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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
171

Increasing the robustness of a service in a complex information flow

Johansson, Albin January 2019 (has links)
In complex information flows where a lot of varied data is transmitted through many companies and divisions, incidents will occur. When Visma Spcs had an incident where invoices sent from Visma to Visma's customers were duplicated and the service meant to receive the transactions did not handle the duplicates properly. They decided that the receiver service was to be upgraded to prevent this incident from happening again, as well as fixing some other issues the service had had. Incidents like this one must be investigated and a solution must be implemented to decrease the likelihood that similar incidents will happen again. In this report, the reader will see examples on how this can be handled and the benefits of tackling technical debt, along with how much more complicated the solutions might get if the service is not allowed to be taken offline.
172

Desinfecção por radiação ultravioleta: estudo do desempenho do processo e avaliação econômica / Ultraviolet radiation disinfection: study of process performance and economic evaluation

Tinôco, Juliana Delgado 10 February 2012 (has links)
Este trabalho teve como objetivo o estudo de desempenho e a avaliação de custos econômicos do processo de desinfecção por radiação UV para efluente de lagoas de estabilização facultativas pós- tratado em alagado construído e para outros efluentes com características similares. O trabalho experimental consistiu de ensaios de desinfecção utilizando reator de desinfecção por radiação UV em batelada. Na pesquisa foram avaliadas as principais variáveis que interferem no rendimento e nos custos dos processos, de forma a adequar o par CT (concentração de desinfetante e tempo de contato) atendendo ao padrão ambiental microbiológico de 1.000 coliformes termotolerantes/100 mL, definido para corpos aquáticos enquadrados na classe 2 estabelecida pela Resolução 357/2005 CONAMA, uma vez que a maioria dos corpos receptores do Brasil estão enquadrados nessa classe. A avaliação econômica definiu custos unitários de implantação e de operação e manutenção do processo de desinfecção UV para um período de 20 anos, considerando valores pontuais e anuais de forma a se verificar o custo total a valor presente. Os dados obtidos indicaram que o efluente final das unidades de tratamento avaliadas apresentaram valores de turbidez, absorvância a 254 nm e ferro total superiores aos usuais recomendados para desinfecção UV, no entanto, não comprometendo a desinfecção. Por outro lado, a concentração de SS foi baixa e com diâmetro de partículas de pequenas dimensões. As várias combinações testadas (doses x altura de lâmina líquida- ALL) sugerem, para atendimento ao padrão microbiológico, doses de 8 Wh/\'M POT.3\' e ALL de 6 cm. A concentração remanescente dos indicadores microbiológicos testados mostrou ordem decrescente de inativação de Clostridium perfringens para coliformes totais e Escherichia coli. A análise da fotorreativação e da ausência de luz no recrescimento dos microrganismos indicadores (coliformes totais e Esherichia coli) foi mais perceptível na ausência de luz. Os custos de implantação das unidades de desinfecção UV projetadas nesta pesquisa foram significativamente menores que os dos modelos industriais comparados. Os custos de operação e manutenção para a desinfecção com radiação UV também foram baixos e equivalem a outros desinfetantes. Os custos médios globais obtidos variam de 14,3 a 20,5 R$/habitante, para garantir a desinfecção do esgoto por radiação UV durante 20 anos. / This work studied UV disinfection process performance and economic costs for facultative stabilization ponds effluent pos treated in constructed wetland and another effluents with similar characteristic. The experimental work consisted of batch disinfection tests using UV reactor, evaluating variables that may affect performance and process costs in order to adjust CT (disinfectant concentration and contact time) according to microbiological environmental standard of 1000/100 mL, set for class 2 water bodies established by 357/2005 CONAMA Resolution. Economic evaluation defined unit costs of deployment and operation and maintenance of the UV disinfection process for 20 years, considering point estimates and annual reports, in order to check total cost to present value. The final effluent from treatment units evaluated had values of turbidity, 254 nm absorbance and total iron above usual recommended for UV disinfection, however, not compromising disinfection process. On the other hand, SS concentration was low and particle size was of small diameter. Various combinations of dose x water height tested suggest, to attend microbiological standards, doses 8 wh/m³ and 6 cm water height. The remaining concentration of microbiological indicators showed descending order of inactivation from Clostridium perfringens to total coliforms and Escherichia coli. Photoreactivation and light absence regrowth of total coliforms and Esherichia coli was more noticeable in darkness. Building costs of UV disinfection units designed were significantly lower than those of industrial models compared. Operation and maintenance costs for UV radiation disinfection were also low and equivalent with other disinfectants. Average total costs obtained vary from R$ 14.3 to R$ 20.5/capita, to ensure UV radiation disinfection life time of 20 years.
173

Qualidade de site de governo eletrônico: estudo de caso sobre a aplicação do QFD ao site da SH/CDHU / E-government website quality: a case study about applying QFD to the SH/CDHU website

Sillos, Valeria Lucchetti de 27 May 2009 (has links)
O principal objetivo deste trabalho é avaliar a qualidade de um site de governo eletrônico. Para atingir essa meta, a pesquisa descreve a aplicação da ferramenta Quality Function Deployment, QFD, para melhoria da qualidade do site da Secretaria de Estado da Habitação de São Paulo, SH, e Companhia de Desenvolvimento Habitacional e Urbano, CDHU. CDHU é a empresa do governo do Estado de São Paulo responsável pela execução do plano de habitação de interesse social para o Estado. O QFD foi desenvolvido no Japão, na década de 60, para melhorar a qualidade de produtos industriais desde o projeto. Apesar disso, o foco deste estudo é sua aplicação para melhorar a qualidade do site, apresentando as adaptações necessárias ao modelo original e observando as possíveis limitações de sua aplicação para esse fim. Como ponto de partida para a pesquisa, foram realizadas entrevistas com os profissionais de informática da empresa, responsáveis pelo desenvolvimento e manutenção do site, com outros colaboradores que utilizam diariamente o site da companhia e com o ouvidor da CDHU. Essas entrevistas, juntamente com a revisão bibliográfica, formaram a base para a elaboração de um questionário para avaliar a percepção dos clientes da CDHU sobre o site. O questionário foi aplicado a mutuários da CDHU para captar a voz do cliente e construir a casa da qualidade, principal produto da aplicação do QFD. O QFD mostrou ser uma ferramenta útil para priorização das mudanças a serem feitas no site e para iniciar discussões sobre a necessidade de sistematizar rotinas de teste e de melhoria contínua do site, além da gestão do conteúdo. Este trabalho abrange os temas Qualidade da Informação e Governo Eletrônico e apresenta sugestões de melhoria para o site da SH/CDHU. / The main purpose of this study is to evaluate the quality of an e-government website. To achieve that goal, this paper describes the advantages of using the Quality Function Deployment (QFD) tool to improve the quality of Secretaria de Estado da Habitação de São Paulo, SH, and Companhia de Desenvolvimento Habitacional e Urbano, CDHU, website. CDHU is a governmental company of São Paulo state which is responsible for developing urban plans focused on low revenues families. QFD was developed in Japan, in the 60s, to improve the quality of industrial products from the project. Even tough the focus of this study is the use of such managerial tool as a website quality inducer, presenting the necessary adjustments to original QFD model and pointing out some possible limitations of such application. First of all, interviews were conducted with technology information professionals from CDHU, who are in charge for the website development and maintenance; with CDHU workers who access company website daily; and with CDHU ombudsman. These interviews along with bibliography review allowed the development of a questionnaire to evaluate CDHU customers perception on its site quality and performance. The answers captured the voice of the customer and were used to build the house of quality, main deliver of QFD. QFD demonstrated to be powerful tool to help prioritizing desirable changes in the website and also to start PDCA discussions about the site content management. This study covers the Information Quality and E-Government subjects and it also presents improvement suggestions to SH/CDHU website as an answer to clients willing and recommendations.
174

Assurance, provision, management and enhancement of QoS in 5G communication networks

Al-Shammari, Basim Khalaf Jarullah January 2018 (has links)
Enhancement of QoS in PS network as 5G communication network is non trivial endeavour which faces a host of new challenges beyond 3G and 4G communication networks. The number of nodes, the homogeneity of the access technologies, the conflicting network management objectives, resource usage minimization, and the division between limited physical resources and elastic virtual resources is driving a complete change in the vision and methodologies for efficient management of the available network resources. QoS is the measure of the reliability and performance of the networks' nodes and links, particularly as perceived by the end users of the services and application that are transported via PS network. Furthermore, QoS is a composite metric as it based on a number of multiple factors, which indicate the E2E characteristics and performance of the network condition, applications and services. Hence, reductions or improvements in the QoS level can brought about through a number of combined factors. This thesis tries to introduce a vision of Quality of Service (QoS) enhancement and management based on the 5th generation network requirements and solutions by: Firstly: Proposing a traffic flow management policy, which allocates and organises Machine Type Communication (MTC) traffic flow's network resources sharing within Evolved Packet System (EPS), with an access element as a Wireless Sensor Network (WSN) gateway for providing an overlaying access channel between the Machine Type Devices (MTDs) and EPS. This proposal addresses the effect and interaction in the heterogeneity of applications, services and terminal devices and the related QoS issues among them. The introduced work in this proposal overcomes the problems of network resource starvation by preventing deterioration of network performance. The scheme is validated through simulation, which indicates the proposed traffic flow management policy outperforms the current traffic management policy. Specifically, simulation results show that the proposed model achieves an enhancement in QoS performance for the MTC traffic flows, including a decrease of 99.45% in Packet Loss Rate (PLR), a decrease of 99.89% in packet End to End (E2E) delay, a decrease of 99.21% in Packet Delay Variation (PDV). Furthermore, it retains the perceived Quality of Experience (QoE) of the real time application users within high satisfaction levels, such as the Voice over Long Term Evolution (VoLTE) service possessing a Mean Opinion Score (MOS)of 4.349 and enhancing the QoS of a video conference service within the standardised values of a 3GPP body, with a decrease of 85.28% in PLR, a decrease of 85% in packet E2E delay and a decrease of 88.5% in PDV. Secondly: Proposing an approach for allocating existing 4G installed network radio access nodes to multiple Base Band Unit (BBU) pools, which is proposed to deploy 5G Cloud-Radio Access Network (C-RAN) and improve the offered Network QoS (NQoS). The proposed approach involves performing radio access nodes clustering based on the Particle Swarm Optimization (PSO) algorithm, model selection Bayesian Information Criterion (BIC), Measure of spread technique and Voronoi tessellation. The proposed scheme is used to consider a Dynamic C-RAN (DC-RAN) operation, that adaptively adjusts the main Radio Remote Head (RRH) coverage range according to the traffic load requirement as well as considering energy saving. The numerical results of the approach show that the optimized partition of the proposed network model is 41 BBU pools, with an average density of RRHs per pool area, which matches the primary average density of the radio access nodes per network area. Thirdly: Developing mathematical framework that investigates the Power Consumption (PC) profile for the interaction of Internet of Thing (IoT) Application QoS (AQoS) with NQoS in wireless Software Defined Network (SDN) as SDN for WIreless SEnsor network (SDN-WISE). This profile model offers flexibility for managing the structure of the Machine to Machine (M2M) system in IoT. It enables controlling the provided NQoS, precisely the achieved PHY layer transmission link throughput, combined with the AQoS, represented by IoT data stream payload size. The investigation is composed of two essential SDN traffic parts, they are control plane signalling and data plane traffic PCs and their relevance with QoS. The results show that 98% PC in data plane companion with a control plane PC of 2% in overall of the proposed system power, these figures were achieved with control plane signalling Transmission Time Interval (TTI) of 5 sec and a maximum data plane payload size of 92 Bytes as a worst case scenario.
175

Využití best practice ITIL při přesunu ústředny telefonního operátora / Telecommunication Operator's Switch Translocation Using Best Practice ITIL

Drábik, Dušan January 2011 (has links)
The goal of this thesis was set to meet the demands of a telecommunication operator that needed to solve its problems with lack of capacity by switch translocation. This thesis thus may significantly increase the chances of success of this organizationally challenging task by finding relevant best practise ITIL. The thesis sets the method for relevant best practice ITIL selection using the table where columns represent metrics and risks of the project while rows represent elements from chapter Release and Deployment Management. Results of this method are recommendations that should be implemented in the project plans. The advantage of this ITIL-based method is that it is customer oriented and uses clear terminology. The benefits of this method may be increased when used in synergy by companies that implemented ITIL processes.
176

Hermenêutica das bases ancestrais da educação e seus desdobramentos simbólicos nos movimentos indígenas no Equador / Hermeneutic of the ancestral bases of the education and its symbolic unfolding in the indigenous movements in Ecuador

Edesmin Wilfrido Palacios Paredes 22 June 2011 (has links)
O objetivo central deste trabalho é estudar/compreender, as bases ancestrais da educação e seus desdobramentos, com base em uma perspectiva mitohermenêutica e simbólica, nos movimentos sociais indígenas no Equador. O aporte mitohermenêutico - apresenta-se, como estilo filosófico - no sentido de manter uma atitude de inquietação e questionamento e, também, como método de investigação - no sentido de estabelecer procedimentos sistemáticos de pesquisa acadêmica. Com esse enfoque, de maneira específica, no primeiro capítulo, enfatiza-se o contato com próprio pesquisador, misturando-se ao estilo hermenêutico, que busca a compreensão de si mesmo como ponto de partida, meio e fim de toda jornada interpretativa; no segundo capítulo, destacam-se os movimentos indígenas; no terceiro capítulo, retomam-se as noções de espiritualidade nos estudantes universitários indígenas e seu diálogo com a ancestralidade ameríndia; no quarto capítulo, articula-se ancestralidade e simbolismo. Com base nos aspectos aqui resgatados, chega-se a tese de que a prática dos elementos da vida, do cotidiano, do simbolismo do ameríndio, tais como coletivo, comunitário, distribuição, dualidade, complementaridade, minga, território, espaço e ancestralidade estão presentes e parecem impulsionar a luta pela reivindicação da identidade, da espiritualidade e, portanto, do reconhecimento da condição indígena na sociedade equatoriana. Pensa-se ainda que a ancestralidade aparece como alternativa de releitura da contemporaneidade e sua complexidade. Assim, sugere-se que a educação deverá ocupar o importante papel de resgate e de transmissão da cultura indígena. Todavia, com uma racionalidade que está sendo sinalizadora do diálogo entre as culturas. Esta sendo sinalizadora do diálogo entre as culturas. / The central objective is to study and understand the ancestral education basis and its consequences symbolic ancient hermeneutic of native movements in Ecuador. The myth-hermeneutic contribution presents, in ancient philosophy and style, maintaining an attitude of interest and questioning, as well as research method provides systematic procedures for academic research. With this approach, specifically, in the first chapter, we emphasize in the contact with the researcher, hermeneutic style \"fusion\" which is self-understanding as a starting point, middle and end of each day\'s works interpretation, the second chapter highlights the natives movement, in the third chapter includes the spirituality concepts in college students and dialogue with native Amerindian descent, in the chapter fourth, articulates the ancestry and symbolism. On the basis of the topics discussed, we come to the view that the daily life, the everyday, the symbolism of Amerindian, for example - public, the community, distribution, duality, the complementarity, Minga, the territory, space and descent - are present and seem to reinforce the fight to claim the identity, spirituality, and therefore the recognition of natives status in Ecuadorian society. It is believed that the ancestors continue to emerge as an alternative reading of the contemporary world and its complexity. Therefore, it is suggested that education should play a major role in the rescue and the transmission of natives indigenous culture. However, with a rationality that is leading the dialogue between cultures. This is a sign of dialogue between cultures.
177

Saber, poder e sujeito no dispositivo da moda

Paixão, Humberto Pires da 17 June 2013 (has links)
Submitted by Luciana Ferreira (lucgeral@gmail.com) on 2014-09-30T14:36:26Z No. of bitstreams: 2 Paixão, Humberto Pires da-2013-dissertação.pdf: 4164665 bytes, checksum: 1dae129ed6df672b1adba29ae9b82c5f (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Approved for entry into archive by Luciana Ferreira (lucgeral@gmail.com) on 2014-09-30T15:25:56Z (GMT) No. of bitstreams: 2 Paixão, Humberto Pires da-2013-dissertação.pdf: 4164665 bytes, checksum: 1dae129ed6df672b1adba29ae9b82c5f (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) / Made available in DSpace on 2014-09-30T15:25:56Z (GMT). No. of bitstreams: 2 Paixão, Humberto Pires da-2013-dissertação.pdf: 4164665 bytes, checksum: 1dae129ed6df672b1adba29ae9b82c5f (MD5) license_rdf: 23148 bytes, checksum: 9da0b6dfac957114c6a7714714b86306 (MD5) Previous issue date: 2013-06-17 / This work originated from reflections offered by the reading the Michel Foucault’s work The Archaeology of Knowledge (2009a). It aims to highlight and investigate statements that could and have actually been made, constituting knowledge and power in the fashion field. If it is true that all knowledge evokes power and vice versa, then it is valid to question what power relations and consequently what knowledge established by/in the fashion universe are these, as well as the existing implications on the objectification/subjectification of individuals. In other words, it is valid to question, among other things, what kind of subjects are constituted through what circulates in the media about fashion and to whom or what these new aesthetic and behavioral standards serve. Our hypothesis therefore may be described as follows: fashion is a discursive deployment in which/through which docile and useful individuals for societies ruled by production and consumption are created, or even a deployment that controls the population as it produces the illusion that it leads to well-being and happiness. Our hypothesis is therefore based on the postulates of French-oriented Discourse Analysis, especially on the contributions brought to it by Michel Foucault’s reflections. Through Foucault's notion of the deployment, this work aims to deal with some topics that operate on and should be considered in the study of processes related to fashion. Paraphrasing the French philosopher himself, it aims to understand the power-knowledge regime that sustains the fashion discourse and forges certain subjectivities. This therefore means considering the fact that fashion is talked about, bearing in mind who is allowed to do it and the places where it is done, in other words, the fact of placing fashion into discourse. / O presente trabalho, originado das reflexões proporcionadas pela leitura da obra de Michel Foucault, A Arqueologia do Saber (2009a), pretende colocar em evidência e investigar enunciados que puderam e foram efetivamente ditos, constituindo saberes e poderes no campo da moda. Se é verdade que todo saber evoca um poder e vice-versa, então é válido questionar que relações de poder e, consequentemente, que saberes são esses instaurados pelo/no universo fashion, bem como as implicações existentes quanto à objetivação/subjetivação dos indivíduos. Ou seja, questionar, dentre outras coisas, que sujeitos se constituem por meio do que circula na mídia sobre a moda e a quem ou a que esses novos padrões estéticos e comportamentais atendem. Dessa forma, nossa hipótese pode ser assim descrita: a moda é um dispositivo discursivo no qual/por meio do qual se constroem indivíduos dóceis e úteis para as sociedades pautadas na produção e no consumo, ou ainda, um dispositivo que controla a população ao produzir a ilusão de que leva ao bem-estar e à felicidade. Assim sendo, embasamo-nos nos postulados da Análise do Discurso de orientação francesa, principalmente nas contribuições trazidas para o seu interior das reflexões empreendidas por Michel Foucault para tal entendimento. Por meio da noção foucaultiana de dispositivo, busca-se lidar com alguns tópicos que operam e devem ser considerados nas investigações dos processos relacionados à moda. Parafraseando o próprio filósofo francês, trata-se de buscar entender o regime de poder-saber que sustenta o discurso da/sobre a moda e que forja determinadas subjetividades. Significa, portanto, considerar o fato de se falar de moda, tendo em mente quem é autorizado a dizê-lo e os lugares em que se fala, ou seja, o fato de colocar a moda em discurso.
178

An approach to open virtual commissioning for component-based automation

Kong, Xiangjun January 2013 (has links)
Increasing market demands for highly customised products with shorter time-to-market and at lower prices are forcing manufacturing systems to be built and operated in a more efficient ways. In order to overcome some of the limitations in traditional methods of automation system engineering, this thesis focuses on the creation of a new approach to Virtual Commissioning (VC). In current VC approaches, virtual models are driven by pre-programmed PLC control software. These approaches are still time-consuming and heavily control expertise-reliant as the required programming and debugging activities are mainly performed by control engineers. Another current limitation is that virtual models validated during VC are difficult to reuse due to a lack of tool-independent data models. Therefore, in order to maximise the potential of VC, there is a need for new VC approaches and tools to address these limitations. The main contributions of this research are: (1) to develop a new approach and the related engineering tool functionality for directly deploying PLC control software based on component-based VC models and reusable components; and (2) to build tool-independent common data models for describing component-based virtual automation systems in order to enable data reusability.
179

Science des données au service des réseaux d'opérateur : proposition de cas d’utilisation, d’outils et de moyens de déploiement / Data science at the service of operator networks

Samba, Alassane 29 October 2018 (has links)
L'évolution des télécommunications amené aujourd'hui à un foisonnement des appareils connectés et une massification des services multimédias. Face à cette demande accrue de service, les opérateurs ont besoin d'adapter le fonctionnement de leurs réseaux, afin de continuer à garantir un certain niveau de qualité d'expérience à leurs utilisateurs. Pour ce faire, les réseaux d'opérateur tendent vers un fonctionnement plus cognitif voire autonomique. Il s'agit de doter les réseaux de moyens d'exploiter toutes les informations ou données à leur disposition, les aidant à prendre eux-mêmes les meilleures décisions sur leurs services et leur fonctionnement, voire s'autogérer. Il s'agit donc d'introduire de l'intelligence artificielle dans les réseaux. Cela nécessite la mise en place de moyens d'exploiter les données, d'effectuer surelles de l'apprentissage automatique de modèles généralisables, apportant l’information qui permet d'optimiser les décisions. L'ensemble de ces moyens constituent aujourd'hui une discipline scientifique appelée science des données. Cette thèse s'insère dans une volonté globale de montrer l'intérêt de l'introduction de la science des données dans différents processus d'exploitation des réseaux. Elle comporte deux contributions algorithmiques correspondant à des cas d'utilisation de la science des données pour les réseaux d'opérateur, et deux contributions logicielles, visant à faciliter, d'une part l'analyse, et d'autre part le déploiement des algorithmes issus de la science des données. Les résultats concluants de ces différents travaux ont démontré l'intérêt et la faisabilité de l'utilisation de la science des données pour l'exploitation des réseaux d'opérateur. Ces résultats ont aussi fait l'objet de plusieurs utilisations par des projets connexes. / The evolution of telecommunications has led today to a proliferation of connected devices and a massification of multimedia services. Faced with this increased demand for service, operators need to adapt the operation of their networks, in order to continue to guarantee a certain level of quality of experience to their users. To do this, operator networks tend towards a more cognitive or autonomic functioning. It is about giving the networks the means to exploit all the information or data at their disposal, helping them to make the best decisions about their services and operations,and even self-manage. It is therefore a questionof introducing artificial intelligence into networks. This requires setting up means to exploit the data, to carry out on them the automatic learning of generalizable models, providing information that can optimize decisions. All these means today constitute a scientific discipline called data science. This thesis fits into a global desire to show the interest of the introduction of data science in different network operating processes. It inlcudes two algorithmic contributions corresponding to use cases of data science for the operator networks, and two software contributions, aiming to facilitate,on the one hand, the analysis, and on the other hand the deployment of the algorithms produced through data science. The conclusive results of these various studies have demonstrated the interest and the feasibility of using data science for the exploitation of operator networks. These results have also been used by related projects.
180

A Dynamical System Approach for Resource-Constrained Mobile Robotics

Alam, Tauhidul 16 April 2018 (has links)
The revolution of autonomous vehicles has led to the development of robots with abundant sensors, actuators with many degrees of freedom, high-performance computing capabilities, and high-speed communication devices. These robots use a large volume of information from sensors to solve diverse problems. However, this usually leads to a significant modeling burden as well as excessive cost and computational requirements. Furthermore, in some scenarios, sophisticated sensors may not work precisely, the real-time processing power of a robot may be inadequate, the communication among robots may be impeded by natural or adversarial conditions, or the actuation control in a robot may be insubstantial. In these cases, we have to rely on simple robots with limited sensing and actuation, minimal onboard processing, moderate communication, and insufficient memory capacity. This reality motivates us to model simple robots such as bouncing and underactuated robots making use of the dynamical system techniques. In this dissertation, we propose a four-pronged approach for solving tasks in resource-constrained scenarios: 1) Combinatorial filters for bouncing robot localization; 2) Bouncing robot navigation and coverage; 3) Stochastic multi-robot patrolling; and 4) Deployment and planning of underactuated aquatic robots. First, we present a global localization method for a bouncing robot equipped with only a clock and contact sensors. Space-efficient and finite automata-based combinatorial filters are synthesized to solve the localization task by determining the robot’s pose (position and orientation) in its environment. Second, we propose a solution for navigation and coverage tasks using single or multiple bouncing robots. The proposed solution finds a navigation plan for a single bouncing robot from the robot’s initial pose to its goal pose with limited sensing. Probabilistic paths from several policies of the robot are combined artfully so that the actual coverage distribution can become as close as possible to a target coverage distribution. A joint trajectory for multiple bouncing robots to visit all the locations of an environment is incrementally generated. Third, a scalable method is proposed to find stochastic strategies for multi-robot patrolling under an adversarial and communication-constrained environment. Then, we evaluate the vulnerability of our patrolling policies by finding the probability of capturing an adversary for a location in our proposed patrolling scenarios. Finally, a data-driven deployment and planning approach is presented for the underactuated aquatic robots called drifters that creates the generalized flow pattern of the water, develops a Markov-chain based motion model, and studies the long- term behavior of a marine environment from a flow point-of-view. In a broad summary, our dynamical system approach is a unique solution to typical robotic tasks and opens a new paradigm for the modeling of simple robotics systems

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