You searched for subject:(Aerial).
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California State Polytechnic University – Pomona
1.
Atkinson, Merilee.
A walk in the park (avoiding snakes in the grass): a study of park use and preference, Snow Creek Park, Walnut, California.
Degree: Master of Landscape Architecture, Landscape Architecture Department, 2015, California State Polytechnic University – Pomona
URL: http://hdl.handle.net/10211.3/145964 
► This study investigated the park use patterns and aesthetic preferences of park users in Snow Creek Park, Walnut, California. The objective was to discover whether…
(more)
▼ This study investigated the park use patterns and aesthetic preferences of park users in Snow Creek Park, Walnut, California. The objective was to discover whether there were connections between park typology conceptualization and recreational and home landscape aesthetic preferences, and the impact of those preferences, both conscious and unconscious, on park use. Studies on recreational use of natural environments, changes in park typologies, and landscape aesthetics, perception, and preference informed this study. Data was collected and analyzed through interpretation of historical
aerial photos to track landscape change over time; behavioral observation and mapping to understand the variety of Snow Creek Park user activities; and questionnaires to understand Snow Creek Park users??? attitudes and behaviors in parks and in home environments. Descriptive statistics report quantitative data from the research. Inductive analysis of qualitative data resulted in the emergence of three major themes: the importance of experiential factors in the park experience; the range of aesthetic preferences in park and home landscapes; and respondents??? preferences and perceptions of sustainability in the landscape. Results indicated that park users in this study valued a wide variety of outdoor experiences in parks and at home and that their experiential needs influenced aesthetic preferences for both public and private settings. This study demonstrated that there was a complex interaction of factors affecting landscape preferences and practices that acted as barriers to adopting more sustainable home landscape types.
Advisors/Committee Members: Mulley, Susan J. (advisor), Delgado, Julianna M. (committee member).
Subjects/Keywords: aerial photography
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APA (6th Edition):
Atkinson, M. (2015). A walk in the park (avoiding snakes in the grass): a study of park use and preference, Snow Creek Park, Walnut, California. (Masters Thesis). California State Polytechnic University – Pomona. Retrieved from http://hdl.handle.net/10211.3/145964
Chicago Manual of Style (16th Edition):
Atkinson, Merilee. “A walk in the park (avoiding snakes in the grass): a study of park use and preference, Snow Creek Park, Walnut, California.” 2015. Masters Thesis, California State Polytechnic University – Pomona. Accessed March 03, 2021.
http://hdl.handle.net/10211.3/145964.
MLA Handbook (7th Edition):
Atkinson, Merilee. “A walk in the park (avoiding snakes in the grass): a study of park use and preference, Snow Creek Park, Walnut, California.” 2015. Web. 03 Mar 2021.
Vancouver:
Atkinson M. A walk in the park (avoiding snakes in the grass): a study of park use and preference, Snow Creek Park, Walnut, California. [Internet] [Masters thesis]. California State Polytechnic University – Pomona; 2015. [cited 2021 Mar 03].
Available from: http://hdl.handle.net/10211.3/145964.
Council of Science Editors:
Atkinson M. A walk in the park (avoiding snakes in the grass): a study of park use and preference, Snow Creek Park, Walnut, California. [Masters Thesis]. California State Polytechnic University – Pomona; 2015. Available from: http://hdl.handle.net/10211.3/145964
Delft University of Technology
2.
Nixon, G.A.N. (author).
Effective Human-Machine Interfaces for Aerial Telemanipulation.
Degree: 2015, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:e08183cf-8fe9-4c9b-a6de-9d6b11130b20
► Most ground robots deployed in disaster areas have been of limited use mainly because of their reduced mobility in degraded environments. Unmanned Aerial Vehicles (UAVs)…
(more)
▼ Most ground robots deployed in disaster areas have been of limited use mainly because of their reduced mobility in degraded environments. Unmanned Aerial Vehicles (UAVs) have considerable mobility benefits over ground robots, however they are currently only used for providing aerial views and often lack any manipulation capabilities, despite their proven ability to perform small force tasks. Research in ground robots has repeatedly stated that there is need for better human-machine interaction, while interface design for aerial robots is an unexplored area where generally primitive interfaces are used. The objective of this study is to understand what type of interface design is most beneficial for telemanipulation with a UAV. In a human factors experiment, subjects (N = 14) were instructed to open and flip a safety switch in a virtual reality environment using a bumper surrounding the UAV and to do so as fast and careful as possible. Five different interface designs were compared in this study. First, a 3 degrees-of-freedom (DoF) manipulator with position control was compared to the typical baseline interface: a gamepad with rate control. Second, the effect of having haptic feedback on the manipulator was tested. And finally performance on both the manipulator, with and without haptic feedback, was compared to having a fully actuated, grounded slave, with and without haptic feedback. Results show that a 3-DoF manipulator with position control substantially outperforms a gamepad with rate control. Haptic feedback had no significant influence on the task execution of the operator. Using a grounded slave was significantly more effective than using an aerial slave though there was no relative effect of haptic feedback between the grounded and the aerial slave. This study has shown that interface design can have a significant effect on performing remote manipulation tasks with UAVs.
BMD
BioMechanical Engineering
Mechanical, Maritime and Materials Engineering
Advisors/Committee Members: Wildenbeest, J.G.W. (mentor), Abbink, D.A. (mentor).
Subjects/Keywords: aerial; telemanipulation; interface; Unmanned Aerial Vehicles; haptics
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APA (6th Edition):
Nixon, G. A. N. (. (2015). Effective Human-Machine Interfaces for Aerial Telemanipulation. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:e08183cf-8fe9-4c9b-a6de-9d6b11130b20
Chicago Manual of Style (16th Edition):
Nixon, G A N (author). “Effective Human-Machine Interfaces for Aerial Telemanipulation.” 2015. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:e08183cf-8fe9-4c9b-a6de-9d6b11130b20.
MLA Handbook (7th Edition):
Nixon, G A N (author). “Effective Human-Machine Interfaces for Aerial Telemanipulation.” 2015. Web. 03 Mar 2021.
Vancouver:
Nixon GAN(. Effective Human-Machine Interfaces for Aerial Telemanipulation. [Internet] [Masters thesis]. Delft University of Technology; 2015. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:e08183cf-8fe9-4c9b-a6de-9d6b11130b20.
Council of Science Editors:
Nixon GAN(. Effective Human-Machine Interfaces for Aerial Telemanipulation. [Masters Thesis]. Delft University of Technology; 2015. Available from: http://resolver.tudelft.nl/uuid:e08183cf-8fe9-4c9b-a6de-9d6b11130b20
Virginia Tech
3.
Nagori, Chinmay.
Unmanned Aerial Manipulators in Construction - Opportunities and Challenges.
Degree: MS, Civil Engineering, 2020, Virginia Tech
URL: http://hdl.handle.net/10919/101663
► Drones or Unmanned Aerial Manipulators have been used in the construction industry to collect visual data in form of images, videos, or to map surveys,…
(more)
▼ Drones or Unmanned
Aerial Manipulators have been used in the construction industry to collect visual data in form of images, videos, or to map surveys, and visually inspect the structures. However, if equipped with a robotic arm, they attain the capability of touching and interacting with the environment to effectively function as an Unmanned
Aerial Manipulator (UAM).
UAMs have researched for various applications such as sensor installation, touch-based sensor inspections, door opening, and closing, and pick up and drop, etc. However, there is a lack of study for their opportunities and challenges in the construction industry. This research focuses on understanding the opportunities and challenges associated with the application of UAMs in the construction industry.
Advisors/Committee Members: Afsari, Kereshmeh (committeechair), Jazizadeh Karimi, Farrokh (committee member), Gao, Xinghua (committee member).
Subjects/Keywords: aerial manipulation; construction; aerial robots; drones
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APA (6th Edition):
Nagori, C. (2020). Unmanned Aerial Manipulators in Construction - Opportunities and Challenges. (Masters Thesis). Virginia Tech. Retrieved from http://hdl.handle.net/10919/101663
Chicago Manual of Style (16th Edition):
Nagori, Chinmay. “Unmanned Aerial Manipulators in Construction - Opportunities and Challenges.” 2020. Masters Thesis, Virginia Tech. Accessed March 03, 2021.
http://hdl.handle.net/10919/101663.
MLA Handbook (7th Edition):
Nagori, Chinmay. “Unmanned Aerial Manipulators in Construction - Opportunities and Challenges.” 2020. Web. 03 Mar 2021.
Vancouver:
Nagori C. Unmanned Aerial Manipulators in Construction - Opportunities and Challenges. [Internet] [Masters thesis]. Virginia Tech; 2020. [cited 2021 Mar 03].
Available from: http://hdl.handle.net/10919/101663.
Council of Science Editors:
Nagori C. Unmanned Aerial Manipulators in Construction - Opportunities and Challenges. [Masters Thesis]. Virginia Tech; 2020. Available from: http://hdl.handle.net/10919/101663
University of Southern California
4.
Prokaj, Jan.
Exploitation of wide area motion imagery.
Degree: PhD, Computer Science, 2013, University of Southern California
URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/307102/rec/2645
► Current digital photography solutions now routinely allow the capture of tens of megapixels of data at 2 frames per second. At these resolutions, a geographic…
(more)
▼ Current digital photography solutions now routinely
allow the capture of tens of megapixels of data at 2 frames per
second. At these resolutions, a geographic area covering a whole
city can be captured at once from an unmanned
aerial vehicle (UAV),
while still allowing the recognition of vehicles and people (for
sensors under development). This fact, in tandem with the
availability of increased computational power, has led to the
growth of wide area motion imagery (WAMI). ❧ This imagery opens
doors to a lot of applications, for example, in urban planning,
security, and geospatial digital libraries. However, we have found
out that this imagery cannot be easily processed by human
operators, just because of its sheer amount. Therefore, we propose
that a paradigm shift is required to enable working with UAV video
data. The task of visualization cannot be simply defined as looking
at the imagery. In reality, the pixel stream is a signal rich with
information that must be extracted into a form that is easily
processed by a person. The development of this extraction process
falls into the realm of computer vision and is the heart of this
dissertation. ❧ WAMI data is often captured by an array of cameras.
Therefore, at the lowest level, we need an algorithm that takes an
array of individual camera images and estimates a high quality
mosaic. We propose a piecewise affine model to handle all image
deformations that deviate from the standard pinhole camera model.
The results show our model produces better mosaics than a standard
lens distortion model. ❧ Detection of moving objects is not
possible with a moving camera. Video stabilization transforms the
mosaicked video stream into one without any camera motion. We
propose a stabilization technique which minimizes the amount of
drift and jitter in the stabilized imagery. The results show our
technique has better accuracy compared to widely used techniques. ❧
The next level of processing involves estimating the trajectories
of all moving objects, or "tracking." We propose a tracking
algorithm that optimally infers short tracks using Bayesian
networks. These tracklets are then integrated into a multi-object
tracking algorithm that achieves good performance on
aerial
surveillance video. When coupled with a regression-based tracker,
stopping targets can be handled. ❧ WAMI is often collected over
urban areas, where there are tall buildings, and other structures,
which cause severe occlusion that in turn causes significant track
fragmentation. To solve this problem, we propose a method which
links fragmented tracks using known 3D scene structure. Our method
outperforms the classic Hungarian algorithm. ❧ In order to enable
large scale semantic analysis of WAMI data, higher level algorithms
that determine at least some of the semantics are necessary.
Expecting full semantic description of the scene is unrealistic,
but the task can be made easier for a human operator by
automatically determining the most common, or primitive, events or
activities. We propose a framework based on the…
Advisors/Committee Members: Medioni, Gerard G.Medioni, Gérard G. (Committee Chair), Nevatia, Ramakant (Committee Member), Narayanan, Shrikanth S. (Committee Member).
Subjects/Keywords: computer vision; aerial imagery; aerial surveillance; unmanned aerial vehicle
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APA ·
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Manager
APA (6th Edition):
Prokaj, J. (2013). Exploitation of wide area motion imagery. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/307102/rec/2645
Chicago Manual of Style (16th Edition):
Prokaj, Jan. “Exploitation of wide area motion imagery.” 2013. Doctoral Dissertation, University of Southern California. Accessed March 03, 2021.
http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/307102/rec/2645.
MLA Handbook (7th Edition):
Prokaj, Jan. “Exploitation of wide area motion imagery.” 2013. Web. 03 Mar 2021.
Vancouver:
Prokaj J. Exploitation of wide area motion imagery. [Internet] [Doctoral dissertation]. University of Southern California; 2013. [cited 2021 Mar 03].
Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/307102/rec/2645.
Council of Science Editors:
Prokaj J. Exploitation of wide area motion imagery. [Doctoral Dissertation]. University of Southern California; 2013. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll3/id/307102/rec/2645
Arizona State University
5.
Reed, Elisa M.
In Spirit An Archetypal Journey of the Soul.
Degree: Dance, 2020, Arizona State University
URL: http://repository.asu.edu/items/57144
► “In Spirit - An Archetypal Journey of the Soul” is a document illustrating the process of creating an evening length autobiographical aerial dance theater performance,…
(more)
▼ “In Spirit - An Archetypal Journey of the Soul” is a
document illustrating the process of creating an evening length
autobiographical aerial dance theater performance, In Spirit,
through the investigation of theoretical, kinesthetic and
choreographic research of archetypal symbolism, as well as
aesthetic, choreographic and pedagogical aspects of aerial dance.
The Jungian research specifically informed the identification of
symbolism and the roles that archetypes play in creating a clear
storyline within aerial dance theatre. In addition, research of
aesthetic voice and current aerial dance practitioners became
important and gave perspectives on creative pedagogical engagement
in contemporary dance and aerial dance-making. For the duration of
the process of creating In Spirit image-based creative tools, tarot
symbolism, Jungian archetypes, aerial dance training and
collaboration were explored with the cast of ten dancers. Through
this research and embodying the spirit of collaboration, the
choreographer and dancers worked diligently to train dancers with
no previous experience in aerial dance to perform in aerial roles.
The evening-length performance of In Spirit synthesized
contemporary dance, aerial dance, theatre and symbolism regarding
rebirth.
Subjects/Keywords: Dance; Aerial Dance; Aerial Dance Aesthetics; Aerial Dance Education; Archetypes; Creative Practice; Tarot
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APA (6th Edition):
Reed, E. M. (2020). In Spirit An Archetypal Journey of the Soul. (Masters Thesis). Arizona State University. Retrieved from http://repository.asu.edu/items/57144
Chicago Manual of Style (16th Edition):
Reed, Elisa M. “In Spirit An Archetypal Journey of the Soul.” 2020. Masters Thesis, Arizona State University. Accessed March 03, 2021.
http://repository.asu.edu/items/57144.
MLA Handbook (7th Edition):
Reed, Elisa M. “In Spirit An Archetypal Journey of the Soul.” 2020. Web. 03 Mar 2021.
Vancouver:
Reed EM. In Spirit An Archetypal Journey of the Soul. [Internet] [Masters thesis]. Arizona State University; 2020. [cited 2021 Mar 03].
Available from: http://repository.asu.edu/items/57144.
Council of Science Editors:
Reed EM. In Spirit An Archetypal Journey of the Soul. [Masters Thesis]. Arizona State University; 2020. Available from: http://repository.asu.edu/items/57144
6.
Thomas, Justin.
Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles.
Degree: 2017, University of Pennsylvania
URL: https://repository.upenn.edu/edissertations/2605
► Micro Aerial Vehicles (MAVs) have seen a dramatic growth in the consumer market because of their ability to provide new vantage points for aerial photography…
(more)
▼ Micro Aerial Vehicles (MAVs) have seen a dramatic growth in the consumer market because of their ability to provide new vantage points for aerial photography and videography. However, there is little consideration for physical interaction with the environment surrounding them. Onboard manipulators are absent, and onboard perception, if existent, is used to avoid obstacles and maintain a minimum distance from them. There are many applications, however, which would benefit greatly from aerial manipulation or flight in close proximity to structures. This work is focused on facilitating these types of close interactions between quadrotors and surrounding objects. We first explore high-speed grasping, enabling a quadrotor to quickly grasp an object while moving at a high relative velocity. Next, we discuss planning and control strategies, empowering a quadrotor to perch on vertical surfaces using a downward-facing gripper. Then, we demonstrate that such interactions can be achieved using only onboard sensors by incorporating vision-based control and vision-based planning. In particular, we show how a quadrotor can use a single camera and an Inertial Measurement Unit (IMU) to perch on a cylinder. Finally, we generalize our approach to consider objects in motion, and we present relative pose estimation and planning, enabling tracking of a moving sphere using only an onboard camera and IMU.
Subjects/Keywords: Aerial Manipulation; Aerial Robotics; Micro Aerial Vehicles; Visual Servoing; Engineering; Mechanical Engineering; Robotics
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APA (6th Edition):
Thomas, J. (2017). Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles. (Thesis). University of Pennsylvania. Retrieved from https://repository.upenn.edu/edissertations/2605
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Thomas, Justin. “Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles.” 2017. Thesis, University of Pennsylvania. Accessed March 03, 2021.
https://repository.upenn.edu/edissertations/2605.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Thomas, Justin. “Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles.” 2017. Web. 03 Mar 2021.
Vancouver:
Thomas J. Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles. [Internet] [Thesis]. University of Pennsylvania; 2017. [cited 2021 Mar 03].
Available from: https://repository.upenn.edu/edissertations/2605.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Thomas J. Grasping, Perching, And Visual Servoing For Micro Aerial Vehicles. [Thesis]. University of Pennsylvania; 2017. Available from: https://repository.upenn.edu/edissertations/2605
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Utah
7.
Hane, Julianna Gaillard.
Struggle for flight: the process of making aerial dances.
Degree: MFA;, Modern Dance;, 2010, University of Utah
URL: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1385/rec/1090
► Finding my voice as a choreographer in the genre of aerial dance serves as the focus of this thesis. In order to provide context, a…
(more)
▼ Finding my voice as a choreographer in the genre of aerial dance serves as the focus of this thesis. In order to provide context, a brief history of aerial dance illuminates the connections between aerial dance and modern dance aesthetics as well as its inclusion in academic dance programs. I began my research by exploring the myth of human flight, but quickly changed course when the aerial apparatus I selected did not lend itself to this idea. Through the process of creating three different aerial dances, I explore several themes pivotal to aerial choreography including declaring an intention, embodying an intention, and learning to be present even when the process involved struggle. A reflection on my own experiences and deep beliefs sheds light on my choices as a dancer and choreographer. Finally, I discuss the journey of finding my niche as an aerial dance artist.
Subjects/Keywords: Aerial dance; Modern dance
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APA ·
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Manager
APA (6th Edition):
Hane, J. G. (2010). Struggle for flight: the process of making aerial dances. (Masters Thesis). University of Utah. Retrieved from http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1385/rec/1090
Chicago Manual of Style (16th Edition):
Hane, Julianna Gaillard. “Struggle for flight: the process of making aerial dances.” 2010. Masters Thesis, University of Utah. Accessed March 03, 2021.
http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1385/rec/1090.
MLA Handbook (7th Edition):
Hane, Julianna Gaillard. “Struggle for flight: the process of making aerial dances.” 2010. Web. 03 Mar 2021.
Vancouver:
Hane JG. Struggle for flight: the process of making aerial dances. [Internet] [Masters thesis]. University of Utah; 2010. [cited 2021 Mar 03].
Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1385/rec/1090.
Council of Science Editors:
Hane JG. Struggle for flight: the process of making aerial dances. [Masters Thesis]. University of Utah; 2010. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1385/rec/1090
University of Utah
8.
Turrin, James Bradley.
Measuring glacier velocities on the Kenai Peninsula, Alaska, using multispectral satellite imagery with feature tracking.
Degree: MS;, Geography;, 2010, University of Utah
URL: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1869/rec/738
► Previous studies have shown that the glaciers of southern Alaska are receding and thinning, and contributing significantly to sea-level rise, and that temperate glaciers are…
(more)
▼ Previous studies have shown that the glaciers of southern Alaska are receding and thinning, and contributing significantly to sea-level rise, and that temperate glaciers are sensitive indicators of climate change. Therefore, a method is developed to apply feature tracking software to moderate resolution multispectral satellite imagery to derive velocity fields for outlet glaciers of the Harding Icefield, Alaska, which will serve as a basis for future studies of mass balance, contribution to sea-level rise, and glacier response to climate change. The data produced by a feature tracking program are systematically sorted by location, direction, magnitude, correlation strength, and error estimates to eliminate errant vectors using customized IDL programs. A successful new method of systematically removing anomalous vectors within a velocity field via a feedback loop is introduced and tested. Point data are spatially interpolated and a vector field is plotted and color-coded to display ice surface velocities on a glacier, then velocity profiles are produced to gauge the influence of topography on ice velocity and to determine the primary mechanism of ice flow. Velocity fields for Tustumena and McCarty Glaciers are derived that show speeds ranging from < 50-300 m/yr along their lengths. The velocity fields are accurate to within 5.05 ± 3.66 m/yr (0.15 ± 0.11 pixel) or less in magnitude and within 4.5° or less in direction. In-depth analysis of results produced with the image correlation software Image Correlation (IMCORR) show that the magnitude of offset produced changes with varying reference chip size, kernel size used in filters, and direction of the applied filter. A comparison of results produced by IMCORR and a second image correlation program, Coregistration of Optically Sensed Images and Correlation (COSI-Corr), reveals COSI-Corr's frequential correlator is preferable to IMCORR in terms of consistency of results, ease of use, speed of computations, and accuracy. Velocity fields produced using 15 meter Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) imagery from July 2003 and August 2005, and 30 meter Landsat-5 TM imagery from September 2006, August 2007, and July 2008 reveal that the correlation techniques are sensitive to the amount of surface ablation that has occurred during the time interval between image pairs. The results show that feature tracking is capable of producing accurate velocity fields for Harding Icefield's outlet glaciers across a one year time span using moderate resolution multispectral satellite imagery.
Subjects/Keywords: Glaciers – Alaska; Glaciology; Aerial photography
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APA ·
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Manager
APA (6th Edition):
Turrin, J. B. (2010). Measuring glacier velocities on the Kenai Peninsula, Alaska, using multispectral satellite imagery with feature tracking. (Masters Thesis). University of Utah. Retrieved from http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1869/rec/738
Chicago Manual of Style (16th Edition):
Turrin, James Bradley. “Measuring glacier velocities on the Kenai Peninsula, Alaska, using multispectral satellite imagery with feature tracking.” 2010. Masters Thesis, University of Utah. Accessed March 03, 2021.
http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1869/rec/738.
MLA Handbook (7th Edition):
Turrin, James Bradley. “Measuring glacier velocities on the Kenai Peninsula, Alaska, using multispectral satellite imagery with feature tracking.” 2010. Web. 03 Mar 2021.
Vancouver:
Turrin JB. Measuring glacier velocities on the Kenai Peninsula, Alaska, using multispectral satellite imagery with feature tracking. [Internet] [Masters thesis]. University of Utah; 2010. [cited 2021 Mar 03].
Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1869/rec/738.
Council of Science Editors:
Turrin JB. Measuring glacier velocities on the Kenai Peninsula, Alaska, using multispectral satellite imagery with feature tracking. [Masters Thesis]. University of Utah; 2010. Available from: http://content.lib.utah.edu/cdm/singleitem/collection/etd2/id/1869/rec/738
University of Alberta
9.
Xie, Hui.
Dynamic Visual Servoing of Rotary Wing Unmanned Aerial
Vehicles.
Degree: PhD, Department of Electrical and Computer
Engineering, 2016, University of Alberta
URL: https://era.library.ualberta.ca/files/c70795766m
► Visual servoing uses camera feedback to control a robot's motion. In particular, Image-based Visual Servoing (IBVS) laws minimize an error signal defined in the image…
(more)
▼ Visual servoing uses camera feedback to control a
robot's motion. In particular, Image-based Visual Servoing (IBVS)
laws minimize an error signal defined in the image space. This
thesis considers IBVS design for rotary-wing Unmanned Aerial
Vehicles (UAVs). This is a challenging problem due to the nonlinear
perspective projection of image formation and the underactuated
nonlinear dynamics of the UAV. Traditional IBVS approaches
calculate the six Degrees of Freedom (DoF) velocity reference and
feed it into an inner velocity tracking loop. This approach cannot
be directly applied to IBVS of an underactuated UAV. To address
this issue, all IBVS laws developed in this thesis consider the
vehicle's dynamics, and this approach is termed as Dynamic
Image-based Visual Servoing (DIBVS). As compared to traditional
position regulation or tracking of UAVs, the nonlinear image
kinematics leads to systems structure which makes the control
problem challenging. In this thesis a state transformation is
proposed to eliminate the time derivative of attitude in the image
kinematics. This leads to a simpler system structure for control
design. The state transformation is obtained by solving a system of
first-order homogeneous Partial Differential Equations (PDEs). The
existence of solutions is proven and the general solution provided.
Using the transformed state, image moment features for a planar
target with multiple points or parallel lines are proposed. The
state transformation approach requires an attitude measurement
which is commonly available for UAVs. However, this measurement
contains small bias which results in state-transformation error and
introduces a disturbance into the translational velocity dynamics.
The state-transformation error is proven to be negligible. In this
thesis, a quadrotor is adopted as the UAV platform to validate the
proposed DIBVS schemes. The external force or torque is assumed to
be the product of an aerodynamic gain and the square of the Pulse
Width Modulation (PWM) signal to the Electronic Speed Controller
(ESC). This gain gradually decreases as battery voltage drops, and
the resulting reduction in thrust has a noticeable effect on UAV
motion in practise. The attitude bias, aerodynamic gain, and mass
of the UAV are treated as unknown constants. Both
Proportional-Integral-Derivative (PID) and adaptive DIBVS schemes
are proposed to stabilize image feature error and are robust to
this system uncertainty. Although in the transformed image state
the convergence appears to remain in the camera Field of View
(FoV), this may not be case for the actual camera image. To address
this issue, a visual servoing scheme based on a nested saturation
law is proposed to constrain the attitude of the
quadrotor.
Subjects/Keywords: Visual servoing; Unmanned aerial vehicles
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APA (6th Edition):
Xie, H. (2016). Dynamic Visual Servoing of Rotary Wing Unmanned Aerial
Vehicles. (Doctoral Dissertation). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/c70795766m
Chicago Manual of Style (16th Edition):
Xie, Hui. “Dynamic Visual Servoing of Rotary Wing Unmanned Aerial
Vehicles.” 2016. Doctoral Dissertation, University of Alberta. Accessed March 03, 2021.
https://era.library.ualberta.ca/files/c70795766m.
MLA Handbook (7th Edition):
Xie, Hui. “Dynamic Visual Servoing of Rotary Wing Unmanned Aerial
Vehicles.” 2016. Web. 03 Mar 2021.
Vancouver:
Xie H. Dynamic Visual Servoing of Rotary Wing Unmanned Aerial
Vehicles. [Internet] [Doctoral dissertation]. University of Alberta; 2016. [cited 2021 Mar 03].
Available from: https://era.library.ualberta.ca/files/c70795766m.
Council of Science Editors:
Xie H. Dynamic Visual Servoing of Rotary Wing Unmanned Aerial
Vehicles. [Doctoral Dissertation]. University of Alberta; 2016. Available from: https://era.library.ualberta.ca/files/c70795766m
University of Alberta
10.
Glines, Lindsay M.
Woody plant encroachment into grasslands within the Red Deer
River drainage, Alberta.
Degree: MS, Department of Biological Sciences, 2012, University of Alberta
URL: https://era.library.ualberta.ca/files/0p096733n
► Montane grasslands play a key role in supporting wintering elk in the Rocky Mountains of Alberta. To document change in grassland extent and patch sizes,…
(more)
▼ Montane grasslands play a key role in supporting
wintering elk in the Rocky Mountains of Alberta. To document change
in grassland extent and patch sizes, I analyzed repeat aerial
photography at 4 sites in the upper Red Deer River drainage between
1952 and 2003. Excluding the Ya Ha Tinda, grassland extent declined
52 + 20%, shrubland 39 + 41%, with an increase in mixedwood forest
of 32%, and coniferous forest of 39 + 10%. The rate of grassland
loss differed among sites: West Lakes > Tyrrell Flats ~
Scotch Camp. Grassland area at Ya Ha Tinda was the same in 1952 and
2003 due to shrub mowing. Grassland patch size increased on
average, but decreased in WL as larger patches of fragmented with
woody plant encroachment. From 100-m transects along
grassland-shrub-forest ecotones, differences in herbaceous biomass
and species richness existed within cover types, but no pattern in
edge effects on herbaceous biomass could be detected between
ecotone type or among sites, except at the Ya Ha
Tinda.
Subjects/Keywords: aerial photographs; succession; biomass
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APA (6th Edition):
Glines, L. M. (2012). Woody plant encroachment into grasslands within the Red Deer
River drainage, Alberta. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/0p096733n
Chicago Manual of Style (16th Edition):
Glines, Lindsay M. “Woody plant encroachment into grasslands within the Red Deer
River drainage, Alberta.” 2012. Masters Thesis, University of Alberta. Accessed March 03, 2021.
https://era.library.ualberta.ca/files/0p096733n.
MLA Handbook (7th Edition):
Glines, Lindsay M. “Woody plant encroachment into grasslands within the Red Deer
River drainage, Alberta.” 2012. Web. 03 Mar 2021.
Vancouver:
Glines LM. Woody plant encroachment into grasslands within the Red Deer
River drainage, Alberta. [Internet] [Masters thesis]. University of Alberta; 2012. [cited 2021 Mar 03].
Available from: https://era.library.ualberta.ca/files/0p096733n.
Council of Science Editors:
Glines LM. Woody plant encroachment into grasslands within the Red Deer
River drainage, Alberta. [Masters Thesis]. University of Alberta; 2012. Available from: https://era.library.ualberta.ca/files/0p096733n
Texas A&M University
11.
Rouze, Gregory.
The Applicability of Gamma-Ray Spectrometry within Soil Science.
Degree: MS, Soil Science, 2015, Texas A&M University
URL: http://hdl.handle.net/1969.1/156512
► Detailed spatial soil information is needed to better address environmental challenges across regional, national, and global scales. In the U.S., point-scale soil data are available…
(more)
▼ Detailed spatial soil information is needed to better address environmental challenges across regional, national, and global scales. In the U.S., point-scale soil data are available to provide information on chemical and physical properties of soil as well as polygons where soils occur on the landscape. However, the soil data suffer from several shortcomings in terms of internal consistency as well as an inaccurate portrayal of soil variability. Passive
aerial gamma-ray radiometrics is a tool that has been successfully used to represent soil variation because it may represent changes in parent materials. Legacy
aerial gamma radiometric data is currently available across the United States but as such, has not been compared with soil properties. Therefore, the overall objective of this study was to assess the applicability of
aerial gamma-ray spectrometry for the application of mapping soil properties associated across the U.S. Gamma radiometrics were compared with legacy soil samples across the United States. The quality of the initial
aerial gamma-ray surveys were assessed by first comparing soil properties against with proximal gamma-ray surveys, followed by proximal and
aerial radiometric comparisons within different parent materials in the state of Texas.
After determining that
aerial gamma radiometric variation is best understood in terms of physiography, results indicated weak to moderately significant relationships between the two datasets for soil properties such as soil texture and cation-exchange capacity. Results support the conclusion that the soil sampling locations as well as the poor spatial resolution of the legacy gridded gamma radiometric data contribute to low correlation coefficients. Proximal survey results indicate that
aerial gamma-ray spatial patterns are related with soil properties such as texture and inorganic carbon within different parent materials. Results also indicate that poor geo-spatial positioning of
aerial surveys drives the decrease in quality of correlations with soil data on the ground.
Aerial gamma-ray spectrometry has utility for mapping soil properties, but consideration must first be given toward parent material and physiography type. Future studies should consider understanding
aerial gamma radiometrics in the United States by surveying additional parent materials not present in this study.
Advisors/Committee Members: Morgan, Cristine L.S. (advisor), Neely, Haly L. (committee member), Thomasson, John A. (committee member).
Subjects/Keywords: Aerial; Gamma Radiometrics; Soil
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APA (6th Edition):
Rouze, G. (2015). The Applicability of Gamma-Ray Spectrometry within Soil Science. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/156512
Chicago Manual of Style (16th Edition):
Rouze, Gregory. “The Applicability of Gamma-Ray Spectrometry within Soil Science.” 2015. Masters Thesis, Texas A&M University. Accessed March 03, 2021.
http://hdl.handle.net/1969.1/156512.
MLA Handbook (7th Edition):
Rouze, Gregory. “The Applicability of Gamma-Ray Spectrometry within Soil Science.” 2015. Web. 03 Mar 2021.
Vancouver:
Rouze G. The Applicability of Gamma-Ray Spectrometry within Soil Science. [Internet] [Masters thesis]. Texas A&M University; 2015. [cited 2021 Mar 03].
Available from: http://hdl.handle.net/1969.1/156512.
Council of Science Editors:
Rouze G. The Applicability of Gamma-Ray Spectrometry within Soil Science. [Masters Thesis]. Texas A&M University; 2015. Available from: http://hdl.handle.net/1969.1/156512
Texas A&M University
12.
Suresh, Karthik.
Deep Nuisance Disentanglement for Robust Object Detection from Unmanned Aerial Vehicles.
Degree: MS, Computer Engineering, 2019, Texas A&M University
URL: http://hdl.handle.net/1969.1/185023
► Object detection from images captured by Unmanned Aerial Vehicles (UAVs) is becoming dramatically useful. Despite the great success of the generic object detection methods trained…
(more)
▼ Object detection from images captured by Unmanned
Aerial Vehicles (UAVs) is becoming dramatically useful. Despite the great success of the generic object detection methods trained on ground-to-ground images, a huge performance drop is observed when these methods are directly applied to images captured by UAVs. The unsatisfactory performance is owing to many UAV-specific nuisances, such as varying flying altitudes, adverse weather conditions, dynamically changing viewing angles, etc., constituting a large number of fine-grained domains across which the detection model has to stay robust. Fortunately, UAVs record meta-data corresponding to the same varying attributes, which can either be freely available along with the UAV images, or easily obtained. We propose to utilize the free meta-data in conjunction with the associated UAV images to learn domain-robust features via an adversarial training framework. This model is dubbed Nuisance Disentangled Feature Transforms (NDFT), for the specific challenging problem of object detection in UAV images. It achieves a substantial gain in robustness to these nuisances. This work demonstrates the effectiveness of our proposed algorithm by showing both quantitative improvements on two existing UAV-based object detection benchmarks, as well as qualitative improvements on self-collected UAV imagery.
Reprinted with permission from the Abstract section of Deep Nuisance Disentanglement for Robust Object Detection from Unmanned
Aerial Vehicles by Zhenyu Wu† , Karthik Suresh† , Priya Narayanan, Hongyu Xu, Heesung Kwon, Zhangyang Wang, 2019, International Conference on Computer Vision (ICCV 2019) Proceedings (Under Review). † indicates equal contribution
Advisors/Committee Members: Wang, Zhangyang (advisor), Braga-Neto, Ulisses (committee member), Choe, Yoonsuck (committee member).
Subjects/Keywords: Object Detection; Unmanned Aerial Vehicles
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APA (6th Edition):
Suresh, K. (2019). Deep Nuisance Disentanglement for Robust Object Detection from Unmanned Aerial Vehicles. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/185023
Chicago Manual of Style (16th Edition):
Suresh, Karthik. “Deep Nuisance Disentanglement for Robust Object Detection from Unmanned Aerial Vehicles.” 2019. Masters Thesis, Texas A&M University. Accessed March 03, 2021.
http://hdl.handle.net/1969.1/185023.
MLA Handbook (7th Edition):
Suresh, Karthik. “Deep Nuisance Disentanglement for Robust Object Detection from Unmanned Aerial Vehicles.” 2019. Web. 03 Mar 2021.
Vancouver:
Suresh K. Deep Nuisance Disentanglement for Robust Object Detection from Unmanned Aerial Vehicles. [Internet] [Masters thesis]. Texas A&M University; 2019. [cited 2021 Mar 03].
Available from: http://hdl.handle.net/1969.1/185023.
Council of Science Editors:
Suresh K. Deep Nuisance Disentanglement for Robust Object Detection from Unmanned Aerial Vehicles. [Masters Thesis]. Texas A&M University; 2019. Available from: http://hdl.handle.net/1969.1/185023
Oregon State University
13.
Frost, Geoffrey W.
Two projectiles connected by a flexible tether dropped in the atmosphere.
Degree: MS, Mechanical Engineering, 1999, Oregon State University
URL: http://hdl.handle.net/1957/33001
► This study investigates the atmospheric flight dynamics of a munition system and the effect of a tether reel resistance mechanism for limiting the impact that…
(more)
▼ This study investigates the atmospheric flight dynamics of a munition system and the effect of a tether reel resistance mechanism for limiting the impact that the unreeling process has on the munition system. The munition system consisting of two projectiles connected by a tether line is released from an aircraft at altitude and drops toward a target on the ground. Initially the two projectiles are rigidly attached. At a specified time, the projectiles separate and subsequently unreel the tether line. After the tether line is fully payed out, the system settles toward a steady state as it approaches the ground. Two different computation procedures are compared for modeling the tether unreeling process, namely, the pop-out and all-out methods. The all-out method requires significantly higher computation whereas the pop-out method induces spurious vibration into the tether line as line is released. It is shown that while projectile position results converge for a relatively low number of tether line elements, the maximum tether loads require a significantly larger number of elements. Parametric studies indicate that increases in tether stiffness contribute to increases in maximum tether line load and maximum
follower projectile acceleration while having very little effect on the range of the lead and follower projectiles. An increase in the drag coefficient ratio increases the maximum tether line load and the maximum acceleration on the follower projectile. However, increasing the drag coefficient ratio also causes a decrease in the speed of the lead projectile, which leads to a decrease in range of the system. A follower projectile equal in weight to the lead projectile results in an increase in tether deployment time while having little effect on the range of the lead projectile. For a low follower-to-lead projectile-mass ratio, the tether line unreeling process is predominantly due to the follower and lead projectile separation. Conversely, for a high follower-to-lead projectile-mass ratio, the tether line tends to billow and subsequently unreels itself independent of lead and follower projectile motion. The parametric studies led to the determination of reel configurations which decrease tether line loads, maximum acceleration on the follower projectile, time to reach a steady state condition, and the terminal miss distance. Reel resistance functions based on feasible mechanisms were determined for various drop speeds, mass ratios, drag coefficient ratios and tether line stiffness. High end, low end, and mid-range optimal resistance functions were chosen from the range of each category. Each selected optimal resistance function was utilized in the above computation procedure for modeling the tether unreeling process to determine and compare the deployment characteristics produced over the entire range of each category. The deployment characteristics produced by each optimal resistance function were used to determine envelopes for successful deployment. Reel resistance based on either line out or line out rate…
Advisors/Committee Members: Costello, Mark F. (advisor).
Subjects/Keywords: Projectiles; Aerial
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APA (6th Edition):
Frost, G. W. (1999). Two projectiles connected by a flexible tether dropped in the atmosphere. (Masters Thesis). Oregon State University. Retrieved from http://hdl.handle.net/1957/33001
Chicago Manual of Style (16th Edition):
Frost, Geoffrey W. “Two projectiles connected by a flexible tether dropped in the atmosphere.” 1999. Masters Thesis, Oregon State University. Accessed March 03, 2021.
http://hdl.handle.net/1957/33001.
MLA Handbook (7th Edition):
Frost, Geoffrey W. “Two projectiles connected by a flexible tether dropped in the atmosphere.” 1999. Web. 03 Mar 2021.
Vancouver:
Frost GW. Two projectiles connected by a flexible tether dropped in the atmosphere. [Internet] [Masters thesis]. Oregon State University; 1999. [cited 2021 Mar 03].
Available from: http://hdl.handle.net/1957/33001.
Council of Science Editors:
Frost GW. Two projectiles connected by a flexible tether dropped in the atmosphere. [Masters Thesis]. Oregon State University; 1999. Available from: http://hdl.handle.net/1957/33001
14.
Soares, Bernardo.
UAS e Reconhecimento Terrestre: contributos para ummodelo de instrução e treino.
Degree: 2013, Academia Militar. Direção de Ensino
URL: https://www.rcaap.pt/detail.jsp?id=oai:comum.rcaap.pt:10400.26/7992
► Os Unmanned Aerial Systems têm vindo a adquirir um papel cada vez mais importante na atualidade. A sua evolução tem sido exponencial e o seu…
(more)
▼ Os Unmanned Aerial Systems têm vindo a adquirir um papel cada vez mais
importante na atualidade. A sua evolução tem sido exponencial e o seu campo de aplicação
diverso.
Os Exércitos modernos vêm nestes meios capacidades úteis para a missão
Reconhecimento, daí que tenham começado a explorar esta vertente da aviação e da tecnologia. O Exército Português não é excepção e tem nos quadros orgânicos dos Elementos da Componente Operacional do Sistema de Forças contemplado o uso de Unmanned Aerial Systems.
O presente Trabalho de Investigação Aplicada procura clarificar os conceitos
relacionados com os Unmanned Aerial Systems, caracterizar os modelos de formação nacional e estrangeiros, caracterizar a formação e o treino dos elementos afetos a estes sistemas e fornecer contributos ao nível da formação e do treino para a realidade do Exército Português.
Para atingir os objetivos propostos fazem-se dois estudos de caso sobre os
Exércitos Espanhol e Norte-Americano incidindo sobre vários aspetos que os Unmanned Aerial Systems implicam. Fazendo a comparação com o que existe atualmente no Exército Português tecem-se algumas reflexões. São também entrevistados quatro oficiais que desempenham ou desempenharam funções de comandante de Esquadrão de Reconhecimento para perceber o seu ponto de vista em relação à integração dos novos
sistemas nos seus Esquadrões. Uma outra entrevista é dirigida a uma entidade com responsabilidade na produção de Doutrina para a formação e treino para se perceber o impacto da inclusão dos sistemas no Quadros Orgânicos Portugueses nestas áreas.
O Exército Português ainda não possui sistemas UAS, porém está envolvido em
projetos que são parte do caminho a seguir para chegar à aquisição de um sistema UAS.
Identificado o sistema e as suas características dar-se-á início ao método da Abordagem Sistémica da Instrução cujo produto será o modelo de formação e treino mais adequado.
Abstract The Unmanned Aerial Systems has come to acquire an increasingly more important role for today. Its evolution has been exponential and its field of aplication diverse.
Modern Armies saw in these means useful skills for Reconaissance missions so that
have begun to explore this aspect of aviation and technology. The Portuguese Army is no exception and has organic frameworks of the Forces System Operational Component Elements contemplating the use of Unmanned Aerial Systems.
This Applied Research Work establishes as objectives clarify the concepts related
to the Unmanned Aerial Systems, characterize national and foreign models of training, characterize the training and the training at the level of the unmanned means and its integration in the units of maneuver, and provide contributions to the reality of the Portuguese Army To achieve the proposed objectives we make two case…
Subjects/Keywords: Unmanned Aerial Systems; Reconhecimento; Formação
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APA (6th Edition):
Soares, B. (2013). UAS e Reconhecimento Terrestre: contributos para ummodelo de instrução e treino. (Thesis). Academia Militar. Direção de Ensino. Retrieved from https://www.rcaap.pt/detail.jsp?id=oai:comum.rcaap.pt:10400.26/7992
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Soares, Bernardo. “UAS e Reconhecimento Terrestre: contributos para ummodelo de instrução e treino.” 2013. Thesis, Academia Militar. Direção de Ensino. Accessed March 03, 2021.
https://www.rcaap.pt/detail.jsp?id=oai:comum.rcaap.pt:10400.26/7992.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Soares, Bernardo. “UAS e Reconhecimento Terrestre: contributos para ummodelo de instrução e treino.” 2013. Web. 03 Mar 2021.
Vancouver:
Soares B. UAS e Reconhecimento Terrestre: contributos para ummodelo de instrução e treino. [Internet] [Thesis]. Academia Militar. Direção de Ensino; 2013. [cited 2021 Mar 03].
Available from: https://www.rcaap.pt/detail.jsp?id=oai:comum.rcaap.pt:10400.26/7992.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Soares B. UAS e Reconhecimento Terrestre: contributos para ummodelo de instrução e treino. [Thesis]. Academia Militar. Direção de Ensino; 2013. Available from: https://www.rcaap.pt/detail.jsp?id=oai:comum.rcaap.pt:10400.26/7992
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
15.
Boulekchour, M.
Robust convex optimisation techniques for autonomous vehicle vision-based navigation.
Degree: PhD, 2015, Cranfield University
URL: http://dspace.lib.cranfield.ac.uk/handle/1826/9412
► This thesis investigates new convex optimisation techniques for motion and pose estimation. Numerous computer vision problems can be formulated as optimisation problems. These optimisation problems…
(more)
▼ This thesis investigates new convex optimisation techniques for motion and pose estimation. Numerous computer vision problems can be formulated as optimisation problems. These optimisation problems are generally solved via linear techniques using the singular value decomposition or iterative methods under an L2 norm minimisation. Linear techniques have the advantage of offering a closed-form solution that is simple to implement. The quantity being minimised is, however, not geometrically or statistically meaningful. Conversely, L2 algorithms rely on iterative estimation, where a cost function is minimised using algorithms such as Levenberg-Marquardt, Gauss-Newton, gradient descent or conjugate gradient. The cost functions involved are geometrically interpretable and can statistically be optimal under an assumption of Gaussian noise. However, in addition to their sensitivity to initial conditions, these algorithms are often slow and bear a high probability of getting trapped in a local minimum or producing infeasible solutions, even for small noise levels.
In light of the above, in this thesis we focus on developing new techniques for finding solutions via a convex optimisation framework that are globally optimal. Presently convex optimisation techniques in motion estimation have revealed enormous advantages. Indeed, convex optimisation ensures getting a global minimum, and the cost function is geometrically meaningful.
Moreover, robust optimisation is a recent approach for optimisation under uncertain data. In recent years the need to cope with uncertain data has become especially acute, particularly where real-world applications are concerned. In such circumstances, robust optimisation aims to recover an optimal solution whose feasibility must be guaranteed for any realisation of the uncertain data. Although many researchers avoid uncertainty due to the added complexity in constructing a robust
optimisation model and to lack of knowledge as to the nature of these uncertainties, and especially their propagation, in this thesis robust convex optimisation, while estimating the uncertainties at every step is investigated for the motion estimation problem.
First, a solution using convex optimisation coupled to the recursive least squares (RLS) algorithm and the robust H filter is developed for motion estimation. In another solution, uncertainties and their propagation are incorporated in a robust L convex optimisation framework for monocular visual motion estimation. In this solution, robust least squares is combined with a second order cone program (SOCP). A technique to improve the accuracy and the robustness of the fundamental matrix is also investigated in this thesis. This technique uses the covariance intersection approach to fuse feature location uncertainties, which leads to more consistent motion estimates.
Loop-closure detection is crucial in improving the robustness of navigation algorithms. In practice, after long navigation in an unknown environment, detecting that a vehicle is in a location it has…
Subjects/Keywords: Unmanned aerial vehicles; Guidance
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APA (6th Edition):
Boulekchour, M. (2015). Robust convex optimisation techniques for autonomous vehicle vision-based navigation. (Doctoral Dissertation). Cranfield University. Retrieved from http://dspace.lib.cranfield.ac.uk/handle/1826/9412
Chicago Manual of Style (16th Edition):
Boulekchour, M. “Robust convex optimisation techniques for autonomous vehicle vision-based navigation.” 2015. Doctoral Dissertation, Cranfield University. Accessed March 03, 2021.
http://dspace.lib.cranfield.ac.uk/handle/1826/9412.
MLA Handbook (7th Edition):
Boulekchour, M. “Robust convex optimisation techniques for autonomous vehicle vision-based navigation.” 2015. Web. 03 Mar 2021.
Vancouver:
Boulekchour M. Robust convex optimisation techniques for autonomous vehicle vision-based navigation. [Internet] [Doctoral dissertation]. Cranfield University; 2015. [cited 2021 Mar 03].
Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/9412.
Council of Science Editors:
Boulekchour M. Robust convex optimisation techniques for autonomous vehicle vision-based navigation. [Doctoral Dissertation]. Cranfield University; 2015. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/9412
University of Oxford
16.
Walker, James.
Visual guidance of target-oriented flight behaviours in birds.
Degree: PhD, 2018, University of Oxford
URL: http://ora.ox.ac.uk/objects/uuid:8c9ee694-9734-45d8-a77f-1ac0b321849f
;
https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.780533
► Birds are highly dependent on vision to guide their flight during goal-directed tasks. They shift their visual attention primarily through head reorientation, with limited eye…
(more)
▼ Birds are highly dependent on vision to guide their flight during goal-directed tasks. They shift their visual attention primarily through head reorientation, with limited eye movement; however, measuring head orientation in free-flying birds is a significant technical challenge. While the gaze strategies of some birds have been studied in considerable detail in laboratory environments, studies of visual guidance in natural environments have largely been limited to inferences based on GPS-derived flight trajectories. This thesis aims to advance our understanding of how birds use their visual system to guide target-directed flight, using novel instrumentation to measure the gaze strategy of homing pigeons (Columba livia) and peregrine falcons (Falco peregrinus) flying in their natural environments. We use GPS-derived flight tracks to explore the visual mechanisms available to pigeons to compensate for wind drift, finding that they partially compensate for lateral displacement caused by the wind performing better than a naive strategy requiring no knowledge of the wind. We then describe the development of a custom-built sensor, incorporating a GPS receiver and head-mounted inertial measurement unit (IMU), which measures bird position and head orientation. Using this instrumentation, we find that pigeons coordinate angular head saccades with their wingbeats. Our results also reveal that vertical head stabilisation is enhanced when flying with flock companions, largely via increased wingbeat frequency. The focus of pigeons' visual attention during homing flight is measured with the sensor, allowing specific points of interest to be identified in the landscape that do not lie on the bird's track. Finally, we find that in the closing phases of predatory pursuit, peregrine falcons continuously track their target position using either their frontally or laterally facing fovea. Refined iterations of the exploratory technique developed here have the potential to revolutionise our understanding of large-scale spatial cognition and short-range guidance in birds and may, in turn, lead to applications in the design of visually-guided unmanned aerial systems.
Subjects/Keywords: Visual guidance; Aerial views; Birds
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Manager
APA (6th Edition):
Walker, J. (2018). Visual guidance of target-oriented flight behaviours in birds. (Doctoral Dissertation). University of Oxford. Retrieved from http://ora.ox.ac.uk/objects/uuid:8c9ee694-9734-45d8-a77f-1ac0b321849f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.780533
Chicago Manual of Style (16th Edition):
Walker, James. “Visual guidance of target-oriented flight behaviours in birds.” 2018. Doctoral Dissertation, University of Oxford. Accessed March 03, 2021.
http://ora.ox.ac.uk/objects/uuid:8c9ee694-9734-45d8-a77f-1ac0b321849f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.780533.
MLA Handbook (7th Edition):
Walker, James. “Visual guidance of target-oriented flight behaviours in birds.” 2018. Web. 03 Mar 2021.
Vancouver:
Walker J. Visual guidance of target-oriented flight behaviours in birds. [Internet] [Doctoral dissertation]. University of Oxford; 2018. [cited 2021 Mar 03].
Available from: http://ora.ox.ac.uk/objects/uuid:8c9ee694-9734-45d8-a77f-1ac0b321849f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.780533.
Council of Science Editors:
Walker J. Visual guidance of target-oriented flight behaviours in birds. [Doctoral Dissertation]. University of Oxford; 2018. Available from: http://ora.ox.ac.uk/objects/uuid:8c9ee694-9734-45d8-a77f-1ac0b321849f ; https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.780533
Cranfield University
17.
Boulekchour, M.
Robust convex optimisation techniques for autonomous vehicle vision-based navigation.
Degree: PhD, 2015, Cranfield University
URL: http://dspace.lib.cranfield.ac.uk/handle/1826/9412
;
http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.665910
► This thesis investigates new convex optimisation techniques for motion and pose estimation. Numerous computer vision problems can be formulated as optimisation problems. These optimisation problems…
(more)
▼ This thesis investigates new convex optimisation techniques for motion and pose estimation. Numerous computer vision problems can be formulated as optimisation problems. These optimisation problems are generally solved via linear techniques using the singular value decomposition or iterative methods under an L2 norm minimisation. Linear techniques have the advantage of offering a closed-form solution that is simple to implement. The quantity being minimised is, however, not geometrically or statistically meaningful. Conversely, L2 algorithms rely on iterative estimation, where a cost function is minimised using algorithms such as Levenberg-Marquardt, Gauss-Newton, gradient descent or conjugate gradient. The cost functions involved are geometrically interpretable and can statistically be optimal under an assumption of Gaussian noise. However, in addition to their sensitivity to initial conditions, these algorithms are often slow and bear a high probability of getting trapped in a local minimum or producing infeasible solutions, even for small noise levels. In light of the above, in this thesis we focus on developing new techniques for finding solutions via a convex optimisation framework that are globally optimal. Presently convex optimisation techniques in motion estimation have revealed enormous advantages. Indeed, convex optimisation ensures getting a global minimum, and the cost function is geometrically meaningful. Moreover, robust optimisation is a recent approach for optimisation under uncertain data. In recent years the need to cope with uncertain data has become especially acute, particularly where real-world applications are concerned. In such circumstances, robust optimisation aims to recover an optimal solution whose feasibility must be guaranteed for any realisation of the uncertain data. Although many researchers avoid uncertainty due to the added complexity in constructing a robust optimisation model and to lack of knowledge as to the nature of these uncertainties, and especially their propagation, in this thesis robust convex optimisation, while estimating the uncertainties at every step is investigated for the motion estimation problem. First, a solution using convex optimisation coupled to the recursive least squares (RLS) algorithm and the robust H filter is developed for motion estimation. In another solution, uncertainties and their propagation are incorporated in a robust L convex optimisation framework for monocular visual motion estimation. In this solution, robust least squares is combined with a second order cone program (SOCP). A technique to improve the accuracy and the robustness of the fundamental matrix is also investigated in this thesis. This technique uses the covariance intersection approach to fuse feature location uncertainties, which leads to more consistent motion estimates. Loop-closure detection is crucial in improving the robustness of navigation algorithms. In practice, after long navigation in an unknown environment, detecting that a vehicle is in a location it has…
Subjects/Keywords: 629.133; Unmanned aerial vehicles; Guidance
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APA (6th Edition):
Boulekchour, M. (2015). Robust convex optimisation techniques for autonomous vehicle vision-based navigation. (Doctoral Dissertation). Cranfield University. Retrieved from http://dspace.lib.cranfield.ac.uk/handle/1826/9412 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.665910
Chicago Manual of Style (16th Edition):
Boulekchour, M. “Robust convex optimisation techniques for autonomous vehicle vision-based navigation.” 2015. Doctoral Dissertation, Cranfield University. Accessed March 03, 2021.
http://dspace.lib.cranfield.ac.uk/handle/1826/9412 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.665910.
MLA Handbook (7th Edition):
Boulekchour, M. “Robust convex optimisation techniques for autonomous vehicle vision-based navigation.” 2015. Web. 03 Mar 2021.
Vancouver:
Boulekchour M. Robust convex optimisation techniques for autonomous vehicle vision-based navigation. [Internet] [Doctoral dissertation]. Cranfield University; 2015. [cited 2021 Mar 03].
Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/9412 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.665910.
Council of Science Editors:
Boulekchour M. Robust convex optimisation techniques for autonomous vehicle vision-based navigation. [Doctoral Dissertation]. Cranfield University; 2015. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/9412 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.665910
Delft University of Technology
18.
Durrant, Robert (author).
High-Level Command Mapping for Multi-Robot Aerial Cinematography.
Degree: 2018, Delft University of Technology
URL: http://resolver.tudelft.nl/uuid:a8ca315c-93b4-4b6c-83fd-f587f5aed34c
► Aerial cinematography has seen an increased use of Unmanned Aerial Vehicle (UAV) due to technological advancements and commercialisation in recent years. The operation of such…
(more)
▼ Aerial cinematography has seen an increased use of Unmanned Aerial Vehicle (UAV) due to technological advancements and commercialisation in recent years. The operation of such a robot can be complex and requires a dedicated person to control it. Automation of the cinematography allows for the use of multiple robots, which further increases the complexity of performing cinematography. High-level command interpretation is required to allow for an intuitive interface suited for an inexperienced user to control such a system. Natural Language (NL) is an intuitive interface method which allows a user to specify a extensive range of commands. A Cinematographic Description Clause (CDC) is defined to extract information from a processed NL command. A minimum input approach is considered such that a user has to merely specify the number of robots and the people to record, whereby the specification of a behaviour is optional. An environment is considered in which up to three robots have to frame two people. Taking into account their orientation, relative global location and the user command, a set of behaviours can be determined based on cinematographic practices. Camera views and image parameters are determined through behaviour specific non-linear optimisations and assigned to the robots using a Linear-Bottleneck Algorithm (LBA). A collision-free global path is computed for each robot with an A* search algorithm. Finally, a Model Predictive Control (MPC) determines low-level inputs such that the user command can be achieved. Three situations are considered to validate the performance of the system given the minimal user input. First, tracking of the dynamic orientations of the people is evaluated for up to three robots, whereby camera positions are determined autonomously. Next, dynamic motions of the two people through an environment highlight the limitations of the system due to collision mitigation, mutual visibility and robot dynamics. An extension to multiple simultaneous commands increases the quantity of robots and people that can be tracked. This allows for an assessment of the flexibility and scalability of the proposed high-level command interpretation methodology.
System and Control
Advisors/Committee Members: Alonso Mora, Javier (mentor), Delft University of Technology (degree granting institution).
Subjects/Keywords: Aerial Cinematography; MPC; Command Mapping
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APA (6th Edition):
Durrant, R. (. (2018). High-Level Command Mapping for Multi-Robot Aerial Cinematography. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:a8ca315c-93b4-4b6c-83fd-f587f5aed34c
Chicago Manual of Style (16th Edition):
Durrant, Robert (author). “High-Level Command Mapping for Multi-Robot Aerial Cinematography.” 2018. Masters Thesis, Delft University of Technology. Accessed March 03, 2021.
http://resolver.tudelft.nl/uuid:a8ca315c-93b4-4b6c-83fd-f587f5aed34c.
MLA Handbook (7th Edition):
Durrant, Robert (author). “High-Level Command Mapping for Multi-Robot Aerial Cinematography.” 2018. Web. 03 Mar 2021.
Vancouver:
Durrant R(. High-Level Command Mapping for Multi-Robot Aerial Cinematography. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 03].
Available from: http://resolver.tudelft.nl/uuid:a8ca315c-93b4-4b6c-83fd-f587f5aed34c.
Council of Science Editors:
Durrant R(. High-Level Command Mapping for Multi-Robot Aerial Cinematography. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:a8ca315c-93b4-4b6c-83fd-f587f5aed34c
University of Florida
19.
Balough, Nathaniel David.
The Effects of War Three-Dimensional Comparison Using Historical Aerial Photos of Normandy, France.
Degree: MS, Forest Resources and Conservation, 2020, University of Florida
URL: https://ufdc.ufl.edu/UFE0056445
► Analog single-exposure historical film negatives may seem antiquated in a digitally focused world, but analog images provide a great example of how the past can…
(more)
▼ Analog single-exposure historical film negatives may seem antiquated in a digitally focused world, but analog images provide a great example of how the past can help the future. Normandy was the largest amphibious assault ever, conducted by the United States Army and British troops, and required detailed planning, airborne reconnaissance, naval artillery, and ground and airborne troops for the assault. The historical Normandy film imagery at the time was all analog, but through current digital photogrammetry processes, these images come alive and show the areas the soldiers fought through with a detailed visualization, and also how the landscape changed because of the invasion. After conducting image retrieval, image conditioning, and photogrammetric processing, the images were used to produce an orthorectified mosaic with a resolution of 41.2 cm/pix and a dense 3D point cloud. The measured absolute horizontal, absolute vertical, and relative height root mean square errors (RMSEs) were found to be 4.21m, 2.92m, and 3.85 m respectively when compared to DigitalGlobe products, and 3.85 m, 4.82 m, and 4.00 m respectively when compared to Google Earth products. DigitalGlobe and Google Earth both use the World Geodetic System 1984 (WGS 84) for horizontal and vertical data and the Shuttle Radar Topography Mission-2 (SRTM-2) data for height. Agreement between the historically derived products and modern sources is evidenced by a calculated cliff height of 60.06 m compared to the DigitalGlobe and Google Earth-measured 60 m height. The historical products also showed promise for assessing battle damage in the form of bomb-crater volume calculations derived from them. ( en )
Advisors/Committee Members: Wilkinson,Benjamin E (committee chair), Abd-Elrahman,Amr H (committee member).
Subjects/Keywords: aerial – normandy – photogrammetry – photography
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APA (6th Edition):
Balough, N. D. (2020). The Effects of War Three-Dimensional Comparison Using Historical Aerial Photos of Normandy, France. (Masters Thesis). University of Florida. Retrieved from https://ufdc.ufl.edu/UFE0056445
Chicago Manual of Style (16th Edition):
Balough, Nathaniel David. “The Effects of War Three-Dimensional Comparison Using Historical Aerial Photos of Normandy, France.” 2020. Masters Thesis, University of Florida. Accessed March 03, 2021.
https://ufdc.ufl.edu/UFE0056445.
MLA Handbook (7th Edition):
Balough, Nathaniel David. “The Effects of War Three-Dimensional Comparison Using Historical Aerial Photos of Normandy, France.” 2020. Web. 03 Mar 2021.
Vancouver:
Balough ND. The Effects of War Three-Dimensional Comparison Using Historical Aerial Photos of Normandy, France. [Internet] [Masters thesis]. University of Florida; 2020. [cited 2021 Mar 03].
Available from: https://ufdc.ufl.edu/UFE0056445.
Council of Science Editors:
Balough ND. The Effects of War Three-Dimensional Comparison Using Historical Aerial Photos of Normandy, France. [Masters Thesis]. University of Florida; 2020. Available from: https://ufdc.ufl.edu/UFE0056445
University of Florida
20.
Agrawal, Pranav.
Framework for Legal Constraints for Using Unmanned Aerial Systems in Construction.
Degree: M.S.C.M, Construction Management, 2016, University of Florida
URL: https://ufdc.ufl.edu/UFE0050054
Subjects/Keywords: aerial; unmanned
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APA (6th Edition):
Agrawal, P. (2016). Framework for Legal Constraints for Using Unmanned Aerial Systems in Construction. (Masters Thesis). University of Florida. Retrieved from https://ufdc.ufl.edu/UFE0050054
Chicago Manual of Style (16th Edition):
Agrawal, Pranav. “Framework for Legal Constraints for Using Unmanned Aerial Systems in Construction.” 2016. Masters Thesis, University of Florida. Accessed March 03, 2021.
https://ufdc.ufl.edu/UFE0050054.
MLA Handbook (7th Edition):
Agrawal, Pranav. “Framework for Legal Constraints for Using Unmanned Aerial Systems in Construction.” 2016. Web. 03 Mar 2021.
Vancouver:
Agrawal P. Framework for Legal Constraints for Using Unmanned Aerial Systems in Construction. [Internet] [Masters thesis]. University of Florida; 2016. [cited 2021 Mar 03].
Available from: https://ufdc.ufl.edu/UFE0050054.
Council of Science Editors:
Agrawal P. Framework for Legal Constraints for Using Unmanned Aerial Systems in Construction. [Masters Thesis]. University of Florida; 2016. Available from: https://ufdc.ufl.edu/UFE0050054
Georgia Tech
21.
Dutton, D. W. (Donnell Wayne).
The static thrust characteristics of a propeller with trailing-edge flaps.
Degree: MS, Aeronautical Engineering, 1940, Georgia Tech
URL: http://hdl.handle.net/1853/15674
Subjects/Keywords: Propellers; Aerial
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APA (6th Edition):
Dutton, D. W. (. W. (1940). The static thrust characteristics of a propeller with trailing-edge flaps. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/15674
Chicago Manual of Style (16th Edition):
Dutton, D W (Donnell Wayne). “The static thrust characteristics of a propeller with trailing-edge flaps.” 1940. Masters Thesis, Georgia Tech. Accessed March 03, 2021.
http://hdl.handle.net/1853/15674.
MLA Handbook (7th Edition):
Dutton, D W (Donnell Wayne). “The static thrust characteristics of a propeller with trailing-edge flaps.” 1940. Web. 03 Mar 2021.
Vancouver:
Dutton DW(W. The static thrust characteristics of a propeller with trailing-edge flaps. [Internet] [Masters thesis]. Georgia Tech; 1940. [cited 2021 Mar 03].
Available from: http://hdl.handle.net/1853/15674.
Council of Science Editors:
Dutton DW(W. The static thrust characteristics of a propeller with trailing-edge flaps. [Masters Thesis]. Georgia Tech; 1940. Available from: http://hdl.handle.net/1853/15674
University of Tennessee – Knoxville
22.
Gurka, Joshua James.
A Bayesian Approach to Multi-Drone Source Localization Methods.
Degree: MS, Nuclear Engineering, 2019, University of Tennessee – Knoxville
URL: https://trace.tennessee.edu/utk_gradthes/5453
► From abandoned Soviet reactors to lost submarines and stolen medical materials, stewardship of the world’s nuclear materials throughout the nuclear age is not what one…
(more)
▼ From abandoned Soviet reactors to lost submarines and stolen medical materials, stewardship of the world’s nuclear materials throughout the nuclear age is not what one might hope it to be. The International Atomic Energy Agency (IAEA) estimates around 3000 incidents of illicit trafficking, theft, or loss of radioactive materials have occurred since 1993 [1]. Locating lost or stolen materials is no simple task, particularly when there is little information about the type of source or its activity, whether or not the source is stationary or being transported, and at large distances the signal-to-noise ratio is a limiting factor. Since the USS Scorpion, USS Thresher, and Palomares B-52 searches throughout the 1960’s [2], Bayesian inference techniques and Bayesian search methods have become a more commonly embraced approach to complex search missions. The semi-autonomous wide-area radiological measurements (SWARM) system presented in this work utilizes multiple Unmanned Aircraft System (UAS) devices, connected via a central data repository (swarm theory), to more effectively survey a search space and locate missing radioactive sources. Coupling swarm theory with Bayesian inference techniques, SWARM shows great potential in overcoming the challenges of large search spaces and potentially low-count rate contributions from missing radiological sources. Preliminary results prove the search algorithms ability to quickly filter out low probability areas. In simulation, three drones reduced the area of interest by 91.7% after each surveying three lengths of the area at an altitude of 100 meters. The SWARM Bayesian algorithm presented is designed to be a simple and efficient approach to
aerial-based Bayesian search localization, applied to a multi-drone search format.
Advisors/Committee Members: Howard Hall, Lawrence Heilbronn, Ronald Pevey.
Subjects/Keywords: Bayesian; Search; Aerial; Radiation
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APA (6th Edition):
Gurka, J. J. (2019). A Bayesian Approach to Multi-Drone Source Localization Methods. (Thesis). University of Tennessee – Knoxville. Retrieved from https://trace.tennessee.edu/utk_gradthes/5453
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Gurka, Joshua James. “A Bayesian Approach to Multi-Drone Source Localization Methods.” 2019. Thesis, University of Tennessee – Knoxville. Accessed March 03, 2021.
https://trace.tennessee.edu/utk_gradthes/5453.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Gurka, Joshua James. “A Bayesian Approach to Multi-Drone Source Localization Methods.” 2019. Web. 03 Mar 2021.
Vancouver:
Gurka JJ. A Bayesian Approach to Multi-Drone Source Localization Methods. [Internet] [Thesis]. University of Tennessee – Knoxville; 2019. [cited 2021 Mar 03].
Available from: https://trace.tennessee.edu/utk_gradthes/5453.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Gurka JJ. A Bayesian Approach to Multi-Drone Source Localization Methods. [Thesis]. University of Tennessee – Knoxville; 2019. Available from: https://trace.tennessee.edu/utk_gradthes/5453
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
University of Montana
23.
Mohler, Jean Paul.
Small camera vertical aerial photography.
Degree: MS, 1968, University of Montana
URL: https://scholarworks.umt.edu/etd/3585
Subjects/Keywords: Aerial photography
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APA (6th Edition):
Mohler, J. P. (1968). Small camera vertical aerial photography. (Masters Thesis). University of Montana. Retrieved from https://scholarworks.umt.edu/etd/3585
Chicago Manual of Style (16th Edition):
Mohler, Jean Paul. “Small camera vertical aerial photography.” 1968. Masters Thesis, University of Montana. Accessed March 03, 2021.
https://scholarworks.umt.edu/etd/3585.
MLA Handbook (7th Edition):
Mohler, Jean Paul. “Small camera vertical aerial photography.” 1968. Web. 03 Mar 2021.
Vancouver:
Mohler JP. Small camera vertical aerial photography. [Internet] [Masters thesis]. University of Montana; 1968. [cited 2021 Mar 03].
Available from: https://scholarworks.umt.edu/etd/3585.
Council of Science Editors:
Mohler JP. Small camera vertical aerial photography. [Masters Thesis]. University of Montana; 1968. Available from: https://scholarworks.umt.edu/etd/3585
University of British Columbia
24.
Schuerholz, Goetz.
Proposed system for 35 mm. large scale aerial photography in natural resource management.
Degree: Master of Forestry - MF, Forestry, 1970, University of British Columbia
URL: http://hdl.handle.net/2429/34513
► This describes an aerial photographic system which is based on 35 mm. cameras. The design for the camera mount is explained in detail. The originality…
(more)
▼ This describes an aerial photographic system which is based on 35 mm. cameras. The design for the camera mount is explained in detail. The originality of this equipment is due to the fact that the camera is operated by hand and that the special device for advancing the film enables the operator to take photos from an altitude as low as 400 feet above ground elevation whilst still obtaining 60 per cent forward overlap.
More than 10 flying hours were spent in order to study the feasibility of this method in the various fields of natural resource management and others. The outcome of these test flights is illustrated with stereo pairs and single prints for the fields of wildlife management, fish management, range management, agriculture, forestry, city planning, erosion and pollution problems. The basic film type used was Kodak Tri-X panchromatic black and white.
The problems which arose during the flight are illustrated and discussed, e.g. shutter, scale, speed of the aircraft, requirements for the plane and pilot, filters and films, weather conditions etc. The feasibility of this new method was substantiated in presenting a series of sharp photos.
The high resolution power of modern 35 mm. film material allows the trained interpreter to use the large scale photographs taken by this system for:
1. Estimates of big game populations and spotting game with the aid of tracks on snow,
2. Detecting beaver activity,
3. Population estimates of muskrats by a house count,
4. Waterfowl census by pin pointing the individuals on the prints,
5. Detection of spawning grounds for salmon, and the estimation of algal production.
6. Detecting water and land pollution.
7. Determining erosion problems.
8. Habitat and range evaluation of game and livestock.
9. Inventory work in range management, agriculture,
and forestry.
10. City planning and landscape architecture.
Subjects/Keywords: Aerial photogrammetry
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APA (6th Edition):
Schuerholz, G. (1970). Proposed system for 35 mm. large scale aerial photography in natural resource management. (Masters Thesis). University of British Columbia. Retrieved from http://hdl.handle.net/2429/34513
Chicago Manual of Style (16th Edition):
Schuerholz, Goetz. “Proposed system for 35 mm. large scale aerial photography in natural resource management.” 1970. Masters Thesis, University of British Columbia. Accessed March 03, 2021.
http://hdl.handle.net/2429/34513.
MLA Handbook (7th Edition):
Schuerholz, Goetz. “Proposed system for 35 mm. large scale aerial photography in natural resource management.” 1970. Web. 03 Mar 2021.
Vancouver:
Schuerholz G. Proposed system for 35 mm. large scale aerial photography in natural resource management. [Internet] [Masters thesis]. University of British Columbia; 1970. [cited 2021 Mar 03].
Available from: http://hdl.handle.net/2429/34513.
Council of Science Editors:
Schuerholz G. Proposed system for 35 mm. large scale aerial photography in natural resource management. [Masters Thesis]. University of British Columbia; 1970. Available from: http://hdl.handle.net/2429/34513
University of New South Wales
25.
Liu, Li.
Road Extraction from Airborne Lidar Data and Integrated Remote Sensing Data.
Degree: Surveying & Spatial Information Systems, 2015, University of New South Wales
URL: http://handle.unsw.edu.au/1959.4/54545
;
https://unsworks.unsw.edu.au/fapi/datastream/unsworks:35285/SOURCE02?view=true
► To extract different types of roads such as arterial roads and local roads and to update the existing road database, a voxel-based skewness and kurtosis…
(more)
▼ To extract different types of roads such as arterial roads and local roads and to update the existing road database, a voxel-based skewness and kurtosis balancing algorithm is proposed in this thesis. Vector data is applied to divide lidar points into various tiles. For each tile, a voxel-based skewness and kurtosis balancing algorithm is utilised to extract roads. The initial extraction results are refined by width constraint, spatial interpolation and curve fitting which remove the false positives and join up misclosures. This method is based on the assumption of a normal distribution of the lidar points, and takes little time in parameter-tuning. The test results show an acceptable accuracy and completeness.To deal with areas where vector data is not available, an edge-clustering algorithm is proposed to extract elongated road segments from airborne lidar data and
aerial images. Multiple criteria such as height, elevation difference, intensity, band-ratio and length constraint are applied to extract road segments. After the initial extraction, a series of refinements are conducted, including k-Nearest-Neighbouring clustering, searching intersection nodes, spatial interpolation and curve fitting which connect the misclosures and remove the open areas (e.g. parking lots). The results indicate that the proposed approach is practical to extract roads from airborne lidar data and
aerial images at an acceptable accuracy.Edge-clustering algorithms often fail to extract complete roads in occluded areas because of the minimum length constraint, which is also validated by the statistics of the undetected road length. To tackle this problem, a colour-space based algorithm is proposed. The main idea of this algorithm is to explore the contextual road information in different colour spaces. Red/Green/Blue channels are transformed into Hue/Saturation/Intensity and Brightness/Blue Difference/Red Difference colour spaces. Various constraints are applied to detect road points. After the extraction, refinements consisting of k-Nearest-Neighbouring clustering, spatial interpolation and curve fitting are applied to connect the misclosures and remove the open areas. The statistics of the tests show better results than the edge-clustering method in terms of the detected road length.
Advisors/Committee Members: Lim, Samsung, Civil & Environmental Engineering, Faculty of Engineering, UNSW, Trinder, John, Civil & Environmental Engineering, Faculty of Engineering, UNSW.
Subjects/Keywords: Aerial image; Airborne lidar; Road
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APA (6th Edition):
Liu, L. (2015). Road Extraction from Airborne Lidar Data and Integrated Remote Sensing Data. (Masters Thesis). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/54545 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:35285/SOURCE02?view=true
Chicago Manual of Style (16th Edition):
Liu, Li. “Road Extraction from Airborne Lidar Data and Integrated Remote Sensing Data.” 2015. Masters Thesis, University of New South Wales. Accessed March 03, 2021.
http://handle.unsw.edu.au/1959.4/54545 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:35285/SOURCE02?view=true.
MLA Handbook (7th Edition):
Liu, Li. “Road Extraction from Airborne Lidar Data and Integrated Remote Sensing Data.” 2015. Web. 03 Mar 2021.
Vancouver:
Liu L. Road Extraction from Airborne Lidar Data and Integrated Remote Sensing Data. [Internet] [Masters thesis]. University of New South Wales; 2015. [cited 2021 Mar 03].
Available from: http://handle.unsw.edu.au/1959.4/54545 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:35285/SOURCE02?view=true.
Council of Science Editors:
Liu L. Road Extraction from Airborne Lidar Data and Integrated Remote Sensing Data. [Masters Thesis]. University of New South Wales; 2015. Available from: http://handle.unsw.edu.au/1959.4/54545 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:35285/SOURCE02?view=true
Penn State University
26.
Depenbusch, Nathan Thomas.
Development and Field Testing of an Autonomous Soaring System.
Degree: 2018, Penn State University
URL: https://submit-etda.libraries.psu.edu/catalog/12826ntd5006
► Autonomous soaring has the potential to greatly improve both the range and endurance of small robotic aircraft. This dissertation lays out an architecture for autonomous…
(more)
▼ Autonomous soaring has the potential to greatly improve both the range and endurance of small robotic aircraft. This dissertation lays out an architecture for autonomous soaring that allows an aircraft to seek, detect, and exploit lift effectively. The enabling feature in this architecture is the generation of a dynamic map of lift sources (thermals) in the environment and the ability to use this map for on-line flight planning and decision making.
Components of the autonomy algorithm include thermal mapping, explore/exploit decision making, navigation, optimal airspeed computation, thermal centering control, and energy state estimation. A finite state machine manages the aircraft behavior during flight and determines when changing behavior is appropriate. A complete system to enable autonomous soaring is described with special attention paid to practical considerations encountered during flight testing.
This dissertation then presents the results of a test flight campaign conducted in an effort to demonstrate the developed system. Flight tests were conducted at the Aberdeen Proving Ground during Fall 2015 which resulted in 7.8 hours flight time with the autonomous soaring system engaged, with three hours spent climbing in thermals. Frequent observations of groups of birds thermalling with the aircraft indicate that it was effectively exploiting available energy.
Advisors/Committee Members: Jacob Willem Langelaan, Dissertation Advisor/Co-Advisor, Jacob Willem Langelaan, Committee Chair/Co-Chair, Joseph Francis Horn, Committee Member, Sean N Brennan, Committee Member, Constantino Manuel Lagoa, Outside Member.
Subjects/Keywords: autonomous soaring; aerial robotics; thermal soaring; soaring; unmanned aerial vehicle; UAV
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APA (6th Edition):
Depenbusch, N. T. (2018). Development and Field Testing of an Autonomous Soaring System. (Thesis). Penn State University. Retrieved from https://submit-etda.libraries.psu.edu/catalog/12826ntd5006
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Depenbusch, Nathan Thomas. “Development and Field Testing of an Autonomous Soaring System.” 2018. Thesis, Penn State University. Accessed March 03, 2021.
https://submit-etda.libraries.psu.edu/catalog/12826ntd5006.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Depenbusch, Nathan Thomas. “Development and Field Testing of an Autonomous Soaring System.” 2018. Web. 03 Mar 2021.
Vancouver:
Depenbusch NT. Development and Field Testing of an Autonomous Soaring System. [Internet] [Thesis]. Penn State University; 2018. [cited 2021 Mar 03].
Available from: https://submit-etda.libraries.psu.edu/catalog/12826ntd5006.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Depenbusch NT. Development and Field Testing of an Autonomous Soaring System. [Thesis]. Penn State University; 2018. Available from: https://submit-etda.libraries.psu.edu/catalog/12826ntd5006
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Queensland University of Technology
27.
Gurtner, Alex.
Investigation of fisheye lenses for small UAV aerial photography.
Degree: 2008, Queensland University of Technology
URL: https://eprints.qut.edu.au/19323/
► Aerial photography obtained by UAVs (Unmanned Aerial Vehicles) is an emerging market for civil applications. Small UAVs are believed to close gaps in niche markets,…
(more)
▼ Aerial photography obtained by UAVs (Unmanned Aerial Vehicles) is an emerging market for civil applications. Small UAVs are believed to close gaps in niche markets, such as acquiring airborne image data for remote sensing purposes. Small UAVs will be able to fly at low altitudes, in dangerous environments and over long periods of time. However, the small lightweight constructions of these UAVs lead to new problems, such as higher agility leading to more susceptibility to turbulence and limitations in space and payload for sensor systems. This research investigates the use of low-cost fisheye lenses to overcome such problems which theoretically makes the airborne imaging less sensitive to turbulence. The fisheye lens has the benet of a large observation area (large field of view) and doesn't add additional weight to the aircraft, like traditional mechanical stabilizing systems. This research presents the implementation of a fisheye lens for aerial photography and mapping purposes, including theoretical background of fisheye lenses. Based on the unique feature of the distortion being a function of the viewing angle, methods used to derive the fisheye lens distortion are presented. The lens distortion is used to rectify the fisheye images before these images can be used in aerial photography. A detailed investigation into the inner orientation of the camera and inertial sensor is given, as well as the registration of airborne collected images. It was found that the attitude estimation is critical towards accurate mapping using low quality sensors. A loosely coupled EKF filter applied to the GPS and inertial sensor data estimated the attitude to an accuracy of 3-5° (1-sigma) using low-cost sensors typically found in small UAVs. However, the use of image stitching techniques may improve the outcome. On the other hand, lens distortion caused by the fisheye lens can be addressed by rectification techniques and removed to a sub-pixel level. Results of the process present image sequences gathered from a piloted aircraft demonstrating the achieved performance and potential applications towards UAVs. Further, an unforeseen issue with a vibrating part in the lens lead to the need for vibration compensation. The vibration could be estimated to ±1 pixel in 75% of the cases by applying an extended Hough transform to the fisheye images.
Subjects/Keywords: fisheye lenses; unmanned aerial vehicles (UAV); aerial photography
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APA ·
Chicago ·
MLA ·
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CSE |
Export
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APA (6th Edition):
Gurtner, A. (2008). Investigation of fisheye lenses for small UAV aerial photography. (Thesis). Queensland University of Technology. Retrieved from https://eprints.qut.edu.au/19323/
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Gurtner, Alex. “Investigation of fisheye lenses for small UAV aerial photography.” 2008. Thesis, Queensland University of Technology. Accessed March 03, 2021.
https://eprints.qut.edu.au/19323/.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Gurtner, Alex. “Investigation of fisheye lenses for small UAV aerial photography.” 2008. Web. 03 Mar 2021.
Vancouver:
Gurtner A. Investigation of fisheye lenses for small UAV aerial photography. [Internet] [Thesis]. Queensland University of Technology; 2008. [cited 2021 Mar 03].
Available from: https://eprints.qut.edu.au/19323/.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Gurtner A. Investigation of fisheye lenses for small UAV aerial photography. [Thesis]. Queensland University of Technology; 2008. Available from: https://eprints.qut.edu.au/19323/
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Cranfield University
28.
Patchett, C H.
On the derivation and analysis of decision architectures for unmanned aircraft systems.
Degree: PhD, 2013, Cranfield University
URL: http://dspace.lib.cranfield.ac.uk/handle/1826/8033
► Operation of Unmanned Air Vehicles (UAVs) has increased significantly over the past few years. However, routine operation in non-segregated airspace remains a challenge, primarily due…
(more)
▼ Operation of Unmanned Air Vehicles (UAVs) has increased significantly over the past few years. However, routine operation in non-segregated airspace remains a challenge, primarily due to nature of the environment and restrictions and challenges that accompany this. Currently, tight human control is envisaged as a means to achieve the oft quoted requirements of transparency , equivalence and safety. However, the problems of high cost of human operation, potential communication losses and operator remoteness remain as obstacles. One means of overcoming these obstacles is to devolve authority, from the ground controller to an on-board system able to understand its situation and make appropriate decisions when authorised. Such an on-board system is known as an Autonomous System. The nature of the autonomous system, how it should be designed, when and how authority should be transferred and in what context can they be allowed to control the vehicle are the general motivation for this study. To do this, the system must overcome the negative aspects of differentiators that exist between UASs and manned aircraft and introduce methods to achieve required increases in the levels of versatility, cost, safety and performance. The general thesis of this work is that the role and responsibility of an airborne autonomous system are sufficiently different from those of other conventionally controlled manned and unmanned systems to require a different architectural approach. Such a different architecture will also have additional requirements placed upon it in order to demonstrate acceptable levels of Transparency, Equivalence and Safety. The architecture for the system is developed from an analysis of the basic requirements and adapted from a consideration of other, suitable candidates for effective control of the vehicle under devolved authority. The best practices for airborne systems in general are identified and amalgamated with established principles and approaches of robotics and intelligent agents. From this, a decision architecture, capable of interacting with external human agencies such as the UAS Commander and Air Traffic Controllers, is proposed in detail. This architecture has been implemented and a number of further lessons can be drawn from this. In order to understand in detail the system safety requirements, an analysis of manned and unmanned aircraft accidents is made. Particular interest is given to the type of control moding of current unmanned aircraft in order to make a comparison, and prediction, with accidents likely to be caused by autonomously controlled vehicles. The effect of pilot remoteness on the accident rate is studied and a new classification of this remoteness is identified as a major contributor to accidents A preliminary Bayesian model for unmanned aircraft accidents is developed and results and predictions are made as an output of this model. From the accident analysis and modelling, strategies to improve UAS safety are identified. Detailed implementations within these strategies are analysed…
Subjects/Keywords: Unmanned aerial systems; Autonomous systems; Unmanned aerial vehicles
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Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Patchett, C. H. (2013). On the derivation and analysis of decision architectures for unmanned aircraft systems. (Doctoral Dissertation). Cranfield University. Retrieved from http://dspace.lib.cranfield.ac.uk/handle/1826/8033
Chicago Manual of Style (16th Edition):
Patchett, C H. “On the derivation and analysis of decision architectures for unmanned aircraft systems.” 2013. Doctoral Dissertation, Cranfield University. Accessed March 03, 2021.
http://dspace.lib.cranfield.ac.uk/handle/1826/8033.
MLA Handbook (7th Edition):
Patchett, C H. “On the derivation and analysis of decision architectures for unmanned aircraft systems.” 2013. Web. 03 Mar 2021.
Vancouver:
Patchett CH. On the derivation and analysis of decision architectures for unmanned aircraft systems. [Internet] [Doctoral dissertation]. Cranfield University; 2013. [cited 2021 Mar 03].
Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/8033.
Council of Science Editors:
Patchett CH. On the derivation and analysis of decision architectures for unmanned aircraft systems. [Doctoral Dissertation]. Cranfield University; 2013. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/8033
Cranfield University
29.
Patchett, Charles H.
On the derivation and analysis of decision architectures for uninhabited air systems.
Degree: PhD, 2011, Cranfield University
URL: http://dspace.lib.cranfield.ac.uk/handle/1826/8033
;
http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.585419
► Operation of Unmanned Air Vehicles (UAVs) has increased significantly over the past few years. However, routine operation in non-segregated airspace remains a challenge, primarily due…
(more)
▼ Operation of Unmanned Air Vehicles (UAVs) has increased significantly over the past few years. However, routine operation in non-segregated airspace remains a challenge, primarily due to nature of the environment and restrictions and challenges that accompany this. Currently, tight human control is envisaged as a means to achieve the oft quoted requirements of transparency , equivalence and safety. However, the problems of high cost of human operation, potential communication losses and operator remoteness remain as obstacles. One means of overcoming these obstacles is to devolve authority, from the ground controller to an on-board system able to understand its situation and make appropriate decisions when authorised. Such an on-board system is known as an Autonomous System. The nature of the autonomous system, how it should be designed, when and how authority should be transferred and in what context can they be allowed to control the vehicle are the general motivation for this study. To do this, the system must overcome the negative aspects of differentiators that exist between UASs and manned aircraft and introduce methods to achieve required increases in the levels of versatility, cost, safety and performance. The general thesis of this work is that the role and responsibility of an airborne autonomous system are sufficiently different from those of other conventionally controlled manned and unmanned systems to require a different architectural approach. Such a different architecture will also have additional requirements placed upon it in order to demonstrate acceptable levels of Transparency, Equivalence and Safety. The architecture for the system is developed from an analysis of the basic requirements and adapted from a consideration of other, suitable candidates for effective control of the vehicle under devolved authority. The best practices for airborne systems in general are identified and amalgamated with established principles and approaches of robotics and intelligent agents. From this, a decision architecture, capable of interacting with external human agencies such as the UAS Commander and Air Traffic Controllers, is proposed in detail. This architecture has been implemented and a number of further lessons can be drawn from this. In order to understand in detail the system safety requirements, an analysis of manned and unmanned aircraft accidents is made. Particular interest is given to the type of control moding of current unmanned aircraft in order to make a comparison, and prediction, with accidents likely to be caused by autonomously controlled vehicles. The effect of pilot remoteness on the accident rate is studied and a new classification of this remoteness is identified as a major contributor to accidents A preliminary Bayesian model for unmanned aircraft accidents is developed and results and predictions are made as an output of this model. From the accident analysis and modelling, strategies to improve UAS safety are identified. Detailed implementations within these strategies are analysed…
Subjects/Keywords: Unmanned aerial systems; Autonomous systems; Unmanned aerial vehicles
Record Details
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Record Details
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Cite
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Patchett, C. H. (2011). On the derivation and analysis of decision architectures for uninhabited air systems. (Doctoral Dissertation). Cranfield University. Retrieved from http://dspace.lib.cranfield.ac.uk/handle/1826/8033 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.585419
Chicago Manual of Style (16th Edition):
Patchett, Charles H. “On the derivation and analysis of decision architectures for uninhabited air systems.” 2011. Doctoral Dissertation, Cranfield University. Accessed March 03, 2021.
http://dspace.lib.cranfield.ac.uk/handle/1826/8033 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.585419.
MLA Handbook (7th Edition):
Patchett, Charles H. “On the derivation and analysis of decision architectures for uninhabited air systems.” 2011. Web. 03 Mar 2021.
Vancouver:
Patchett CH. On the derivation and analysis of decision architectures for uninhabited air systems. [Internet] [Doctoral dissertation]. Cranfield University; 2011. [cited 2021 Mar 03].
Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/8033 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.585419.
Council of Science Editors:
Patchett CH. On the derivation and analysis of decision architectures for uninhabited air systems. [Doctoral Dissertation]. Cranfield University; 2011. Available from: http://dspace.lib.cranfield.ac.uk/handle/1826/8033 ; http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.585419
University of Arizona
30.
Archer, James Albert, 1938-.
Aerial photographic tilt determination
.
Degree: 1965, University of Arizona
URL: http://hdl.handle.net/10150/318396
Subjects/Keywords: Aerial photography.;
Aerial photogrammetry.
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Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
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Manager
APA (6th Edition):
Archer, James Albert, 1. (1965). Aerial photographic tilt determination
. (Masters Thesis). University of Arizona. Retrieved from http://hdl.handle.net/10150/318396
Chicago Manual of Style (16th Edition):
Archer, James Albert, 1938-. “Aerial photographic tilt determination
.” 1965. Masters Thesis, University of Arizona. Accessed March 03, 2021.
http://hdl.handle.net/10150/318396.
MLA Handbook (7th Edition):
Archer, James Albert, 1938-. “Aerial photographic tilt determination
.” 1965. Web. 03 Mar 2021.
Vancouver:
Archer, James Albert 1. Aerial photographic tilt determination
. [Internet] [Masters thesis]. University of Arizona; 1965. [cited 2021 Mar 03].
Available from: http://hdl.handle.net/10150/318396.
Council of Science Editors:
Archer, James Albert 1. Aerial photographic tilt determination
. [Masters Thesis]. University of Arizona; 1965. Available from: http://hdl.handle.net/10150/318396
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Open Access Theses and Dissertations
