Search results for: maritime navigation

Authors: Roberto Sabatini, Celia Bartel, Anish Kaharkar, Tesheen Shaid, Subramanian Ramasamy

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Two multisensor system architectures for navigation and guidance of small Unmanned Aircraft (UA) are presented and compared. The main objective of our research is to design a compact, light and relatively inexpensive system capable of providing the required navigation performance in all phases of flight of small UA, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensor integrated architecture. Various existing techniques for VBN are compared and the Appearance-Based Navigation (ABN) approach is selected for implementation. Feature extraction and optical flow techniques are employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway centreline and body rates. Additionally, we address the possible synergies of VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors, and the use of Aircraft Dynamics Model (ADM) to provide additional information suitable to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) is developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UA platform in real-time. The key mathematical models describing the two architectures i.e., VBN-IMU-GNSS (VIG) system and VIGADM (VIGA) system are introduced. The first architecture uses VBN and GNSS to augment the MEMS-IMU. The second mode also includes the ADM to provide augmentation of the attitude channel. Simulation of these two modes is carried out and the performances of the two schemes are compared in a small UA integration scheme (i.e., AEROSONDE UA platform) exploring a representative cross-section of this UA operational flight envelope, including high dynamics manoeuvres and CAT-I to CAT-III precision approach tasks. Simulation of the first system architecture (i.e., VIG system) shows that the integrated system can reach position, velocity and attitude accuracies compatible with the Required Navigation Performance (RNP) requirements. Simulation of the VIGA system also shows promising results since the achieved attitude accuracy is higher using the VBN-IMU-ADM than using VBN-IMU only. A comparison of VIG and VIGA system is also performed and it shows that the position and attitude accuracy of the proposed VIG and VIGA systems are both compatible with the RNP specified in the various UA flight phases, including precision approach down to CAT-II.

Keywords: Global Navigation Satellite System (GNSS), Lowcost Navigation Sensors, MEMS Inertial Measurement Unit (IMU), Unmanned Aerial Vehicle, Vision Based Navigation.

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Authors: Chien-Chun Kung, Feng-Lung Chiang, Kuei-Yi Chen, Hsien-Wen Wei, Ming-Yi Huang, Cai-Ming Huang, Sheng-Kai Wang

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The aim of this paper is to present a new three-dimensional proportional-pursuit coupled (PP) guidance law to track highly maneuverable aircraft. Utilizing a 3-D polar coordinate frame, the PP guidance law is formed by collecting proportional navigation guidance in Z-R plane and pursuit guidance in X-Y plane. Feedback linearization control method to solve the guidance accelerations is used to implement PP guidance. In order to compensate the actuator time delay, the time delay compensated version of PP guidance law (CPP) was derived and proved the effectiveness of modifying the problem of high acceleration in the final phase of pursuit guidance and improving the weak robustness of proportional navigation. The simulation results for intercepting Max G turn situation show that the proposed proportional-pursuit coupled guidance law guidance law with actuator delay compensation (CPP) possesses satisfactory robustness and performance.

Keywords: Feedback linearization control, time delay, guidance law, robustness, proportional navigation guidance, pursuit guidance.

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Authors: Han-yuh Liu, Chia-yen Wu

Abstract:

Truly successful bloggers, navigating the public to know them, often use their blogs as a way to better communicate with customers. Integrating with marketing tools, storytelling can be regarded as one of the most effective ways that businesses can follow to gain competitive edge. Even though the literature on marketing contains much discussion of traditional vehicles, the issue of business blogs applying storytelling has, as yet, received little attention. In the exploration stage, this paper identifies four storytelling disciplines and then presents a road map to business blogging. This paper also provides a two-path framework for blog storytelling and initiates an issue for further study.

Keywords: Storytelling, business blog, blog content, blog position, blog navigation.

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Authors: G. Balakrishnan, G. Sainarayanan, R. Nagarajan, Sazali Yaacob

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This paper presents a review on vision aided systems and proposes an approach for visual rehabilitation using stereo vision technology. The proposed system utilizes stereo vision, image processing methodology and a sonification procedure to support blind navigation. The developed system includes a wearable computer, stereo cameras as vision sensor and stereo earphones, all moulded in a helmet. The image of the scene infront of visually handicapped is captured by the vision sensors. The captured images are processed to enhance the important features in the scene in front, for navigation assistance. The image processing is designed as model of human vision by identifying the obstacles and their depth information. The processed image is mapped on to musical stereo sound for the blind-s understanding of the scene infront. The developed method has been tested in the indoor and outdoor environments and the proposed image processing methodology is found to be effective for object identification.

Keywords: Blind navigation, stereo vision, image processing, object preference, music tones.

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Authors: Ali Asadian, Behzad Moshiri, Ali Khaki Sedigh, Caro Lucas

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Most integrated inertial navigation systems (INS) and global positioning systems (GPS) have been implemented using the Kalman filtering technique with its drawbacks related to the need for predefined INS error model and observability of at least four satellites. Most recently, a method using a hybrid-adaptive network based fuzzy inference system (ANFIS) has been proposed which is trained during the availability of GPS signal to map the error between the GPS and the INS. Then it will be used to predict the error of the INS position components during GPS signal blockage. This paper introduces a genetic optimization algorithm that is used to update the ANFIS parameters with respect to the INS/GPS error function used as the objective function to be minimized. The results demonstrate the advantages of the genetically optimized ANFIS for INS/GPS integration in comparison with conventional ANFIS specially in the cases of satellites- outages. Coping with this problem plays an important role in assessment of the fusion approach in land navigation.

Keywords: Adaptive Network based Fuzzy Inference System (ANFIS), Genetic optimization, Global Positioning System (GPS), Inertial Navigation System (INS).

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Authors: Vinay Kumar Pilania, Debashish Chakravarty

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The present paper represent the efforts undertaken for the development of an semi-automatic robot that may be used for various post-disaster rescue operation planning and their subsequent execution using one-way communication of video and data from the robot to the controller and controller to the robot respectively. Wireless communication has been used for the purpose so that the robot may access the unapproachable places easily without any difficulties. It is expected that the information obtained from the robot would be of definite help to the rescue team for better planning and execution of their operations.

Keywords: Mine environment, mine navigation, mine rescue robot, video data transmission.

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Authors: TamásMatuszka, Attila Kiss

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Due the proliferation of smartphones in everyday use, several different outdoor navigation systems have become available. Since these smartphones are able to connect to the Internet, the users can obtain location-based information during the navigation as well. The users could interactively get to know the specifics of a particular area (for instance, ancient cultural area, Statue Park, cemetery) with the help of thus obtained information. In this paper, we present an Augmented Reality system which uses Semantic Web technologies and is based on the interaction between the user and the smartphone. The system allows navigating through a specific area and provides information and details about the sight an interactive manner.

Keywords: Augmented Reality, Semantic Web, Human Computer Interaction, Mobile Application.

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Authors: B. Munro, D. Lim, A. Anvar

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This paper describes a feasibility study that is included with the research, development and testing of a micro communications sonobuoy deployable by Maritime Fixed wing Unmanned Aerial Vehicles (M-UAV) and rotor wing Quad Copters which are both currently being developed by the University of Adelaide. The micro communications sonobuoy is developed to act as a seamless communication relay between an Autonomous Underwater Vehicle (AUV) and an above water human operator some distance away. Development of such a device would eliminate the requirement of physical communication tethers attached to submersible vehicles for control and data retrieval.

Keywords: Autonomous Underwater Vehicle, AUV, Maritime, Unmanned Aerial Vehicle, UAV, Micro Sonobuoy, Communication.

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Authors: Ayşe Yurdakul, Eckehard Schnieder

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Because of the increasing multidisciplinarity and multilinguality, communication problems in different technical fields grow more and more. Therefore, each technical field has its own specific language, terminology which is characterized by the different definition of terms. In addition to definition problems, there are also relation problems between terms. Among these problems of relation, there are the synonymy, antonymy, hypernymy/hyponymy, ambiguity, risk of confusion and translation problems etc.

Thus, the terminology management system iglos of the Institute for Traffic Safety and Automation Engineering of the Technische Universität Braunschweig has the target to solve these problems by a methodological standardisation of term definitions with the aid of the iglos sign model and iglos relation types. The focus of this paper should be on solving definition and relation problems between terms in English navigation terminology.

Keywords: Iglos, iglos sign model, methodological resolutions, navigation terminology, common language, technical language, positioning, definition problems, relation problems.

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Authors: D. Vidhyaprakash, A. Elango

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In real-time applications, wheeled mobile robots are increasingly used and operated in extreme and diverse conditions traversing challenging surfaces such as a pitted, uneven terrain, natural flat, smooth terrain, as well as wet and dry surfaces. In order to accomplish such tasks, it is critical that the motion control functions without wheel slip and odometry error during the navigation of the two-wheeled mobile robot (WMR). Wheel slip and odometry error are disrupting factors on overall WMR performance in the form of deviation from desired trajectory, navigation, travel time and budgeted energy consumption. The wheeled mobile robot’s ability to operate at peak performance on various work surfaces without wheel slippage and odometry error is directly connected to four main parameters, which are the range of payload distribution, speed, wheel diameter, and wheel width. This paper analyses the effects of those parameters on overall performance and is concerned with determining the ideal range of parameters for optimum performance.

Keywords: Wheeled mobile robot (WMR), terrain, wheel slippage, odometry error, navigation.

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Authors: Thea Freese

Abstract:

Environmental legislation to protect North and Baltic Sea areas from harmful vessel-source emissions has received increased political attention in recent years. Legislative measures are expected to show positive effects on the health of the marine environment and society. At the same time, compliance might increase the costs to industry and have effects on freight rates and volumes shipped with potential negative repercussions on the environment. Building on an exploratory sequential mixed methods approach, this research project will study the economic effects of maritime environmental legislation in two phases. In Phase I, exploratory in-depth interviews were conducted with 12 experts from various stakeholder groups aiming at identifying variables influencing the relationship between environmental legislation, freight rates and volumes shipped. Influencing factors like compliance, enforcement and modal shift were identified and studied. Phase II will comprise of a quantitative study conducted with the aim of verifying the theory build in Phase I and quantifying economic effects of rules on shipping pollution. Research in this field might inform policy-makers about determinants of behaviour of ship operators in the face of the law and might further the development of a comprehensive legal system for marine environmental protection. At the present stage of research, first tentative results from the qualitative phase may be examined and open research questions to be addressed in the quantitative phase as well as possible research designs for phase II may be discussed. Input from other researchers will be highly valuable at this point.

Keywords: Clean shipping operations, compliance, maritime environmental legislation, maritime law and economics, mixed methods research, North and Baltic Sea area.

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Authors: Hoon Lee, Soonyoung Park, Kyoungho Choi

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Understanding road features such as lanes, the color of lanes, and sidewalks in a live video captured from a moving vehicle is essential to build video-based navigation systems. In this paper, we present a novel idea to understand the road features using support vector machines. Various feature vectors including color components of road markings and the difference between two regions, i.e., chosen AOIs, and so on are fed into SVM, deciding colors of lanes and sidewalks robustly. Experimental results are provided to show the robustness of the proposed idea.

Keywords: video-based navigation system, lane detection, SVMs, autonomous vehicles

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Authors: Indrijuli Magsari Putri, Dicky R. Munaf

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The purpose of this paper is to guide the effort in improving the economic added value of Indonesian fisheries product through post fishing program, which is cold storage program. Indonesia's fisheries potential has been acknowledged by the world. FAO (2009) stated that Indonesia is one of the tenth highest producers of fishery products in the world. Based on BPS (Statistics Indonesia data), the national fisheries production in 2011 reached 5.714 million tons, which 93.55% came from marine fisheries and 6.45% from open waters. Indonesian territory consist of 2/3 of Indonesian waters, has given enormous benefits for Indonesia, especially fishermen. To improve the economic level of fishermen requires efforts to develop fisheries business unit. On of the efforts is by improving the quality of products which are marketed in the regional and international levels. It is certainly need the support of the existence of various fishery facilities (infrastructure to superstructure), one of which is cold storage. Given the many benefits of cold storage as a means of processing of fishery resources, Indonesia Maritime Security Coordinating Board (IMSCB) as one of the maritime institutions for maritime security and safety, has a program to empower the coastal community through encourages the development of cold storage in the middle and lower fishery business unit. The development of cold storage facilities which able to run its maximum role requires synergistic efforts of various parties.

Keywords: Cold Storage, Fish, Regulation.

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Authors: Igor Astrov, Mikhail Pikkov, Rein Paluoja

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This paper focuses on the critical components of the situational awareness (SA), the controls of position and orientation of an autonomous surface vessel (ASV). Moving of vessel into desired area in particular sea is a challenging but important task for ASVs to achieve high level of autonomy under adverse conditions. With the SA strategy, the approach motion by neural control of an initial stage of an ASV trajectory using neural network predictive controller and the circular motion by control of yaw moment in the final stage of trajectory were proposed. This control system has been demonstrated and evaluated by simulation of maritime maneuvers using software package Simulink. From the simulation results it can be seen that the fast SA of similar ASVs with economy in energy can be asserted during the maritime missions in search-and-rescue operations.

Keywords: Autonomous surface vessels, neurocontrollers, situational awareness.

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Authors: Davide Fuscà, Kanan Rahimli, Roberto Leuzzi

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Prevent abuse and illegal activities in a given area of the sea is a very difficult and expensive task. Artificial intelligence offers the possibility to implement new methods to identify the vessel class type from the kinematic features of the vessel itself. The task strictly depends on the quality of the data. This paper explores the application of a deep Long Short-Term Memory model by using AIS flow only with a relatively low quality. The proposed model reaches high accuracy on detecting nine vessel classes representing the most common vessel types in the Ionian-Adriatic Sea. The model has been applied during the Adriatic-Ionian trial period of the international EU ANDROMEDA H2020 project to identify vessels performing behaviours far from the expected one, depending on the declared type.

Keywords: maritime surveillance, artificial intelligence, behaviour analysis, LSTM

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Authors: Komwit Surachat, Supasit Kajkamhaeng, Kasikrit Damkliang, Watanyoo Tiprat, Taninnuch Wacharanimit

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An accident is an unexpected and unplanned situation that happens and affects human in a negative outcome. The accident can cause an injury to a human biological organism. Thus, the provision of initial care for an illness or injury is very important move to prepare the patients/victims before sending to the doctor. In this paper, a First Aid Application is developed to give some directions for preliminary taking care of patient/victim via Android mobile device. Also, the navigation function using Google Maps API is implemented in this paper for searching a suitable path to the nearest hospital. Therefore, in the emergency case, this function can be activated and navigate patients/victims to the hospital with the shortest path.

Keywords: First Aid Application, Android, Google Maps API, Navigation System.

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Authors: Ismail Karaca, Ridvan Saracoglu, Omer Soner

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Fuzzy Logic, an advanced method to support decision-making, is used by various scientists in many disciplines. Fuzzy programming is a product of fuzzy logic, fuzzy rules, and implication. In marine science, fuzzy programming for ships is dramatically increasing together with autonomous ship studies. In this paper, a program to support the decision-making process for ship navigation has been designed. The program is produced in fuzzy logic and rules, by taking the marine accidents and expert opinions into account. After the program was designed, the program was tested by 46 ship accidents reported by the Transportation Safety Investigation Center of Turkey. Wind speed, sea condition, visibility, day/night ratio have been used as input data. They have been converted into a risk factor within the Fuzzy Logic Designer application and fuzzy rules set by marine experts. Finally, the expert's meteorological risk factor for each accident is compared with the program's risk factor, and the error rate was calculated. The main objective of this study is to improve the navigational safety of ships, by using the advance decision support model. According to the study result, fuzzy programming is a robust model that supports safe navigation.

Keywords: Calculation of risk factor, fuzzy logic, fuzzy programming for ship, safe navigation of ships.

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Authors: Saman M. Siddiqui, Fang Jiancheng

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Robust nonlinear integrated navigation of GPS and low cost MEMS is a hot topic of research these days. A robust filter is required to cope up with the problem of unpredictable discontinuities and colored noises associated with low cost sensors. H∞ filter is previously used in Extended Kalman filter and Unscented Kalman filter frame. Unscented Kalman filter has a problem of Cholesky matrix factorization at each step which is a very unstable operation. To avoid this problem in this research H∞ filter is designed in Square root Unscented filter framework and found 50% more robust towards increased level of colored noises.

Keywords: H∞ filter, MEMS, GPS, Nonlinear system, robust system, Square root unscented filter.

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Authors: Fahad Alhussein, Huaping Liu

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This paper compares the multipath mitigation performance of code correlation reference waveform receivers with variable and fixed window width, for binary offset carrier and multiplexed binary offset carrier signals typically used in global navigation satellite systems. In the variable window width method, such width is iteratively reduced until the distortion on the discriminator with multipath is eliminated. This distortion is measured as the Euclidean distance between the actual discriminator (obtained with the incoming signal), and the local discriminator (generated with a local copy of the signal). The variable window width have shown better performance compared to the fixed window width. In particular, the former yields zero error for all delays for the BOC and MBOC signals considered, while the latter gives rather large nonzero errors for small delays in all cases. Due to its computational simplicity, the variable window width method is perfectly suitable for implementation in low-cost receivers.

Keywords: Correlation reference waveform receivers, binary offset carrier, multiplexed binary offset carrier, global navigation satellite systems.

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Authors: N. Perko, N. Kavran, M. Bukljaš, I. Berbić

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This paper is a result of implemented research on proposed introduced methodology for nautical ports capacity planning by introducing a multi-criteria approach of defined criteria in the Adriatic Sea region. The purpose was analyzing the determinants - characteristics of infrastructure and services of nautical ports capacity allocated, especially nowadays due to COVID-19 pandemic, as crucial for successful operation of nautical ports. Giving the importance of the defined priorities for short-term and long-term planning is essential not only in terms of the development of nautical tourism, but also in terms of developing the maritime system, but unfortunately this is not always carried out. Evaluation of the use of resources should follow from a detailed analysis of all aspects of resources bearing in mind that nautical tourism used resources in a sustainable manner and generates effects in the tourism and maritime sectors. Consequently, identified multiplier effect of nautical tourism, which should be defined and quantified in detail, should be one of the major competitive products on the Croatian Adriatic and the Mediterranean. Research of nautical tourism is necessary to quantify the effects and required planning system development. In the future, the greatest threat to long-term sustainable development of nautical tourism can be its further uncontrolled or unlimited and undirected development, especially under pressure markedly higher demand than supply for new moorings in the Mediterranean. Results of this implemented research are applicable to nautical ports management and decision makers of maritime transport system development. This paper will present implemented research and obtained result - developed methodology for nautical port capacity planning - Port Capacity Planning Multi-criteria decision-making. A proposed methodological approach of multi-criteria capacity planning includes four criteria (spatial - transport, cost - infrastructure, ecological and organizational criteria, and additional services). The importance of the criteria and sub-criteria is evaluated and carried out the basis for a sensitivity analysis of the importance of the criteria and sub-criteria. Based on the analysis of the identified and quantified importance of certain criteria and sub-criteria as well as sensitivity analysis and analysis of changes of the quantified importance scientific and applicable results will be presented. These obtained results have practical applicability by management of nautical ports in the planning of increasing capacity and further development and for the adaptation of existing nautical ports. The obtained research is applicable and replicable in other seas and results are especially important and useful in this COVID-19 pandemic challenging maritime development framework.

Keywords: Adriatic Sea, capacity, infrastructures, maritime system, methodology, nautical ports, nautical tourism, service.

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

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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: Guanqiao Wang, Hongyang Yu

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There is a lot of repetitive work in the traditional construction industry. These repetitive tasks can significantly improve production efficiency by replacing manual tasks with robots. Therefore, robots appear more and more frequently in the construction industry. Navigation and positioning is a very important task for construction robots, and the requirements for accuracy of positioning are very high. Traditional indoor robots mainly use radio frequency or vision methods for positioning. Compared with ordinary robots, the indoor plastering robot needs to be positioned closer to the wall for wall plastering, so the requirements for construction positioning accuracy are higher, and the traditional navigation positioning method has a large error, which will cause the robot to move. Without the exact position, the wall cannot be plastered or the error of plastering the wall is large. A positioning method is proposed, which is assisted by line lasers and uses image processing-based positioning to perform more accurate positioning on the traditional positioning work. In actual work, filter, edge detection, Hough transform and other operations are performed on the images captured by the camera. Each time the position of the laser line is found, it is compared with the standard value, and the position of the robot is moved or rotated to complete the positioning work. The experimental results show that the actual positioning error is reduced to less than 0.5 mm by this accurate positioning method.

Keywords: Indoor plastering robot, navigation, precise positioning, line laser, image processing.

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Authors: O. Maklouf, Ahmed Abdulla

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A general decline in the cost, size, and power requirements of electronics is accelerating the adoption of integrated GPS/INS technologies in consumer applications such Land Vehicle Navigation. Researchers have looking for ways to eliminate additional components from product designs. One possibility is to drop one or more of the relatively expensive gyroscopes from microelectromechanical system (MEMS) versions of inertial measurement units (IMUs). For land vehicular use, the most important gyroscope is the vertical gyro that senses the heading of the vehicle and two horizontal accelerometers for determining the velocity of the vehicle. This paper presents a simplified integration algorithm for strap down (ParIMU)\GPS combination, with data post processing for the determination of 2-D components of position (trajectory), velocity and heading. In the present approach we have neglected earth rotation and gravity variations, because of the poor gyroscope sensitivities of the low-cost IMU and because of the relatively small area of the trajectory.

Keywords: GPS, ParIMU, INS, Kalman Filter.

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Authors: Nalinee Sophatsathit

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The objectives of memorabilia of Suan Sunandha are to develop a general knowledge presentation about the historical royal garden through interactive graphic simulation technique and to employ high-functionality context in enhancing interactive user navigation. The approach infers non-intrusive display of relevant history in response to situational context. User’s navigation runs through the virtual reality campus, consisting of new and restored buildings. A flash back presentation of information pertaining to the history in the form of photos, paintings, and textual descriptions are displayed along each passing-by building. To keep the presentation lively, graphical simulation is created in a serendipity game play so that the user can both learn and enjoy the educational tour. The benefits of this human-computer interaction development are two folds. First, lively presentation technique and situational context modeling are developed that entail a usable paradigm of knowledge and information presentation combinations. Second, cost effective training and promotion for both internal personnel and public visitors to learn and keep informed of this historical royal garden can be furnished without the need for a dedicated public relations service. Future improvement on graphic simulation and ability based display can extend this work to be more realistic, user-friendly, and informative for all.

Keywords: Interactive user navigation, high-functionality context, situational context, human-computer interaction.

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Authors: Pei-Chun Lee, Sheng-Shih Wang

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This paper presents a route guidance system for car owners to find their cars in parking garages. The presents system comprises a positioning-assisting subsystem and a car-finding mobile app. The positioning-assisting subsystem mainly uses the iBeacon technology for indoor positioning. The car-finding mobile app guides car owners to their cars based on a non-map navigation strategy. This study also designs a virtual coordinate system to support identifying the locations of parking spaces and iBeacon devices. We use Arduino and Android as the platforms to implement the proposed positioning-assisting subsystem and car-finding mobile app, respectively. We have also deployed the system in a parking garage in our campus for testing. Experimental results verify that our system can efficiently and correctly guide car owners to the parking spaces of their cars.

Keywords: Guidance, iBeacon, mobile app, navigation.

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Authors: Byung-Ju Kim, Jong-Jin Shin, Hwa-Jin Nam, Jin-Soo Kim

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Skyline extraction in mountainous images can be used for navigation of vehicles or UAV(unmanned air vehicles), but it is very hard to extract skyline shape because of clutters like clouds, sea lines and field borders in images. We developed the edge-based skyline extraction algorithm using a proposed multistage edge filtering (MEF) technique. In this method, characteristics of clutters in the image are first defined and then the lines classified as clutters are eliminated by stages using the proposed MEF technique. After this processing, we select the last line using skyline measures among the remained lines. This proposed algorithm is robust under severe environments with clutters and has even good performance for infrared sensor images with a low resolution. We tested this proposed algorithm for images obtained in the field by an infrared camera and confirmed that the proposed algorithm produced a better performance and faster processing time than conventional algorithms.

Keywords: MEF, mountainous image, navigation, skyline

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Authors: Mohanad Hammad

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Port institutions serve as a link connecting the land areas that receive the goods and the areas from where ships sail. These areas hold great significance for the conversion of goods into commodities of economic value, capable of meeting the needs of the society. Development of ports constitutes a fundamental component of the comprehensive economic development process. Recognizing this fact, developing countries have always resorted to this infrastructural element to resolve the numerous problems they face, taking into account its contribution to the reformation of their economic conditions. Iraqi ports have played a major role in boosting the commercial movement in Iraq, as they are the starting point of its oil exports and a key constituent in fulfilling the consumer and production needs of the various economic sectors of Iraq. With the Gulf wars and the economic blockade, Iraqi ports have continued to deteriorate and become unable to perform their functions as first-generation ports, prompting Iraq to use the ports of neighboring countries such as Jordan's Aqaba commercial port. Meanwhile, Iraqi ports face strong competition from the ports of neighboring countries, which have achieved progress and advancement as opposed to the declining performance and efficiency of Iraqi ports. The great developments in the economic conditions of Iraq lay a too great burden on the Iraqi maritime transport and ports, which require development in order to be able to meet the challenges arising from the fierce international and regional competition in the markets. Therefore, it is necessary to find appropriate solutions in support of the role that can be played by Iraqi ports in serving Iraq's foreign trade transported by sea and in keeping up with the development of foreign trade. Thus, this research aims at tackling the current situation of the Iraqi ports and their commercial activity and studying the problems and obstacles they face. The research also studies the future prospects of these ports, the potentials of maritime openness to Iraq under the fierce competition of neighboring ports, and the possibility of enhancing Iraqi ports’ competitiveness. Among the results produced by this research is the future scenario it proposes for Iraqi ports, mainly represented in the establishment of Al-Faw Port, which will contribute to a greater openness of maritime transport in Iraq, and the rehabilitation and expansion of existing ports. This research seeks to develop solutions to Iraq ports so that they can be repositioned as a vital means of promoting economic development.

Keywords: Transport, port, regional openness, development.

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Authors: H. Unger, H. Coltzau

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In Peer-to-Peer service networks, where peers offer any kind of publicly available services or applications, intuitive navigation through all services in the network becomes more difficult as the number of services increases. In this article, a concept is discussed that enables users to intuitively browse and use large scale P2P service networks. The concept extends the idea of creating virtual 3D-environments solely based on Peer-to-Peer technologies. Aside from browsing, users shall have the possibility to emphasize services of interest using their own semantic criteria. The appearance of the virtual world shall intuitively reflect network properties that may be of interest for the user. Additionally, the concept comprises options for load- and traffic-balancing. In this article, the requirements concerning the underlying infrastructure and the graphical user interface are defined. First impressions of the appearance of future systems are presented and the next steps towards a prototypical implementation are discussed.

Keywords: Internet Operating System, Peer-To-Peer, Service Exploration

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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: Mihai Duguleana, Florin Girbacia, Cristian Postelnicu, Raffaello Brodi, Marcello Carrozzino

Abstract:

Augmented Reality (AR) has taken a big leap with the introduction of mobile applications which co-locate bi-dimensional (e.g. photo, video, text) and tridimensional information with the location of the user enriching his/her experience. This study presents the advantages of using Mobile Augmented Reality (MAR) technologies in traveling applications, improving cultural heritage exploration. We propose a location-based AR application which combines co-location with the augmented visual information about Pisa monuments to establish a friendly navigation in this historic city. AR was used to render contextual visual information in the outdoor environment. The developed Android-based application offers two different options: it provides the ability to identify the monuments positioned close to the user’s position and it offers location information for getting near the key touristic objectives. We present the process of creating the monuments’ 3D map database and the navigation algorithm.

Keywords: Augmented reality, electronic compass, GPS, location-based service.

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