ANP; FINEP; MCT; CAPES / Este trabalho objetiva otimizar a localização de um robô móvel para a inspeção dos tanques de armazenamento de GLP -- Gás Liquefeito de Petróleo -- e permitir a navegação autônoma deste robô por toda a superfície do tanque. A falta de marcos no interior dos tanques levou ao desenvolvimento de uma solução envolvendo detecção de pequenas estruturas com sensores LIDAR (Light Detection and Ranging - Detecção e Telemetria por Luz) aplicada aos cordões de solda, estes sim presentes no interior do tanque, que é apresentada na primeira parte do trabalho. Em seguida, aplicando uma técnica de fusão de dados, as diferentes fontes de odometria presentes no robô são combinadas, permitindo uma precisão mais elevada na inspeção de modo geral. Por fim, o mapeamento e navegação simultâneos do exterior da esfera é abordado, a fim de se adicionar uma camada suplementar ao mapa digital, indicando os locais onde existem falhas. Testes para validação de cada uma das técnicas foram efetuados e uma análise de desempenho é apresentada ao final do trabalho. / This work aims to optimize localization of a climbing inspection robot for spherical LPG -- Liquified Petroleum Gas -- tanks and allow autonomous navigation along the entire surface of these tanks. One solution envolving small structures detection using LIDAR sensors is applied to the weld beads that are present inside the tanks. This solution is developed on the first part of this work. Following, a data fusion technique is used to combine the diferent odometry sources on the robot, resulting in a better, higher precision on the inspection as a whole. Finnaly, simultaneous mapping and navigation on the exterior of the spherical tank was studied in order to add one extra layer to the digital map, pinpointing the places where failures and weld beams were found. Validation tests for each one of this techniques are carried out and a performance analysis is also documented herein.

Forest encroachment is understood to be the main reason for prairie grassland decline across the United States. In Texas and Oklahoma, juniper has been highlighted as particularly opportunistic. This study assesses the usefulness of three remote sensing techniques to aid in locating the areas of juniper encroachment for the LBJ Grasslands in Decatur, Texas. An object based classification was performed in eCognition and final accuracy assessments placed the overall accuracy at 94%, a significant improvement over traditional pixel based methods. Image biomass was estimated using normalized difference vegetation index (NDVI) for 1 meter resolution IKONOS winter images. A high correlation between the sum of NDVI for tree objects and field tree biomass was determined where R = 0.72, suggesting NDVI sum of a tree area is plausible. However, issues with NDVI saturation and regression produced unrealistically high biomass estimates for large NDVI. Canopy height model (CHM) derived from 3-5m LiDAR data did not perform as well. LiDAR typically used for digital elevation model (DEM) production was acquired for the CHM and produced correlations of R = 0.26. This suggests an inability for this particular dataset to identify juniper trees. When points that registered a tree height where correlated with field values, an R = 0.5 was found, suggesting denser point spacing would be necessary for this type of LiDAR data. Further refining of the methods used in this study could yield such information as the amount of juniper tree for a given location, fuel loads for prescribed burns and better information for the best approach to remove the juniper and ultimately management juniper encroachment into grasslands.

The effective surveillance of large critical areas is crucial for their security and privacy. There is no publicly available and acceptable solution of automating this task. This thesis aims to create an application utilizing a combination of a pan-tilt robotic manipulator and a visible-spectrum camera. Based on the pan-tilt unit's position and camera's images, the application searches for semantically significant changes in the captured environment and marks these regions of interest.

Indiana University-Purdue University Indianapolis (IUPUI) / Urban forestry is a very important element of urban structures that can improve the environment and life quality within the urban areas. Having an accurate classification of urban forests and grass areas would help improve focused urban tree planting and urban heat wave mitigation efforts. This research project will compare the use of high – resolution aerial imagery and LiDAR data when used to classify canopy and grass areas. The high – resolution image, with 1 – meter resolution, was captured by The National Agriculture Imagery Program (NAIP) on 6/6/2012. Its coordinate system is the North American Datum of 1983 (NAD83). The LiDAR data, with 1.0 – meter average post spacing, was captured by Indiana Statewide Imagery and LiDAR Program from 03/13/2011 to 04/30/2012.The study area is called the Near East Side Community Organization (NESCO) neighborhood. It is located on the east side of downtown Indianapolis, Indiana. Its boundaries are: 65 interstate, East Massachusetts Avenue, East 21st Street, North Emerson Avenue, and the rail road tracks on the south of the East Washington Street. This research will also perform the accuracy assessment based on the results of classifications using high – resolution aerial imagery and LiDAR data in order to determine and explain which method is more accurate to classify urban canopy and grass areas.

Indiana University-Purdue University Indianapolis (IUPUI) / The purpose of this study was to locate the most suitable blocks to plant trees within Indianapolis, Indiana’s Near Eastside Community (NESCO). LiDAR data were utilized, with 1.0 meter average post spacing, captured by the Indiana Statewide Imagery and LiDAR Program from March 13, 2011 to April 30, 2012, to conduct a covertype classification and identify blocks that have low canopies, high impervious surfaces and high surface temperatures. Tree plantings in these blocks can help mitigate the effects of the urban heat island effect. Using 2010 U.S. Census demographic data and the principal component analysis, block groups with high social vulnerability were determined, and tree plantings in these locations could help reduce mortality from extreme heat events. This study also determined high and low priority plantable space in order to emphasize plantable spaces with the potential to shade buildings; this can reduce cooling costs and the urban heat island, and it can maximize the potential of each planted tree.