The visibility-aware path planner addresses the problem of path planning for target visibility. It computes sequences of motions that afford a line of sight to a stationary visual target for sensors on a robotic platform. The visibility-aware planner uses a model of the visible region, namely, the region of the task space in which a line of sight exists to the target. The planner also takes the orientation of the sensor into account, utilizing a model of the field of view frustum. The planner applies a penalty to paths that cause the sensor to lose target visibility by exiting the visible region or rotating so the target is not in the field of view. The planner applies these penalties to the edges in a probabilistic roadmap, providing weights in the roadmap graph for graph-search based planning algorithms. This thesis presents two variants on the planner. The static multi-query planner precomputes penalties for all roadmap edges and performs a best-path search using Dijkstra's algorithm. The dynamic single-query planner uses an iterative test-and-reject search to find paths of acceptable penalty without the benefit of precomputation. Four experiments are presented which validate the planners and present examples of the path planning for visibility on 6-DOF robot manipulators. The algorithms are statistically tested with multiple queries. Results show that the planner finds paths with significantly lower losses of target visibility than existing shortest-path planners.

Calculating visual perception of entities in simulations requires complex intersection tests between the line of sight and the virtual world. In this study, we focus on outdoor environments which consist of a terrain and various objects located on terrain. Using hardware capabilities of graphics cards, such as occlusion queries, provides a fast method for implementing these tests. In this thesis, we introduce an approach for better load balancing of visibility detection and target acquisition calculations by the use of occlusion queries. Our results show that, the proposed approach is 1.5 to 2 times more efficient than the existing algorithms on the average.

The visibility-aware path planner addresses the problem of path planning for target visibility. It computes sequences of motions that afford a line of sight to a stationary visual target for sensors on a robotic platform. The visibility-aware planner uses a model of the visible region, namely, the region of the task space in which a line of sight exists to the target. The planner also takes the orientation of the sensor into account, utilizing a model of the field of view frustum. The planner applies a penalty to paths that cause the sensor to lose target visibility by exiting the visible region or rotating so the target is not in the field of view. The planner applies these penalties to the edges in a probabilistic roadmap, providing weights in the roadmap graph for graph-search based planning algorithms. This thesis presents two variants on the planner. The static multi-query planner precomputes penalties for all roadmap edges and performs a best-path search using Dijkstra's algorithm. The dynamic single-query planner uses an iterative test-and-reject search to find paths of acceptable penalty without the benefit of precomputation. Four experiments are presented which validate the planners and present examples of the path planning for visibility on 6-DOF robot manipulators. The algorithms are statistically tested with multiple queries. Results show that the planner finds paths with significantly lower losses of target visibility than existing shortest-path planners.

Šiame darbe nagrinėjama panoraminio vaizdo tyrimo metodikos ir taikymo problematika. Aptariami pagrindiniai algoritmai naudojami ArcGIS programoje. Darbe pateikiama keletas pavyzdžių, kaip panoraminio vaizdo tyrimai taikant GIS programinę įrangą yra pritaikomi praktikoje. Antroje darbo dalyje yra atliekamas tyrimas, kurio tikslas išsiaiškinti, ar racionalu ir reikalinga būtų taikyti panoraminio matomumo tyrimus žemėlapyje, nekilnojamo turto reklama užsiimančiuose interneto puslapiuose. Tyrimo rezultatai atskleidžia, kad vietovės vaizdingumas yra svarbus veiksnys renkantis nekilnojamą turtą, o žmonės yra pasiruošę naudotis naujomis žemėlapio funkcijomis suteikiančiomis daugiau galimybių atliekant nekilnojamo turto vertinimą, tačiau panoraminio matomumo įrankio diegti į sistemas nerekomenduojama, dėl darbe aptariamų šios funkcijos trūkumų. Kita vertus autorius siūlo diegti naujas funkcijas, kurios pagerintų nešališką nekilnojamo turto vertinimą. / Work is developing the problem of methodology and applications of viewshed. Author is writing about main algorithms of this GIS function in ArcGIS program. Few practicable applications of viewshed are presented at work also. Item, some problems of these algorithms and applications of viewshed are developing. In second part of work author presents research about applications of viewshed for the internet web sites where is presented commercial of realty. The result consequent upon the research said that visibility is one of the main criterions of realty. Also Purchasers are ready for innovations of geographical information systems. On the other hands realty needs new GIS and mapping applications. In the conclusion of work author says that it is not worth to add the tool if viewshed to GIS systems to web pages of commercial of realty, because this tool have some problems for applications. On the other hand author suggests add some other functions to these maps which will improve neutral evaluation of realty.

This study examined how variables related to habitat cover types can affect the positional accuracy of Global Positioning System (GPS) data and, subsequently, how wildlife home range analysis can be influenced when utilizing this inaccurate data. This study focused on measuring GPS accuracy relative to five habitat variables: open canopy, sparse canopy, dense canopy, open water, and building proximity. The study took place in Hillsborough County, in residential areas that contain all of these habitat types. Five GPS devices, designed for wildlife tracking purposes, were used to collect the data needed for this study. GPS data was collected under the aforementioned scenarios in order to induce error into the data sets. Each data set was defined as a 1-hour data collecting period, with a fix rate of 60 seconds, which resulted in 60 points per sample. The samples were analyzed to determine the magnitude of effect the five variables have on the positional accuracy of the data. Thirty samples were collected for each of the following scenarios: (1) open grassland with uninhibited canopy closure, (2) sparse vegetation canopy closure, (3) dense vegetation canopy closure, (4) close proximity to buildings (<2 m), and (5) open water with uninhibited canopy closure. Then, GPS errors (in terms of mean and maximum distance from the mean center of each sample) were calculated for each sample using a geographic information system (GIS). Confidence intervals were calculated for each scenario in order to evaluate and compare the levels of error. Finally, this data was used to assess the effect of positional uncertainty on home range estimation through the use of a minimum convex polygon home range estimation technique. Open grassland and open water cover types were found to introduce the least amount of positional uncertainty into the data sets. The sparse coverage cover type introduces a higher degree of error into data sets, while the dense coverage and building proximity cover types introduce the greatest amount of positional uncertainty into the data sets. When used to create minimum convex polygon home range estimates, these data sets show that the home range estimates are significantly larger when the positional error is unaccounted for as opposed to when it is factored into the home range estimate.

In the field of wireless multiple-input multiple-output (MIMO) communications, remarkable capacity enhancements may be achieved in certain environments relative to single-antenna systems. In a non-line of sight (NLOS) environment with rich multipath, the capacity potential is typically very good, but in a line of sight (LOS) environment with a high Rician K-factor, the capacity improvement may be severely limited or almost disappear. The objective of the research described in this dissertation has been to develop a more thorough understanding of the capacity limitations of MIMO in a LOS environment and explore methods to improve that capacity. It is known that for a LOS link with a given range, an optimal antenna configuration, which usually involves large antenna spacings, can be computed to maximize the capacity. A method is here proposed for achieving near-maximum MIMO capacity in LOS environments with suboptimal array configurations. Suboptimal arrays may include small antenna spacings and/or arrays rotated off normal. The method employs single-antenna full-duplex, amplify-and-forward relays, otherwise known as "wireless repeaters." We have designated this concept repeater-assisted capacity enhancement (RACE) for MIMO. Potential applications include tower-mounted or building-top cellular backhaul and high-speed wireless bridge links (explored in Chapter 5) and ground-to-air sensor network backhaul links and base-to-mobile links in a cellular configuration (explored in Chapter 7). We have analyzed this concept in simulation for point-to-point and point-to-multipoint links and have found the following critical parameters for system design and deployment: orientation, antenna spacing, and antenna patterns of the transmit (TX)/receive (RX) MIMO arrays; and position, noise figure, TX/RX isolation, and antenna patterns associated with the repeater(s). Simulation results for an n[subscript R] xn[subscript T] MIMO link demonstrate nearly a factor of n=min{n[subscript R], n[subscript T] } improvement in capacity relative to a single-input single-output (SISO) link using n-1 optimally placed wireless repeaters supporting the link. Other portions of analysis presented include the development of a determinant-based metric for capacity (D) and an exploration of upper and lower bounds of capacity as a function of D. The position of repeaters is analyzed theoretically and a metric introduced based on D intended to quickly and intuitively determine optimal positions for repeaters assisting a given MIMO link based on TX/RX node steering vectors.

The visibility-aware path planner addresses the problem of path planning for target visibility. It computes sequences of motions that afford a line of sight to a stationary visual target for sensors on a robotic platform. The visibility-aware planner uses a model of the visible region, namely, the region of the task space in which a line of sight exists to the target. The planner also takes the orientation of the sensor into account, utilizing a model of the field of view frustum. The planner applies a penalty to paths that cause the sensor to lose target visibility by exiting the visible region or rotating so the target is not in the field of view. The planner applies these penalties to the edges in a probabilistic roadmap, providing weights in the roadmap graph for graph-search based planning algorithms. This thesis presents two variants on the planner. The static multi-query planner precomputes penalties for all roadmap edges and performs a best-path search using Dijkstra's algorithm. The dynamic single-query planner uses an iterative test-and-reject search to find paths of acceptable penalty without the benefit of precomputation. Four experiments are presented which validate the planners and present examples of the path planning for visibility on 6-DOF robot manipulators. The algorithms are statistically tested with multiple queries. Results show that the planner finds paths with significantly lower losses of target visibility than existing shortest-path planners. / Science, Faculty of / Computer Science, Department of / Graduate

According to the US Department of Transportation, around 20 people die on a daily basis in a signalized intersection, with most of these resulting from angle or head-on collisions. The US-DoT’s Federal Highway Administration (FHWA) has identified modern roundabout intersections to be substantially safer than signalized intersections, due in part to the reduction in conflict points from 32 in a traditional signalized intersection to 8 in a modern roundabout. Despite the increased adoption of modern roundabouts across the US, there are a number of specific design elements for which the direct impact they have on operational and safety related performance of the roundabout remains unknown. To be specific, there is currently no conclusive research on the direct effects related to the introduction of a reverse curve (S-curve) on the approach to a roundabout. Moreover, what are the impacts of S-curves of varying geometries on the approach to a roundabout? This research employed a series of microsimulation-based analyses to investigate the speed related impacts related to the introduction to S-curves on the entry to a roundabout. An existing roundabout, in Amherst, MA, USA was used as a case study for this experiment. The data at each approach of the roundabout was collected by a static camera strategically placed to attain both the pedestrian and vehicle count during peak traffic hours. The data was manually reviewed to determine the upstream and downstream vehicle counts. The dimensions and angles of the existing roundabout were measured from Google earth and the image was extracted to AutoCaD Civil 3D. Since the objective is to check whether S-curves near an approach have a significant impact in speed, the deflection angle of the roundabout was not altered. The turning radius and angle at the approach was cross verified by measuring it on site. The existing roundabout was considered as the base model. The four approaches of the roundabout have different entry angles and radii. The revised models were drafted by strategically placing the S-curve at each approach and by steadily increasing their deflection angle and approach radius. The base and revised models cases were initially modelled, after which the conventional linear approach was modified to an S-curve and evaluated. Field data from the locations were to and calibrate microsimulation models on AIMSUN. The resulting trajectory data was analyzed for both the base case as well as three levels of experimental S-curves (ranging from 30 to 60 degrees) on each roundabout approach (16 total). The results provide evidence to suggest that a significant reduction in speed can be realized with a minimal amount of the reverse curvature on the roundabout approach. The trajectory output files were then imported into the Surrogate Safety Assessment Model (SSAM) to determine the number and type of conflicts experienced at each approach under each scenario evaluated in AIMSUN.

abstract: The objective of this work is to design a novel method for imaging targets and scenes which are not directly visible to the observer. The unique scattering properties of terahertz (THz) waves can turn most building surfaces into mirrors, thus allowing someone to see around corners and various occlusions. In the visible regime, most surfaces are very rough compared to the wavelength. As a result, the spatial coherency of reflected signals is lost, and the geometry of the objects where the light bounced on cannot be retrieved. Interestingly, the roughness of most surfaces is comparable to the wavelengths at lower frequencies (100 GHz – 10 THz) without significantly disturbing the wavefront of the scattered signals, behaving approximately as mirrors. Additionally, this electrically small roughness is beneficial because it can be used by the THz imaging system to locate the pose (location and orientation) of the mirror surfaces, thus enabling the reconstruction of both line-of-sight (LoS) and non-line-of-sight (NLoS) objects. Back-propagation imaging methods are modified to reconstruct the image of the 2-D scenario (range, cross-range). The reflected signal from the target is collected using a SAR (Synthetic Aperture Radar) set-up in a lab environment. This imaging technique is verified using both full-wave 3-D numerical analysis models and lab experiments. The novel imaging approach of non-line-of-sight-imaging could enable novel applications in rescue and surveillance missions, highly accurate localization methods, and improve channel estimation in mmWave and sub-mmWave wireless communication systems. / Dissertation/Thesis / Masters Thesis Electrical Engineering 2019

[pt] Este trabalho examina, sob o enfoque de custos, de investimento e operação, dois sistemas de telecomunicações usualmente empregados no estabelecimento da ligação entre dois pontos: sistema de transmissão por cabo coaxial e sistema de transmissão em microondas em visibilidade. Cada sistema está dividido em suas partes componentes, cujos custos são levantados. Calculados estes em ambos os sistemas, define-se uma grandeza que os relaciona. Um sistema é apresentado a partir do número de canais e do comprimento do enlace, ficando perfeitamente caracterizado qual dos sistemas de transmissão é mais econômico, de acordo com o critério de decisão adotado. / [en] This work examines two telecomunications systems which are usually used in the establishment and operation - the transmission system by coaxial cable and the transmission system by microwaves line-of-sight. Both are divided in their campontent parts, which calculation in surveyd. After the surveying of costs of both system, one can define a relating magnitude. The moment a system is defined, considering the number of system is the most economic, according to the adopted criterion of decision.