Search results for: path tracking

Authors: Richard Molyneux, Christopher Parrott, Kirill Horoshenkov

Abstract:

This paper aims to demonstrate how various algorithms can be implemented within swarms of autonomous robots to provide continuous inspection within underground pipeline networks. Current methods of fault detection within pipes are costly, time consuming and inefficient. As such, solutions tend toward a more reactive approach, repairing faults, as opposed to proactively seeking leaks and blockages. The paper presents an efficient inspection method, showing that autonomous swarm robotics is a viable way of monitoring underground infrastructure. Tailored adaptations of various Vehicle Routing Problems (VRP) and path-planning algorithms provide a customised inspection procedure for complicated networks of underground pipes. The performance of multiple algorithms is compared to determine their effectiveness and feasibility. Notable inspirations come from ant colonies and stigmergy, graph theory, the k-Chinese Postman Problem ( -CPP) and traffic theory. Unlike most swarm behaviours which rely on fast communication between agents, underground pipe networks are a highly challenging communication environment with extremely limited communication ranges. This is due to the extreme variability in the pipe conditions and relatively high attenuation of acoustic and radio waves with which robots would usually communicate. This paper illustrates how to optimise the inspection process and how to increase the frequency with which the robots pass each other, without compromising the routes they are able to take to cover the whole network.

Keywords: Autonomous inspection, buried pipes, stigmergy, swarm intelligence, vehicle routing problem.

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Authors: Xiang Zhang, Daohong Yang, Ziyuan Wu, Lei Li, Wanting Zhou

Abstract:

Visual Simultaneous Localization and Mapping (VSLAM) uses cameras to gather information in unknown environments to achieve simultaneous localization and mapping of the environment. This technology has a wide range of applications in autonomous driving, virtual reality, and other related fields. Currently, the research advancements related to VSLAM can maintain high accuracy in static environments. But in dynamic environments, the presence of moving objects in the scene can reduce the stability of the VSLAM system, leading to inaccurate localization and mapping, or even system failure. In this paper, a robust VSLAM method was proposed to effectively address the challenges in dynamic environments. We proposed a dynamic region removal scheme based on a semantic segmentation neural network and geometric constraints. Firstly, a semantic segmentation neural network is used to extract the prior active motion region, prior static region, and prior passive motion region in the environment. Then, the lightweight frame tracking module initializes the transform pose between the previous frame and the current frame on the prior static region. A motion consistency detection module based on multi-view geometry and scene flow is used to divide the environment into static regions and dynamic regions. Thus, the dynamic object region was successfully eliminated. Finally, only the static region is used for tracking thread. Our research is based on the ORBSLAM3 system, which is one of the most effective VSLAM systems available. We evaluated our method on the TUM RGB-D benchmark and the results demonstrate that the proposed VSLAM method improves the accuracy of the original ORBSLAM3 by 70%˜98.5% under a high dynamic environment.

Keywords: Dynamic scene, dynamic visual SLAM, semantic segmentation, scene flow, VSLAM.

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Authors: E. Olmos-Raya, A. Cascales Martínez, N. Minto de Sousa, M. Alcañiz Raya

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The late detection and subjectivity of the assessment of Autism Spectrum Disorder (ASD) imposed a difficulty for the children’s clinical and familiar environment. The results showed in this paper, are part of a research project about the assessment and training of social skills in children with ASD, whose overall goal is the use of virtual environments together with physiological measures in order to find a new model of objective ASD assessment based on implicit brain processes measures. In particular, this work tries to contribute by studying the differences and changes in the Skin Conductance Response (SCR) and Eye Tracking (ET) between a typical development group (TD group) and an ASD group (ASD group) after several combined stimuli using a low cost Immersive Virtual Environment (IVE). Subjects were exposed to a virtual environment that showed natural scenes that stimulated visual, auditory and olfactory perceptual system. By exposing them to the IVE, subjects showed natural behaviors while measuring SCR and ET. This study compared measures of subjects diagnosed with ASD (N = 18) with a control group of subjects with typical development (N=10) when exposed to three different conditions: only visual (V), visual and auditory (VA) and visual, auditory and olfactory (VAO) stimulation. Correlations between SCR and ET measures were also correlated with the Autism Diagnostic Observation Schedule (ADOS) test. SCR measures showed significant differences among the experimental condition between groups. The ASD group presented higher level of SCR while we did not find significant differences between groups regarding DF. We found high significant correlations among all the experimental conditions in SCR measures and the subscale of ADOS test of imagination and symbolic thinking. Regarding the correlation between ET measures and ADOS test, the results showed significant relationship between VA condition and communication scores.

Keywords: Autism, electrodermal activity, eye tracking, immersive virtual environment, virtual reality.

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Authors: H. Mhamdi, N. Hamrouni, A. Temimi, M. Bouhlel

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In this article, we expose our research work in Human-machine Interaction. The research consists in manipulating the workspace by eyes. We present some of our results, in particular the detection of eyes and the mouse actions recognition. Indeed, the handicaped user becomes able to interact with the machine in a more intuitive way in diverse applications and contexts. To test our application we have chooses to work in real time on videos captured by a camera placed in front of the user.

Keywords: Computer vision, Face and Eyes Detection, Mouse pointer recognition.

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Authors: Divya S., Jibin Joseph

Abstract:

Alternative energy is any energy source that is an alternative to fossil fuel. These alternatives are intended to address concerns about such fossil fuels. Today, because of the variety of energy choices and differing goals of their advocates, defining some energy types as "alternative" is highly controversial. Most of the recent and existing alternative sources of energy are discussed below

Keywords: Athra Quinone Disulphonic Acid (AQDS), Renewable Methanol (RM), Solid Oxide Fuel Cell (SOFC), Maximum Power Point Tracking (MPPT).

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Authors: Gholamreza Habibi

Abstract:

In order to study seed yield and seed yield components in bean under reduced irrigation condition and assessment drought tolerance of genotypes, 15 lines of White beans were evaluated in two separate RCB design with 3 replications under stress and non stress conditions. Analysis of variance showed that there were significant differences among varieties in terms of traits under study, indicating the existence of genetic variation among varieties. The results indicate that drought stress reduced seed yield, number of seed per plant, biological yield and number of pod in White been. In non stress condition, yield was highly correlated with the biological yield, whereas in stress condition it was highly correlated with harvest index. Results of stepwise regression showed that, selection can we done based on, biological yield, harvest index, number of seed per pod, seed length, 100 seed weight. Result of path analysis showed that the highest direct effect, being positive, was related to biological yield in non stress and to harvest index in stress conditions. Factor analysis were accomplished in stress and nonstress condition a, there were 4 factors that explained more than 76 percent of total variations. We used several selection indices such as Stress Susceptibility Index ( SSI ), Geometric Mean Productivity ( GMP ), Mean Productivity ( MP ), Stress Tolerance Index ( STI ) and Tolerance Index ( TOL ) to study drought tolerance of genotypes, we found that the best Stress Index for selection tolerance genotypes were STI, GMP and MP were the greatest correlations between these Indices and seed yield under stress and non stress conditions. In classification of genotypes base on phenotypic characteristics, using cluster analysis ( UPGMA ), all allels classified in 5 separate groups in stress and non stress conditions.

Keywords: Cluster analysis, factor analysis, path analysis, selection index, White bean

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Authors: S. Malek, N. Zenati-Henda, M. Belhocine, S. Benbelkacem

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In geometrical camera calibration, the objective is to determine a set of camera parameters that describe the mapping between 3D references coordinates and 2D image coordinates. In this paper, a technique of calibration and tracking based on both a least squares method is presented and a correlation technique developed as part of an augmented reality system. This approach is fast and it can be used for a real time system

Keywords: Camera calibration, pinhole model, least squares method, augmented reality, strong calibration.

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Authors: Kaushik Chaudhuri

Abstract:

High Performance Work Systems (HPWS) generally give rise to positive impacts on employees by increasing their commitments in workplaces. While some argued this actually have considerable negative impacts on employees with increasing possibilities of imposing strains caused by stress and intensity of such work places. Do stressful workplaces hamper employee commitment? The author has tried to find the answer by exploring linkages between HPWS practices and its impact on employees in Japanese organizations. How negative outcomes like job intensity and workplaces and job stressors can influence different forms of employees- commitments which can be a hindrance to their performance. Design: A close ended questionnaire survey was conducted amongst 16 large, medium and small sized Japanese companies from diverse industries around Chiba, Saitama, and Ibaraki Prefectures and in Tokyo from the month of October 2008 to February 2009. Questionnaires were aimed to the non managerial employees- perceptions of HPWS practices, their behavior, working life experiences in their work places. A total of 227 samples are used for analysis in the study. Methods: Correlations, MANCOVA, SEM Path analysis using AMOS software are used for data analysis in this study. Findings: Average non-managerial perception of HPWS adoption is significantly but negatively correlated to both work place Stressors and Continuous commitment, but positively correlated to job Intensity, Affective, Occupational and Normative commitments in different workplaces at Japan. The path analysis by SEM shows significant indirect relationship between Stressors and employee Affective organizational commitment and Normative organizational commitments. Intensity also has a significant indirect effect on Occupational commitments. HPWS has an additive effect on all the outcomes variables. Limitations: The sample size in this study cannot be a representative to the entire population of non-managerial employees in Japan. There were no respondents from automobile, pharmaceuticals, finance industries. The duration of the survey coincided in a period when Japan as most of the other countries is under going recession. Biases could not be ruled out completely. We must take cautions in interpreting the results of studies as they cannot be generalized. And the path analysis cannot provide the complete causality of the inter linkages between the variables used in the study. Originality: There have been limited studies on linkages in HPWS adoptions and their impacts on employees- behaviors and commitments in Japanese workplaces. This study may provide some ingredients for further research in the fields of HRM policies and practices and their linkages on different forms of employees- commitments.

Keywords: HPWS, Job Intensity, Job and workplace Stressors, Continuous commitment, Affective commitment, Occupational commitment, Japan.

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Authors: Haedong Lee, Dooho Choi, Sokjoon Lee, Howon Kim

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This paper is about hiding RFID tag identifier (ID) using handheld device like a cellular phone. By modifying the tag ID of objects periodically or manually using cellular phone built-in a RFID reader chip or with a external RFID reader device, we can prevent other people from gathering the information related with objects querying information server (like an EPC IS) with a tag ID or deriving the information from tag ID-s code structure or tracking the location of the objects and the owner of the objects. In this paper, we use a cryptographic algorithm for modification and restoring of RFID tag ID, and for one original tag ID, there are several different temporary tag ID, periodically.

Keywords: EPC, RFID, Mobile RFID.

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Authors: HyoungMin Ham, JooSeok Song

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RFID tag is a small and inexpensive microchip which is capable of transmitting unique identifier through wireless network in a short distance. If a group of RFID tags can be scanned simultaneously by one reader, RFID Group proof could be generated. Group proof can be used in various applications, such as good management which is usually achieved using barcode system. A lot of RFID group proof schemes have been proposed by many researchers. In this paper, we introduce some existing group proof schemes and then analyze their vulnerabilities to the privacy. Moreover, we propose a new attack model, which threats the privacy of user by tracking tags in a group.

Keywords: grouping proof, privacy, RFID, yoking proof

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Authors: K.Amrithavarshini, S.Chandrachudeswaran

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This paper presents an idea to improve the efficiency of security checks in airports through the active tracking and monitoring of passengers and staff using OFDM modulation technique and Finger print authentication. The details of the passenger are multiplexed using OFDM .To authenticate the passenger, the fingerprint along with important identification information is collected. The details of the passenger can be transmitted after necessary modulation, and received using various transceivers placed within the premises of the airport, and checked at the appropriate check points, thereby increasing the efficiency of checking. OFDM has been employed for spectral efficiency.

Keywords: Orthogonal Frequency Division Multiplexing, FFT Algorithm, Fingerprint Authentication, Airport Security

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Authors: Larissa Pliska, Isabel Neitzel, Michael Buschermöhle, Olga Kunina-Habenicht, Ute Ritterfeld

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Visual preferences, which can be assessed using eye tracking technologies, are considered one of the defining hallmarks of autism spectrum disorder (ASD). Specifically, children with ASD show a decreased preference for social images rather than geometric images compared to typically developed (TD) children. Such differences are already prevalent at a very early age and indicate the severity of the disorder: toddlers with ASD who preferred geometric images when confronted with social and geometric images showed higher ASD symptom severity than toddlers with ASD who showed higher social attention. Furthermore, the complexity of social images (one child playing vs. two children playing together) as well as the mode of stimulus presentation (video or image), are not decisive for the marker. The average age of diagnosis for ASD in Germany is 6.5 years, and visual preference data on this age group are missing. In the present study, we therefore investigated whether visual preferences persist into school age. We examined the visual preferences of 16 boys aged 6 to 11 years with ASD and unimpaired cognition as well as TD children (1:1 matching based on children's age and the parent's level of education) within an experimental setting. Different stimulus presentation formats (images vs. videos) and different levels of stimulus complexity were included. Children with and without ASD received pairs of social and non-social images and video stimuli on a screen while eye movements (i.e., eye position and gaze direction) were recorded. For this specific use case, KIZMO GmbH developed a customized, native iOS app (KIZMO Face-Analyzer) for use on iPads. Neither the format of stimulus presentation nor the complexity of the social images had a significant effect on the visual preference of children with and without ASD in this study. Despite the tendency for a difference between the groups for the video stimuli, there were no significant differences. Overall, no statistical differences in visual preference occurred between boys with and without ASD, suggesting that gaze preference in these groups is similar at elementary school age. One limitation is that the children with ASD were already receiving ASD-specific intervention. The potential of a visual preference task as an indicator of ASD can be emphasized. The article discusses the clinical relevance of this marker in elementary school children.

Keywords: Autism spectrum disorder, eye tracking, hallmark, visual preference.

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Authors: Rebecca Angeles

Abstract:

This case study features the Kuehne + Nagel PharmaChain solution for ‘cold chain’ pharmaceutical and biologic product shipments with IOT-enabled features for shipment temperature and location tracking. Using the case study method and content analysis, this research project investigates the application of the structurational model of technology theory introduced by Orlikowski in order to interpret the firm’s entry and participation in the IOT-impelled marketplace.

Keywords: Internet of things, IoT, radio frequency identification, supply chain management, business intelligence.

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Authors: Wei Dong, Guo-Ying Gu, Xiangyang Zhu, Han Ding

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This paper presents preliminary results on modeling and control of a quadrotor UAV. With aerodynamic concepts, a mathematical model is firstly proposed to describe the dynamics of the quadrotor UAV. Parameters of this model are identified by experiments with Matlab Identify Toolbox. A group of PID controllers are then designed based on the developed model. To verify the developed model and controllers, simulations and experiments for altitude control, position control and trajectory tracking are carried out. The results show that the quadrotor UAV well follows the referenced commands, which clearly demonstrates the effectiveness of the proposed approach.

Keywords: Quadrotor UAV, Modeling, Control, Aerodynamics, System Identification.

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Authors: Selim Yannier, Asif Sabanovic, Ahmet Onat, Muhammet Bastan

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In this work, we suggested a new approach for the control of a mobile robot capable of being a building block of an intelligent agent. This approach includes obstacle avoidance and goal tracking implemented as two different sliding mode controllers. A geometry based behavior arbitration is proposed for fusing the two outputs. Proposed structure is tested on simulations and real robot. Results have confirmed the high performance of the method.

Keywords: Autonomous Mobile Robot, Behavior Based Control, Fast Local Obstacle Avoidance, Sliding Mode Control.

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Authors: Sh. Hamada, N. Burtebayev, N. Amangeldi, A. Amar

Abstract:

The aim of this work is to study the elastic transfer phenomenon which takes place in the elastic scattering of 16O on 12C at energies near the Coulomb barrier. Where, the angular distribution decrease steadily with increasing the scattering angle, then the cross section will increase at backward angles due to the α-transfer process. This reaction was also studied at different energies for tracking the nuclear rainbow phenomenon. The experimental data of the angular distribution at these energies were compared to the calculation predictions. The optical potential codes such as SPIVAL and Distorted Wave Born Approximation (DWUCK5) were used in analysis.

Keywords: Transfer reaction, DWBA, Elastic Scattering, Optical Potential Codes.

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Authors: Hyung-Nam Kim, Won-Yong Chae, Dong-Sul Shin, Ho-Sung Kim, Hee-Je Kim

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A wireless power transfer system can attribute to the fields in robot, aviation and space in which lightening the weight of device and improving the movement play an important role. A wireless power transfer system was investigated to overcome the inconvenience of using power cable. Especially a wireless power transfer technology is important element for mobile robots. We proposed the wireless power transfer system of the half-bridge resonant converter with the frequency tracking and optimized power transfer control unit. And the possibility of the application and development system was verified through the experiment with LED loads.

Keywords: Wireless Power Transmission (WPT), resonancefrequency, protection circuit. LED.

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Authors: Tarasankar Pramanik, Sukumar Mondal, Madhumangal Pal

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In an interval graph G = (V,E) the distance between two vertices u, v is de£ned as the smallest number of edges in a path joining u and v. The eccentricity of a vertex v is the maximum among distances from all other vertices of V . The diameter (δ) and radius (ρ) of the graph G is respectively the maximum and minimum among all the eccentricities of G. The center of the graph G is the set C(G) of vertices with eccentricity ρ. In this context our aim is to establish the relation ρ = δ 2  for an interval graph and to determine the center of it.

Keywords: Interval graph, interval tree, radius, center.

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Authors: K. Divya, G. Sugumaran

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This paper proposes an improved Maximum Power Point Tracking of PhotoVoltaic system using Deterministic Partical Swarm Optimization technique. This method has the ability to track the maximum power under varying environmental conditions i.e. partial shading conditions. The advantage of this method, particles moves in the restricted value of velocity to achieve the maximum power. SEPIC converter is employed to boost up the voltage of PV system. To estimate the value of the proposed method, MATLAB simulation carried out under partial shading condition.

Keywords: DPSO, Partial shading condition, P&O, PV, SEPIC.

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Authors: Sh. Hamada, N. Burtebayev, N. Amangeldi, A. Amar

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An experiment was performed with a 24.5 MeV 14N beam on a 12C target in the cyclotron DC-60 located in Astana, Kazakhstan, to study the elastic scattering of 14N on 12C; the scattering was also analyzed at different energies for tracking the phenomenon of remarkable structure at large angles. Its aims were to extend the measurements to very large angles, and attempt to uniquely identify the elastic scattering potential. Good agreement between the theoretical and experimental data has been obtained with suitable optical potential parameters. Optical model calculations with l -dependent imaginary potentials were also applied to the data and relatively good agreement was found.

Keywords: Optical Potential Codes, Elastic Scattering, SPIVALCode.

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Authors: Nuraddin Sadykov, Saule Erzhanova, Akmaral Dalelbekkyzy, Mukhit Tolegenov

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This article provides a comparative analysis of poetries of diverse nations around the world while largely focusing on Kazakh lyric poetry (Kazakh zhyraulyq oneri). Alongside, it sheds the light to the historical development and contemporary progress path of foremost poetry school located along the Syr Darya coast. Hereby, it-s content and central motives are examined.

Keywords: Lyric poetry (zhyraulyq oner), poet-musician (zhyrshy), Sufi tradition (sopylyq dastur), hermeneutics (germenevtica).

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Authors: A. Bennassar, A. Abbou, M. Akherraz, M. Barara

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In this paper, we propose a sensorless backstepping control of induction motor (IM) associated with three levels neutral clamped (NPC) inverter. First, the backstepping approach is designed to steer the flux and speed variables to theirs references and to compensate the uncertainties. A Lyapunov theory is used and it demonstrates that the dynamic trajectories tracking are asymptotically stable. Second, we estimate the rotor flux and speed by using the adaptive Luenberger observer (ALO). Simulation results are provided to illustrate the performance of the proposed approach in high and low speeds and load torque disturbance.

Keywords: Sensorless backstepping, IM, Three levels NPC inverter, Lyapunov theory, ALO.

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Authors: Abdellah Chehri, Hussein Mouftah, Paul Fortier, Hasnaa Aniss

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Wireless sensor network has recently emerged as enablers of several areas. Real applications of WSN are being explored and some of them are yet to come. While the potential of sensor networks has been only beginning to be realized, several challenges still remain. One of them is the experimental evaluation of WSN. Therefore, deploying and operating a testbed to study the real behavior of WSN become more and more important. The main contribution of this work is to analysis the RF link budget behavior of wireless sensor networks in underground mine gallery.

Keywords: Sensor networks, RF Link, path loss.

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Authors: J. Florescu, T. Vinay, L. Wang

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A fault detection and identification (FDI) technique is presented to create a fault tolerant control system (FTC). The fault detection is achieved by monitoring the position of the light source using an array of light sensors. When a decision is made about the presence of a fault an identification process is initiated to locate the faulty component and reconfigure the controller signals. The signals provided by the sensors are predictable; therefore the existence of a fault is easily identified. Identification of the faulty sensor is based on the dynamics of the frame. The technique is not restricted to a particular type of controllers and the results show consistency.

Keywords: algorithm, detection and diagnostic, fault-tolerantcontrol, fault detection and identification.

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Authors: Guilhem Baccialone, Nicolas Delaunay, Juan-Diego Gonzales, Céline Leclercq, Adrien Leroux, Santa Pallier

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This paper presents the software conception of a quadrotor UAV, named SKYWATCHER, which is able to follow a target. This capacity can at a long turn time permit to follow another drone and combine their performance in order to military missions for example.

From a low-cost architecture constructed by five students we implemented a software and added a camera to create a visual servoing. This project demonstrates the possibility to associate the technology of stabilization and the technology of visual enslavement.

Keywords: Quadrotor, visual servoing, student project, image processing, Unmanned Aerial Vehicles, stabilization.

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Authors: R. Amornmaneekul, S. Chadsuthi, D. Triampo, W. Triampo

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We apply a particle tracking technique to track the motion of individual pathogenic Leptospira. We observe and capture images of motile Leptospira by means of CCD and darkfield microscope. Image processing, statistical theories and simulations are used for data analysis. Based on trajectory patterns, mean square displacement, and power spectral density characteristics, we found that the motion modes are most likely to be directed motion mode (70%) and the rest are either normal diffusion or unidentified mode. Our findings may support the fact that why leptospires are very well efficient toward targeting internal tissues as a result of increase in virulence factor.

Keywords: Leptospirosis, spirochetes, patterns, motion.

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Authors: Kasun Karunanayaka, Sanath Siriwardana, Chamari Edirisinghe, Ryohei Nakatsu, PonnampalamGopalakrishnakone

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In this paper, we are presenting a new type of pointing interface for computers which provides mouse functionalities with near surface haptic feedback. Further, it can be configured as a haptic display where users may feel the basic geometrical shapes in the GUI by moving the finger on top of the device surface. These functionalities are achieved by tracking three dimensional positions of the neodymium magnet using Hall Effect sensors grid and generating like polarity haptic feedback using an electromagnet array. This interface brings the haptic sensations to the 3D space where previously it is felt only on top of the buttons of the haptic mouse implementations.

Keywords: Pointing interface, near surface haptic feedback, tactile display, tangible user interface.

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Authors: Y. J. Huang, T. C. Kuo, B. W. Hong, B. C. Wu

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This paper presents a robust proportionalderivative (PD) based cerebellar model articulation controller (CMAC) for vertical take-off and landing flight control systems. Successful on-line training and recalling process of CMAC accompanying the PD controller is developed. The advantage of the proposed method is mainly the robust tracking performance against aerodynamic parametric variation and external wind gust. The effectiveness of the proposed algorithm is validated through the application of a vertical takeoff and landing aircraft control system.

Keywords: vertical takeoff and landing, cerebellar modelarticulation controller, proportional-derivative control.

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Authors: Miloš Šeda, Tomáš Březina

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In this paper, we focus on the use of knowledge bases in two different application areas – control of systems with unknown or strongly nonlinear models (i.e. hardly controllable by the classical methods), and robot motion planning in eight directions. The first one deals with fuzzy logic and the paper presents approaches for setting and aggregating the rules of a knowledge base. Te second one is concentrated on a case-based reasoning strategy for finding the path in a planar scene with obstacles.

Keywords: fuzzy controller, fuzzification, rule base, inference, defuzzification, genetic algorithm, neural network, case-based reasoning

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Authors: Arslan Qamar Malik, Jehanzeb Ahmad

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The paper presents a novel idea to control computer mouse cursor movement with human eyes. In this paper, a working of the product has been described as to how it helps the special people share their knowledge with the world. Number of traditional techniques such as Head and Eye Movement Tracking Systems etc. exist for cursor control by making use of image processing in which light is the primary source. Electro-oculography (EOG) is a new technology to sense eye signals with which the mouse cursor can be controlled. The signals captured using sensors, are first amplified, then noise is removed and then digitized, before being transferred to PC for software interfacing.

Keywords: Human Computer Interaction, Real-Time System, Electro-oculography, Signal Processing.

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