Search results for: robust Object Tracking

Authors: Kazuaki Maeda

Abstract:

This paper compares six approaches of object serialization from qualitative and quantitative aspects. Those are object serialization in Java, IDL, XStream, Protocol Buffers, Apache Avro, and MessagePack. Using each approach, a common example is serialized to a file and the size of the file is measured. The qualitative comparison works are investigated in the way of checking whether schema definition is required or not, whether schema compiler is required or not, whether serialization is based on ascii or binary, and which programming languages are supported. It is clear that there is no best solution. Each solution makes good in the context it was developed.

Keywords: structured data, serialization, programming

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Authors: J.Dinesh Peter

Abstract:

This paper describes a new method for affine parameter estimation between image sequences. Usually, the parameter estimation techniques can be done by least squares in a quadratic way. However, this technique can be sensitive to the presence of outliers. Therefore, parameter estimation techniques for various image processing applications are robust enough to withstand the influence of outliers. Progressively, some robust estimation functions demanding non-quadratic and perhaps non-convex potentials adopted from statistics literature have been used for solving these. Addressing the optimization of the error function in a factual framework for finding a global optimal solution, the minimization can begin with the convex estimator at the coarser level and gradually introduce nonconvexity i.e., from soft to hard redescending non-convex estimators when the iteration reaches finer level of multiresolution pyramid. Comparison has been made to find the performance of the results of proposed method with the results found individually using two different estimators.

Keywords: Image Processing, Affine parameter estimation, Outliers, Robust Statistics, Robust M-estimators

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Authors: Mehdi Modabberifar, Sanaz Jabary, Mojtaba Ghodsi

Abstract:

Stiffness sensing is an important issue in medical diagnostic, robotics surgery, safe handling, and safe grasping of objects in production lines. Detecting and obtaining the characteristics in dwelling lumps embedded in a soft tissue and safe removing and handling of detected lumps is needed in surgery. Also in industry, grasping and handling an object without damaging in a place where it is not possible to access a human operator is very important. In this paper, a method for object handling is presented. It is based on the use of an intelligent gripper to detect the object stiffness and then setting a programmable force for grasping the object to move it. The main components of this system includes sensors (sensors for measuring force and displacement), electrical (electrical and electronic circuits, tactile data processing and force control system), mechanical (gripper mechanism and driving system for the gripper) and the display unit. The system uses a rotary potentiometer for measuring gripper displacement. A microcontroller using the feedback received by the load cell, mounted on the finger of the gripper, calculates the amount of stiffness, and then commands the gripper motor to apply a certain force on the object. Results of Experiments on some samples with different stiffness show that the gripper works successfully. The gripper can be used in haptic interfaces or robotic systems used for object handling.

Keywords: Gripper, haptic, stiffness, robotic.

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Authors: Yoonsoo Kim

Abstract:

This paper introduces an open-source software package SCILAB [1], an alternative of MATLAB [2], which can be used for robust control design and analysis of a typical mass-spring-damper (MSD) system. Using the previously published ideas in [3,4], this popular mechanical system is considered to provide another example of usefulness of SCILAB for advanced control design.

Keywords: Robust Control, SCILAB, Mass-Spring-Damper(MSD).

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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: Rami A. Maher, Ibraheem K. Ibraheem

Abstract:

This work presents a comparison study between the state-space and polynomial methods for the design of the robust governor for load frequency control of steam turbine power systems. The robust governor is synthesized using the two approaches and the comparison is extended to include time and frequency domains performance, controller order, and uncertainty representation, weighting filters, optimality and sub-optimality. The obtained results are represented through tables and curves with reasons of similarities and dissimilarities.

Keywords: Robust control, load frequency control, steam turbine, H∞-norm, system uncertainty, load disturbance.

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Authors: Sharareh Afsharian, Andrea Bei, Marco Bianchi

Abstract:

In this paper we introduce a new unit test technique called déjà-vu object. Déjà-vu objects replace real objects used by classes under test, allowing the execution of isolated unit tests. A déjà-vu object is able to observe and record the behaviour of a real object during real sessions, and to replace it during unit tests, returning previously recorded results. Consequently déjà-vu object technique can be useful when a bottom-up development and testing strategy is adopted. In this case déjà-vu objects can increase test portability and test source code readability. At the same time they can reduce the time spent by programmers to develop test code and the risk of incompatibility during the switching between déjà-vu and production code.

Keywords: Bottom-up testing approach, integration test, testportability, unit test.

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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: Amr Abdel Azim Ali, G. A. Elsheikh, Moutaz Hegazy

Abstract:

This paper presents verification of a modeling and simulation for a Spacecraft (SC) attitude and orbit control system. Detailed formulation of coupled SC orbital and attitude equations of motion is performed in order to achieve accepted accuracy to meet the requirements of multitargets tracking and orbit correction complex modes. Correction of the target parameter based on the estimated state vector during shooting time to enhance pointing accuracy is considered. Time-optimal nonlinear feedback control technique was used in order to take full advantage of the maximum torques that the controller can deliver. This simulation provides options for visualizing SC trajectory and attitude in a 3D environment by including an interface with V-Realm Builder and VR Sink in Simulink/MATLAB. Verification data confirms the simulation results, ensuring that the model and the proposed control law can be used successfully for large and fast tracking and is robust enough to keep the pointing accuracy within the desired limits with considerable uncertainty in inertia and control torque.

Keywords: Attitude and orbit control, time-optimal nonlinear feedback control, modeling and simulation, pointing accuracy, maximum torques.

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Authors: Aree A. Mohammed

Abstract:

In this work we develop an object extraction method and propose efficient algorithms for object motion characterization. The set of proposed tools serves as a basis for development of objectbased functionalities for manipulation of video content. The estimators by different algorithms are compared in terms of quality and performance and tested on real video sequences. The proposed method will be useful for the latest standards of encoding and description of multimedia content – MPEG4 and MPEG7.

Keywords: Object extraction, Video indexing, Segmentation, Optical flow, Motion estimators.

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Authors: Yong-Gyu Lee, Jin Hee Park, Youngdae Seo, Gilwon Yoon

Abstract:

Automatic determination of blood in less bright or noisy capsule endoscopic images is difficult due to low S/N ratio. Especially it may not be accurate to analyze these images due to the influence of external disturbance. Therefore, we proposed detection methods that are not dependent only on color bands. In locating bleeding regions, the identification of object outlines in the frame and features of their local colors were taken into consideration. The results showed that the capability of detecting bleeding was much improved.

Keywords: Endoscopy, object recognition, bleeding, image processing, RGB.

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Authors: Alae El Alami, Mohamed Bahaj

Abstract:

This article discusses the passage of RDB to XML documents (schema and data) based on metadata and semantic enrichment, which makes the RDB under flattened shape and is enriched by the object concept. The integration and exploitation of the object concept in the XML uses a syntax allowing for the verification of the conformity of the document XML during the creation. The information extracted from the RDB is therefore analyzed and filtered in order to adjust according to the structure of the XML files and the associated object model. Those implemented in the XML document through a SQL query are built dynamically. A prototype was implemented to realize automatic migration, and so proves the effectiveness of this particular approach.

Keywords: RDB, XML, DTD, semantic enrichment.

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Authors: Helen P. Greatrex

Abstract:

Many states are now committed to implementing international human rights standards domestically. In terms of practical governance, how might effectiveness be measured? A facevalue answer can be found in domestic laws and institutions relating to human rights. However, this article provides two further tools to help states assess their status on the spectrum of robust to fragile human rights governance. The first recognises that each state has its own 'human rights history' and the ideal end stage is robust human rights governance, and the second is developing criteria to assess robustness. Although a New Zealand case study is used to illustrate these tools, the widespread adoption of human rights standards by many states inevitably means that the issues are relevant to other countries. This is even though there will always be varying degrees of similarity-difference in constitutional background and developed or emerging human rights systems.

Keywords: robust human rights governance, fragile states.

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Authors: Abdullah Bajelan, Adel Akbarimajd

Abstract:

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with grasp and manipulation without grasp. The original aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its manipulation path is controlled. The manipulation path is a helix track with constant radius and incline. The method presented in this paper proposes a system which has not the actuator and the active controller. So this system requires a passive mechanical intelligence to convey the object from the status of the source along the specified path to the goal state. This intelligent is created based on utilizing the geometry of the system components. A general set up for the components of the system is considered to satisfy the required conditions. Then after kinematical analysis, detailed dimensions and geometry of the mechanism is obtained. The kinematical results are verified by simulation in ADAMS.

Keywords: Mechanical intelligence, Object manipulation, Passive mechanism, Passive non-prehensile manipulation.

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Authors: Ruilian Zhao, Ling Lin

Abstract:

MM-Path, an acronym for Method/Message Path, describes the dynamic interactions between methods in object-oriented systems. This paper discusses the classifications of MM-Path, based on the characteristics of object-oriented software. We categorize it according to the generation reasons, the effect scope and the composition of MM-Path. A formalized representation of MM-Path is also proposed, which has considered the influence of state on response method sequences of messages. .Moreover, an automatic MM-Path generation approach based on UML Statechart diagram has been presented, and the difficulties in identifying and generating MM-Path can be solved. . As a result, it provides a solid foundation for further research on test cases generation based on MM-Path.

Keywords: MM-Path, Message Sequence, Object-Oriented Integration Testing, Response Method Sequence, UML Statechart Diagram.

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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: Mustafa Kisa, Fatih Mehmet Botsali

Abstract:

Recent developments in automotive technology are focused on economy, comfort and safety. Vehicle tracking and collision detection systems are attracting attention of many investigators focused on safety of driving in the field of automotive mechatronics. In this paper, a vision-based vehicle detection system is presented. Developed system is intended to be used in collision detection and driver alert. The system uses RGB images captured by a camera in a car driven in the highway. Images captured by the moving camera are used to detect the moving vehicles in the image. A vehicle ahead of the camera is detected in daylight conditions. The proposed method detects moving vehicles by subtracting successive images. Plate height of the vehicle is determined by using a plate recognition algorithm. Distance of the moving object is calculated by using the plate height. After determination of the distance of the moving vehicle relative speed of the vehicle and Time-to-Collision are calculated by using distances measured in successive images. Results obtained in road tests are discussed in order to validate the use of the proposed method.

Keywords: Image possessing, vehicle tracking, license plate detection, computer vision.

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Authors: F. Z. Doğru, O. Arslan

Abstract:

In general, classical methods such as maximum likelihood (ML) and least squares (LS) estimation methods are used to estimate the shape parameters of the Burr XII distribution. However, these estimators are very sensitive to the outliers. To overcome this problem we propose alternative robust estimators based on the M-estimation method for the shape parameters of the Burr XII distribution. We provide a small simulation study and a real data example to illustrate the performance of the proposed estimators over the ML and the LS estimators. The simulation results show that the proposed robust estimators generally outperform the classical estimators in terms of bias and root mean square errors when there are outliers in data.

Keywords: Burr XII distribution, robust estimator, M-estimator, maximum likelihood, least squares.

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Authors: Seung-Hun Kim, Kye-Hoon Jeon, Byoung-Doo Kang, I1-Kyun Jung

Abstract:

Intelligent traffic surveillance technology is an issue in the field of traffic data analysis. Therefore, we need the technology to detect moving objects in real-time while there are variations in background and natural light. In this paper, we proposed a Weighted-Center Surround Difference method for object detection in outdoor environments. The proposed system detects objects using the saliency map that is obtained by analyzing the weight of each layers of Gaussian pyramid. In order to validate the effectiveness of our system, we implemented the proposed method using a digital signal processor, TMS320DM6437. Experimental results show that blurred noisy around objects was effectively eliminated and the object detection accuracy is improved.

Keywords: Saliency Map, Center Surround Difference, Object Detection, Surveillance System

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Authors: Habibis Saleh, Ishak Hashim

Abstract:

Conjugate natural convection in a differentially heated square enclosure containing a polygon shaped object is studied numerically in this article. The effect of various polygon types on the fluid flow and thermal performance of the enclosure is addressed for different thermal conductivities. The governing equations are modeled and solved numerically using the built-in finite element method of COMSOL software. It is found that the heat transfer rate remains stable by varying the polygon types.

Keywords: Natural convection, Polygon object, COMSOL

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Authors: P. Selvam, S. Senthil Kumar

Abstract:

Maximum Power Point Tracking (MPPT) has played a vital role to enhance the efficiency of solar photovoltaic (PV) power generation under varying atmospheric temperature and solar irradiation. However, it is hard to track the maximum power point using conventional linear controllers due to the natural inheritance of nonlinear I-V and P-V characteristics of solar PV systems. Fuzzy Logic Controller (FLC) is suitable for nonlinear system control applications and eliminating oscillations, circuit complexities present in the conventional perturb and observation and incremental conductance methods respectively. Hence, in this paper, FLC is proposed for tracking exact MPPT of solar PV power generation system under varying solar irradiation conditions. The effectiveness of the proposed FLC-based MPPT controller is validated through simulation and analysis using MATLAB/Simulink.

Keywords: Fuzzy logic controller, maximum power point tracking, photovoltaic.

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Authors: A. Abbasi Moshaii, M. Soltan Rezaee, M. Mohammadi Moghaddam

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Control of some mechanisms is hard because of their complex dynamic equations. If part of the complexity is resulting from uncertainties, an efficient way for solving that is robust control. By this way, the control procedure could be simple and fast and finally, a simple controller can be designed. One kind of these mechanisms is 3-RRR which is a parallel mechanism and has three revolute joints. This paper aims to robust control a 3-RRR planner mechanism and it presents that this could be used for other mechanisms. So, a significant problem in mechanisms control could be solved. The relevant diagrams are drawn and they show the correctness of control process.

Keywords: 3-RRR, dynamic equations, mechanisms control, structural uncertainty.

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Authors: Hossein Nezamabadi-pour, Saeid Saryazdi

Abstract:

In this paper, we present a new and effective image indexing technique that extracts features directly from DCT domain. Our proposed approach is an object-based image indexing. For each block of size 8*8 in DCT domain a feature vector is extracted. Then, feature vectors of all blocks of image using a k-means algorithm is clustered into groups. Each cluster represents a special object of the image. Then we select some clusters that have largest members after clustering. The centroids of the selected clusters are taken as image feature vectors and indexed into the database. Also, we propose an approach for using of proposed image indexing method in automatic image classification. Experimental results on a database of 800 images from 8 semantic groups in automatic image classification are reported.

Keywords: Object-based image retrieval, DCT domain, Image indexing, Image classification.

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Authors: A. Budiyono

Abstract:

The control design for unmanned underwater vehicles (UUVs) is challenging due to the uncertainties in the complex dynamic modeling of the vehicle as well as its unstructured operational environment. To cope with these difficulties, a practical robust control is therefore desirable. The paper deals with the application of coefficient diagram method (CDM) for a robust control design of an autonomous underwater vehicle. The CDM is an algebraic approach in which the characteristic polynomial and the controller are synthesized simultaneously. Particularly, a coefficient diagram (comparable to Bode diagram) is used effectively to convey pertinent design information and as a measure of trade-off between stability, response speed and robustness. In the polynomial ring, Kharitonov polynomials are employed to analyze the robustness of the controller due to parametric uncertainties.

Keywords: coefficient diagram method, robust control, Kharitonov polynomials, unmanned underwater vehicles.

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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: Zhongzhen Luo, Saeid Habibi, Martin v. Mohrenschildt

Abstract:

Self-driving vehicle require a high level of situational awareness in order to maneuver safely when driving in real world condition. This paper presents a LiDAR based real time perception system that is able to process sensor raw data for multiple target detection and tracking in dynamic environment. The proposed algorithm is nonparametric and deterministic that is no assumptions and priori knowledge are needed from the input data and no initializations are required. Additionally, the proposed method is working on the three-dimensional data directly generated by LiDAR while not scarifying the rich information contained in the domain of 3D. Moreover, a fast and efficient for real time clustering algorithm is applied based on a radially bounded nearest neighbor (RBNN). Hungarian algorithm procedure and adaptive Kalman filtering are used for data association and tracking algorithm. The proposed algorithm is able to run in real time with average run time of 70ms per frame.

Keywords: LiDAR, real-time system, clustering, tracking, data association.

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Authors: Joabe Silva, Ginalber Serra

Abstract:

This paper proposes the analysis and design of robust fuzzy control to Stochastic Parametrics Uncertaint Linear systems. This system type to be controlled is partitioned into several linear sub-models, in terms of transfer function, forming a convex polytope, similar to LPV (Linear Parameters Varying) system. Once defined the linear sub-models of the plant, these are organized into fuzzy Takagi- Sugeno (TS) structure. From the Parallel Distributed Compensation (PDC) strategy, a mathematical formulation is defined in the frequency domain, based on the gain and phase margins specifications, to obtain robust PI sub-controllers in accordance to the Takagi- Sugeno fuzzy model of the plant. The main results of the paper are based on the robust stability conditions with the proposal of one Axiom and two Theorems.

Keywords: Fuzzy Systems; Robust Stability, Stochastic Control, Stochastic Process

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Authors: Jonghyun Park, Toan Nguyen Dinh, Gueesang Lee

Abstract:

In this paper, we present a novel approach to accurately detect text regions including shop name in signboard images with complex background for mobile system applications. The proposed method is based on the combination of text detection using edge profile and region segmentation using fuzzy c-means method. In the first step, we perform an elaborate canny edge operator to extract all possible object edges. Then, edge profile analysis with vertical and horizontal direction is performed on these edge pixels to detect potential text region existing shop name in a signboard. The edge profile and geometrical characteristics of each object contour are carefully examined to construct candidate text regions and classify the main text region from background. Finally, the fuzzy c-means algorithm is performed to segment and detected binarize text region. Experimental results show that our proposed method is robust in text detection with respect to different character size and color and can provide reliable text binarization result.

Keywords: Text detection, edge profile, signboard image, fuzzy clustering.

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Authors: Mohamed Azab

Abstract:

In this paper a new maximum power point tracking algorithm for photovoltaic arrays is proposed. The algorithm detects the maximum power point of the PV. The computed maximum power is used as a reference value (set point) of the control system. ON/OFF power controller with hysteresis band is used to control the operation of a Buck chopper such that the PV module always operates at its maximum power computed from the MPPT algorithm. The major difference between the proposed algorithm and other techniques is that the proposed algorithm is used to control directly the power drawn from the PV. The proposed MPPT has several advantages: simplicity, high convergence speed, and independent on PV array characteristics. The algorithm is tested under various operating conditions. The obtained results have proven that the MPP is tracked even under sudden change of irradiation level.

Keywords: Photovoltaic, maximum power point tracking, MPPT.

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Authors: Sandra Ondrušová, Jaroslav Polec

Abstract:

Arbitrarily shaped video objects are an important concept in modern video coding methods. The techniques presently used are not based on image elements but rather video objects having an arbitrary shape. In this paper, spatial shape error concealment techniques to be used for object-based image in error-prone environments are proposed. We consider a geometric shape representation consisting of the object boundary, which can be extracted from the α-plane. Three different approaches are used to replace a missing boundary segment: Bézier interpolation, Bézier approximation and NURBS approximation. Experimental results on object shape with different concealment difficulty demonstrate the performance of the proposed methods. Comparisons with proposed methods are also presented.

Keywords: error concealment, shape coding, object-based image, NURBS, Bézier curves.

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