Engineering Commons^™

A Citizen-Science Approach For Urban Flood Risk Analysis Using Data Science And Machine Learning, Candace Agonafir

Dissertations and Theses

Street flooding is problematic in urban areas, where impervious surfaces, such as concrete, brick, and asphalt prevail, impeding the infiltration of water into the ground. During rain events, water ponds and rise to levels that cause considerable economic damage and physical harm. The main goal of this dissertation is to develop novel approaches toward the comprehension of urban flood risk using data science techniques on crowd-sourced data. This is accomplished by developing a series of data-driven models to identify flood factors of significance and localized areas of flood vulnerability in New York City (NYC). First, the infrastructural (catch basin clogs, …

V-Slam And Sensor Fusion For Ground Robots, Ejup Hoxha

Dissertations and Theses

In underground, underwater and indoor environments, a robot has to rely solely on its on-board sensors to sense and understand its surroundings. This is the main reason why SLAM gained the popularity it has today. In recent years, we have seen excellent improvement on accuracy of localization using cameras and combinations of different sensors, especially camera-IMU (VIO) fusion. Incorporating more sensors leads to improvement of accuracy,but also robustness of SLAM. However, while testing SLAM in our ground robots, we have seen a decrease in performance quality when using the same algorithms on flying vehicles.We have an additional sensor for ground …

2d Vector Map And Database Design For Indoor Assisted Navigation, Luciano Caraciolo Albuquerque

Dissertations and Theses

In this paper we implemented a 2D Vector Map, map editor and Database design intended to provide an efficient way to convert cad files from indoor environments to a set of vectors representing hallways, doors, exits, elevators, and other entities embedded in a floor plan, and save them in a database for use by other applications, such as assisted navigation for blind people.

A graphical application as developed in C++ to allow the user to input a CAD DXF file, process the file to automatically obtain nodes and edges, and save the nodes and edges to a database for posterior …