Kayasal, Ugur

In this thesis, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimati...

Futterlieb, Marcus

Cette thèse s'intéresse au problème de la navigation autonome au long cours de robots mobiles à roues dans des environnements dynamiques. Elle s'inscrit dans le cadre du projet FUI Air-Cobot. Ce projet, porté par Akka Technologies, a vu collaborer plusieurs entreprises (Akka, Airbus, 2MORROW, Sterela) ainsi que deux laboratoires de recherche, le LAAS et Mines Albi. L'objectif est de développer un robot collaboratif (ou cobot) capable de réaliser l'inspection d'un avion avant le décollage ou en h...

Tcaci Popescu, Sergiu

Les gens produisent des mouvements spontanés pendant des tâches de raisonnement spatial. Ces mouvements aident-ils à la performance de la tâche? Nous avons étudié le rôle des mouvements spontanés dans l'orientation spatiale en utilisant des tâches de prise de perspective spatiale (PPS) dans lesquelles les participants devaient imaginer un point de vue différent de leur point de vue actuel. Nous nous sommes concentrés sur des perspectives exigeant des rotations mentales de soi - particulièrement ...

Segovia Castillo, Pablo

Cette thèse contribue à répondre au problème de la gestion optimale des ressources en eau dans les réseaux de navigation intérieure du point de vue de la théorie du contrôle. Les objectifs principales à atteindre consistent à garantir la navigabilité des réseaux de voies navigables, veiller à la réduction des coûts opérationnels et à la longue durée de vie des équipements. Lors de la conception de lois de contrôle, les caractéristiques des réseaux doivent être prises en compte, à savoir leurs d...

Chebly, Alia

Les travaux de cette thèse portent sur la navigation des véhicules autonomes, notamment la planification de trajectoires et le contrôle du véhicule. En premier lieu, un modèle véhicule plan est développé en utilisant une technique de modélisation qui assimile le véhicule à un robot constitué de plusieurs corps articulés. La description géométrique du véhicule est basée sur la convention de Denavit-Hartenberg modifiée. Le modèle dynamique du véhicule est ensuite calculé en utilisant la méthode ré...

Bouzid, Yasser

Cette thèse traite du guidage et du pilotage de véhicules aériens qui peuvent assurer des missions dans des lieux particulièrement hostiles, dangereux ou inaccessibles avec des véhicules conventionnels. Nous sommes tout d'abord motivés par le scénario de couverture, qui est généralement un processus long pouvant utiliser un grand nombre de personnes et d'équipements. Or, la nature de la couverture nécessite un véhicule aérien avec des capacités de vol stationnaire. Pour cela, nous nous intéresso...

Chung, Jaewoo

Thesis (Ph. D.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2012. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 113-117). / People can easily become mindless in their decision-making and become disengaged from their surroundings when their actions depend on information and guidance from an assistive technology. Research has shown how automated navigation assistance systems lead users to be di...

Leber, Douglas Eric

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1992. / Includes bibliographical references (leaf 78). / by Douglas Eric Leber. / M.S.

Horton, Tyler Bruce

Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004. / This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. / Includes bibliographical references (leaves 89-91). / SKINNI is an application that allows users to access, annotate, and share contextually relevant information from smart digital kiosks in public spaces. These platforms will not o...

Miu, Allen Ka Lun, 1977-

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2002. / Includes bibliographical references (p. 59-60). / This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. / This thesis describes the design and implementation of CricketNav, an indoor mobile navigation system using the Cricket indoor location sensing infrastructure developed at the MIT Labor...

Tian, Rong Fong, 1975-

Thesis (S.B. and M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998. / Includes bibliographical references (leaf 57). / by Rong Fong Tian. / S.B.and M.Eng.

Hrbáček, Jan

Poškození zraku je jedním z nejčastějších tělesných postižení -- udává se, že až 3 % populace trpí vážným poškozením nebo ztrátou zraku. Oslepnutí výrazně zhoršuje schopnost orientace a pohybu v okolním prostředí -- bez znalosti uspořádání prostoru, jinak získané převážně pomocí zraku, postižený zkrátka neví, kudy se pohybovat ke svému cíli. Obvyklým řešením problému orientace v neznámých prostředích je doprovod nevidomého osobou se zdravým zrakem; tato služba je však velmi náročná a nevidomý se...

Xia, Chen

Les robots modernes sont appelés à effectuer des opérations ou tâches complexes et la capacité de navigation autonome dans un environnement dynamique est un besoin essentiel pour les robots mobiles. Dans l’objectif de soulager de la fastidieuse tâche de préprogrammer un robot manuellement, cette thèse contribue à la conception de commande intelligente afin de réaliser l’apprentissage des robots mobiles durant la navigation autonome. D’abord, nous considérons l’apprentissage des robots via des dé...

Maziol, Timotheé

This report presents the work conducted at Safran Electronics & Defense in the context of my master thesis-internship. Vision-hybridisation with inertial systems has great potential in navigation systems. This master thesis investigates this potential and evaluates it on real data of trajectories for one specific hybridisation: loosely-coupled via an Extended Kalman Filter. The vision hybridisation is developed in order to limit the drift of position of the state-of-the-art GPS-hybridisation...

Garcia Peña, Axel Javier

La performance de démodulation des signaux GNSS existants, GPS L1 C/A, L2C ou L5, est satisfaisante en environnements ouverts où le C/N0 disponible est assez élevé. Cependant, en milieu urbain, le niveau de C/N0 du signal reçu est souvent très bas et est affecté de variations rapides qui peuvent nuire la démodulation des messages GNSS. Donc, car les applications du marché de masse sont appelées à être déployées dans ces environnements, il est nécessaire d'étudier et de chercher des méthodes de d...

Colmenares vazquez, Josue

Ce travail porte sur la conception d’un véhicule hybride qui puisse rouler ou voler si nécessaire. Une révision des prototypes actuels est faite et ensuite il est proposé un nouveau type de véhicule avec des propriétés améliorées. Ce véhicule se constitue d’un quadrirotor avec deux roues passives sans aucun servomécanisme additionnel. Le modèle de ce véhicule a été développé et quelques algorithmes de régulation automatique ont été développés pour chaque mode d’opération : par terre ou dans l’ai...

Saif, Osamah

De nos jours, les applications utilisant des quadrirotors autonomes sont en plein essor. La surveillance et la sécurité de sites industriels ou sensibles, de zones géographiques pour l’agriculture par exemple sont quelques-unes des applications les plus célèbres des véhicules aériens sans pilote (UAV). Actuellement, certains chercheurs et scientifiques se concentrent sur le déploiement multi-drones pour l’inspection et la surveillance de vastes zones. L’objectif de cette thèse est de concevoir d...

Östblad, Per Anders

The task of navigating and orienting oneself in an unknown environment might seem arbitrary to most people. For a person with a visual impairment however, it can prove to be a challenge. Much research has been conducted to provide useful software solutions to aid this problem. Nevertheless, not enough research has been put into studying the use of our everyday sounds for such software. The present thesis is aimed at evaluating the usefulness of utilising diegetic spatial audio. After a real envi...

Tian, Daji

Cette thèse présente tout d'abord un méthode d’exploration mono-robot, ensuite une stratégie coopérative décentralisée d'exploration pour un groupe de robots équipés de range finders. Une carte 2-D de la zone explorée est construite sous la forme de figure en pixels et est étendue par les robots en utilisant un planner local qui décide automatiquement entre l'information gagnée et le coût d'exploration. La carte est construite en utilisant la méthode des moindres carrés pour réduire les erre...

Lind, Linus

Artificial intelligence and machine learning have seen great progress in recent years. In this work, we will look at the application of machine learning in visual navigational systems for unmanned vehicles in natural environments. Previous works have focused on navigational systems with deep convolutional neural networks (CNNs) for unmanned aerial vehicles (UAVs). In this work, we evaluate the robustness and applicability of these methods for unmanned ground vehicles (UGVs). To evaluate the robu...

Al-Naami, Nora

Indoor navigation has always been an interesting topic to look at since there are many use of it for example in airports, huge malls and underground transport stations. One interesting application area is the underground transportation since the current navigation in the underground stations in Sweden is proven to be insufficient to guide the user from the underground station to the final destination. GPS is a prominent solution for the outdoor navigation but no prominent solution has been found...

Eldh, Ida

This degree project begins with a general introduction of the topic embedded systems in electrical testing and diagnostic devices in industries within the field of human-computer interaction. Then it continues with a deeper view of the problem area and the specific products which are in focus of this project. The company which the study is carried out in, produces and develops many types of test equipment (in a more generalized term called smart electrical testing and diagnostic devices) to the ...

Brezoescu, Cornel-Alexandru

Ce travail de thèse porte sur le comportement en vol de drones légers à voilure fixe en présence de vent. Ces dispositifs aériens offrent une transition en douceur de la théorie à la pratique dans le domaine de la commande autonome. En outre, ils fournissent une solution appropriée dans des environnements inaccessibles ou dangereux pour les êtres humains. Cependant, ne pas avoir un pilote humain à bord implique que les UAV reposent sur l'automatisation pour naviguer ou pour éviter les obstacles....

Freider, Elias

In this thesis, strategies for navigating a crowded area using an autonomous holonomic robot are discussed and evaluated. The focus is set on path planning and the topic is therefore largely decoupled from the prediction (i.e. machine learning) and control theory techniques needed for a practical implementation outside of the simulated environment. Existing methods and algorithms for path planning in highly dynamic environments are compared using several measures via computer simulations in diff...

Alves de Lima, Danilo

La navigation autonome des voitures robotisées est un domaine largement étudié avec plusieurs techniques et applications dans une démarche coopérative. Elle intègre du contrôle de bas niveau jusqu’à la navigation globale, en passant par la perception de l’environnement, localisation du robot, et autres aspects dans une approche référencée capteurs. Bien qu’il existe des travaux très avancés, ils présentent encore des problèmes et limitations liés aux capteurs utilisés et à l’environnement où la ...

Kristoffer, Karlsson, Arvid, Horned

Humans today rely heavily on navigational aids on their smartphones to find their way. These aids have shown to be decreasing our ability to learn routes since the interaction with the environment is minimal. Technology assisting indoor navigation is getting more common, and the same approach, which has shown to impair spatial ability, is used, and will most likely result in the same problems. In the current study an application was developed that uses landmarks represented as icons to guide the...

Jaugey, Delphine.

The existing air navigation services have many shortcomings and a reform was necessary. The new systems (CNS/ATM systems) will be largely dependent on Global Navigation Satellite Systems (GNSS) which can bring significant benefits to air navigation in terms of safety, efficiency, capacity, and economy. However, GNSS have weaknesses which can be reduced but will never be fully eliminated. Depending solely on a system that can be disrupted is not acceptable for safety of life applications, such as...

Bogolasky Sack, José Claudio

No description available.

Haj Hassine, Sammi

In this thesis issues regarding hierarchical navigation structures on mobile websites have been investigated with focus on usability. The goal has been to provide a complementary basis for hierarchical mobile navigation development. Two mobile website prototypes with the same hierarchical structured content, but with different types of navigation solutions, were developed and tested on test persons. Due to a relatively low amountof test persons, the tests purpose was to provide qualitative infor...

Steven, Ruediger.

Navigation filter software is currently being developed for an inertial navigation system without rotating gyros. This system shall replace the navigation system that is currently used in the Phoenix Autonomous Underwater Vehicle of the Naval Postgraduate School. The filter combines acceleration sensors, angular rate sensors, a water speed sensor, a magnetic compass and a GPS system. The harmonization of the sensors is performed by gain matrices. The filter code must be tested for correctness an...

Macedo Scavuzzi Dos Santos, Juliana

The use of Global Navigation Satellite System (GNSS) for air navigation brings important advantages to aviation since it is able to reduce routes, save fuel and diminish greenhouse gas emissions. It is also a more flexible and precise navigational aid that improves flight operations at critical moments such approach, landing and take-off. However, the GNSS signal may fail; and depending on the moment of this failure, its failure could cause an accident. Therefore, air navigation service provider...

The ITG section 7.5 "Wellenausbreitung" within the VDE (German Association for Electrical, Electronic & Information Technologies) organised a conference on Wave Propagation in Communication, Microwave Systems and Navigation which was held during 25th - 27th of November 2009 in Chemnitz, Germany. The conference philosophy is to emphasize the commonalty between propagation aspects of microwave remote sensing sensors and microwave systems at large. The following topics of Remote Sensing, Communicat...

Mirkazemi, Seyedfarhad

No description available.

Antin, Jonathan F.

Ph. D.

Taylor, Leah Kristine

There is no widely accepted tool to assess an orthopedic surgeon’s technical skill in the operating room. With changes in surgical education, simulators are being investigated for learning and assessing technical skills, but a link between the actual operating room is needed to ensure they are effective. Hip fracture surgery is a good starting point to develop these measures because hip fractures are common and fixation is a difficult task. Resident orthopedic surgeons wore a head-mounted video ...

Sandmark, David

This report proposes three algorithms using model predictive control (MPC) in order to improve the positioning accuracy of an unmanned vehicle. The developed algorithms succeed in reducing the uncertainty in position by allowing the vehicle to deviate from a planned path, and can also handle the presence of occluding objects. To achieve this improvement, a compromise is made between following a predefined trajectory and maintaining good positioning accuracy. Due to the recent development of thre...

António Pedro Monteiro Barbosa

No description available.

Rollerberg, Niklas

Using distributed micro-controllers in an autonomous vessel can result in higher robustness and lower energy consumption compared to a traditional centralized approach. However adapting traditional software (e.g. navigation and guidance systems) for a distributed microcontroller system is a complex and challenging task. In this thesis a software solution for controlling autonomous vessels with on board distributed micro-controllers is presented. It is capable of controlling the vehicle by itself...

Bommakanti, Hemanth Ram Kartik

Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) Integrated Navigation Systems (INS) integrate the positive features of GNSS and IMU for optimal navigation guidance in high accuracy outdoor navigation systems, for example using Extended Kalman Filter (EKF) techniques. Time synchronization of IMU data with precise GNSS based time is necessary to accurately synchronize the two systems. This must be done in real-time for time sensitive navigation applications such as autonomo...

Cristiano Alexandre Almeida Oliveira Rodrigues

Actualmente, em África, milhões de pessoas sofrem todos os dias com doenças, que se propagam facilmente devido às más condições de saúde e de vida existentes. "Syndromic Surveillance" é um projecto cujo objectivo passa por colectar dados no terreno sobre a existência destas doenças para conseguir fazer uma monitorização e previsão do mapa de doenças numa região Africana em concreto: a África subsariana.Os "Community Health Workers" são voluntários que viajam entre aldeias daquela região Africana...

Diogo Sanches Mendes

Recentemente, com os grandes avanços tecnológicos feitos regularmente na área dos meios de transporte privados, existem ainda muitas hipóteses para estudar e experiências a realizar. O objetivo é maximizar a experiência, segurança e produtividade do condutor, e ao mesmo tempo minimizar os seus riscos, bem como outros tipos de perda (consumo de combustível, tempo, ...). Estes avanços tendem a focar-se mais em carros em comparação com motociclos, em parte devido ao facto de os carros terem mais es...

The topic of robot navigation has been examined for many years from multiple points of view. Researchers in the field of Artificial Intelligence and Control Systems have proposed many solutions to specific problems involving system modeling, planning, optimization, stabilization, tracking, etc. Although Artificial Intelligence techniques have shown practical results over a range of robot navigation applications, they seem to fall behind in terms of mathematical formalism when compared to the the...

Müller, Matthias

This work investigates the problem of transfer from simulation to the real world in the context of autonomous navigation. To this end, we first present a photo-realistic training and evaluation simulator (Sim4CV)* which enables several applications across various fields of computer vision. Built on top of the Unreal Engine, the simulator features cars and unmanned aerial vehicles (UAVs) with a realistic physics simulation and diverse urban and suburban 3D environments. We demonstrate the versati...

Teixeira, João Diogo Vilela

Tese de Mestrado Integrado. Engenharia Electrotécnica e de Computadores. Faculdade de Engenharia. Universidade do Porto. 2011

Freitas, Tiago Ribeiro Mota

Tese de mestrado integrado. Engenharia Informática e Computação. Faculdade de Engenharia. Universidade do Porto. 2009

Corvese, Laura

In order to create intelligent robots that are able to react to their environment through computer vision, it has been of interest to study how humans, and animals receive and process visual information. Flying animals, such as birds and bats, use a vision processing technique called optical flow to navigate the environment. The key to making use of optical flow for feedback control is the idea of time-to-transit, which is a measure of how long it will take an observer to pass an object in its f...

Kotowick, Kyle (Kyle Jordan)

Thesis: Ph. D. in Human Systems Integration, Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2018. / This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. / Cataloged from student-submitted PDF version of thesis. / Includes bibliographical references (pages 203-221). / People working in extreme environments, where their mental and physical capabilities are taxed to the ...

Perko, Eric Michael

No description available.

Miau, Daniel

A map is a big multi-scale information space. The size of a computer display, however, is limited. Users of digital maps often need to repeatedly resize and reposition the map to seek information. These repeated and excess interactions mar the user experience, and create bottlenecks for efficient information processing. We introduce personalized navigation instruments, a class of navigation instruments that leverage personal important spatial entities (e.g., landmarks and routes) to tackle...

Whittaker, Matthew P.

<p> Within the field of Guidance, Navigation, and Control, the navigation process refers to accurately determining one's position in space. The quest of accurate navigation has shaped human history. Early navigation techniques involved dead reckoning with infrequent measurement updates from line-of-sights to stars or landmarks on the shore. The first practical inertial navigation system (INS) attributed to the German V-2 missile in 1942. In the early 1960's the Kalman filter was developed to aid...