Electrical and Computer Engineering Commons^™

Comparison Of Visual Simultaneous Localization And Mapping Methods For Fixed-Wing Aircraft Using Slambench2, Patrick R. Latcham

Theses and Dissertations

Visual Simultaneous Localization and Mapping (VSLAM) algorithms have evolved rapidly in the last few years, however there has been little research evaluating current algorithm's effectiveness and limitations when applied to tracking the position of a fixed-wing aerial vehicle. This research looks to evaluate current monocular VSLAM algorithms' performance on aerial vehicle datasets using the SLAMBench2 benchmarking suite. The algorithms tested are MonoSLAM, PTAM, OKVIS, LSDSLAM, ORB-SLAM2, and SVO, all of which are built into the SLAMBench2 software. The algorithms' performance is evaluated using simulated datasets generated in the AftrBurner Engine. The datasets were designed to test the quality of each …

Effects Of Long-Term Evolution Waveform On Synthetic Aperture Radar Image Quality Metrics, Blake M. Colson

Theses and Dissertations

As a greater demand by the private sector for bandwidth drives spectrum allocations away from defense, new methods for coexistence in the spectrum are being explored. One of the prominent areas in defense for this coexistence is passive radar. This mode of radar system allows for data collection by referencing signals already established in the environment of interest. Some of the most prolific signals currently available are those used for mobile communication networks. In particular, Long- Term Evolution (LTE) is a common waveform that could be leveraged for discrete collection of image intelligence. Seeking to build a base of knowledge, …

On-Demand Electrically Induced Decomposition Of Thin-Film Nitrocellulose Membranes For Wearable Or Implantable Biosensor Systems, Benjamin M. Horstmann

Theses and Dissertations

Implantable or subcutaneous biosensors used for continuous health monitoring have a limited functional lifetime requiring frequent replacement and therefore may be highly discomforting to the patient and become costly. One possible solution to this problem is use of biosensor arrays where each individual reserve sensor can be activated on-demand when the previous one becomes inoperative due to biofouling or enzyme degradation. Each reserve biosensor in the array is housed in an individual Polydimethylsiloxane (PDMS) well and is protected from exposure to bodily fluids such as interstitial fluid ( ISF) by a thin-film nitrocellulose membrane. Controlled activation is achieved by decomposing …

Reliable Navigation For Suas In Complex Indoor Environments, Andrew J. Fabian

Theses and Dissertations

Indoor environments are a particular challenge for Unmanned Aerial Vehicles (UAVs). Effective navigation through these GPS-denied environments require alternative localization systems, as well as methods of sensing and avoiding obstacles while remaining on-task. Additionally, the relatively small clearances and human presence characteristic of indoor spaces necessitates a higher level of precision and adaptability than is common in traditional UAV flight planning and execution. This research blends the optimization of individual technologies, such as state estimation and environmental sensing, with system integration and high-level operational planning.

The combination of AprilTag visual markers, multi-camera Visual Odometry, and IMU data can be used …