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Dissertations / Theses on the topic 'Plate obstacle'

Author: Grafiati

Published: 28 June 2021

Last updated: 29 July 2025

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1

Mouad, Mehdi. "Architecture de COntrôle/COmmande dédiée aux systèmes Distribués Autonomes (ACO²DA) : application à une plate-forme multi-véhicules." Thesis, Clermont-Ferrand 2, 2014. http://www.theses.fr/2014CLF22437/document.

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La complexité associée à la coordination d’un groupe de robots mobiles est traitée dans cette thèse en investiguant plus avant les potentialités des architectures de commande multi-contrôleurs dont le but est de briser la complexité des tâches à exécuter. En effet, les robots mobiles peuvent évoluer dans des environnements très complexes et nécessitent de surcroît une coopération précise et sécurisée pouvant rapidement devenir inextricable. Ainsi, pour maîtriser cette complexité, le contrôleur dédié à la réalisation d’une tâche est décomposé en un ensemble de comportements/contrôleurs élémenta

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2

Jahn, Jiří. "Potlačení turbulentního proudění v potrubí." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444297.

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This thesis deals with ways to suppress turbulent flow in pipelines. In the first part various methods of laminarization are presented, when the turbulent flow is transformed into laminar flow, including the results of experiments published by the authors. The next part presents the results from CFD. The calculations were performed for one of the methods mentioned in the first part and the results were compared with each other. In addition, several options have been suggested to improve the original method.

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3

Hajjdiab, Hassan. "Vision-based localization, map building and obstacle reconstruction in ground plane environments." Thesis, University of Ottawa (Canada), 2004. http://hdl.handle.net/10393/29109.

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The work described in this thesis develops the theory of 3D obstacle reconstruction and map building problems in the context of a robot, or a team of robots, equipped with one camera mounted on board. The study is composed of many problems representing the different phases of actions taken by the robot. This thesis first studies the problem of image matching for wide baseline images taken by moving robots. The ground plane is detected and the inter-image homography induced by the ground plane is calculated. A novel technique for ground plane matching is introduced using the overhead view trans

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4

Chuhran, Christopher D. "Obstacle avoidance control in the vertical plane for the REMUS autonomous underwater vehicle." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03sep%5FChuhran.pdf.

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5

RIFAI, SAID. "Etude du rayonnement acoustique d'un obstacle cylindrique place dans un ecoulement d'air subsonique." Poitiers, 1989. http://www.theses.fr/1989POIT2280.

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On etudie le rayonnement acoustique engendre par un ecoulement subsonique autour de cylindres de section circulaire. Dans une premiere partie, des methodes de mesure bidimensionnelles de l'intensite acoustique sont utilisees pour caracteriser le champ sonore du a un cylindre isole, a surface lisse ou a rugosite fine aleatoire. La seconde partie est une determination experimentale des pressions parietales sur un ou deux cylindres consideres comme des maquettes de cables de transport electrique, et ayant en consequence une structure de surface a rugosite forte et periodique. Les lois de coherenc

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6

Cutzach, Pierre-Marie. "Influence d'une interface plane sur la diffraction des ondes acoustiques et électromagnetiques par un obstacle." Rennes 1, 1997. http://www.theses.fr/1997REN10022.

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La premiere partie de ce memoire est consacree a l'etude de problemes de diffraction d'ondes acoustiques et electromagnetiques, par un obstacle place dans un milieu contenant deux couches homogenes separees par une interface plane. On montre que l'utilisation des conditions de rayonnement habituelles dans chaque couche fournit des problemes de diffraction bien poses. L'analyse repose sur l'etude des noyaux de green, ce qui permet de relier les conditions de rayonnement a des formules de representation integrale. Dans une seconde partie, nous nous interessons au traitement numerique des problem

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7

Lefaudeux, Benjamin. "Détection, localisation et suivi des obstacles et objets mobiles à partir d'une plate-forme de stéréovision." Phd thesis, Ecole Nationale Supérieure des Mines de Paris, 2013. http://tel.archives-ouvertes.fr/tel-00918508.

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Les véhicules autonomes se mouvant dans un environnement quelconque peuvent être confrontés à la présence de nombreux objets mobiles, dont la localisation et la trajectoire sont indépendantes. Cette problématique est particulièrement présente dans la thématique du transport en milieu urbain, mais sa portée est plus générale. On présente dans cette thèse une solution de perception d'un environnement dynamique, à partir d'une paire de caméra, qui vise à fournir en temps réel une cartographie en trois dimensions de l'environnement courant, ainsi que la vitesse indépendante des points suivis. Cett

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8

Hemminger, Daniel L. "Vertical plane obstacle avoidance and control of the REMUS autonomous underwater vehicle using forward look sonar." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2005. http://library.nps.navy.mil/uhtbin/hyperion/05Jun%5FHemminger.pdf.

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9

Xu, Bo Garner Brian Alan. "A linked-plane obstacle-set algorithm for modeling broad muscle paths application to the deltoid muscle /." Waco, Tex. : Baylor University, 2008. http://hdl.handle.net/2104/5212.

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10

Lefaudeux, Benjamin. "Détection, localisation et suivi des obstacles et objets mobiles à partir d'une plate forme de stéréo-vision." Thesis, Paris, ENMP, 2013. http://www.theses.fr/2013ENMP0091/document.

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Cette thèse s'inscrit dans la problématique de la perception des véhicules autonomes, qui doivent notamment être capables de détecter et de positionner à tout moment les éléments fixes et mobiles de leur environnement. Les besoins sont ensuite multiples, de la détection d'obstacles à la localisation du porteur dans l'espace, et de nombreuses méthodes de la littérature s'y attellent. L'objectif de cette thèse est de reconstituer, à partir de prises de vues de stéréo-vision, une carte en trois dimensions décrivant l'environnement proche ; tout en effectuant une détection, localisation et suivi d

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11

Kim, Nam Shin. "Analyse expérimentale d'un jet turbulent impactant sur un plaque plane et sur un obstacle de section carrée." Toulouse 3, 2005. http://www.theses.fr/2005TOU30074.

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Cette étude aborde l'impact d'un jet sur une plaque plane et sur un obstacle de section carrée. L'objectif de ce travail est l'analyse expérimentale de l'écoulement, et du transfert de chaleur associé, lorsque la surface est chauffée à densité de flux constante. Les mesures de vitesse et de turbulence ont été menées par la Vélocimétrie par Images des Particules (PIV) et l'anémométrie à fil chaud, ce qui a permis la mesure de chaque composante et du champ complet en particulier au voisinage des parois. Différents post-traitements de la PIV ont permis une nette amélioration de l'évaluation des f

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12

Durusu, Deniz. "Camera Controlled Pick And Place Application With Puma 760 Robot." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/2/12606759/index.pdf.

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This thesis analyzes the kinematical structure of Puma 760 arm and introduces the implementation of image based pick and place application by taking care of the obstacles in the environment. Forward and inverse kinematical solutions of PUMA 760 are carried out. A control software has been developed to calculate both the forward and inverse kinematics solution of this manipulator. The control program enables user to perform both offline programming and real time realization by transmitting the VAL commands (Variable Assembly Language) to the control computer. Using the proposed inverse kinemat

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13

Baxter, Steven J. "Numerical simulation of three-dimensional free surface film flow over or around obstacles on an inclined plane." Thesis, University of Nottingham, 2010. http://eprints.nottingham.ac.uk/11343/.

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Within the bearing chamber of a gas turbine aero-engine, lubrication of the shaft and other bearings is achieved by an oil film which may become significantly disturbed by interacting with a range of chamber geometries which protrude from the chamber wall. Minimizing these disturbances and preventing possible dry areas is crucial in optimizing a bearing chambers design. In addition, multiple obstructions may be located close to one another, resulting in a more complex disturbed film profile than by individual obstacles. Prediction of the disturbance of the film is an important aspect of bearin

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14

Tarcin, Serkan. "Fast Feature Extraction From 3d Point Cloud." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615659/index.pdf.

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To teleoperate an unmanned vehicle a rich set of information should be gathered from surroundings.These systems use sensors which sends high amounts of data and processing the data in CPUs can be time consuming. Similarly, the algorithms that use the data may work slow because of the amount of the data. The solution is, preprocessing the data taken from the sensors on the vehicle and transmitting only the necessary parts or the results of the preprocessing. In this thesis a 180 degree laser scanner at the front end of an unmanned ground vehicle (UGV) tilted up and down on a horizontal axis and

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15

Cuerington, Andre M. "The shortest path problem in the plane with obstacles : bounds on path lengths and shortest paths within homotopy classes." Thesis, Monterey, California. Naval Postgraduate School, 1991. http://hdl.handle.net/10945/28532.

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16

Jenkins, Kevin Dean. "The shortest path problem in the plane with obstacles : a graph modeling approach to producing finite search lists of homotopy classes." Thesis, Monterey, California. Naval Postgraduate School, 1991. http://hdl.handle.net/10945/26761.

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The problem of finding the shortest path between two points in a plane containing obstacles is considered. The set of such paths is uncountably infinite, making an exhaustive search impossible. This difficulty is overcome by reducing the size of the search space. The search is first restricted to a countably infinite set by focusing attention on the set of homotopy classes. By applying simple optimality principles, a finite list of such classes is obtained whose union contains the shortest path. This process of simplification is accomplished by modeling the topology of the region with a graph.

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17

Bentivegna, Filippo. "Experimental and numerical analysis of fast transient flows in the presence of obstacles." Electronic Thesis or Diss., Ecully, Ecole centrale de Lyon, 2024. http://www.theses.fr/2024ECDL0026.

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Cette thèse de doctorat explore la dynamique de propagation des ondes de détente dans les circuits de réacteurs nucléaires, en se concentrant sur une configuration représentative d'un scénario de type Accident par Perte de Réfrigérant Primaire (APRP) dans les Réacteurs à Eau Pressurisée (REP). L'étude examine les charges de pression transitoires sur les structures internes, en particulier le cloisonnement du cœur du réacteur, induites par les ondes de détente générées par la rupture brutale et totale (rupture guillotine) d'une des tuyauteries du circuit primaire de refroidissement du REP. Cett

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18

Villeret, Olivier. "Les obstacles à la mise en place d'une démarche d'investigation problématisante par des enseignants débutants de sciences physiques : identification et travail en formation." Thesis, Nantes, 2018. http://www.theses.fr/2018NANT2005/document.

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L’ambition de la thèse est d’une part de mettre en évidence les obstacles à la préparation et à la mise en place de séances d’enseignement basées sur la démarche d’investigation pour les enseignants débutants en sciences physiques, d’autre part de proposer et de valider des modalités de formation adaptées. Dix-sept étudiants ont participé à cette recherche visant à la fois à élucider les obstacles et surtout à les travailler lors de séances d’auto-confrontation croisée mobilisant la réflexivité des participants, menées avec le chercheur-formateur (recherche impliquée). Les analyses portent sur

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19

Lucanu, Nicolae. "Contribution à l'étude de la diffraction d'une onde électromagnétique plane par des obstacles métalliques en utilisant la méthode itérative basée sur le concept d'onde." Toulouse, INPT, 2001. http://www.theses.fr/2001INPT024H.

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Le travail est basé sur une méthode originale, la méthode itérative basée sur le concept d'onde, utilisée pour étudier des problèmes de diffraction d'une onde électromagnétique plane par des obstacles métalliques placés en espace libre. Le travail est structuré en deux parties, la première dédiée aux obstacles singuliers, la deuxième traitant des cas de diffraction par des structures multiples de géomètrie arbitraire. Des structures diffractantes classiques sont étuduées d'abord, dans le but de valider la méthode itérative. Celle-ci est testée avec succès pour des obstacles ayant une solution

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20

Machado, Júlio César Epifânio. "A sequência didática como estratégia para aprendizagem dos processos físicos nas aulas de geografia do ciclo II do ensino fundamental." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/48/48134/tde-27062013-161524/.

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A presente dissertação insere-se no grupo de estudos dedicado a Metodologia de Ensino de Geografia. Investigamos como ocorre a superação dos obstáculos para aprendizagem de um processo físico elementar nas aulas desta disciplina, organizadas através de uma Sequência Didática. Sua principal contribuição é fornecer subsídios teóricos e metodológicos para o planejamento de aulas de Geografia do Ensino Fundamental II que visem trabalhar com temas e conceitos comuns à Geografia Física. Este trabalho apóia-se em autores clássicos e contemporâneos que versam sobre a aprendizagem, a construção do conh

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21

Dumont, Peggy Lemauff Pierre. "Les maisons médicales de garde dans les départements de Loire-Atlantique et de Vendée Organisations et objectifs de ces structures; quels obstacles et difficultés rencontrés à leur mise en place ? /." [S.l.] : [s.n.], 2004. http://theses.univ-nantes.fr/thesemed/MEDdumont.pdf.

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22

Wheeler, David Orton. "Relative Navigation of Micro Air Vehicles in GPS-Degraded Environments." BYU ScholarsArchive, 2017. https://scholarsarchive.byu.edu/etd/6609.

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Most micro air vehicles rely heavily on reliable GPS measurements for proper estimation and control, and therefore struggle in GPS-degraded environments. When GPS is not available, the global position and heading of the vehicle is unobservable. This dissertation establishes the theoretical and practical advantages of a relative navigation framework for MAV navigation in GPS-degraded environments. This dissertation explores how the consistency, accuracy, and stability of current navigation approaches degrade during prolonged GPS dropout and in the presence of heading uncertainty. Relative navig

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23

Almeida, Nuno Miguel Dias. "Curricular internship in a clinical research unit." Master's thesis, Universidade de Aveiro, 2016. http://hdl.handle.net/10773/17113.

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Mestrado em Biomedicina Farmacêutica<br>O presente relatório descreve em detalhe as tarefas e atividades desenvolvidas no contexto de um estágio curricular durante o segundo ano do Mestrado em Biomedicina Farmacêutica, da Universidade de Aveiro. Este estágio teve lugar na Unidade de Farmacologia Clínica do Professor Joaquim Ferreira, do Instituto de Medicina Molecular, de 14 de setembro de 2015 a 27 de junho de 2016. Esta experiência permitiu-me pôr em prática aquilo que aprendi no mestrado durante dez meses. Tive a oportunidade de trabalhar em três áreas diferentes da biomedicina farmacêutic

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24

Wei, Chen Li, and 陳力維. "Numerical Simulation of Heat Transfer Distributions around Plate-Mounted Obstacles." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/40287857458156671754.

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碩士<br>國立成功大學<br>機械工程學系<br>89<br>Abstract This study presents the numerical Simulation of local heat transfer coefficient distributions around plate-mounted obstacles. The turbulent governing equations are solved by a Control-Volume-based finite-difference method with power-law scheme and the well know turbulence model and its associate wall function to describe the turbulent structure. The velocity and pressure terms of momentum equations are solved by SIMPLE (Semi-Implicit Method for Pressure-Linked Equation) method. An orthogonal non-uniform staggered grids are used for the

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25

Porwal, Kamana. "A Posteriori Error Analysis of Discontinuous Galerkin Methods for Elliptic Variational Inequalities." Thesis, 2014. http://etd.iisc.ac.in/handle/2005/3107.

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The main emphasis of this thesis is to study a posteriori error analysis of discontinuous Galerkin (DG) methods for the elliptic variational inequalities. The DG methods have become very pop-ular in the last two decades due to its nature of handling complex geometries, allowing irregular meshes with hanging nodes and different degrees of polynomial approximation on different ele-ments. Moreover they are high order accurate and stable methods. Adaptive algorithms reﬁne the mesh locally in the region where the solution exhibits irregular behaviour and a posteriori error estimates are the main in

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26

Porwal, Kamana. "A Posteriori Error Analysis of Discontinuous Galerkin Methods for Elliptic Variational Inequalities." Thesis, 2014. http://hdl.handle.net/2005/3107.

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The main emphasis of this thesis is to study a posteriori error analysis of discontinuous Galerkin (DG) methods for the elliptic variational inequalities. The DG methods have become very pop-ular in the last two decades due to its nature of handling complex geometries, allowing irregular meshes with hanging nodes and different degrees of polynomial approximation on different ele-ments. Moreover they are high order accurate and stable methods. Adaptive algorithms reﬁne the mesh locally in the region where the solution exhibits irregular behaviour and a posteriori error estimates are the main in

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27

Yan-WeiCheng and 鄭晏維. "Study on Gravity Compensation and Plane Obstacle Avoidance of 6-axis Robot Motion." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/3w2qky.

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碩士<br>國立成功大學<br>電機工程學系<br>102<br>In recent years, manipulators have been used extensively in the pick-and-place task. This kind of task requires trajectory planning when there are obstacles in the workspace. Generally, trajectory planning for obstacle avoidance is performed by the operator/engineer in advance. However, one of the major drawbacks for this kind of approach is that trajectory planning must be performed again when there is change in the work environment, in which it is time-consuming and a waste of manpower. One of the possible solutions to the aforementioned problems is to use a

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28

Hsieh, Jui-Chin, and 謝瑞青. "Measurement of Heat Transfer Distributions around Plate－Mounted Obstacles Using Liquid Crystal Image Technique." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/14071122239531656028.

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碩士<br>華梵大學<br>機電工程研究所<br>87<br>In this study, local convective heat transfer was determined from a plate-mounted single obstacle and single array of obstacles along a flat plate with the transient liquid crystal image method. Three geometrical shapes of the obstacle (cylinder, square and diamond) with variations in the obstacle height, spacing, number and Reynolds number of the mainstream are comparatively examined. The obstacle height H is varied with 0.25, 0.5 and 1 hydraulic diameter, while the streamwise pitch between obstacles S sets at 1, 2 or 4 hydraulic diameter. The Reynolds number Re

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29

Yen, Wen-Cheng, and 顏文成. "The Interaction of a Monopolar Vortex with a 2-D Cylindrical Obstacle on a Beta-plane." Thesis, 1999. http://ndltd.ncl.edu.tw/handle/79750961984419768983.

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30

Lin, Sheng-Hui, and 林昇輝. "Implementation of a Linear-Time Shortest Path Algorithm on the Euclidean Plane with Obstacles." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/usrtsn.

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碩士<br>國立臺灣海洋大學<br>電機工程學系<br>103<br>In the Euclidean planes with obstacles, the shortest path problem is to find an optimal path between the source and the destination. There are three different approaches to solve this problem, namely, roadmaps, cell decomposition, and potential field. Of the roadmap approaches, visibility graph is considered as one of the most widely used method. Recently, Jan et al. proposed a novel method based on the concepts of Delaunay triangulation, an improved version of Dijkstra’s algorithm, and Fermat points, to construct a reduced visibility graph and obtained a nea

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31

Chi, Kai-Hui, and 紀凱暉. "The Evaluation of UKF Approach for 2D-Plane IMU/Camera Indoor Localization System and Obstacle Avoidance Behavior." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/26740850846042355276.

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碩士<br>國立臺灣科技大學<br>自動化及控制研究所<br>100<br>In recent year, autonomous mobile robot has become an important and popular research topic. It is widely used in the application of homecare system, exploring in dangerous, rescue task and military. The foundation of the mobile robot behavior is the obstacle avoidance, and localization system is also same priority which applied for the indoor environment. In this thesis, the specific indoor environment is the set up as scenario which is applied for homecare service robot and joint robot system. The nonlinear motion of mobile robot and signal state processi

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32

Chang, Hsi-Tse, and 張惠澤. "SMOOTH TRAJECTORY PLANNING FOR INDUSTRIAL MANIPULATORS ALONG AN EUCLIDEAN OPTIMAL PATH WITH OBSTACLES IN THE PLANE." Thesis, 2001. http://ndltd.ncl.edu.tw/handle/79949475518899635676.

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碩士<br>大同大學<br>電機工程研究所<br>89<br>In this thesis, we proposed an algorithm about the smooth trajectory planning for industrial manipulators along the shortest path with obstacles in the plane. First, an Euclidean shortest path, avoiding obstacles which were well covered by ellipses, was found by our algorithms. A smooth trajectory could be kept by limiting the torque and torque rate of the joints when the manipulator worked along the shortest path. From the Euclidean shortest path, determined by the thesis, we can be sure that the summation of distances is smallest for manipulators working along

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"Dynamics and Motion of a Six Degree of Freedom Robot Manipulator." Thesis, 2012. http://hdl.handle.net/10388/ETD-2012-12-871.

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In this thesis, a strategy to accomplish pick-and-place operations using a six degree-of-freedom (DOF) robotic arm attached to a wheeled mobile robot is presented. This research work is part of a bigger project in developing a robotic-assisted nursing to be used in medical settings. The significance of this project relies on the increasing demand for elderly and disabled skilled care assistance which nowadays has become insufficient. Strong efforts have been made to incorporate technology to fulfill these needs. Several methods were implemented to make a 6-DOF manipulator capable of performi

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Wang, Yu-Da, and 王鈺達. "Obstacle Detection and Road Classification Applied to Navigation of Automatic Land Vehicle Based on Back-propagation Neural Network and Ground Plane Stereo Techniques." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/dtyy2x.

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碩士<br>國立臺北科技大學<br>自動化科技研究所<br>100<br>In this thesis, we present an approach for environment recognition in automatic land vehicle (ALV). By using block matching for the two ground plane alignment images, we can obtain the disparity map. In the map, we can clearly detect obstacles from ground plane, and calculate the height and depth information of the obstacles. To sufficient environment information, we can obtain the features of the road (like colors, textures, etc.) from the original image. By the environment information obtained, and using back-propagation neural network (BPNN) to train and

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35

Steinmoeller, Derek. "Flow Separation on the β-plane". Thesis, 2009. http://hdl.handle.net/10012/4417.

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In non-rotating fluids, boundary-layer separation occurs when the nearly inviscid flow just outside a viscous boundary-layer experiences an appreciable deceleration due to a region of adverse pressure gradient. The fluid ceases to flow along the boundary due to a flow recirculation region close to the boundary. The flow is then said to be "detached." In recent decades, attention has shifted to the study of boundary-layer separation in a rotating reference frame due to its significance in Geophysical Fluid Dynamics (GFD). Since the Earth is a rotating sphere, the so-called β-plane approximatio

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