With the increasing usage of Unmanned Aerial Vehicle (UAV)s and the prediction of becoming applicable to more industries within the next decade there is a need for a controlling authority in the lower airspace. An Unmanned Aircraft System Traffic Man- agement (UTM) provides multiple solutions to how such a system should operate and what services it should provide. This makes a UTM a key infrastructure that will need to withstand potential cyberattacks and ensure safe communication channels with sensitive information. This thesis will provide an analysis of what key areas need protection and show an example of how to implement it in UTM50.  Possible vulnerabilities were identified by performing a risk analysis based on the Con- trolled Object-Oriented Risk Assessment (CORAS) model, and a comparison was made between similar communication systems to compare what challenges they face. To handle the vulnerabilities, countermeasures were implemented in UTM50 using coding libraries such as ZeroMQ and CurveZMQ. The implementation was tested to ensure its effective- ness against possible cyber attacks, and the traffic was monitored using Wireshark.  Finally, this thesis presents a few areas that require further research to ensure full safety and security across all communication channels.

The present study focuses on developing an efficient and stable unmanned aerial system traffic management (UTM) system that utilizes a data-driven target tracking method and a distributed path planning algorithm for multiple Unmanned Aerial Vehicle (UAV) operations with local dynamic networks, which can provide flexible scalability, enabling autonomous operation of a large number of UAVs in dynamically changing environment. Traditional dynamic motion-based target tracking methods often encounter limitations due to their reliance on a finite number of dynamic motion models. To address this, data-driven target tracking methods were developed based on the statistical model of the Gaussian mixture model (GMM) and deep neural networks of long-short term memory (LSTM) model, to estimate instant and future states of UAV for local path planning problems. The estimation accuracy of the data-driven target tracking methods were analyzed and compared with dynamic model-based target tracking methods. A hybrid dynamic path planning algorithm was proposed, which selectively employs grid-free and -based path search methods depending on the spatio-temporal characteristics of the environments. In static environment, the artificial potential field (APF) method was utilized, while the $A^*$ algorithm was applied in the dynamic state environment. Furthermore, the data-driven target tracking method was integrated with the hybrid path planning algorithm to enhance deconfliction. To ensure smooth trajectories, a minimum snap trajectory method was applied to the planned paths, enabling controller tracking that remains dynamically feasible throughout the entire operation of UAVs. The methods were validated in the Software-in-the-loop (SITL) demonstration with the simple PID controller of the UAVs implemented in the software program. / Ph.D. / This dissertation focuses on developing data-driven models for tracking and path planning of Unmanned Aerial Vehicle (UAV) in dynamic environments with multiple operations. The goal is to improve the accuracy and efficiency of Unmanned Aircraft System traffic management (UTM) under such conditions. The data-driven models are based on Gaussian mixture model (GMM) and long-short term memory (LSTM) and are used to estimate the instant and consecutive future states of UAV for local planning problems. These models are compared to traditional target tracking models, which use dynamic motion models like constant velocity or acceleration. A hybrid dynamic path planning approach is also proposed to solve dynamic path planning problems for multiple UAV operations at an efficient computation cost. The algorithm selectively employs a path planning method between grid-free and grid-based methods depending on the characteristics of the environment. In static state conditions, the system uses the artificial potential field method (APF). When the environment is time-variant, local path planning problems are solved by activating the $A^*$ algorithm. Also, the planned paths are refined by minimum snap trajectory to ensure that the path is dynamically feasible throughout a full operation of the UAV along with controller tracking. The methods were validated in the Software-in-the-loop (SITL) demonstration with the simple PID controller of the UAVs implemented in the software program.

This master’s thesis is the design of the system of the differential GPS, creation of the software for basic wireless communication between 2 GPS receivers, and practical tests of the designed system. Parameters and characteristics of system were determined and they should inform us better about the appropriateness of the designed system for navigation of a mobile robot in outside conditions.

Unmanned aerial systems (UASs) have a great potential to enhanced situational awareness in public safety operations. Many UASs operating in the same airspace can cause mid-air collisions. NASA and the FAA are developing a UAS traffic management (UTM) system, which could be used in public safety operations to manage the UAS airspace. UTM relies on an existing communication backhaul, however natural disasters may disrupt existing communications infrastructure or occur in areas where no backhaul exists. This thesis outlines a robust communications alternative that interfaces a fleet of UASs with a UTM service supplier (USS) over a mesh network. Additionally, this thesis outlines an algorithm for vehicle-to-vehicle discovery and communication over the mesh network.

Theoretical information about different satellite navigation systems used for determination of position. Special attention is attended to system GPS. There are consulted main principles of the GPS and some error sources. Application of differential GPS for minimization of these errors is discussed. Next part is about examples of basic principles for measuring earth magnetic field. Last chaps are about practical realization of mentioned DGPS, which is applied for outdoor mobile robot navigation. There is described hardware structure, software utilities and application of an aided tool for GPS - electronic compass. Some practical measurements and results are presented.

The goal of this master's thesis is to describe geolocation techniques in wireless wide-area networks and the ways of expressing the individual node location. Practical part describes implementation of web services that simulate the node movement in these wireless networks and implementation of web service that is going to agregate the coordinate systems of these wireless networks.

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An interactive multiple screen visualisation might become an opportunity for engaging and illustrative presentations of scientific, complex, and abstract research. With multiple (interactive) monitors, storytelling and interfaces could bring engagement, immersion, and attraction to the audience. The challenge of designing for a multiple screen setup is that the amount of information can be overwhelming, causing the perception of it and engagement with it to decrease. This thesis explores approaches that could enhance the perception and engagement of the content for a multiple screen setup. The Research Through Design approach sets the structure for the entire thesis. It consists of methods for exploration, concepting, prototyping, and user testing. By following this research approach, three versions of a prototype were developed and tested which led to the results of this thesis. The overall nature of this research process was exploratory and the design decisions were applied during the activities. The main findings of this thesis regarding the multiple screen setup during the research process included three attention guiding approaches: black and white, blur, and pause, and according to the user test participants, the preferred approach was black and white. The second vital aspect of the research and testing were the five-act story arc and interactive storytelling structures. According to the data from user tests, interactivity helped to increase the engagement and perception of the exhibition piece.

M.Tech. (Department of Civil Engineering, Faculty of Engineering and Technology), Vaal University of Technology / This research investigated the structural bond strength of GFRP rebars in concrete beams under dynamic loading with the aim to characterize the structural bond behaviour and evaluate the limitations of the GFRP rebars under dynamic loading. The dynamic loading in this study was set at 500 repeating cycles to simulate a more realistic dynamic loading scenario such as earthquake since most dynamic loading studies are carried under ten repeating cycles. The experimental work was divided into 2 main tests which were firstly, the tensile tests of the GFRP rebars in order to evaluate the tensile strength of the rebars and characterize their properties. Secondly, the flexural tests of GFRP and steel reinforced concrete beams in order to evaluate the bond strength of GFRP and steel rebars, to characterize the average bond strength of GFRP and steel reinforced concrete beams under dynamic loading and finally to compare the average bond strength of GFRP rebars to Steel rebars in both dynamic and static loadings. The tensile tests were carried out using a Universal Testing Machine (UTM) and the results of the tensile tests of the GFRP rebars showed that the average experimental tensile strength of GFRP rebars was only 56.65% of the nominal tensile strength provided on the supplier data sheet. As for flexural tests, they were carried out through a four-point bending test using a UTM in conjunction with a universal dynamic shaker to create the dynamic loading set up. Steel reinforced concrete beams were used as control beams during the tests and factors such as the tensile strength of the GFRP rebars, the slip of the rebars, the load-deflection relationship and the stress-strain relationship were investigated. The results of the tests showed that the tensile strength of the GFRP rebar is strongly proportional to the maximum beam load bearing capacity and the maximum stresses of GFRP reinforced concrete beams. The results also showed that the average bond strength of GFRP rebars in static loading (8.44 MPa) was only 80% of the average bond strength in dynamic loading (10.95 MPa). Moreover, the experimental work showed that the failure of GFRP reinforced concrete beams depicted large deflections (19 mm) and slips (5 mm to 12.5 mm) when compared to steel reinforced concrete beams (for which the maximum deflection was 9.66 mm at failure and slippage values of 2 mm to 10 mm). Based on that it could be stipulated that the tensile strength of GFRP rebars is one determinant factor to the bond strength behaviour of GFRP rebars in concrete. Hence, the structural bond behaviour of GFRP rebars could be well-defined if more studies were done on the bond behaviour of GFRP rebars in concrete beams under dynamic loading using another type of GFRP rebars that would consist of a relatively high tensile strength as compared to the ones used in this study and different surface texture.

This thesis introduces readers various methods that are currently used for detection of network-based applications. Further part deals with selection of appropriate detection method and implementation of proof-of-concept script, including testing its reliability and accuracy. Chosen detection algorithm is based on statistics data from network flows of tested network communication. Due to its final solution does not depend on whether communication is encrypted or not. Next part contains several possible variants of how to integrate proposed solution in the current architecture of the existing product Kernun UTM --- which is firewall produced by Trusted Network Solutions a.s. company. Most suitable variant is chosen and described furthermore in more details. Finally there is also mentioned plan for further developement and possible ways how to improve final solution.