Thesis (M.S.)--California Polytechnic State University, 2009. / Title from PDF title page; viewed on August 3, 2009. Major professor: Daniel Biezad, Ph.D. "Presented to the faculty of California Polytechnic State University, San Luis Obispo." "In partial fulfillment of the requirements for the degree of Master of Science in Aerospace Engineering." "May 2009." Includes bibliographical references (p. 90-91). Also available on microfiche.

Thesis (M.Eng.) -- Memorial University of Newfoundland. / Typescript. Bibliography: leaves 122-125. Also available online.

Thesis (M.S. in Mechanical Engineering)--Naval Postgraduate School, March 2005. / Thesis Advisor(s): Fotis Papoulias. Includes bibliographical references (p. 63-64). Also available online.

Thesis (M. S.)--Aerospace Engineering, Georgia Institute of Technology, 2007. / Boff, Kenneth, Committee Member ; Johnson, Eric, Committee Co-Chair ; Pritchett, Amy, Committee Chair.

Thesis (M.S.)--Ohio University, November, 2006. / Title from PDF t.p. Includes bibliographical references.

Thesis (MTech (Mechanical Engineering))--Cape Peninsula University of Technology, 2017. / Small and micro unmanned aerial vehicles (UAV) are rapidly becoming viable platforms for surveillance, aerial photography, firefighting and even package delivery. While these UAVs that are of the rotorcraft type require little to no extra infrastructure for their deployment, they are typically saddled with short ranges and endurance, thus placing a restriction on their usage. On the other hand, UAVs that are of fixed wing type generally have longer range and endurance but often require a runway for take-off and landing which places a restriction on their usage. This project focuses on the development of a vertical take-off and landing (VTOL) UAV demonstrator suitable for integration on a small or mini flying wing UAV (a fixed wing UAV) to counteract the take-off and landing limitations of fixed wing type UAVs. This thesis first presents a propulsion characterisation experiment designed to determine the thrust and moment properties of a select set of propulsion system components. The results of the characterisation experiment identified that the propulsion set of a Turnigy C6374 – 200 brushless out runner electric motor driving a 22 x 10 inch three bladed propeller will provide approximately 79N (8kg) of thrust at 80% throttle (4250rpm). Therefore, two of these propulsion set would satisfy the platform requirement of 12kg maximum take-off mass (MTOM). The result of the abovementioned experiment, together with the VTOL platform requirements were then used as considerations for the selection of the suitable VTOL method and consequently the design of the propulsion configuration. Following a comparison of VTOL methods, the tilt-rotor is identified as the most suitable VTOL method and a variable speed twin prop concept as the optimal propulsion configuration.

Thesis--School of Advanced Airpower Studies, 1996. / Shipping list no.: 1998-0921-M. "August 1997." Includes bibliographical references. Also available via Internet from the Air University Press web site. Address as of 11/3/03: http://aupress.au.af.mil/SAAS%5FTheses/Renehan/renehen.pdf; current access is available via PURL.

Thesis (PhD (Electrical and Electronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: Autonomous vehicles have recently received much attention from researchers. The prospect of safe and reliable autonomous vehicles for general, unregulated environments promises several advantages over human-controlled vehicles, including increased efficiency, reliability and capability with the associated decrease in danger to humans and reduction in operating costs. A critical requirement for the safe operation of fully autonomous vehicles is their ability to avoid collisions with obstacles and other vehicles. In addition, they are often required to maintain a minimum separation from obstacles and other vehicles, which is called conflict avoidance. The research presented in thesis focuses on methods for effective conflict avoidance. Existing conflict avoidance methods either make limiting assumptions or cannot execute in real-time due to computational complexity. This thesis proposes methods for real-time conflict avoidance in uncertain, cluttered and dynamic environments. These methods fall into the category of non-cooperative conflict avoidance. They allow very general vehicle and environment models, with the only notable assumption being that the position and velocity states of the vehicle and obstacles have a jointly Gaussian probability distribution. Conflict avoidance for fully autonomous vehicles consists of three functions, namely modelling and identification of the environment, conflict detection and conflict resolution. We present an architecture for such a system that ensures stable operation. The first part of this thesis comprises the development of a novel and efficient probabilistic conflict detection method. This method processes the predicted vehicle and environment states to compute the probability of conflict for the prediction period. During the method derivation, we introduce the concept of the flow of probability through the boundary of the conflict region, which enables us to significantly reduce the complexity of the problem. The method also assumes Gaussian distributed states and defines a tight upper bound to the conflict probability, both of which further reduce the problem complexity, and then uses adaptive numerical integration for efficient evaluation. We present the results of two simulation examples which show that the proposed method can calculate in real-time the probability of conflict for complex and cluttered environments and complex vehicle maneuvers, offering a significant improvement over existing methods. The second part of this thesis adapts existing kinodynamic motion planning algorithms for conflict resolution in uncertain, dynamic and cluttered environments. We use probabilistic roadmap methods and suggest three changes to them, namely using probabilistic conflict detection methods, sampling the state-time space instead of the state space and batch generation of samples. In addition, we propose a robust and adaptive way to choose the size of the sampling space using a maximum least connection cost bound. We then put all these changes together in a proposed motion planner for conflict resolution. We present the results of two simulation examples which show that the proposed motion planner can only find a feasible path in real-time for simple and uncluttered environments. However, the manner in which we handle uncertainty and the sampling space bounds offer significant contributions to the conflict resolution field / AFRIKAANSE OPSOMMING: Outonome voertuie het die afgelope tyd heelwat aandag van navorsers geniet. Die vooruitsig van veilige en betroubare outonome voertuie vir algemene en ongereguleerde omgewings beloof verskeie voordele bo menslik-beheerde voertuie en sluit hoër effektiwiteit, betroubaarheid en vermoëns asook die gepaardgaande veiligheid vir mense en laer bedryfskoste in. ’n Belangrike vereiste vir die veilige bedryf van volledig outonome voertuie is hul vermoë om botsings met hindernisse en ander voertuie te vermy. Daar word ook dikwels van hulle vereis om ’n minimum skeidingsafstand tussen hulle en die hindernisse of ander voertuie te handhaaf – dit word konflikvermyding genoem. Die navorsing in hierdie tesis fokus op metodes vir effektiewe konflikvermyding. Bestaande konflikvermydingsmetodes maak óf beperkende aannames óf voer te stadig uit as gevolg van bewerkingskompleksiteit. Hierdie tesis stel metodes voor vir intydse konflikvermyding in onsekere en dinamiese omgewings wat ook baie hindernisse bevat. Die voorgestelde metodes val in die klas van nie-samewerkende konflikvermydingsmetodes. Hulle kan algemene voertuig- en omgewingsmodelle hanteer en hul enigste noemenswaardige aanname is dat die posisie- en snelheidstoestande van die voertuig en hindernisse Gaussiese waarskynliksheidverspreidings toon. Konflikvermyding vir volledig outonome voertuie bestaan uit drie stappe, naamlik modellering en identifikasie van die omgewing, konflikdeteksie en konflikresolusie. Ons bied ’n argitektuur vir so ’n stelsel aan wat stabiele werking verseker. Die eerste deel van die tesis beskryf die ontwikkeling van ’n oorspronklike en doeltreffende metode vir waarskynliksheid-konflikdeteksie. Die metode gebruik die voorspelde toestande van die voertuig en omgewing en bereken die waarskynlikheid van konflik vir die betrokke voorspellingsperiode. In die afleiding van die metode definiëer ons die konsep van waarskynliksheidvloei oor die grens van die konflikdomein. Dit stel ons in staat om die kompleksiteit van die probleem beduidend te verminder. Die metode aanvaar ook Gaussiese waarskynlikheidsverspreiding van toestande en definiëer ’n nou bogrens tot die waarskynlikheid van konflik om die kompleksiteit van die probleem verder te verminder. Laastens gebruik die metode aanpasbare integrasiemetodes vir vinnige berekening van die waarskynlikheid van konflik. Die eerste deel van die tesis sluit af met twee simulasies wat aantoon dat die voorgestelde konflikdeteksiemetode in staat is om die waarskynlikheid van konflik intyds te bereken, selfs vir komplekse omgewings en voertuigbewegings. Die metode lewer dus ’n beduidende bydrae tot die veld van konflikdeteksie. Die tweede deel van die tesis pas bestaande kinodinamiese beplanningsalgoritmes aan vir konflikresolusie in komplekse omgewings. Ons stel drie veranderings voor, naamlik die gebruik van waarskynliksheid-konflikdeteksiemetodes, die byvoeg van ’n tyd-dimensie in die monsterruimte en die generasie van meervoudige monsters. Ons stel ook ’n robuuste en aanpasbare manier voor om die grootte van die monsterruimte te kies. Al die voorafgaande voorstelle word saamgevoeg in ’n beplanner vir konflikresolusie. Die tweede deel van die tesis sluit af met twee simulasies wat aantoon dat die voorgestelde beplanner slegs intyds ’n oplossing kan vind vir eenvoudige omgewings. Die manier hoe die beplanner onsekerheid hanteer en die begrensing van die monsterruimte lewer egter waardevolle bydraes tot die veld van konflikresolusie

Marine search and rescue activities have been plagued with the problem of risking the lives of rescuers in rescue operations. With increasing developments in sensor technologies, it became a necessity in the marine search and rescue community to develop an autonomous marine craft to assist in rescue operations. Autonomy of marine craft requires a robust localization technique and process. To apply robust localization to marine craft, GPS technology was used to determine the position of the marine craft at any given point in time. Given that the operational environment of the marine was at open air, river, sea etc. GPS signal was always available to the marine craft as there are no obstructions to GPS signal. Adequate cognizance of the current position and states of an unmanned marine craft was a critical requirement for navigation of an unmanned surface vehicle (USV). The unmanned surface vehicle uses GPS in conjunction with state estimated solution provided by inertial sensors. In the absence of the GPS signal, navigation is resumed with a digital compass and inertial sensors to such a time when the GPS signal becomes accessible. GPS based navigation can be used for an unmanned marine craft with the mathematical modelling of the craft meeting the functional requirements of an unmanned marine craft. A low cost GPS unit was used in conjunction with a low cost inertial measurement unit (IMU) with sonar for obstacle detection. The use of sonar in navigation algorithm of marine craft was aimed at surveillance of the operational environment of the marine craft to detect obstacles on its path of motion. Inertial sensors were used to determine the attitude of the marine craft in motion. / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2011.

Thesis (MEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2009. / This thesis relates to the successful development of an unmanned terrestrial vehicle (UTV) capable of operating in an obstacle ridden environment. The primary focus of the project is on the specific path planning algorithms. It is shown that specific methods of populating the obstacle-free space can be combined with methods of extracting the shortest path from these popula- tions. Through use of such combinations the successful generation of optimal collision-free paths is demonstrated. Previously developed modular architectures are combined and modified to create a UTV platform which meets all the requirements for implementation of navigational systems and path planning algorithms on board the platform. A two-dimensional kinematic state estimator is developed. This estimator makes use of extended Kalman Filter theory to optimally combine measurements from low cost sensors to yield the vehicle’s state vector. Lateral guidance controllers are developed to utilize this estimated state vector in a feedback control configuration. The entire system is then successfully demonstrated within a simulation environment. Finally, practical results from two days of test runs are provided in both written and interactive form