subject:(explicit loop closure heuristic)

University of Colorado

1. Trowbridge, Michael Aaron. Autonomous 3D Model Generation of Orbital Debris using Point Cloud Sensors.

Degree: MS, Aerospace Engineering Sciences, 2014, University of Colorado

URL: https://scholar.colorado.edu/asen_gradetds/86

► A software prototype for autonomous 3D scanning of uncooperatively rotating orbital debris using a point cloud sensor is designed and tested. The software successfully… (more)

Subjects/Keywords: 3D scanning; explicit loop closure heuristic; Graph SLAM; model generation; orbital debris; point clouds; Aerospace Engineering; Artificial Intelligence and Robotics; Computer-Aided Engineering and Design; Systems Engineering and Multidisciplinary Design Optimization

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Trowbridge, M. A. (2014). Autonomous 3D Model Generation of Orbital Debris using Point Cloud Sensors. (Masters Thesis). University of Colorado. Retrieved from https://scholar.colorado.edu/asen_gradetds/86

Chicago Manual of Style (16^th Edition):

Trowbridge, Michael Aaron. “Autonomous 3D Model Generation of Orbital Debris using Point Cloud Sensors.” 2014. Masters Thesis, University of Colorado. Accessed February 25, 2021. https://scholar.colorado.edu/asen_gradetds/86.

MLA Handbook (7^th Edition):

Trowbridge, Michael Aaron. “Autonomous 3D Model Generation of Orbital Debris using Point Cloud Sensors.” 2014. Web. 25 Feb 2021.

Vancouver:

Trowbridge MA. Autonomous 3D Model Generation of Orbital Debris using Point Cloud Sensors. [Internet] [Masters thesis]. University of Colorado; 2014. [cited 2021 Feb 25]. Available from: https://scholar.colorado.edu/asen_gradetds/86.

Council of Science Editors:

Trowbridge MA. Autonomous 3D Model Generation of Orbital Debris using Point Cloud Sensors. [Masters Thesis]. University of Colorado; 2014. Available from: https://scholar.colorado.edu/asen_gradetds/86

2. Mello, Joana José de. “A beleza é a melhor carta de recomendação” : Associação da beleza com julgamentos de credibilidade a um nível implícito e explícito.

Degree: 2011, ISPA

URL: http://www.rcaap.pt/detail.jsp?id=oai:repositorio.ispa.pt:10400.12/3833

►

Dissertação de Mestrado apresentada ao ISPA - Instituto Universitário

Com o objectivo de demonstrar que a associação entre a beleza e a positividade reflecte uma… (more)

▼

Dissertação de Mestrado apresentada ao ISPA - Instituto Universitário

Com o objectivo de demonstrar que a associação entre a beleza e a positividade reflecte uma crença de que uma fonte atractiva associa-se à dimensão de credibilidade, reflectindo uma heurística que apenas se processa a um nível implícito, procedeu-se à realização de uma medida implícita (Stroop) e uma explicita que manipulassem a atractividade e a sua relação com palavras de credibilidade e com palavras não relacionadas com credibilidade. Construi-se também uma tarefa que acedesse às atitudes dos sujeitos relativamente à qualidade de produtos. Os dados sugerem que os sujeitos associam a atractividade com credibilidade quer implicitamente quer explicitamente e que não realizam o oposto para faces não atractivas. Os dados demonstram também que implicitamente os sujeitos adoptam respostas com base na valência das palavras, sendo porém no caso de fontes atractivas também influenciados por este tipo de fonte. Explicitamente os sujeitos continuam a ser influenciados pela valência, associando mais palavras positivas a qualquer uma das fontes. Para além disso parece haver indícios que os sujeitos são influenciados por esta manipulação de estímulos nas suas atitudes, ao classificarem produtos, com maior qualidade quando associados a faces atractivas e menor quando associados a faces não atractivas. Assim os sujeitos utilizam a atractividade como um “atalho” podendo servir como heurística, associando a beleza não só a características mais positivas mas à própria dimensão de credibilidade, quer implicitamente quer explicitamente. Porém os dados sugerem que esta crença não é bidireccional, pois os sujeitos não realizam o oposto para faces não atractivas.

This research try to demonstrate that the relation between beauty and positivity reflects the belief that an attractive source links with credibility, and that reflect a heuristic, but only at and implicit level. For that it was built an implicit (Stroop) and explicit measure that manipulate this variable and its relation to credibility words and non-credibility words. It was also build a task to access the subject’s attitudes toward the quality of different products. Throughout the analysis that was developed, the data suggest that subjects associated attractiveness with credibility either implicitly or explicitly and do not perform the opposite sides to a non attractive faces on both tasks. The data also show that subjects are influenced implicitly by the valence of words, but also, in the case of attractive source, are influenced by that kind of face. Explicitly, the subjects continued to be influenced by the valence of the word, by associating more positive words with any kind of faces. It was also clear that the subjects are also influenced in their attitudes by this manipulation of the stimulus classifying products, with higher quality when they are related to an attractive face than when they are not. Therefore is possible infer that the subjects use attractiveness as a shortcut that can work as a…

Advisors/Committee Members: Garcia-Marques, Teresa.

Subjects/Keywords: Atractividade; Heurística; Implícito; Explicito; Attractiveness; Heuristic; Implicit; Explicit

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mello, J. J. d. (2011). “A beleza é a melhor carta de recomendação” : Associação da beleza com julgamentos de credibilidade a um nível implícito e explícito. (Thesis). ISPA. Retrieved from http://www.rcaap.pt/detail.jsp?id=oai:repositorio.ispa.pt:10400.12/3833

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mello, Joana José de. ““A beleza é a melhor carta de recomendação” : Associação da beleza com julgamentos de credibilidade a um nível implícito e explícito.” 2011. Thesis, ISPA. Accessed February 25, 2021. http://www.rcaap.pt/detail.jsp?id=oai:repositorio.ispa.pt:10400.12/3833.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mello, Joana José de. ““A beleza é a melhor carta de recomendação” : Associação da beleza com julgamentos de credibilidade a um nível implícito e explícito.” 2011. Web. 25 Feb 2021.

Vancouver:

Mello JJd. “A beleza é a melhor carta de recomendação” : Associação da beleza com julgamentos de credibilidade a um nível implícito e explícito. [Internet] [Thesis]. ISPA; 2011. [cited 2021 Feb 25]. Available from: http://www.rcaap.pt/detail.jsp?id=oai:repositorio.ispa.pt:10400.12/3833.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mello JJd. “A beleza é a melhor carta de recomendação” : Associação da beleza com julgamentos de credibilidade a um nível implícito e explícito. [Thesis]. ISPA; 2011. Available from: http://www.rcaap.pt/detail.jsp?id=oai:repositorio.ispa.pt:10400.12/3833

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

3. Nyqvist, Hanna. Image Database for Pose Hypotheses Generation.

Degree: The Institute of Technology, 2012, Linköping UniversityLinköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81618

► The presence of autonomous systems is becoming more and more common in today’s society.The contexts in which these kind of systems appear are numerous… (more)

Subjects/Keywords: database; loop closure; real-time; SLAM; visual images

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Nyqvist, H. (2012). Image Database for Pose Hypotheses Generation. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81618

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Nyqvist, Hanna. “Image Database for Pose Hypotheses Generation.” 2012. Thesis, Linköping UniversityLinköping University. Accessed February 25, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81618.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Nyqvist, Hanna. “Image Database for Pose Hypotheses Generation.” 2012. Web. 25 Feb 2021.

Vancouver:

Nyqvist H. Image Database for Pose Hypotheses Generation. [Internet] [Thesis]. Linköping UniversityLinköping University; 2012. [cited 2021 Feb 25]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81618.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Nyqvist H. Image Database for Pose Hypotheses Generation. [Thesis]. Linköping UniversityLinköping University; 2012. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-81618

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Vermont

4. Zhi, Ruoyu. A Drift Eliminated Attitude & Position Estimation Algorithm In 3D.

Degree: MS, Electrical Engineering, 2016, University of Vermont

URL: https://scholarworks.uvm.edu/graddis/450

► Inertial wearable sensors constitute a booming industry. They are self contained, low powered and highly miniaturized. They allow for remote or self monitoring of… (more)

Subjects/Keywords: explicit complementary filter; heuristic drift elimination; indoor pedestrian tracking; zero-velocity update; Electrical and Electronics

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Zhi, R. (2016). A Drift Eliminated Attitude & Position Estimation Algorithm In 3D. (Thesis). University of Vermont. Retrieved from https://scholarworks.uvm.edu/graddis/450

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Zhi, Ruoyu. “A Drift Eliminated Attitude & Position Estimation Algorithm In 3D.” 2016. Thesis, University of Vermont. Accessed February 25, 2021. https://scholarworks.uvm.edu/graddis/450.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Zhi, Ruoyu. “A Drift Eliminated Attitude & Position Estimation Algorithm In 3D.” 2016. Web. 25 Feb 2021.

Vancouver:

Zhi R. A Drift Eliminated Attitude & Position Estimation Algorithm In 3D. [Internet] [Thesis]. University of Vermont; 2016. [cited 2021 Feb 25]. Available from: https://scholarworks.uvm.edu/graddis/450.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Zhi R. A Drift Eliminated Attitude & Position Estimation Algorithm In 3D. [Thesis]. University of Vermont; 2016. Available from: https://scholarworks.uvm.edu/graddis/450

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Alberta

5. Shahbazi, Hossein. Application of locality sensitive hashing to feature matching and loop closure detection.

Degree: MS, Department of Computing Science, 2011, University of Alberta

URL: https://era.library.ualberta.ca/files/cc08hg50x

► My thesis focuses on automatic parameter selection for euclidean distance version of Locality Sensitive Hashing (LSH) and solving visual loop closure detection by using LSH.… (more)

Subjects/Keywords: locality sensitive hashing; nearest neighbor search; parameter selection; visual slam; loop closure detection

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Shahbazi, H. (2011). Application of locality sensitive hashing to feature matching and loop closure detection. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/cc08hg50x

Chicago Manual of Style (16^th Edition):

Shahbazi, Hossein. “Application of locality sensitive hashing to feature matching and loop closure detection.” 2011. Masters Thesis, University of Alberta. Accessed February 25, 2021. https://era.library.ualberta.ca/files/cc08hg50x.

MLA Handbook (7^th Edition):

Shahbazi, Hossein. “Application of locality sensitive hashing to feature matching and loop closure detection.” 2011. Web. 25 Feb 2021.

Vancouver:

Shahbazi H. Application of locality sensitive hashing to feature matching and loop closure detection. [Internet] [Masters thesis]. University of Alberta; 2011. [cited 2021 Feb 25]. Available from: https://era.library.ualberta.ca/files/cc08hg50x.

Council of Science Editors:

Shahbazi H. Application of locality sensitive hashing to feature matching and loop closure detection. [Masters Thesis]. University of Alberta; 2011. Available from: https://era.library.ualberta.ca/files/cc08hg50x

6. Korrapati, Hemanth. Fermeture de boucle pour la cartographie topologique et la navigation avec des images omnidirectionnelles : Loop closure for topological mapping and navigation with omnidirectional images.

Degree: Docteur es, Vision pour la Robotique, 2013, Université Blaise-Pascale, Clermont-Ferrand II

URL: http://www.theses.fr/2013CLF22363

► Dans le cadre de la robotique mobile, des progrès significatifs ont été obtenus au cours des trois dernières décennies pour la cartographie et la localisation.… (more)

▼ Dans le cadre de la robotique mobile, des progrès significatifs ont été obtenus au cours des trois dernières décennies pour la cartographie et la localisation. La plupart des projets de recherche traitent du problème de SLAM métrique. Les techniques alors développées sont sensibles aux erreurs liées à la dérive ce qui restreint leur utilisation à des environnements de petite échelle. Dans des environnements de grande taille, l’utilisation de cartes topologiques, qui sont indépendantes de l’information métrique, se présentent comme une alternative aux approches métriques.Cette thèse porte principalement sur le problème de la construction de cartes topologiques pour la navigation de robots mobiles dans des environnements urbains de grande taille, en utilisant des caméras omnidirectionnelles. La principale contribution de cette thèse est la résolution efficace et avec précision du problème de fermeture de boucles, problème qui est au coeur de tout algorithme de cartographie topologique. Le cadre de cartographie topologique éparse / hiérarchique proposé allie une approche de partionnement de séquence d’images (ISP) par regroupement des images visuellement similaires dans un noeud avec une approche de détection de fermeture de boucles permettant de connecter ces noeux. Le graphe topologique alors obtenu représente l’environnement du robot. L’algorithme de fermeture de boucle hiérarchique développé permet d’extraire dans un premier temps les noeuds semblables puis, dans un second temps, l’image la plus similaire. Cette détection de fermeture de boucles hiérarchique est rendue efficace par le stockage du contenu des cartes éparses sous la forme d’une structure de données d’indexation appelée fichier inversé hiérarchique (HIF). Nous proposons de combiner le score de pondération TFIDF avec des contraintes spatiales et la fréquence des amers détectés pour obtenir une meilleur robustesse de la fermeture de boucles. Les résultats en terme de densité et précision des cartes obtenues et d’efficacité sont évaluées et comparées aux résultats obtenus avec des approches de l’état de l’art sur des séquences d’images omnidirectionnelles acquises en milieu extérieur. Au niveau de la précision des détections de boucles, des résultats similaires ont été observés vis-à-vis des autres approches mais sans étape de vérification utilisant la géométrie épipolaire. Bien qu’efficace, l’approche basée sur HIF présente des inconvénients comme la faible densité des cartes et le faible taux de détection des boucles. Une seconde technique de fermeture de boucle a alors été développée pour combler ces lacunes. Le problème de la faible densité des cartes est causé par un sur-partionnement de la séquence d’images. Celui-ci est résolu en utilisant des vecteurs de descripteurs agrégés localement (VLAD) lors de l’étape de ISP. Une mesure de similarité basée sur une contrainte spatiale spécifique à la structure des images omnidirectionnelles a également été développée. Des résultats plus précis sont obtenus, même en présence de peu d’appariements. Les taux de… Advisors/Committee Members: Mezouar, Youcef (thesis director).

Subjects/Keywords: Fermeture de boucle; Vision omnidirectionnelle; Cartographie topologique; Loop closure; Omnidirectional vision; Topological mapping

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Korrapati, H. (2013). Fermeture de boucle pour la cartographie topologique et la navigation avec des images omnidirectionnelles : Loop closure for topological mapping and navigation with omnidirectional images. (Doctoral Dissertation). Université Blaise-Pascale, Clermont-Ferrand II. Retrieved from http://www.theses.fr/2013CLF22363

Chicago Manual of Style (16^th Edition):

Korrapati, Hemanth. “Fermeture de boucle pour la cartographie topologique et la navigation avec des images omnidirectionnelles : Loop closure for topological mapping and navigation with omnidirectional images.” 2013. Doctoral Dissertation, Université Blaise-Pascale, Clermont-Ferrand II. Accessed February 25, 2021. http://www.theses.fr/2013CLF22363.

MLA Handbook (7^th Edition):

Korrapati, Hemanth. “Fermeture de boucle pour la cartographie topologique et la navigation avec des images omnidirectionnelles : Loop closure for topological mapping and navigation with omnidirectional images.” 2013. Web. 25 Feb 2021.

Vancouver:

Korrapati H. Fermeture de boucle pour la cartographie topologique et la navigation avec des images omnidirectionnelles : Loop closure for topological mapping and navigation with omnidirectional images. [Internet] [Doctoral dissertation]. Université Blaise-Pascale, Clermont-Ferrand II; 2013. [cited 2021 Feb 25]. Available from: http://www.theses.fr/2013CLF22363.

Council of Science Editors:

Korrapati H. Fermeture de boucle pour la cartographie topologique et la navigation avec des images omnidirectionnelles : Loop closure for topological mapping and navigation with omnidirectional images. [Doctoral Dissertation]. Université Blaise-Pascale, Clermont-Ferrand II; 2013. Available from: http://www.theses.fr/2013CLF22363

University of Southern California

7. Sharma, Arunkumar Kishanlal. Applications of loop closure and stochastic potential switching to Monte Carlo simulations of large systems.

Degree: PhD, Chemistry, 2011, University of Southern California

URL: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/621759/rec/864

► Simulations of many body systems suffer from a myriad of problems; the complexity of interactions, the number of interacting units, the length scale at which… (more)

▼ Simulations of many body systems suffer from a myriad of problems; the complexity of interactions, the number of interacting units, the length scale at which interactions happen, etc. It is a challenge to devise methods that can sample phase space efficiently for such systems and accurately estimate equilibrium properties. The present work focuses on the construction and application of two distinct techniques for the simulation of such systems. These methods involve large-scale changes in the system configuration and have the potential to be applicable to a variety of systems. These methods were used to study the critical behavior in a Sine-Gordon lattice model and for achieving enhanced conformational sampling in an all-atom model of proteins. ❧ A novel switching algorithm is described in which a reverse Monte Carlo method is implemented. Here, the potential is stochastically modified before the system configuration is moved. This new algorithm facilitates a generalized formulation of cluster-type Monte Carlo methods, and the generalization makes it possible to derive cluster algorithms for systems with both discrete and continuous degrees of freedom. This Reverse Monte Carlo has been applied to study the roughening transition in the Sine-Gordon model and high-accuracy simulations for system sizes up to 1024X1024 were carried out to examine the logarithmic divergence of the surface roughness above the transition temperature. This logarithmic divergence is a clear evidence that the transition belongs to the Kosterlitz-Thouless type. ❧ Proteins and other biomolecules like RNAs are extremely difficult systems to simulate because of the large system sizes involved and the complexity of interactions present. The time-scales over which interesting phenomena occur also makes it difficult for Molecular Dynamics techniques to do full justice in such systems. A loop closure Monte Carlo algorithm is derived and implemented for simulation of proteins at ambient temperatures. The loop closure method generates alternative structures for an internal segment of a chain when atomic coordinates of the atoms outside the segment are fixed. The formulation makes use of a novel representation of boundary constraints and allows the loop closure problem to be reduced in complexity from a 6-variable 6-constraint problem to a 4-variable 4-constraint problem. The proposed method is no longer limited to small loops, but can be used to close loops of arbitrarily large sizes. This brings to life the possibility to facilitate very large conformational sampling with each move. Advisors/Committee Members: Mak, Chi (Committee Chair), Qin, Peter Z. (Committee Member), Haas, Stephan (Committee Member).

Subjects/Keywords: Monte Carlo; proteins; stochastic potential switching; sine gordon; critical slowing down; loop closure

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sharma, A. K. (2011). Applications of loop closure and stochastic potential switching to Monte Carlo simulations of large systems. (Doctoral Dissertation). University of Southern California. Retrieved from http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/621759/rec/864

Chicago Manual of Style (16^th Edition):

Sharma, Arunkumar Kishanlal. “Applications of loop closure and stochastic potential switching to Monte Carlo simulations of large systems.” 2011. Doctoral Dissertation, University of Southern California. Accessed February 25, 2021. http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/621759/rec/864.

MLA Handbook (7^th Edition):

Sharma, Arunkumar Kishanlal. “Applications of loop closure and stochastic potential switching to Monte Carlo simulations of large systems.” 2011. Web. 25 Feb 2021.

Vancouver:

Sharma AK. Applications of loop closure and stochastic potential switching to Monte Carlo simulations of large systems. [Internet] [Doctoral dissertation]. University of Southern California; 2011. [cited 2021 Feb 25]. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/621759/rec/864.

Council of Science Editors:

Sharma AK. Applications of loop closure and stochastic potential switching to Monte Carlo simulations of large systems. [Doctoral Dissertation]. University of Southern California; 2011. Available from: http://digitallibrary.usc.edu/cdm/compoundobject/collection/p15799coll127/id/621759/rec/864

8. Üzer, Ferit. Hybrid mapping for large urban environments : Cartographie hybride pour des environnements de grande taille.

Degree: Docteur es, Vision pour la Robotique, 2016, Université Blaise-Pascale, Clermont-Ferrand II

URL: http://www.theses.fr/2016CLF22675

►

Dans cette thèse, nous présentons une nouvelle méthode de cartographie visuelle hybride qui exploite des informations métriques, topologiques et sémantiques. Notre but est de réduire… (more)

▼

Dans cette thèse, nous présentons une nouvelle méthode de cartographie visuelle hybride qui exploite des informations métriques, topologiques et sémantiques. Notre but est de réduire le coût calculatoire par rapport à des techniques de cartographie purement métriques. Comparé à de la cartographie topologique, nous voulons plus de précision ainsi que la possibilité d’utiliser la carte pour le guidage de robots. Cette méthode hybride de construction de carte comprend deux étapes. La première étape peut être vue comme une carte topo-métrique avec des nœuds correspondants à certaines régions de l’environnement. Ces cartes sont ensuite complétées avec des données métriques aux nœuds correspondant à des sous-séquences d’images acquises quand le robot revenait dans des zones préalablement visitées. La deuxième étape augmente ce modèle en ajoutant des informations sémantiques. Une classification est effectuée sur la base des informations métriques en utilisant des champs de Markov conditionnels (CRF) pour donner un label sémantique à la trajectoire locale du robot (la route dans notre cas) qui peut être "doit", "virage" ou "intersection". L’information métrique des secteurs de route en virage ou en intersection est conservée alors que la métrique des lignes droites est effacée de la carte finale. La fermeture de boucle n’est réalisée que dans les intersections ce qui accroît l’efficacité du calcul et la précision de la carte. En intégrant tous ces nouveaux algorithmes, cette méthode hybride est robuste et peut être étendue à des environnements de grande taille. Elle peut être utilisée pour la navigation d’un robot mobile ou d’un véhicule autonome en environnement urbain. Nous présentons des résultats expérimentaux obtenus sur des jeux de données publics acquis en milieu urbain pour démontrer l’efficacité de l’approche proposée.

In this thesis, a novel vision based hybrid mapping framework which exploits metric, topological and semantic information is presented. We aim to obtain better computational efficiency than pure metrical mapping techniques, better accuracy as well as usability for robot guidance compared to the topological mapping. A crucial step of any mapping system is the loop closure detection which is the ability of knowing if the robot is revisiting a previously mapped area. Therefore, we first propose a hierarchical loop closure detection framework which also constructs the global topological structure of our hybrid map. Using this loop closure detection module, a hybrid mapping framework is proposed in two step. The first step can be understood as a topo-metric map with nodes corresponding to certain regions in the environment. Each node in turn is made up of a set of images acquired in that region. These maps are further augmented with metric information at those nodes which correspond to image sub-sequences acquired while the robot is revisiting the previously mapped area. The second step augments this model by using road semantics. A Conditional Random Field based classification on the metric…

Advisors/Committee Members: Mezouar, Youcef (thesis director), Lee, Sukhan (thesis director).

Subjects/Keywords: Cartographie Visuelle Hybride; SLAM; Fermeture de Boucle; Hybrid Mapping; SLAM; Loop Closure

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Üzer, F. (2016). Hybrid mapping for large urban environments : Cartographie hybride pour des environnements de grande taille. (Doctoral Dissertation). Université Blaise-Pascale, Clermont-Ferrand II. Retrieved from http://www.theses.fr/2016CLF22675

Chicago Manual of Style (16^th Edition):

Üzer, Ferit. “Hybrid mapping for large urban environments : Cartographie hybride pour des environnements de grande taille.” 2016. Doctoral Dissertation, Université Blaise-Pascale, Clermont-Ferrand II. Accessed February 25, 2021. http://www.theses.fr/2016CLF22675.

MLA Handbook (7^th Edition):

Üzer, Ferit. “Hybrid mapping for large urban environments : Cartographie hybride pour des environnements de grande taille.” 2016. Web. 25 Feb 2021.

Vancouver:

Üzer F. Hybrid mapping for large urban environments : Cartographie hybride pour des environnements de grande taille. [Internet] [Doctoral dissertation]. Université Blaise-Pascale, Clermont-Ferrand II; 2016. [cited 2021 Feb 25]. Available from: http://www.theses.fr/2016CLF22675.

Council of Science Editors:

Üzer F. Hybrid mapping for large urban environments : Cartographie hybride pour des environnements de grande taille. [Doctoral Dissertation]. Université Blaise-Pascale, Clermont-Ferrand II; 2016. Available from: http://www.theses.fr/2016CLF22675

Princeton University

9. Reverdy, Paul Benjamin. Human-inspired Algorithms for Search: A Framework for Human-machine Multi-armed Bandit Problems .

Degree: PhD, 2014, Princeton University

URL: http://arks.princeton.edu/ark:/88435/dsp01d504rn558

► Search is a ubiquitous human activity. It is a rational response to the uncertainty inherent in the tasks we seek to accomplish in our daily… (more)

▼ Search is a ubiquitous human activity. It is a rational response to the uncertainty inherent in the tasks we seek to accomplish in our daily lives, from retrieving information to making important decisions. Engineers have developed numerous tools to perform automated search, but many tasks have too much uncertainty for these tools to perform adequately without human intervention. Engineering solutions to such tasks therefore consist of human-machine hybrid systems, where human supervisors interact with automated tools and make high-level decisions to guide them. Novel rigorous models of human decision making in such situations are required to facilitate the principled design of human-machine systems. In this thesis, we develop a rigorous model of human decision-making behavior in search tasks. We formally model search using the multi-armed bandit problem from the machine learning literature, which allows us to derive bounds on optimal decision-making performance. We focus on spatial search, for which we introduce the spatial multi-armed bandit problem. We develop several models of human decision-making behavior in this problem by extending heuristics from the neuroscience and machine learning literatures, and prove conditions under which one model (UCL) achieves optimal performance. We study human-subject data from a spatial multi-armed bandit problem and show that human performance in this problem falls into several categories. Some humans outperformed standard algorithms for multi-armed bandit problems, which we attribute to humans having good intuition for spatial search. We show that the UCL model can achieve performance that falls in the different categories by tuning the model parameters. The model parameters quantify a human's intuition and make it available to a human-machine system. We develop a parameter estimator for the UCL model by relating it to the Generalized Linear Model from the statistics literature. The UCL model together with the estimator represent a plant – observer pair for human decision making which can be used for system design. Finally, we consider a so-called “satisficing” objective as an alternative to the maximizing objective of the standard multi-armed bandit problem. We derive performance bounds in terms of this new objective and develop an algorithm that achieves optimal performance. Advisors/Committee Members: Leonard, Naomi E (advisor), Holmes, Philip J (advisor).

Subjects/Keywords: Bayesian machine learning; Heuristic algorithms; Human-in-the-loop system; Multi-armed bandit

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Reverdy, P. B. (2014). Human-inspired Algorithms for Search: A Framework for Human-machine Multi-armed Bandit Problems . (Doctoral Dissertation). Princeton University. Retrieved from http://arks.princeton.edu/ark:/88435/dsp01d504rn558

Chicago Manual of Style (16^th Edition):

Reverdy, Paul Benjamin. “Human-inspired Algorithms for Search: A Framework for Human-machine Multi-armed Bandit Problems .” 2014. Doctoral Dissertation, Princeton University. Accessed February 25, 2021. http://arks.princeton.edu/ark:/88435/dsp01d504rn558.

MLA Handbook (7^th Edition):

Reverdy, Paul Benjamin. “Human-inspired Algorithms for Search: A Framework for Human-machine Multi-armed Bandit Problems .” 2014. Web. 25 Feb 2021.

Vancouver:

Reverdy PB. Human-inspired Algorithms for Search: A Framework for Human-machine Multi-armed Bandit Problems . [Internet] [Doctoral dissertation]. Princeton University; 2014. [cited 2021 Feb 25]. Available from: http://arks.princeton.edu/ark:/88435/dsp01d504rn558.

Council of Science Editors:

Reverdy PB. Human-inspired Algorithms for Search: A Framework for Human-machine Multi-armed Bandit Problems . [Doctoral Dissertation]. Princeton University; 2014. Available from: http://arks.princeton.edu/ark:/88435/dsp01d504rn558

10. Aubry, Clément. Analyse par intervalles pour la détection de boucles dans la trajectoire d'un robot mobile : Interval analysis for loop detection in the trajectory of a mobile robot.

Degree: Docteur es, Robotique, 2014, Brest

URL: http://www.theses.fr/2014BRES0032

►

Le travail de thèse présenté dans ce mémoire a permis le développement d’une nouvelle méthode de détection de boucles dans la trajectoire d’un robot mobile.… (more)

▼

Le travail de thèse présenté dans ce mémoire a permis le développement d’une nouvelle méthode de détection de boucles dans la trajectoire d’un robot mobile. Celle-ci se base, contrairement à celles existantes, sur l’utilisation de données proprioceptives et est ainsi totalement découplée des problématiques de localisation et cartographie auxquelles elle est généralement associée. L’utilisation de l’analyse par intervalles a permis, dans notre contexte de mesures à erreurs bornées, de calculer deux temps pour lesquels la position du robot est identique alors qu’un mouvement significatif a pu être observé entre ces deux instants. La méthode est automatique et ne nécessite que la connaissance des équations d’état du robot ainsi que les mesures de vitesse effectuées au cours de sa mission. Les résultats de l’algorithme sur données réelles, issues d’une expérience effectuée en milieu sous-marin, sont très satisfaisants et ont permis de prouver l’existence et l’unicité de plus de la moitié des boucles observées dans la trajectoire du robot.

The work presented in this thesis deals with a new method for loop detection in the trajectory of a mobile robot. It is based on the use of proprioceptive measures, whereas other methods use exteroceptive measures. This makes this method totally independent from the simultaneous localisation and mapping problems that they are generally coupled with. The use of interval analysis allowed us, in this bounded error context, to compute two instants for which the position of the robot is identical although a significant movement has been observed between these moments. The method is automatic and only requires the knowledge of the state equations of the robot as well as the velocity measures carried out during its mission. The results of the true data algorithm, derived from an experiment carried out underwater, are very satisfactory and made it possible to prove the existence and uniqueness of more than half of the loops observed in the trajectory of the robot.

Advisors/Committee Members: Jaulin, Luc (thesis director).

Subjects/Keywords: Analyse par intervalles; Détection; Fermeture de boucles; Trajectoire; Robot; Sous-marin; Interval analysis; Detection; Loop closure; Trajectory; Robot; Underwater

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Aubry, C. (2014). Analyse par intervalles pour la détection de boucles dans la trajectoire d'un robot mobile : Interval analysis for loop detection in the trajectory of a mobile robot. (Doctoral Dissertation). Brest. Retrieved from http://www.theses.fr/2014BRES0032

Chicago Manual of Style (16^th Edition):

Aubry, Clément. “Analyse par intervalles pour la détection de boucles dans la trajectoire d'un robot mobile : Interval analysis for loop detection in the trajectory of a mobile robot.” 2014. Doctoral Dissertation, Brest. Accessed February 25, 2021. http://www.theses.fr/2014BRES0032.

MLA Handbook (7^th Edition):

Aubry, Clément. “Analyse par intervalles pour la détection de boucles dans la trajectoire d'un robot mobile : Interval analysis for loop detection in the trajectory of a mobile robot.” 2014. Web. 25 Feb 2021.

Vancouver:

Aubry C. Analyse par intervalles pour la détection de boucles dans la trajectoire d'un robot mobile : Interval analysis for loop detection in the trajectory of a mobile robot. [Internet] [Doctoral dissertation]. Brest; 2014. [cited 2021 Feb 25]. Available from: http://www.theses.fr/2014BRES0032.

Council of Science Editors:

Aubry C. Analyse par intervalles pour la détection de boucles dans la trajectoire d'un robot mobile : Interval analysis for loop detection in the trajectory of a mobile robot. [Doctoral Dissertation]. Brest; 2014. Available from: http://www.theses.fr/2014BRES0032

11. García Fidalgo, Emilio. Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing.

Degree: Departament de Ciències Matemàtiques i Informàtica, 2016, Universitat de les Illes Balears

URL: http://hdl.handle.net/10803/399587

► El mapeig i la localització són dos processos fonamentals en robòtica autònoma mòbil a causa de que són la base d’altres tasques de més alt… (more)

▼ El mapeig i la localització són dos processos fonamentals en robòtica autònoma mòbil a causa de que són la base d’altres tasques de més alt nivell i més complexes, com l’evitació d’obstacles o la planificació de rutes. El mapeig és el procés a través del qual el robot construeix la seva pròpia representació de l’entorn quan el mapa no està disponible. Existeixen fonamentalment dos tipus de mapes: els mètrics i els topològics. Mentre que els mapes mètrics representen el món el més exacte possible d’acord a un sistema de coordenades de referència, els mapes topològics el representen d’una manera abstracte utilitzant un graf, el que suposa una sèrie d’avantatges respecte als mètrics. A causa de l’inevitable soroll que inclouen els sensors, els algorismes de mapeig normalment estan basats en tècniques de detecció de bucles, que consisteixen en identificar correctament quan el vehicle ha tornat a un lloc prèviament visitat per reduir la incertesa en els mapes resultants. Aquesta tesi tracta de donar solució al problema de generar mapes topològics de l’entorn utilitzant algorismes eficients de detecció de bucles basats en visió. Degut a que la qualitat d’un algorisme de detecció visual de bucles està directament relacionada amb la descripció de les imatges i amb el mètode utilitzat per indexarles, en aquesta tesi es proposen diverses tècniques per detectar bucles adoptant diferents enfocs. Aquests mètodes s’utilitzen com a components bàsics en tres nous algorismes de mapeig topològic. Els resultats obtinguts indiquen que les solucions proposades presenten un millor rendiment que diversos algorismes considerats com estat de l’art per la comunitat. Per concloure, i atès que el reconeixement d’escenes és també un component essencial en altres àrees d’investigació, es presenta un algorisme de generació de mosaics d’imatges. Aquest algorisme utilitza una de les tècniques de detecció de bucles presentades prèviament per trobar parells d’imatges que es solapen, i s’utilitza per obtenir mosaics en diferents entorns en un temps raonable. Advisors/Committee Members: [email protected] (authoremail), true (authoremailshow), Ortiz Rodríguez, Alberto (director), true (authorsendemail).

Subjects/Keywords: Place Recognition, Loop Closure, Mapping, Localization, Mosaicing, Bag-of-Words; Enginyeria de Sistemes, Comunicació Industrial i Robòtica; 004; 51

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

García Fidalgo, E. (2016). Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing. (Thesis). Universitat de les Illes Balears. Retrieved from http://hdl.handle.net/10803/399587

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

García Fidalgo, Emilio. “Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing.” 2016. Thesis, Universitat de les Illes Balears. Accessed February 25, 2021. http://hdl.handle.net/10803/399587.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

García Fidalgo, Emilio. “Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing.” 2016. Web. 25 Feb 2021.

Vancouver:

García Fidalgo E. Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing. [Internet] [Thesis]. Universitat de les Illes Balears; 2016. [cited 2021 Feb 25]. Available from: http://hdl.handle.net/10803/399587.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

García Fidalgo E. Appearance-based Loop Closure Detection and its Application to Topological Mapping and Image Mosaicing. [Thesis]. Universitat de les Illes Balears; 2016. Available from: http://hdl.handle.net/10803/399587

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

York University

12. Jahromi, Ali Baligh. 3D Reconstruction of Indoor Corridor Models Using Single Imagery and Video Sequences.

Degree: PhD, Earth & Space Science, 2020, York University

URL: https://yorkspace.library.yorku.ca/xmlui/handle/10315/37366

► In recent years, 3D indoor modeling has gained more attention due to its role in decision-making process of maintaining the status and managing the security… (more)

▼ In recent years, 3D indoor modeling has gained more attention due to its role in decision-making process of maintaining the status and managing the security of building indoor spaces. In this thesis, the problem of continuous indoor corridor space modeling has been tackled through two approaches. The first approach develops a modeling method based on middle-level perceptual organization. The second approach develops a visual Simultaneous Localisation and Mapping (SLAM) system with model-based loop closure. In the first approach, the image space was searched for a corridor layout that can be converted into a geometrically accurate 3D model. Manhattan rule assumption was adopted, and indoor corridor layout hypotheses were generated through a random rule-based intersection of image physical line segments and virtual rays of orthogonal vanishing points. Volumetric reasoning, correspondences to physical edges, orientation map and geometric context of an image are all considered for scoring layout hypotheses. This approach provides physically plausible solutions while facing objects or occlusions in a corridor scene. In the second approach, Layout SLAM is introduced. Layout SLAM performs camera localization while maps layout corners and normal point features in 3D space. Here, a new feature matching cost function was proposed considering both local and global context information. In addition, a rotation compensation variable makes Layout SLAM robust against cameras orientation errors accumulations. Moreover, layout model matching of keyframes insures accurate loop closures that prevent miss-association of newly visited landmarks to previously visited scene parts. The comparison of generated single image-based 3D models to ground truth models showed that average ratio differences in widths, heights and lengths were 1.8%, 3.7% and 19.2% respectively. Moreover, Layout SLAM performed with the maximum absolute trajectory error of 2.4m in position and 8.2 degree in orientation for approximately 318m path on RAWSEEDS data set. Loop closing was strongly performed for Layout SLAM and provided 3D indoor corridor layouts with less than 1.05m displacement errors in length and less than 20cm in width and height for approximately 315m path on York University data set. The proposed methods can successfully generate 3D indoor corridor models compared to their major counterpart. Advisors/Committee Members: Sohn, Gunho (advisor).

Subjects/Keywords: Robotics; 3D Indoor Corridor Reconstruction; Hypotheses Verification; Orientation Map; Geometric Context; Layout SLAM; Model-based Matching; Loop Closure

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Jahromi, A. B. (2020). 3D Reconstruction of Indoor Corridor Models Using Single Imagery and Video Sequences. (Doctoral Dissertation). York University. Retrieved from https://yorkspace.library.yorku.ca/xmlui/handle/10315/37366

Chicago Manual of Style (16^th Edition):

Jahromi, Ali Baligh. “3D Reconstruction of Indoor Corridor Models Using Single Imagery and Video Sequences.” 2020. Doctoral Dissertation, York University. Accessed February 25, 2021. https://yorkspace.library.yorku.ca/xmlui/handle/10315/37366.

MLA Handbook (7^th Edition):

Jahromi, Ali Baligh. “3D Reconstruction of Indoor Corridor Models Using Single Imagery and Video Sequences.” 2020. Web. 25 Feb 2021.

Vancouver:

Jahromi AB. 3D Reconstruction of Indoor Corridor Models Using Single Imagery and Video Sequences. [Internet] [Doctoral dissertation]. York University; 2020. [cited 2021 Feb 25]. Available from: https://yorkspace.library.yorku.ca/xmlui/handle/10315/37366.

Council of Science Editors:

Jahromi AB. 3D Reconstruction of Indoor Corridor Models Using Single Imagery and Video Sequences. [Doctoral Dissertation]. York University; 2020. Available from: https://yorkspace.library.yorku.ca/xmlui/handle/10315/37366

13. Wallén, Martin. När hjälp blir stjälp! Vilken kunskap finns till hands för att hantera situationen? : en kvalitativ intervjustudie om avvikandeträning vid behandling på institution.

Degree: Social Sciences, 2017, Ersta Sköndal Bräcke University College

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:esh:diva-6200

►

Sedan mitten av 1800-talet har skadliga effekter som kan uppstå när ungdomar ska behandlas för normbrytande beteende på institution diskuterats och problematiserats. Det finns… (more)

▼

Sedan mitten av 1800-talet har skadliga effekter som kan uppstå när ungdomar ska behandlas för normbrytande beteende på institution diskuterats och problematiserats. Det finns alltid en riska att den intervention som används förvärrar och/eller skapar nya normbrytande beteenden för ungdomarna. Denna studie har som ambition att belysa en av dessa skadliga effekter, fenomenet avvikandeträning. Med begreppet avvikandeträning menas att individer medvetet och omedvetet förstärker normbrytande beteenden samt lär sig nya normbrytande beteenden när de deltar i behandlingsinterventioner och vistas samman på institutioner (Andershed, Andershed & Söderholm Carpelan, 2010). Det finns mycket internationell forskning kring avvikandeträning men förvånansvärt lite svensk forskning om fenomenet. Syftet med den här studien har varit att undersöka behandlande personals perspektiv och kunskap om avvikandeträning vid institutioner för ungdomar med normbrytande beteende. För att besvara studiens syfte har följande tre frågeställningar varit aktuella. Vilken erfarenhet och kunskap har behandlande personal om avvikandeträning bland ungdomar vid behandling och vistelse på institution? Hur hanterar behandlande personal att ungdomarna påverkar varandra negativt under vistelsen på institution? Vad kan behandlande personals kunskap om avvikandeträning innebära för utvecklingen av strategier för att hantera fenomenet på institutionerna? Studien har en kvalitativ design och inbegripit åtta semistrukturerade intervjuer med behandlare som arbetar på institutioner för behandling av ungdomar med normbrytande beteende. Resultatet har presenterats utifrån tre huvudteman; Påverkan som beskriver behandlarnas tankar om hur ungdomarna påverkar varandra, både positivt och negativ samt hur omfattande avvikandeträning är på institutionerna. Erfarenhet beskriver behandlarnas erfarenhet av avvikandeträning och Strategier föra att hantera beskriver de strategier som behandlarna använder sig av för att hantera avvikandeträning. Studien analyserades med stöd av forskarna Michael Polanyi och Harry Collins teorier om tyst och uttalad kunskap samt Chris Argyris teorier om individer och institutioners lärande. Studiens resultat visar på att behandlarna har erfarenhet och kunskap kring avvikandeträning samt att avvikandeträning inte sker i större omfattning än annan positiv, prosocial påverkan mellan ungdomarna. Studien belyser även tendenser som kan påvisa att institutionernas struktur och behandlingsnorm påverkar möjligheterna att utveckla effektiva strategier föra att hantera den avvikandeträning som ändå äger rum. I studiens avslutande kapitel diskuteras vidare forskning kring fenomenet avvikandeträning samt faktorer som möjligen skulle kunna bidra till att åtgärda utvecklandet av strategier för att hantera avvikandeträning på institutionerna.

Since the middle of the 1800s, harmful effects that may occur when young people are treated for antisocial behavior at residential care…

Subjects/Keywords: Deviancy training; Tacit knowledge; Explicit knowledge; Single-loop learning; Residential care; Avvikandeträning; Tyst kunskap; Uttalad kunskap; Single-loop learning; Institutionsbehandling; Social Work; Socialt arbete

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Wallén, M. (2017). När hjälp blir stjälp! Vilken kunskap finns till hands för att hantera situationen? : en kvalitativ intervjustudie om avvikandeträning vid behandling på institution. (Thesis). Ersta Sköndal Bräcke University College. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:esh:diva-6200

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Wallén, Martin. “När hjälp blir stjälp! Vilken kunskap finns till hands för att hantera situationen? : en kvalitativ intervjustudie om avvikandeträning vid behandling på institution.” 2017. Thesis, Ersta Sköndal Bräcke University College. Accessed February 25, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:esh:diva-6200.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Wallén, Martin. “När hjälp blir stjälp! Vilken kunskap finns till hands för att hantera situationen? : en kvalitativ intervjustudie om avvikandeträning vid behandling på institution.” 2017. Web. 25 Feb 2021.

Vancouver:

Wallén M. När hjälp blir stjälp! Vilken kunskap finns till hands för att hantera situationen? : en kvalitativ intervjustudie om avvikandeträning vid behandling på institution. [Internet] [Thesis]. Ersta Sköndal Bräcke University College; 2017. [cited 2021 Feb 25]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:esh:diva-6200.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Wallén M. När hjälp blir stjälp! Vilken kunskap finns till hands för att hantera situationen? : en kvalitativ intervjustudie om avvikandeträning vid behandling på institution. [Thesis]. Ersta Sköndal Bräcke University College; 2017. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:esh:diva-6200

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

14. Smids, Christofer; Myllylä, Jens. Kunskap och organisatoriskt lärande inom Apoteket AB.

Degree: Swedish Business School at Örebro University, 2011, Örebro University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-14456

► This paper aims to provide a description of how knowledge can occur in Apoteket AB, an organization that is operating on the Swedish pharmacy… (more)

Subjects/Keywords: Organizational learning; organizational memory; tacit and explicit knowledge; single loop learning; double loop learning; deutero learning; Swedish pharmacy market; Apoteket AB; Business Administration; Företagsekonomi

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Smids, Christofer; Myllylä, J. (2011). Kunskap och organisatoriskt lärande inom Apoteket AB. (Thesis). Örebro University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-14456

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Smids, Christofer; Myllylä, Jens. “Kunskap och organisatoriskt lärande inom Apoteket AB.” 2011. Thesis, Örebro University. Accessed February 25, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-14456.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Smids, Christofer; Myllylä, Jens. “Kunskap och organisatoriskt lärande inom Apoteket AB.” 2011. Web. 25 Feb 2021.

Vancouver:

Smids, Christofer; Myllylä J. Kunskap och organisatoriskt lärande inom Apoteket AB. [Internet] [Thesis]. Örebro University; 2011. [cited 2021 Feb 25]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-14456.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Smids, Christofer; Myllylä J. Kunskap och organisatoriskt lärande inom Apoteket AB. [Thesis]. Örebro University; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-14456

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Michigan Technological University

15. McCorkle, Colin G. TANK SIZING AND OPTIMIZING LOOP PLACEMENT IN A BRANCHED WATER DISTRIBUTION SYSTEM.

Degree: MS, Department of Civil and Environmental Engineering, 2014, Michigan Technological University

URL: https://digitalcommons.mtu.edu/etds/831

► More than eighteen percent of the world’s population lives without reliable access to clean water, forced to walk long distances to get small amounts… (more)

▼ More than eighteen percent of the world’s population lives without reliable access to clean water, forced to walk long distances to get small amounts of contaminated surface water. Carrying heavy loads of water long distances and ingesting contaminated water can lead to long-term health problems and even death. These problems affect the most vulnerable populations, women, children, and the elderly, more than anyone else. Water access is one of the most pressing issues in development today. Boajibu, a small village in Sierra Leone, where the author served in Peace Corps for two years, lacks access to clean water. Construction of a water distribution system was halted when a civil war broke out in 1992 and has not been continued since. The community currently relies on hand-dug and borehole wells that can become dirty during the dry season, which forces people to drink contaminated water or to travel a far distance to collect clean water. This report is intended to provide a design the system as it was meant to be built. The water system design was completed based on the taps present, interviews with local community leaders, local surveying, and points taken with a GPS. The design is a gravity-fed branched water system, supplied by a natural spring on a hill adjacent to Boajibu. The system’s source is a natural spring on a hill above Boajibu, but the flow rate of the spring is unknown. There has to be enough flow from the spring over a 24-hour period to meet the demands of the users on a daily basis, or what is called providing continuous flow. If the spring has less than this amount of flow, the system must provide intermittent flow, flow that is restricted to a few hours a day. A minimum flow rate of 2.1 liters per second was found to be necessary to provide continuous flow to the users of Boajibu. If this flow is not met, intermittent flow can be provided to the users. In order to aid the construction of a distribution system in the absence of someone with formal engineering training, a table was created detailing water storage tank sizing based on possible source flow rates. A builder can interpolate using the source flow rate found to get the tank size from the table. However, any flow rate below 2.1 liters per second cannot be used in the table. In this case, the builder should size the tank such that it can take in the water that will be supplied overnight, as all the water will be drained during the day because the users will demand more than the spring can supply through the night. In the developing world, there is often a problem collecting enough money to fund large infrastructure projects, such as a water distribution system. Often there is only enough money to add only one or two loops to a water distribution system. It is helpful to know where these one or two loops can be most effectively placed in the system. Various possible loops were designated for the Boajibu water distribution system and the Adaptive Greedy Heuristic Loop… Advisors/Committee Members: Brian Barkdoll.

Subjects/Keywords: clean water; water distribution system; Boajibu; Sierra Leone; Adaptive Greedy Heuristic Loop Addition Selection Algorithm (AGHLASA); Environmental Engineering

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

McCorkle, C. G. (2014). TANK SIZING AND OPTIMIZING LOOP PLACEMENT IN A BRANCHED WATER DISTRIBUTION SYSTEM. (Masters Thesis). Michigan Technological University. Retrieved from https://digitalcommons.mtu.edu/etds/831

Chicago Manual of Style (16^th Edition):

McCorkle, Colin G. “TANK SIZING AND OPTIMIZING LOOP PLACEMENT IN A BRANCHED WATER DISTRIBUTION SYSTEM.” 2014. Masters Thesis, Michigan Technological University. Accessed February 25, 2021. https://digitalcommons.mtu.edu/etds/831.

MLA Handbook (7^th Edition):

McCorkle, Colin G. “TANK SIZING AND OPTIMIZING LOOP PLACEMENT IN A BRANCHED WATER DISTRIBUTION SYSTEM.” 2014. Web. 25 Feb 2021.

Vancouver:

McCorkle CG. TANK SIZING AND OPTIMIZING LOOP PLACEMENT IN A BRANCHED WATER DISTRIBUTION SYSTEM. [Internet] [Masters thesis]. Michigan Technological University; 2014. [cited 2021 Feb 25]. Available from: https://digitalcommons.mtu.edu/etds/831.

Council of Science Editors:

McCorkle CG. TANK SIZING AND OPTIMIZING LOOP PLACEMENT IN A BRANCHED WATER DISTRIBUTION SYSTEM. [Masters Thesis]. Michigan Technological University; 2014. Available from: https://digitalcommons.mtu.edu/etds/831

16. K/bidi, Fabrice. Développements et tests de stratégies de gestion de l’énergie à l’échelle de micro réseaux avec stockage et production d’hydrogène : Development and testing of micro-network energy management strategies with storage and hydrogen production.

Degree: Docteur es, Automatique et génie électrique, 2019, Université de la Réunion

URL: http://www.theses.fr/2019LARE0031

►

Avec le développement des technologies de pile à combustible (PàC) et d’électrolyse de l’eau, l’hydrogène électrolytique devient un pilier de la transition énergétique, substitut aux… (more)

▼

Avec le développement des technologies de pile à combustible (PàC) et d’électrolyse de l’eau, l’hydrogène électrolytique devient un pilier de la transition énergétique, substitut aux ressources fossiles et outil d’intégration des sources d’énergies renouvelables (SER) intermittentes. À l'échelle de micro-réseaux isolés ou îlotables, cette transition repose sur le développement de systèmes hybrides, couplant des panneaux photovoltaïques (PV) et des électrolyseurs pour la production de l'hydrogène, des systèmes de stockage — réservoirs d'hydrogène (H2) et batteries (Bat) — et des PàC pour la production de l’électricité. Cette étude présente des stratégies de contrôle pour un système PV-H2-Bat-PàC afin d'optimiser la gestion de l'énergie PV intermittente tout en respectant les conditions de fonctionnement des électrolyseurs et des PàC. Premièrement, une commande de type MPPT (Maximum Power Point Tracking) est développée pour assurer le fonctionnement des PV à puissance maximale, et une stratégie de contrôle basée sur des commandes prédictives est mise en œuvre pour définir un courant de référence pour la PàC, l'électrolyseur et les batteries. Deuxièmement, des contrôleurs IP sont utilisés pour réguler ces courants. Troisièmement, un problème d’optimisation permet de définir un plan d’engagement afin d’utiliser la PàC et l’électrolyseur en tenant compte de l’offre, de la demande et des stocks d’énergie.

With the development of fuel cell (FC) and water electrolysis technologies, electrolytic hydrogen is becoming a pillar of the energy transition, a substitute for fossil resources and a tool for integrating intermittent renewable energy sources (RES). On the scale of isolated or islandable microgrids, this transition is based on the development of hybrid systems, coupling photovoltaic (PV) panels and electrolyzers for hydrogen production, storage systems - hydrogen (H2) tanks and batteries (Bat) - and FC for electricity production. This study presents control strategies for a PV-H2-Bat-FC system to optimize intermittent PV energy management while respecting the operating conditions of electrolyzers and FC. First, a MPPT (Maximum Power Point Tracking) control system is developed to ensure the operation of PV at maximum power, and a control strategy based on Model Predictive Control is implemented to define a current reference for the FC, the electrolyzer and the batteries. Secondly, IP controllers are used to regulate these currents. Thirdly, an optimization problem makes it possible to define a commitment plan to use the FC and the electrolyser taking into account energy supply, demand and stocks.

Advisors/Committee Members: Benne, Michel (thesis director), Hilairet, Mickaël (thesis director).

Subjects/Keywords: Explicit Model Predictive Control; Hybridation; Hydrogène; Système de gestion de l’énergie; Power-Hardware-In-The-Loop; Micro-réseaux; Explicit Model Predictive Control; Hybridization; Hydrogen; Energy Management System; Power-Hardware-In-The-Loop; Microgrid

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

K/bidi, F. (2019). Développements et tests de stratégies de gestion de l’énergie à l’échelle de micro réseaux avec stockage et production d’hydrogène : Development and testing of micro-network energy management strategies with storage and hydrogen production. (Doctoral Dissertation). Université de la Réunion. Retrieved from http://www.theses.fr/2019LARE0031

Chicago Manual of Style (16^th Edition):

K/bidi, Fabrice. “Développements et tests de stratégies de gestion de l’énergie à l’échelle de micro réseaux avec stockage et production d’hydrogène : Development and testing of micro-network energy management strategies with storage and hydrogen production.” 2019. Doctoral Dissertation, Université de la Réunion. Accessed February 25, 2021. http://www.theses.fr/2019LARE0031.

MLA Handbook (7^th Edition):

K/bidi, Fabrice. “Développements et tests de stratégies de gestion de l’énergie à l’échelle de micro réseaux avec stockage et production d’hydrogène : Development and testing of micro-network energy management strategies with storage and hydrogen production.” 2019. Web. 25 Feb 2021.

Vancouver:

K/bidi F. Développements et tests de stratégies de gestion de l’énergie à l’échelle de micro réseaux avec stockage et production d’hydrogène : Development and testing of micro-network energy management strategies with storage and hydrogen production. [Internet] [Doctoral dissertation]. Université de la Réunion; 2019. [cited 2021 Feb 25]. Available from: http://www.theses.fr/2019LARE0031.

Council of Science Editors:

K/bidi F. Développements et tests de stratégies de gestion de l’énergie à l’échelle de micro réseaux avec stockage et production d’hydrogène : Development and testing of micro-network energy management strategies with storage and hydrogen production. [Doctoral Dissertation]. Université de la Réunion; 2019. Available from: http://www.theses.fr/2019LARE0031

Queensland University of Technology

17. Hansen, Peter Ian. Wide-baseline keypoint detection and matching with wide-angle images for vision based localisation.

Degree: 2010, Queensland University of Technology

URL: https://eprints.qut.edu.au/37667/

► This thesis addresses the problem of detecting and describing the same scene points in different wide-angle images taken by the same camera at different viewpoints.… (more)

▼ This thesis addresses the problem of detecting and describing the same scene points in different wide-angle images taken by the same camera at different viewpoints. This is a core competency of many vision-based localisation tasks including visual odometry and visual place recognition. Wide-angle cameras have a large field of view that can exceed a full hemisphere, and the images they produce contain severe radial distortion. When compared to traditional narrow field of view perspective cameras, more accurate estimates of camera egomotion can be found using the images obtained with wide-angle cameras. The ability to accurately estimate camera egomotion is a fundamental primitive of visual odometry, and this is one of the reasons for the increased popularity in the use of wide-angle cameras for this task. Their large field of view also enables them to capture images of the same regions in a scene taken at very different viewpoints, and this makes them suited for visual place recognition. However, the ability to estimate the camera egomotion and recognise the same scene in two different images is dependent on the ability to reliably detect and describe the same scene points, or ‘keypoints’, in the images. Most algorithms used for this purpose are designed almost exclusively for perspective images. Applying algorithms designed for perspective images directly to wide-angle images is problematic as no account is made for the image distortion. The primary contribution of this thesis is the development of two novel keypoint detectors, and a method of keypoint description, designed for wide-angle images. Both reformulate the Scale- Invariant Feature Transform (SIFT) as an image processing operation on the sphere. As the image captured by any central projection wide-angle camera can be mapped to the sphere, applying these variants to an image on the sphere enables keypoints to be detected in a manner that is invariant to image distortion. Each of the variants is required to find the scale-space representation of an image on the sphere, and they differ in the approaches they used to do this. Extensive experiments using real and synthetically generated wide-angle images are used to validate the two new keypoint detectors and the method of keypoint description. The best of these two new keypoint detectors is applied to vision based localisation tasks including visual odometry and visual place recognition using outdoor wide-angle image sequences. As part of this work, the effect of keypoint coordinate selection on the accuracy of egomotion estimates using the Direct Linear Transform (DLT) is investigated, and a simple weighting scheme is proposed which attempts to account for the uncertainty of keypoint positions during detection. A word reliability metric is also developed for use within a visual ‘bag of words’ approach to place recognition.

Subjects/Keywords: image processing; computer vision; keypoints; feaures; wide-angle; fisheye; catadioptric; scale-space; scale-invariant; wide-baseline; spherical diffusion; spherical Gaussian; visual odometry; localisation; visual SLAM; place recognition; loop-closure

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Hansen, P. I. (2010). Wide-baseline keypoint detection and matching with wide-angle images for vision based localisation. (Thesis). Queensland University of Technology. Retrieved from https://eprints.qut.edu.au/37667/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Hansen, Peter Ian. “Wide-baseline keypoint detection and matching with wide-angle images for vision based localisation.” 2010. Thesis, Queensland University of Technology. Accessed February 25, 2021. https://eprints.qut.edu.au/37667/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Hansen, Peter Ian. “Wide-baseline keypoint detection and matching with wide-angle images for vision based localisation.” 2010. Web. 25 Feb 2021.

Vancouver:

Hansen PI. Wide-baseline keypoint detection and matching with wide-angle images for vision based localisation. [Internet] [Thesis]. Queensland University of Technology; 2010. [cited 2021 Feb 25]. Available from: https://eprints.qut.edu.au/37667/.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Hansen PI. Wide-baseline keypoint detection and matching with wide-angle images for vision based localisation. [Thesis]. Queensland University of Technology; 2010. Available from: https://eprints.qut.edu.au/37667/

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

18. LEE GIM HEE. Sensor Based Localization of a Mobile Robot.

Degree: 2008, National University of Singapore

URL: http://scholarbank.nus.edu.sg/handle/10635/13038

Subjects/Keywords: Localization; Kidnapped Problem; SLAM; Scan Matching; Particle Filter; Loop Closure Problem

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

HEE, L. G. (2008). Sensor Based Localization of a Mobile Robot. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/13038

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

HEE, LEE GIM. “Sensor Based Localization of a Mobile Robot.” 2008. Thesis, National University of Singapore. Accessed February 25, 2021. http://scholarbank.nus.edu.sg/handle/10635/13038.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

HEE, LEE GIM. “Sensor Based Localization of a Mobile Robot.” 2008. Web. 25 Feb 2021.

Vancouver:

HEE LG. Sensor Based Localization of a Mobile Robot. [Internet] [Thesis]. National University of Singapore; 2008. [cited 2021 Feb 25]. Available from: http://scholarbank.nus.edu.sg/handle/10635/13038.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

HEE LG. Sensor Based Localization of a Mobile Robot. [Thesis]. National University of Singapore; 2008. Available from: http://scholarbank.nus.edu.sg/handle/10635/13038

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Texas – Austin

19. Satija, Rohit. Understanding structural transitions and dynamics in biomolecules at a single molecule level.

Degree: PhD, Cell and Molecular Biology, 2020, University of Texas – Austin

URL: http://dx.doi.org/10.26153/tsw/9031

► Transition paths are fleeting events when a molecule crosses a barrier separating stable configurational basins. Recent advances in single molecule experiments, including optical tweezers-based force… (more)

▼ Transition paths are fleeting events when a molecule crosses a barrier separating stable configurational basins. Recent advances in single molecule experiments, including optical tweezers-based force spectroscopy and FRET-based techniques, and data analysis methods have allowed detection of various statistical properties of transition paths. These observations have highlighted an important limitation in their current theoretical interpretation – a model of diffusive dynamics of the reaction coordinate along a one-dimensional free energy landscape is often unable to account for measurements of transition path time distributions in single molecule experiments. Here, we report similar observations in a long all-atom simulation of a small fast folding protein that exhibits multiple folding and unfolding transitions. Specifically, we discovered that the distribution of transition path times in this case is much broader than the prediction of the one-dimensional diffusion model. Moreover, direct analysis of the dynamics of the reaction coordinate in this simulation as well as in several other polypeptide simulations revealed that those dynamics are not diffusive, but subdiffusive. To explain these observations, we developed and tested several non-Markovian models, which include memory effects in the dynamics of the reaction coordinate in the form of time-dependent transport coefficients. We invented a novel technique, based on an overdamped generalized Langevin equation, to extract conformational memory directly from one-dimensional trajectories in single molecule experiments and simulations. Finally, we tested our theories on loop formation kinetics in intrinsically disordered proteins and found that, while mean first passage times to loop closure are well described by both one-dimensional diffusion and generalized Langevin equation, neither of them can capture long-time tails observed in distributions of transition path times in all-atom simulations. Advisors/Committee Members: Makarov, Dmitrii E. (advisor), Elber, Ron (committee member), Russell, Rick (committee member), Ren, Pengyu (committee member), Florin, Ernst L (committee member).

Subjects/Keywords: Theoretical chemical physics; Reaction dynamics; Kinetics; Transition path time; Single molecule force spectroscopy; FRET; Subdiffusion; Non-Markovian models; Memory kernel; Loop closure; Protein folding

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Satija, R. (2020). Understanding structural transitions and dynamics in biomolecules at a single molecule level. (Doctoral Dissertation). University of Texas – Austin. Retrieved from http://dx.doi.org/10.26153/tsw/9031

Chicago Manual of Style (16^th Edition):

Satija, Rohit. “Understanding structural transitions and dynamics in biomolecules at a single molecule level.” 2020. Doctoral Dissertation, University of Texas – Austin. Accessed February 25, 2021. http://dx.doi.org/10.26153/tsw/9031.

MLA Handbook (7^th Edition):

Satija, Rohit. “Understanding structural transitions and dynamics in biomolecules at a single molecule level.” 2020. Web. 25 Feb 2021.

Vancouver:

Satija R. Understanding structural transitions and dynamics in biomolecules at a single molecule level. [Internet] [Doctoral dissertation]. University of Texas – Austin; 2020. [cited 2021 Feb 25]. Available from: http://dx.doi.org/10.26153/tsw/9031.

Council of Science Editors:

Satija R. Understanding structural transitions and dynamics in biomolecules at a single molecule level. [Doctoral Dissertation]. University of Texas – Austin; 2020. Available from: http://dx.doi.org/10.26153/tsw/9031

20. Nahman, Zachary S. Robot learning for loop closure detection and SLAM.

Degree: MS(M.S.), Computer Science, 2019, Colorado School of Mines

URL: http://hdl.handle.net/11124/173999

► Robotics and autonomy continues to be a key research and development focus around the world. Robots are increasingly prevalent in everyday life. From manufacturing, home… (more)

Subjects/Keywords: loop closure detection; point clouds; SLAM; mapping; computer vision; robotics

…7 Figure 2.2 Loop closure results using VBRL on data from CSM Brown Hall 2nd floor. The… …left side shows the map when a loop closure is detected. The right side shows the map after… …it is updated based on the loop closure. . . . 9 Figure 2.3 Example of semantic data… …loop closure detection, and semantic multi-layer mapping. 1.1.1 Simultaneous Localization… …example of back end mapping logic is being able to detect a loop closure. A loop closure occurs…

8 more images…

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Nahman, Z. S. (2019). Robot learning for loop closure detection and SLAM. (Masters Thesis). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/173999

Chicago Manual of Style (16^th Edition):

Nahman, Zachary S. “Robot learning for loop closure detection and SLAM.” 2019. Masters Thesis, Colorado School of Mines. Accessed February 25, 2021. http://hdl.handle.net/11124/173999.

MLA Handbook (7^th Edition):

Nahman, Zachary S. “Robot learning for loop closure detection and SLAM.” 2019. Web. 25 Feb 2021.

Vancouver:

Nahman ZS. Robot learning for loop closure detection and SLAM. [Internet] [Masters thesis]. Colorado School of Mines; 2019. [cited 2021 Feb 25]. Available from: http://hdl.handle.net/11124/173999.

Council of Science Editors:

Nahman ZS. Robot learning for loop closure detection and SLAM. [Masters Thesis]. Colorado School of Mines; 2019. Available from: http://hdl.handle.net/11124/173999

The Ohio State University

21. DeBruin, Luke Andrew. Modeling and Control for Advanced Automotive Thermal Management System.

Degree: MS, Mechanical Engineering, 2016, The Ohio State University

URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1452131016

► This research investigates the design and implementation of a light-duty truck's thermal management system control strategy developed from model-based techniques. To give robust durability and… (more)

▼ This research investigates the design and implementation of a light-duty truck's thermal management system control strategy developed from model-based techniques. To give robust durability and improve fuel economy, the control strategy must stabilize the dynamics of the engine operating temperatures, while also minimizing the energy consumed by the system.First, a detailed plant model is obtained by applying first principle physics (conservation laws) to model the thermal management system from its key components. The component models are combined to accurately predict the flow rates and temperatures of the system. The thermal system model is fed by a vehicle drivetrain mechanical model that calculates the heat rejection to the thermal model through a backward-looking approach. The nonlinear model is calibrated on supplier data and validated using experimental data recorded by a vehicle data acquisition system. Information from the engine control unit, flow rates, and temperatures were previously recorded for various driving profiles while the vehicle operated on a chassis dynamometer according to standard test procedure.The model accurately predicts the temperature dynamics of the system during transient operations of fully-warm drive cycles. Specifically, the Environmental Protection Agency's Federal Test Procedure for a highway drive cycle was used to test the model validity. The validated model provides a benchmark for comparing new controllers to the baseline thermal management control.Next, a model-based control strategy is developed to operate the thermal management system for tracking the desired fluid temperatures and limit the usage of the radiator fan, hence saving energy. In order to do so, the full system architecture was simplified using heat transfer analysis before utilizing an order-reduced, physical model that is linearized analytically. The reduced, linear plant models are then used to design a feedback controller by applying the Sequential Loop Closure method on the multi-loop system. Geometric control theory is used to decouple the system disturbances from the output.The control's operation is first verified against the continuous-time, nonlinear model before being transitioned to discrete-time. The discrete control is tested in standalone using the continuous-time model's inputs and outputs to confirm correct functionality. Finally, the discrete control was automatically compiled into C-code using commercial software and tested in real-time on the truck using an ad-hoc, rapid prototyping platform. The controller's performance on the vehicle is shown in the included test results for a highway drive cycle.The control strategy makes use of the system actuators to provide thermal stability while minimizing the energy consumed by the actuators and the overall system. This allows the engine to safely operate near the peak thermal efficiency, mitigating the effects of environmental factors and dynamic engine loading conditions for improved fuel economy and increased life. Advisors/Committee Members: Canova, Marcello (Advisor).

Subjects/Keywords: Automotive Engineering; Mechanical Engineering; modeling; engine thermal management; thermal management system; TMS; model-based control; sequential loop closure; rapid prototype control; model order reduction; linearization; geometric control

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

DeBruin, L. A. (2016). Modeling and Control for Advanced Automotive Thermal Management System. (Masters Thesis). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1452131016

Chicago Manual of Style (16^th Edition):

DeBruin, Luke Andrew. “Modeling and Control for Advanced Automotive Thermal Management System.” 2016. Masters Thesis, The Ohio State University. Accessed February 25, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=osu1452131016.

MLA Handbook (7^th Edition):

DeBruin, Luke Andrew. “Modeling and Control for Advanced Automotive Thermal Management System.” 2016. Web. 25 Feb 2021.

Vancouver:

DeBruin LA. Modeling and Control for Advanced Automotive Thermal Management System. [Internet] [Masters thesis]. The Ohio State University; 2016. [cited 2021 Feb 25]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1452131016.

Council of Science Editors:

DeBruin LA. Modeling and Control for Advanced Automotive Thermal Management System. [Masters Thesis]. The Ohio State University; 2016. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1452131016

University of Waterloo

22. Taghavipour, Amir. Real-time Optimal Energy Management System for Plug-in Hybrid Electric Vehicles.

Degree: 2014, University of Waterloo

URL: http://hdl.handle.net/10012/8856

► Air pollution and rising fuel costs are becoming increasingly important concerns for the transportation industry. Hybrid electric vehicles (HEVs) are seen as a solution to… (more)

▼ Air pollution and rising fuel costs are becoming increasingly important concerns for the transportation industry. Hybrid electric vehicles (HEVs) are seen as a solution to these problems as they off er lower emissions and better fuel economy compared to conventional internal combustion engine vehicles. A typical HEV powertrain consists of an internal combustion engine, an electric motor/generator, and a power storage device (usually a battery). Another type of HEV is the plug-in hybrid electric vehicle (PHEV), which is conceptually similar to the fully electric vehicle. The battery in a PHEV is designed to be fully charged using a conventional home electric plug or a charging station. As such, the vehicle can travel further in full-electric mode, which greatly improves the fuel economy of PHEVs compared to HEVs. In this study, an optimal energy management system (EMS) for a PHEV is designed to minimize fuel consumption by considering engine emissions reduction. This is achieved by using the model predictive control (MPC) approach. MPC is an optimal model-based approach that can accommodate the many constraints involved in the design of EMSs, and is suitable for real-time implementations. The design and real-time implementation of such a control approach involves control-oriented modeling, controller design (including high-level and low-level controllers), and control scheme performance evaluation. All of these issues will be addressed in this thesis. A control-relevant parameter estimation (CRPE) approach is used to make the control-oriented model more accurate. This improves the EMS performance, while maintaining its real-time implementation capability. To reduce the computational complexity, the standard MPC controller is replaced by its explicit form. The explicit model predictive controller (eMPC) achieves the same performance as the implicit MPC, but requires less computational effort, which leads to a fast and reliable implementation. The performance of the control scheme is evaluated through different stages of model-in-the-loop (MIL) simulations with an equation-based and validated high-fidelity simulation model of a PHEV powertrain. Finally, the CRPE-eMPC EMS is validated through a hardware-in-the-loop (HIL) test. HIL simulation shows that the proposed EMS can be implemented to a commercial control hardware in real time and results in promising fuel economy figures and emissions performance, while maintaining vehicle drivability.

Subjects/Keywords: Plug-in hybrid electric vehicles; Energy management system; Fuel economy; Emissions; Explicit model predictive control; Control-relevant parameter estimation; Hardware-in-the-loop simulation

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Taghavipour, A. (2014). Real-time Optimal Energy Management System for Plug-in Hybrid Electric Vehicles. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/8856

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Taghavipour, Amir. “Real-time Optimal Energy Management System for Plug-in Hybrid Electric Vehicles.” 2014. Thesis, University of Waterloo. Accessed February 25, 2021. http://hdl.handle.net/10012/8856.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Taghavipour, Amir. “Real-time Optimal Energy Management System for Plug-in Hybrid Electric Vehicles.” 2014. Web. 25 Feb 2021.

Vancouver:

Taghavipour A. Real-time Optimal Energy Management System for Plug-in Hybrid Electric Vehicles. [Internet] [Thesis]. University of Waterloo; 2014. [cited 2021 Feb 25]. Available from: http://hdl.handle.net/10012/8856.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Taghavipour A. Real-time Optimal Energy Management System for Plug-in Hybrid Electric Vehicles. [Thesis]. University of Waterloo; 2014. Available from: http://hdl.handle.net/10012/8856

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brno University of Technology

23. Urban, Daniel. Lokalizace mobilního robota v prostředí: Localisation of Mobile Robot in the Environment.

Degree: 2018, Brno University of Technology

URL: http://hdl.handle.net/11012/84906

► This diploma thesis deals with the problem of mobile robot localisation in the environment based on current 2D and 3D sensor data and previous records.… (more)

Subjects/Keywords: Lokalizácia mobilného robota; uzatváranie slučiek; detekcia slučiek; mobilný robot; rozpoznanie polohy; odometria; akumulácia chyby; deskriptory; kľúčové body; 3D Gestalt deskriptor; Localisation of mobile robot; loop closure; loop detection; mobile robot; place recognition; odometry; error accumulation; descriptors; keypoints; 3D Gestalt descriptor

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Urban, D. (2018). Lokalizace mobilního robota v prostředí: Localisation of Mobile Robot in the Environment. (Thesis). Brno University of Technology. Retrieved from http://hdl.handle.net/11012/84906

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Urban, Daniel. “Lokalizace mobilního robota v prostředí: Localisation of Mobile Robot in the Environment.” 2018. Thesis, Brno University of Technology. Accessed February 25, 2021. http://hdl.handle.net/11012/84906.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Urban, Daniel. “Lokalizace mobilního robota v prostředí: Localisation of Mobile Robot in the Environment.” 2018. Web. 25 Feb 2021.

Vancouver:

Urban D. Lokalizace mobilního robota v prostředí: Localisation of Mobile Robot in the Environment. [Internet] [Thesis]. Brno University of Technology; 2018. [cited 2021 Feb 25]. Available from: http://hdl.handle.net/11012/84906.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Urban D. Lokalizace mobilního robota v prostředí: Localisation of Mobile Robot in the Environment. [Thesis]. Brno University of Technology; 2018. Available from: http://hdl.handle.net/11012/84906

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

24. Yao, Lijing. Closure Temperature and Closure Pressure in Bi-Mineralic Systems with Applications to REE-in-Two-Mineral Thermobarometers.

Degree: PhD, Geological Sciences, 2015, Brown University

URL: https://repository.library.brown.edu/studio/item/bdr:419561/

► Thermal evolution of the planet interior is a fundamental problem in Earth and planetary sciences. Geothermobarometers and geospeedometers are powerful tools in studying the thermal… (more)

▼ Thermal evolution of the planet interior is a fundamental problem in Earth and planetary sciences. Geothermobarometers and geospeedometers are powerful tools in studying the thermal history of igneous and metamorphics rocks from the interior of the planets. These tools are developed based on the exchange of elements or isotope ratios of interest between coexisting minerals. The exchange reactions for major elements and partitioning for trace elements with changing temperature (T) and pressure (P) require better understanding of diffusive re-distribution of the elements in the coexisting minerals. Here I conducted numerical simulations of diffusive re-distribution of major and trace elements in cooling and heating bi-mineralic systems using a finite difference method. Applying the diffusion model to the diffusive exchange of REE in two-pyroxene and garnet-clinopyroxene systems, I found that temperatures (TREE) and pressures (PREE) derived from the REE-in-two-mineral thermobarometers (Liang et al., 2013; Sun and Liang, 2015) are essentially the same as the average REE closure temperature and closure pressure defined by the effective partition coefficient following Dodson’s concept of closure temperature (1973, 1976), and are consistent with the prescribed P-T paths (Chapters 1 and 2). Because of the fast diffusion rates of major elements in minerals, diffusion modeling with coupled major elements and REE demonstrates a later closure time of major elements in the bi-mineral systems. The decoupling in closure time between major elements and REE can result in ±20°C uncertainties in REE closure temperatures calculated using the REE-in-two-pyroxene thermometer (Chapter 3). In additional, I have also conducted experimental and theoretical studies of REE partitioning between low-Ca pyroxene and basaltic melts, which is presented in Chapter 4. Advisors/Committee Members: Liang, Yan (Director), Hirth, Greg (Reader), Parman, Stephen (Reader), Parmentier, Marc (Reader), Saal, Alberto (Reader).

Subjects/Keywords: closure temperature

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Yao, L. (2015). Closure Temperature and Closure Pressure in Bi-Mineralic Systems with Applications to REE-in-Two-Mineral Thermobarometers. (Doctoral Dissertation). Brown University. Retrieved from https://repository.library.brown.edu/studio/item/bdr:419561/

Chicago Manual of Style (16^th Edition):

Yao, Lijing. “Closure Temperature and Closure Pressure in Bi-Mineralic Systems with Applications to REE-in-Two-Mineral Thermobarometers.” 2015. Doctoral Dissertation, Brown University. Accessed February 25, 2021. https://repository.library.brown.edu/studio/item/bdr:419561/.

MLA Handbook (7^th Edition):

Yao, Lijing. “Closure Temperature and Closure Pressure in Bi-Mineralic Systems with Applications to REE-in-Two-Mineral Thermobarometers.” 2015. Web. 25 Feb 2021.

Vancouver:

Yao L. Closure Temperature and Closure Pressure in Bi-Mineralic Systems with Applications to REE-in-Two-Mineral Thermobarometers. [Internet] [Doctoral dissertation]. Brown University; 2015. [cited 2021 Feb 25]. Available from: https://repository.library.brown.edu/studio/item/bdr:419561/.

Council of Science Editors:

Yao L. Closure Temperature and Closure Pressure in Bi-Mineralic Systems with Applications to REE-in-Two-Mineral Thermobarometers. [Doctoral Dissertation]. Brown University; 2015. Available from: https://repository.library.brown.edu/studio/item/bdr:419561/

25. Valente, Jonathon J. Identifying factors driving sensitivity to fragmentation in forest breeding songbirds.

Degree: PhD, 2017, Oregon State University

URL: http://hdl.handle.net/1957/61396

► Habitat loss and fragmentation are the greatest threats to biodiversity worldwide. Fragmentation impacts landscape configuration, resulting in a larger number of patches that are smaller… (more)

▼ Habitat loss and fragmentation are the greatest threats to biodiversity worldwide. Fragmentation impacts landscape configuration, resulting in a larger number of patches that are smaller in size and further apart from one another. Island biogeography and metapopulation theory predict populations in these remnant patches should be smaller, have higher extinction rates, and be less likely to receive immigrants from other populations. However, empirical data frequently do not conform with these theoretical predictions, leading to assertions that this model is too simplistic to describe distributions and dynamics of fragmented populations. However, others believe that landscape configuration effects have been poorly tested and modeled to date. In this dissertation, I use breeding bird data collected in a fragmented forest landscape to explore this lack of congruence between theory and reality. I first test the hypothesis that heterogeneity in the detectability of mobile species due to temporary emigration from sample sites can produce biased estimates of metapopulation rates. Next, I test for idiosyncrasies in the effects of forest loss and fragmentation on species belonging to different ecological trait groups. Lastly, I examine whether fragmentation actually reduces the functional connectivity of landscapes for species identified as fragmentation-sensitive. Dynamic occupancy models are popular for estimating metapopulation dynamic rates (colonization and extinction) from repeated presence/absence surveys of unmarked animals. This approach assumes closure among repeated samples within primary periods, allowing estimation of dynamic rates between these periods. However, the impact of temporary emigration (reversible changes in sampling availability) on dynamic rate estimates has not been tested. In Chapter 2, I use simulated data to investigate the degree to which temporary emigration could mislead researchers interested in quantifying metapopulation rates. I then compared results from three avian point count datasets to evaluate the likelihood that temporary emigration confounds estimates of dynamics for 19 species under a popular sampling protocol. Simulated experiments indicated that when secondary periods were open to temporary emigration, presence of dynamics was identified ≥ 95.1% of the time, and dynamic rate estimates were accurate. However, dynamic rates were biased when secondary periods were closed to temporary emigration. In empirical datasets, dynamic occupancy models had greater support than closed models for all species when secondary sampling periods occurred in immediate succession (i.e., 3 samples within 10 minutes); however, my results suggest that this is because these estimates were heavily influenced by temporary emigration. When counts within a primary period were separated by 24-48 hours, I found evidence of dynamics for less than half of these species. I recommend an alternative sampling approach that allows accurate estimation of dynamic rates when temporary emigration is of… Advisors/Committee Members: Betts, Matthew G. (advisor), Ganio, Lisa (committee member).

Subjects/Keywords: closure assumption

11 more images…

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Valente, J. J. (2017). Identifying factors driving sensitivity to fragmentation in forest breeding songbirds. (Doctoral Dissertation). Oregon State University. Retrieved from http://hdl.handle.net/1957/61396

Chicago Manual of Style (16^th Edition):

Valente, Jonathon J. “Identifying factors driving sensitivity to fragmentation in forest breeding songbirds.” 2017. Doctoral Dissertation, Oregon State University. Accessed February 25, 2021. http://hdl.handle.net/1957/61396.

MLA Handbook (7^th Edition):

Valente, Jonathon J. “Identifying factors driving sensitivity to fragmentation in forest breeding songbirds.” 2017. Web. 25 Feb 2021.

Vancouver:

Valente JJ. Identifying factors driving sensitivity to fragmentation in forest breeding songbirds. [Internet] [Doctoral dissertation]. Oregon State University; 2017. [cited 2021 Feb 25]. Available from: http://hdl.handle.net/1957/61396.

Council of Science Editors:

Valente JJ. Identifying factors driving sensitivity to fragmentation in forest breeding songbirds. [Doctoral Dissertation]. Oregon State University; 2017. Available from: http://hdl.handle.net/1957/61396

26. Birem, Merwan. Localisation et détection de fermeture de boucle basées saillance visuelle : algorithmes et architectures matérielles : Localization and loop-closure detection based visual saliency : algorithms and hardware architectures.

Degree: Docteur es, Electronique et Architecture des Systèmes, 2015, Université Blaise-Pascale, Clermont-Ferrand II

URL: http://www.theses.fr/2015CLF22558

►

Dans plusieurs tâches de la robotique, la vision est considérée comme l’élément essentiel avec lequel la perception de l’environnement ou l’interaction avec d’autres utilisateurs peut… (more)

▼

Dans plusieurs tâches de la robotique, la vision est considérée comme l’élément essentiel avec lequel la perception de l’environnement ou l’interaction avec d’autres utilisateurs peut se réaliser. Néanmoins, les artefacts potentiellement présents dans les images capturées rendent la tâche de reconnaissance et d’interprétation de l’information visuelle extrêmement compliquée. Il est de ce fait, très important d’utiliser des primitives robustes, stables et ayant un taux de répétabilité élevé afin d’obtenir de bonnes performances. Cette thèse porte sur les problèmes de localisation et de détection de fermeture de boucle d’un robot mobile en utilisant la saillance visuelle. Les résultats en termes de précision et d’efficacité des applications de localisation et de détection de fermeture sont évalués et comparés aux résultats obtenus avec des approches de l’état de l’art sur différentes séquences d’images acquises en milieu extérieur. Le principal inconvénient avec les modèles proposés pour l’extraction de zones de saillance est leur complexité de calcul, ce qui conduit à des temps de traitement important. Afin d’obtenir un traitement en temps réel, nous présentons dans ce mémoire l’implémentation du détecteur de régions saillantes sur la plate forme reconfigurable DreamCam.

In several tasks of robotics, vision is considered to be the essential element by which the perception of the environment or the interaction with other users can be realized. However, the potential artifacts in the captured images make the task of recognition and interpretation of the visual information extremely complicated. It is therefore very important to use robust, stable and high repeatability rate primitives to achieve good performance. This thesis deals with the problems of localization and loop closure detection for a mobile robot using visual saliency. The results in terms of accuracy and efficiency of localization and closure detection applications are evaluated and compared to the results obtained with the approaches provided in literature, both applied on different sequences of images acquired in outdoor environnement. The main drawback with the models proposed for the extraction of salient regions is their computational complexity, which leads to significant processing time. To obtain a real-time processing, we present in this thesis also the implementation of the salient region detector on the reconfigurable platform DreamCam.

Advisors/Committee Members: Berry, François (thesis director), Mezouar, Youcef (thesis director).

Subjects/Keywords: Attention Visuelle; Caméra intelligente; Détection de fermeture de boucle; FPGA; Localisation de robot; Primitives visuelles; Systèmes embarqués; Temps réel; Traitement d’images; Embedded systems; FPGA; Image processing; Robot localization; Loop closure detection; Real time; Smart camera; Visual attention; Visual features

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Birem, M. (2015). Localisation et détection de fermeture de boucle basées saillance visuelle : algorithmes et architectures matérielles : Localization and loop-closure detection based visual saliency : algorithms and hardware architectures. (Doctoral Dissertation). Université Blaise-Pascale, Clermont-Ferrand II. Retrieved from http://www.theses.fr/2015CLF22558

Chicago Manual of Style (16^th Edition):

Birem, Merwan. “Localisation et détection de fermeture de boucle basées saillance visuelle : algorithmes et architectures matérielles : Localization and loop-closure detection based visual saliency : algorithms and hardware architectures.” 2015. Doctoral Dissertation, Université Blaise-Pascale, Clermont-Ferrand II. Accessed February 25, 2021. http://www.theses.fr/2015CLF22558.

MLA Handbook (7^th Edition):

Birem, Merwan. “Localisation et détection de fermeture de boucle basées saillance visuelle : algorithmes et architectures matérielles : Localization and loop-closure detection based visual saliency : algorithms and hardware architectures.” 2015. Web. 25 Feb 2021.

Vancouver:

Birem M. Localisation et détection de fermeture de boucle basées saillance visuelle : algorithmes et architectures matérielles : Localization and loop-closure detection based visual saliency : algorithms and hardware architectures. [Internet] [Doctoral dissertation]. Université Blaise-Pascale, Clermont-Ferrand II; 2015. [cited 2021 Feb 25]. Available from: http://www.theses.fr/2015CLF22558.

Council of Science Editors:

Birem M. Localisation et détection de fermeture de boucle basées saillance visuelle : algorithmes et architectures matérielles : Localization and loop-closure detection based visual saliency : algorithms and hardware architectures. [Doctoral Dissertation]. Université Blaise-Pascale, Clermont-Ferrand II; 2015. Available from: http://www.theses.fr/2015CLF22558

27. Holmquist, Karl. SLAMIt A Sub-Map Based SLAM System : On-line creation of multi-leveled map.

Degree: Faculty of Science & Engineering, 2017, Linköping UniversityLinköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133974

►

In many situations after a big catastrophe such as the one in Fukushima, the disaster area is highly dangerous for humans to enter. It… (more)

▼

In many situations after a big catastrophe such as the one in Fukushima, the disaster area is highly dangerous for humans to enter. It is in such environments that a semi-autonomous robot could limit the risks to humans by exploring and mapping the area on its own. This thesis intends to design and implement a software based SLAM system which has potential to run in real-time using a Kinect 2 sensor as input. The focus of the thesis has been to create a system which allows for efficient storage and representation of the map, in order to be able to explore large environments. This is done by separating the map in different abstraction levels corresponding to local maps connected by a global map. During the implementation, this structure has been kept in mind in order to allow modularity. This makes it possible for each sub-component in the system to be exchanged if needed. The thesis is broad in the sense that it uses techniques from distinct areas to solve the sub-problems that exist. Some examples being, object detection and classification, point-cloud registration and efficient 3D-based occupancy trees.

I många situationer efter en stor katastrof, såsom den i Fukushima, är området ytterst farligt för människor att vistas. Det är i sådana miljöer som semi-autonomarobotar kan begränsa risken för människor genom att utforska och kartlägga området på egen hand. Det här exjobbet fokuserar på att designa och implementera ett mjukvarubaserat SLAM system med real-tids potential användandes en Kinect 2 sensor. Exjobbet har fokuserat på att skapa ett system som tillåter effektiv lagring och representering av kartan för att tillåta utforskning utav stora områden. Det görs genom att separera kartan i olika abstraktionsnivåer, vilka korresponderar mot lokala kartor sammankopplade med en global karta. Strukturen av system har tagit hänsyn till under utvecklingen för att tillåta modularitet. Vilket gör det möjligt att byta ut komponenter i systemet. Det här exjobbet är brett i det avseende att det använder tekniker från flera olika områden för att lösa de sub-problem som finns. Några exempel är objektdetektion och klassificering, punkt-molnsregistrering och effektiva 3D-baserade okupationsträd.

Después de grandes catástrofes, cómo la reciente en Fukushima, está demasiado peligroso para permitir humanes a entrar. En estás situaciones estaría más preferible entrar con un robot semi-automático que puede explorar, crear un mapa de la ambiente y encontrar los riesgos que hay. Está obra intente de diseñar e implementar un sistema SLAM, con la potencial de crear está mapa en tiempo real, utilizando una camera Kinect 2. En el centro de la tesis está el diseño de una mapa que será eficiente alojar y manejar, para ser utilizado explorando áreas grandes. Se logra esto por la manera de la separación del mapa en distintas niveles de abstracción qué corresponde a mapas métricos locales y una mapa topológica que conecta estas. La estructura del sistema ha sido considerado…

Subjects/Keywords: SLAM; Kinect 2; Sub-map; Loop-closure; Object detection; CENTAURO EU-project; Signal Processing; Signalbehandling

…1.3.2 Loop-closure . . . . . . . . . . . . . . 1.3.3 Separation of the map into sub-maps 1.4… …1 2 2 3 3 3 4 4 2 Background 2.1 SLAM systems . . . . . . . . . . 2.2 Loop-closure… …Loop-closure detection . . . . . . 3.6 New area detection . . . . . . . . 3.7 Loop-closure… …cases and refinement analysis 4.3 Loop-closure detection . . . . . . . . 4.4 Object detection… …Detecting when the system has returned to a previously visited area, known as loop-closure…

10 more images…

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Holmquist, K. (2017). SLAMIt A Sub-Map Based SLAM System : On-line creation of multi-leveled map. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133974

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Holmquist, Karl. “SLAMIt A Sub-Map Based SLAM System : On-line creation of multi-leveled map.” 2017. Thesis, Linköping UniversityLinköping University. Accessed February 25, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133974.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Holmquist, Karl. “SLAMIt A Sub-Map Based SLAM System : On-line creation of multi-leveled map.” 2017. Web. 25 Feb 2021.

Vancouver:

Holmquist K. SLAMIt A Sub-Map Based SLAM System : On-line creation of multi-leveled map. [Internet] [Thesis]. Linköping UniversityLinköping University; 2017. [cited 2021 Feb 25]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133974.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Holmquist K. SLAMIt A Sub-Map Based SLAM System : On-line creation of multi-leveled map. [Thesis]. Linköping UniversityLinköping University; 2017. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-133974

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Brigham Young University

28. Ellingson, Gary James. Cooperative Navigation of Fixed-Wing Micro Air Vehicles in GPS-Denied Environments.

Degree: PhD, 2019, Brigham Young University

URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9706&context=etd

► Micro air vehicles have recently gained popularity due to their potential as autonomous systems. Their future impact, however, will depend in part on how… (more)

▼ Micro air vehicles have recently gained popularity due to their potential as autonomous systems. Their future impact, however, will depend in part on how well they can navigate in GPS-denied and GPS-degraded environments. In response to this need, this dissertation investigates a potential solution for GPS-denied operations called relative navigation. The method utilizes keyframe-to-keyframe odometry estimates and their covariances in a global back end that represents the global state as a pose graph. The back end is able to effectively represent nonlinear uncertainties and incorporate opportunistic global constraints. The GPS-denied research community has, for the most part, neglected to consider fixed-wing aircraft. This dissertation enables fixed-wing aircraft to utilize relative navigation by accounting for their sensing requirements. The development of an odometry-like, front-end, EKF-based estimator that utilizes only a monocular camera and an inertial measurement unit is presented. The filter uses the measurement model of the multi-state-constraint Kalman filter and regularly performs relative resets in coordination with keyframe declarations. In addition to the front-end development, a method is provided to account for front-end velocity bias in the back-end optimization. Finally a method is presented for enabling multiple vehicles to improve navigational accuracy by cooperatively sharing information. Modifications to the relative navigation architecture are presented that enable decentralized, cooperative operations amidst temporary communication dropouts. The proposed framework also includes the ability to incorporate inter-vehicle measurements and utilizes a new concept called the coordinated reset, which is necessary for optimizing the cooperative odometry and improving localization. Each contribution is demonstrated through simulation and/or hardware flight testing. Simulation and Monte-Carlo testing is used to show the expected quality of the results. Hardware flight-test results show the front-end estimator performance, several back-end optimization examples, and cooperative GPS-denied operations.

Subjects/Keywords: GPS degradation; GPS denied; navigation; state estimation; observability; extended Kalman filter; sensor fusion; vision-aided INS; consistency; multirotor; fixed wing; micro air vehicle; indoor flight; outdoor flight; simultaneous localization and mapping; place recognition; loop closure; pose graph optimization; visual odometry; cooperative estimation; Engineering

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ellingson, G. J. (2019). Cooperative Navigation of Fixed-Wing Micro Air Vehicles in GPS-Denied Environments. (Doctoral Dissertation). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9706&context=etd

Chicago Manual of Style (16^th Edition):

Ellingson, Gary James. “Cooperative Navigation of Fixed-Wing Micro Air Vehicles in GPS-Denied Environments.” 2019. Doctoral Dissertation, Brigham Young University. Accessed February 25, 2021. https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9706&context=etd.

MLA Handbook (7^th Edition):

Ellingson, Gary James. “Cooperative Navigation of Fixed-Wing Micro Air Vehicles in GPS-Denied Environments.” 2019. Web. 25 Feb 2021.

Vancouver:

Ellingson GJ. Cooperative Navigation of Fixed-Wing Micro Air Vehicles in GPS-Denied Environments. [Internet] [Doctoral dissertation]. Brigham Young University; 2019. [cited 2021 Feb 25]. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9706&context=etd.

Council of Science Editors:

Ellingson GJ. Cooperative Navigation of Fixed-Wing Micro Air Vehicles in GPS-Denied Environments. [Doctoral Dissertation]. Brigham Young University; 2019. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=9706&context=etd

University of Tasmania

29. Fuglsang, AJ. ‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom.

Degree: 2019, University of Tasmania

URL: https://eprints.utas.edu.au/33764/1/Fuglsang_whole_thesis.pdf ; Fuglsang, AJ ORCID: 0000-0002-7748-1127 <https://orcid.org/0000-0002-7748-1127> 2019 , '‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom', EdD thesis, University of Tasmania.

► A perceived decline in the performance of Australian students has prompted questions about the effectiveness of the nation’s classroom teachers. In particular, evidence from the… (more)

▼ A perceived decline in the performance of Australian students has prompted questions about the effectiveness of the nation’s classroom teachers. In particular, evidence from the Programme for International Student Assessment (PISA) 2009–2015, indicates a downward trend over a sustained period of time. Features of the associated discourse have been an emphasis on the efficacy of explicit instruction, concerns that an explicit teaching pedagogy is under-represented in the contemporary classroom, and the implication that teacher training and in-service professional learning should be adjusted accordingly. A primary purpose of this study was to develop an approach to describe the explicit teaching strategies that upper primary school teachers use in the classroom. Such data provide evidence of the presence and nature of any deficiency that might require instructional intervention. The first step was to establish a clear understanding of the meaning of ‘explicit teaching or instruction’ as it is applied in contemporary commentary to describe a preferred approach to classroom instruction. The resulting construct (called the Explicit Teaching Construct) or framework was used in a mixed methods investigation to describe classroom practice, to compare the practices of individual teachers, and to compare practices in low socio-economic status (SES) and high SES classrooms. Data collection was primarily conducted through observation of literacy lessons of twelve participants from nine different government primary schools in southern Tasmania, using a category observation instrument organised around 13 explicit instruction characteristics. The resulting data was organised into individual participant profiles after its quantification with reference to a three point scale of alignment, which compared individual teacher practice with a characteristic descriptor. The analysis provided evidence of an established explicit teaching pedagogy across the participant cohort, with the greatest variation evident in the employment of high-impact strategies that were strongly associated with positive learning outcomes. High and low SES students had a similar experience of explicit teaching with some variation between the cohorts noted in the use of high-impact strategies. The capacity to accurately describe explicit instruction in terms of component strategies may have application in adding to the understanding of the set of teacher behaviours that best influences positive student outcomes and, feasibly, in sharpening any inquiry into those factors that influence the development of pedagogy generally, and skillsets specifically.

Subjects/Keywords: explicit teaching; explicit instruction; teaching and learning

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Fuglsang, A. (2019). ‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom. (Thesis). University of Tasmania. Retrieved from https://eprints.utas.edu.au/33764/1/Fuglsang_whole_thesis.pdf ; Fuglsang, AJ ORCID: 0000-0002-7748-1127 <https://orcid.org/0000-0002-7748-1127> 2019 , '‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom', EdD thesis, University of Tasmania.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Fuglsang, AJ. “‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom.” 2019. Thesis, University of Tasmania. Accessed February 25, 2021. https://eprints.utas.edu.au/33764/1/Fuglsang_whole_thesis.pdf ; Fuglsang, AJ ORCID: 0000-0002-7748-1127 <https://orcid.org/0000-0002-7748-1127> 2019 , '‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom', EdD thesis, University of Tasmania..

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Fuglsang, AJ. “‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom.” 2019. Web. 25 Feb 2021.

Vancouver:

Fuglsang A. ‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom. [Internet] [Thesis]. University of Tasmania; 2019. [cited 2021 Feb 25]. Available from: https://eprints.utas.edu.au/33764/1/Fuglsang_whole_thesis.pdf ; Fuglsang, AJ ORCID: 0000-0002-7748-1127 <https://orcid.org/0000-0002-7748-1127> 2019 , '‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom', EdD thesis, University of Tasmania..

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Fuglsang A. ‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom. [Thesis]. University of Tasmania; 2019. Available from: https://eprints.utas.edu.au/33764/1/Fuglsang_whole_thesis.pdf ; Fuglsang, AJ ORCID: 0000-0002-7748-1127 <https://orcid.org/0000-0002-7748-1127> 2019 , '‘Let them in on the big secret’ : an examination of explicit teaching behaviours in the contemporary classroom', EdD thesis, University of Tasmania.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of New Mexico

30. Sheyka, Michael. A Homogenization Approach for Design and Simulation of Blast Resistant Composites.

Degree: Mechanical Engineering, 2014, University of New Mexico

URL: http://hdl.handle.net/1928/24614

► Structural composites have been used in aerospace and structural engineering due to their high strength to weight ratio. Composite laminates have been successfully and extensively… (more)

Subjects/Keywords: homogenization; explicit; implicit

Record Details Similar Records Cite « Share

❌

APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sheyka, M. (2014). A Homogenization Approach for Design and Simulation of Blast Resistant Composites. (Doctoral Dissertation). University of New Mexico. Retrieved from http://hdl.handle.net/1928/24614

Chicago Manual of Style (16^th Edition):

Sheyka, Michael. “A Homogenization Approach for Design and Simulation of Blast Resistant Composites.” 2014. Doctoral Dissertation, University of New Mexico. Accessed February 25, 2021. http://hdl.handle.net/1928/24614.

MLA Handbook (7^th Edition):

Sheyka, Michael. “A Homogenization Approach for Design and Simulation of Blast Resistant Composites.” 2014. Web. 25 Feb 2021.

Vancouver:

Sheyka M. A Homogenization Approach for Design and Simulation of Blast Resistant Composites. [Internet] [Doctoral dissertation]. University of New Mexico; 2014. [cited 2021 Feb 25]. Available from: http://hdl.handle.net/1928/24614.

Council of Science Editors:

Sheyka M. A Homogenization Approach for Design and Simulation of Blast Resistant Composites. [Doctoral Dissertation]. University of New Mexico; 2014. Available from: http://hdl.handle.net/1928/24614

		in
And / Or
		in
And / Or
		in
And / Or
		in

Open Access Theses and Dissertations