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.
Abstract: In this study, a new root-finding method for solving nonlinear equations is proposed. This method requires two starting values that do not necessarily bracketing a root. However, when the starting values are selected to be close to a root, the proposed method converges to the root quicker than the secant method. Another advantage over all iterative methods is that; the proposed method usually converges to two distinct roots when the given function has more than one root, that is, the odd iterations of this new technique converge to a root and the even iterations converge to another root. Some numerical examples, including a sine-polynomial equation, are solved by using the proposed method and compared with results obtained by the secant method; perfect agreements are found.
Abstract: A hybrid feature based adaptive particle filter algorithm is presented for object tracking in real scenarios with static camera.
The hybrid feature is combined by two effective features: the Grayscale Arranging Pairs (GAP) feature and the color histogram feature. The GAP feature has high discriminative ability even under conditions of severe illumination variation and dynamic background
elements, while the color histogram feature has high reliability to identify the detected objects. The combination of two features covers the shortage of single feature. Furthermore, we adopt an updating
target model so that some external problems such as visual angles can be overcame well. An automatic initialization algorithm is introduced which provides precise initial positions of objects. The experimental
results show the good performance of the proposed method.
Abstract: One of the major, difficult tasks in automated video
surveillance is the segmentation of relevant objects in the scene.
Current implementations often yield inconsistent results on average
from frame to frame when trying to differentiate partly occluding
objects. This paper presents an efficient block-based segmentation
algorithm which is capable of separating partly occluding objects and
detecting shadows. It has been proven to perform in real time with a
maximum duration of 47.48 ms per frame (for 8x8 blocks on a
720x576 image) with a true positive rate of 89.2%. The flexible
structure of the algorithm enables adaptations and improvements with
little effort. Most of the parameters correspond to relative differences
between quantities extracted from the image and should therefore not
depend on scene and lighting conditions. Thus presenting a
performance oriented segmentation algorithm which is applicable in
all critical real time scenarios.
Abstract: Bonding has become a routine procedure in several
dental specialties – from prosthodontics to conservative dentistry and
even orthodontics. In many of these fields it is important to be able to
investigate the bonded interfaces to assess their quality. All currently
employed investigative methods are invasive, meaning that samples
are destroyed in the testing procedure and cannot be used again. We
have investigated the interface between human enamel and bonded
ceramic brackets non-invasively, introducing a combination of new
investigative methods – optical coherence tomography (OCT),
fluorescence OCT and confocal microscopy (CM). Brackets were
conventionally bonded on conditioned buccal surfaces of teeth. The
bonding was assessed using these methods. Three dimensional
reconstructions of the detected material defects were developed using
manual and semi-automatic segmentation. The results clearly prove
that OCT, fluorescence OCT and CM are useful in orthodontic
bonding investigations.
Abstract: A simple mobile engine-driven pneumatic paddy
collector made of locally available materials using local
manufacturing technology was designed, fabricated, and tested for
collecting and bagging of paddy dried on concrete pavement. The
pneumatic paddy collector had the following major components:
radial flat bladed type centrifugal fan, power transmission system,
bagging area, frame and the conveyance system. Results showed
significant differences on the collecting capacity, noise level, and fuel
consumption when rotational speed of the air mover shaft was varied.
Other parameters such as collecting efficiency, air velocity,
augmented cracked grain percentage, and germination rate were not
significantly affected by varying rotational speed of the air mover
shaft. The pneumatic paddy collector had a collecting efficiency of
99.33 % with a collecting capacity of 2685.00 kg/h at maximum
rotational speed of centrifugal fan shaft of about 4200 rpm. The
machine entailed an investment cost of P 62,829.25. The break-even
weight of paddy was 510,606.75 kg/yr at a collecting cost of 0.11
P/kg of paddy. Utilizing the machine for 400 hours per year
generated an income of P 23,887.73. The projected time needed to
recover cost of the machine based on 2685 kg/h collecting capacity
was 2.63 year.
Abstract: In the present article, effect of non-uniform excitation
of reservoir bottom on nonlinear response of concrete gravity dams is
considered. Anisotropic damage mechanics approach is used to model nonlinear behavior of mass concrete in 2D space. The tallest
monolith of Pine Flat dam is selected as a case study. The horizontal
and vertical components of 1967 Koyna earthquake is used to excite
the system. It is found that crest response and stresses within the dam body decrease significantly when the reservoir is excited nonuniformly. In addition, the crack profiles within the dam body and in vicinity of the neck decreases.
Abstract: In this paper, a new approach for target recognition based on the Empirical mode decomposition (EMD) algorithm of Huang etal. [11] and the energy tracking operator of Teager [13]-[14] is introduced. The conjunction of these two methods is called Teager-Huang analysis. This approach is well suited for nonstationary signals analysis. The impulse response (IR) of target is first band pass filtered into subsignals (components) called Intrinsic mode functions (IMFs) with well defined Instantaneous frequency (IF) and Instantaneous amplitude (IA). Each IMF is a zero-mean AM-FM component. In second step, the energy of each IMF is tracked using the Teager energy operator (TEO). IF and IA, useful to describe the time-varying characteristics of the signal, are estimated using the Energy separation algorithm (ESA) algorithm of Maragos et al .[16]-[17]. In third step, a set of features such as skewness and kurtosis are extracted from the IF, IA and IMF energy functions. The Teager-Huang analysis is tested on set of synthetic IRs of Sonar targets with different physical characteristics (density, velocity, shape,? ). PCA is first applied to features to discriminate between manufactured and natural targets. The manufactured patterns are classified into spheres and cylinders. One hundred percent of correct recognition is achieved with twenty three echoes where sixteen IRs, used for training, are free noise and seven IRs, used for testing phase, are corrupted with white Gaussian noise.
Abstract: Series compensators have been used for many years,
to increase the stability and load ability of transmission line. They
compensate retarded or advanced volt drop of transmission lines
by placing advanced or retarded voltage in series with them to
compensate the effective reactance, which cause to increase load
ability of transmission lines. In this paper, two method of fuzzy
controller, based on power reference tracking and impedance
reference tracking have been developed on TCSC controller in
order to increase load ability and improving power oscillation
damping of system. In these methods, fire angle of thyristors are
determined directly through the special Rule-bases with the error
and change of error as the inputs. The simulation results of two
area four- machines power system show the good performance of
power oscillation damping in system. Comparison of this method
with classical PI controller shows the increasing speed of system
response in power oscillation damping.
Abstract: This paper compares the heuristic Global Search
Techniques; Genetic Algorithm, Particle Swarm Optimization,
Simulated Annealing, Generalized Pattern Search, genetic algorithm
hybridized with Nelder–Mead and Generalized pattern search
technique for tuning of fuzzy PID controller for Puma 560. Since the
actual control is in joint space ,inverse kinematics is used to generate
various joint angles correspoding to desired cartesian space
trajectory. Efficient dynamics and kinematics are modeled on Matlab
which takes very less simulation time. Performances of all the tuning
methods with and without disturbance are compared in terms of ITSE
in joint space and ISE in cartesian space for spiral trajectory tracking.
Genetic Algorithm hybridized with Generalized Pattern Search is
showing best performance.
Abstract: Fatigue is the major threat in service of steel structure
subjected to fluctuating loads. With the additional effect of corrosion
and presence of weld joints the fatigue failure may become more
critical in structural steel. One of the apt examples of such structural
is the sailing ship. This is experiencing a constant stress due to
floating and a pulsating bending load due to the waves. This paper
describes an attempt to verify theory of fatigue in fracture mechanics
approach with experimentation to determine the constants of crack
growth curve. For this, specimen is prepared from the ship building
steel and it is subjected to a pulsating bending load with a known
defect. Fatigue crack and its nature is observed in this experiment.
Application of fracture mechanics approach in fatigue with a simple
practical experiment is conducted and constants of crack growth
equation are investigated.
Abstract: The Carrier Frequency Offset (CFO) due to timevarying
fading channel is the main cause of the loss of orthogonality
among OFDM subcarriers which is linked to inter-carrier interference
(ICI). Hence, it is necessary to precisely estimate and compensate the
CFO. Especially for mobile broadband communications, CFO and
channel gain also have to be estimated and tracked to maintain the
system performance. Thus, synchronization pilots are embedded in
every OFDM symbol to track the variations. In this paper, we present
the pilot scheme for both channel and CFO estimation where channel
estimation process can be carried out with only one OFDM symbol.
Additional, the proposed pilot scheme also provides better
performance in CFO estimation comparing with the conventional
orthogonal pilot scheme due to the increasing of signal-tointerference
ratio.
Abstract: This paper investigates the control of a bouncing
ball using Model Predictive Control. Bouncing ball is a benchmark
problem for various rhythmic tasks such as juggling, walking,
hopping and running. Humans develop intentions which may be
perceived as our reference trajectory and tries to track it. The
human brain optimizes the control effort needed to track its
reference; this forms the central theme for control of bouncing ball
in our investigations.
Abstract: Image processing for capsule endoscopy requires large
memory and it takes hours for diagnosis since operation time is
normally more than 8 hours. A real-time analysis algorithm of capsule
images can be clinically very useful. It can differentiate abnormal
tissue from health structure and provide with correlation information
among the images. Bleeding is our interest in this regard and we
propose a method of detecting frames with potential bleeding in
real-time. Our detection algorithm is based on statistical analysis and
the shapes of bleeding spots. We tested our algorithm with 30 cases of
capsule endoscopy in the digestive track. Results were excellent where
a sensitivity of 99% and a specificity of 97% were achieved in
detecting the image frames with bleeding spots.
Abstract: A real-time tracking system was built to track performers on an interactive stage. Using an ordinary, up to date, desktop workstation, the performers- silhouette was segmented from the background and parameterized by calculating the normalized central image moments. In the stage system, the silhouette moments were then sent to a parallel workstation, which used them to generate corresponding 3D virtual geometry and projected the generated graphic back onto the stage.
Abstract: Modern manufacturing facilities are large scale,
highly complex, and operate with large number of variables under
closed loop control. Early and accurate fault detection and diagnosis
for these plants can minimise down time, increase the safety of plant
operations, and reduce manufacturing costs. Fault detection and
isolation is more complex particularly in the case of the faulty analog
control systems. Analog control systems are not equipped with
monitoring function where the process parameters are continually
visualised. In this situation, It is very difficult to find the relationship
between the fault importance and its consequences on the product
failure. We consider in this paper an approach to fault detection and
analysis of its effect on the production quality using an adaptive
centring and scaling in the pickling process in cold rolling. The fault
appeared on one of the power unit driving a rotary machine, this
machine can not track a reference speed given by another machine.
The length of metal loop is then in continuous oscillation, this affects
the product quality. Using a computerised data acquisition system,
the main machine parameters have been monitored. The fault has
been detected and isolated on basis of analysis of monitored data.
Normal and faulty situation have been obtained by an artificial neural
network (ANN) model which is implemented to simulate the normal
and faulty status of rotary machine. Correlation between the product
quality defined by an index and the residual is used to quality
classification.
Abstract: The paper presents an on-line recognition machine
(RM) for continuous/isolated, dynamic and static gestures that arise
in Flight Deck Officer (FDO) training. RM is based on generic pattern
recognition framework. Gestures are represented as templates using
summary statistics. The proposed recognition algorithm exploits temporal
and spatial characteristics of gestures via dynamic programming
and Markovian process. The algorithm predicts corresponding index
of incremental input data in the templates in an on-line mode.
Accumulated consistency in the sequence of prediction provides a
similarity measurement (Score) between input data and the templates.
The algorithm provides an intuitive mechanism for automatic detection
of start/end frames of continuous gestures. In the present paper,
we consider isolated gestures. The performance of RM is evaluated
using four datasets - artificial (W TTest), hand motion (Yang) and
FDO (tracker, vision-based ). RM achieves comparable results which
are in agreement with other on-line and off-line algorithms such as
hidden Markov model (HMM) and dynamic time warping (DTW).
The proposed algorithm has the additional advantage of providing
timely feedback for training purposes.
Abstract: In recent years, rehabilitation has been the subject of extensive research due to increased spending on building work and repair of built works. In all cases, it is absolutely essential to carry out methods of strengthening or repair of structural elements, and that following an inspection analysis and methodology of a correct diagnosis. The reinforced concrete columns are important elements in building structures. They support the vertical loads and provide bracing against the horizontal loads. This research about the behavior of reinforced concrete rectangular columns, rehabilitated by concrete liner, confinement FRP fabric, steel liner or cage formed by metal corners. It allows comparing the contributions of different processes used perspective section resistance elements rehabilitated compared to that is not reinforced or repaired. The different results obtained revealed a considerable gain in bearing capacity failure of reinforced sections cladding concrete, metal bracket, steel plates and a slight improvement to the section reinforced with fabric FRP. The use of FRP does not affect the weight of the structures, but the use of different techniques cladding increases the weight of elements rehabilitated and therefore the weight of the building which requires resizing foundations.
Abstract: Vehicle which are turning or maneuvering at high speeds
are susceptible to sliding and subsequently deviate from desired path. In
this paper the dynamics governing the Yaw/Roll behavior of a vehicle
has been simulated. Two different simulations have been used one for
the real vehicle, for which a fuzzy controller is designed to increase its
directional stability property. The other simulation is for a hypothetical
vehicle with much higher tire cornering stiffness which is capable of
developing the required lateral forces at the tire-ground patch contact to
attain the desired lateral acceleration for the vehicle to follow the
desired path without slippage. This simulation model is our reference
model.
The logic for keeping the vehicle on the desired track in the cornering
or maneuvering state is to have some braking forces on the inner or
outer tires based on the direction of vehicle deviation from the desired
path. The inputs to our vehicle simulation model is steer angle δ and
vehicle velocity V , and the outputs can be any kinematical parameters
like yaw rate, yaw acceleration, side slip angle, rate of side slip angle
and so on. The proposed fuzzy controller is a feed forward controller.
This controller has two inputs which are steer angle δ and vehicle
velocity V, and the output of the controller is the correcting moment M,
which guides the vehicle back to the desired track. To develop the
membership functions for the controller inputs and output and the fuzzy
rules, the vehicle simulation has been run for 1000 times and the
correcting moment have been determined by trial and error. Results of
the vehicle simulation with fuzzy controller are very promising
and show the vehicle performance is enhanced greatly over the
vehicle without the controller. In fact the vehicle performance
with the controller is very near the performance of the reference
ideal model.
Abstract: This paper provides the design steps of a robust Linear
Matrix Inequality (LMI) based iterative multivariable PID controller
whose duty is to drive a sample power system that comprises a
synchronous generator connected to a large network via a step-up
transformer and a transmission line. The generator is equipped with
two control-loops, namely, the speed/power (governor) and voltage
(exciter). Both loops are lumped in one where the error in the
terminal voltage and output active power represent the controller
inputs and the generator-exciter voltage and governor-valve position
represent its outputs. Multivariable PID is considered here because of
its wide use in the industry, simple structure and easy
implementation. It is also preferred in plants of higher order that
cannot be reduced to lower ones. To improve its robustness to
variation in the controlled variables, H∞-norm of the system transfer
function is used. To show the effectiveness of the controller, divers
tests, namely, step/tracking in the controlled variables, and variation
in plant parameters, are applied. A comparative study between the
proposed controller and a robust H∞ LMI-based output feedback is
given by its robustness to disturbance rejection. From the simulation
results, the iterative multivariable PID shows superiority.