3,947 research outputs found
Domesticating AI in medical diagnosis
We consider the anticipated adoption of Artificial Intelligence (AI) in medical diagnosis. We examine how seemingly compelling claims are tested as AI tools move into real-world settings and discuss how analysts can develop effective understandings in novel and rapidly changing settings.Four case studies highlight the challenges of utilising diagnostic AI tools at differing stages in their innovation journey. Two ‘upstream’ cases seeking to demonstrate the practical applicability of AI and two ‘downstream’ cases focusing on the roll out and scaling of more established applications.We observed an unfolding uncoordinated process of social learning capturing two key moments: i) experiments to create and establish the clinical potential of AI tools; and, ii) attempts to verify their dependability in clinical settings while extending their scale and scope. Health professionals critically appraise tool performance, relying on them selectively where their results can be demonstrably trusted, in a de facto model of responsible use. We note a shift from procuring stand-alone solutions to deploying suites of AI tools through platforms to facilitate adoption and reduce the costs of procurement, implementation and evaluation which impede the viability of stand-alone solutions.New conceptual frameworks and methodological strategies are needed to address the rapid evolution of AI tools as they move from research settings and are deployed in real-world care across multiple settings. We observe how, in this process of deployment, AI tools become ‘domesticated’. We propose longitudinal and multisite `biographical’ investigations of medical AI rather than snapshot studies of emerging technologies that fail to capture change and variation in performance across contexts
Deposition dynamics and analysis of polyurethane foam structure boundaries for Aerial Additive Manufacturing
Additive manufacturing in construction typically consists of ground-based platforms. Introducing aerial capabilities offers scope to create or repair structures in dangerous or elevated locations. The Aerial Additive Manufacturing (AAM) project has developed a pioneering approach using Unmanned Aerial Vehicles (UAV, ‘drones’) to deposit material during self-powered, autonomous, untethered flight. This study investigates high and low-density foams autonomously deposited as structural and insulation materials. Drilling resistance, mechanical, thermal and microscopy tests investigate density variation, interfacial integrity and thermal stability. Autonomous deposition is demonstrated using a flying UAV and robotic arm. Results reveal dense material at interfaces and directionally dependent cell expansion during foaming. Cured interfacial regions are vulnerable to loading parallel to interfaces but resistant to perpendicular loading. Mitigation of trajectory printing errors caused by UAV flight disturbance is demonstrated by a stabilising end effector, with trajectory errors ≤10 mm. AAM provides a significant development towards on-site automation in construction
Pristup specifikaciji i generisanju proizvodnih procesa zasnovan na inženjerstvu vođenom modelima
In this thesis, we present an approach to the production process specification and generation based on the model-driven paradigm, with the goal to increase the flexibility of factories and respond to the challenges that emerged in the era of Industry 4.0 more efficiently. To formally specify production processes and their variations in the Industry 4.0 environment, we created a novel domain-specific modeling language, whose models are machine-readable. The created language can be used to model production processes that can be independent of any production system, enabling process models to be used in different production systems, and process models used for the specific production system. To automatically transform production process models dependent on the specific production system into instructions that are to be executed by production system resources, we created an instruction generator. Also, we created generators for different manufacturing documentation, which automatically transform production process models into manufacturing documents of different types. The proposed approach, domain-specific modeling language, and software solution contribute to introducing factories into the digital transformation process. As factories must rapidly adapt to new products and their variations in the era of Industry 4.0, production must be dynamically led and instructions must be automatically sent to factory resources, depending on products that are to be created on the shop floor. The proposed approach contributes to the creation of such a dynamic environment in contemporary factories, as it allows to automatically generate instructions from process models and send them to resources for execution. Additionally, as there are numerous different products and their variations, keeping the required manufacturing documentation up to date becomes challenging, which can be done automatically by using the proposed approach and thus significantly lower process designers' time.У овој дисертацији представљен је приступ спецификацији и генерисању производних процеса заснован на инжењерству вођеном моделима, у циљу повећања флексибилности постројења у фабрикама и ефикаснијег разрешавања изазова који се појављују у ери Индустрије 4.0. За потребе формалне спецификације производних процеса и њихових варијација у амбијенту Индустрије 4.0, креиран је нови наменски језик, чије моделе рачунар може да обради на аутоматизован начин. Креирани језик има могућност моделовања производних процеса који могу бити независни од производних система и тиме употребљени у различитим постројењима или фабрикама, али и производних процеса који су специфични за одређени систем. Како би моделе производних процеса зависних од конкретног производног система било могуће на аутоматизован начин трансформисати у инструкције које ресурси производног система извршавају, креиран је генератор инструкција. Такође су креирани и генератори техничке документације, који на аутоматизован начин трансформишу моделе производних процеса у документе различитих типова. Употребом предложеног приступа, наменског језика и софтверског решења доприноси се увођењу фабрика у процес дигиталне трансформације. Како фабрике у ери Индустрије 4.0 морају брзо да се прилагоде новим производима и њиховим варијацијама, неопходно је динамички водити производњу и на аутоматизован начин слати инструкције ресурсима у фабрици, у зависности од производа који се креирају у конкретном постројењу. Тиме што је у предложеном приступу могуће из модела процеса аутоматизовано генерисати инструкције и послати их ресурсима, доприноси се креирању једног динамичког окружења у савременим фабрикама. Додатно, услед великог броја различитих производа и њихових варијација, постаје изазовно одржавати неопходну техничку документацију, што је у предложеном приступу могуће урадити на аутоматизован начин и тиме значајно уштедети време пројектаната процеса.U ovoj disertaciji predstavljen je pristup specifikaciji i generisanju proizvodnih procesa zasnovan na inženjerstvu vođenom modelima, u cilju povećanja fleksibilnosti postrojenja u fabrikama i efikasnijeg razrešavanja izazova koji se pojavljuju u eri Industrije 4.0. Za potrebe formalne specifikacije proizvodnih procesa i njihovih varijacija u ambijentu Industrije 4.0, kreiran je novi namenski jezik, čije modele računar može da obradi na automatizovan način. Kreirani jezik ima mogućnost modelovanja proizvodnih procesa koji mogu biti nezavisni od proizvodnih sistema i time upotrebljeni u različitim postrojenjima ili fabrikama, ali i proizvodnih procesa koji su specifični za određeni sistem. Kako bi modele proizvodnih procesa zavisnih od konkretnog proizvodnog sistema bilo moguće na automatizovan način transformisati u instrukcije koje resursi proizvodnog sistema izvršavaju, kreiran je generator instrukcija. Takođe su kreirani i generatori tehničke dokumentacije, koji na automatizovan način transformišu modele proizvodnih procesa u dokumente različitih tipova. Upotrebom predloženog pristupa, namenskog jezika i softverskog rešenja doprinosi se uvođenju fabrika u proces digitalne transformacije. Kako fabrike u eri Industrije 4.0 moraju brzo da se prilagode novim proizvodima i njihovim varijacijama, neophodno je dinamički voditi proizvodnju i na automatizovan način slati instrukcije resursima u fabrici, u zavisnosti od proizvoda koji se kreiraju u konkretnom postrojenju. Time što je u predloženom pristupu moguće iz modela procesa automatizovano generisati instrukcije i poslati ih resursima, doprinosi se kreiranju jednog dinamičkog okruženja u savremenim fabrikama. Dodatno, usled velikog broja različitih proizvoda i njihovih varijacija, postaje izazovno održavati neophodnu tehničku dokumentaciju, što je u predloženom pristupu moguće uraditi na automatizovan način i time značajno uštedeti vreme projektanata procesa
Breeding Melons for Resistance to Viral and Fungal Diseases. Exploiting the Multi-Resistant Accession TGR-1551
[ES] Las cucurbitáceas son la segunda familia de hortícolas más importante a nivel mundial, solo por detrás de las solanáceas. Tradicionalmente su cultivo se ha llevado a cabo en las zonas templadas del planeta. Sin embargo, las condiciones de cambio climático, el comercio internacional y los modelos de agricultura intensiva favorecen la aparición de nuevas virosis y enfermedades fúngicas en zonas donde antes no estaban presentes. En este sentido, resulta esencial el monitoreo periódico de las principales zonas productoras, para así poder detectar los virus y hongos emergentes en cada territorio y adaptar los programas de mejora a los objetivos específicos de cada zona. En el caso concreto del melón (Cucumis melo) existe una gran variabilidad intraespecífica que puede servir como fuente de alelos de resistencia frente a estos patógenos. Sin embargo, las fuentes de resistencia suelen encontrarse dentro del germoplasma silvestre, normalmente originario de África o Asia, y en el que el nivel de domesticación es reducido. Para un mejor aprovechamiento de las accesiones resistentes, resulta necesario un estudio del control genético de los caracteres de interés, que permita localizar las regiones asociadas a la resistencia y diseñar marcadores moleculares asociadas a las mismas. Esto facilita los programas de mejora orientados a la introgresión de las resistencias manteniendo el fondo genético de las variedades de interés
En la presente tesis doctoral, durante las campañas de verano de 2019 y 2020, se ha llevado a cabo un estudio de la incidencia y diversidad genética de 9 especies virales potencialmente limitantes para el cultivo de cucurbitáceas en el sur este español. Se ha podido observar que los virus transmitidos por pulgones son prevalentes frente a los transmitidos por mosca blanca. Dentro del primer grupo destacó la presencia de watermelon mosaic virus (WMV), cucurbits aphid borne yellows virus (CABYV) y cucumber mosaic virus (CMV), ya que fueron detectados en todas las zonas y cultivos estudiados, apareciendo frecuentemente en infecciones mixtas. Moroccan watermelon mosaic virus (MWMV) y tomato leaf curl New Delhi virus (ToLCNDV) también fueron detectados en algunas zonas, pero con porcentajes de infección más bajos y normalmente en infecciones mixtas con WMV. Los análisis filogenéticos de los distintos aislados encontrados ha permitido la identificación de 7 nuevos perfiles moleculares de WMV y de aislados recombinantes de CMV, lo que es consistente con los resultados obtenidos en otros países y pone de manifiesto la gran variabilidad de estos patógenos.
Las accesiones silvestres de melón recogidas en distintos bancos de germoplasma son un valioso recurso para los programas de mejora genética frente a estreses bióticos. La accesión africana TGR-1551 ha sido descrita previamente como resistente a WMV, CYSDV (cucurbit yellow stunting disorder virus), CABYV y el hongo Podosphaera xanthii (Px, razas 1, 2 y 5) agente causal del oídio en melón. Además, es tolerante a la mosca blanca (Bemisia tabaci) y portadora del gen Vat (virus aphid transmission), el cual limita la transmisión de virus por pulgón. Por lo tanto, esta accesión constituye una buena fuente de alelos de resistencia y, al poder utilizar un único parental donante, su uso acortaría los programas de mejora.
En el marco de la presente tesis doctoral, mediante el desarrollo de poblaciones segregantes de mapeo y el aprovechamiento de las tecnologías de genotipado masivo se han podido cartografiar los QTLs asociados a la resistencia a CYSDV derivados de esta entrada. En el caso de la resistencia a CYSDV, se han detectado dos QTL en el cromosoma 5. El primero de ellos es de efecto mayor y herencia dominante, estando asociado al desarrollo de síntomas. El segundo QTL, de efecto menor y también de herencia dominante, no confiere resistencia por sí mismo y está asociado a la carga viral durante la infección. Siguiendo una estrategia similar se han podido cartografiar y estrecha[CA] Les cucurbitàcies són la segona família d'hortícoles més important a nivell mundial, només per darrere de les solanàcies. Tradicionalment el seu cultiu s'ha dut a terme a les zones temperades del planeta. No obstant això, les condicions de canvi climàtic, el comerç internacional i els models d'agricultura intensiva afavoreixen l'aparició de noves virosis i malalties fúngiques en zones on abans no estaven presents. En aquest sentit, resulta essencial el monitoratge periòdic de les principals zones productores, per a d'aquesta manera, poder detectar els virus i fongs emergents en cada territori i adaptar els programes de millora als objectius específics de cada zona. En el cas concret del meló (Cucumis melo) existeix una gran variabilitat intraespecífica que pot servir com a font d'al·lels de resistència enfront d'aquests patògens. No obstant això, les fonts de resistència solen trobar-se dins del germoplasma silvestre, normalment originari d'Àfrica o Àsia, i en el qual el nivell de domesticació és reduït. Per a un millor aprofitament de les accessions resistents, resulta necessari un estudi del control genètic dels caràcters d'interés, que permeta localitzar les regions associades a la resistència i dissenyar marcadors moleculars associats a aquestes. Això facilita els programes de millora orientats a la introgressió de les resistències mantenint el fons genètic de les varietats d'interés.
En la present tesi doctoral, durant les campanyes d'estiu de 2019 i 2020, s'ha dut a terme un estudi de la incidència i diversitat genètica de nou espècies virals potencialment limitants per al cultiu de cucurbitàcies en el sud-est espanyol. S'ha pogut observar que els virus transmesos per pugons són prevalents enfront dels transmesos per mosca blanca. Dins del primer grup va destacar la presència de watermelon mosaic virus (WMV), cucurbits aphid born yellows virus (CABYV) i cucumber mosaic virus (CMV), ja que van ser detectats en totes les zones i cultius estudiats, apareixent sovint en infeccions mixtes. Moroccan watermelon mosaic virus (MWMV) i tomatoleaf curl New Delhi virus (ToLCNDV) també van ser detectats en algunes zones, però amb percentatges d'infecció més baixos i normalment en infeccions mixtes amb WMV. Les anàlisis filogenètiques dels diferents aïllats trobats ha permés la identificació de set nous perfils moleculars de WMV i d'aïllats recombinants de CMV, la qual cosa és consistent amb els resultats obtinguts en altres països i posa de manifest la gran variabilitat d'aquests patògens.
Les accessions silvestres de meló recollides en diferents bancs de germoplasma són un valuós recurs per als programes de millora genètica enfront d'estressos biòtics. L'accessió africana *TGR-1551 ha sigut descrita prèviament com a resistent a WMV, CYSDV (cucurbit yellow stunting disorder virus), CABYV i el fong Podosphaera xanthii (Px, races 1, 2 i 5) agent causal de l'oïdi en meló. A més, és tolerant a la mosca blanca (Bemisia tabaci) i portadora del gen Vat (virus aphid transmission), el qual limita la transmissió de virus per pugó. Per tant, aquesta accessió constitueix una bona font d'al·lels de resistència i, en poder utilitzar un únic parental donant, el seu ús acurtaria els programes de millora.
En el marc de la present tesi doctoral, mitjançant el desenvolupament de poblacions segregants de mapatge i l'aprofitament de les tecnologies de genotipat massiu s'ha pogut cartografiar els QTLs associats a la resistència a CYSDV derivats d'aquesta entrada. En el cas de la resistència a CYSDV, s'han detectat dues QTL en el cromosoma cinc. El primer d'ells és d'efecte major i herència dominant, estant associat al desenvolupament de símptomes. El segon QTL, d'efecte menor i també d'herència dominant, no confereix resistència per si mateix i està associat a la càrrega viral durant la infecció. Seguint una estratègia similar s'han pogut cartografiar i estrényer els *QTLs de resistència enfront de Px. En aquest cas es tracta d'una epistàsia dominant-re[EN] Cucurbits represent the second most important horticultural family worldwide, second only the Solanaceae family. Traditionally, their cultivation has been concentrated in temperate regions across the globe. However, climate change conditions, international trade, and intensive agricultural practices are contributing to the emergence of new viral and fungal diseases in regions where they were previously absent. In this regard, it is crucial to regularly monitor major production areas to detect emerging viruses and fungi specific to each region. This monitoring allows for the adaptation of breeding programs to the unique goals of each area.
In the case of melon (Cucumis melo), it exists significant intraspecific variability that can serve as a source of resistance alleles against these pathogens. However, sources of resistance are often found within wild germplasm, typically originating from Africa or Asia, and characterized by limited domestication. To better utilize these resistant accessions, a study of the genetic control of desirable traits is necessary. This study aims to locate regions associated with resistance and design molecular markers linked to these regions. Such an approach streamlines breeding programs focused on introgressing resistance traits while preserving the genetic background of the desired varieties.
During the summer campaigns of 2019 and 2020, this doctoral thesis conducted a study on the incidence and genetic diversity of nine viral species potentially affecting cucurbit cultivation in southeastern Spain. It was observed that viruses transmitted by aphids were more prevalent than those transmitted by whiteflies. Within the first group, the presence of watermelon mosaic virus (WMV), cucurbits aphid borne yellows virus (CABYV), and cucumber mosaic virus (CMV) stood out, as they were detected in all the studied areas and crops, often in mixed infections. Moroccan watermelon mosaic virus (MWMV) and tomato leaf curl New Delhi virus (ToLCNDV) were also detected in some areas but with lower infection percentages, typically in mixed infections with WMV. Phylogenetic analyses of the found isolates have identified seven new molecular profiles of WMV and recombinant CMV isolates, which is consistent with results from other countries, highlighting the extensive variability of these pathogens.
Wild melon accessions preserved in various germplasm banks represent a valuable resource for breeding programs against biotic stresses. The African accession TGR-1551 has been previously described as resistant to WMV, CYSDV (cucurbit yellow stunting disorder virus), CABYV, and the fungus Podosphaera xanthii (Px, races 1, 2, and 5), which causes powdery mildew in melons. Additionally, it is tolerant to whiteflies (Bemisia tabaci) and carries the Vat gene (Virus Aphid Transmission), limiting virus transmission by aphids. Therefore, this accession constitutes as an excellent source of resistance alleles, and its use, as a single donor parent, can expedite breeding programs.
Within the scope of this doctoral thesis, through the development of segregating mapping populations and the utilization of high-throughput genotyping technologies, the QTLs associated with CYSDV resistance from this accession have been mapped. In the case of CYSDV resistance, two QTLs have been detected on chromosome 5. The first of these, with major effects and dominant inheritance, is associated with symptom development. The second QTL, with minor effects and also dominant inheritance, does not confer resistance by itself and is linked to viral load during infection. A similar strategy was employed to map and narrow down the QTLs for resistance against Px. In this case, it involves a dominant-recessive epistasis, with the recessive gene located on chromosome 12 and the dominant gene on chromosome 5, specifically in the same region where the major CYSDV resistance QTL is located.
Regarding resistance against WMV, previous studies conducted by the researchThis research was funded by the Spanish Ministerio de Ciencia e Innovación
(MCIN/AEI/10.13039/501100011033), grant number PID2020-116055RB (C21 and
C22), and by the Conselleria d’Educació, Investigació, Cultura i Esports de la
Generalitat Valenciana, grant number PROMETEO/2021/072 (to promote
excellence groups, cofinanced with FEDER funds). M.L. is a recipient of a
predoctoral fellowship (PRE2018-083466) of the Spanish Ministerio de Ciencia,
Innovación y Universidades co-financed with FSE funds.López Martín, M. (2023). Breeding Melons for Resistance to Viral and Fungal Diseases. Exploiting the Multi-Resistant Accession TGR-1551 [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/20206
Design and Validation of Cyber-Physical Systems Through Co-Simulation: The Voronoi Tessellation Use Case
This paper reports on the use of co-simulation techniques to build prototypes of co-operative autonomous robotic cyber-physical systems. Designing such systems involves a mission-specific planner algorithm, a control algorithm to drive an agent performing its task; and the plant model to simulate the agent dynamics. An application aimed at positioning a swarm of unmanned aerial vehicles (drones) in a bounded area, exploiting a Voronoi tessellation algorithm developed in this work, is taken as a case study. The paper shows how co-simulation allows testing the complex system at the design phase using models created with different languages and tools. The paper then reports on how the adopted co-simulation platform enables control parameters calibration, by exploiting design space exploration technology. The INTO-CPS co-simulation platform, compliant with the Functional Mock-up Interface standard to exchange dynamic simulation models using various languages, was used in this work. The different software modules were written in Modelica, C, and Python. In particular, the latter was used to implement an original variant of the Voronoi algorithm to tesselate a convex polygonal region, by means of dummy points added at appropriate positions outside the bounding polygon. A key contribution of this case study is that it demonstrates how an accurate simulation of a cooperative drone swarm requires modeling the physical plant together with the high-level coordination algorithm. The coupling of co-simulation and design space exploration has been demonstrated to support control parameter calibration to optimize energy consumption and convergence time to the target positions of the drone swarm. From a practical point of view, this makes it possible to test the ability of the swarm to self-deploy in space in order to achieve optimal detection coverage and allow unmanned aerial vehicles in a swarm to coordinate with each other
Multi-feedstock biorefinery concept: Valorization of winery wastes by engineered yeast
The wine industry produces significant amounts of by-products and residues that are not properly managed, posing an environmental problem. Grape must surplus, vine shoots, and wine lees have the potential to be used as renewable resources for the production of energy and chemicals. Metabolic engineering efforts have established Saccharomyces cerevisiae as an efficient microbial cell factory for biorefineries. Current biorefineries designed for producing multiple products often rely on just one feedstock, but the bioeconomy would clearly benefit if these biorefineries could efficiently convert multiple feedstocks. Moreover, to reduce the environmental impact of fossil fuel consumption and maximize production economics, a biorefinery should be capable to supplement the manufacture of biofuel with the production of high-value products. This study proposes an integrated approach for the valorization of diverse wastes resulting from winemaking processes through the biosynthesis of xylitol and ethanol. Using genetically modified S. cerevisiae strains, the xylose-rich hemicellulosic fraction of hydrothermally pretreated vine shoots was converted into xylitol, and the cellulosic fraction was used to produce bioethanol. In addition, grape must, enriched in sugars, was efficiently used as a low-cost source for yeast propagation. The production of xylitol was optimized, in a Simultaneous Saccharification and Fermentation process configuration, by adjusting the inoculum size and enzyme loading. Furthermore, a yeast strain displaying cellulases in the cell surface was applied for the production of bioethanol from the glucan-rich cellulosic. With the addition of grape must and/or wine lees, high ethanol concentrations were reached, which are crucial for the economic feasibility of distillation. This integrated multi-feedstock valorization provides a synergistic alternative for converting a range of winery wastes and by-products into biofuel and an added-value chemical while decreasing waste released to the environment.info:eu-repo/semantics/publishedVersio
Towards a centralized multicore automotive system
Today’s automotive systems are inundated with embedded electronics to host chassis, powertrain, infotainment, advanced driver assistance systems, and other modern vehicle functions. As many as 100 embedded microcontrollers execute hundreds of millions of lines of code in a single vehicle. To control the increasing complexity in vehicle electronics and services, automakers are planning to consolidate different on-board automotive functions as software tasks on centralized multicore hardware platforms. However, these vehicle software services have different and contrasting timing, safety, and security requirements. Existing vehicle operating systems are ill-equipped to provide all the required service guarantees on a single machine. A centralized automotive system aims to tackle this by assigning software tasks to multiple criticality domains or levels according to their consequences of failures, or international safety standards like ISO 26262. This research investigates several emerging challenges in time-critical systems for a centralized multicore automotive platform and proposes a novel vehicle operating system framework to address them.
This thesis first introduces an integrated vehicle management system (VMS), called DriveOS™, for a PC-class multicore hardware platform. Its separation kernel design enables temporal and spatial isolation among critical and non-critical vehicle services in different domains on the same machine. Time- and safety-critical vehicle functions are implemented in a sandboxed Real-time Operating System (OS) domain, and non-critical software is developed in a sandboxed general-purpose OS (e.g., Linux, Android) domain. To leverage the advantages of model-driven vehicle function development, DriveOS provides a multi-domain application framework in Simulink. This thesis also presents a real-time task pipeline scheduling algorithm in multiprocessors for communication between connected vehicle services with end-to-end guarantees. The benefits and performance of the overall automotive system framework are demonstrated with hardware-in-the-loop testing using real-world applications, car datasets and simulated benchmarks, and with an early-stage deployment in a production-grade luxury electric vehicle
Exploration autonome et efficiente de chantiers miniers souterrains inconnus avec un drone filaire
Abstract: Underground mining stopes are often mapped using a sensor located at the end of a pole that the operator introduces into the stope from a secure area. The sensor emits laser beams that provide the distance to a detected wall, thus creating a 3D map. This produces shadow zones and a low point density on the distant walls. To address these challenges, a research team from the Université de Sherbrooke is designing a tethered drone equipped with a rotating LiDAR for this mission, thus benefiting from several points of view. The wired transmission allows for unlimited flight time, shared computing, and real-time communication. For compatibility with the movement of the drone after tether entanglements, the excess length is integrated into an onboard spool, contributing to the drone payload. During manual piloting, the human factor causes problems in the perception and comprehension of a virtual 3D environment, as well as the execution of an optimal mission. This thesis focuses on autonomous navigation in two aspects: path planning and exploration. The system must compute a trajectory that maps the entire environment, minimizing the mission time and respecting the maximum onboard tether length. Path planning using a Rapidly-exploring Random Tree (RRT) quickly finds a feasible path, but the optimization is computationally expensive and the performance is variable and unpredictable. Exploration by the frontier method is representative of the space to be explored and the path can be optimized by solving a Traveling Salesman Problem (TSP) but existing techniques for a tethered drone only consider the 2D case and do not optimize the global path. To meet these challenges, this thesis presents two new algorithms. The first one, RRT-Rope, produces an equal or shorter path than existing algorithms in a significantly shorter computation time, up to 70% faster than the next best algorithm in a representative environment. A modified version of RRT-connect computes a feasible path, shortened with a deterministic technique that takes advantage of previously added intermediate nodes. The second algorithm, TAPE, is the first 3D cavity exploration method that focuses on minimizing mission time and unwound tether length. On average, the overall path is 4% longer than the method that solves the TSP, but the tether remains under the allowed length in 100% of the simulated cases, compared to 53% with the initial method. The approach uses a 2-level hierarchical architecture: global planning solves a TSP after frontier extraction, and local planning minimizes the path cost and tether length via a decision function. The integration of these two tools in the NetherDrone produces an intelligent system for autonomous exploration, with semi-autonomous features for operator interaction. This work opens the door to new navigation approaches in the field of inspection, mapping, and Search and Rescue missions.La cartographie des chantiers miniers souterrains est souvent réalisée à l’aide d’un capteur situé au bout d’une perche que l’opérateur introduit dans le chantier, depuis une zone sécurisée. Le capteur émet des faisceaux laser qui fournissent la distance à un mur détecté, créant ainsi une carte en 3D. Ceci produit des zones d’ombres et une faible densité de points sur les parois éloignées. Pour relever ces défis, une équipe de recherche de l’Université de Sherbrooke conçoit un drone filaire équipé d’un LiDAR rotatif pour cette mission, bénéficiant ainsi de plusieurs points de vue. La transmission filaire permet un temps de vol illimité, un partage de calcul et une communication en temps réel. Pour une compatibilité avec le mouvement du drone lors des coincements du fil, la longueur excédante est intégrée dans une bobine embarquée, qui contribue à la charge utile du drone. Lors d’un pilotage manuel, le facteur humain entraîne des problèmes de perception et compréhension d’un environnement 3D virtuel, et d’exécution d’une mission optimale. Cette thèse se concentre sur la navigation autonome sous deux aspects : la planification de trajectoire et l’exploration. Le système doit calculer une trajectoire qui cartographie l’environnement complet, en minimisant le temps de mission et en respectant la longueur maximale de fil embarquée. La planification de trajectoire à l’aide d’un Rapidly-exploring Random Tree (RRT) trouve rapidement un chemin réalisable, mais l’optimisation est coûteuse en calcul et la performance est variable et imprévisible. L’exploration par la méthode des frontières est représentative de l’espace à explorer et le chemin peut être optimisé en résolvant un Traveling Salesman Problem (TSP), mais les techniques existantes pour un drone filaire ne considèrent que le cas 2D et n’optimisent pas le chemin global. Pour relever ces défis, cette thèse présente deux nouveaux algorithmes. Le premier, RRT-Rope, produit un chemin égal ou plus court que les algorithmes existants en un temps de calcul jusqu’à 70% plus court que le deuxième meilleur algorithme dans un environnement représentatif. Une version modifiée de RRT-connect calcule un chemin réalisable, raccourci avec une technique déterministe qui tire profit des noeuds intermédiaires préalablement ajoutés. Le deuxième algorithme, TAPE, est la première méthode d’exploration de cavités en 3D qui minimise le temps de mission et la longueur du fil déroulé. En moyenne, le trajet global est 4% plus long que la méthode qui résout le TSP, mais le fil reste sous la longueur autorisée dans 100% des cas simulés, contre 53% avec la méthode initiale. L’approche utilise une architecture hiérarchique à 2 niveaux : la planification globale résout un TSP après extraction des frontières, et la planification locale minimise le coût du chemin et la longueur de fil via une fonction de décision. L’intégration de ces deux outils dans le NetherDrone produit un système intelligent pour l’exploration autonome, doté de fonctionnalités semi-autonomes pour une interaction avec l’opérateur. Les travaux réalisés ouvrent la porte à de nouvelles approches de navigation dans le domaine des missions d’inspection, de cartographie et de recherche et sauvetage
Analytical Models and Artificial Intelligence for Open and Partially Disaggregated Optical Networks
L'abstract è presente nell'allegato / the abstract is in the attachmen
The International Forestry Review: special issue: the social impacts of logging
Global Challenges (FSW
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