Abstract: This paper describes new computer vision algorithms
that have been developed to track moving objects as part of a
long-term study into the design of (semi-)autonomous vehicles. We
present the results of a study to exploit variable kernels for tracking in
video sequences. The basis of our work is the mean shift
object-tracking algorithm; for a moving target, it is usual to define a
rectangular target window in an initial frame, and then process the data
within that window to separate the tracked object from the background
by the mean shift segmentation algorithm. Rather than use the
standard, Epanechnikov kernel, we have used a kernel weighted by the
Chamfer distance transform to improve the accuracy of target
representation and localization, minimising the distance between the
two distributions in RGB color space using the Bhattacharyya
coefficient. Experimental results show the improved tracking
capability and versatility of the algorithm in comparison with results
using the standard kernel. These algorithms are incorporated as part of
a robot test-bed architecture which has been used to demonstrate their
effectiveness.
Abstract: In this paper, a multi-agent robot system is presented. The system consists of four robots. The developed robots are able to automatically enter and patrol a harmful environment, such as the building infected with virus or the factory with leaking hazardous gas. Further, every robot is able to perform obstacle avoidance and search for the victims. Several operation modes are designed: remote control, obstacle avoidance, automatic searching, and so on.
Abstract: Mobile Ad hoc Networks is an autonomous system of
mobile nodes connected by multi-hop wireless links without
centralized infrastructure support. As mobile communication gains
popularity, the need for suitable ad hoc routing protocols will
continue to grow. Efficient dynamic routing is an important research
challenge in such a network. Bandwidth constrained mobile devices
use on-demand approach in their routing protocols because of its
effectiveness and efficiency. Many researchers have conducted
numerous simulations for comparing the performance of these
protocols under varying conditions and constraints. Most of them are
not aware of MAC Protocols, which will impact the relative
performance of routing protocols considered in different network
scenarios. In this paper we investigate the choice of MAC protocols
affects the relative performance of ad hoc routing protocols under
different scenarios. We have evaluated the performance of these
protocols using NS2 simulations. Our results show that the
performance of routing protocols of ad hoc networks will suffer when
run over different MAC Layer protocols.
Abstract: This paper describes the designs of a first and second
generation autonomous gas monitoring system and the successful
field trial of the final system (2nd generation). Infrared sensing
technology is used to detect and measure the greenhouse gases
methane (CH4) and carbon dioxide (CO2) at point sources. The
ability to monitor real-time events is further enhanced through the
implementation of both GSM and Bluetooth technologies to
communicate these data in real-time. These systems are robust,
reliable and a necessary tool where the monitoring of gas events in
real-time are needed.
Abstract: 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.
Abstract: A portable sensor for the analysis of phosphate in
aqueous samples has been developed. The sensor incorporates
microfluidic technology, colorimetric detection, and wireless
communications into a compact and rugged portable device. The
detection method used is the molybdenum yellow method, in which a
phosphate-containing sample is mixed with a reagent containing
ammonium metavanadate and ammonium molybdate in an acidic
medium. A yellow-coloured compound is generated and the
absorption of this compound is measured using a light emitting diode
(LED) light source and a photodiode detector. The absorption is
directly proportional to the phosphate concentration in the original
sample. In this paper we describe the application of this phosphate
sensor to the analysis of wastewater at a municipal wastewater
treatment plant in Co. Kildare, Ireland.
Abstract: In this paper, we consider the uniform asymptotic stability, global asymptotic stability and global exponential stability of the equilibrium point of discrete Hopfield neural networks with delays. Some new stability criteria for system are derived by using the Lyapunov functional method and the linear matrix inequality approach, for estimating the upper bound of Lyapunov functional derivative.
Abstract: Robots- visual perception is a field that is gaining
increasing attention from researchers. This is partly due to emerging
trends in the commercial availability of 3D scanning systems or
devices that produce a high information accuracy level for a variety of
applications. In the history of mining, the mortality rate of mine workers
has been alarming and robots exhibit a great deal of potentials to
tackle safety issues in mines. However, an effective vision system
is crucial to safe autonomous navigation in underground terrains.
This work investigates robots- perception in underground terrains
(mines and tunnels) using statistical region merging (SRM) model.
SRM reconstructs the main structural components of an imagery
by a simple but effective statistical analysis. An investigation is
conducted on different regions of the mine, such as the shaft, stope
and gallery, using publicly available mine frames, with a stream of
locally captured mine images. An investigation is also conducted on a
stream of underground tunnel image frames, using the XBOX Kinect
3D sensors. The Kinect sensors produce streams of red, green and
blue (RGB) and depth images of 640 x 480 resolution at 30 frames per
second. Integrating the depth information to drivability gives a strong
cue to the analysis, which detects 3D results augmenting drivable and
non-drivable regions in 2D. The results of the 2D and 3D experiment
with different terrains, mines and tunnels, together with the qualitative
and quantitative evaluation, reveal that a good drivable region can be
detected in dynamic underground terrains.
Abstract: How to effectively allocate system resource to process
the Client request by Gateway servers is a challenging problem. In
this paper, we propose an improved scheme for autonomous
performance of Gateway servers under highly dynamic traffic loads.
We devise a methodology to calculate Queue Length and Waiting
Time utilizing Gateway Server information to reduce response time
variance in presence of bursty traffic. The most widespread
contemplation is performance, because Gateway Servers must offer
cost-effective and high-availability services in the elongated period,
thus they have to be scaled to meet the expected load. Performance
measurements can be the base for performance modeling and
prediction. With the help of performance models, the performance
metrics (like buffer estimation, waiting time) can be determined at
the development process. This paper describes the possible queue
models those can be applied in the estimation of queue length to
estimate the final value of the memory size. Both simulation and
experimental studies using synthesized workloads and analysis of
real-world Gateway Servers demonstrate the effectiveness of the
proposed system.
Abstract: Border Gateway Protocol (BGP) is the standard routing protocol between various autonomous systems (AS) in the internet. In the event of failure, a considerable delay in the BGP convergence has been shown by empirical measurements. During the convergence time the BGP will repeatedly advertise new routes to some destination and withdraw old ones until it reach a stable state. It has been found that the KEEPALIVE message timer and the HOLD time are tow parameters affecting the convergence speed. This paper aims to find the optimum value for the KEEPALIVE timer and the HOLD time that maximally reduces the convergence time without increasing the traffic. The KEEPALIVE message timer optimal value founded by this paper is 30 second instead of 60 seconds, and the optimal value for the HOLD time is 90 seconds instead of 180 seconds.
Abstract: In the past years, the world has witnessed significant work in the field of Manufacturing. Special efforts have been made in the implementation of new technologies, management and control systems, among many others which have all evolved the field. Closely following all this, due to the scope of new projects and the need of turning the existing flexible ideas into more autonomous and intelligent ones, i.e.: moving toward a more intelligent manufacturing, the present paper emerges with the main aim of contributing to the analysis and a few customization issues of a new iCIM 3000 system at the IPSAM. In this process, special emphasis in made on the material flow problem. For this, besides offering a description and analysis of the system and its main parts, also some tips on how to define other possible alternative material flow scenarios and a partial analysis of the combinatorial nature of the problem are offered as well. All this is done with the intentions of relating it with the use of simulation tools, for which these have been briefly addressed with a special focus on the Witness simulation package. For a better comprehension, the previous elements are supported by a few figures and expressions which would help obtaining necessary data. Such data and others will be used in the future, when simulating the scenarios in the search of the best material flow configurations.
Abstract: Lately, significant work in the area of Intelligent
Manufacturing has become public and mainly applied within the
frame of industrial purposes. Special efforts have been made in the
implementation of new technologies, management and control
systems, among many others which have all evolved the field. Aware
of all this and due to the scope of new projects and the need of
turning the existing flexible ideas into more autonomous and
intelligent ones, i.e.: Intelligent Manufacturing, the present paper
emerges with the main aim of contributing to the design and analysis
of the material flow in either systems, cells or work stations under
this new “intelligent" denomination. For this, besides offering a
conceptual basis in some of the key points to be taken into account
and some general principles to consider in the design and analysis of
the material flow, also some tips on how to define other possible
alternative material flow scenarios and a classification of the states a
system, cell or workstation are offered as well. All this is done with
the intentions of relating it with the use of simulation tools, for which
these have been briefly addressed with a special focus on the Witness
simulation package. For a better comprehension, the previous
elements are supported by a detailed layout, other figures and a few
expressions which could help obtaining necessary data. Such data and
others will be used in the future, when simulating the scenarios in the
search of the best material flow configurations.
Abstract: A mobile agent is a software which performs an
action autonomously and independently as a person or an
organizations assistance. Mobile agents are used for searching
information, retrieval information, filtering, intruder recognition in
networks, and so on. One of the important issues of mobile agent is
their security. It must consider different security issues in effective
and secured usage of mobile agent. One of those issues is the
integrity-s protection of mobile agents.
In this paper, the advantages and disadvantages of each method,
after reviewing the existing methods, is examined. Regarding to this
matter that each method has its own advantage or disadvantage, it
seems that by combining these methods, one can reach to a better
method for protecting the integrity of mobile agents. Therefore, this
method is provided in this paper and then is evaluated in terms of
existing method. Finally, this method is simulated and its results are
the sign of improving the possibility of integrity-s protection of
mobile agents.
Abstract: In order to research Internet quantificationally and
better model the performance of network, this paper proposes a novel
AS level network performance model (MNPM), it takes autonomous
system (AS) as basic modeling unit, measures E2E performance
between any two outdegrees of an AS and organizes measurement
results into matrix form which called performance matrix (PM).
Inter-AS performance calculation is defined according to performance
information stored in PM. Simulation has been implemented to verify
the correctness of MNPM and a practical application of MNPM
(network congestion detection) is given.
Abstract: This paper presents a time control liquids mixing
system in the tanks as an application of fuzzy time control discrete
model. The system is designed for a wide range of industrial
applications. The simulation design of control system has three
inputs: volume, viscosity, and selection of product, along with the
three external control adjustments for the system calibration or to
take over the control of the system autonomously in local or
distributed environment. There are four controlling elements: rotatory
motor, grinding motor, heating and cooling units, and valves
selection, each with time frame limit. The system consists of three
controlled variables measurement through its sensing mechanism for
feed back control. This design also facilitates the liquids mixing
system to grind certain materials in tanks and mix with fluids under
required temperature controlled environment to achieve certain
viscous level. Design of: fuzzifier, inference engine, rule base,
deffuzifiers, and discrete event control system, is discussed. Time
control fuzzy rules are formulated, applied and tested using
MATLAB simulation for the system.
Abstract: The article deals with technical support of intracranial single unit activity measurement. The parameters of the whole measuring set were tested in order to assure the optimal conditions of extracellular single-unit recording. Metal microelectrodes for measuring the single-unit were tested during animal experiments. From signals recorded during these experiments, requirements for the measuring set parameters were defined. The impedance parameters of the metal microelectrodes were measured. The frequency-gain and autonomous noise properties of preamplifier and amplifier were verified. The measurement and the description of the extracellular single unit activity could help in prognoses of brain tissue damage recovery.