The Fennoscandian Shield as a part of a large Precambrian basement area is located in northern Europe and hosts economically important mineral deposits including base metals and precious metals. Regional geophysical data such as potential field and magnetotelluric data in combination with other geoscientific data contain information of importance for an understanding of the crustal and upper mantle structure. Knowledge about regional-scale structures is important for an optimized search for mineralisation. In order to investigate in more detail the spatial distribution of regional electrically conductive structures and near-surface mineral deposits, complementary magnetotelluric measurements have been done within the Precambrian Shield in the north-eastern part of the Norrbotten ore province. The potential field data provided by the Geological Survey of Sweden have been included in the current study. Processing of magnetotelluric data was performed using a robust multi-remote reference technique. The dimensionality analysis of the phase tensors indicates complex 3D structures in the area. A 3D crustal model of the electrical conductivity structure was derived based on 3D inversion of the data using the ModEM code. The final inversion 3D resistivity model revealed the presence of strong crustal conductors with the conductance of more than 3000 S at depth of tens of kilometres within a generally resistive crust. A significant part of the middle crust conductors is elongated in directions that coincide with major ductile deformation zones that have been mapped from airborne magnetic data and geological fieldwork. Some of these conductors have near-surface expression where they spatially correlate with the locations of known mineralisation. Processing and 3D inversion of the regional magnetic and gravity field data were performed, and the structural information derived from these data by using an open-source object-oriented package code written in Python called SimPEG. In this study, a new approach is proposed to extract and analyse the correlation between the modelled physical properties and for domain classification. For this, a neural net Self-Organizing Map procedure (SOM) was used for data reduction and simplification. The input data to the SOM analysis contain resistivity, magnetic susceptibility, and density model values for some selected depth levels. The domain classification is discussed with respect to geological boundaries and composition. The classification is furthermore applied for prediction of favourable areas for mineralisation. Based on visual inspection of processed regional gravity and magnetic field data and a SOM analysis performed on higher-order derivatives of the magnetic data, an interpretation of a sinistral fault with 52 km offset is proposed. The fault is oriented N10E and can be traced 250 km from Karesuando at the Swedish-Finish border southwards to the Archaean-Proterozoic boundary marked by the Luleå-Jokkmokk Zone.

為因應選舉法規變更或時代變遷，往往必須重劃選區。傳統上，選區重劃都是以人工方式劃分。以人工方式劃分選區固然能考慮較多因素，包括最難數據化的人文因素，但人力成本高，也容易引起爭議。 本研究中，我們提出一個有系統的方式以自動劃分選區。主要的考慮因素為選區之人口數、選區形狀及二級行政區之完整性。我們的劃分方式主要分為三部份：產生起始選區、二級行政區分割修正及選區形狀調整。在產生起始選區步驟，我們根據位能場的觀念，劃分出人口數符合標準之起始選區，再經過行政區分割修正以維持二級行政區之完整性，最後採用基因演算法來調整選區形狀，以避免傑利蠑螈的狀況。 我們以台北市為例，來闡述我們的方法，實做的結果顯示我們的方法能有效的做正確的選區重劃。 / Electoral redistricting is normally required when election regulations changed. Traditionally, electoral redistricting is done manually. Though manual redistricting could consider humane or cultural factor, which may be very difficult to be included in the computation model, the cost of manual redistricting normally is high. In addition, manual redistricting may induce controversial issues. In this thesis, we propose a systematic way that could do the electoral redistricting automatically. Our major considerations are: (1) the population must be evenly partitioned, within an acceptable error; (2) the shape of the redistricted region is reasonably good; (3) the integrity of the second level district must be kept reasonably well. Our method consists of three major parts: initial district production, district’s integrity fixing, and district reshaping. The concept of potential is used in producing the initial districts. A heuristic is used in fixing the district’s integrity. And, finally, Genetic Algorithm is used in district reshaping. We use Taipei City as an example to illustrate our idea. Experimental results show that our method can do electoral redistricting effectively.

Context. A large portion of all the transportation in the world consists of voyages over the sea. Systems such as Automatic Identification Systems (AIS) have been developed to aid in the surveillance of the maritime traffic, in order to help keeping the amount accidents and illegal activities down. In recent years a lot of time and effort has gone into automated surveillance of maritime traffic, with the purpose of finding and reporting behaviour deviating from what is considered normal. An issue with many of the present approaches is inaccuracy and the amount of false positives that follow from it. Objectives. This study continues the work presented by Woxberg and Grahn in 2015. In their work they used quadtrees to improve upon the existing tool STRAND, created by Osekowska et al. STRAND utilizes potential fields to build a model of normal behaviour from received AIS data, which can then be used to detect anomalies in the traffic. The goal of this study is to further improve the system by adding statistical analysis to reduce the number of false positives detected by Grahn and Woxberg's implementation. Method. The method for reducing false positives proposed in this thesis uses the charge in overlapping potential fields to approximate a normal distribution of the charge in the area. If a charge is too similar to that of the overlapping potential fields the detection is dismissed as a false positive. A series of experiments were ran to find out which of the methods proposed by the thesis are most suited for this application.   Results. The tested methods for estimating the normal distribution of a cell in the potential field, i.e. the unbiased formula for estimating the standard deviation and a version using Kalman filtering, both find as many of the confirmed anomalies as the base implementation, i.e. 9/12. Furthermore, both suggested methods reduce the amount of false positives by 11.5% in comparison to the base implementation, bringing the amount of false positives down to 17.7%. However, there are indications that the unbiased method has more promise. Conclusion. The two proposed methods both work as intended and both proposed methods perform equally. There are however indications that the unbiased method may be better despite the test results, but a new extended set of training data is needed to confirm or deny this. The two methods can only work if the examined overlapping potential fields are independent from each other, which means that the methods can not be applied to anomalies of the positional variety. Constructing a filter for these anomalies is left for future study.

Micro-unmanned aerial rotorcraft are quickly gaining acceptance as indoor platforms for performing stealth, surveillance, and rescue and reconnaissance missions. These rotorcraft are generally required to operate in cluttered, unknown, and dynamic GPS-denied environments, which present threats to the safe operation of the vehicle. To overcome these environmental challenges, we describe a system that is capable of localizing itself by producing accurate odometry estimates that can detect and track moving objects and avoid collisions with obstacles while following a moving target using a laser range finder. Our system has been implemented in the Simulink environment in MATLAB. Various simulations have shown our methods to work well, even in the presence of sensor noise and out-of-plane motion. Our system is capable of localizing itself within ±20 mm in North and East and ±0.5 degrees in ψ while detecting and tracking

Developing regions are often characterized by large areas that are poorly reachable or explored. The mapping and census of roaming populations in these areas are often difficult and sporadic. A recent spark in the development of small aerial vehicles has made them the perfect tool to efficiently and accurately monitor these areas. This paper presents an approach to aid area surveying through the use of Unmanned Aerial Vehicles. The two main components of this approach are an efficient on-device deep learning object identification component to capture and infer images with acceptable performance (latency andaccuracy), and a dynamic path planning approach, informed by the object identification component. In particular, this thesis illustrates the development of the path planning component, which exploits potential field methods to dynamically adapt the path based on inputs from the vision system. It also describes the integration work that was performed to implement the approach on a prototype platform, with the aim to achieve autonomous flight with onboard computation. The path planning component was developed with the purpose of gaining information about the populations detected by the object identification component, while considering the limited resources of energy and computational power onboard a UAV. The developed algorithm was compared to navigation using a predefined path, where the UAV does not react to the environment. Results from the comparison show that the algorithm provide more information about the objects of interest, with a very small change in flight time. The integration of the object identification and the path planning components on the prototype platform was evaluated in terms of end-to-end latency, power consumption and resource utilization. Results show that the proposed approach is feasible for area surveying in developing regions. Parts of this work has been published in the workshop of DroNet, collocated with MobiSys, with the title Surveying Areas in Developing Regions Through Context Aware Drone Mobility. Thework was carried out in collaboration with Alessandro Montanari, Alice Valentini, Cecilia Mascoloand Amanda Prorok. / Utvecklingsländer är ofta karaktäriserade av vidsträcka områden som är svåråtkomliga och outforskade. Kartläggning och folkräkning av populationen i dessa områden är svåra uppgifter som sker sporadiskt. Nya framsteg i utvecklingen av små, luftburna fordon har gjort dem till perfekta verktyg för att effektivt och noggrant bevaka dessa områden. Den här rapporten presenterar en strategi för att underlätta utforskning av dessa områden med hjälp av drönare. De två huvudkomponenterna i denna strategi är en effektiv maskininlärningskomponent för objektidentifiering med acceptabel prestanda i avseende av latens och noggrannhet, samt en dynamisk navigeringskomponent som informeras av objektidentifieringskomponenten. I synnerhet illustrerar denna avhandling utvecklingen av navigeringskomponenten, som utnyttjar potentialfält för att dynamiskt anpassa vägen baserat på information från objektidentifieringssystemet. Dessutom beskrivs det integrationsarbete som utförts för att implementera strategin på en prototypplattform, med målet att uppnå autonom flygning med all beräkning utförd ombord. Navigeringskomponenten utvecklades i syfte att maximera informationen om de populationer som upptäckts av objektidentifieringskomponenten, med hänsyn till de begränsade resurserna av energi och beräkningskraft ombord på en drönare. Den utvecklade algoritmen jämfördes med navigering med en fördefinierad väg, där drönaren inte reagerar på omgivningen. Resultat från jämförelsen visar att algoritmen ger mer information om objekten av intresse, med en mycket liten förändring i flygtiden. Integreringen av objektidentifieringskomponenten och navigeringskomponenten på prototypplattformen utvärderades med avseende på latens, strömförbrukning och resursutnyttjande. Resultaten visar att den föreslagna strategin är genomförbar för kartläggning och utforskning av utvecklingsregioner. Delar av detta arbete har publicerats i DroNets workshop, samlokaliserad med MobiSys, med titeln Surveying Areas in Developing Regions Through Context Aware Drone Mobility. Arbetet utfördes i samarbete med Alessandro Montanari, Alice Valentini, Cecilia Mascolo och Amanda Prorok.

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Cette thèse s'inscrit dans le cadre du projet Cart-O-Matic mis en place pour participer au défi CAROTTE (CArtographie par ROboT d'un TErritoire) organisé par l'ANR et la DGA. Le but de ce défi est de construire une carte en deux et trois dimensions et de localiser des objets dans un environnement inconnu statique de type appartement. Dans ce contexte, l'utilisation de plusieurs robots est avantageuse car elle permet d'augmenter l'efficacité en temps de la couverture. Cependant, comme nous le montrons, le gain est conditionné par le niveau de coopération entre les robots. Nous proposons une stratégie de coopération pour une cartographie multirobot efficace. Une difficulté est la construction d'une carte commune, nécessaire, afin que chaque robot puisse connaître les zones de l'environnement encore inexplorées. Pour obtenir une bonne coopération avec un algorithme simple nous proposons une technique de déploiement fondée sur le choix d'une cible par chaque robot. L'algorithme proposé cherche à distribuer les robots vers différentes directions. Il est fondé sur le calcul partiel de champs de potentiels permettant à chaque robot de calculer efficacement son prochain objectif. En complément de ces contributions théoriques, nous décrivons le système robotique complet mis en oeuvre au sein de l'équipe Cart-O-Matic ayant permis de remporter la dernière édition du défi CAROTTE / This thesis is part of Cart-O-Matic project set up to participate in the challenge CARROTE (mapping of a territory) organized by the ANR and the DGA. The purpose of this challenge is to build 2D and 3D maps of a static unknown 'apartment-like' environment. In this context, the use of several robots is advantageous because it increases the time efficiency to discover fully the environment. However, as we show, the gain is determined by the level of cooperation between robots. We propose a cooperation strategy for efficient multirobot mapping. A difficulty is the construction of a common map, necessary so that each robot can know the areas of the environment which remain unexplored.For a good cooperation with a simple algorithm we propose a deployment technique based on the choice of a target by each robot. The proposed algorithm tries to distribute the robots in different directions. It is based on calculation of the partial potential fields allowing each robot to compute efficiently its next target. In addition to these theoretical contributions, we describe the complete robotic system implemented in the Cart-O-Matic team that helped win the last edition of the CARROTE challenge

Ce travail traite de l'évitement d'obstacles pour les robots mobiles à roues. D’abord, deux solutions sont proposées dans le cas d’un seul robot autonome. La première est une amélioration de la technique des champs de potentiel afin de contraster l’apparition de minima locaux. Le résultat se base sur l’application de la définition de l’ «Input-to-State Stability» pour des ensembles décomposables. Chaque fois que le robot mobile approche un minimum local l’introduction d’un contrôle dédié lui permet de l’éviter et de terminer la tâche. La deuxième solution se base sur l’utilisation de la technique du «Supervisory Control» qui permet de diviser la tâche principale en deux sous tâches : un algorithme de supervision gère deux signaux de commande, le premier en charge de faire atteindre la destination, le deuxième d’éviter les obstacles. Les deux signaux de commande permettent de compléter la mission en temps fini en assurant la robustesse par rapport aux perturbations représentant certaines dynamiques négligées. Les deux solutions ont été mises en service sur un robot mobile «Turtlebot 2». Pour contrôler une formation de type leader-follower qui puisse éviter collisions et obstacles, une modification de l’algorithme de supervision précédent a été proposée ; elle divise la tâche principale en trois sous-problèmes gérés par trois lois de commande. Le rôle du leader est adapté pour être la référence du groupe avec un rôle actif : ralentir la formation en cas de manœuvre d'évitement pour certains robots. La méthode proposée permet au groupe de se déplacer et à chaque agent d’éviter les obstacles, ou les collisions, de manière décentralisée / This dissertation work addresses the obstacle avoidance for wheeled mobile robots. The supervisory control framework coupled with the output regulation technique allowed to solve the obstacle avoidance problem and to formally prove the existence of an effective solution: two outputs for two objectives, reaching the goal and avoiding the obstacles. To have fast, reliable and robust results the designed control laws are finite-time, a particular class very appropriate to the purpose. The novelty of the approach lies in the easiness of the geometric approach to avoid the obstacle and on the formal proof provided under some assumptions. The solution have been thus extended to control a leader follower formation which, sustained from the previous result, uses two outputs but three controls to nail the problem. The Leader role is redesigned to be the reference of the group and not just the most advanced agent, moreover it has a active role slowing down the formation in case of collision avoidance manoeuvre for some robots. The proposed method, formally proven, makes the group move together and allow each agent to avoid obstacles or collision in a decentralized way. In addition, a further contribution of this dissertation, it is represented by a modification of the well known potential field method to avoid one of the common drawback of the method: the appearance of local minima. Control theory tools helps again to propose a solution that can be formally proven: the application of the definition of Input-to-State Stability (ISS) for decomposable sets allows to treat separate obstacles adding a perturbation which is able to move the trajectory away from a critic point

<p>The aim of the Master’s Thesis work is to study and develop algorithms for autonomous travel of a UGV (Unmanned Ground Vehicle). A vehicle for the mounting of sensors has been constructed in order to perform the work. Since the UGV is to be used outdoor in urban areas, GPS can be used. To improve precision and robustness, inertial navigation is used in addition to GPS, since GPS reception is likely to be diminished in such areas. The sensors used for navigation are consequently GPS, magnetometers, accelerometers, gyroscopes, tachometers and ultra sonic sensors measuring distance to be used in detection of obstacles. The system has been implemented in Matlab. Two alternative methods of navigation with sensor fusion have been developed; one is a decentralized method with Kalman filtering using an error model and the other is a centralized particle filter using an all-embracing model of the vehicle. The two methods have been evaluated and compared. Test results show that the two methods perform equivalently.</p><p>The autonomous travel is undertaken between predetermined waypoints. In order to steer the vehicle a PID-controller based on the error between heading and its reference value is used. The computation of the reference value is based on position and heading in comparison to the desired path. The system has been tested using different routes and the results show an evident improvement of the precision in navigation compared to using only GPS-data. This holds for both navigation methods. Simulation of collision avoidance using virtual force fields shows satisfying results as well as terrain navigation with coordinate map referencing.</p> / <p>Examensarbetet är en studie i utveckling av algoritmer för autonom förflyttning av en UGV (eng Unmanned Ground Vehicle). För ändamålet har en farkost konstruerats där budgetsensorer för navigering används. Farkosten är tänkt att färdas utomhus i tätbebyggt område och GPS används. För förbättring av noggrannhet och robusthet vid dålig GPS-mottagning används även sensorer för tröghetsnavigering vilket här innebär magnetometrar, accelerometrar, gyron och tachometrar. För hinderdetektering finns avståndsmätande ultraljudssonar. Systemet som tagits fram har implementerats i realtid i Matlab. Två olika navigeringsmetoder med sensorfusion har utprovats; en decentraliserad variant med kalmanfilter som är uppbyggd kring felmodeller och en centraliserad variant med ett partikelfilter som använder en helhetsmodell för farkosten. De båda navigeringsmetoderna har utvärderats och jämförts. Resultat visar att de båda metoderna presterar likvärdigt.</p><p>Den autonoma förflyttningen utförs mellan förutbestämda brytpunkter. För att styra farkosten har en PID-regulator baserad på felet mellan kurs och börvärde använts. Börvärdet på kurs baseras på nuvarande position och riktning relativt den önskade färdvägen. Olika körsituationer har testats och resultaten visar en markant förbättring av navigeringsprecisionen jämfört med endast GPS-mätningar för både kalman- och partikelfilter. Simuleringar på vektorfältsstyrning med virtuella kraftfält för att undvika hinder har utförts med goda resultat liksom simuleringar av kartreferenspositionering.</p>

Geologically-constrained inversion of geophysical data is a powerful method for predicting geology beneath cover. The process seeks 3D physical property models that are consistent with the geology and explain measured geophysical responses. The recovered models can guide mineral explorers to prospective host rocks, structures, alteration and mineralisation. This thesis provides a comprehensive analysis of how the University of British Columbia Geophysical Inversion Facility (UBC–GIF) gravity and magnetic inversions can be applied to subsurface mapping and exploration by demonstrating the necessary approach, data types, and typical results. The non-uniqueness of inversion demands that geological information be included. Commonly available geological data, including structural and physical property measurements, mapping, drilling, and 3D interpretations, can be translated into appropriate inversion constraints using tools developed herein. Surface information provides the greatest improvement in the reliability of recovered models; drilling information enhances resolution at depth. The process used to prepare inversions is as important as the geological constraints themselves. Use of a systematic workflow, as developed in this study, minimises any introduced ambiguity. Key steps include defining the problem, preparing the data, setting inversion parameters and developing geological constraints. Once reliable physical property models are recovered they must be interpreted in a geological context. Where alteration and mineralisation occupy significant volumes, the mineralogy associated with the physical properties can be identified; otherwise a lithological classification of the properties can be applied. This approach is used to develop predictive 3D lithological maps from geologically-constrained gravity and magnetic inversions at several scales in the Agnew-Wiluna greenstone belt in Australia’s Yilgarn Craton. These maps indicate a spatial correlation between thick mafic-ultramafic rock packages and gold deposit locations, suggesting a shared structural control. The maps also identify structural geometries and relationships consistent with the published regional tectonic framework. Geophysical inversion provides a framework into which geological and geophysical data sets can be integrated to produce a holistic prediction of the subsurface. The best possible result is one that cannot be dismissed as inconsistent with some piece of geological knowledge. Such a model can only be recovered by including all available geological knowledge using a consistent workflow process.