Global ETD Search

91	Laser based sensor fusion and control for the tele-operation of minidrones / Fusion et commande basées laser pour la télé-opération de mini-drones Viña, Carlos 18 December 2017 (has links) La robotique aérienne est un domaine de recherche qui a connu un grand succès commercial au cours des dernières années suite au développement de plates-formes aéroportées de petite taille hautement efficaces et abordables, couramment appelées mini-drones. Cela a ouvert la voie à de nouvelles applications dans les tâches de surveillance et d'inspection. Ces dernières années, cela a été un sujet de recherche clé dans l'industrie de l'énergie, où les lignes de transmission sont sujettes à la détérioration due aux conditions atmosphériques et nécessitent des programmes de surveillance étendus. Les mini-drones ont le potentiel d'automatiser entièrement le processus d'inspection, réduisant ainsi davantage les coûts et les temps d'inspection. Dans ce contexte, cette thèse aborde les inspections autonomes de tours électriques avec des MAV. A savoir, la localisation, la première étape d'une longue série de tâches vers la réalisation de capacités totalement autonomes, est le sujet principal de ce travail. Nous explorons comment les scanners laser 2D peuvent être couplés avec des capteurs couramment disponibles pour la pose à 6 degrés de liberté d'un mini-drone en temps réel avec les capacités perceptives et de traitement limites au bord de la plate-forme. Cette thèse tel que les algorithmes classiques de scan matching, comme l'algorithme Iterative Closest Point (ICP), la fusion de données et le contrôle par retour d'état. Des validations basées sur des vols expérimentaux et des simulations étendues sont présentées. / Aerial robotics is a prominent field of research that has seen great commercial success during the last years due to the development of highly efficient and affordable small-sized airborne platforms, commonly referred to as mini-drones. This has opened the way to promising new applications in surveillance and inspection tasks. In recent years, this has been a key subject of research in the power industry, where power utilities are subject to deterioration due to atmospheric conditions and require extensive monitoring programs. Mini-drones have the potential of fully automating the inspection process, further reducing costs and inspection times. In this context, this thesis addresses autonomous electric tower inspections with mini-drones. Namely, self-localization, the first step in a long series of tasks towards achieving fully autonomous capabilities, is the main focus of this work. We explore how 2D laser scanners can be coupled with commonly available sensors to estimate a mini-drone's 6 degree of freedom pose in real-time, using uniquely on-board sensing and processing capabilities. This thesis develops topics from classic scan matching algorithms, such as the iterative closest point (ICP) algorithm and proposed adaptations to the electric tower scene, to sensor fusion and feed-back control. Validations based on experimental flights and extensive simulations are presented. Mini-drone Balayage laser aéroporté Scanner laser 2D Estimation d'état Inspection des pylônes électriques Micro aerial vehicule Airborne laser scanning 2D laser scanner 629.89
92	Kalibrace snímačů pro multispektrální datovou fúzi v mobilní robotice / Sensor Calibration for Multispectral Data Fusion in Mobile Robotics Kalvodová, Petra January 2015 (has links) Thesis deals with data fusion and calibration of sensory system of Orpheus-X3 robot and EnvMap mapping robot. These robots are parts of Cassandra robotic system that is used for exploration of hazardous or inaccessible areas. Corrections of measured distances are determined for used laser scanners Velodyne HDL-64, Velodyne HDL-32 and range camera SwissRanger SR4000. Software MultiSensCalib has been created and is described. This software is used for determination of intrinsic parameters of heterogeneous cameras of the sensory head and for determination of mutual position and orientation of these sensors. Algorithm for data fusion of CCD camera stereo pair, thermal imager stereo pair and range camera is proposed. Achieved calibration and data-fusion parameters are evaluated by several experiments.
93	Alminares mudéjares de la marca superior. Nueva aproximación a su evolución histórica. El caso de la torre de San Pablo en Zaragoza Molina Sánchez, Susana 13 October 2022 (has links) [ES] Los ocho siglos de dominio de la cultura islámica en la Península Ibérica motivaron la proliferación de un extenso patrimonio cultural, arquitectónico y artístico. En este contexto, nació el arte mudéjar como una fusión de estilos dada la convivencia entre distintas culturas. Siendo las torres alminares-mudéjares aragonesas el fiel reflejo de este tipo de arquitectura, éstas constituyen el objeto de estudio del presente trabajo. En este sentido, el marco geográfico de la tesis abarca el territorio de la antigua Marca Superior de Al-Andalus, que incluye los valles de los ríos Ebro, Jalón, Jiloca y afluentes, como centros neurálgicos de la esencia del mudéjar (con sus torres como máximo exponente). La inquietud por investigar acerca de la evolución histórico-constructiva de dichas torres nace de su peculiar arquitectura, producto de la síntesis entre Oriente y Occidente. Asimismo, la escasa presencia de documentación de la época unida a los estudios que se han venido realizando hasta el momento, genera todavía una serie de carencias en el conocimiento de dichas torres, especialmente en lo referente a su origen. Por tanto, resulta conveniente abordar dichas necesidades aportando un nuevo enfoque al estudio de su evolución histórico-constructiva. Para ello, se establece una metodología de levantamiento digital (específica para elementos con tipología de torre), mediante la aplicación de las técnicas de fotogrametría y escáner láser, como herramientas de apoyo a la lectura de sus fábricas. El gran potencial a nivel gráfico que ofrecen los resultados obtenidos (modelos tridimensionales hiperrealistas texturizados, con alta precisión geométrica y muy buena definición), permite profundizar en el conocimiento de estas torres. Dichos resultados de la investigación, resultan eficaces y cuentan con el rigor científico adecuado para la posterior formulación de una hipótesis sobre el alminar original, del que procede la torre objeto de estudio, y que se podría extrapolar al resto de torres. / [CA] Els huit segles de domini de la cultura islàmica en la Península Ibèrica van motivar la proliferació d'un extens patrimoni cultural, arquitectònic i artístic. En aquest context, va nàixer l'art mudèjar com una fusió d'estils donada la convivència entre diferents cultures. Sent les torres minarets-mudèjars aragoneses el fidel reflex d'aquesta mena d'arquitectura, aquestes constitueixen l'objecte d'estudi del present treball. En aquest sentit, el marc geogràfic de la tesi comprén el territori de l'antiga Marca Superior d'Al-Andalus, que inclou les valls dels rius Ebro, Jalón, Jiloca i afluents, com a centres neuràlgics de l'essència del mudèjar (amb les seues torres com a màxim exponent). La inquietud per investigar sobre l'evolució històric-constructiva d'aquestes torres naix de la seua peculiar arquitectura, producte de la síntesi entre Orient i Occident. Així mateix, l'escassa presència de documentació de l'època unida als estudis que s'han realitzat fins al moment, genera encara una sèrie de mancances en el coneixement d'aquestes torres, especialment referent al seu origen. Per tant, resulta convenient abordar aquestes necessitats aportant un nou enfocament a l'estudi de la seua evolució històric-constructiva. Per a això, s'estableix una metodologia d'alçament digital (específica per a elements amb tipologia de torre), mitjançant l'aplicació de les tècniques de fotogrametria i escàner làser, com a eines de suport a la lectura de les seues fàbriques. El gran potencial a nivell gràfic que ofereixen els resultats obtinguts (models tridimensionals hiperrealistes texturizados, amb alta precisió geomètrica i molt bona definició), permet aprofundir en el coneixement d'aquestes torres. Aquests resultats de la investigació, resulten eficaces i compten amb el rigor científic adequat per a la posterior formulació d'una hipòtesi sobre el minaret original, del qual procedeix la torre objecte d'estudi, i que es podria extrapolar a la resta de torres. / [EN] The eight centuries of Islamic culture in Iberian Peninsula led to the proliferation of an extensive cultural, architectural and artistic heritage. In this context, Mudejar art was born as a fusion of styles due to the coexistence of different cultures. Aragonese minaret-Mudejar towers are a faithful reflection of this type of architecture, and are the object of study of this work. In this sense, thesis' geographical framework covers the territory of ancient Marca Superior of Al-Andalus, which includes the river valleys of Ebro, Jalón, Jiloca and tributaries, as nerve centres of the essence of Mudejar architecture (with its towers as its maximum exponent). The interest in researching the historical-constructive evolution of these towers stems from their peculiar architecture, a product of the synthesis between East and West. Likewise, the scarce documentation of that period, together with different studies that have been carried out up to now, still generate a series of deficiencies in the knowledge of these towers, especially with regard to their origin. It is therefore advisable to address these needs by providing a new approach to the study of their historical-constructive evolution. For this purpose, a digital survey methodology is established (specifically for tower typology elements), using photogrammetry (SfM) and laser scanner techniques as tools to support the reading of their walls. A great graphic potential offered by the results obtained (reality-based 3D models, with high geometric precision and optimal definition), allows us to deepen our knowledge of these towers. These research results are effective and have an appropriate scientific rigour for the subsequent formulation of a hypothesis about the original minaret, from which the tower under study originates, and which could be extrapolated to the rest of the towers. / Molina Sánchez, S. (2022). Alminares mudéjares de la marca superior. Nueva aproximación a su evolución histórica. El caso de la torre de San Pablo en Zaragoza [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/188135 Iglesia de San Pablo (Zaragoza) Torres mudéjares Fotogrametría Escáner láser Modelos tridimensionales Estratigrafía Geometría Levantamiento digital Levantamiento arquitectónico Digital survey Geometry Stratigraphy Three-dimensional models Laser scanner Photogrammetry Mudejar towers EXPRESION GRAFICA ARQUITECTONICA
94	由地面光達資料自動重建建物模型之研究 / Automatic Generation of Building Model from Ground-Based LIDAR Data 詹凱軒, Kai-Hsuan,Chan Unknown Date (has links) 地面光達系統可以快速獲取大量且高精度之點雲資料，這些點雲資料不但記錄了被掃描物體之三維資訊，還包含其色彩訊息。但因光達點雲資料量過於龐大，若要直接於電腦上展示其三維模型，必須配合有效的資料處理技術，才能迅速且即時地將資料顯示於螢幕上。我們針對地面光達系統獲取之建物點雲，提出一套處理方法，期盼透過少數關鍵點雲，就足以表示整個建物的模型。研究流程主要分為三階段，首先採用三維網格資料結構，從地面光達系統獲取之建物點雲中，萃取出關鍵點雲，並利用三維不規則三角網建模方式，進行模型建構工作，產生建物大略模型。其次再逐點判斷是否將剩餘之點加入此模型中，持續更新模型細微之部分。最後將點雲中的色彩資訊轉成影像，敷貼在模型表面上，讓整個模型更為逼真。我們以政大綜合大樓進行實驗，成功地減少大量冗餘的點雲資料，只需要約原始點雲的1％，就足以將綜合大樓模型建構完成。為了達到可以從不同視角即時瀏覽建物模型，我們採用虛擬實境語言(VRML)來描述處理後的三維模型，遠端使用者只需透過一般網頁瀏覽器，即可即時顯示處理過的三維建物模型。 / Ground-based LIDAR system can be used to detect the surface of the buildings on the earth. In general, it produces large amount of high-precision point cloud data. These data include not only the three-dimensional space information, but also the color information. However, the number of point cloud data is huge and is difficult to be displayed efficiently. It’s necessary to use efficient data processing techniques in order to display these point cloud data in real-time. In this research, we construct the three-dimensional building model using the key points selected from a given set of point cloud data. The major works of our scheme consists of three parts. In the first part, we extract the key points from the given point cloud data through the help of a three-dimensional grid. These key points are used to construct a primitive model of the building. Then, we checked all the remaining points and decided whether these points are essential to the final building model. Finally, we transformed the color information into images and then used the transformed images to represent generic surface material of the three-dimensional model of the building. The goal of the final step is to make the model more realistic. In the experiments, we used the twin-tower of our university as our target. We successfully reduced the required data in displaying the building model and only about one percent of the original point cloud data are used in the final model. Hence, one can see the twin-tower from various view points in real-time. In addition, we use VRML to describe our model and the users can browse the results in real-time on internet. 雷射掃瞄儀光達材質敷貼表面模型重建三維立體模型虛擬實境霍夫轉換 laser scanner LIDAR texture mapping surface reconstruction point-based Virtual Reality Hough transform
95	Estimation cohérente de l'indice de surface foliaire en utilisant des données terrestres et aéroportées / Consistent forest leaf area index retrieval using ground and airborne data Hu, Ronghai 27 August 2018 (has links) L’indice de surface foliaire (Leaf Area Index, LAI), défini comme la moitié de la surface foliaire par unité de surface de sol, est un paramètre clé du cycle écologique de la Terre, et sa précision d'acquisition a toujours la nécessité et la possibilité d'amélioration. La technologie du scanner laser actif offre une possibilité d'obtention cohérente du LAI à plusieurs échelles, car le scanner laser terrestre et le scanner laser aéroporté fonctionnent sur le même mécanisme physique. Cependant, les informations tridimensionnelles du scanner laser ne sont pas complètement explorées dans les méthodes actuelles et les théories traditionnelles ont besoin d'adaptation. Dans cette thèse, le modèle de distribution de longueur de trajet est introduit pour corriger l'effet d’agrégation, et il est appliqué aux données du scanner laser terrestre et du scanner laser aéroporté. La méthode d'obtention de la distribution de longueur de trajet de différentes plates-formes est étudiée et le modèle de récupération cohérent est établi. Cette méthode permet d’améliorer la mesure du LAI des arbres individuels dans les zones urbaines et la cartographie LAI dans les forêts naturelles, et ses résultats sont cohérents à différentes échelles. Le modèle devrait faciliter la détermination cohérente de l'indice de surface foliaire des forêts à l'aide de données au sol et aéroportées. / Leaf Area Index (LAI), defined as one half of the total leaf area per unit ground surface area, is a key parameter of vegetation structure for modeling Earth's ecological cycle and its acquisition accuracy always has the need and opportunity for improvement. Active laser scanning provides an opportunity for consistent LAI retrieval at multiple scales because terrestrial laser scanning (TLS) and airborne laser scanning (ALS) have the similar physical mechanism. However, the three-dimensional information of laser scanning is not fully explored in current methods and the traditional theories require adaptation. In this thesis, the path length distribution model is proposed to model the clumping effect, and it is applied to the TLS and ALS data. The method of obtaining the path length distribution of different platforms is studied, and the consistent retrieval model is established. This method is found to improve the individual tree measurement in urban areas and LAI mapping in natural forest, and its results at consistent at different scales. The model is expected to facilitate the consistent retrieval of the forest leaf area index using ground and airborne data. Indice de surface foliaire Effet d’agrégation Scanner laser terrestre Scanner laser aéroporté Arbre individuel urbain Forêt naturelle Leaf area index Clumping effect Path length distribution model Terrestrial laser scanner Airborne laser scanning Urban individual tree Natural forest 551 621.367
96	3D skenování pomocí proximitního planárního skeneru / 3D Scanning with Proximity Planar Scanner Chromý, Adam January 2013 (has links) Tato práce popisuje konstrukci skenovacího systému pro tvorbu trojrozměrných modelů. Kombinace laserového scanneru a robotického manipulátoru tvoří velice flexibilní zařízení schopné snímat jak velké, tak malé a detailní objekty. Zařízení nachází uplatnění v mnoha aplikacích, zejména v lékařství, kde přináší řadu nesporných výhod proti stávajícím systémům. Práce popisuje mechanickou konstrukci zařízení, funkční principy a jeho kalibrační proceduru. Součástí práce je i software pro vizualizaci naměřených dat a jejich zpracování do podoby modelů se stínovaným povrchem. Výsledkem práce je funkční zařízení a rozsáhlý obslužný software.
97	Development of Sensitive In Vitro Assays to Assess the Ocular Toxicity Potential of Chemicals and Ophthalmic Products McCanna, David January 2009 (has links) The utilization of in vitro tests with a tiered testing strategy for detection of mild ocular irritants can reduce the use of animals for testing, provide mechanistic data on toxic effects, and reduce the uncertainty associated with dose selection for clinical trials. The first section of this thesis describes how in vitro methods can be used to improve the prediction of the toxicity of chemicals and ophthalmic products. The proper utilization of in vitro methods can accurately predict toxic threshold levels and reduce animal use in product development. Sections two, three and four describe the development of new sensitive in vitro methods for predicting ocular toxicity. Maintaining the barrier function of the cornea is critical for the prevention of the penetration of infections microorganisms and irritating chemicals into the eye. Chapter 2 describes the development of a method for assessing the effects of chemicals on tight junctions using a human corneal epithelial and canine kidney epithelial cell line. In Chapter 3 a method that uses a primary organ culture for assessing single instillation and multiple instillation toxic effects is described. The ScanTox system was shown to be an ideal system to monitor the toxic effects over time as multiple readings can be taken of treated bovine lenses using the nondestructive method of assessing for the lens optical quality. Confirmations of toxic effects were made with the utilization of the viability dye alamarBlue. Chapter 4 describes the development of sensitive in vitro assays for detecting ocular toxicity by measuring the effects of chemicals on the mitochondrial integrity of bovine cornea, bovine lens epithelium and corneal epithelial cells, using fluorescent dyes. The goal of this research was to develop an in vitro test battery that can be used to accurately predict the ocular toxicity of new chemicals and ophthalmic formulations. By comparing the toxicity seen in vivo animals and humans with the toxicity response in these new in vitro methods, it was demonstrated that these in vitro methods can be utilized in a tiered testing strategy in the development of new chemicals and ophthalmic formulations. in vitro Alternative Methods alamarBlue rhodamine tight junctions bovine lens viability toxicity mitochondria mitochondria integrity benzalkonium chloride sodium dodecyl sulphate sodium lauryl sulfate scanning electron microscopy Draize Draize maximal average scores zonula occludens cosmetic directive PETA humane society animal league ICCVAM ECVAM JaCVAM BCOP bovine cornea ocular irritants ocular irritation ocular toxicity human corneal epithelial cells vitro confocal confocal microscopy metabolic activity optical quality reactive oxygen species contact lens contact lens care solutions barrier function microbial keratitis mulitipurpose solutions tight junction cell damage claudin ZO-1 occludin MDCK Madin Madin-Darby canine kidney cells cornea human cornea human corneal epithelium epithelial cell line human corneal epithelial cell line sodium fluorescein sodium fluorescein permeability fluorescein permeability ocular surface cell monolayer Araki-Sasaki cell physiology risk assessment safety assessment ScanTox scanning laser lens epithelium corneal cells in vitro model ophthalmic formulations multiple instillation back vertex animal testing rabbit testing alternatives to animal testing cultured bovine lens toxicity of chemicals irritation irritants laser scanner organ culture delayed toxicity toxins hydrogen peroxide cornea toxicity cornea toxicity models prediction of human toxicity no observable adverse effect level lowest observable adverse effect level NOAEL LOAEL toxicity thresholds safety factors cornea uncertainty factors preservatives disinfectants ophthalmic products preclinical preclinical testing epithelial barrier drug penetration clinical confocal microscopy animal rights rabbit cornea human cornea human clinical effects toxic animal rights activist sensitive measures toxic effect toxicity threshold agar overlay agar diffusion agar overlay method agar diffusion method cytochrome cytochrome c apoptosis necrotic apoptotic necrosis caspase rhodamine 123 resazuran resorufin cell death cell viability metabolic dye microsomal microsomal enzymes cytotoxicity cytotoxic cytotoxic effect MTT XTT WST-1 plasma membrane mitochondrial mitochondrial morphology ocular toxicity potential ocular toxicity human corneal epithelial cell line confocal analysis corneal epithelium cell fluorescence alamarBlue assay rhodamine dye animal welfare toxic injury degraded mitochondria epithelial monolayer disinfectants membrane integrity eye toxicity eye viability dye toxicity in humans human toxicity effects on the mitochondria mitochondrial toxicity in vitro battery in vitro test battery ophthalmic eye drop direct contact product safety cytotoxicity potential molecular molecular biology refine reduce replace sensitivity and relevance sensitivity relevance rabbit ocular irritation test product development cytotoxicity models cytotoxicity alternative methods replacements for animal testing three r's beagle tiered testing tiered testing strategy replacements animal testing mechanistic toxicity cornea mitochondria dose response threshold Vision Science and Biology
98	Development of Sensitive In Vitro Assays to Assess the Ocular Toxicity Potential of Chemicals and Ophthalmic Products McCanna, David January 2009 (has links) The utilization of in vitro tests with a tiered testing strategy for detection of mild ocular irritants can reduce the use of animals for testing, provide mechanistic data on toxic effects, and reduce the uncertainty associated with dose selection for clinical trials. The first section of this thesis describes how in vitro methods can be used to improve the prediction of the toxicity of chemicals and ophthalmic products. The proper utilization of in vitro methods can accurately predict toxic threshold levels and reduce animal use in product development. Sections two, three and four describe the development of new sensitive in vitro methods for predicting ocular toxicity. Maintaining the barrier function of the cornea is critical for the prevention of the penetration of infections microorganisms and irritating chemicals into the eye. Chapter 2 describes the development of a method for assessing the effects of chemicals on tight junctions using a human corneal epithelial and canine kidney epithelial cell line. In Chapter 3 a method that uses a primary organ culture for assessing single instillation and multiple instillation toxic effects is described. The ScanTox system was shown to be an ideal system to monitor the toxic effects over time as multiple readings can be taken of treated bovine lenses using the nondestructive method of assessing for the lens optical quality. Confirmations of toxic effects were made with the utilization of the viability dye alamarBlue. Chapter 4 describes the development of sensitive in vitro assays for detecting ocular toxicity by measuring the effects of chemicals on the mitochondrial integrity of bovine cornea, bovine lens epithelium and corneal epithelial cells, using fluorescent dyes. The goal of this research was to develop an in vitro test battery that can be used to accurately predict the ocular toxicity of new chemicals and ophthalmic formulations. By comparing the toxicity seen in vivo animals and humans with the toxicity response in these new in vitro methods, it was demonstrated that these in vitro methods can be utilized in a tiered testing strategy in the development of new chemicals and ophthalmic formulations. in vitro Alternative Methods alamarBlue rhodamine tight junctions bovine lens viability toxicity mitochondria mitochondria integrity benzalkonium chloride sodium dodecyl sulphate sodium lauryl sulfate scanning electron microscopy Draize Draize maximal average scores zonula occludens cosmetic directive PETA humane society animal league ICCVAM ECVAM JaCVAM BCOP bovine cornea ocular irritants ocular irritation ocular toxicity human corneal epithelial cells vitro confocal confocal microscopy metabolic activity optical quality reactive oxygen species contact lens contact lens care solutions barrier function microbial keratitis mulitipurpose solutions tight junction cell damage claudin ZO-1 occludin MDCK Madin Madin-Darby canine kidney cells cornea human cornea human corneal epithelium epithelial cell line human corneal epithelial cell line sodium fluorescein sodium fluorescein permeability fluorescein permeability ocular surface cell monolayer Araki-Sasaki cell physiology risk assessment safety assessment ScanTox scanning laser lens epithelium corneal cells in vitro model ophthalmic formulations multiple instillation back vertex animal testing rabbit testing alternatives to animal testing cultured bovine lens toxicity of chemicals irritation irritants laser scanner organ culture delayed toxicity toxins hydrogen peroxide cornea toxicity cornea toxicity models prediction of human toxicity no observable adverse effect level lowest observable adverse effect level NOAEL LOAEL toxicity thresholds safety factors cornea uncertainty factors preservatives disinfectants ophthalmic products preclinical preclinical testing epithelial barrier drug penetration clinical confocal microscopy animal rights rabbit cornea human cornea human clinical effects toxic animal rights activist sensitive measures toxic effect toxicity threshold agar overlay agar diffusion agar overlay method agar diffusion method cytochrome cytochrome c apoptosis necrotic apoptotic necrosis caspase rhodamine 123 resazuran resorufin cell death cell viability metabolic dye microsomal microsomal enzymes cytotoxicity cytotoxic cytotoxic effect MTT XTT WST-1 plasma membrane mitochondrial mitochondrial morphology ocular toxicity potential ocular toxicity human corneal epithelial cell line confocal analysis corneal epithelium cell fluorescence alamarBlue assay rhodamine dye animal welfare toxic injury degraded mitochondria epithelial monolayer disinfectants membrane integrity eye toxicity eye viability dye toxicity in humans human toxicity effects on the mitochondria mitochondrial toxicity in vitro battery in vitro test battery ophthalmic eye drop direct contact product safety cytotoxicity potential molecular molecular biology refine reduce replace sensitivity and relevance sensitivity relevance rabbit ocular irritation test product development cytotoxicity models cytotoxicity alternative methods replacements for animal testing three r's beagle tiered testing tiered testing strategy replacements animal testing mechanistic toxicity cornea mitochondria dose response threshold Vision Science and Biology

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