Srivardhan, D

No description available.

Berger, Cyrille

Le but de la recherche en robotique mobile est de donner aux robots la capacité d'accomplir des missions dans un environnement qui n'est pas parfaitement connu. Mission, qui consiste en l'exécution d'un certain nombre d'actions élémentaires (déplacement, manipulation d'objets...) et qui nécessite une localisation précise, ainsi que la construction d'un bon modèle géométrique de l'environnement, a partir de l'exploitation de ses propres capteurs, des capteurs externes, de l'information provenant ...

Hildreth, Ellen C.

We present a model for recovering the direction of heading of an observer who is moving relative to a scene that may contain self-moving objects. The model builds upon an algorithm proposed by Rieger and Lawton (1985), which is based on earlier work by Longuet-Higgens and Prazdny (1981). The algorithm uses velocity differences computed in regions of high depth variation to estimate the location of the focus of expansion, which indicates the observer's heading direction. We relate the ...

Negahdaripour, Shahriar

In this paper, we derive a closed form solution for recovering the motion of an observer relative to a planar surface directly from image brightness derivatives. We do not compute the optical flow as an intermediate step, only the spatial and temporal intensity gradients at a minimum of 8 points. We solve a linear matrix equation for the elements of a 3x3 matrix. The eigenvalue decomposition of its symmetric part is then used to compute the motion parameters and the plane orientation.

Toazza, Denny Antonio, Kim, Tae Hyun

<p>The thesis covers a new navigation algorithm for UAV to fly through several given GPS coordinates without any human interference. The UAV first gets its current position from GPS receiver via Bluetooth connection with the navigator computer. With this GPS point, it draws an optimal trajectory to next destination. During the flight, the navigator computer issues the information about which direction to turn and how much to turn. This information will be used to steer the airplane servos.</p><p...

Rosander, Peter

The standard way for both ground and aerial vehicles to navigate is to use anInertial Navigation System, INS, containing an Inertial Measurement Unit, IMU,measuring the acceleration and angular rate, and a GPS measuring the position.The IMU provides high dynamic measurements of the acceleration and the angularrate, which the INS integrates to velocity, position and attitude, respectively.While being completely impossible to jam, the dead-reckoned estimates will driftaway, i.e., the errors are un...

Ånonsen, Kjetil Bergh

This thesis deals with the subject of terrain aided underwater navigation for underwater vehicles. The term “navigation” is throughout the thesis understood as the task of estimating the position and attitude of a vehicle, together with the corresponding uncertainties. The main focus is on autonomous underwater vehicles (AUVs), but the methods discussed can also be readily used by other underwater vehicles. Terrain aided navigation is an attractive concept for obtaining submerged position fixes ...

Törnqvist, David

The ability to navigate in an unknown environment is an enabler for truly utonomous systems. Such a system must be aware of its relative position to the surroundings using sensor measurements. It is instrumental that these measurements are monitored for disturbances and faults. Having correct measurements, the challenging problem for a robot is to estimate its own position and simultaneously build a map of the environment. This problem is referred to as the Simultaneous Localization and Mapping ...

Nordin, Peter

To avoid getting stuck or causing damage to a vehicle or its surroundings a driver must be able to identify obstacles and adapt speed to ground conditions. An automatically controlled vehicle must be able to handle these identifications and adjustments by itself using sensors, actuators and control software. By storing properties of the surroundings in a map, a vehicle revisiting an area can benefit from prior information. Rough ground may cause oscillations in the vehicle chassis. These can be ...

Sjanic, Zoran

Since its discovery, in the 1940's, radar (Radio Detection and Ranging) has become an important ranging sensor in many areas of technology and science. Most of the military and many civilian applications are unimaginable today without radar. With technology development, radar application areas have become larger and more available. One of these applications is Synthetic Aperture Radar (SAR), where an airborne radar is used to create high resolution images of the imaged scene. Although known sinc...

Miller, Max R.

No description available.

Saflianis, Constantinos Christou.

No description available.

Frydrychowicz, James Joseph

No description available.

McCracken, William Lowell

No description available.

Cook, Robert H., Gustafson, Boyd E.

No description available.

Martinez, John G.

No description available.

Durkee, Andrew Franklin

No description available.

Dellicker, Scott Henry.

The Affordable Guided Airdrop System (AGAS) integrates a low-cost guidance and control system into fielded cargo air delivery systems. This study evaluated the feasibility of this concept and included the design and execution of a flight test program to assess prototype system performance, as well as modeling efforts to develop initial guidance and control techniques leading to an evaluation of the feasibility of the AGAS concept. The flight test program provided adequate flight dynamic data for...

Mitrović, Dijan

Experience is a significant source of knowledge for any human activity. Knowledge about past failures may help to avoid similar failures in the future, while repeating or even improving successes. Driving is a complex and dynamic activity, and the extensive previous experience provides great help when some important decision has to be made quickly. This thesis proposes and demonstrates methods for learning driving patterns and their use in supporting driving navigation tasks. Driving patterns a...

Alexander, Jason

Electronic documents form an integral part of the modern computer age---virtually all personal computers have the ability to create, store and display their content. A connection to the Internet provides users with an almost endless source of documents, be they web-pages, word-processor files or emails. However, the entire contents of an electronic document are often too large to be usefully presented on a user’s screen, at a single point in time. This issue is usually overcome by placing the ...

Wang, Meng

Thesis under the direction of Dr. Jules White This thesis investigates the use of iBeacon fingerprinting as a localization technique for indoor navigation systems. Fingerprinting uses machine learning to generate a signature for each location based on its Bluetooth signal characteristics. In this thesis, we examine key questions related to how machine learning parameters and beacon setup influence the performance of indoor navigation localization. Our empirical results show that Random Forest pr...

Steinke, Dean

This work examines the design of a Kalman filter based navigation algorithm for the Canadian Scientific Submersible Facility's (CSSF) ROPOS ROV. The 5000m ROV is typically hired by scientists to deploy and recover small scientific instrumentation packages on the sea floor, and collect subsea biological and geological samples. To efficiently complete these tasks a navigation system that can provide a global positioning accuracy of +/-2.5m is required. However. the ROPOS navigation system presentl...

Christian, John Allen

Recent years have seen ambitious robotic exploration missions to other planets and a renewed interest in sending humans beyond low Earth orbit. These activities give rise to a need for autonomous spacecraft operation. Of particular interest here is the ability of a spacecraft to navigate independent of contact with Earth-based resources. Optical navigation techniques are proposed as a solution to the problem of navigating in a planetary system without requiring navigation information from Earth....

Shrum, Richard Eugene

Approved for public release; distribution unlimited. / A navigation system has been established on Monterey- Bay using the LORAC principle of phase- comparison. It is intended primarily for use in ocean sciences research within a 25 mile radius of Moss Landing, California. The system offers the capability of repeating a previously held position within a few feet, and may be used as a general navigation aid in the area with accuracy on the order of 100 yards. The theory of operation and er...

Adams, Joseph Harvey

Approved for public release; distribution unlimited. / The highly stable propagation characteristics of VLF transmissions make them an ideal source of world-wide navigation data. The arrival phase of a VLF signal is continuously compared with a local standard. The change in the phase difference between the received signal and the local standard is converted to relative motion with respect to the VLF transmitter. This investigation concerns itself with the development as a whole of the VL...

Peterson, Kevin Robert

Approved for public release; distribution is unlimited / Image understanding for a mobile robotic vehicle is an important and complex task for ensuring safe navigation and extended autonomous operations. The goal of this work is to implement a working vision-based navigation control mechanism within a known environment onboard the autonomous mobile vehicle Yamabico-II. Although installing a working hardware system was not accomplished, the image processing, model description, pattern matching,...

Marburg, Aaron Ming

This research focuses on the development of a persistent navigation algorithm for a hovering vehicle with a single, downward-facing visible spectrum camera. A successful persistent navigation algorithm allows a vehicle to: * Continuously estimate its location and pose within a local, if not global, coordinate frame. * Continuously align incoming data to both temporally proximal and temporally distant data. For aerial images, this alignment is equivalent to image mosaicking, as is commonly ...

Ta Huynh, Duy Nguyen

In this thesis, I study the computational advantages of the allocentric represen- tation as compared to the egocentric representation for autonomous local navigation. Whereas in the allocentric framework, all variables of interest are represented with respect to a coordinate frame attached to an object in the scene, in the egocentric one, they are always represented with respect to the robot frame at each time step. In contrast with well-known results in the Simultaneous Localization and Mapping...

Zanetti, Renato, 1978-

Not available

Kassas, Zaher

Navigation is an invisible utility that is often taken for granted with considerable societal and economic impacts. Not only is navigation essential to our modern life, but the more it advances, the more possibilities are created. Navigation is at the heart of three emerging fields: autonomous vehicles, location-based services, and intelligent transportation systems. Global navigation satellite systems (GNSS) are insufficient for reliable anytime, anywhere navigation, particularly indoors, in d...

Kjellberg, Henri Christian

A guidance, navigation, and control (GN&C) module is being designed and fabricated as part of a series of CubeSats being built by the Satellite Design Laboratory at the University of Texas. A spacecraft attitude control simulation environment called StarBox was created in order to perform trade studies and conduct performance analysis for the GN&C module. Navigation and control algorithms were tested using StarBox and then implemented onto an embedded flight computer. These algorithms were then ...

Jackson, Russell Eric, 1978-

Not available / text

Brooker, Graham Michael

This thesis describes the theoretical and practical implementation of a long-range high-resolution millimetre wave imaging radar system to aid with the navigation and guidance of both airborne and ground-based autonomous vehicles. To achieve true autonomy, a vehicle must be able to sense its environment, comprehensively, over a broad range of scales. Objects in the immediate vicinity of the vehicle must be classified at high resolution to ensure that the vehicle can traverse the terrain. At...

Pindat, Cyprien

Computer screens are very small compared to the size of large information spaces that arise in many domains. The visualization of such datasets requires multiscale navigation capabilities, enabling users to switch between zoomed-in detailed views and zoomed-out contextual views of the data. Designing interfaces that allow users to quickly identify objects of interest, get detailed views of those objects, relate them and put them in a broader spatial context, raise challenging issues. Multi-scale...

Low, May Peng Emily, Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW

The first part of this thesis documents experimental investigation into the use of vision for wheeled robot navigation problems. Specifically, using a video camera as a source of feedback to control a wheeled robot toward a static and a moving object in an environment in real-time. The wheeled robot control algorithms are dependent on information from a vision system and an estimator. The vision system design consists of a pan video camera and a visual gaze algorithm which attempts to search an...

Nezhadasl, Mahtab

In large workspaces that do not fit on the screen space, users have to navigate to various regions outside the viewport to locate items of interest. Researchers have developed a variety of different navigation techniques to improve the performance of working with large workspaces. In this thesis I design, implement, and evaluate two novel navigation techniques to access off-screen content. I call these techniques Multiscale Window and Crystal Ball. The design of these two techniques was based on...

Hasnain, Syed Saad

The purpose of this thesis is to investigate the possibility of using aerial or satellite images or eventually digital elevation models in order to localize the UAV helicopter in the environment. Matching techniques are investigated in order to match the available on-board image of the area with the live images acquired by the on-board video camera. The problem is interesting because it can provide a redundancy for the UAV navigation system which is based only on GPS. The thesis is in the contex...

Synaptic plasticity, or the change in weight of the connections between cells, is a key mechanism underlying the brain's spatial representation and navigation functions. Experimentalists have shown that grid cells in the medial entorhinal cortex fire in hexagonal patterns within an environment, or set of visual cues. Grid cells provide the input for place cells, which fire primarily at one location in the environment and are found in the hippocampus, a region essential for both learning and memo...

Four measurement options for Orion autonomous optical lunar navigation are analyzed using linear covariance analysis methods. The measurements include a feature tracking camera measurement, star landmark elevation measurement, star horizon elevation measurement, and star occultation measurement. Based on trade studies performed, the star landmark measurement is superior to the star horizon measurement closer to the lunar surface, while the horizon sensor has better performance above an altitude ...

Grue, Nathalie

No description available.

Gia, M. C.

This thesis describes the design of a data structure for use with Digitised Terrain Elevation Data (DTED) in Terrain Reference Navigation (TRN) systems. The data structure is based on a variant of quad-tree and oct-tree data structures to provide an efficient representation of terrain in terms of storage requirements and acccss operations. These data structure are applied to flight path planning operations in mission management applications. The algorithms developed for flight path planning have...

Vanin, Matteo

During the last few years Unmanned Air Vehicles have seen a widespread utilization, both in civilian and military scenarios, because of the benefits of replacing the human presence in unsuitable or hostile environments and dangerous or dull tasks. Examples of their use are surveillance, firefighting, rescuing, extreme photography and environmental monitoring. The main interest of this work is autonomous navigation of such air vehicles, specifically quadrotor helicopters (quadrocopters), and the ...

Alchalabi, Bilal

L'interface cerveau-ordinateur (ICO) décode les signaux électriques du cerveau requise par l’électroencéphalographie et transforme ces signaux en commande pour contrôler un appareil ou un logiciel. Un nombre limité de tâches mentales ont été détectés et classifier par différents groupes de recherche. D’autres types de contrôle, par exemple l’exécution d'un mouvement du pied, réel ou imaginaire, peut modifier les ondes cérébrales du cortex moteur. Nous avons utilisé un ICO pour déterminer si nous...

Williams, Stefan Bernard

This thesis deals with the Simultaneous Localisation and Mapping algorithm as it pertains to the deployment of mobile systems in unknown environments. Simultaneous Localisation and Mapping (SLAM) as defined in this thesis is the process of concurrently building up a map of the environment and using this map to obtain improved estimates of the location of the vehicle. In essence, the vehicle relies on its ability to extract useful navigation information from the data returned by its sensors. The ...

Kayirhan, Alp.

A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques are used in the estimation of system parameters. The algorithm is tested by both computer generated data and actual data collected from the vehicle NPS AUVII during tests in a water tank. Fixed interva...

Palestini, Claudio <1982>

Synchronization is a key issue in any communication system, but it becomes fundamental in the navigation systems, which are entirely based on the estimation of the time delay of the signals coming from the satellites. Thus, even if synchronization has been a well known topic for many years, the introduction of new modulations and new physical layer techniques in the modern standards makes the traditional synchronization strategies completely ineffective. For this reason, the design of advanced a...

Kusalovic, Dejan

The issues researched in this thesis work relate to the theoretical and practical problems in analysis, design and implementation of mobile, tracked, semi-autonomous machines in out-of- door environments (particularly the work sites of small to medium size, 100x100m). A complete navigation system is analyzed and proposed while the focus has been placed on developing an efficient path planning subsystem. Mechanisms of ensuring that the paths are safe are also proposed. The path planner is b...

Rafii-Tari, Hedyeh

Epidural anesthesia is a common but challenging procedure in obstetrics and surgery, especially for the obese patient, and can result in complications such as dural puncture and nerve injury. Ultrasound has the potential to significantly improve epidural needle guidance, by being able to depict the spinal anatomy and the epidural space. An ultrasound guidance system is therefore proposed, using a transducer-mounted camera to create 3D panorama images of the spine relative to markings on the skin...

Krys, Dennis

With recent advancements in Global Positioning Systems (GPS), localization systems are now typically equipped with a GPS. However, in a large variety of environments and real-world applications, GPS-based localization systems are not practical. This research tackles such a problem and illustrates the idea of fusing a camera and an inertial navigation system (INS) to create a dead reckoning localization system. The original purpose of the localization system is for a pipe inspection robot, b...

Chen, Tzu-Pei Grace

Conventional face navigation systems focus on finding new faces via facial features. Though intuitive, this method has limitations. Notably, it is geared toward finding distinctive features, and hence, does not work as effectively on "typical" faces. We present an alternative approach to searching and navigating through an overall face configuration space. To do so, we implemented an interface that shows gradients of faces arranged spatially using an n-dimensional norm-based face generatio...