München, Univ. der Bundeswehr, Diss., 2002. / Computerdatei im Fernzugriff.

München, Univ. der Bundeswehr, Diss., 2002. / Computerdatei im Fernzugriff.

München, Universiẗat der Bundeswehr, Diss., 2002.

No description available.

The thesis analyses, designs and implements the framework for creation of customizable autopilot solutions for radio controlled airplanes. As a proof of concept of this framework a set of applications, which use this framework, is cre- ated. The result of this thesis is the extensible modular system, capable of airplane's attitude control, telemetry transmission and wireless communication with the ground station. There is great diversity in the components used by the system, which must be hidden by the framework. The differences must be encased in order to deliver required user experience for the programmers using the frame- work and the end users of the resulting applications as well. The tests, which validate the goals of the thesis indicate, that the resulting system is capable of all required tasks and ready to implement additional features which the end users might require in the future. 1

No description available.

The advent of high fuel costs and the increasing crowding of shipping lanes have initiated considerable interest in ship automatic pilot systems, that not only hold the potential for reducing propulsion losses due to steering, but also maintain tight control when operating in confined waterways. Since the two requirements differ significantly in terms of control specification it is natural to consider two separate operating modes. Conventional autopilots cannot be used efficiently here, partly because the original design catered for good gyrocompass heading control only, and partly because the requirement of reducing propulsion losses cannot be easily translated into control action in such schemes. Linear quadratic control can be used to design a dual mode autopilot. The performance criterion to be minimised can readily be related to either the propulsion losses while course-keeping, or to the change of heading while manouevring, and therefore, the same controller can be used for both functions. The designed control system is shown, from the computer simulation study, to perform satisfactorily in disturbed seas. However, the need for detailed knowledge of the ship dynamics in the controller design implies that time-consuming ship trials may be required. Hence an alternative method of design using adaptive self-tuning control is studied. Because the self-tuning approach combines controller design and coefficient identification in such a way that the two processes proceed simultaneously, only the structure of the equation of ship motion is needed. As in the case of quadratic control, a well specified performance criterion is firmly linked to the design so that a closely controlled optimal performance results.

No description available.

Cloud computing allows access to a collection of computing resources that can be easily provisioned, configured as well as released on-demand with minimum cost and effort. OpenStack is an open source cloud management platform aimed at providing public or private IaaS cloud on standard hardware. Since, deploying OpenStack manually is tedious and time-consuming, several tools that automate the deployment of OpenStack are available. Usually, cloud administrators choose a tool based on its level of automation, ease of use or interoperability with existing tools used by them. However, another desired factor while choosing a deployment tool is its deployment speed. Cloud admins cannot select based on this factor since, there is no previous work done on the comparison of deployment tools based on deployment time. This thesis aims to address this issue. The main aim of the thesis is to evaluate the performance of OpenStack deployment tools with respect to operating system provisioning and OpenStack deployment time, on physical servers. Furthermore, the effect of varying number of nodes, OpenStack architecture deployed and resources (cores and RAM) provided to deployment node on provisioning and deployment times, is also analyzed. Also, the tools are classified based on stages of deployment and method of deploying OpenStack services. In this thesis we evaluate the performance of MAAS, Foreman, Mirantis Fuel and Canonical Autopilot. The performance of the tools is measured via experimental research method. Operating system provisioning time and OpenStack deployment times are measured while varying the number of nodes/ OpenStack architecture and resources provided to deployment node i.e. cores and RAM. Results show that provisioning time of MAAS is less than Mirantis Fuel which is less than Foreman for all node scenarios and resources cases considered. Furthermore, for all 3 tools as number of nodes increases provisioning time increases. However, the amount of increase is lowest for MAAS than Mirantis Fuel and Foreman. Similarly, results for bare metal OpenStack deployment time show that, Canonical Autopilot outperforms Mirantis Fuel by a significant difference for all OpenStack scenarios and resources cases considered. Furthermore, as number of nodes in an OpenStack scenario as well as its complexity increases, the deployment time for both the tools increases. From the research, it is concluded that MAAS and Canonical Autopilot perform better as provisioning and bare metal OpenStack deployment tool respectively, than other tools that have been analyzed. Furthermore, from the analysis it can be concluded that increase in number of nodes/ OpenStack architecture, leads to an increase in both provisioning time and OpenStack deployment time for all the tools. Finally, after analyzing the results the tools are classified based on the method of deploying OpenStack services i.e. parallel or role-wise parallel.

The purpose of this thesis was to develop a low cost autonomous flight control system for small unmanned aerial vehicles with the aim to support collaborative systems. A low cost hardware solution was achieved by careful selection of sensors, integration of hardware subsystems, and the use of new microcontroller technologies. Flight control algorithms to guide a vehicle though waypoint based flight paths and loiter about a point were implemented using direction fields. A hardware in the loop simulator was developed to ensure proper operation of all hardware and software components prior to flight testing. The resulting flight control system achieved stable and accurate flight while reducing the total system cost to less than $250.