Search results for: tracking device

Authors: Y. Sabzehmeidani, M. Mailah, M. Hussein, A. R. Tavakolpour

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In this paper, a worm-like micro robot designed for inpipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportionalintegral- derivative (PID) controller in which the dynamic response of the robot system subjected to different input excitations is investigated. Subsequently, a robust intelligent method known as active force control with fuzzy logic (AFCFL) is later incorporated into the PID scheme to enhance the system performance by compensating the unwanted disturbances due to the interaction of the robot with its environment. Results show that the proposed AFCFL scheme is far superior than the PID control counterpart in terms of the system-s tracking capability in the wake of the disturbances.

Keywords: Active Force Control, Micro Robot, Fuzzy Logic, In-pipe Application.

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Authors: A. Bumbová, J. Kellner, Z. Večeřa, V. Kahle, J. Navrátil

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The construction of original functional sample of the portable device for fast analysis of energetic materials has been described in the paper. The portable device consisting of two parts – an original miniaturized microcolumn liquid chromatograph and a unique chemiluminescence detector – has been proposed and realized. In a very short time, this portable device is capable of identifying selectively most of military nitramine- and nitroesterbased explosives as well as inorganic nitrates occurring in trace concentrations in water or in soil. The total time required for the identification of extracts is shorter than 8 minutes.

Keywords: Chemiluminescence, microcolumn liquid chromatograph, nitramines, nitroesters, portable device.

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Authors: Krishna S. Raghuwaiya, Shonal Singh, Jito Vanualailai

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In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.

Keywords: Control, Trajectory Tracking, Lyapunov.

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Authors: Jae-Young Choi, Sung-Gaun Kim

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This paper suggests a fast and stable Target Tracking system in collaborative control of UAV and UGV. Wi-Fi communication range is limited in collaborative control of UAV and UGV. Thus, to secure a stable communications, UAV and UGV have to be kept within a certain distance from each other. But existing method which uses UAV Vertical Camera to follow the motion of UGV is likely to lose a target with a sudden movement change. Eventually, UGV has disadvantages that it could only move at a low speed and not make any sudden change of direction in order to keep track of the target. Therefore, we suggest utilizing AR Drone UAV front camera to track fast-moving and Omnidirectional Mecanum Wheel UGV.

Keywords: Collaborative control, UAV, UGV, Target Tracking.

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Authors: Zacharenia I. Garofalaki, John T. Amorginos, John N. Ellinas

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This paper presents the development of a robot car that can track the motion of an object by detecting its color through an Android device. The employed computer vision algorithm uses the OpenCV library, which is embedded into an Android application of a smartphone, for manipulating the captured image of the object. The captured image of the object is subjected to color conversion and is transformed to a binary image for further processing after color filtering. The desired object is clearly determined after removing pixel noise by applying image morphology operations and contour definition. Finally, the area and the center of the object are determined so that object’s motion to be tracked. The smartphone application has been placed on a robot car and transmits by Bluetooth to an Arduino assembly the motion directives so that to follow objects of a specified color. The experimental evaluation of the proposed algorithm shows reliable color detection and smooth tracking characteristics.

Keywords: Android, Arduino Uno, Image processing, Object motion detection, OpenCV library.

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Authors: Vitaliy Tayanov

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In this paper we present the algorithm which allows us to have an object tracking close to real time in Full HD videos. The frame rate (FR) of a video stream is considered to be between 5 and 30 frames per second. The real time track building will be achieved if the algorithm can follow 5 or more frames per second. The principle idea is to use fast algorithms when doing preprocessing to obtain the key points and track them after. The procedure of matching points during assignment is hardly dependent on the number of points. Because of this we have to limit pointed number of points using the most informative of them.

Keywords: video tracking, real-time, Hungarian algorithm, Full HD video.

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Authors: H. Ghanbari, H. Nikbakht, A. Zahedi, M. Ghanbari

Abstract:

This paper is focusing on designing a control system for wind turbine which can control the speed and output power according to arbitrary algorithm. Reference Tracking Method is used to control the turbine spinning speed in order to increase its output energy.

Keywords: Wind Turbine, Simulink, Reference Tracking Method.

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Authors: Kozo Tanigawa, Toshihiko Sasama, Kenichi Takahashi, Takao Kawamura, Kazunori Sugahara

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In recent years, the number of the cases of information leaks is increasing. Companies and Research Institutions make various actions against information thefts and security accidents. One of the actions is adoption of the crime prevention system, including the monitoring system by surveillance cameras. In order to solve difficulties of multiple cameras monitoring, we develop the automatic human tracking system using mobile agents through multiple surveillance cameras to track target persons. In this paper, we develop the monitor which confirms mobile agents tracing target persons, and the simulator of video picture analysis to construct the tracking algorithm.

Keywords: Human tracking, mobile agent, monitoring, simulate.

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Authors: Beste Kaysı, Yasemin Topaloğlu

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Usability is one of the most important quality attributes for web-based information systems. Specifically, for e-commerce applications, usability becomes more prominent. In this study, we aimed to explore the features that experienced users seek in e-commerce applications. We used eye tracking method in evaluations. Eye movement data are obtained from the eye-tracking method and analyzed based on task completion time, number of fixations, as well as heat map and gaze plot measures. The results of the analysis show that the eye movements of participants' are too static in certain areas and their areas of interest are scattered in many different places. It has been determined that this causes users to fail to complete their transactions. According to the findings, we outlined the issues to improve the usability of e-commerce websites. Then we propose solutions to identify the issues. In this way, it is expected that e-commerce sites will be developed which will make experienced users more satisfied.

Keywords: E-commerce websites, eye tracking method, usability, website evaluations.

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Authors: Ying Huang, Zhiliang Wang, An Ping

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With advances in computer vision, non-contact gaze tracking systems are heading towards being much easier to operate and more comfortable for use, the technique proposed in this paper is specially designed for achieving these goals. For the convenience in operation, the proposal aims at the system with simple configuration which is composed of a fixed wide angle camera and dual infrared illuminators. Then in order to enhance the usability of the system based on single camera, a self-adjusting method which is called Real-time gaze Tracking Algorithm with head movement Compensation (RTAC) is developed for estimating the gaze direction under natural head movement and simplifying the calibration procedure at the same time. According to the actual evaluations, the average accuracy of about 1° is achieved over a field of 20×15×15 cm3.

Keywords: computer vision, gaze tracking, human-computer interaction.

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Authors: Jozef Šesták, Zbyněk Večeřa, Vladislav Kahle, Dana Moravcová, Pavel Mikuška, Josef Kellner, František Božek

Abstract:

Construction of portable device for fast analysis of energetic materials is described in this paper. The developed analytical system consists of two main parts: a miniaturized microcolumn liquid chromatograph of unique construction and original chemiluminescence detector. This novel portable device is able to determine selectively most of nitramine- and nitroester-based explosives as well as inorganic nitrates at trace concentrations in water or soil extracts in less than 8 minutes.

Keywords: Portable device, uLC, chemiluminescence, nitramines, nitroesters.

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Authors: Aws Al-azawi, John Soraghan

Abstract:

There is a growing interest in the use of ultrasonic speckle tracking for biomedical image formation of tissue deformation. Speckle tracking is angle independent and has an ability to differentiate soft tissue into benign and malignant regions. In this paper a simulation model for dynamic ultrasound scatterer is presented. The model composes Field-II ultrasonic scatterers and FEM (ANSYS-11) nodes as a regional tissue deformation. A performance evaluation is presented on axial displacement and strain fields estimation of a uniformly elastic model, using speckle tracking based 1D cross-correlation of optimally segmented pre and post-deformation frames. Optimum correlation window length is investigated in terms of highest signal-to-noise ratio (SNR) for a selected region of interest of a smoothed displacement field. Finally, gradient based strain field of both smoothed and non-smoothed displacement fields are compared. Simulation results from the model are shown to compare favorably with FEM results.

Keywords: Speckle tracking, tissue deformation, ultrasonic simulation.

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Authors: Hyun June Kim, Tailong Shi, Seden Akdagli, Sam Most, Yuling Yan

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Quantitative analyses of whisker movements provide a means to study functional recovery and regeneration of mouse facial nerve after an injury. However, accurate tracking of the mouse whisker movement is challenging. Most methods for whisker tracking require manual intervention, e.g. fixing the head of the mouse during a study. Here we describe a semi-automated image processing method, which is applied to high-speed video recordings of free-moving mice to track the whisker movements. We first track the head movement of a mouse by delineating the lower head contour frame-by-frame that allows for detection of the location and orientation of the head. Then, a region of interest is identified for each frame; the subsequent application of a mask and the Hough transform detects the selected whiskers on each side of the head. Our approach is used to examine the functional recovery of damaged facial nerves in mice over a course of 21 days.

Keywords: Mystacial macrovibrissae, whisker tracking, head tracking, facial nerve recovery.

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Authors: Osman Acar

Abstract:

Sun tracking systems are the systems following the sun ray by a right angle or by predetermined certain angle. In this study, we used theoretical trajectory of sun for latitude of central Anatolia in Turkey. A two degree of freedom spherical mechanism was designed to have a large workspace able to follow the sun's theoretical motion by the right angle during the whole year. An inverse kinematic analysis was generated to find the positions of mechanism links for the predicted trajectory. Force and torque analysis were shown for the first day of the year.

Keywords: Sun tracking, theoretical sun trajectory, spherical mechanism, inverse kinematic analysis.

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Authors: Hyeongbok Kim, Lingling Zhao, Xiaohong Su, Junjie Wang

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The Bernoulli filter is a precise Bayesian filter for single target tracking based on the random finite set theory. The standard Bernoulli filter often underestimates the number of the targets. This study proposes a Gaussian particle flow (GPF) Bernoulli filter employing particle flow to migrate particles from prior to posterior positions to improve the performance of the standard Bernoulli filter. By employing the particle flow filter, the computational speed of the Bernoulli filters is significantly improved. In addition, the GPF Bernoulli filter provides more accurate estimation compared with that of the standard Bernoulli filter. Simulation results confirm the improved tracking performance and computational speed in two- and three-dimensional scenarios compared with other algorithms.

Keywords: Bernoulli filter, particle filter, particle flow filter, random finite sets, target tracking.

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Authors: S. Meikandasivam, Rajesh Kumar Nema, Shailendra Kumar Jain

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A basic conceptual study of TCSC device on Simulink is a teaching aid and helps in understanding the rudiments of the topic. This paper thus stems out from basics of TCSC device and analyzes the impedance characteristics and associated single & multi resonance conditions. The Impedance characteristics curve is drawn for different values of inductance in MATLAB using M-files. The study is also helpful in estimating the appropriate inductance and capacitance values which have influence on multi resonance point in TCSC device. The capacitor voltage, line current, thyristor current and capacitor current waveforms are discussed briefly as simulation results. Simulink model of TCSC device is given and corresponding waveforms are analyzed. The subsidiary topics e.g. power oscillation damping, SSR mitigation and transient stability is also brought out.

Keywords: TCSC device, Impedance characteristics, Resonance point, Simulink model

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Authors: Kripesh Adhikari, Hamid Bouchachia, Hammadi Nait-Charif

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Falls are one of the major causes of injury and death among elderly people aged 65 and above. A support system to identify such kind of abnormal activities have become extremely important with the increase in ageing population. Pose estimation is a challenging task and to add more to this, it is even more challenging when pose estimations are performed on challenging poses that may occur during fall. Location of the body provides a clue where the person is at the time of fall. This paper presents a vision-based tracking strategy where available joints are grouped into three different feature points depending upon the section they are located in the body. The three feature points derived from different joints combinations represents the upper region or head region, mid-region or torso and lower region or leg region. Tracking is always challenging when a motion is involved. Hence the idea is to locate the regions in the body in every frame and consider it as the tracking strategy. Grouping these joints can be beneficial to achieve a stable region for tracking. The location of the body parts provides a crucial information to distinguish normal activities from falls.

Keywords: Fall detection, machine learning, deep learning, pose estimation, tracking.

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Authors: Sepehr Aslani, Homayoun Mahdavi-Nasab

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Automated motion detection and tracking is a challenging task in traffic surveillance. In this paper, a system is developed to gather useful information from stationary cameras for detecting moving objects in digital videos. The moving detection and tracking system is developed based on optical flow estimation together with application and combination of various relevant computer vision and image processing techniques to enhance the process. To remove noises, median filter is used and the unwanted objects are removed by applying thresholding algorithms in morphological operations. Also the object type restrictions are set using blob analysis. The results show that the proposed system successfully detects and tracks moving objects in urban videos.

Keywords: Optical flow estimation, moving object detection, tracking, morphological operation, blob analysis.

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Authors: Ahmet Denker, Tuğrul Adıgüzel

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In this paper, a solution is presented for a robotic manipulation problem in industrial settings. The problem is sensing objects on a conveyor belt, identifying the target, planning and tracking an interception trajectory between end effector and the target. Such a problem could be formulated as combining object recognition, tracking and interception. For this purpose, we integrated a vision system to the manipulation system and employed tracking algorithms. The control approach is implemented on a real industrial manipulation setting, which consists of a conveyor belt, objects moving on it, a robotic manipulator, and a visual sensor above the conveyor. The trjectory for robotic interception at a rendezvous point on the conveyor belt is analytically calculated. Test results show that tracking the raget along this trajectory results in interception and grabbing of the target object.

Keywords: robotics, robot vision, rendezvous planning, self organizingmaps.

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Authors: Tainchi Lu, Chochih Lin

Abstract:

With a rapid growth in 3D graphics technology over the last few years, people are desired to see more flexible reacting motions of a biped in animations. In particular, it is impossible to anticipate all reacting motions of a biped while facing a perturbation. In this paper, we propose a three-level tracking method for animating a 3D humanoid character. First, we take the laws of physics into account to attach physical attributes, such as mass, gravity, friction, collision, contact, and torque, to bones and joints of a character. The next step is to employ PD controller to follow a reference motion as closely as possible. Once the character cannot tolerate a strong perturbation to prevent itself from falling down, we are capable of tracking a desirable falling-down action to avoid any falling condition inaccuracy. From the experimental results, we demonstrate the effectiveness and flexibility of the proposed method in comparison with conventional data-driven approaches.

Keywords: Character Animation, Forward Dynamics, Motion Tracking, PD Control.

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Authors: Yashvir Singh, Mayank Joshi

Abstract:

A lateral trench-gate power metal-oxide-semiconductor on 4H-SiC is proposed. The device consists of two separate trenches in which two gates are placed on both sides of P-body region resulting two parallel channels. Enhanced current conduction and reduced-surface-field effect in the structure provide substantial improvement in the device performance. Using two dimensional simulations, the performance of proposed device is evaluated and compare of with that of the conventional device for same cell pitch. It is demonstrated that the proposed structure provides two times higher output current, 11% decrease in threshold voltage, 70% improvement in transconductance, 70% reduction in specific ON-resistance, 52% increase in breakdown voltage, and nearly eight time improvement in figure-of-merit over the conventional device.

Keywords: 4H-SiC, lateral, trench-gate, power MOSFET.

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Authors: Rangsipan Marukatat, Pongmanat Manaspaibool, Benjawan Khaiprapay, Pornpimon Plienjai

Abstract:

We developed a GPS-based navigation device for the blind, with audio guidance in Thai language. The device is composed of simple and inexpensive hardware components. Its user interface is quite simple. It determines optimal routes to various landmarks in our university campus by using heuristic search for the next waypoints. We tested the device and made note of its limitations and possible extensions.

Keywords: Blind, global positioning system (GPS), navigation

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Authors: Ching-Sung Wang, Teng-Wei Wang, Zhen-Ting Zheng

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This study mainly concerns a safety device designed for child care. When children are out of sight or the caregivers cannot always pay attention to the situation, through the functions of this device, caregivers can immediately be informed to make sure that the children do not get lost or hurt, and thus, ensure their safety. Starting from this concept, a device is produced based on the relatively low-cost Bluetooth piconet system and a three-axis gyroscope sensor. This device can transmit data to a mobile phone app through Bluetooth, in order that the user can learn the situation at any time. By simply clipping the device in a pocket or on the waist, after switching on/starting the device, it will send data to the phone to detect the child’s fall and distance. Once the child is beyond the angle or distance set by the app, it will issue a warning to inform the phone owner.

Keywords: Children care, piconet system, three-axis gyroscope, distance detection, falls detection.

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Authors: Christian Rathgeber, Franz Winkler, Dirk Odenthal, Steffen Muller

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In this contribution a structure for high level lateral vehicle tracking control based on the disturbance observer is presented. The structure is characterized by stationary compensating side forces disturbances and guaranteeing a cooperative behavior at the same time. Driver inputs are not compensated by the disturbance observer. Moreover the structure is especially useful as it robustly stabilizes the vehicle. Therefore the parameters are selected using the Parameter Space Approach. The implemented algorithms are tested in real world scenarios.

Keywords: Disturbance observer, trajectory tracking, robust control, autonomous driving, cooperative driving

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Authors: Shiuh-Jer Huang, Yu-Sheng Hsu

Abstract:

On-board available parking space detecting system, parking trajectory planning and tracking control mechanism are the key components of vehicle backward auto-parking system. Firstly, pair of ultrasonic sensors is installed on each side of vehicle body surface to detect the relative distance between ego-car and surrounding obstacle. The dimension of a found empty space can be calculated based on vehicle speed and the time history of ultrasonic sensor detecting information. This result can be used for constructing the 2D vehicle environmental map and available parking type judgment. Finally, the auto-parking controller executes the on-line optimal parking trajectory planning based on this 2D environmental map, and monitors the real-time vehicle parking trajectory tracking control. This low cost auto-parking system was tested on a model car.

Keywords: Vehicle auto-parking, parking space detection, parking path tracking, intelligent fuzzy controller.

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Authors: C.Kia, M.R.Arshad, A.H.Adom, P.A.Wilson

Abstract:

This paper presents recent work on the improvement of the robotics vision based control strategy for underwater pipeline tracking system. The study focuses on developing image processing algorithms and a fuzzy inference system for the analysis of the terrain. The main goal is to implement the supervisory fuzzy learning control technique to reduce the errors on navigation decision due to the pipeline occlusion problem. The system developed is capable of interpreting underwater images containing occluded pipeline, seabed and other unwanted noise. The algorithm proposed in previous work does not explore the cooperation between fuzzy controllers, knowledge and learnt data to improve the outputs for underwater pipeline tracking. Computer simulations and prototype simulations demonstrate the effectiveness of this approach. The system accuracy level has also been discussed.

Keywords: Fuzzy logic, Underwater target tracking, Autonomous underwater vehicles, Artificial intelligence, Simulations, Robot navigation, Vision system.

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Authors: Sangeeta Singh, Pankaj Kumar, P. N. Kondekar

Abstract:

In this paper, the transient device performance analysis of n-type Gate Inside JunctionLess Transistor (GI-JLT) has been evaluated. 3-D Bohm Quantum Potential (BQP) transport device simulation has been used to evaluate the delay and power dissipation performance. GI-JLT has a number of desirable device parameters such as reduced propagation delay, dynamic power dissipation, power and delay product, intrinsic gate delay and energy delay product as compared to Gate-all-around transistors GAA-JLT. In addition to this, various other device performance parameters namely, on/off current ratio, short channel effects (SCE), transconductance Generation Factor (TGF) and unity gain cut-off frequency (fT ) and subthreshold slope (SS) of the GI-JLT and GAA-JLT have been analyzed and compared. GI-JLT shows better device performance characteristics than GAA-JLT for low power and high frequency applications, because of its larger gate electrostatic control on the device operation.

Keywords: Gate-inside junctionless transistor GI-JLT, Gate-all-around junctionless transistor GAA-JLT, propagation delay, power delay product.

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Authors: Shun-Kai Yang, Kuo-Feng Ssu

Abstract:

Target tracking and localization are important applications in wireless sensor networks. In these applications, sensor nodes collectively monitor and track the movement of a target. They have limited energy supplied by batteries, so energy efficiency is essential for sensor networks. Most existing target tracking protocols need to wake up sensors periodically to perform tracking. Some unnecessary energy waste is thus introduced. In this paper, an energy efficient protocol for target localization is proposed. In order to preserve energy, the protocol fixes the number of sensors for target tracking, but it retains the quality of target localization in an acceptable level. By selecting a set of sensors for target localization, the other sensors can sleep rather than periodically wake up to track the target. Simulation results show that the proposed protocol saves a significant amount of energy and also prolongs the network lifetime.

Keywords: Coverage, energy efficiency, target localization, wireless sensor network.

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Authors: Benjamin Gorry, Zezhi Chen, Kevin Hammond, Andy Wallace, Greg Michaelson

Abstract:

This paper describes new computer vision algorithms that have been developed to track moving objects as part of a long-term study into the design of (semi-)autonomous vehicles. We present the results of a study to exploit variable kernels for tracking in video sequences. The basis of our work is the mean shift object-tracking algorithm; for a moving target, it is usual to define a rectangular target window in an initial frame, and then process the data within that window to separate the tracked object from the background by the mean shift segmentation algorithm. Rather than use the standard, Epanechnikov kernel, we have used a kernel weighted by the Chamfer distance transform to improve the accuracy of target representation and localization, minimising the distance between the two distributions in RGB color space using the Bhattacharyya coefficient. Experimental results show the improved tracking capability and versatility of the algorithm in comparison with results using the standard kernel. These algorithms are incorporated as part of a robot test-bed architecture which has been used to demonstrate their effectiveness.

Keywords: Hume, functional programming, autonomous vehicle, pioneer robot, vision.

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Authors: Yong-Seo Koo, Jin-Woo Jung, Byung-Seok Lee, Dong-Su Kim, Yil-Suk Yang

Abstract:

In this paper, a novel LVTSCR-based device for electrostatic discharge (ESD) protection of integrated circuits (ICs) is designed, fabricated and characterized. The proposed device is similar to the conventional LVTSCR but it has an embedded PMOSFET in the anode n-well to enhance the turn on speed, the clamping capability and the robustness. This is possible because the embedded PMOSFET provides the sub-path of ESD discharge current. The TLP, HBM and MM testing are carried out to verify the ESD performance of the proposed devices, which are fabricated in 0.35um (Bipolar-CMOS-DMOS) BCDMOS process. The device has the robustness of 70mA/um that is higher about 60mA/um than the LVTSCR, approximately.

Keywords: ESD Protection, grounded gate NMOS (GGNMOS), low trigger voltage SCR (LVTSCR)

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