Unmanned Aerial Vehicles (UAVs) equipped with lightweight, inexpensive cameras have grown in popularity by enabling new uses of UAV technology. However, the video retrieved from small UAVs is often unwatchable due to high frequency jitter. Beginning with an investigation of previous stabilization work, this thesis discusses the challenges of stabilizing UAV based video. It then presents a software based computer vision framework and discusses its use to develop a real-time stabilization solution. A novel approach of estimating intended video motion is then presented. Next, the thesis proceeds to extend previous target localization work by allowing the operator to easily identify targets—rather than relying solely on color segmentation—to improve reliability and applicability in real world scenarios. The resulting approach creates a low cost and easy to use solution for aerial video display and target localization.

Quad-rotor micro-UAVs have become an important tool in the field of indoor UAV research. Indoor flight poses problems not experienced in outdoor applications. The ability to be location- and movement-aware is paramount because of the close proximity of obstacles (walls, doorways, desks). The Helio-copter, an indoor quad-rotor platform that utilizes a compact FPGA board called Helios has been developed in the Robotic Vision Lab at Brigham Young University. Helios allows researchers to perform on-board vision processing and feature tracking without the aid of a ground station or wireless transmission. Using this on-board feature tracking system a drift stabilization control system has been developed that allows indoor flight of the Helio-copter without tethers. The Helio-copter uses an IMU to maintain level attitude while processing camera images on the FPGA. The FPGA then computes translation, scale, and rotation deviations from camera image feedback. An on-board system has been developed to control yaw, altitude and drift based solely on the vision sensors. Preliminary testing shows the Helio-copter capable of maintaining level, stable flight within a 6 foot by 6 foot area for over 40 seconds without human intervention using basic PID loop structures with minor tuning. The integration of the vision system into the control structures is explained.

The objective of this research was to analyze the strength and deformation characteristics of a cement-treated base (CTB) constructed using full-depth reclamation, microcracked, and then surfaced with a single chip seal. In this field study, strength characteristics of the CTB layer were determined at the time of construction, and then both strength and deformation characteristics were evaluated after 9 months of low-volume, heavy truck traffic. After 9 months, observed distresses included transverse cracking, rutting, and chip seal joint failure. The loss of the chip seal was caused by poor chip seal construction practices and not a deficiency in the CTB layer. The importance of the role of the chip seal as a wearing course was made evident by these failures since the exposed CTB often exhibited material loss. The average ride qualities in and out of the wheel path were in the fair ride category; the roughness was not likely caused by trafficking but probably resulted from construction or climatic factors. Structural testing performed after 9 months of service indicated that the CTB stiffness and modulus were greater than the values measured after microcracking at the time of construction, indicating continued strength gain. However, trafficking over the 9-month period had caused significantly lower stiffnesses measured in the wheel paths than between the wheel paths. The average unconfined compressive strength (UCS) of the cores tested at 9 months was not significantly different than the average UCS of the field-compacted specimens tested at 6 weeks. Based on the observed performance of the CTB and chip seal evaluated in this research, recommendations for improved CTB performance include the use of a thicker and/or stiffer CTB layer, ensuring a smooth CTB surface during construction, and application of a double chip seal or equivalent.

This dissertation is about treatment of the nonbiodegradable organic content of landfill leachate by chemical oxidation combined with biological treatment. It is divided into three parts. In the first part, ferrate was compared to Fenton's reagent for the purpose of removing non-biodegradable organic compounds from mature leachate. Oxidation conditions (time, pH, and dose) were optimized to yield maximum organic removal using two leachate samples from 20 and 12-year old solid waste cells. Results from this research demonstrated that ferrate and Fenton's reagent had similar optimum pH ranges (3-5), but different organic removal capacities, ranging from 54 to 79 % of initial leachate organic contents. An advantage of ferrate was that it was relatively effective over a wide pH range (Fenton's reagent lost its reactivity outside optimum pH range). Advantages associated with Fenton's reagent include a higher organic removal capacity, production of more oxidized organic compounds (measured as chemical oxygen demand/dissolved organic carbon), and production of more biodegradable byproducts (measured as 5-day biochemical oxygen demand/chemical oxygen demand). Finally, both treatments were found to oxidize larger molecules (>1000 dalton) and produce smaller molecules, as indicated by an increase in smaller molecule contribution to organic carbon. In part two, effects of Fenton's reagent treatment on biodegradability of three landfill leachates collected from a Florida landfill were evaluated using biochemical oxygen demand (BOD), biochemical methane potential (BMP), and tertamethylammonium hydroxide (TMAH) thermochemolysis gas chromatography/mass spectrometry (GC/MS). The hypothesis was that Fenton's reagent will remove refractory compounds that inhibit biodegradation and will produce smaller, more biodegradable organic molecules which will result in an increase in BOD and BMP values. Both BOD and BMP results demonstrated that Fenton's reagent treatment did not convert mature leachate to biodegradable leachate, as indicated by a low BOD5 expressed as C /dissolved organic carbon (DOC) ratio of almost 0.15 in treated samples and a low net methane production / theoretical methane potential (less than 0.15). Ultimate BOD only slightly increased. However the first-order BOD reaction rate increased by more than five fold, suggesting that Fenton's reagent removed refractory and inhibitory compounds. BMP results demonstrated that the ratio of CO2/CH4 produced during anaerobic biodegradation did not increase in treated leachate (compared to untreated), indicating that small biodegradable organic acids produced by oxidation were removed by coagulation promoted by Fenton's reagent. Finally, the TMAH thermochemolysis results showed that several of the refractory and inhibitory compounds were detected fewer times in treated samples and that carboxylic acids did not appear in treated samples. In the third part of this dissertation the application of flushing/Fenton's reagent oxidation to produce sustainable solid waste cells was evaluated. A treatment similar to pump and treat process utilizing Fenton's reagent on-site treated leachate combined with in-situ aeration was proposed. Treated leachate would be recycled to the landfill cell flushes releasable nonbiodegradable carbon from the cell and oxidizes it externally. This technique was demonstrated to have treatment cost and time benefits over other alternatives for producing completely stable solid waste cells such as anaerobic flushing and biological and/or mechanical pretreatment of solid waste (used in the EU).

On-board gimbal systems for camera stabilization in helicopters are typically based on linear models. Such models, however, are inaccurate due to system nonlinearities and complexities. As an alternative approach, artificial neural networks can provide a more accurate model of the gimbal system based on their non-linear mapping and generalization capabilities. This thesis investigates the applications of artificial neural networks to model the inertial characteristics (on the azimuth axis) of the inner gimbal in a gyro-stabilized multi-gimbal system. The neural network is trained with time-domain data obtained from gyro rate sensors of an actual camera system. The network performance is evaluated and compared with measured data and a traditional linear model. Computer simulation results show the neural network model fits well with the measured data and significantly outperforms a traditional model.

Wind loads acting on wooden building structures need to be dealt with adequately in order to ensure that neither the serviceability limit state nor the ultimate limit state is exceeded. For the structural designer of tall buildings, avoiding the possibly serious consequences of heavy wind loading while taking account at the same time of the effects of gravitation can be a real challenge. Wind loads are usually no major problem for low buildings, such as one- to two-storey timber structures involving ordinary walls made by nailing or screwing sheets of various types to the frame, but when taller structures are designed and built, serious problems may arise. Since wind speed and thus wind pressure increases with height above the ground and the shear forces transmitted by the walls increase accordingly, storey by storey, considerable efforts can be needed to handle the strong horizontal shear forces that are exerted on the bottom floor in particular. The strong uplift forces that can develop on the wind side of a structure are yet another matter that can be critical. Accordingly, a structure needs to be anchored to the substrate or to the ground by connections that are properly designed. Since the calculated uplift forces depend very much upon the models employed, the choice of models and simplifications in the analysis that are undertaken also need to be considered carefully. The present licentiate thesis addresses questions of how wind loads acting on multi-storey timber buildings can be best dealt with and calculated for in the structural design of such buildings. The conventional use of sheathing either nailed or screwed to a timber framework is considered, together with other methods of stabilizing timber structures. Alternative ways of using solid timber elements for stabilization are also of special interest. The finite element method was employed in simulating the structural behaviour of stabilizing units. A study was carried out of walls in which sheathing was nailed onto a timber frame. Different structural levels were involved, extending from modelling the performance of a single fastener and of the connection of the sheathing to frame, to the use of models of this sort for studying the overall structural behaviour of wall elements that possess a stabilizing function. The results of models used for simulating different load cases for walls agreed reasonably well with experimental test results. The structural properties of the fasteners binding the sheathing to the frame, as well as of the connections between the members of the frame were shown to have a strong effect on the simulated behaviour of shear wall units. Regarding solid wall panels, it was concluded that walls with a high level of both stiffness and strength can be produced by use of such panels, and also that the connections between the solid wall panels can be designed in such a way that the shear forces involved are effectively transmitted from one panel to the next.

Purpose: The horizontal stabilization of a building is of great importance in the design of its structural system. Insufficient counteraction of horizontal loads can lead to problems where columns and beams deflect more than the allowable margins. One common horizontal load arises from wind hitting an exterior wall. In this study, four bracing types were analyzed using software to evaluate and compare them, taking various factors into account. The building upon which the study is based is an industrial four-story structure located in Västerås. The building is designed with hinged column bases, which require a stabilization system to maintain its stability. This study aimed to determine the optimal solution for the stabilization system by comparing multiple proposals (X, V, inverted V, and diagonal) considering all factors that significantly influence stabilization. The different proposals were compared in terms of material usage, horizontal displacement, and the number of spans required for steel bracing. Method: Hand calculations were used in this report to design various structural components such as columns, beams, and bracing, which were compared with FEM (Finite Element Method) designs. Additionally, different perspectives were considered within the relevant subject framework, including steel properties, general loads, characteristics, and descriptions of the examined models. Results: After conducting the calculations, it was found that the optimal number of spans required for bracing the industrial steel structure was 32 diagonal braces, placed in the outermost bays on all sides of the building at each floor. This proposal resulted in reduced material usage with a secure horizontal displacement, ensuring stability and durability of the building. Conclusions: In conclusion, this report provides a deep understanding of the importance of stability in buildings, especially when it comes to the safety of occupants and the structural integrity of the building. Proposal 1 has likely met the requirements based on all the calculations and analyzed models that have been conducted, and therefore, diagonal bracing has been chosen as the optimized solution.

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