Search results for: Maximum power point tracking

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: Yan Su, L. C. Chan

Abstract:

A novel typical day prediction model have been built and validated by the measured data of a grid-connected solar photovoltaic (PV) system in Macau. Unlike conventional statistical method used by previous study on PV systems which get results by averaging nearby continuous points, the present typical day statistical method obtain the value at every minute in a typical day by averaging discontinuous points at the same minute in different days. This typical day statistical method based on discontinuous point averaging makes it possible for us to obtain the Gaussian shape dynamical distributions for solar irradiance and output power in a yearly or monthly typical day. Based on the yearly typical day statistical analysis results, the maximum possible accumulated output energy in a year with on site climate conditions and the corresponding optimal PV system running time are obtained. Periodic Gaussian shape prediction models for solar irradiance, output energy and system energy efficiency have been built and their coefficients have been determined based on the yearly, maximum and minimum monthly typical day Gaussian distribution parameters, which are obtained from iterations for minimum Root Mean Squared Deviation (RMSD). With the present model, the dynamical effects due to time difference in a day are kept and the day to day uncertainty due to weather changing are smoothed but still included. The periodic Gaussian shape correlations for solar irradiance, output power and system energy efficiency have been compared favorably with data of the PV system in Macau and proved to be an improvement than previous models.

Keywords: Grid Connected, RMSD, Solar PV System, Typical Day.

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Authors: Sudipta Majumdar, Akansha Singh

Abstract:

Frequency estimation of a sinusoid in white noise using maximum entropy power spectral estimation has been shown to be very sensitive to initial sinusoidal phase. This paper presents use of wavelet transform to find an analytic signal for frequency estimation using maximum entropy method (MEM) and compared the results with frequency estimation using analytic signal by Hilbert transform method and frequency estimation using real data together with MEM. The presented method shows the improved estimation precision and antinoise performance.

Keywords: Frequency estimation, analytic signal, maximum entropy method, wavelet transform.

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

Abstract:

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: Guiheng Zhang, Wei Zhang, Jun Fu, Yudong Wang

Abstract:

A 900 MHz three-stage SiGe power amplifier (PA) with high power gain is presented in this paper. Volterra Series is applied to analyze nonlinearity sources of SiGe HBT device model clearly. Meanwhile, the influence of operating current to IMD3 is discussed. Then a β-helper current mirror bias circuit is applied to improve linearity, since the β-helper current mirror bias circuit can offer stable base biasing voltage. Meanwhile, it can also work as predistortion circuit when biasing voltages of three bias circuits are fine-tuned, by this way, the power gain and operating current of PA are optimized for best linearity. The three power stages which fabricated by 0.18 μm SiGe technology are bonded to the printed circuit board (PCB) to obtain impedances by Load-Pull system, then matching networks are done for best linearity with discrete passive components on PCB. The final measured three-stage PA exhibits 21.1 dBm of output power at 1 dB compression point (OP1dB) with power added efficiency (PAE) of 20.6% and 33 dB power gain under 3.3 V power supply voltage.

Keywords: High gain power amplifier, linearization bias circuit, SiGe HBT model, Volterra Series.

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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: Kapse Swapnil, K. Shankar

Abstract:

Aiming at optimizing the weight and deflection of cantilever beam subjected to maximum stress and maximum deflection, Multi-objective Particle Swarm Optimization (MOPSO) with Utopia Point based local search is implemented. Utopia point is used to govern the search towards the Pareto Optimal set. The elite candidates obtained during the iterations are stored in an archive according to non-dominated sorting and also the archive is truncated based on least crowding distance. Local search is also performed on elite candidates and the most diverse particle is selected as the global best. This method is implemented on standard test functions and it is observed that the improved algorithm gives better convergence and diversity as compared to NSGA-II in fewer iterations. Implementation on practical structural problem shows that in 5 to 6 iterations, the improved algorithm converges with better diversity as evident by the improvement of cantilever beam on an average of 0.78% and 9.28% in the weight and deflection respectively compared to NSGA-II.

Keywords: Utopia point, multi-objective particle swarm optimization, local search, cantilever beam.

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Authors: Ali Reza Rajabi, Shahab Rashnoei, Mojtaba Hakimzadeh, Amir Habibi

Abstract:

At any point of time, a power system operating condition should be stable, meeting various operational criteria and it should also be secure in the event of any credible contingency. Present day power systems are being operated closer to their stability limits due to economic and environmental constraints. Maintaining a stable and secure operation of a power system is therefore a very important and challenging issue. Voltage instability has been given much attention by power system researchers and planners in recent years, and is being regarded as one of the major sources of power system insecurity. Voltage instability phenomena are the ones in which the receiving end voltage decreases well below its normal value and does not come back even after setting restoring mechanisms such as VAR compensators, or continues to oscillate for lack of damping against the disturbances. Reactive power limit of power system is one of the major causes of voltage instability. This paper investigates the effects of coordinated series capacitors (SC) with static VAR compensators (SVC) on steady-state voltage stability of a power system. Also, the influence of the presence of series capacitor on static VAR compensator controller parameters and ratings required to stabilize load voltages at certain values are highlighted.

Keywords: Static VAR Compensator (SVC), Series Capacitor (SC), voltage stability, reactive power.

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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: Malinwo Estone Ayikpa

Abstract:

With the rapid increase of grid-connected PV systems over the last decades, genuine challenges have arisen for engineers and professionals of energy field in the planning and operation of existing distribution networks with the integration of new generation sources. However, the conventional distribution network, in its design was not expected to receive other generation outside the main power supply. The tools generally used to analyze the networks become inefficient and cannot take into account all the constraints related to the operation of grid-connected PV systems. Some of these constraints are voltage control difficulty, reverse power flow, and especially voltage unbalance which could be due to the poor distribution of single-phase PV systems in the network. In order to analyze the impact of the connection of small and large number of PV systems to the distribution networks, this paper presents an efficient optimization tool that minimizes voltage unbalance in three-phase distribution networks with active and reactive power injections from the allocation of single-phase and three-phase PV plants. Reactive power can be generated or absorbed using the available capacity and the adjustable power factor of the inverter. Good reduction of voltage unbalance can be achieved by reactive power control of the PV systems. The presented tool is based on the three-phase current injection method and the PV systems are modeled via an equivalent circuit. The primal-dual interior point method is used to obtain the optimal operating points for the systems.

Keywords: Photovoltaic generation, primal-dual interior point method, three-phase optimal power flow, unbalanced system.

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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: Idris Elfeituri

Abstract:

In the current study, energy and exergy analysis of a 65 MW steam power plant was carried out. This study investigated the effect of variations of overall conductance of the super heater on the performance of an existing steam power plant located in Derna, Libya. The performance of the power plant was estimated by a mathematical modelling which considers the off-design operating conditions of each component. A fully interactive computer program based on the mass, energy and exergy balance equations has been developed. The maximum exergy destruction has been found in the steam generation unit. A 50% reduction in the design value of overall conductance of the super heater has been achieved, which accordingly decreases the amount of the net electrical power that would be generated by at least 13 MW, as well as the overall plant exergy efficiency by at least 6.4%, and at the same time that would cause an increase of the total exergy destruction by at least 14 MW. The achieved results showed that the super heater design and operating conditions play an important role on the thermodynamics performance and the fuel utilization of the power plant. Moreover, these considerations are very useful in the process of the decision that should be taken at the occasions of deciding whether to replace or renovate the super heater of the power plant.

Keywords: Exergy, super-heater, fouling, steam power plant, off-design.

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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: Raj Kumar Rajak, Bharat Mishra

Abstract:

Bio-batteries represent an entirely new long-term, reasonable, reachable, and eco-friendly approach to generation of sustainable energy. In the present experimental work, we have studied the effect of the generation of power by bio-battery using different electrode pairs. The tests show that it is possible to generate electricity using cow’s urine as an electrolyte. C-Mg electrode pair shows maximum Voltage and Short Circuit Current (SCC), while C-Zn electrode pair shows less Open Circuit Voltage (OCV) and SCC. By the studies of cow urine and different electrodes, it is found that C-Zn electrode battery is more economical. The cow urine battery with C-Zn electrode provides maximum power (707.4 mW) and durability (up to 145 h). This result shows that the bio-batteries have the potency to full fill the need of electricity demand for lower energy equipment.

Keywords: Bio-batteries, cow’s urine, electrodes, non-conventional.

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Authors: S. Janpong, K-L. Areerak, K-N. Areerak

Abstract:

This paper aims to present the reviews of the application of neural network in shunt active power filter (SAPF). From the review, three out of four components of SAPF structure, which are harmonic detection component, compensating current control, and DC bus voltage control, have been adopted some of neural network architecture as part of its component or even substitution. The objectives of most papers in using neural network in SAPF are to increase the efficiency, stability, accuracy, robustness, tracking ability of the systems of each component. Moreover, minimizing unneeded signal due to the distortion is the ultimate goal in applying neural network to the SAPF. The most famous architecture of neural network in SAPF applications are ADALINE and Backpropagation (BP).

Keywords: Active power filter, neural network, harmonic distortion, harmonic detection and compensation, non-linear load.

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Authors: A. Kospach, A. Mladek, M. Waltenberger, F. Schilling

Abstract:

In this work, a coupled 1D/3D simulation approach for thermal protection and optimization of a trailer refrigeration power pack unit was developed. With the developed 1D/3D simulation approach thermal critical scenarios, such as summer, high-load scenarios are investigated. The 1D thermal model was built up consisting of the thermal network, which includes different point masses and associated heat transfers, the coolant and oil circuits, as well as the fan unit. The 3D computational fluid dynamics (CFD) model was developed to model the air flow through the power pack unit considering convective heat transfer effects. In the 1D thermal model the temperatures of the individual point masses were calculated, which served as input variables for the 3D CFD model. For the calculation of the point mass temperatures in the 1D thermal model, the convective heat transfer rates from the 3D CFD model were required as input variables. These two variables (point mass temperatures and convective heat transfer rates) were the main couple variables for the coupled 1D/3D simulation model. The coupled 1D/3D model was validated with measurements under normal operating conditions. Coupled simulations for summer high-load case were than performed and compared with a reference case under normal operation conditions. Hot temperature regions and components could be identified. Due to the detailed information about the flow field, temperatures and heat fluxes, it was possible to directly derive improvement suggestions for the cooling design of the transport refrigeration power pack unit.

Keywords: Coupled thermal simulation, thermal analysis, transport refrigeration unit, 3D computational fluid dynamics, 1D thermal modelling, thermal management systems.

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Authors: Muhammad Haroon Siddiqui, Muhammad Rehan Khalid

Abstract:

This paper evaluates the performance of a novel algorithm for tracking of a mobile node, interms of execution time and root mean square error (RMSE). Particle Filter algorithm is used to track the mobile node, however a new technique in particle filter algorithm is also proposed to reduce the execution time. The stationary points were calculated through trilateration and finally by averaging the number of points collected for a specific time, whereas tracking is done through trilateration as well as particle filter algorithm. Wi-Fi signal is used to get initial guess of the position of mobile node in x-y coordinates system. Commercially available software “Wireless Mon" was used to read the WiFi signal strength from the WiFi card. Visual Cµ version 6 was used to interact with this software to read only the required data from the log-file generated by “Wireless Mon" software. Results are evaluated through mathematical modeling and MATLAB simulation.

Keywords: Particle Filter, Tracking, Wireless Local Area Network, WiFi, Trilateration

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Authors: A. Bozkurt, C. Kocatepe, R. Yumurtaci, İ. C. Tastan, G. Tulun

Abstract:

Efficient use of energy, the increase in demand of energy and also with the reduction of natural energy sources, has improved its importance in recent years. Most of the losses in the system from electricity produced until the point of consumption is mostly composed by the energy distribution system. In this study, analysis of the resulting loss in power distribution transformer and distribution power cable is realized which are most of the losses in the distribution system. Transformer losses in the real distribution system are analyzed by CYME Power Engineering Software program. These losses are disclosed for different voltage levels and different loading conditions.

Keywords: Distribution system, distribution transformer, power cable, technical losses.

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Authors: Kittipong Tripetch

Abstract:

This paper proposes for the first time symbolic formula of the power spectrum of CMOS Cross Couple Oscillator and its modified circuit. Many principles existed to derived power spectrum in microwave textbook such as impedance, admittance parameters, ABCD, H parameters, etc. It can be compared by graph of power spectrum which methodology is the best from the point of view of practical measurement setup such as condition of impedance parameter which used superposition of current to derived (its current injection at the other port of the circuit is zero, which is impossible in reality). Four graphs of impedance parameters of cross couple oscillator are proposed. After that four graphs of scattering parameters of CMOS cross coupled oscillator will be shown.

Keywords: Optimization, power spectrum, impedance parameter, scattering parameter.

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Authors: Mostafa A. Elshahed, Magdy M. Elmarsfawy, Hussain M. Zain Eldain

Abstract:

In this paper, a Dynamic Economic Dispatch (DED) model is developed for the system consisting of both thermal generators and wind turbines. The inclusion of a significant amount of wind energy into power systems has resulted in additional constraints on DED to accommodate the intermittent nature of the output. The probability of stochastic wind power based on the Weibull probability density function is included in the model as a constraint; A Here-and-Now Approach. The Environmental Protection Agency-s hourly emission target, which gives the maximum emission during the day, is used as a constraint to reduce the atmospheric pollution. A 69-bus test system with non-smooth cost function is used to illustrate the effectiveness of the proposed model compared with static economic dispatch model with including the wind power.

Keywords: Dynamic Economic Dispatch, StochasticOptimization, Weibull Distribution, Wind Power

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Authors: Yunyoung Nam, Junghun Ryu, Yoo-Joo Choi, We-Duke Cho

Abstract:

This paper presents a novel approach for representing the spatio-temporal topology of the camera network with overlapping and non-overlapping fields of view (FOVs). The topology is determined by tracking moving objects and establishing object correspondence across multiple cameras. To track people successfully in multiple camera views, we used the Merge-Split (MS) approach for object occlusion in a single camera and the grid-based approach for extracting the accurate object feature. In addition, we considered the appearance of people and the transition time between entry and exit zones for tracking objects across blind regions of multiple cameras with non-overlapping FOVs. The main contribution of this paper is to estimate transition times between various entry and exit zones, and to graphically represent the camera topology as an undirected weighted graph using the transition probabilities.

Keywords: Surveillance, multiple camera, people tracking, topology.

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Authors: Nabil M. Muhaisen, Rajab Abdullah Hokoma

Abstract:

This paper is concerned with calculating boiler efficiency as one of the most important types of performance measurements in any steam power plant. That has a key role in determining the overall effectiveness of the whole system within the power station. For this calculation, a Visual-Basic program was developed, and a steam power plant known as El-Khmus power plant, Libya was selected as a case study. The calculation of the boiler efficiency was applied by using heating balance method. The findings showed how the maximum heat energy which produced from the boiler increases the boiler efficiency through increasing the temperature of the feed water, and decreasing the exhaust temperature along with humidity levels of the of fuel used within the boiler.

Keywords: Boiler, Calculation, Efficiency, Performance. Steam

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Authors: O. Onal, O. Turan

Abstract:

In this paper, some performance parameters of a selected turbofan engine (JT9D) are analyzed. The engine is a high bypass turbofan engine which powers a wide-body aircraft and it produces 206 kN thrust force (thrust/weight ratio is 5.4). The objective parameters for the engine include calculation of power, specific fuel consumption, specific thrust, engine propulsive, thermal and overall efficiencies according to the various definitions given in the literature. Furthermore, in the case study, wasted energy from the exhaust is calculated at the maximum power setting (i.e. take off phase) for the engine.

Keywords: Turbofan, power, efficiency, trust.

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Authors: Nahid-Al-Masood, Jubaer Ahmed, Amina Hasan Abedin, S. R. Deeba, Faeza Hafiz, Mahmuda Begum

Abstract:

An electric utility-s main concern is to plan, design, operate and maintain its power supply to provide an acceptable level of reliability to its users. This clearly requires that standards of reliability be specified and used in all three sectors of the power system, i.e., generation, transmission and distribution. That is why reliability of a power system is always a major concern to power system planners. This paper presents the reliability analysis of Bangladesh Power System (BPS). Reliability index, loss of load probability (LOLP) of BPS is evaluated using recursive algorithm and considering no de-rated states of generators. BPS has sixty one generators and a total installed capacity of 5275 MW. The maximum demand of BPS is about 5000 MW. The relevant data of the generators and hourly load profiles are collected from the National Load Dispatch Center (NLDC) of Bangladesh and reliability index 'LOLP' is assessed for the period of last ten years.

Keywords: Recursive algorithm, LOLP, forced outage rate, cumulative probability.

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Authors: Joselito P. Duyanen, Aries Milay

Abstract:

Arsenic in the sediments of the ash lagoons of the coal-fired power plant in Pagbilao, Quezon Province in the Philippines was sequentially extracted to determine its potential for leaching to the groundwater and the adjacent marine environment. Results show that 89% of the As is bound to the quasi-crystalline Fe/Mn oxides and hydroxide matrix in the sediments, whereas, the adsorbed and exchangeable As hosted by the clay minerals, representing those that are easiest to release from the sediment matrix, is below 10% of the acid leachable As. These As in these sediment matrices represent the possible maximum amount of As that can be released and supplied to the groundwater and the adjacent marine environment. Of the 89% reducible As, up to 4% is associated with the easily reducible variety, whereas, the rest is more strongly bonded by the moderately reducible variety. Based on the long-term As content of the lagoon water, the average desorption rate of As is calculated to be very low -- 0.3-0.5% on the average and 0.6% on the maximum. This indicates that As is well-fixed by its sediment matrices in the ash lagoon, attenuating the influx of As into the adjacent groundwater and marine environments.

Keywords: Arsenic, natural attenuation, coal-fired power plant, Philippines.

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Authors: M. Azadbakht, E. Ghajarjazi, E. Amiri, F. Abdigaol

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In this research the effect of moisture at three levels (47, 57, and 67 w.b.%) on the physical properties of the Pofaki pea variety including, dimensions, geometric mean diameter, volume, sphericity index and the surface area was determined. The influence of different moisture levels (47, 57 and 67 w.b.%), in two loading orientation (longitudinal and transverse) and three loading speed (4,6 and 8 mm min-1) on the mechanical properties of pea such as maximum deformation, rupture force, rupture energy, toughness and the power to break the pea was investigated. It was observed in the physical properties that moisture changes were affective at 1% on, dimensions, geometric mean diameter, volume, sphericity index and the surface area. It was observed in the mechanical properties that moisture changes were effective at 1% on, maximum deformation, rupture force, rupture energy, toughness and the power to break. Loading speed was effective on maximum deformation, rupture force, rupture energy at 1% and it was effective on toughness at 5%. Loading orientation was effective on maximum deformation, rupture force, rupture energy, toughness at 1% and it was effective on power at 5%. The mutual effect of speed and orientation were effective on rupture energy at 1% and were effective on toughness at 5% probability. The mutual effect of moisture and speed were effective on rupture force and rupture energy at 1% and were effective on toughness 5% probability. The mutual effect of orientation and moisture on rupture energy and toughness were effective at 1%.

Keywords: Mechanical properties, Pea, Physical properties.

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Authors: Yudhajit Datta, Jonathan Bandi, Ankit Sethia, Hamsi Iyer

Abstract:

Motion Tracking and Stereo Vision are complicated, albeit well-understood problems in computer vision. Existing softwares that combine the two approaches to perform stereo motion tracking typically employ complicated and computationally expensive procedures. The purpose of this study is to create a simple and effective solution capable of combining the two approaches. The study aims to explore a strategy to combine the two techniques of two-dimensional motion tracking using Kalman Filter; and depth detection of object using Stereo Vision. In conventional approaches objects in the scene of interest are observed using a single camera. However for Stereo Motion Tracking; the scene of interest is observed using video feeds from two calibrated cameras. Using two simultaneous measurements from the two cameras a calculation for the depth of the object from the plane containing the cameras is made. The approach attempts to capture the entire three-dimensional spatial information of each object at the scene and represent it through a software estimator object. In discrete intervals, the estimator tracks object motion in the plane parallel to plane containing cameras and updates the perpendicular distance value of the object from the plane containing the cameras as depth. The ability to efficiently track the motion of objects in three-dimensional space using a simplified approach could prove to be an indispensable tool in a variety of surveillance scenarios. The approach may find application from high security surveillance scenes such as premises of bank vaults, prisons or other detention facilities; to low cost applications in supermarkets and car parking lots.

Keywords: Kalman Filter, Stereo Vision, Motion Tracking, Matlab, Object Tracking, Camera Calibration, Computer Vision System Toolbox.

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Authors: Pablo Barrera, Jose M. Canas, Vicente Matellan

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This paper addresses the problem of determining the current 3D location of a moving object and robustly tracking it from a sequence of camera images. The approach presented here uses a particle filter and does not perform any explicit triangulation. Only the color of the object to be tracked is required, but not any precisemotion model. The observation model we have developed avoids the color filtering of the entire image. That and the Monte Carlotechniques inside the particle filter provide real time performance.Experiments with two real cameras are presented and lessons learned are commented. The approach scales easily to more than two cameras and new sensor cues.

Keywords: Monte Carlo sampling, multiple view, particle filters, visual tracking.

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Authors: Hachmia Faqihi, Maarouf Saad, Khalid Benjelloun, Mohammed Benbrahim, M. Nabil Kabbaj

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This paper investigates and presents a cable-driven robot to lower limb rehabilitation use in sagittal plane. The presented rehabilitation robot is used for a trajectory tracking in joint space. The paper covers kinematic and dynamic analysis, which reveals the tensionability of the used cables as being the actuating source to provide a rehabilitation exercises of the human leg. The desired trajectory is generated to be used in the control system design in joint space. The obtained simulation results is showed to be efficient in this kind of application.

Keywords: Cable-driven multibody system, computed-torque controller, lower limb rehabilitation, tracking trajectory.

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Authors: E. Taslak, C. Kocatepe, O. Arıkan, C. F. Kumru

Abstract:

In insulation and cooling of power transformers various liquids are used. Mineral oils have wide availability and low cost. However, they have a poor biodegradability potential and lower fire point in comparison with other insulating liquids. Use of a liquid having high biodegradability is important due to environmental consideration. This paper investigates edible corn oil as an alternative to mineral oil. Various properties of mineral and corn oil like breakdown voltage, dissipation factor, relative dielectric constant, power loss and resistivity were measured according to different standards.

Keywords: Breakdown voltage, corn oil, dissipation factor, mineral oil, power loss, relative dielectric constant, resistivity.

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