Search results for: Acoustic source localization

Authors: Mohammed A. Al-Manie, Mohammed I. Alkanhal

Abstract:

In this paper, acoustic techniques are used to detect hidden insect infestations of date palm tress (Phoenix dactylifera L.). In particular, we use an acoustic instrument for early discovery of the presence of a destructive insect pest commonly known as the Red Date Palm Weevil (RDPW) and scientifically as Rhynchophorus ferrugineus (Olivier). This type of insect attacks date palm tress and causes irreversible damages at late stages. As a result, the infected trees must be destroyed. Therefore, early presence detection is a major part in controlling the spread and economic damage caused by this type of infestation. Furthermore monitoring and early detection of the disease can asses in taking appropriate measures such as isolating or treating the infected trees. The acoustic system is evaluated in terms of its ability for early discovery of hidden bests inside the tested tree. When signal acquisitions is completed for a number of date palms, a signal processing technique known as time-frequency analysis is evaluated in terms of providing an estimate that can be visually used to recognize the acoustic signature of the RDPW. The testing instrument was tested in the laboratory first then; it was used on suspected or infested tress in the field. The final results indicate that the acoustic monitoring approach along with signal processing techniques are very promising for the early detection of presence of the larva as well as the adult pest in the date palms.

Keywords: Acoustic emissions, acoustic sensors, nondestructivetests, Red Date Palm Weevil, signal processing..

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Authors: Ashish Payal, C. S. Rai, B. V. R. Reddy

Abstract:

With the increasing use and application of Wireless Sensor Networks (WSN), need has arisen to explore them in more effective and efficient manner. An important area which can bring efficiency to WSNs is the localization process, which refers to the estimation of the position of wireless sensor nodes in an ad hoc network setting, in reference to a coordinate system that may be internal or external to the network. In this paper, we have done comparison and analysed Sigmoidal Feedforward Artificial Neural Networks (SFFANNs) and Radial Basis Function (RBF) networks for developing localization framework in WSNs. The presented work utilizes the Received Signal Strength Indicator (RSSI), measured by static node on 100 x 100 m² grid from three anchor nodes. The comprehensive evaluation of these approaches is done using MATLAB software. The simulation results effectively demonstrate that FFANNs based sensor motes will show better localization accuracy as compared to RBF.

Keywords: Localization, wireless sensor networks, artificial neural network, radial basis function, multi-layer perceptron, backpropagation, RSSI.

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Authors: Z. Hormozi Moghaddam, M. Mokhtari-Dizaji, M. Movahedin, M. E. Ravari

Abstract:

Mechanical index (MI) is used for quantifying acoustic cavitation and the relationship between acoustic pressure and the frequency. In this study, modeling of the MI was applied to provide treatment protocol and to understand the effective physical processes on reproducibility of stem cells. The acoustic pressure and MI equations are modeled and solved to estimate optimal MI for 28, 40, 150 kHz and 1 MHz frequencies. Radial and axial acoustic pressure distribution was extracted. To validate the results of the modeling, the acoustic pressure in the water and near field depth was measured by a piston hydrophone. Results of modeling and experiments show that the model is consistent well to experimental results with 0.91 and 0.90 correlation of coefficient (p<0.05) for 1 MHz and 40 kHz. Low intensity ultrasound with 0.40 MI is more effective on the proliferation rate of the spermatogonial stem cells during the seven days of culture, in contrast, high MI has a harmful effect on the spermatogonial stem cells. This model provides proper treatment planning in vitro and in vivo by estimating the cavitation phenomenon.

Keywords: Ultrasound, mechanical index, modeling, stem cell.

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Authors: Sylvain Amailland, Jean-Hugh Thomas, Charles Pézerat, Romuald Boucheron, Jean-Claude Pascal

Abstract:

The noise requirements for naval and research vessels have seen an increasing demand for quieter ships in order to fulfil current regulations and to reduce the effects on marine life. Hence, new methods dedicated to the characterization of propeller noise, which is the main source of noise in the far-field, are needed. The study of cavitating propellers in closed-section is interesting for analyzing hydrodynamic performance but could involve significant difficulties for hydroacoustic study, especially due to reverberation and boundary layer noise in the tunnel. The aim of this paper is to present a numerical methodology for the identification of hydroacoustic sources on marine propellers using hydrophone arrays in a large hydrodynamic tunnel. The main difficulties are linked to the reverberation of the tunnel and the boundary layer noise that strongly reduce the signal-to-noise ratio. In this paper it is proposed to estimate the reflection coefficients using an inverse method and some reference transfer functions measured in the tunnel. This approach allows to reduce the uncertainties of the propagation model used in the inverse problem. In order to reduce the boundary layer noise, a cleaning algorithm taking advantage of the low rank and sparse structure of the cross-spectrum matrices of the acoustic and the boundary layer noise is presented. This approach allows to recover the acoustic signal even well under the boundary layer noise. The improvement brought by this method is visible on acoustic maps resulting from beamforming and DAMAS algorithms.

Keywords: Acoustic imaging, boundary layer noise denoising, inverse problems, model adaptation.

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Authors: Kyosik Koo, Hyungtai Cha

Abstract:

Generally, in order to create 3D sound using binaural systems, we use head related transfer functions (HRTF) including the information of sounds which is arrived to our ears. But it can decline some three-dimensional effects in the area of a cone of confusion between front and back directions, because of the characteristics of HRTF. In this paper, we propose a new method to use psychoacoustics theory that reduces the confusion of sound image localization. In the method, HRTF spectrum characteristic is enhanced by using the energy ratio of the bark band. Informal listening tests show that the proposed method improves the front-back sound localization characteristics much better than the conventional methods

Keywords: HRTF, 3D sound, Psychoacoustics, Localization

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Authors: M. Rozanek, K. Roubik

Abstract:

A mathematical model of the respiratory system is introduced in this study. Geometrical dimensions of the respiratory system were used to compute the acoustic properties of the respiratory system using the electro-acoustic analogy. The effect of the geometrical proportions of the respiratory system is observed in the paper.

Keywords: Electro-acoustic analogy, total lung impedance, mechanical parameters, respiratory system.

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Authors: Bouttout Abdelouahab, Amara Mohamed, Djakabe Saad, Remram Youcef

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This paper presents the results of an evaluation of acoustic comfort such as background noise and reverberation time in teaching rooms in Height National School of Civil Engineering, Algeria. Four teaching rooms are evaluated: conference room, two classroom and amphitheatre. The acoustic quality of the classrooms has been analyzed based on measurements of sound pressure level inside room and reverberations time. The measurement results show that impulse decays dependent on the position of the microphone inside room and the background noise is with agreement of National Official Journal of Algeria published in July 1993. Therefore there exists a discrepancy between the obtained reverberation time value and recommended reverberation time in some classrooms. Three methods have been proposed to reduce the reverberation time values in such room. We developed a program with FORTRAN 6.0 language based on the absorption acoustic values of the Technical Document Regulation (DTR C3.1.1). The important results of this paper can be used to regulate the construction and execute the acoustic rehabilitations of teaching room in Algeria, especially the classrooms of the pupils in primary and secondary schools.

Keywords: Room acoustic, reverberation time, background noise, absorptions materials.

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Authors: M. Nayeemuddin, T. Bramhananda Reddy, M. Vijaya Kumar

Abstract:

Acoustic noise becoming ever more obnoxious radiated by voltage source inverter fed induction motor drive in modern and industrial applications. The drive utilized for industrial and modern applications should use “spread spectrum” innovation known as Random pulse width modulation (PWM) algorithms where acoustic noise emanates through the machine should be critically concerned. This paper illustrates three types of random PWM control algorithms with fixed switching frequency namely 1) Random modulating PWM 2) Random carrier PWM and 3) Random modulating-carrier PWM. The spectrum plots of the motor stator current demonstrate the strength and robustness of the proposed PWM algorithms. To affirm the proposed algorithms, experimental tests have been conducted using dSPACE rt1104 control board on a v/f control three phase induction motor drive fed by DC link cascaded multilevel inverter.

Keywords: Multilevel inverter, acoustic noise, CSVPWM, total harmonic distortion, random PWM algorithm.

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Authors: Zi-Gui Huang, Tsung-Tsong Wu

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Large full frequency band gaps of surface and bulk acoustic waves in two-dimensional phononic band structures with hollow cylinders are addressed in this paper. It is well-known that absolute frequency band gaps are difficultly obtained in a band structure consisted of low-acoustic-impedance cylinders in high-acoustic-impedance host materials such as PMMA/Ni band structures. Phononic band structures with hollow cylinders are analyzed and discussed to obtain large full frequency band gaps not only for bulk modes but also for surface modes. The tendency of absolute frequency band gaps of surface and bulk acoustic waves is also addressed by changing the inner radius of hollow cylinders in this paper. The technique and this kind of band structure are useful for tuning the frequency band gaps and the design of acoustic waveguides.

Keywords: Phononic crystals, Band gap, SAW, BAW.

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Authors: R. Kanmaniraja, R. Freshipali, J. Abdullah, K. Niranjan, K. Balasubramani, V. R. Sanal Kumar

Abstract:

The present environmental issues have made aircraft jet noise reduction a crucial problem in aero-acoustics research. Acoustic studies reveal that addition of chevrons to the nozzle reduces the sound pressure level reasonably with acceptable reduction in performance. In this paper comprehensive numerical studies on acoustic characteristics of different types of chevron nozzles have been carried out with non-reacting flows for the shape optimization of chevrons in supersonic nozzles for aerospace applications. The numerical studies have been carried out using a validated steady 3D density based, k-ε turbulence model. In this paper chevron with sharp edge, flat edge, round edge and U-type edge are selected for the jet acoustic characterization of supersonic nozzles. We observed that compared to the base model a case with round-shaped chevron nozzle could reduce 4.13% acoustic level with 0.6% thrust loss. We concluded that the prudent selection of the chevron shape will enable an appreciable reduction of the aircraft jet noise without compromising its overall performance. It is evident from the present numerical simulations that k-ε model can predict reasonably well the acoustic level of chevron supersonic nozzles for its shape optimization.

Keywords: Supersonic nozzle, Chevron, Acoustic level, Shape Optimization of Chevron Nozzles, Jet noise suppression.

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Authors: Bernd Kiefer, Abraham Gebru Tesfay, Dietrich Klakow

Abstract:

The motivation of our work is to detect different terrain types traversed by a robot based on acoustic data from the robot-terrain interaction. Different acoustic features and classifiers were investigated, such as Mel-frequency cepstral coefficient and Gamma-tone frequency cepstral coefficient for the feature extraction, and Gaussian mixture model and Feed forward neural network for the classification. We analyze the system’s performance by comparing our proposed techniques with some other features surveyed from distinct related works. We achieve precision and recall values between 87% and 100% per class, and an average accuracy at 95.2%. We also study the effect of varying audio chunk size in the application phase of the models and find only a mild impact on performance.

Keywords: Terrain classification, acoustic features, autonomous robots, feature extraction.

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Authors: Prasanta Kundu, N.K. Kishore, A.K. Sinha

Abstract:

Insulation used in transformer is mostly oil pressboard insulation. Insulation failure is one of the major causes of catastrophic failure of transformers. It is established that partial discharges (PD) cause insulation degradation and premature failure of insulation. Online monitoring of PDs can reduce the risk of catastrophic failure of transformers. There are different techniques of partial discharge measurement like, electrical, optical, acoustic, opto-acoustic and ultra high frequency (UHF). Being non invasive and non interference prone, acoustic emission technique is advantageous for online PD measurement. Acoustic detection of p.d. is based on the retrieval and analysis of mechanical or pressure signals produced by partial discharges. Partial discharges are classified according to the origin of discharges. Their effects on insulation deterioration are different for different types. This paper reports experimental results and analysis for classification of partial discharges using acoustic emission signal of laboratory simulated partial discharges in oil pressboard insulation system using three different electrode systems. Acoustic emission signal produced by PD are detected by sensors mounted on the experimental tank surface, stored on an oscilloscope and fed to computer for further analysis. The measured AE signals are analyzed using discrete wavelet transform analysis and wavelet packet analysis. Energy distribution in different frequency bands of discrete wavelet decomposed signal and wavelet packet decomposed signal is calculated. These analyses show a distinct feature useful for PD classification. Wavelet packet analysis can sort out any misclassification arising out of DWT in most cases.

Keywords: Acoustic emission, discrete wavelet transform, partial discharge, wavelet packet analysis.

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Authors: Basudev Ghosh, Sreyasi Banerjee

Abstract:

Using pseudo potential method arbitrary amplitude ion-acoustic solitary waves have been theoretically studied in a collisionless plasma consisting of warm drifting positive ions, Boltzmann positrons and nonthermal electrons. Ion-acoustic solitary wave solutions have been obtained and the dependence of the solitary wave profile on different plasma parameters has been studied numerically. Lower and higher order compressive and rarefactive solitary waves are observed in presence of positrons, nonthermal electrons, ion drift velocity and finite ion temperature. Inclusion of higher order nonlinearity is shown to have significant correction to the solitary wave profile for the same values of plasma parameters.

Keywords: Ion-acoustic waves, Nonthermal electrons, Sagdeev potential, Solitary waves.

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Authors: Nan-Chyuan Tsai, Din-Chang Chen, Rong-Mao Lee, Bai-Lu Wang

Abstract:

This paper presents how the real-time chatter prevention can be realized by feedback of acoustic cutting signal, and the efficacy of the proposed adaptive spindle speed tuning algorithm is verified by intensive experimental simulations. A pair of microphones, perpendicular to each other, is used to acquire the acoustic cutting signal resulting from milling chatter. A real-time feedback control loop is constructed for spindle speed compensation so that the milling process can be ensured to be within the stability zone of stability lobe diagram. Acoustic Chatter Signal Index (ACSI) and Spindle Speed Compensation Strategy (SSCS) are proposed to quantify the acoustic signal and actively tune the spindle speed respectively. By converting the acoustic feedback signal into ACSI, an appropriate Spindle Speed Compensation Rate (SSCR) can be determined by SSCS based on real-time chatter level or ACSI. Accordingly, the compensation command, referred to as Added-On Voltage (AOV), is applied to increase/decrease the spindle motor speed. By inspection on the precision and quality of the workpiece surface after milling, the efficacy of the real-time chatter prevention strategy via acoustic signal feedback is further assured.

Keywords: Chatter compensation, Stability lobes, Non-invasivemeasurement.

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Authors: Yi Xu, Zexiang Li

Abstract:

In inspection and workpiece localization, sampling point data is an important issue. Since the devices for sampling only sample discrete points, not the completely surface, sampling size and location of the points will be taken into consideration. In this paper a method is presented for determining the sampled points size and location for achieving efficient sampling. Firstly, uncertainty analysis of the localization parameters is investigated. A localization uncertainty model is developed to predict the uncertainty of the localization process. Using this model the minimum size of the sampled points is predicted. Secondly, based on the algebra theory an eigenvalue-optimal optimization is proposed. Then a freeform surface is used in the simulation. The proposed optimization is implemented. The simulation result shows its effectivity.

Keywords: eigenvalue-optimal optimization, freeform surface inspection, sampling size and location, sampled points.

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Authors: Omid Sojodishijani, Saeed Ebrahimijam, Vahid Rostami

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This paper presents an optimized algorithm for robot localization which increases the correctness and accuracy of the estimating position of mobile robot to more than 150% of the past methods [1] in the uncertain and noisy environment. In this method the odometry and vision sensors are combined by an adapted well-known discrete kalman filter [2]. This technique also decreased the computation process of the algorithm by DKF simple implementation. The experimental trial of the algorithm is performed on the robocup middle size soccer robot; the system can be used in more general environments.

Keywords: Discrete Kalman filter, odometry sensor, omnidirectional vision sensor, Robot Localization.

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Authors: Dennis L. Owuor, Okuthe P. Kogeda, Johnson I. Agbinya

Abstract:

Mobile localization has attracted a great deal of attention recently due to the introduction of wireless networks. Although several localization algorithms and systems have been implemented and discussed in the literature, very few researchers have exploited the gap that exists between indoor localization, tracking, external storage of location information and outdoor localization for the purpose of digital forensics during and after a disaster. The contribution of this paper lies in the implementation of a robust system that is capable of locating, tracking mobile device users and store location information for both indoor and partially outdoor the cloud. The system can be used during disaster to track and locate mobile phone users. The developed system is a mobile application built based on Android, Hypertext Preprocessor (PHP), Cascading Style Sheets (CSS), JavaScript and MATLAB for the Android mobile users. Using Waterfall model of software development, we have implemented a three level system that is able to track, locate and store mobile device information in secure database (cloud) on almost a real time basis. The outcome of the study showed that the developed system is efficient with regard to the tracking and locating mobile devices. The system is also flexible, i.e. can be used in any building with fewer adjustments. Finally, the system is accurate for both indoor and outdoor in terms of locating and tracking mobile devices.

Keywords: Indoor localization, waterfall, digital forensics, tracking and cloud.

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Authors: Matko Šaric, Hrvoje Dujmic, Vladan Papic, Nikola Rožic

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Detection of player identity is challenging task in sport video content analysis. In case of soccer video player number recognition is effective and precise solution. Jersey numbers can be considered as scene text and difficulties in localization and recognition appear due to variations in orientation, size, illumination, motion etc. This paper proposed new method for player number localization and recognition. By observing hue, saturation and value for 50 different jersey examples we noticed that most often combination of low and high saturated pixels is used to separate number and jersey region. Image segmentation method based on this observation is introduced. Then, novel method for player number localization based on internal contours is proposed. False number candidates are filtered using area and aspect ratio. Before OCR processing extracted numbers are enhanced using image smoothing and rotation normalization.

Keywords: player number, soccer video, HSV color space

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Authors: J. B. Seo, K. J. Kim, S. W. Nam

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In this paper, a nonlinear acoustic echo cancellation (AEC) system is proposed, whereby 3rd order Volterra filtering is utilized along with a variable step-size Gauss-Seidel pseudo affine projection (VSSGS-PAP) algorithm. In particular, the proposed nonlinear AEC system is developed by considering a double-talk situation with near-end signal variation. Simulation results demonstrate that the proposed approach yields better nonlinear AEC performance than conventional approaches.

Keywords: Acoustic echo cancellation (AEC), Volterra filtering, variable step-size, GS-PAP.

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Authors: Z. Zarid, C. Gamba, A. Brusseaux, C. Laborie, K. Briens

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Cooling with sound is a physical phenomenon allowed by Thermo-Acoustics in which acoustic energy is transformed into a negative heat transfer, in other words: into cooling! Without needing any harmful gas, the transformation is environmentally friendly and can respond to many needs in terms of air conditioning, food refrigeration for domestic use, and cooling medical samples for example. To explore the possibilities of this cooling solution on a small scale, the TACS prototype has been designed, consisting of a low cost thermoacoustic refrigerant “pipe” able to lower the temperature by a few degrees. The obtained results are providing an interesting element for possible future of thermo-acoustic refrigeration.

Keywords: Domestic Scale Cooling System, Thermoacoustic, Environmental Friendly Refrigeration.

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Authors: Diego Felix, Eugene Hyun, Michael McGuire, Mihai Sima

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Terminal localization for indoor Wireless Local Area Networks (WLANs) is critical for the deployment of location-aware computing inside of buildings. A major challenge is obtaining high localization accuracy in presence of fluctuations of the received signal strength (RSS) measurements caused by multipath fading. This paper focuses on reducing the effect of the distance-varying noise by spatial filtering of the measured RSS. Two different survey point geometries are tested with the noise reduction technique: survey points arranged in sets of clusters and survey points uniformly distributed over the network area. The results show that the location accuracy improves by 16% when the filter is used and by 18% when the filter is applied to a clustered survey set as opposed to a straight-line survey set. The estimated locations are within 2 m of the true location, which indicates that clustering the survey points provides better localization accuracy due to superior noise removal.

Keywords: Position measurement, Wireless LAN, Radio navigation, Filtering

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Authors: E. Krasnova, E. Bulgakova, V. Shchemelinin

Abstract:

The paper deals with acoustic-spectrographic voice identification method in terms of its performance in non-native language speech. Performance evaluation is conducted by comparing the result of the analysis of recordings containing native language speech with recordings that contain foreign language speech. Our research is based on Tajik and Russian speech of Tajik native speakers due to the character of the criminal situation with drug trafficking. We propose a pilot experiment that represents a primary attempt enter the field.

Keywords: Speaker identification, acoustic-spectrographic method, non-native speech.

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Authors: G. Ramesh, S. Sundara Vadivelu

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For several high speed networks, providing resilience against failures is an essential requirement. The main feature for designing next generation optical networks is protecting and restoring high capacity WDM networks from the failures. Quick detection, identification and restoration make networks more strong and consistent even though the failures cannot be avoided. Hence, it is necessary to develop fast, efficient and dependable fault localization or detection mechanisms. In this paper we propose a new fault localization algorithm for WDM networks which can identify the location of a failure on a failed lightpath. Our algorithm detects the failed connection and then attempts to reroute data stream through an alternate path. In addition to this, we develop an algorithm to analyze the information of the alarms generated by the components of an optical network, in the presence of a fault. It uses the alarm correlation in order to reduce the list of suspected components shown to the network operators. By our simulation results, we show that our proposed algorithms achieve less blocking probability and delay while getting higher throughput.

Keywords: Alarm correlation, blocking probability, delay, fault localization, WDM networks.

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Authors: Lei Qi, Rongxin Yan, Lichen Sun

Abstract:

With the increasing of human space activities, the number of space debris has increased dramatically, and the possibility that spacecrafts on orbit are impacted by space debris is growing. A method is of the vital significance to real-time detect and assess spacecraft damage, determine of gas leak accurately, guarantee the life safety of the astronaut effectively. In this paper, acoustic sensor array is used to detect the acoustic signal which emits from the damage of the spacecraft on orbit. Then, we apply the time difference of arrival and beam forming algorithm to locate the damage and leakage. Finally, the extent of the spacecraft damage is evaluated according to the nonlinear ultrasonic method. The result shows that this method can detect the debris impact and the structural damage, locate the damage position, and identify the damage degree effectively. This method can meet the needs of structural damage detection for the spacecraft in-orbit.

Keywords: Acoustic sensor array, spacecraft, damage assessment, leakage location.

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Authors: Marcell S. A. Martins, Benedito S. R. Neto, Gerson L. Serejo, Carlos G. R. Santos

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Indoor positioning systems use sensors such as Bluetooth, ZigBee, and Wi-Fi, as well as cameras for image capture, which can be fixed or mobile. These computer vision-based positioning approaches are low-cost to implement, mainly when it uses a mobile camera. The present study aims to create a design of a fiducial marker for a low-cost indoor localization system. The marker is tape-shaped to perform a continuous reading employing two detection algorithms, one for greater distances and another for smaller distances. Therefore, the location service is always operational, even with variations in capture distance. A minimal localization and reading algorithm was implemented for the proposed marker design, aiming to validate it. The accuracy tests consider readings varying the capture distance between [0.5, 10] meters, comparing the proposed marker with others. The tests showed that the proposed marker has a broader capture range than the ArUco and QRCode, maintaining the same size. Therefore, reducing the visual pollution and maximizing the tracking since the ambient can be covered entirely.

Keywords: Multiscale recognition, indoor localization, tape-shaped marker, Fiducial Marker.

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Authors: D. Germanò, D. Plutino, G. Cannistraro

Abstract:

The theatre-auditorium under investigation following the highly reflective characteristics of materials used in it (marble, painted wood, smooth plaster, etc), architectural and structural features of the Protocol and its intended use (very multifunctional: Auditorium, theatre, cinema, musicals, conference room) from the analysis of the statement of fact made by the acoustic simulation software Ramsete and supported by data obtained through a campaign of acoustic measurements of the state of fact made on the spot by a Fonomet Svantek model SVAN 957, appears to be acoustically inadequate. After the completion of the 3D model according to the specifications necessary software used forecast in order to be recognized by him, have made three simulations, acoustic simulation of the state of and acoustic simulation of two design solutions. Improved noise characteristics found in the first design solution, compared to the state in fact consists therefore in lowering Reverberation Time that you turn most desirable value, while the Indicators of Clarity, the Baricentric Time, the Lateral Efficiency, Ratio of Low Tmedia BR and defined the Speech Intelligibility improved significantly. Improved noise characteristics found instead in the second design solution, as compared to first design solution, is finally mostly in a more uniform distribution of Leq and in lowering Reverberation Time that you turn the optimum values. Indicators of Clarity, and the Lateral Efficiency improve further but at the expense of a value slightly worse than the BR. Slightly vary the remaining indices.

Keywords: Indoor, Acoustic, Acoustic simulation

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Authors: David L. Olson, Stephen B. H. Bruder, Adam S. Watkins, Cleon E. Davis

Abstract:

In global navigation satellite system (GNSS) denied settings, such as indoor environments, autonomous mobile robots are often limited to dead-reckoning navigation techniques to determine their position, velocity, and attitude (PVA). Localization is typically accomplished by employing an inertial measurement unit (IMU), which, while precise in nature, accumulates errors rapidly and severely degrades the localization solution. Standard sensor fusion methods, such as Kalman filtering, aim to fuse precise IMU measurements with accurate aiding sensors to establish a precise and accurate solution. In indoor environments, where GNSS and no other a priori information is known about the environment, effective sensor fusion is difficult to achieve, as accurate aiding sensor choices are sparse. However, an opportunity arises by employing a depth camera in the indoor environment. A depth camera can capture point clouds of the surrounding floors and walls. Extracting attitude from these surfaces can serve as an accurate aiding source, which directly combats errors that arise due to gyroscope imperfections. This configuration for sensor fusion leads to a dramatic reduction of PVA error compared to traditional aiding sensor configurations. This paper provides the theoretical basis for the depth camera aiding sensor method, initial expectations of performance benefit via simulation, and hardware implementation thus verifying its veracity. Hardware implementation is performed on the Quanser Qbot 2™ mobile robot, with a Vector-Nav VN-200™ IMU and Kinect™ camera from Microsoft.

Keywords: Autonomous mobile robotics, dead reckoning, depth camera, inertial navigation, Kalman filtering, localization, sensor fusion.

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Authors: Reza Rezaei-Nasirabad, Zeinab Galavani, Rasoul Sadighi-Bonabi, Mohammad Asgarian

Abstract:

Role of acoustic driving pressure on the translational-radial dynamics of a moving single bubble sonoluminescence (m-SBSL) has been numerically investigated. The results indicate that increase in the amplitude of the driving pressure leads to increase in the bubble peak temperature. The length and the shape of the trajectory of the bubble depends on the acoustic pressure and because of the spatially dependence of the radial dynamics of the moving bubble, its peak temperature varies during the acoustical pulses. The results are in good agreement with the experimental reports on m-SBSL.

Keywords: Bubble dynamics, Equation of the gas state, Hydrodynamic force, Moving sonoluminescence.

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Authors: Sanghoon Kim, Sun-Tae Chung, Souhwan Jung, Dusik Oh, Jaemin Kim, Seongwon Cho

Abstract:

Eye localization is necessary for face recognition and related application areas. Most of eye localization algorithms reported so far still need to be improved about precision and computational time for successful applications. In this paper, we propose an eye location method based on multi-scale Gabor feature vectors, which is more robust with respect to initial points. The eye localization based on Gabor feature vectors first needs to constructs an Eye Model Bunch for each eye (left or right eye) which consists of n Gabor jets and average eye coordinates of each eyes obtained from n model face images, and then tries to localize eyes in an incoming face image by utilizing the fact that the true eye coordinates is most likely to be very close to the position where the Gabor jet will have the best Gabor jet similarity matching with a Gabor jet in the Eye Model Bunch. Similar ideas have been already proposed in such as EBGM (Elastic Bunch Graph Matching). However, the method used in EBGM is known to be not robust with respect to initial values and may need extensive search range for achieving the required performance, but extensive search ranges will cause much more computational burden. In this paper, we propose a multi-scale approach with a little increased computational burden where one first tries to localize eyes based on Gabor feature vectors in a coarse face image obtained from down sampling of the original face image, and then localize eyes based on Gabor feature vectors in the original resolution face image by using the eye coordinates localized in the coarse scaled image as initial points. Several experiments and comparisons with other eye localization methods reported in the other papers show the efficiency of our proposed method.

Keywords: Eye Localization, Gabor features, Multi-scale, Gabor wavelets.

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Authors: Ching M. Hsu, Rong F. Huang, Michael E. Loretero

Abstract:

Shear-layer instabilities of a pulsed stack-issued transverse jet were studied experimentally in a wind tunnel. Jet pulsations were induced by means of acoustic excitation. Streak pictures of the smoke-flow patterns illuminated by the laser-light sheet in the median plane were recorded with a high-speed digital camera. Instantaneous velocities of the shear-layer instabilities in the flow were digitized by a hot-wire anemometer. By analyzing the streak pictures of the smoke-flow visualization, three characteristic flow modes, synchronized flapping jet, transition, and synchronized shear-layer vortices, are identified in the shear layer of the pulsed stack-issued transverse jet at various excitation Strouhal numbers. The shear-layer instabilities of the pulsed stack-issued transverse jet are synchronized by acoustic excitation except for transition mode. In transition flow mode, the shear-layer vortices would exhibit a frequency that would be twice as great as the acoustic excitation frequency.

Keywords: Acoustic excitation, jet in crossflow, shear-layer instability.

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