Abstract: In this paper, an autonomous hovering control method
of multicopter using only Web camera is proposed. Recently, various
control method of an autonomous flight for multicopter are proposed.
But, in the previous proposed methods, a motion capture system
(i. e., OptiTrack) and laser range finder are often used to measure
the position and posture of multicopter. To achieve an autonomous
flight control of multicopter with simple equipments, we propose
an autonomous flight control method using AR marker and Web
camera. AR marker can measure the position of multicopter with
Cartesian coordinate in three dimensional, then its position connects
with aileron, elevator, and accelerator throttle operation. A simple
PID control method is applied to the each operation and adjust
the controller gains. Experimental results are given to show the
effectiveness of our proposed method. Moreover, another simple
operation method for autonomous flight control multicopter is also
proposed.
Abstract: Based on Business and Consumer Survey (BCS) data,
the European Commission (EC) regularly publishes the monthly
Economic Sentiment Indicator (ESI) for each EU member state. ESI
is conceptualized as a leading indicator, aimed ad tracking the overall
economic activity. In calculating ESI, the EC employs arbitrarily
chosen weights on 15 BCS response balances. This paper raises the
predictive quality of ESI by applying nonlinear programming to find
such weights that maximize the correlation coefficient of ESI and
year-on-year GDP growth. The obtained results show that the highest
weights are assigned to the response balances of industrial sector
questions, followed by questions from the retail trade sector. This
comes as no surprise since the existing literature shows that the
industrial production is a plausible proxy for the overall Croatian
economic activity and since Croatian GDP is largely influenced by
the aggregate personal consumption.
Abstract: This paper presents the ‘Eye Ball Motion Controlled
Wheelchair using IR Sensors’ for the elderly and differently abled
people. In this eye tracking based technology, three Proximity
Infrared (IR) sensor modules are mounted on an eye frame to trace
the movement of the iris. Since, IR sensors detect only white objects;
a unique sequence of digital bits is generated corresponding to each
eye movement. These signals are then processed via a micro
controller IC (PIC18F452) to control the motors of the wheelchair.
The potential and efficiency of previously developed rehabilitation
systems that use head motion, chin control, sip-n-puff control, voice
recognition, and EEG signals variedly have also been explored in
detail. They were found to be inconvenient as they served either
limited usability or non-affordability. After multiple regression
analyses, the proposed design was developed as a cost-effective,
flexible and stream-lined alternative for people who have trouble
adopting conventional assistive technologies.
Abstract: Supply chains are the backbone of trade and
commerce. Their logistics use different transport corridors on regular
basis for operational purpose. The international supply chain
transport corridors include different infrastructure elements (e.g.
weighbridge, package handling equipments, border clearance
authorities, and so on). This paper presents the use of multi-agent
systems (MAS) to model and simulate some aspects of transportation
corridors, and in particular the area of weighbridge resource
optimization for operational profit. An underlying multi-agent model
provides a means of modeling the relationships among stakeholders
in order to enable coordination in a transport corridor environment.
Simulations of the costs of container unloading, reloading, and
waiting time for queuing up tracks have been carried out using data
sets. Results of the simulation provide the potential guidance in
making decisions about optimal service resource allocation in a trade
corridor.
Abstract: Boiling process is characterized by the rapid
formation of vapour bubbles at the solid–liquid interface (nucleate
boiling) with pre-existing vapour or gas pockets. Computational fluid
dynamics (CFD) is an important tool to study bubble dynamics. In
the present study, CFD simulation has been carried out to determine
the bubble detachment diameter and its terminal velocity. Volume of
fluid method is used to model the bubble and the surrounding by
solving single set of momentum equations and tracking the volume
fraction of each of the fluids throughout the domain. In the
simulation, bubble is generated by allowing water-vapour to enter a
cylinder filled with liquid water through an inlet at the bottom. After
the bubble is fully formed, the bubble detaches from the surface and
rises up during which the bubble accelerates due to the net balance
between buoyancy force and viscous drag. Finally when these forces
exactly balance each other, it attains a constant terminal velocity. The
bubble detachment diameter and the terminal velocity of the bubble
are captured by the monitor function provided in FLUENT. The
detachment diameter and the terminal velocity obtained are compared
with the established results based on the shape of the bubble. A good
agreement is obtained between the results obtained from simulation
and the equations in comparison with the established results.
Abstract: Electrohydraulic servo system have been used in industry in a wide number of applications. Its dynamics are highly nonlinear and also have large extent of model uncertainties and external disturbances. In this paper, a robust back-stepping control (RBSC) scheme is proposed to overcome the problem of disturbances and system uncertainties effectively and to improve the tracking performance of EHS systems. In order to implement the proposed control scheme, the system uncertainties in EHS systems are considered as total leakage coefficient and effective oil volume. In addition, in order to obtain the virtual controls for stabilizing system, the update rule for the system uncertainty term is induced by the Lyapunov control function (LCF). To verify the performance and robustness of the proposed control system, computer simulation of the proposed control system using Matlab/Simulink Software is executed. From the computer simulation, it was found that the RBSC system produces the desired tracking performance and has robustness to the disturbances and system uncertainties of EHS systems.
Abstract: Advance in techniques of image and video processing has enabled the development of intelligent video surveillance systems. This study was aimed to automatically detect moving human objects and to analyze events of dual human interaction in a surveillance scene. Our system was developed in four major steps: image preprocessing, human object detection, human object tracking, and motion trajectory analysis. The adaptive background subtraction and image processing techniques were used to detect and track moving human objects. To solve the occlusion problem during the interaction, the Kalman filter was used to retain a complete trajectory for each human object. Finally, the motion trajectory analysis was developed to distinguish between the interaction and non-interaction events based on derivatives of trajectories related to the speed of the moving objects. Using a database of 60 video sequences, our system could achieve the classification accuracy of 80% in interaction events and 95% in non-interaction events, respectively. In summary, we have explored the idea to investigate a system for the automatic classification of events for interaction and non-interaction events using surveillance cameras. Ultimately, this system could be incorporated in an intelligent surveillance system for the detection and/or classification of abnormal or criminal events (e.g., theft, snatch, fighting, etc.).
Abstract: Fast speed drives for Permanent Magnet Synchronous
Motor (PMSM) is a crucial performance for the electric traction
systems. In this paper, PMSM is derived with a Model-based
Predictive Control (MPC) technique. Fast speed tracking is achieved
through optimization of the DC source utilization using MPC. The
technique is based on predicting the optimum voltage vector applied
to the driver. Control technique is investigated by comparing to the
cascaded PI control based on Space Vector Pulse Width Modulation
(SVPWM). MPC and SVPWM-based FOC are implemented with the
TMS320F2812 DSP and its power driver circuits. The designed MPC
for a PMSM drive is experimentally validated on a laboratory test
bench. The performances are compared with those obtained by a
conventional PI-based system in order to highlight the improvements,
especially regarding speed tracking response.
Abstract: Driver fatigue is an important factor in the increasing
number of road accidents. Dynamic template matching method was
proposed to address the problem of real-time driver fatigue detection
system based on eye-tracking. An effective vision based approach
was used to analyze the driver’s eye state to detect fatigue. The driver
fatigue system consists of Face detection, Eye detection, Eye
tracking, and Fatigue detection. Initially frames are captured from a
color video in a car dashboard and transformed from RGB into YCbCr
color space to detect the driver’s face. Canny edge operator was used
to estimating the eye region and the locations of eyes are extracted.
The extracted eyes were considered as a template matching for eye
tracking. Edge Map Overlapping (EMO) and Edge Pixel Count
(EPC) matching function were used for eye tracking which is used to
improve the matching accuracy. The pixel of eyeball was tracked
from the eye regions which are used to determine the fatigue state of
the driver.
Abstract: The comprehensive CFD models have been used to
represent and study the heterogeneous combustion of biomass. In the
present work, the operation of a global flue gas circuit in the sugarcane
bagasse combustion, from wind boxes below primary air grate
supply, passing by bagasse insertion in swirl burners and boiler
furnace, to boiler bank outlet is simulated. It uses five different
meshes representing each part of this system located in sequence:
wind boxes and grate, boiler furnace, swirl burners, superheaters and
boiler bank. The model considers turbulence using standard k-ε,
combustion using EDM, radiation heat transfer using DTM with 16
ray directions and bagasse particle tracking represented by Schiller-
Naumann model. The results showed good agreement with expected
behavior found in literature and equipment design. The more detailed
results view in separated parts of flue gas system allows observing
some flow behaviors that cannot be represented by usual
simplifications like bagasse supply under homogeneous axial and
rotational vectors and others that can be represented using new
considerations like the representation of 26 thousand grate orifices by
144 rectangular inlets.
Abstract: Software fault prediction models are created by using
the source code, processed metrics from the same or previous version
of code and related fault data. Some company do not store and keep
track of all artifacts which are required for software fault prediction.
To construct fault prediction model for such company, the training
data from the other projects can be one potential solution. Earlier we
predicted the fault the less cost it requires to correct. The training
data consists of metrics data and related fault data at function/module
level. This paper investigates fault predictions at early stage using the
cross-project data focusing on the design metrics. In this study,
empirical analysis is carried out to validate design metrics for cross
project fault prediction. The machine learning techniques used for
evaluation is Naïve Bayes. The design phase metrics of other projects
can be used as initial guideline for the projects where no previous
fault data is available. We analyze seven datasets from NASA
Metrics Data Program which offer design as well as code metrics.
Overall, the results of cross project is comparable to the within
company data learning.
Abstract: Quantitative analyses of whisker movements provide a
means to study functional recovery and regeneration of mouse facial
nerve after an injury. However, accurate tracking of the mouse whisker
movement is challenging. Most methods for whisker tracking require
manual intervention, e.g. fixing the head of the mouse during a study.
Here we describe a semi-automated image processing method, which
is applied to high-speed video recordings of free-moving mice to track
the whisker movements. We first track the head movement of a mouse
by delineating the lower head contour frame-by-frame that allows for
detection of the location and orientation of the head. Then, a region of
interest is identified for each frame; the subsequent application of a
mask and the Hough transform detects the selected whiskers on each
side of the head. Our approach is used to examine the functional
recovery of damaged facial nerves in mice over a course of 21 days.
Abstract: We propose new multiple-channel piezoelectric (PZT)
actuated tunable optical filter based on racetrack multi-ring
resonators for wavelength de-multiplexing network applications. We
design tunable eight-channel wavelength de-multiplexer consisting of
eight cascaded PZT actuated tunable multi-ring resonator filter with a
channel spacing of 1.6nm. The filter for each channel is basically
structured on a suspended beam, sandwiched with piezoelectric
material and built in integrated ring resonators which are placed on
the middle of the beam to gain uniform stress and linearly varying
longitudinal strain. A reference single mode serially coupled multi
stage racetrack ring resonator with the same radii and coupling length
is designed with a line width of 0.8974nm with a flat top pass band at
1dB of 0.5205nm and free spectral range of about 14.9nm. In each
channel, a small change in the perimeter of the rings is introduced to
establish the shift in resonance wavelength as per the defined channel
spacing. As a result, when a DC voltage is applied, the beams will
elongate, which involves mechanical deformation of the ring
resonators that induces a stress and a strain, which brings a change in
refractive index and perimeter of the rings leading to change in the
output spectrum shift providing the tunability of central wavelength
in each channel. Simultaneous wave length shift as high as
45.54pm/
Abstract: A comprehensive CFD model is developed to
represent heterogeneous combustion and two burner designs of
supply sugar-cane bagasse into a furnace. The objective of this work
is to compare the insertion and burning of a Brazilian south-eastern
sugar-cane bagasse using a new swirl burner design against an actual
geometry under operation. The new design allows control the
particles penetration and scattering inside furnace by adjustment of
axial/tangential contributions of air feed without change their mass
flow. The model considers turbulence using RNG k-, combustion
using EDM, radiation heat transfer using DTM with 16 ray directions
and bagasse particle tracking represented by Schiller-Naumann
model. The obtained results are favorable to use of new design swirl
burner because its axial/tangential control promotes more penetration
or more scattering than actual design and allows reproduce the actual
design operation without change the overall mass flow supply.
Abstract: Microscopic simulation tool kits allow for
consideration of the two processes of railway operations and the
previous timetable production. Block occupation conflicts on both
process levels are often solved by using defined train priorities. These
conflict resolutions (dispatching decisions) generate reactionary
delays to the involved trains. The sum of reactionary delays is
commonly used to evaluate the quality of railway operations, which
describes the timetable robustness. It is either compared to an
acceptable train performance or the delays are appraised
economically by linear monetary functions. It is impossible to
adequately evaluate dispatching decisions without a well-founded
objective function. This paper presents a new approach for the
evaluation of dispatching decisions. The approach uses mode choice
models and considers the behaviour of the end-customers. These
models evaluate the reactionary delays in more detail and consider
other competing modes of transport. The new approach pursues the
coupling of a microscopic model of railway operations with the
macroscopic choice mode model. At first, it will be implemented for
railway operations process but it can also be used for timetable
production. The evaluation considers the possibility for the customer
to interchange to other transport modes. The new approach starts to
look at rail and road, but it can also be extended to air travel. The
result of mode choice models is the modal split. The reactions by the
end-customers have an impact on the revenue of the train operating
companies. Different purposes of travel have different payment
reserves and tolerances towards late running. Aside from changes to
revenues, longer journey times can also generate additional costs.
The costs are either time- or track-specific and arise from required
changes to rolling stock or train crew cycles. Only the variable values
are summarised in the contribution margin, which is the base for the
monetary evaluation of delays. The contribution margin is calculated
for different possible solutions to the same conflict. The conflict
resolution is optimised until the monetary loss becomes minimal. The
iterative process therefore determines an optimum conflict resolution
by monitoring the change to the contribution margin. Furthermore, a
monetary value of each dispatching decision can also be derived.
Abstract: In this study, we proposed two techniques to track the
maximum power point (MPPT) of a photovoltaic system. The first is
an intelligent control technique, and the second is robust used for
variable structure system. In fact the characteristics I-V and P–V of
the photovoltaic generator depends on the solar irradiance and
temperature. These climate changes cause the fluctuation of
maximum power point; a maximum power point tracking technique
(MPPT) is required to maximize the output power. For this we have
adopted a control by fuzzy logic (FLC) famous for its stability and
robustness. And a Siding Mode Control (SMC) widely used for
variable structure system. The system comprises a photovoltaic panel
(PV), a DC-DC converter, which is considered as an adaptation stage
between the PV and the load. The modelling and simulation of the
system is developed using MATLAB/Simulink. SMC technique
provides a good tracking speed in fast changing irradiation and when
the irradiation changes slowly or it is constant the panel power of
FLC technique presents a much smoother signal with less
fluctuations.
Abstract: This paper presents the development of a robot car
that can track the motion of an object by detecting its color through
an Android device. The employed computer vision algorithm uses the
OpenCV library, which is embedded into an Android application of a
smartphone, for manipulating the captured image of the object. The
captured image of the object is subjected to color conversion and is
transformed to a binary image for further processing after color
filtering. The desired object is clearly determined after removing
pixel noise by applying image morphology operations and contour
definition. Finally, the area and the center of the object are
determined so that object’s motion to be tracked. The smartphone
application has been placed on a robot car and transmits by Bluetooth
to an Arduino assembly the motion directives so that to follow
objects of a specified color. The experimental evaluation of the
proposed algorithm shows reliable color detection and smooth
tracking characteristics.
Abstract: The paper presents a method for a simple and
immediate motion planning of a SCARA robot, whose end-effector
has to move along a given trajectory; the calculation procedure
requires the user to define in analytical form or by points the
trajectory to be followed and to assign the curvilinear abscissa as
function of the time. On the basis of the geometrical characteristics
of the robot, a specifically developed program determines the motion
laws of the actuators that enable the robot to generate the required
movement; this software can be used in all industrial applications for
which a SCARA robot has to be frequently reprogrammed, in order
to generate various types of trajectories with different motion times.
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.
Abstract: In this paper we propose a discrete tracking control of
nonholonomic mobile robots with two degrees of freedom. The
electromechanical model of a mobile robot moving on a horizontal
surface without slipping, with two rear wheels controlled by two
independent DC electric, and one front roal wheel is considered. We
present backstepping design based on the Euler approximate discretetime
model of a continuous-time plant. Theoretical considerations are
verified by numerical simulation.