Due to the limitations of GPS in areas where line of sight to the sky is obstructed the development of a GPS-free algorithm for relative formation control is an asset to collaborative vehicles. This paper presents a novel approach based on the Received Signal Strength Indication (RSSI) measurement between broadcast and receive nodes to calculate distance and using the data transfer capability to allow each vehicle to develop a table of relative positions. These relative positions are used to create a potential field that results in an absolute minimum at the vehicles desired position. All vehicles are numbered sequentially. The numbering defines the order in which they will broadcast their data, as well as their position along the perimeter. This thesis looks at two control methods for achieving a formation. The first is the circular motion method that puts perimeter nodes in an orbit around around the perimeter center. The second is a gradient descent method that calculates the gradient of the potential field. Both methods achieve a formation when all perimeter nodes are at their absolute minimums in the potential field. Tests were conducted to analyze RSSI measurements using the 802.15.4 protocol, and a mathematical simulation was conducted for each control algorithm. / Master of Science

Depuis quelques années, la thématique de la localisation a connu un regain d’intérêt,motivé en grande partie par le développement des réseaux de capteurs sans fil. Lespropositions ayant pour objectif d’apporter une réponse à cette problématique peuvent êtreclassées en deux catégories : les méthodes range-based, retenues pour cette thèse, dont lacaractéristique est de se fonder sur des mesures en temps réel du signal pour générer uneestimation relativement fiable de la distance, et les solutions range-free, économes enressources car se limitant à l’exploitation d’hypothèses concernant la connectivité des noeudsdans le réseau. Les contributions peuvent se focaliser sur l’un des trois aspects fondamentauxde la question : le développement d’une couche physique performante, la proposition d’unalgorithme de calcul permettant des résultats plus précis, et la mise en place d’un protocole decollecte de mesures.La contribution de cette thèse est par conséquent multiple : en premier lieu, nousproposons un nouveau protocole de mesure du temps de vol, nommé Parallel SymmetricDouble-Sided Two-Way Ranging (PSDS-TWR), dont l’objectif est la réduction de la chargeprotocolaire du service. Deuxièmement, nous avons mis en place un algorithme de calcul dela position désigné par interRing Localization Algorithm (iRingLA). Basé sur une recherchelinéaire, iRingLA accepte des données inexactes et en extrait une estimation de la positiondont l’erreur est inférieure à 2m dans 70% des cas, ceci en s’exécutant directement sur unnoeud mobile léger. Les données concernant l’algorithme ont été collectées grâce à unprototype utilisant la technologie Chirp Spread Spectrum tandis que l’étude de performancedu protocole a impliqué la conception d’un simulateur nommé DokoSim / The development of Wireless Sensor Networks has given a new life to research in thefield of localization. Many proposals have been made which can be classified as either rangefreeor range-based solutions. The range-free category relies on a priori knowledge of thenetwork while the latter uses the available hardware to measure signal characteristics fromwhich distance information can be derived. Although the information origin can vary, allproposals either introduce a new protocol, a novel algorithm or a new and improved physicallayer.Our work led to the definition of a new protocol and an efficient algorithm. Aside fromallowing the nodes to collect Time Of Flight related data, the Parallel Symmetric Double-Sided Two-Way Ranging protocol (PSDS-TWR) reduces overhead and energy consumption,making the localization service affordable for the network. The performance of this protocol,in terms of duration, has been studied using a homemade simulator named DokoSim. We alsointroduce an algorithm based on rings and linear search. This inter-Ring LocalizationAlgorithm (iRingLA) achieves a localization error of less than 2m in 70% of the cases whilebeing tested on our Chirp Spread Sprectrum based prototype

The aim of the thesis is to analyse new technologies for integrated architectural surveys, studying the advantages and limitations of each in different architectural contexts, providing a global vision and unifying terminology and methodology in the field of architecture and engineering. The new technologies analyzed include laser scanning (both time-of-flight and triangulation), image-based 3-D modelling and drone-based photogrammetry, along with their integration with classical surveying techniques. With this goal, some case studies were examined, using different survey techniques with several advanced applications, in the field of architectural heritage. The case studies enabled us to analyze and study these techniques, however having quite clear that Image- and Range-based Modelling techniques, rather than compared, must be analysed for their integration, which is essential for the rendering of models with high levels of morphological and chromatic detail. On the other hand, thanks to the experience of the two different faculties (Architecture in Valencia, Spain and Civil Engineering in Pisa, Italy), besides the issues of interpretation between the two languages, divergence was found between the terminology used by the different specialists involved in the process, be they engineers (although dealing with different branches), architects and archaeologists. It is obvious that each of these profiles has a different view of architectural heritage, general construction and surveys. The current trend to form multidisciplinary teams working on architectural heritage, leads us to conclude that an unified technical terminology in this field could facilitate understanding and integration between the different figures, thus creating a common code. / Martínez-Espejo Zaragoza, I. (2014). Precisiones sobre el levantamiento 3D integrado con herramientas avanzadas, aplicado al conocimiento y la conservación del patrimonio arquitectónico [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/37512

Advancement of micro-electro-mechanics and wireless communication have proliferated the deployment of large-scale wireless sensor networks. Due to cost, size and power constraints, at most a few sensor nodes can be equipped with a global positioning system; such nodes (whose positions can be accurately determined) are referred to as anchors. However, one can deter-mine the distance between two nearby sensors using some form of local communication. The problem of computing the positions of the non-anchor nodes from the inter-sensor distances and anchor positions is referred as sensor network localization (SNL). In this dissertation, our aim is to develop an accurate, efficient, and scalable localization algorithm, which can operate both in the presence and absence of anchors. It has been demon-strated in the literature that divide-and-conquer approaches can be used to localize large net-works without compromising the localization accuracy. The core idea with such approaches is to partition the network into overlapping subnetworks, localize each subnetwork using the available distances (and anchor positions), and finally register the subnetworks in a single coordinate system. In this regard, the contributions of this dissertation are as follows: We study the global registration problem and formulate a necessary “rigidity” condition for uniquely recovering the global sensor locations. In particular, we present a method for efficiently testing rigidity, and a heuristic for augmenting the partitioned network to enforce rigidity. We present a mechanism for partitioning the network into smaller subnetworks using cliques. Each clique is efficiently localized using multidimensional scaling. Finally, we use a recently proposed semidefinite program (SDP) to register the localized subnetworks. We develop a scalable ADMM solver for the SDP in question. We present simulation results on random and structured networks to demonstrate the pro-posed methods perform better than state-of-the-art methods in terms of run-time, accuracy, and scalability.

Wir studieren das Verhalten des Maximums, des Minimums und des Endwerts zeithomogener eindimensionaler Diffusionen auf endlichen Zeitintervallen. Zuerst beweisen wir mit Hilfe des Malliavin-Kalküls ein Existenzresultat für die gemeinsamen Dichten. Außerdem leiten wir Entwicklungen der gemeinsamen Momente des Tripels (H,L,X) zur Zeit Delta bzgl. Delta her. Dabei steht X für die zugrundeliegende Diffusion, und H und L bezeichnen ihr fortlaufendes Maximum bzw. Minimum. Ein erster Ansatz, der vollständig auf den elementaren Abschätzungen der Doob’schen und der Cauchy-Schwarz’schen Ungleichung beruht, liefert eine Entwicklung bis zur Ordnung 2 bzgl. der Wurzel der Zeitvariablen Delta. Ein komplexerer Ansatz benutzt Partielle-Differentialgleichungstechniken, um eine Entwicklung der einseitigen Austrittswahrscheinlichkeit für gepinnte Diffusionen zu bestimmen. Da eine Entwicklung der Übergangsdichten von Diffusionen bekannt ist, erhält man eine vollständige Entwicklung der gemeinsamen Wahrscheinlichkeit von (H,X) bzgl. Delta. Die entwickelten Verteilungseigenschaften erlauben es uns, eine Theorie für Martingalschätzfunktionen, die aus wertebereich-basierten Daten konstruiert werden, in einem parameterisierten Diffusionsmodell, herzuleiten. Ein Small-Delta-Optimalitätsansatz, der die approximierten Momente benutzt, liefert eine Vereinfachung der vergleichsweise komplizierten Schätzprozedur und wir erhalten asymptotische Optimalitätsresultate für gegen 0 gehende Sampling-Frequenz. Beim Schätzen des Drift-Koeffizienten ist der wertebereich-basierte Ansatz der Methode, die auf equidistanten Beobachtungen der Diffusion beruht, nicht überlegen. Der Effizienzgewinn im Fall des Schätzens des Diffusionskoeffizienten ist hingegen enorm. Die Maxima und Minima in die Analyse miteinzubeziehen senkt die Varianz des Schätzers für den Parameter in diesem Szenario erheblich. / We study the behavior of the maximum, the minimum and the terminal value of time-homogeneous one-dimensional diffusions on finite time intervals. To begin with, we prove an existence result for the joint density by means of Malliavin calculus. Moreover, we derive expansions for the joint moments of the triplet (H,L,X) at time Delta w.r.t. Delta. Here, X stands for the underlying diffusion whereas H and L denote its running maximum and its running minimum, respectively. In a first approach that entirely relies on elementary estimates, such as Doob’s inequality and Cauchy-Schwarz’ inequality, we derive an expansion w.r.t. the square root of the time parameter Delta including powers of 2. A more sophisticated ansatz uses partial differential equation techniques to determine an expansion of the one-barrier hitting time probability for pinned diffusions. For an expansion of the transition density of diffusions is known, one obtains an overall expansion of the joint probability of (H,X) w.r.t. Delta. The developed distributional properties enable us to establish a theory for martingale estimating functions constructed from range-based data in a parameterized diffusion model. A small-Delta-optimality approach, that uses the approximated moments, yields a simplification of the relatively complicated estimating procedure and we obtain asymptotic optimality results when the sampling frequency Delta tends to 0. When it comes to estimating the drift coefficient the range-based method is not superior to the method relying on equidistant observations of the underlying diffusion alone. However, there is an enormous gain in efficiency at the estimation for the diffusion coefficient. Incorporating the maximum and the minimum into the analysis significantly lowers the asymptotic variance of the estimators for the parameter in this scenario.