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L'acquisition de modèles 3D des scènes réelles trouve son utilité dans de nombreuses applications pratiques, comme l'archivage numérique, les jeux vidéo, l'ingénierie, la publicité. Il existe principalement deux méthodes pour acquérir un modèle 3D: la reconstruction avec un scanner laser (méthode active) et la reconstruction à partir de plusieurs photographies d'une même scène prise dans des points de vues différentes (méthode passive). Si la méthode active permet d'acquérir des modèles avec une grande précision, il est cependant coûteux et difficile à mettre en place pour de grandes scènes extérieures. La méthode passive, ou la stéréo multi-vues est en revanche plus flexible, facile à mettre en oeuvre et surtout moins coûteuse que la méthode active. Cette thèse s'attaque au problème de la reconstruction de stéréo multi-vues à grande échelle et précise pour les scènes extérieures. Nous améliorons des méthodes précédentes et les assemblons pour créer une chaîne de stéréo multi-vues efficace tirant parti de l'accélération de cartes graphiques. La chaîne produit des maillages de qualité à partir d'images de haute résolution, ce qui permet d'atteindre les meilleurs scores dans de nombreuses évaluations. Aux plus grandes échelles, nous développons d'une part des techniques de type diviser-pour-régner pour reconstruire des morceaux partiaux de la scène. D'autre part, pour combiner ces résultats séparés, nous créons une nouvelle méthode qui fusionne rapidement des centaines de maillages. Nous réussissons à reconstruire de beaux maillages urbains et des monuments historiques précis à partir de grandes collections d'images (environ 1600 images de 5M Pixel) / Acquisition of 3D model of real objects and scenes is indispensable and useful in many practical applications, such as digital archives, game and entertainment industries, engineering, advertisement. There are 2 main methods for 3D acquisition : laser-based reconstruction (active method) and image-based reconstruction from multiple images of the scene in different points of view (passive method). While laser-based reconstruction achieves high accuracy, it is complex, expensive and difficult to set up for large-scale outdoor reconstruction. Image-based, or multi-view stereo methods are more versatile, easier, faster and cheaper. By the time we begin this thesis, most multi-view methods could handle only low resolution images under controlled environment. This thesis targets multi-view stereo both both in large scale and high accuracy issues. We significantly improve some previous methods and combine them into a remarkably effective multi-view pipeline with GPU acceleration. From high-resolution images, we produce highly complete and accurate meshes that achieve best scores in many international recognized benchmarks. Aiming even larger scale, on one hand, we develop Divide and Conquer approaches in order to reconstruct many small parts of a big scene. On the other hand, to combine separate partial results, we create a new merging method, which can merge automatically and quickly hundreds of meshes. With all these components, we are successful to reconstruct highly accurate water-tight meshes for cities and historical monuments from large collections of high-resolution images (around 1600 images of 5 M Pixel images)

The phenomenon of energy loss that occurs when an ion interacts with matter, also called stopping power, has been investigated for more than a century, and has provided findings of interest. However, reliable procedures for obtaining accurate experimental measurements and a fully theoretical comprehension of the process are tasks still in high demand by the scientific community. Moreover, stopping power data are prerequisites in several applications in modern science, such as engineering, ion implantation and modification of materials, damage to electronics devices (e.g. space radiation), medical physics (e.g. proton therapy), among others. In this thesis we i) develop a rigorous experimental protocol to measure stopping power with high precision, and ii) investigate the collapse of the free electron gas (FEG) model in energy loss of light ions (protons) at a low energy range in transition and rare-earth metals. In the first part, we present an approach to obtain, with high accuracy, the stopping cross sections in the pure materials Al and Mo for protons in the energy range of [0.9 - 3.6] MeV by means of the transmission method. The traceability of the sources of uncertainties are fully evaluated and the final accuracy of the results is 0.63% (0.32% rand. and 0.54% syst.) for Al, and 1.5 % (0.44 % rand. and 1.4% syst.) for Mo, with both results primarily limited by the quality and homogeneity of the stopping foils. For Al, this high accuracy represents an improvement compared to the results obtained in previous studies and serves as a benchmark for our procedure. The most important sources of uncertainties were random - the uncertainty in the peak positions and in the Gaussian fits; and systematic - the non-uniformity thickness of the foils (a special procedure was developed to correct this). Even though the final uncertainty for Mo is higher than for Al, our results improve on the amount of data currently available for the energy range considered. Both data sets are compared with the most commonly employed theoretical models and Monte Carlo codes in the literature. In the second part, electronic stopping cross sections of nontrivial solids, that is, transition and rare earth metals (Ta and Gd) for slow protons are experimentally investigated, and the data were compared with the results for Pt and Au, to understand how energy losses in these metals are correlated with electronic band structures, and to understand the failure of the FEG model predictions. The higher stopping powers found for Ta and Gd cannot be explained by means of the FEG model; however, these effects are successfully correlated with the high density of states (DOS) of both the occupied and unoccupied electronic levels in these metals. For the case of Gd, the experimental data are extended in the energy range until the Bragg\'s peak is reached. The two parts of this thesis were published in Physical Review A 93 022704 (2016), and in Physical Review Letters 18 103401 (2017), respectively. / O fenômeno de perda de energia quando um íon interage com a matéria, também conhecido como poder de freamento, vem sendo investigado por mais de um século, gerando grandes descobertas. Entretanto, conseguir obter medidas experimentais com alta precisão, ou elaborar um completo entendimento teórico dos processos de perda de energia são tarefas extremamente difíceis e ainda muito requeridas pela comunidade científica. Além disso, dados de perda de energia são pré-requisitos em várias aplicações e ramos da ciência moderna, tais como: engenharia, implantação e modificação de materiais, danos em dispositivos eletrônicos (radiação espacial), física médica (próton terapia), etc. Esta tese tem dois focos: i) desenvolver um rigoroso protocolo experimental para medir stopping power com alta precisão e ii) investigar a quebra de validade do modelo de Gás de Elétrons Livres (FEG) para a perda de energia de prótons lentos em metais de transição e terra raras. Na primeira parte apresentamos uma abordagem experimental para obter com alta precisão o poder de freamento em materiais puros (Al e Mo) para prótons no intervalo de energia de [0,9 - 3,6] MeV pelo método de transmissão. A rastreabilidade das fontes de incerteza foi determinada e as incertezas finais encontradas foram: 0,63 % (0,32 % aleat. e 0,54 % sist.) para Al e 1,5 % (0,44 % aleat. e 1,4 % sist.) para Mo, ambas devido a qualidade e homogeneidade das folhas freadoras. Para Al, esta acurácia representa um avanço comparado com publicações anteriores e, assim, serviu como uma referência de nosso procedimento. As mais importantes fontes de incerteza foram: aleatória incerteza das posições dos picos e dos ajustes Gaussianos e sistemática não-uniformidade das folhas-alvo (um procedimento foi desenvolvido para corrigir isso). Embora a incerteza final do Mo é um pouco maior do que do Al, nossos resultados ajudaram a complementar a baixa quantidade de dados disponíveis para o intervalo de energia considerado. Ambos conjuntos de dados foram comparados com os mais comuns modelos teóricos e códigos de Monte Carlo na literatura. Para a segunda parte, poder de freamento em metais não tão comuns tais como transição (Ta) e terras-raras (Gd) para prótons com baixas velocidades foram experimentalmente investigados, e os dados comparados com resultados de Pt e Au, a fim de entender como o stopping power destes metais está correlacionado com as estruturas de bandas eletrônicas, e assim tentar explicar a falha do modelo de FEG. Os altos valores das perdas de energias encontradas para Ta e Gd não puderam ser explicadas pelo modelo de FEG, e portanto foram correlacionados com a densidade de estados (DOS) em ambos os níveis ocupados e não ocupados destes metais. Para o caso do Gd, os dados experimentais foram estendidos em um intervalo de energia até alcançarem o pico de Bragg. A primeira parte desta tese foi publicada na Physical Review A 93 022704 (2016), e a segunda parte na Physical Review Letters 18 103401 (2017).

<p>The aim of this thesis is to investigate how the absolute accuracy of an industrial robot can be increased by monitoring the position of the robot. The motive is to automate high precision, low volume production such as aircraft industry. A laser tracker that can measure both position and orientation with very high accuracy isused to monitor the robot tool position. The robot and laser tracker are integrated via a standard computer. </p><p>The abilities and performance of the robot, with and without feedback from the laser tracker, are investigated. Robotic drilling is performed with supervision and control from the laser tracker. </p><p>The system is implemented and tested on parts of a demonstrator for new aircraft assembly techniques. The ability to position components with internal friction to (+/-)0.05 mm absolute accuracy is shown.</p>

The aim of this thesis is to investigate how the absolute accuracy of an industrial robot can be increased by monitoring the position of the robot. The motive is to automate high precision, low volume production such as aircraft industry. A laser tracker that can measure both position and orientation with very high accuracy isused to monitor the robot tool position. The robot and laser tracker are integrated via a standard computer. The abilities and performance of the robot, with and without feedback from the laser tracker, are investigated. Robotic drilling is performed with supervision and control from the laser tracker. The system is implemented and tested on parts of a demonstrator for new aircraft assembly techniques. The ability to position components with internal friction to (+/-)0.05 mm absolute accuracy is shown.

The accuracy of a quantum chemical calculation inherently depends on the ability to account for the completeness of the one- and n-particle spaces. The size of the basis set used can be systematically increased until it reaches the complete one-particle basis set limit (CBS) while the n-particle space approaches its exact full configuration interaction (FCI) limit by following a hierarchy of electron correlation methods developed over the last seventy years. If extremely high accuracy is desired, properly correcting for very small effects such as those resulting the Born-Oppenheimer approximation and the neglect of relativistic effects becomes indispensable. For a series of chemically interesting and challenging systems, we identify the limits of conventional approaches and use state-of-the-art quantum chemical methods along with large basis sets to get the “right answer for the right reasons.” First, we quantify the importance of small effects that are ignored in conventional quantum chemical calculations and manage to achieve spectroscopic accuracy (agreement of 1 cm−1 or less with experimental harmonic vibrational frequencies) for BH, CH+ and NH. We then definitively resolve the global minimum structure for Li₆ , Li₆⁺ , and Li₆- using high accuracy calculations of the binding energies, ionization potentials, electron affinities and vertical excitation spectra for the competing isomers. The same rigorous approach is used to study a series of hydrogen transfer reactions and validate the necessary parameters for the hydrogen abstraction and donation steps in the mechanosynthesis of diamondoids. Finally, in an effort to overcome the steep computational scaling of most high-level methods, a new hybrid methodology which scales as O(N⁵) but performs comparably to O(N⁶) methods is benchmarked for its performance in the equilibrium and dissociation regimes.

The phenomenon of energy loss that occurs when an ion interacts with matter, also called stopping power, has been investigated for more than a century, and has provided findings of interest. However, reliable procedures for obtaining accurate experimental measurements and a fully theoretical comprehension of the process are tasks still in high demand by the scientific community. Moreover, stopping power data are prerequisites in several applications in modern science, such as engineering, ion implantation and modification of materials, damage to electronics devices (e.g. space radiation), medical physics (e.g. proton therapy), among others. In this thesis we i) develop a rigorous experimental protocol to measure stopping power with high precision, and ii) investigate the collapse of the free electron gas (FEG) model in energy loss of light ions (protons) at a low energy range in transition and rare-earth metals. In the first part, we present an approach to obtain, with high accuracy, the stopping cross sections in the pure materials Al and Mo for protons in the energy range of [0.9 - 3.6] MeV by means of the transmission method. The traceability of the sources of uncertainties are fully evaluated and the final accuracy of the results is 0.63% (0.32% rand. and 0.54% syst.) for Al, and 1.5 % (0.44 % rand. and 1.4% syst.) for Mo, with both results primarily limited by the quality and homogeneity of the stopping foils. For Al, this high accuracy represents an improvement compared to the results obtained in previous studies and serves as a benchmark for our procedure. The most important sources of uncertainties were random - the uncertainty in the peak positions and in the Gaussian fits; and systematic - the non-uniformity thickness of the foils (a special procedure was developed to correct this). Even though the final uncertainty for Mo is higher than for Al, our results improve on the amount of data currently available for the energy range considered. Both data sets are compared with the most commonly employed theoretical models and Monte Carlo codes in the literature. In the second part, electronic stopping cross sections of nontrivial solids, that is, transition and rare earth metals (Ta and Gd) for slow protons are experimentally investigated, and the data were compared with the results for Pt and Au, to understand how energy losses in these metals are correlated with electronic band structures, and to understand the failure of the FEG model predictions. The higher stopping powers found for Ta and Gd cannot be explained by means of the FEG model; however, these effects are successfully correlated with the high density of states (DOS) of both the occupied and unoccupied electronic levels in these metals. For the case of Gd, the experimental data are extended in the energy range until the Bragg\'s peak is reached. The two parts of this thesis were published in Physical Review A 93 022704 (2016), and in Physical Review Letters 18 103401 (2017), respectively. / O fenômeno de perda de energia quando um íon interage com a matéria, também conhecido como poder de freamento, vem sendo investigado por mais de um século, gerando grandes descobertas. Entretanto, conseguir obter medidas experimentais com alta precisão, ou elaborar um completo entendimento teórico dos processos de perda de energia são tarefas extremamente difíceis e ainda muito requeridas pela comunidade científica. Além disso, dados de perda de energia são pré-requisitos em várias aplicações e ramos da ciência moderna, tais como: engenharia, implantação e modificação de materiais, danos em dispositivos eletrônicos (radiação espacial), física médica (próton terapia), etc. Esta tese tem dois focos: i) desenvolver um rigoroso protocolo experimental para medir stopping power com alta precisão e ii) investigar a quebra de validade do modelo de Gás de Elétrons Livres (FEG) para a perda de energia de prótons lentos em metais de transição e terra raras. Na primeira parte apresentamos uma abordagem experimental para obter com alta precisão o poder de freamento em materiais puros (Al e Mo) para prótons no intervalo de energia de [0,9 - 3,6] MeV pelo método de transmissão. A rastreabilidade das fontes de incerteza foi determinada e as incertezas finais encontradas foram: 0,63 % (0,32 % aleat. e 0,54 % sist.) para Al e 1,5 % (0,44 % aleat. e 1,4 % sist.) para Mo, ambas devido a qualidade e homogeneidade das folhas freadoras. Para Al, esta acurácia representa um avanço comparado com publicações anteriores e, assim, serviu como uma referência de nosso procedimento. As mais importantes fontes de incerteza foram: aleatória incerteza das posições dos picos e dos ajustes Gaussianos e sistemática não-uniformidade das folhas-alvo (um procedimento foi desenvolvido para corrigir isso). Embora a incerteza final do Mo é um pouco maior do que do Al, nossos resultados ajudaram a complementar a baixa quantidade de dados disponíveis para o intervalo de energia considerado. Ambos conjuntos de dados foram comparados com os mais comuns modelos teóricos e códigos de Monte Carlo na literatura. Para a segunda parte, poder de freamento em metais não tão comuns tais como transição (Ta) e terras-raras (Gd) para prótons com baixas velocidades foram experimentalmente investigados, e os dados comparados com resultados de Pt e Au, a fim de entender como o stopping power destes metais está correlacionado com as estruturas de bandas eletrônicas, e assim tentar explicar a falha do modelo de FEG. Os altos valores das perdas de energias encontradas para Ta e Gd não puderam ser explicadas pelo modelo de FEG, e portanto foram correlacionados com a densidade de estados (DOS) em ambos os níveis ocupados e não ocupados destes metais. Para o caso do Gd, os dados experimentais foram estendidos em um intervalo de energia até alcançarem o pico de Bragg. A primeira parte desta tese foi publicada na Physical Review A 93 022704 (2016), e a segunda parte na Physical Review Letters 18 103401 (2017).

<p>Deep ‘Analog Artificial Neural Networks’ (AANNs) perform complex classification problems with high accuracy. However, they rely on humongous amount of power to perform the calculations, veiling the accuracy benefits. The biological brain on the other hand is significantly more powerful than such networks and consumes orders of magnitude less power, indicating some conceptual mismatch. Given that the biological neurons are locally connected, communicate using energy efficient trains of spikes, and the behavior is non-deterministic, incorporating these effects in Artificial Neural Networks (ANNs) may drive us few steps towards a more realistic neural networks. </p> <p> </p> <p>Emerging devices can offer a plethora of benefits including power efficiency, faster operation, low area in a vast array of applications. For example, memristors and Magnetic Tunnel Junctions (MTJs) are suitable for high density, non-volatile Random Access Memories when compared with CMOS implementations. In this work, we analyze the possibility of harnessing the characteristics of such emerging devices, to achieve neuro-inspired solutions to intricate problems.</p> <p> </p> <p>We propose how the inherent stochasticity of nano-scale resistive devices can be utilized to realize the functionality of spiking neurons and synapses that can be incorporated in deep stochastic Spiking Neural Networks (SNN) for image classification problems. While ANNs mainly dwell in the aforementioned classification problem solving domain, they can be adapted for a variety of other applications. One such neuro-inspired solution is the Cellular Neural Network (CNN) based Boolean satisfiability solver. Boolean satisfiability (k-SAT) is an NP-complete (k≥3) problem that constitute one of the hardest classes of constraint satisfaction problems. We provide a proof of concept hardware based analog k-SAT solver that is built using MTJs. The inherent physics of MTJs, enhanced by device level modifications, is harnessed here to emulate the intricate dynamics of an analog, CNN based, satisfiability (SAT) solver. </p> <p> </p> <p>Furthermore, in the effort of reaching human level performance in terms of accuracy, increasing the complexity and size of ANNs is crucial. Efficient algorithms for evaluating neural network performance is of significant importance to improve the scalability of networks, in addition to designing hardware accelerators. We propose a scalable approach for evaluating Liquid State Machines: a bio-inspired computing model where the inputs are sparsely connected to a randomly interlinked reservoir (or liquid). It has been shown that biological neurons are more likely to be connected to other neurons in the close proximity, and tend to be disconnected as the neurons are spatially far apart. Inspired by this, we propose a group of locally connected neuron reservoirs, or an ensemble of liquids approach, for LSMs. We analyze how the segmentation of a single large liquid to create an ensemble of multiple smaller liquids affects the latency and accuracy of an LSM. In our analysis, we quantify the ability of the proposed ensemble approach to provide an improved representation of the input using the Separation Property (SP) and Approximation Property (AP). Our results illustrate that the ensemble approach enhances class discrimination (quantified as the ratio between the SP and AP), leading to improved accuracy in speech and image recognition tasks, when compared to a single large liquid. Furthermore, we obtain performance benefits in terms of improved inference time and reduced memory requirements, due to lower number of connections and the freedom to parallelize the liquid evaluation process.</p>

L’objectif de ce projet doctoral a été de coupler la chromatographie en phase supercritique (SFC) avec un spectromètre de masse haute résolution pour l’analyse de substances naturelles apolaires. La SFC est une technique dite « verte » contrairement à la chromatographie liquide en phase normale (NPLC), très consommatrice de solvants organiques toxiques pour l’environnement, puisque la phase mobile est principalement constituée de CO2. Le CO2 ayant une faible viscosité, cela implique une diffusivité, des débits élevés et des temps d’analyse courts. Notre attention a été focalisée sur des molécules apolaires : les lipides. Le but était de mettre au point des dosages dans des matrices alimentaires et biologiques et de débuter une approche lipidomique d’étude de la maladie de Parkinson. La première partie a été dédiée au développement du système SFC avec une détection UV, prêté par le constructeur Agilent Technologies. La première étude s’est portée sur 6 composés de la famille des vitamines A. Une phase d’optimisation a été réalisée afin d’obtenir une séparation satisfaisante des composés, en testant différents paramètres chromatographiques comme le type de phase stationnaire ou encore la composition de la phase mobile, afin d’obtenir une résolution optimale. Ensuite, des études de linéarité et de répétabilité ont été réalisées et des limites de détection et de quantification ont été déterminées afin d’obtenir une méthode fiable et robuste. Une deuxième partie a concerné la mise en place du couplage entre la SFC et un spectromètre de masse de type quadripôle-temps de vol (Q-TOF), afin d’améliorer la spécificité et la sensibilité des analyses. Différentes sources d’ionisation ont été utilisées : ESI, APCI et APPI. Chacune des sources présente des modes d’ionisation différents, qui permettent de pouvoir balayer une large gamme de polarité des analytes. Nous avons choisi 8 dérivés de la vitamine E, composés apolaires pour lesquels la SFC paraît être la technique d’analyse idéale. La séparation de ces composés a été optimisée de façon à obtenir une bonne résolution chromatographique et un temps d’analyse minimal. L’ionisation des composés est réalisée avec les 3 sources disponibles en faisant varier les paramètres de sources ou encore le solvant « make-up », de façon à obtenir une sensibilité optimale. La source APPI a été finalement choisie après une étude sur les performances de la méthode. Cette source présente une bonne répétabilité, linéarité et des limites de détection de l’ordre de celles retrouvées dans la littérature par HPLC-MS. Nous avons ensuite réalisé la quantification des ces composés dans 2 types de matrices alimentaire et biologique : l’huile de soja et le plasma de rat. Une troisième partie a été débutée sur le profilage de lipides à polarités variées par SFC-MS. Cette technique se révèle idéale de par la faible polarité de ces composés et leur absence d’absorbance dans le domaine UV. En effet, l’intégrité des lipides peut être altérée suite aux dommages causés par les radicaux libres, qui sont potentiellement impliqués dans de nombreuses maladies neurodégénératives. Il parait primordial de développer des outils analytiques présentant une haute sensibilité et résolution et la possibilité d’accéder aux informations structurales. La source d’ionisation ESI nous a permis de détecter 12 lipides sur les 20 sous-classes analysées en mode positif et 8 lipides en mode négatif. Une application a été réalisée sur un échantillon de plasma humain. Il serait intéressant à l’avenir d’effectuer cette étude en utilisant la source APPI, source propice à l’analyse structurale de lipides et présentant une bonne sensibilité et répétabilité. Ce couplage SFC-MS, présentant une bonne sensibilité et répétabilité, sera par la suite étendu à l’analyse de lipides dans diverses matrices biologiques et pourra à l’avenir être appliqué à l’étude de nouveaux biomarqueurs et au screening rapide d’un grand nombre d’échantillons / The aim of this PhD project was to couple supercritical fluid chromatography (SFC) with a high resolution mass spectrometer for apolar natural compounds analysis. Because mobile phase is principally constituted of CO2, SFC is called “green technic” contrary to normal phase liquid chromatography (NPLC), which uses lot of organic solvents toxic for environment. The CO2 presents a low viscosity, in this way high diffusivity and flow rate, and lower analysis times are obtained. Our work was focused on apolar molecules: the lipids. The aim was to quantify molecules in alimentary and biological matrices and to a lipidomic approach to study Parkinson disease. The first part was to develop the system SFC with a UV detection on a system on loan by Agilent Technologies. This first study was carried out on 6 vitamin A compounds. An optimization of chromatographic parameters has been realized in order to obtain a good separation of the compounds. Then, linearity, repeatability, detection and quantification limits have been determined in order to have a reliable and robust method. A second part concerned the coupling of SFC and a quadrupole time-of-flight mass spectrometer (Q-TOF), in order to improve specificity and sensitivity of analysis. Different ionization sources have been tested: ESI, APCI and APPI. Each ion source presents different ionization mode, which permits to analyze a wide range of polarities of compounds. We have chosen 8 vitamin E derivatives, which are apolar compounds for which SFC seems to be well suited. Separation compounds have been optimized in order to have a good chromatographic resolution and a short analysis time. This compounds ionization is realized with the 3 sources, varying ionization parameters and make-up solvent, to have an optimal sensitivity. The APPI source has been chosen after a performance evaluation method. This source presents a good repeatability, linearity and detection limit in the same order of magnitude than those found in the literature by HPLC-MS. Then we have quantified these compounds in alimentary and biological matrices: a soya oil and plasma rat. A third study has been started on lipid profiling with various polarities by SFC-MS. This technic is well suited because of the low polarity of this molecules and their lack of absorbance in the UV range. The integrity of lipids can be altered with damages caused by free radicals, and are potentially involved in neurodegenerative diseases. It is essential to develop analytical systems with a high sensitivity and resolution and the possibility to access to structural information. The ESI source permits to detect 12 lipids on the 20 sub-classes analyzed in positive ion mode and 8 lipids in negative mode. An application has been realized on human plasma. In the future, it will be interesting to analyze these lipids with the APPI source, which is good choice for structural analysis of lipids, with good sensitivity and repeatability. Studies with this SFC-MS system, presenting good sensitivity and repeatability, will be extended to lipid analysis in biological matrices and could be applied to new biomarkers study and for fast screening of a large number of samples

Various applications of Wireless Sensor Networks (WSNs) require accurate localization of sensor nodes. The quantity and locations of anchor nodes, which serve as reference points for distance estimates, as well as the localization process itself, affect the localization accuracy. Furthermore, because numerous communications are sent between nodes for localization, energy consumption must be considered. This work presents an energy-aware and accurate localization method. It is based on a combined anchor deployment and energy-aware localization. The proper number and distribution of anchors have been investigated to achieve full network coverage and connectivity based on an efficient and heterogeneous hexagonal deployment. Later, energy-aware localization is performed in three stages: Initialization, signal acquisition, and anchor selection. The initialization step allows the network to be adaptable to sudden changes by establishing anchor connectivity and creating the neighbors' list. Meanwhile, the Received Signal Strength Indicator (RSSI) is used for distance measurements between nodes, with the implementation of a Kalman filter to reduce signal attenuation and noise. Later, the anchor selection is done using fuzzy logic with inference parameters: RSSI, node density, and residual energy. This step ensures that only operable anchors engage in localization, while anchors with inadequate energy sources remain intact to ensure their future availability.:1 Introduction 2 Theoretical background 3 Energy-aware outdoor deployment and localization 4 Proposed anchor deployment method 5 Proposed energy-aware localization method 6 Experimental validation of the proposed localization method / Verschiedene Anwendungen von drahtlosen Sensornetzwerken (WSNs) erfordern eine genaue Lokalisierung von Sensorknoten. Die Anzahl und Standorte der Ankerknoten, die als Referenzpunkte für Entfernungsschätzungen dienen, sowie der Lokalisierungsprozess selbst beeinflussen die Lokalisierungsgenauigkeit. Da für die Lokalisierung zahlreiche Nachrichten zwischen den Knoten gesendet werden, muss außerdem der Energieverbrauch berücksichtigt werden. In dieser Arbeit wird eine energiebewusste und genaue Lokalisierungsmethode vorgestellt. Sie basiert auf einer Kombination aus effizienter Ankerknotennutzung und energiebewusster Lokalisierung. Die richtige Anzahl und Verteilung von Ankern wurde untersucht, um eine vollständige Netzabdeckung und Konnektivität auf der Grundlage einer effizienten und heterogenen hexagonalen Verteilung zu erreichen. Später wird die energiebewusste Lokalisierung in drei Stufen durchgeführt: Initialisierung, Signalerfassung und Ankerauswahl. Der Initialisierungsschritt ermöglicht es dem Netzwerk, sich an plötzliche Veränderungen anzupassen, indem es die Verbindung zu den Ankern und die Liste der Nachbarn erstellt. Zunächst wird der Received Signal Strength Indicator (RSSI) für die Entfernungsmessung zwischen den Knoten verwendet, wobei ein Kalman-Filter implementiert wird, um Signalabschwächung und Rauschen zu reduzieren. Später erfolgt die Ankerauswahl mit Hilfe von Fuzzy-Logik und Inferenzparametern: RSSI, Knotendichte und Restenergie. Dieser Schritt stellt sicher, dass nur funktionsfähige Anker an der Lokalisierung teilnehmen, während Anker mit unzureichenden Energiequellen intakt bleiben, um ihre zukünftige Verfügbarkeit zu gewährleisten.:1 Introduction 2 Theoretical background 3 Energy-aware outdoor deployment and localization 4 Proposed anchor deployment method 5 Proposed energy-aware localization method 6 Experimental validation of the proposed localization method