HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares
Autor(a) principal: | |
---|---|
Data de Publicação: | 2017 |
Tipo de documento: | Dissertação |
Idioma: | por |
Título da fonte: | Biblioteca Digital de Teses e Dissertações da UFRPE |
Texto Completo: | http://www.tede2.ufrpe.br:8080/tede2/handle/tede2/7859 |
Resumo: | Instituted by Law 9985/2000, the National System of Conservation Units regulates management and oversight of natural resources in environmental preservation areas. However, the large amount of Conservation Units in different locations with a wide range of territorial extension weakens its oversight regarding enviromental crimes. As such, using techonologies capable of assisting in the process of inspection can be of great help. In this work we investigate ways to assist this process by means of a detailed analysis of autonomous unmanned aerial vehicles (UAVs). This work’s objective is to define and validate a computational model capable of performing manouvers and flights to inspect a certain area. The possibility of using these UAVs in an autonomous and controlled manner was analyzed. Experiments were performed to measure automated flight manouvers accuracy, and the results obtained were compatible with what the manufacturer atests to deliver when it comes to the remote control software of the UAV. The same maneuvers were tested using the maker’s remote control software and the automated scripts developed using a Node.js API, with mostly identical average results, with a confidence interval of 95%. Besides, a simulation environment was implemented along with a cellular automaton capable of generating pathways and executing the vehicle’s simulated actions. The scripts generated by the automaton follow the same developing patterns of the scripts in the first experiments, showing that it is statistically compatible with the maker’s software. Finally, solutions to make the studied UAV more autonomous for environmental preservation areas inspection are proposed, and problems with selected UAV are pointed. |
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ALBUQUERQUE, Jones Oliveira deSILVA, Hernande PereiraMOTA, Alexandre CabralCASTELLETTI, Carlos Henrique MadeirosGARROZI, Cícerohttp://lattes.cnpq.br/1264573844331881MARQUES, Paulo César Florentino2019-02-20T15:19:36Z2017-08-09MARQUES, Paulo César Florentino. HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares. 2017. 80 f. Dissertação (Programa de Pós-Graduação em Informática Aplicada) - Universidade Federal Rural de Pernambuco, Recife.http://www.tede2.ufrpe.br:8080/tede2/handle/tede2/7859Instituted by Law 9985/2000, the National System of Conservation Units regulates management and oversight of natural resources in environmental preservation areas. However, the large amount of Conservation Units in different locations with a wide range of territorial extension weakens its oversight regarding enviromental crimes. As such, using techonologies capable of assisting in the process of inspection can be of great help. In this work we investigate ways to assist this process by means of a detailed analysis of autonomous unmanned aerial vehicles (UAVs). This work’s objective is to define and validate a computational model capable of performing manouvers and flights to inspect a certain area. The possibility of using these UAVs in an autonomous and controlled manner was analyzed. Experiments were performed to measure automated flight manouvers accuracy, and the results obtained were compatible with what the manufacturer atests to deliver when it comes to the remote control software of the UAV. The same maneuvers were tested using the maker’s remote control software and the automated scripts developed using a Node.js API, with mostly identical average results, with a confidence interval of 95%. Besides, a simulation environment was implemented along with a cellular automaton capable of generating pathways and executing the vehicle’s simulated actions. The scripts generated by the automaton follow the same developing patterns of the scripts in the first experiments, showing that it is statistically compatible with the maker’s software. Finally, solutions to make the studied UAV more autonomous for environmental preservation areas inspection are proposed, and problems with selected UAV are pointed.Instituído pela Lei 9985/2000, o Sistema Nacional de Unidades de Conservação regulamenta a gestão e fiscalização de recursos naturais em áreas de preservação ambiental. Porém, a grande quantidade de Unidades de Conservação em diferentes localidades e com diferentes extensões territoriais torna frágil sua fiscalização quanto aos crimes ambientais. Dessa forma a utilização de tecnologias capazes de auxiliar no processo de fiscalização é de grande contribuição. Neste trabalho investigam-se meios de auxilio nesse processo por meio de uma análise detalhada de veículos aéreos não tripulados autônomos, sendo nosso objetivo a definição e teste de modelo computacional capaz de realizar voos e manobras destinados a vistoria de uma área qualquer. Foi analisada a possibilidade de utilização desses veículos de forma autônoma e controlada. Foram realizados experimentos com a finalidade de medir a precisão de manobras de voo e estes se mostraram compatíveis com o que o fabricante dispõe a entregar no que diz respeito a software de controle do veículo. A critério de comparação, foram realizadas manobras iguais, tanto utilizando o software de controle remoto do fabricante quanto com scripts desenvolvidos utilizando API Node.js. Ambas as soluções produziram manobras que se mantiveram equivalentes em média com um intervalo de confiança de 95%. Além disso foi implementado um ambiente de simulação e um autômato celular capaz de gerar caminhos e executar as ações simuladas no veículo. Os scripts gerados pelo autômato celular tem o mesmo padrão de desenvolvimento do script que foi desenvolvido para os experimentos. Logo, o autômato celular foi capaz de gerar scripts de manobras equivalentes as realizadas através do Software do fabricante. Além disso, são apontadas soluções para tornar o veículo analisado autônomo, assim como, problemas encontrados no drone.Submitted by Mario BC (mario@bc.ufrpe.br) on 2019-02-20T15:19:36Z No. of bitstreams: 1 Paulo Cesar Florentino Marques.pdf: 24858133 bytes, checksum: 3831c5b4b98d1681dd6bc0685ee6b797 (MD5)Made available in DSpace on 2019-02-20T15:19:36Z (GMT). No. of bitstreams: 1 Paulo Cesar Florentino Marques.pdf: 24858133 bytes, checksum: 3831c5b4b98d1681dd6bc0685ee6b797 (MD5) Previous issue date: 2017-08-09Coordenação de Aperfeiçoamento de Pessoal de Nível Superior - CAPESapplication/pdfporUniversidade Federal Rural de PernambucoPrograma de Pós-Graduação em Informática AplicadaUFRPEBrasilDepartamento de Estatística e InformáticaDroneMonitoramento ambientalNavegação autônomaAutômato celularCIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAOHealthDrones - navegação de VANTs autônomos baseada em autômatos celularesinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesis-8268485641417162699600600600600-677455514039612050136717112058112045092075167498588264571info:eu-repo/semantics/openAccessreponame:Biblioteca Digital de Teses e Dissertações da UFRPEinstname:Universidade Federal Rural de Pernambuco (UFRPE)instacron:UFRPEORIGINALPaulo Cesar Florentino Marques.pdfPaulo Cesar Florentino Marques.pdfapplication/pdf24858133http://www.tede2.ufrpe.br:8080/tede2/bitstream/tede2/7859/2/Paulo+Cesar+Florentino+Marques.pdf3831c5b4b98d1681dd6bc0685ee6b797MD52LICENSElicense.txtlicense.txttext/plain; charset=utf-82165http://www.tede2.ufrpe.br:8080/tede2/bitstream/tede2/7859/1/license.txtbd3efa91386c1718a7f26a329fdcb468MD51tede2/78592019-02-20 12:19:36.398oai:tede2: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Biblioteca Digital de Teses e Dissertaçõeshttp://www.tede2.ufrpe.br:8080/tede/PUBhttp://www.tede2.ufrpe.br:8080/oai/requestbdtd@ufrpe.br ||bdtd@ufrpe.bropendoar:2024-05-28T12:36:12.849024Biblioteca Digital de Teses e Dissertações da UFRPE - Universidade Federal Rural de Pernambuco (UFRPE)false |
dc.title.por.fl_str_mv |
HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares |
title |
HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares |
spellingShingle |
HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares MARQUES, Paulo César Florentino Drone Monitoramento ambiental Navegação autônoma Autômato celular CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
title_short |
HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares |
title_full |
HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares |
title_fullStr |
HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares |
title_full_unstemmed |
HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares |
title_sort |
HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares |
author |
MARQUES, Paulo César Florentino |
author_facet |
MARQUES, Paulo César Florentino |
author_role |
author |
dc.contributor.advisor1.fl_str_mv |
ALBUQUERQUE, Jones Oliveira de |
dc.contributor.advisor-co1.fl_str_mv |
SILVA, Hernande Pereira |
dc.contributor.referee1.fl_str_mv |
MOTA, Alexandre Cabral |
dc.contributor.referee2.fl_str_mv |
CASTELLETTI, Carlos Henrique Madeiros |
dc.contributor.referee3.fl_str_mv |
GARROZI, Cícero |
dc.contributor.authorLattes.fl_str_mv |
http://lattes.cnpq.br/1264573844331881 |
dc.contributor.author.fl_str_mv |
MARQUES, Paulo César Florentino |
contributor_str_mv |
ALBUQUERQUE, Jones Oliveira de SILVA, Hernande Pereira MOTA, Alexandre Cabral CASTELLETTI, Carlos Henrique Madeiros GARROZI, Cícero |
dc.subject.por.fl_str_mv |
Drone Monitoramento ambiental Navegação autônoma Autômato celular |
topic |
Drone Monitoramento ambiental Navegação autônoma Autômato celular CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
dc.subject.cnpq.fl_str_mv |
CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
description |
Instituted by Law 9985/2000, the National System of Conservation Units regulates management and oversight of natural resources in environmental preservation areas. However, the large amount of Conservation Units in different locations with a wide range of territorial extension weakens its oversight regarding enviromental crimes. As such, using techonologies capable of assisting in the process of inspection can be of great help. In this work we investigate ways to assist this process by means of a detailed analysis of autonomous unmanned aerial vehicles (UAVs). This work’s objective is to define and validate a computational model capable of performing manouvers and flights to inspect a certain area. The possibility of using these UAVs in an autonomous and controlled manner was analyzed. Experiments were performed to measure automated flight manouvers accuracy, and the results obtained were compatible with what the manufacturer atests to deliver when it comes to the remote control software of the UAV. The same maneuvers were tested using the maker’s remote control software and the automated scripts developed using a Node.js API, with mostly identical average results, with a confidence interval of 95%. Besides, a simulation environment was implemented along with a cellular automaton capable of generating pathways and executing the vehicle’s simulated actions. The scripts generated by the automaton follow the same developing patterns of the scripts in the first experiments, showing that it is statistically compatible with the maker’s software. Finally, solutions to make the studied UAV more autonomous for environmental preservation areas inspection are proposed, and problems with selected UAV are pointed. |
publishDate |
2017 |
dc.date.issued.fl_str_mv |
2017-08-09 |
dc.date.accessioned.fl_str_mv |
2019-02-20T15:19:36Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.citation.fl_str_mv |
MARQUES, Paulo César Florentino. HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares. 2017. 80 f. Dissertação (Programa de Pós-Graduação em Informática Aplicada) - Universidade Federal Rural de Pernambuco, Recife. |
dc.identifier.uri.fl_str_mv |
http://www.tede2.ufrpe.br:8080/tede2/handle/tede2/7859 |
identifier_str_mv |
MARQUES, Paulo César Florentino. HealthDrones - navegação de VANTs autônomos baseada em autômatos celulares. 2017. 80 f. Dissertação (Programa de Pós-Graduação em Informática Aplicada) - Universidade Federal Rural de Pernambuco, Recife. |
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http://www.tede2.ufrpe.br:8080/tede2/handle/tede2/7859 |
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por |
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600 600 600 600 |
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3671711205811204509 |
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info:eu-repo/semantics/openAccess |
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openAccess |
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Universidade Federal Rural de Pernambuco |
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Universidade Federal Rural de Pernambuco |
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