has a specific focus on gathering and processing laser measurements taken from a moving platform in outdoor workspaces. We introduce a somewhat unusual parameterisation of the problem and look to Gaussian Processes as the fundamental machinery in our processing pipeline. Our system compresses laser data in a fashion that is naturally sympathetic to the underlying structure and complexity of the workspace. In geometrically complex areas, compression is lower than that in geometrically bland areas. We focus on this property in detail and it leads us well beyond a simple application of non-parametric techniques. Indeed, towards the end of the thesis we develop a non-stationary GP framework whereby our regression model adapts to the local workspace complexity. Throughout we construct our algorithms so that they may be efficiently implemented. In addition, we present a detailed analysis of the proposed system and investigate model parameters, metric errors and data compression rates. Finally, we note that this work is predicated on a substantial amount of robotics engineering which has allowed us to produce a high quality, peer reviewed, dataset - the first of its kind.
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20

Li, Bin. "Who Use Mobile Payments: Fintech Potential in Users and Non-users." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1555410258173169.

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21

Fraichard, Thierry. "Planification de mouvement pour mobile non-holonome en espace de travail dynamique." Phd thesis, Grenoble INPG, 1992. http://tel.archives-ouvertes.fr/tel-00341388.

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Le probleme aborde dans ce mémoire est celui de la planification des mouvements d'un mobile a soumis a des contraintes cinématiques et dynamiques et se déplaçant dans un espace de travail dynamique w. Ce mémoire défend la thèse selon laquelle le probleme considère, connu pour être complexe, peut entre résolu de façon efficace lorsqu'il existe une structuration de w naturelle pour a, i.e. Lorsqu'il est possible de structurer w en un ensemble de zones libres a l'intérieur desquelles a peut se déplacer. Dans ce cas, le probleme peut être aborde suivant deux directions complémentaires: 1) la planification de chemin qui prend en compte les contraintes cinématiques de a et les obstacles fixes de w, et; 2) la planification de trajectoire qui prend en compte les contraintes dynamiques de a et les obstacles mobiles de w. Ce mémoire traite le cas d'une voiture dans le réseau routier. Les zones libres sont alors définies par les voies de circulation. A est soumis a une contrainte cinématique non-holonome qui l'oblige a se déplacer dans une direction perpendiculaire a l'axe de ses roues. De plus, le rayon de braquage, l'accélération et la vitesse de a sont limites. Nous commençons par présenter deux techniques de resolution propres a chacune des deux planifications mentionnées ci-dessus et bien adaptées au contexte dans lequel nous nous plaçons. Puis, nous montrons comment intégrer ces deux techniques au sein d'un système de planification de mouvement qui permet de résoudre efficacement le probleme considéré
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22

Lhomme-Desages, Damien. "Commande d'un robot mobile rapide à roues non directionnelles sur sol naturel." Phd thesis, Université Pierre et Marie Curie - Paris VI, 2008. http://tel.archives-ouvertes.fr/tel-00812508.

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Un robot mobile se déplaçant à une vitesse élevée sur un sol naturel est soumis à des phénomènes de glissement et de dérapage. La maîtrise des déplacements à haute vitesse en environnement naturel peut devenir un enjeu important pour des applications robotiques dans l'exploration terrestre, spatiale, ou dans l'agriculture. Durant la thèse, nous avons développé un modèle d'interaction semi-empirique entre les roues et le sol, qui a été ensuite intégré à une nouvelle méthode de commande du système. L'objectif global est la conception d'une architecture de commande pour le suivi de trajectoire ou de chemin, en tenant compte de la dynamique et des glissements. Cette architecture de commande a été validée dans un environnement de simulation dynamique, dans lequel nous avons implémenté le modèle de contact. Une plateforme robotique a été construite et instrumentée afin de démontrer expérimentalement la pertinence de cette approche. En particulier, un capteur de vitesse absolue basé sur l'effet Doppler a été développé. Il est ainsi possible de mesurer le glissement des roues par rapport au sol et de le réguler. Une procédure d'estimation in situ des paramètres du modèle de contact a également été validée.
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23

Tang, Hongyan. "Non-mechanical phase shifting techniques for semi-smart mobile basestation antenna systems." Thesis, Queen Mary, University of London, 2007. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.498269.

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24

Linarès, Hervé. "Modélisation d'environnement par dérivation non entière et commande robuste d'un robot mobile." Bordeaux 1, 1996. http://www.theses.fr/1996BOR10540.

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La these developpe une strategie de generation de trajectoire avec loi horaire qui, en utilisant un potentiel generalise, permet de tenir compte du risque que presente chaque obstacle. Puis, elle presente une methode pour obtenir directement un mouvement brownien fractionnaire a partir d'un bruit blanc par integration non entiere. L'extension a deux dimensions montre la possibilite d'obtention d'un terrain fractal. Elle propose ensuite un modele simulant le comportement dynamique en trois dimensions d'un robot qui tient compte des glissements ainsi qu'une methode de linearisation de ce modele autour de plusieurs points de fonctionnement correspondant a des vitesses non nulles. Enfin, la commande crone du modele soumis aux perturbations d'un terrain fractal est synthetisee et testee en simulation
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Lhomme-Desages, Damien. "Commande d’un robot mobile rapide à roues non directionnelles sur sol naturel." Paris 6, 2008. https://tel.archives-ouvertes.fr/tel-00812508.

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Un robot mobile se déplaçant à une vitesse élevée sur un sol naturel est soumis à des phénomènes de glissement et de dérapage. La maîtrise des déplacements à haute vitesse en environnement naturel peut devenir un enjeu important pour des applications robotiques dans l'exploration terrestre, spatiale, ou dans l'agriculture. Durant la thèse, nous avons développé un modèle d'interaction semi-empirique entre les roues et le sol, qui a été ensuite intégré à une nouvelle méthode de commande du système. L'objectif global est la conception d'une architecture de commande pour le suivi de trajectoire ou de chemin, en tenant compte de la dynamique et des glissements. Cette architecture de commande a été validée dans un environnement de simulation dynamique, dans lequel nous avons implémenté le modèle de contact. Une plateforme robotique a été construite et instrumentée afin de démontrer expérimentalement la pertinence de cette approche. En particulier, un capteur de vitesse absolue basé sur l'effet Doppler a été développé. Il est ainsi possible de mesurer le glissement des roues par rapport au sol et de le réguler. Une procédure d'estimation in situ des paramètres du modèle de contact a également été validée.
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Feddaoui-Papin, Aïda. "Observateurs non linéaires pour les systèmes à mesures asynchrones : application robotique mobile." Electronic Thesis or Diss., Toulon, 2020. http://www.theses.fr/2020TOUL0008.

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L’étude de l’observabilité et la synthèse d’observateur ont pour vocation la reconstruction de l’état d’un système à l’aide des mesures reçues. Ces dernières n’apportent généralement qu’une connaissance partielle de cet état. Le filtre de Kalman est un observateur particulièrement étudié et employé. Plusieurs versions existent, adaptées aux systèmes linéaires ou non linéaires, en version discrète, continue voire continue-discrète, dans le cadre stochastique ou déterministe. Ces observateurs reposent cependant sur l’hypothèse que les mesures fournies par les capteurs sont synchrones. Or, cette supposition est assez éloignée de la réalité physique, notamment des problèmes étudiés en robotique.Nous proposons dans ce manuscrit un observateur adapté aux systèmes non linéaires continusdiscrets asynchrones. Nous entendons par cela des systèmes dont l’état est continu et les sorties échantillonnées à des fréquences différentes. En nous basant sur le Filtre de Kalman Etendu grand-gain existant pour les systèmes non linéaires continus et continus-discrets synchrones, nous développons un formalisme et construisons un observateur en adoptant un point de vue déterministe. Sa convergence est prouvée analytiquement et illustrée par une application sur un système robotique mobile
The aim of observability studies and observer design is to reconstruct the state of a dynamic system using the measurements available. In particular, the Kalman filter algorithm is considered. This widely-studied and used observer exists in several versions : for linear or nonlinear systems, for discrete, continuous or even continuous-discrete time, in the stochastic or deterministic framework. However, Most of the time, these observers are used with the assumption that the measurements provided by the sensors are synchronous. Most of the time, this assumption can be far from the physical reality, in particular when dealing with robotic systems. In this memoir, an observer tailored for nonlinear continuous-discrete asynchronous systems is presented. These systems are made of a continuous state equation and a multirate sampled output equation. Based on the existing high-gain Extended Kalman Filter for continuous nonlinear systems and continuous-discrete nonlinear systems with synchronous outputs, we develop an ad-hoc formalism and design an observer with a deterministic point of view. Its convergence is proven analytically and illustrated by an application on a mobile robotic system
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Junghahn, Erik, Robert Paananen, Leonora Stiernborg, and Fredrik Yngve. "Mobile Application as a Way for Non-Diabetics to Visualize Blood Sugar." Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-445374.

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The amount of blood sugar related diseases is rising in Sweden andaround the world. It is estimated that over 15% of the Swedish population has genetically an increased risk to develop type 2 diabetes. In addition, bad eating and poor exercise habits increase the risk of developing diabetes as well. To help solve this growing problem a smartphone application have been developed together with the company Quantify Bio. The goal was to, with the help of this app, give people a better understanding of how their blood sugar values are affected by their diet and exercise. The resulting prototype app can read values from a blood sugar sensor that the user wears and plot the values on a graph. The user can also input what they eat and how they exercise and have that visualized on the blood sugar graph. With this data the users have the possibility to draw conclusions about how their blood sugar was affected after a meal or exercise session and with that change their routines if needed. Evaluation of the results showed that the app is stable and well-functioning but that the user experience can be improved. No evaluation has been done to confirm that the app helps reduce risk of blood sugar related diseases.
Antalet blodsockerrelaterade sjukdomar ökar i Sverige och runt om i världen. Det uppskattas att över 15% av den svenska befolkningen har genetiskt en ökad risk att drabbas av typ 2-diabetes. Utöver det så bidrar även dåliga mat- och träningsvanor till ökad risk att drabbas av typ 2-diabetes. För att bidra till en lösning på detta växande problem har en applikation för smartmobiler tillsammans med företaget Quantify Bio tagits fram. Målet var att med hjälp av appen ge användarna en bättre förståelse för hur deras blodsocker förändras utifrån vad de äter och hur de tränar. Resultatet blev en fungerande prototyp som kan läsa av värden från en glukos monitor som användaren bär på sin arm och därefter visualisera värdena i en graf. Användaren kan även mata in vad denne äter och hur denne tränar för att få även det visualiserat i grafen. Med denna data har användarna möjlighet att göra sin egen bedömning av hur blodsockret reagerar på måltiden eller träningspasset och utifrån den bedömningen göra förändringar i deras rutiner om det behövs. Utvärderingen av applikationen resulterade i att det är en väl fungerande och stabil applikation men att användargränssnittet kan förbättras. Ingen utvärdering har skett kring ifall applikationen faktiskt hjälper till att sänka användarens risk att drabbas av blodsockerrelaterade sjukdomar.
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Fraichard, Thierry Laugier Christian Verjus Jean-Pierre. "Planification de mouvement pour mobile non-holonome en espace de travail dynamique." S.l. : Université Grenoble 1, 2008. http://tel.archives-ouvertes.fr/tel-00341388.

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Polychroniou, Anna. "The SSPNet-Mobile Corpus : from the detection of non-verbal cues to the inference of social behaviour during mobile phone conversations." Thesis, University of Glasgow, 2014. http://theses.gla.ac.uk/5686/.

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Mobile phones are one of the main channels of communication in contemporary society. However, the effect of the mobile phone on both the process of and, also, the non-verbal behaviours used during conversations mediated by this technology, remain poorly understood. This thesis aims to investigate the role of the phone on the negotiation process as well as, the automatic analysis of non-verbal behavioural cues during conversations using mobile telephones, by following the Social Signal Processing approach. The work in this thesis includes the collection of a corpus of 60 mobile phone conversations involving 120 subjects, development of methods for the detection of non-verbal behavioural events (laughter, fillers, speech and silence) and the inference of characteristics influencing social interactions (personality traits and conflict handling style) from speech and movements while using the mobile telephone, as well as the analysis of several factors that influence the outcome of decision-making processes while using mobile phones (gender, age, personality, conflict handling style and caller versus receiver role). The findings show that it is possible to recognise behavioural events at levels well above chance level, by employing statistical language models, and that personality traits and conflict handling styles can be partially recognised. Among the factors analysed, participant role (caller versus receiver) was the most important in determining the outcome of negotiation processes in the case of disagreement between parties. Finally, the corpus collected for the experiments (the SSPNet-Mobile Corpus) has been used in an international benchmarking campaign and constitutes a valuable resource for future research in Social Signal Processing and more generally in the area of human-human communication.
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Cirillo, Roberto. "Mobile Radio Channel Measurements for air-to-ground and non-conventional future applications." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/18864/.

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La tesi si suddivide in quattro parti: due iniziali di tipo compilativo e le altre due sperimentali. Nella prima parte vengono descritti gli UAVs: classificazioni e applicazioni da un punto di vista delle telecomunicazioni e della sicurezza; una seconda parte sempre compilativa, espone invece una panoramica sulle caratteristiche del canale Air-to-Ground e la possibilità di modelling attraverso diversi scenari. La terza parte rappresenta il corpo della tesi, in quanto presenta la descrizione di una campagna di misure condotta in ambiente industriale, fatta con due diversi setup di misure: onde mm e UWB. Dopo la presentazione dello scopo, vengono poi trattati gli esperimenti, descritto l'equipment ed estratte le conclusioni mostrando funzioni come il Power Angle Profile e la Risposta Impulsiva. L'ultimo capitolo tratta infine di una campagna da condurre in ambiente urbano, presentando però solo il piano di misure, in quanto i risultati saranno a breve disponibili.
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31

Bhupathi, Raghavendra Kumar. "A fast and efficient non-blocking coordinated checkpointing approach for mobile computing systems /." Available to subscribers only, 2006. http://proquest.umi.com/pqdweb?did=1203588041&sid=22&Fmt=2&clientId=1509&RQT=309&VName=PQD.

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32

Abou-Samah, Michel. "A kinematically compatible framework for collaboration of multiple non-holonomic wheeled mobile robots /." Thesis, McGill University, 2001. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=33952.

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We examined the design, development and implementation of a modular system of multiple, wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially driven wheeled mobile robot (WMR) with a passive, two-degree-of-freedom, planar revolute jointed arm mounted in the plane parallel to the base of the WMR.
The composite multi-degree-of-freedom vehicle, formed by placing a common object on the end-effector of two such mobile manipulator systems, possesses the ability to change its relative configuration as well as accommodate relative positioning errors of the mobile bases. However, closed kinematic loops are also formed constraining the relative motions of the overall system and requiring a careful treatment.
Two variants of the control schemes developed for mobile manipulators are adapted for the control of the overall collaborating system of two mobile manipulators carrying a common object along a desired trajectory. (Abstract shortened by UMI.)
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33

Bukar, Ibrahim. "Spectrally efficient Non-Orthogonal Multiple Access (NOMA) techniques for future generation mobile systems." Thesis, University of Sussex, 2017. http://sro.sussex.ac.uk/id/eprint/71053/.

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With the expectation of over a 1000-fold increase in the number of connected devices by 2020, efficient utilization of the limited bandwidth has become ever more important in the design of mobile wireless systems. Furthermore, the ever-increasing demand for higher data rates has made it necessary for a new waveform design that satisfies not only throughput demands, but network capacity as well. One such technique recently proposed is the non-orthogonal multiple access (NOMA) which utilizes the distance-dependent power domain multiplexing, based on the principles of signal superposition. In this thesis, new spectrally efficient non-orthogonal signal techniques are proposed. The goal of the schemes is to allow simultaneous utilization of the same time frequency network resources. This is achieved by designing component signals in both power and phase domain such that users are precoded or preformed to form a single and uniquely decodable composite signal. The design criteria are based on maximizing either the sum rate or spectral efficiency, minimizing multi-user interference and detection ambiguity, and maximizing the minimum Euclidean distance between the composite constellation points. The design principles are applied in uplink, downlink and coordinated multipoint (CoMP) scenarios. We assume ideal channel state with perfect estimation, low mobility and synchronization scenarios so as to prove the concept and serve as a bound for any future work in non-ideal conditions. Extensive simulations and numerical analysis are carried to show the superiority and compatibility of the schemes. First, a new NOMA signal design called uplink NOMA with constellation precoding is proposed. The precoding weights are generated at the eNB based on the number of users to be superposed. The eNB signals the precoding weights to be employed by the users to adjust their transmission. The adjustments utilize the channel state information estimated from common periodic pilots broadcasted by the eNB. The weights ensure the composite received signal at the eNB belongs to the pre-known constellation. Furthermore, the users precode to the eNB antenna that requires the least total transmit power from all the users. At the eNB, joint maximum likelihood (JML) detection is employed to recover the component signals. As the composite constellation is as that of a single user transmitting that same constellation, multiple access interference can be viewed as absent, which allows multiple users to transmit at their full rates. Furthermore, the power gain achieved by the sum of the component signals maximizes the sum rate. Secondly, the constellation design principle is employed in the downlink scenario. In the scheme, called downlink NOMA with constellation preforming, the eNB preforms the users signal with power and phase weights prior to transmission. The preforming ensures multi-user interference is eliminated and the spectral efficiency maximized. The preformed composite constellation is broadcasted by the eNB which is received by all users. Subsequently, the users perform JML detection with the designed constellation to extract their individual component signals. Furthermore, improved signal reliability is achieved in transmit and receive diversity scenarios in the schemes called distributed transmit and receive diversity combining, respectively. Thirdly, the constellation preforming on the downlink is extended to MIMO spatial multiplexing scenarios. The first MIMO scheme, called downlink NOMA with constellation preforming, each eNB antenna transmits a preformed composite signal composed of a set of multiple users' streams. This achieves spatial multiplexing with diversity with less transmit antennas, reducing costs associated with multiple RF chains, while still maximizing the sum rate. In the second MIMO scheme, a highly spectrally efficient MIMO preforming scheme is proposed. The scheme, called group layer MIMO with constellation preforming, the eNB preforms to a specific group of users on each transmit antenna. In all the schemes, the users perform JML detection to recover their signals. Finally, the adaptability of the constellation design is shown in CoMP. The scheme, called CoMP with joint constellation processing, the additional degrees of freedom, in form of interfering eNBs, are utilized to enable spatial multiplexing to a user with a single receive antenna. This is achieved by precoding each stream from the coordinating eNB with weights signalled by a central eNB. Consequently, the inter-cell interference is eliminated and the sum-rate maximized. To reduce the total power spent on precoding, an active cell selection scheme is proposed where the precoding is employed on the highest interferers to the user. Furthermore, a power control scheme is applied the design principle, where the objective is to reduce cross-layer interference by adapting the transmission power to the mean channel gain.
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Zhang, Nan. "Non-invasive Privilege Escalation through Mobile and IoT System Interface| Threats and Mitigation." Thesis, Indiana University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10812052.

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With the proliferation of mobile and IoT devices, malicious application developers seize the opportunity to spread malicious applications threatening the security and privacy of users’ information assets. In this dissertation, we work towards understanding and mitigating a unique type of threat, non-invasive privilege escalation attacks, posed by malicious applications to vulnerable mobile and IoT system interfaces. Unlike more invasive attacks that usually gain elevated access through altering the memory or files belonging to the system or other applications, a non-invasive attack leverages legitimate yet vulnerable system interfaces to gain access to system resources, other application resources or to infer sensitive user information, which is usually difficult to detect without in-depth understanding of the vulnerable systems.

In particular, this dissertation reports a systematic study on this understudied type of threat, from the hidden weaknesses inside the operating system, to the risks introduced by the mobile ecosystem and to a new user-computing interfaces. Specifically, we studied a runtime-information-gathering (RIG) threat which exploits design weaknesses of the operating system, e.g., shared communication channels such as Bluetooth, and side channels such as memory and network-data usages, on Android and Android-based IoT devices. To defend against this new category of attacks, we propose a novel approach, App Guardian, that changes neither the operating system nor the target apps, and provides immediate protection as soon as an ordinary app is installed. Our experimental studies show that this new technique defeated all known RIG attacks, with small impacts on the utility of legitimate apps and the performance of the operating system.

Then we discover hanging attribute references (Hares), a type of vulnerabilities never investigated before, which often have serious security implications: when an attribute is used on a device but the party defining it has been removed during vendor customization, a malicious app can fill the gap to acquire critical system capabilities, by simply disguising as the owner of the attribute. We further design and implement Harehunter , a new tool for automatic detection of Hares. By using it, we discover 21,557 likely Hare flaws on the factory images of 97 most popular Android devices, demonstrating the significant impacts of the problem.

Finally, we conduct the first security analysis on Voice Personal Assistant (VPA) ecosystems and related popular IoT devices, which leads to the discovery of serious security weaknesses in their Voice User Interfaces (VUIs) and skill vetting. We present two new attacks, voice squatting and voice masquerading, both of which are demonstrated to pose realistic threats to a large number of VPA users from remote and both have serious security and privacy implications. We also design and implement new techniques that make the first step towards protecting VPA users from these voice-based attacks.

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Dayoub, Feras. "An adaptive spherical view representation for mobile robot navigation in non-stationary environments." Thesis, University of Lincoln, 2011. https://eprints.qut.edu.au/105983/1/Dayoub_PhD_Thesis_2011.pdf.

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36

Murrell, Kerry. "Student mobility and transition : setting your compass for success." Thesis, Federation University Australia, 2020. http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/174042.

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With increasing levels of student mobility within Victorian schools, many educational settings experience frequent changes to their student population. These changes are often met with an ad hoc array of practices implemented by schools in an attempt to adequately manage them. This thesis addresses the impact of student mobility on an educational community and its stakeholders in Victoria, Australia. The research was undertaken in five Victorian government schools that encompassed diverse geographical locations and socio-economic profiles. Key stakeholders include: school principals, teachers and education support staff, mobile students, parents/carers of mobile students, non-mobile students and their families. Each group offered a unique perspective regarding student mobility and transition processes. Participants in this study were involved in interviews and focus groups, and completed a questionnaire. Socio-economic status was identified as a predominant factor in student mobility for both families and schools. This was evidenced by high levels of often unpredictable mobility in socio-economically disadvantaged and significantly disadvantaged participating schools. The participating non-disadvantaged school experienced mobility related specifically to perceived academic gain or parental promotion. Regardless of socio-economic status, each group was reliant on other stakeholders to be successful. No stakeholder groups stood alone as being able to successfully navigate the process of mobility and transition independently. This study, through the thematic analysis of the data collected, has uncovered many actionable and achievable recommendations for families, schools and the education system itself both within Victoria and nationwide. The participants in this research clearly indicated a need for a more strategic and planned approach to mobility. Educational communities must respond proactively in order to provide optimal academic, social and emotional outcomes for students in these circumstances.
Doctor of Philosophy
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37

Lindgren, Magnus. "Engine exhaust gas emissions from non-road mobile machinery : effects of transient load conditions /." Uppsala : Dept. of Biometry and Engineering, Swedish Univ. of Agricultural Sciences, 2004. http://epsilon.slu.se/a481.pdf.

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Gatzidis, Christos. "Evaluating non-photorealistic rendering for 3D urban models in the context of mobile navigation." Thesis, City University London, 2010. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.528481.

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39

Biswas, Joydeep. "Vector Map-Based, Non-Markov Localization for Long-Term Deployment of Autonomous Mobile Robots." Research Showcase @ CMU, 2014. http://repository.cmu.edu/dissertations/459.

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As robots become increasingly available and capable, there has been an increased interest in having robots continue to perform autonomously over time despite changes in their environment. This thesis introduces several algorithms for localization of autonomous mobile robots in real human environments with the goal of having them autonomously deployed over extended periods of time. Monte Carlo Localization with Sampling-Importance Resampling (MCL-SIR) is commonly used for indoor mobile robot localization, with the frequently prescribed suggestion of increasing the number of particles to increase accuracy or robustness. Furthermore, most variants of MCL-SIR sample from the odometry model of a robot, which are far less accurate than modern range sensors. We address both these challenges by introducing Corrective Gradient Refinement (CGR), which, instead of relying on more particles, does more with fewer particles. In particular, it uses the analytically computed state space derivatives of the observation likelihood function to refine the proposal distribution, thus improving the accuracy as well as robustness while requiring fewer particles than MCL-SIR. For robots equipped only with inexpensive depth cameras, we introduce the Fast Sampling Plane Filtering algorithm to extract dominant planar features from observed depth images, to use with CGR. Going beyond MCL, we recognize that human environments have objects that are either permanent, like walls, movable, like tables and chairs, or moving, like humans. We introduce Episodic non-Markov Localization, which reasons about the nature of such observations, and accounts for correlations between observations even if they are of unmapped objects, to provide location estimates that are accurate globally with respect to the long-term features, as well as locally, with respect to the short-term features. By examining the short-term features detected by the robot over multiple deployments, the robot is further able to build a Model-Instance map of its environment, reasoning about the shapes or models of common movable objects separately from the specific occurrences or instances. We extensively demonstrate the accuracy and robustness of the localization algorithms introduced in this thesis over a “1000km Challenge”: to deploy a team of robots, over multiple floors of multiple buildings, spanning a duration of a few years. We present quantitative and qualitative results from the 1000km Challenge, and the data collected in the process.
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40

Pommier, Eric. "Génération de trajectoires pour robot mobile non-holonome par gestion des centres de rotation." Montpellier 2, 1991. http://www.theses.fr/1991MON20248.

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Ce memoire de these decrit une methode mixte de generation de trajectoires pour robots mobiles de type voiture. Une approche geometrique permet dans un espace de dimension deux de tenir compte de l'encombrement du robot ainsi que de sa contrainte cinematique de non-holonomie representee par un rayon minimum de braquage. Les obstacles sont modelises par des polygones materialisant la projection de l'environnement sur un sol plan. De plus, une etude sur la dynamique des robots mobiles montre l'interet d'avoir sur une trajectoire une variation lineaire de la courbure. Ce probleme est aborde par l'utilisation d'arcs de clothoide discretises. La methode de generation de trajectoires presentee gere la position des centres de rotation du robot en fonction des obstacles. Une approche globale permet d'obtenir le squelette de la trajectoire par l'intermediaire d'un graphe de visibilite, la partie locale integre les contraintes du robot precedemment definies. Des manuvres simples, complexes et particulieres augmentent les capacites de franchissement du robot a travers les environnements contraints. Des arcs de clothoide sont inseres au sein de la trajectoire grace a une anticipation de leur deplacement equivalent sur la position des centres de rotation
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41

Hoecht, Dietrich. "The Challenge of Programmed Tracking Low Orbit Satellites from Mobile Ground Stations." International Foundation for Telemetering, 1996. http://hdl.handle.net/10150/611406.

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International Telemetering Conference Proceedings / October 28-31, 1996 / Town and Country Hotel and Convention Center, San Diego, California
Orbiting satellites can be tracked by following preprogrammed ephemeris data in the ground station controller. This tracking method is advantageous, because of the reduced acquisition cost of non-autotracking receiver and antenna feed components. Further, widely separated frequency bands can readily be tracked, without the complexity of a frequency specific auto-track system. Two types of mobile tracking systems are described. They are composed of elevation-over-azimuth-over-tilt and of an X-Y axis pedestal configuration. The calibration methods for establishing time and geographical references are discussed, as well as the challenges of minimizing the effects of system and environment induced error contributors.
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42

Wei, Yan. "Planification et Suivi de Mouvement d’un Système de Manipulateur Mobile non-holonome à deux bras." Thesis, Ecole centrale de Lille, 2018. http://www.theses.fr/2018ECLI0004/document.

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Cette thèse se situe dans la planification et le suivi de mouvement d’un humanoïde mobile à deux bras. Premièrement, MDH est utilisé pour la modélisation cinématique. Afin de surmonter les insuffisances de la méthode d’Euler-Lagrange qui nécessitent des calculs d’énergie et ses dérivées partielles, la méthode de Kane est utilisée. En plus, la stabilité physique est analysée et un contrôleur est conçu. Deuxièmement, un algorithme avancée MaxiMin NSGA-II est proposée pour concevoir l’orientation et la position optimales de la plate-forme mobile (PB) et la configuration optimale du manipulateur supérieur (MS) étant donnée uniquement la pose initiale et les positions et orientations souhaitées des EEs. Un algorithme à connexion directe combinant BiRRT et la gradient-descente est conçu pour réaliser la transition de la pose initiale à la pose optimale, et une méthode d'optimisation géométrique est conçue pour optimiser et cohérer le chemin. En outre, les motions en avant sont obtenues en attribuant des orientations pour MB indiquant ainsi l'intention du robot. Afin de résoudre le problème d'échec de l’algorithme hors ligne, un algorithme en ligne est proposé en estimant les motions des obstacles dynamiques. De plus, afin d'optimiser les via-poses, un algorithme basé sur les via-points des EEs et MOGA est proposé en optimisant quatre fonctions objectives. Enfin, le problème de suivi de motion est étudié étant donné les motions des EEs dans l'espace de tâche. Au lieu de contrôler la motion absolue, deux motions relatives sont introduites pour réaliser la coordination et la coopération entre MB et MS. De plus, une technique mWLN est proposée pour éviter les limites des joints
This thesis focuses on the motion planning and tracking of a dual-arm mobile humanoid. First, MDH is used for kinematic modeling. The co-simulation via Simulink-Adams on prototype is realized to validate the effectiveness of RBFNN controller. In order to overcome the shortcomings of Euler-Lagrange’s formulations that require calculating energy and energy derivatives, Kane’s method is used. In addition, physical stability is analyzed based on Kane’s method and a controller is designed using back-stepping technique. Secondly, an improved MaxiMin NSGA-II is proposed to design the mobile base’s (MB) optimal position-orientation and the upper manipulator’s (UM) optimal configuration given only the initial pose and end-effectors’ (EEs) desired positions-orientations. A direct connect algorithm combining BiRRT and gradient-descent is designed to plan the transition from initial pose to optimal pose, and a geometric optimization method is designed to optimize and cohere the path. In addition, forward motions are obtained by assigning orientations for MB thus indicating robot’s intention. In order to solve the failure problem of offline algorithm, an online algorithm is proposed while estimating dynamic obstacles’ motions. In addition, in order to optimize via-poses, an algorithm based on EEs’ via-points and MOGA is proposed by optimizing four via-pose-based objective functions. Finally, the motion tracking problem is studied given EEs’ motions in the task space. Instead of controlling the absolute motion, two relative motions are introduced to realize the coordination and cooperation between MB and UM. In addition, an modulated WLN technique is proposed to avoid joints’ limits
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43

Kuditipudi, Sasank. "Simulation for non-congestion losses control over Mobile Ad-Hoc Network using Transmission Control Protocol." Thesis, California State University, Long Beach, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10007412.

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Mobile Ad-hoc Network (MANET) is a group of individual mobile nodes that exhibit mobility, which results in network congestion. The nodes in MANET are continuously moving with change in network topology that results in significant network congestion. Transmission Control Protocol (TCP) is the most popular connection oriented transport layer protocol used today. The TCP when applied over MANET faces challenges, such as congestion and non-congestion losses. We are concentrating to distinguish between these losses and overcome the non-congestion losses.

The current project presents results on the performance evaluation of various TCP implementations, as measured in terms of the following parameters: end-to-end delay; throughput; network overhead; and packet delivery ratio. Simulations of applying the various TCP schemes over MANET have been performed using the Network Simulator (NS2), and simulation results including comparisons between the different TCP schemes are presented.

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44

Georgiou, Evangelos. "Self-localization and environment building methods for small non-holonomic manoeuvrable two-wheel mobile robots." Thesis, King's College London (University of London), 2015. http://kclpure.kcl.ac.uk/portal/en/theses/selflocalization-and-environment-building-methods-for-small-nonholonomic-manoeuvrable-twowheel-mobile-robots(c05f7696-d611-4d58-892e-8975084a06bc).html.

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The thesis presents a kinematic and dynamic model of the mobile robot platform derived by Lagrange D’Alembert methodologies and system control using a closed-loop PD controller. Innovative research in self-localization is presented in this thesis with the use of a double compass configuration that exploits a fusion of relative and absolute localization methods to achieve an analytical solution to position. In order to validate this novel double compass self-localization method, an optimized method was proposed in the form of an overhead computer system and a two-wheel manoeuvrable nonholonomic mobile robot was developed to facilitate research in self-localization methods with shaft encoders, accelerometers, magnetometers, and gyroscopes. The computer system was used to improve the performance of track non-natural markers on the mobile robot. A novel pseudo random algorithm with a gradient policy, inspired by the skip-list method, was delivered to significantly improve the image scanning performance to find non-natural markers. The validation, analysing the data collected from double compass configuration compared to visual tracking data was carried out using a non-parametric single-sample statistical analysis using the Kolmogorov-Smirnov test and the results validated the null hypothesis with a mean error less than 12mm. After solving the translational position of the mobile robot on a 2-dimentional plane, the mobile robot needs to be aware of its 3-dimentional orientation. To achieve this, a 9-axis sensor using an accelerometer, a gyroscope, and a magnetometer were implemented, to form an inertial measurement unit capable of returning a highly accurate self-orientation position using a directional cosine matrix which returns model free from accumulating error. A novel closed-loop PI controller was derived using the directional cosine matrix. In order to validate the directional cosine matrix method, data was collected from the sensor and compared against visual tracking data. The directional cosine matrix method data was validated using a non-parametric single-sample statistical analysis using the Kolmogorov-Smirnov test validated the null hypothesis with a mean error less than 1˚.
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45

Nguyen, Vu Hieu. "Comportement dynamique de structures non-linéaires soumises à des charges mobiles." Marne-la-vallée, ENPC, 2002. http://www.theses.fr/2002ENPC0207.

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Ce travail a pour but l'étude de la dynamique de structures non-linéaires soumises à des Passages de véhicules. Le cas d'un demi-espace multicouche visco-élastique soumis à une charge mobile est premièrement résolu par une méthode semi-analytique. Il permet de comprendre les phénomènes physiques et peut servir à valider des approches plus complexes élaborées dans la suite. Plusieurs études sur ce problème ont été réalisées mais il en existe encore peu qui tiennent compte de la non-linéarité des matériaux. Ces non-linéarités, qui peuvent être très forte dans certains matériaux (par exemple le ballast), causent des surcharges dynamiques plus importantes. On considère ici deux types de non-linéarité : l'élasticité non-linéaire et1'unilatéralité. La structure est étudiée avec des modèles très simples en unidimensionnel ou plus complexes en tridimensionnel. La méthode des éléments finis est choisie pour les calculs. Le cas 1D consiste en un problème uniaxial d'une barre et un problème de flexion d'une poutre posée sur un système de ressorts-amortisseurs. Le cas 3D utilise un modèle de matériau ballast qui est élastique (non-linéaire) en compression et unilatéral dans les directions principales. Comme on s'intéresse au régime permanent, on écrit les équations des éléments finis et on les résout dans le repère mobile en utilisant un changement de variable. Dans le cas où la vitesse de la charge devient supersonique, la méthode des éléments finis dans le repère mobile n'est plus valable et on doit utiliser une autre approche dans laquelle le changement de variable est réalisé à partir de l'équation discrétisée. On montre aussi pour le modèle uniaxial, dans le cas où la vitesse de la charge se situe entre la vitesse de l'onde de compression et la vitesse de l'onde de tension, qu'il peut exister des ondes de chocs dans le régime permanent. Les résultats obtenus sont présentés et sont comparés avec ceux des cas linéaires. Ils montrent les influences importantes de la non-linéarité sur la réponse dynamique des structures.
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46

Issartel, Paul. "Nouvelles approches pour la portabilité, la non-intrusivité et l'accessibilité des interfaces de manipulation 3D." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS077/document.

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Ce travail porte sur l'interaction avec des objets virtuels 3D, et plus particulièrement leur manipulation : sélection, translation et rotation. Les plates-formes les plus utilisées aujourd'hui pour ce type de tâche (ordinateur personnel et appareil mobile) ont été conçues avant tout pour l'interaction 2D, et sont donc peu adaptées à la manipulation 3D. Il existe pourtant une alternative plus efficace : les systèmes de réalité virtuelle. Cependant, les systèmes actuellement disponibles restent trop souvent encombrants, onéreux et/ou intrusifs pour l'utilisateur, et demeurent sous-utilisés pour cette raison. Dans cette thèse, nous étudions de nouvelles approches pour rendre ce type d'interaction moins contraignant, tout en conservant une bonne efficacité de manipulation. Les principaux axes explorés sont la portabilité de l'interface, sa non-intrusivité, et l'utilisation de dispositifs plus largement accessibles au grand public. Nous proposons une première approche visant à répondre simultanément aux critères ci-dessus. Celle-ci consiste à combiner un appareil mobile classique (pour sa portabilité et son accessibilité) avec des objets tangibles passifs (pour une manipulation 3D efficace et non-intrusive). Cette approche présente toutefois encore certaines contraintes : elle est constituée de multiples éléments qui doivent être transportés ensemble, et elle ne se prête pas à l'utilisation de dispositifs à retour de force. Nous introduisons donc dans un deuxième temps une nouvelle technique, appelée «découplage». Basée sur le principe du «pseudo-haptique», celle-ci permet à l'utilisateur de percevoir des forces virtuelles à travers la seule modalité visuelle. Il devient alors possible de se passer complètement de dispositifs haptiques, et des contraintes qui leur sont associées. Nous nous intéressons ensuite à une approche entièrement intégrée, visant à améliorer la portabilité par-rapport à une interface faite d'éléments séparés. Cette approche consiste à se servir des déplacements de l'appareil mobile lui-même dans l'espace réel pour manipuler des objets 3D affichés sur son propre écran. Cette configuration «localement couplée» présente cependant plusieurs particularités qui rendent la manipulation plus complexe. Nous examinons donc en détail les différentes questions que pose cette configuration spécifique. Nous proposons enfin une dernière approche, appelée le «volume tangible», visant à retrouver la simplicité de la manipulation par objets tangibles mais dans un unique dispositif intégré. Nous décrivons une première implémentation de ce dispositif, et discutons de sa faisabilité technique ainsi que de l'accessibilité de cette approche à court et moyen terme
This work focuses on 3D interaction with virtual objects, more specifically on 3D manipulation: selection, translation, and rotation. The most commonly-used interaction platforms (personal computer, mobile device) were designed for 2D interaction and thus are not well suited to 3D manipulation. There is a more efficient alternative for this task: virtual reality. However, current virtual reality systems are too often bulky, expensive and/or intrusive to the user, and for these reasons remain underused. In this thesis, we propose and study new solutions to make this form of interaction more convenient without reducing its effectiveness. The main objectives we aim for are interface portability, non-intrusiveness, and the use of readily-available hardware. We propose a first approach to simultaneously meet the above criteria. It consists in combining a standard mobile device (for its portability and widespread availability) with passive tangible objects (for efficient 3D manipulation in a non-intrusive manner). Yet, this approach still has drawbacks: it is made of multiple parts that must always be carried together, and is not suitable for adding force-feedback using haptic devices. We thus introduce a new technique, called “decoupling”, that allows the user to perceive virtual forces through the visual modality alone. Based on the concept of “pseudo-haptics”, this technique makes it possible to provide force feedback without the constraints associated with actual haptic devices. We then study a different approach intended to be fully integrated, enhancing the portability aspect compared to an interface made of multiple parts. This approach consists in using the motion of the mobile device itself to manipulate 3D objects displayed on its own screen. However, this “locally-coupled” configuration presents several unique characteristics that make manipulation more complex. We thus investigate the questions raised by this specific configuration. Finally, we introduce a last approach, called the “tangible volume”, aimed at regaining the same directness of manipulation as with tangible objects but in a single integrated device. We describe an early implementation of such a device, and discuss its technical feasibility as well as its potential accessibility to end users in the short and medium term
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47

Clavien, Lionel. "Conception et réalisation d'un contrôleur d'exécution pour un robot mobile à roues omnidirectionnel et non holonome." Thèse, Université de Sherbrooke, 2017. http://hdl.handle.net/11143/11622.

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Les robots dits « de service » doivent cohabiter avec des humains dans la vie de tous les jours. Ils sont ainsi confrontés à des environnements dynamiques qui ne leur sont pas spécifiquement adaptés. Afin de pouvoir y évoluer efficacement, ils doivent posséder, entre autres, une base capable d’une grande mobilité. Les bases mobiles omnidirectionnelles utilisant des roues conventionnelles orientables (RCO) présentent un bon compromis entre mobilité et complexité mécanique. Possédant généralement plus d’actionneurs que de degrés de liberté, elles nécessitent cependant une coordination rigoureuse de leurs actionneurs afin de garantir un mouvement précis et sécuritaire. La coordination des actionneurs est le rôle du contrôleur d’exécution. Une coordination basée sur le concept du mouvement du châssis autour de son centre instantané de rotation (CIR) est une méthode connue. Cependant, les paramétrisations communément utilisées pour décrire la position du CIR sont toutes entachées de singularités propres, ce qui nuit à la conception d’un contrôleur d’exécution efficace. De plus, la plupart des contrôleurs d’exécution présentés dans la littérature ne sont pas adaptés à l’utilisation de RCO qui possèdent un couplage mécanique entre direction et propulsion (dénommées roues AZIMUT), qui permettent par exemple de ressentir des forces qui seraient appliquées extérieurement sur la base. Enfin, ces contrôleurs d’exécution ne peuvent pas gérer de façon aisée les contraintes de position, vitesse et accélération imposées par les actionneurs. Cette thèse adresse le problème du contrôle d’exécution pour AZIMUT-3, une base mobile omnidirectionnelle non holonome utilisant des roues AZIMUT. Un nouvel espace de configuration pour le mouvement du châssis ainsi qu’une paramétrisation de celui-ci ne possédant aucune singularité propre sont tout d’abord proposés. Afin de garantir la coordination des roues, le contrôle se fait explicitement dans cet espace de configuration, et les modèles cinématiques établis pour le robot permettent de passer de l’espace de configuration du mouvement du châssis à celui du mouvement des actionneurs et réciproquement. Le contrôle ne se faisant pas dans l’espace de configuration du mouvement des actionneurs, il est nécessaire d’estimer le mouvement du châssis à partir des données fournies par les actionneurs. Un nouvel algorithme itératif d’estimation de la position du CIR est ainsi proposé. Le contrôleur d’exécution conçu sur la base de ces éléments permet de respecter les contraintes en position, vitesse et accélération des actionneurs et de gérer le couplage propre aux roues AZIMUT. Il permet aussi de gérer les singularités structurelles inhérentes aux robots mobiles utilisant des RCO. Les résultats de tests effectués avec AZIMUT-3 démontrent les performances du contrôleur d’exécution conçu en termes de respect des contraintes, de précision odométrique et de vitesse d’exécution de commande. L’extension du modèle cinématique et du contrôleur d’exécution à tous les robots mobiles omnidirectionnels non holonomes utilisant des RCO est aussi discutée.
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48

Bammi, Sachin. "Quantitative Analysis of Variability and Uncertainty in On-Road and Non-Road Mobile Source Emission Factors." NCSU, 2001. http://www.lib.ncsu.edu/theses/available/etd-20010806-122200.

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BAMMI, SACHIN. Quantitative Analysis of Variability and Uncertainty in On-Road and Non-Road Mobile Source Emission Factors. (Under the direction of Dr. H Christopher Frey.) The goal of this research is to demonstrate a methodology for quantifying variability and uncertainty in mobile source emissions. Emission factors and emission estimates are subject to both variability and uncertainty. Variability in emissions deals with real differences in emissions among multiple emission sources at any given time or over time for any individual emission source. Variability is the heterogeneity of values of a quantity with respect time space or across a population. Uncertainty in emissions on the other hand implies the lack of knowledge regarding the true value of emissions. In this research variability and uncertainty are treated separately since their sources are different and as such they affect the decision making process in a different way. For example, sources of variability in mobile source emissions include: vehicle make; ambient temperature; vehicle model; fuel used; vehicle age; and/or driving behavior. Sources of uncertainty may include: small sample sizes; lack of precision and/or accuracy in measurements; non-representativeness; or lack of data. In this work a methodology for simultaneous characterization of variability and uncertainty in mobile source emission factors is described. Variability is characterized by fitting probability distributions to the data sets. Uncertainty due to random sampling error is characterized by using the parametric Bootstrap technique.This methodology is demonstrated for emission factors for three categories: (1) Onroad mobile source exhaust air toxic emissions (2) nonroad lawn and garden equipment emissions and (3) nonroad construction farm and industrial equipment emissions. For the first category a database of vehicular exhaust emissions developed by the California Air Resources Board (CARB) was used. For the second and third categories emission factor databases were developed by reviewing reports and/or technical papers from U.S. Environmental Protection Agency (EPA), Southwest Research Institute (SwRI), CARB and Society of Automotive Engineers (SAE).The main results regarding the demonstrated methodology and related statistical analysis in this research include: (1) emission factor groupings were determined statistically (e.g. by engine size for lawn and garden engines); (2) substantial inter-engine variability in emissions was discovered; and (3) large ranges of uncertainty in mean emissions were found in many cases. In particular, uncertainty ranges for the mean emission factors were in excess of ±20 percent in most cases and as high as minus 49 percent to plus 89 percent.

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49

Jobe, William. "Do-It-Yourself Learning in Kenya : Exploring mobile technologies for merging non-formal and informal learning." Doctoral thesis, Stockholms universitet, Institutionen för data- och systemvetenskap, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:su:diva-108428.

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The educational landscape is changing and a variety of technologies and techniques are blurring the lines between traditional and non-traditional learning. This change is substantial in low-income countries: individuals in developing countries have a great desire to educate themselves and improve their quality of life. Kenyans are adequately literate and accustomed to mobile technology despite being a largely impoverished, poorly educated populace. Kenya represents an optimal setting in which to research the use and feasibility of modern mobile and educational technologies. The broad aim of this dissertation is to explore how mobile devices can catalyze and enhance both informal and non-formal learning. In particular, this dissertation explores how technologies and concepts such as mobile web apps, Massive Open Online Courses (MOOCs), and learning incentives via a smartphone specifically affect informal and non-formal learning in Kenya. The primary research question is how can learning efforts that utilize mobile learning, MOOCs, and learning incentives combine non-formal and informal learning to develop and contribute to a do-it-yourself (DIY) approach to learning in Kenya? The primary method is action research. The first contribution of this dissertation is the finding that mobile web apps are currently better suited for data exchange than producing new content. The second contribution is the finding that a smartphone can enhance informal learning in a developing country with little or no scaffolding. The third contribution is the finding that non-formal learning efforts as a MOOC are shown to be a viable means of delivering non-formal learning in a developing country via a smartphone. The fourth contribution is the finding that the use of incentives such as digital badges provide a means by which to validate non-formal learning and contribute to a DIY attitude towards learning creation, where individuals can freely complement or replace a traditional curriculum.
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50

EUVRARD, GUILLAUME. "Estimation d'une regression non lineaire par reseaux de neurones; application a un probleme de robotique mobile." Paris 6, 1993. http://www.theses.fr/1993PA066087.

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La these fait le lien entre l'apprentissage connexionniste et le probleme d'estimer une fonction de regression a partir d'exemples. Dans un premier temps, l'apprentissage connexionniste est decrit, et nous montrons qu'il tend a estimer la fonction de regression. La suite de la these est consacree au probleme d'estimer une telle fonction. Nous donnons les limites theoriques inherentes a ce probleme, et les principaux algorithmes de resolution. Nous comparons certains de ces algorithmes sur des donnees provenant d'un simulateur de robot mobile
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