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Informacje o czasopiśmie
Format
Czasopismo
eISSN
1178-5608
Pierwsze wydanie
01 Jan 2008
Częstotliwość wydawania
1 raz w roku
Języki
Angielski

Wyszukiwanie

Tom 5 (2012): Zeszyt 4 (January 2012)

Informacje o czasopiśmie
Format
Czasopismo
eISSN
1178-5608
Pierwsze wydanie
01 Jan 2008
Częstotliwość wydawania
1 raz w roku
Języki
Angielski

Wyszukiwanie

20 Artykułów
access type Otwarty dostęp

Visual Attention Model with Adaptive Weighting of Conspicuity Maps for Building Detection in Satellite Images

Data publikacji: 01 Dec 2012
Zakres stron: 742 - 766

Abstrakt

Abstract

The lack of automation and the limited performance of current image processing techniques pose critical challenges to the efficient and timely use of the large amount of data made available by aerial and space based assets. The imitation of fast adaptation and inference capability of human visual system appears to be a promising research direction for the development of computational algorithms able to deal with large variations in image content, characteristics and scale as those encountered in satellite imaging. The paper explores the potential use of an improved computational model of visual attention for the complex task of building identification in satellite images. It contributes to extend the envelope of application areas of such models and also to expand their current use from single object to multiple object detection. A set of original weighting schemes based on the contribution of different features to the identification of building and non-building areas is first proposed and evaluated against existing solutions in the literature. A novel adaptive algorithm then chooses the best weighting scheme based on a similarity error to ensure the best performance of the attention model in a given context. Finally, a neural network is trained to predict the set of weights provided by the best weighting scheme for the context of the image in which buildings are to be detected. The solution provides encouraging results on a set of 50 satellite images.

Index terms

  • Visual attention
  • weighting schemes
  • neural networks
  • building detection
  • satellite images
access type Otwarty dostęp

A Review on Applications of Optical Tomography in Industrial Process

Data publikacji: 01 Dec 2012
Zakres stron: 767 - 798

Abstrakt

Abstract

This paper reviews some of the recent applications of optical tomography as a measurement tool for process parameters measurement such as flow concentration profiles, velocity profiles, and mass flow rate. The attentions that have been received by the optical tomography system for the applications of industrial parameters measurement are mainly because of the radiation safe emission of light sources to human or environment, fast response time, non-intrusive technique, and established models of light propagation through media or medium of interest thus making the solutions of forward and inverse problems to be relatively simpler to accomplish. The reports of the experimental result in this paper are mainly based on the previous works done by researchers in the area of optical tomography application where the main aspects are discussed. As a whole, the optical tomography can be applied to measure the velocity of beads in flow rig, measuring bubbles flow, flame imaging for combustion rate estimation, and flow concentration profile. Most of the applications as mentioned are discussed in this paper. In the final parts of this paper, independent component analysis (ICA) is suggested to measure the turbidity of liquid with the air-bubble flow in a vertical pipe column.

Index terms

  • optical tomography
  • process tomography
  • flow imaging
  • concentration profiles
  • turbidity
  • attenuation coefficient
  • independent component analysis
access type Otwarty dostęp

Lightweight Trusted ID-Based Signcryption Scheme for Wireless Sensor Networks

Data publikacji: 01 Dec 2012
Zakres stron: 799 - 810

Abstrakt

Abstract

Wireless sensor networks (WSN) are usually deployed in hostile environments, which having a wide variety of malicious attacks. As various applications of WSN have been proposed, security has become one of the big research challenges dan is receiving increasing attention. In order to insure the security of communication in wireless sensor networks, we proposed a new ID-based signcryption scheme using bilinear pairing. Under the computational Diffie-Hellman assumption, the security of the scheme is proved under the Random Oracle Model. This scheme can be used by the sensor nodes that with low power, less storage space and low computation ability. It is concluded that the proposed lightweight scheme satisfies the security requirements of WSN.

Index terms

  • WSN
  • ID-based signcryption
  • provably secure
  • bilinear pairing
access type Otwarty dostęp

Analysis of Land use Change Characteristics Based on Remote Sensing and Gis in the Jiuxiang River Watershed

Data publikacji: 01 Dec 2012
Zakres stron: 811 - 823

Abstrakt

Abstract

Based on remote sensing and GIS technology, the remote sensing images from 2003 to 2009 were used to the basic data sources, to analyze the characteristics of land-use change in Jiuxiang River watershed. Results showed that watershed land use structure were changed greatly from 2003 to 2009; the proportion of arable land decreased from 34.86% to 19.52%, whereas other types of land use increased. The area of construction land increased most rapidly, from 17.80% to 25.80%.Spatial differentiations of land use changes were very obvious in Jiuxiang River watershed. The arable land was mainly converted to forestland and grassland in upstream region, and was mainly converted to construction land and forestland in midstream region. However, in downstream region, this type of land use was mainly converted to construction land. High farmland conversion rate in current period was contributed to rapid urbanization in Jiuxiang River watershed. Therefore, some measures must be initiated to achieve land resources sustainable use.

Index terms

  • Land use characteristic
  • Jiuxiang River watershed
  • remote sensing
  • Geographic Information System (GIS)
access type Otwarty dostęp

A Smart Current and Voltage Acquisition System with High Accuracy for Ev Applications

Data publikacji: 01 Dec 2012
Zakres stron: 824 - 842

Abstrakt

Abstract

Energy management is one of the most important tasks of the electric vehicles (EV) and is totally different with the management in the traditional internal combustion vehicles (ICV). To implement a pleasing management, the system should know the working current and terminal voltage of the traction battery systems very accurately. This paper presents a design of a smart current and voltage acquisition system with high accuracy for EV applications. The detailed structure and components, the simulation and error analysis of the system are introduced. And to enhance the accuracy, a smart error correction is designed as well. Several tests are applied to evaluate the proposed system, and testing results indicate a good performance of the system, the maximum current error is less than 0.05A and the maximum voltage error is less than 0.02V.

Index terms

  • Electric vehicles
  • current and voltage acquisition
  • simulation and analysis
  • error correction
access type Otwarty dostęp

A Model for Fuzzy Data Correalation of AIS and Radar

Data publikacji: 01 Dec 2012
Zakres stron: 843 - 858

Abstrakt

Abstract

With the development of Automatic Identification System (AIS), more and more vessels are equipped with AIS device, which is a new tool for vessel monitoring and marine safety. In this paper, we compared the function of AIS and radar, the traditional tool for Vessel Traffic Service (VTS). And then we discussed the necessity of data fusion of the same target from the two sensors of AIS and radar. According to the characteristic and the difference of tracking performance of AIS and radar we proposed a fuzzy correlation method for target tracking and data fusion. The experiment shows that the proposed method is correct and efficient and it can improve the performance and the stability of VTS.

Index terms

  • Data fusion
  • fuzzy correlation
  • target tracking
  • Automatic Identification System (AIS)
  • radar
access type Otwarty dostęp

Study on the Congestion Controller for Timedelay Networked Control Systems with External Disturbances

Data publikacji: 01 Dec 2012
Zakres stron: 859 - 878

Abstrakt

Abstract

A successive approximation approach (SAA) is developed to obtain a new congestion controller for the singularly perturbed time-delay networked control systems affected by external disturbances. Based on the slow-fast decomposition theory of singular perturbations, the system is first decomposed into a fast non-delay subsystem and a slow time-delay subsystem with disturbances. Then, the perturbation approach is proposed to solve the slow-time scale time-delay optimal control problem, and the feedforward compensation technique is used to reject the external disturbances. We obtain the conditions of existence and uniqueness of the feedforward and feedback composite control (FFCC) law. The FFCC law consists of linear analytic functions and a time-delay compensation term which is a series sum of adjoint vectors. The linear analytic functions can be found by solving a Riccati matrix equation and a Sylvester equation respectively. The compensation term can be approximately obtained by an iterative formula of adjoint vector equations. A reduced-order disturbance observer is constructed to make the FFCC law physically realizable. Numerical examples are presented to illustrate the effectiveness and robustness of the proposed design approach.

Index terms

  • Successive approximation approach
  • congestion controller
  • networked control systems
  • two- point boundary value problems
  • time-delay
access type Otwarty dostęp

An Enhanced Dynamic Token Protocol for Underwater Acoustic Sensor Networks

Data publikacji: 01 Dec 2012
Zakres stron: 879 - 895

Abstrakt

Abstract

The properties of underwater acoustic channel are quite different from those of terrestrial wireless sensor networks. There are many challenges to design an efficient media access control (MAC) protocol for underwater acoustic sensor networks (UWASNs). In order to overcome the long propagation delay and low available bandwidth of UWASNs, an enhanced dynamic token protocol (EDTP), is proposed in the paper. It uses token passing queue (TPQ) and TPQ backup method to transfer the token packets dynamically and efficiently, leading to improving the channel efficiency of the networks. Simulation results show that compared with the existing protocols, the proposed protocol can achieve a high throughput, a low packet drop ratio, and a low transmission delay.

Index terms

  • Underwater acoustic sensor networks (UWASNs)
  • enhanced dynamic token protocol (EDTP)
  • token passing queue (TPQ)
access type Otwarty dostęp

Home Real-Time Remote Monitoring System Based on Embedded Linux

Data publikacji: 01 Dec 2012
Zakres stron: 896 - 910

Abstrakt

Abstract

Remote video monitoring is an important way of residential security. Due to some deficiencies of traditional home monitoring system such as high cost, large power consumption and difficult maintenance, this paper designs an economical and practical home real-time remote monitoring system. This system includes hardware design and software design. The hardware analyzes and compares the processor of different architectures to configure the model of microprocessors and the composition of peripheral circuits, and then identifies the S3C2440 chip as the system’s main controller. For the software part, this paper first studies the construction of embedded Linux system containing bootstrapper, kernel compile, files preparation system and transplantation; then it focuses on a detailed analysis of video capture module under Linux to present the main process of video capture under Linux when the USB camera is selected and design the video capture program based on the Video4Linux2 Linux programming interface; finally, it designs the B/S architecture-based video sending program for the video output module and achieves the real-time browse on a PC through a browser, thereby realizing the remote monitoring for residence. This system relies on the mature embedded technology and achieves the embedded Linux-based real-time remote monitoring system on the Mini2440 development board in accordance with the above design. Compared with the traditional monitoring system, this design has a lower cost and higher cost performance, so it is more practical for the home security.

Index terms

  • Family security facilities
  • remote monitoring
  • embedded Linux
  • ARM
  • video capture
access type Otwarty dostęp

Neural Network Based Multisensor Fusion in a Novel Permanent Magnet Multi-DOF Actuator Orientation Detection System

Data publikacji: 01 Dec 2012
Zakres stron: 911 - 927

Abstrakt

Abstract

The methods of multi-DOF actuator orientation detection based on machine vision and magnetic field sensor and neural network based multisensor fusion are presented in this paper. Special grid pattern is printed on the surface of rotor according to the pseudo-random encoder for the camera capturing the image of the rotor. The magnetic field sensors are adopted and properly placed circling the shaft of rotor for detection the orientation information. By analyzing the image of the rotor, the coordinates of characteristic points in the coordinate system fixed on the rotor are derived. Combined with the magnetic sensor scheme to reduce the measurement error and enhance the fault tolerant ability, a multisensor data fusion scheme using BP neural network is developed and validated by experiment. The results show that multisensor data fusion based on NN is superior to single measurement method with more accuracy and high reliability, which is more effective and practical for applications.

Index terms

  • Permanent magnet
  • multi-DOF
  • orientation detection
  • machine vision
  • magnetic sensor
access type Otwarty dostęp

Ballast Flying Mechanism and Sensitivity Factors Analysis

Data publikacji: 01 Dec 2012
Zakres stron: 928 - 939

Abstrakt

Abstract

Ballast flying problems obsess the ballasted high speed railway, its microscopic mechanics is less of discovered. In the paper, the railway ballast particle force equilibrium is analyzed through basic mechanics and mathematic formula, and a model is set up to discover the factors and influence. The microscopic ballast flying model is used for ballast bed geometry and ballast shape optimization, and guide the ballast flying countering methods. Results show that ballast flying particle is correlated with ballast shape and mass, especially the ballast shape mass ratio corresponds to operation speed. Ballast interlock ability governs the ballast flying possibility and severity. Ballast flying possibility increases with ballast bed acceleration. The paper focus on ballast particle force equilibration, shape and mass, under the condition of vibration and wind effects, the ballast flying mechanism is analyzed and discussed with related counteracting methods presented.

Index terms

  • Ballast flying
  • high speed railway
  • sensitivity factors analysis
access type Otwarty dostęp

Particle Filter on Nonlinear Vibration Signal of Bridge Stayed Cable

Data publikacji: 01 Dec 2012
Zakres stron: 940 - 956

Abstrakt

Abstract

For the nonlinear vibration signal of stayed cables, a new particle filter algorithm is used in this paper. Firstly, nonlinear dynamic model of the stayed-cable and beam coupling system is dispersed in temporal dimension by using the finite difference method. So the discrete nonlinear vibration equation of any cable element is gotten. And secondly, a state equation ofparticle filter is fitted by least square algorithm from the discrete nonlinear vibration equation. So the particle filter algorithm can use the accurate state equations. Finally, the particle filter algorithm is used to filter the vibration signal of bridge stayed cable. The vibration signal is de-noised. And from the particle filter, the vibration signal can be tracked and be predicted for a short time accurately. The simulation experiments and the actual experiments on the bridge stayed cable are all indicating that the particle filter algorithm in this paper has good performance and works stably.

Index terms

  • Nonlinear vibration of stayed cables
  • finite difference method
  • particle filter
  • noise removal
  • signal tracking
access type Otwarty dostęp

On-Board Lane Detection System for Intelligent Vehicle Based on Monocular Vision

Data publikacji: 01 Dec 2012
Zakres stron: 957 - 972

Abstrakt

Abstract

The objective of this research is to develop a monocular vision system that can locate the positions of the road lane in real time. First, Canny approach is used to obtain edge map from the road image acquired from monocular camera mount on vehicle; Second, a matching process is conducted to normalize the candidates of road line; Third, a searching method is used for reinforce potential road lines while degraded those impossible ones; Forth, a linking condition is used to further enhance the confidence of the potential lane lines, and a K-means cluster algorithm is employed to localize the lane lines; Finally, a on board system is designed for experiment. The proposed system is shown to work well under various conditions on the roadway. Besides, the computation cost is inexpensive and the system’s response is almost real time.

Index terms

  • Intelligent transportation system
  • machine vision
  • intelligent vehicle
  • traffic safety
  • driver assistant system
access type Otwarty dostęp

Driving Resistance Factor Calculating Method for Parallel-Serial HEV

Data publikacji: 01 Dec 2012
Zakres stron: 973 - 986

Abstrakt

Abstract

HEV’s energy control strategy cannot be regulated perfectly according to the variable working condition, because the driving resistance is difficult to measure and calculate during the driving process. By taking parallel-serial HEV which power coupling mechanism is planet-gear as research object, analyzed planet-gear power coupling mechanism’s dynamics characteristic and efficiency characteristic, put forward driving resistance factor’s concept and measure-calculating methods. The factor can be used to evaluate HEV’s driving resistance under different load and road gradient condition. The experiment results show that the maximum relative error of driving resistance factor’s average value between theory calculating and experiment testing is 6.36%, which is found in the large driving resistance working condition that the vehicle load is 305 kg, the road gradient is 5.2495°.

Index terms

  • Hybrid electric vehicle
  • planet gear
  • driving resistance factor
  • calculating method
access type Otwarty dostęp

Industrial Robot Calibration Using a Virtual Linear Constraint

Data publikacji: 01 Dec 2012
Zakres stron: 987 - 1001

Abstrakt

Abstract

This paper proposes a systematic method to identify the joint zero offset of industrial robot. Small offset always exist in robot joint, which affect the precision in kinematic equations leading to calculate wrong joint angle values. To solve these problems, the proposed method employs a portable dual Position Sensitive Detector (PSD) device and a focusable laser point (FLP). The portable dual PSD device comprises two fixed PSDs tilted in an angle to reflect the laser line from one PSD to another. The FLP, attached to the robot end-effector, aims at both centers of the two PSDs at the same time, effectively creating a virtual linear constraint for the robot end-effector. As a result, small variations in position and orientation of the end-effector are magnified on the laser spot’s location at the PSD’s surface. Hence, the resolution of measuring the position and orientation of the end-effector is improved due to the high precision feedback of the PSD, increasing the accuracy of joint angle measurements that are required to calibrate the robot. From the easily measured joint angle readings, and an identification model, the joint zero offset of industrial robot is calibrated. The effectiveness and accuracy of the method are verified using both simulations and real experiments on an IRB120 robot.

Index terms

  • Industrial robot
  • robot calibration
  • zero offset
  • portable dual PSD device
  • laser point
access type Otwarty dostęp

Decentralized PI-D Controller Applied to an Aerothermic Process

Data publikacji: 01 Dec 2012
Zakres stron: 1003 - 1018

Abstrakt

Abstract

The aerothermic process is a pilot scale heating and ventilation system. It is equipped with a heater grid and a centrifugal blower, fully connected through the Humusoft MF624 data acquisition system for real time control. The interaction between its main variables is considered as challenging for mono-variable controllers. An abrupt change in the ventilator speed might cause an undesirable disturbance in the air temperature representing a factor that must be managed to conserve energy. To annul the effect of this interaction, this paper presents an experimental comparison between three forms of the PID controller: the conventional PID controller, the PI-D controller and its decentralized version. A multi-variable continuous state space model is obtained from on-line experimental data. The outcome of the experimental results is that the main control objectives, such as set-point tracking and interactions rejection, are well achieved for the temperature and the air flow simultaneously.

Index terms

  • Decentralized PI-D Controller
  • PI controller
  • Derivative kick
  • Aerothermic Process
  • TITO control systems
  • static decoupler
access type Otwarty dostęp

Development of an Adjustable Gripper for Robotic Picking and Placing Operation

Data publikacji: 01 Dec 2012
Zakres stron: 1019 - 1043

Abstrakt

Abstract

Adjustable gripper for robotic system that is capable in identifying shape and size of an object is needed in many applications especially for picking and placing operation. This is due to some of the grippers’ design are limited only to one specific shape or size that make picking and placing operation difficult. To hold different size or shape, the user needs to replace gripper which are more time consuming and more expensive. To address this problem, an adjustable gripper for robotic system has been proposed for picking and placing operation. The main objective is to design a robust gripper that can perform easier and faster picking and placing operation for multiple shapes and sizes objects. This adjustable gripper for robotic system can to improve the picking and placing operation in manufacturing field in producing more outputs without the needs to.

Index terms

  • Adjustable gripper
  • picking operation
  • placing operation
  • robotic system
access type Otwarty dostęp

Robot-Assisted Therapy: Design, Control and Optimization

Data publikacji: 01 Dec 2012
Zakres stron: 1044 - 1062

Abstrakt

Abstract

To improve the human arm function of disable patients after stroke, we propose in this paper a new design of a robot-assisted therapy. The robotic device must be attached to a human arm and mimics the motion of the shoulder, elbow and wrist joints. The functional training of the stroked upper limb is covered in motion and force via a safe compliant motion. The controller parameters are optimized by the therapist based on the human morphology parameters via an intelligent Control Interface where a Therapist-Patient Interface including the training mode configuration and the displaying the training data must motivate the patients during the assessment treatment progress.

Index terms

  • Robot-assisted therapy
  • Impedance control
  • Safe control
  • Nonlinear optimization
  • Human Machine Interface
access type Otwarty dostęp

Distributed Trust Inference Model Based on Probability and Balance Theory for Peer-To-Peer systems

Data publikacji: 01 Dec 2012
Zakres stron: 1063 - 1080

Abstrakt

Abstract

Researchers have done much around how to measure trust degrees or levels by local and global style in a given distributed network. However, how to infer trust degree for a strange node efficiently in a large-scale distributed environment was little done. This paper focuses on this problem, and proposes a novel trust model based on balance theory and probability theory. We firstly design a simple direct trust model for evidence computing, then construct trust relations network and trust inference network based on direct trust network. In order to discover trusted evidence chains during complex relations, we design two inference rules and propose mathematics models to infer indirect trust value based on Markov chain theory. Simulations proved the rightness and effectiveness in intensive trust relations environment and intensive distrust environment.

Index terms

  • trust model
  • trust inference
  • peer-to-peer security
  • distributed system
  • trusted evidence chain
  • trust probability
  • peer-to-peer network
access type Otwarty dostęp

Probabilistic Joint State Estimation of Robot and Non-static Objects for Mobile Manipulation

Data publikacji: 01 Dec 2012
Zakres stron: 1081 - 1096

Abstrakt

Abstract

In this paper, a unified and probabilistic method is proposed for simultaneously localization of a mobile service robot and states estimation of surrounding objects and co-existing people. This method allows intelligent robots to navigate reliably in dynamic environments and provide home-care services based on joint localization results. The algorithm makes use of probabilistic model to represent non-static people and objects states. Moreover, Rao-Blackwellized particle filters (RBPFs) are utilized for efficient joint estimation and laser sensing based smooth observation model is also introduced. The resulting algorithm works in real-time and estimates the position of people and state of doors with sufficient precision. Our approach has been tested in typical indoor environment with people, doors and other non-static objects. Experimental results demonstrate the favorable performance of the position estimation accuracy as well as the capability to deal with the uncertainty of mobile sensing.

Index terms

  • Intelligent robot
  • localization
  • mobile manipulation
  • laser sensing
  • particle filters
20 Artykułów
access type Otwarty dostęp

Visual Attention Model with Adaptive Weighting of Conspicuity Maps for Building Detection in Satellite Images

Data publikacji: 01 Dec 2012
Zakres stron: 742 - 766

Abstrakt

Abstract

The lack of automation and the limited performance of current image processing techniques pose critical challenges to the efficient and timely use of the large amount of data made available by aerial and space based assets. The imitation of fast adaptation and inference capability of human visual system appears to be a promising research direction for the development of computational algorithms able to deal with large variations in image content, characteristics and scale as those encountered in satellite imaging. The paper explores the potential use of an improved computational model of visual attention for the complex task of building identification in satellite images. It contributes to extend the envelope of application areas of such models and also to expand their current use from single object to multiple object detection. A set of original weighting schemes based on the contribution of different features to the identification of building and non-building areas is first proposed and evaluated against existing solutions in the literature. A novel adaptive algorithm then chooses the best weighting scheme based on a similarity error to ensure the best performance of the attention model in a given context. Finally, a neural network is trained to predict the set of weights provided by the best weighting scheme for the context of the image in which buildings are to be detected. The solution provides encouraging results on a set of 50 satellite images.

Index terms

  • Visual attention
  • weighting schemes
  • neural networks
  • building detection
  • satellite images
access type Otwarty dostęp

A Review on Applications of Optical Tomography in Industrial Process

Data publikacji: 01 Dec 2012
Zakres stron: 767 - 798

Abstrakt

Abstract

This paper reviews some of the recent applications of optical tomography as a measurement tool for process parameters measurement such as flow concentration profiles, velocity profiles, and mass flow rate. The attentions that have been received by the optical tomography system for the applications of industrial parameters measurement are mainly because of the radiation safe emission of light sources to human or environment, fast response time, non-intrusive technique, and established models of light propagation through media or medium of interest thus making the solutions of forward and inverse problems to be relatively simpler to accomplish. The reports of the experimental result in this paper are mainly based on the previous works done by researchers in the area of optical tomography application where the main aspects are discussed. As a whole, the optical tomography can be applied to measure the velocity of beads in flow rig, measuring bubbles flow, flame imaging for combustion rate estimation, and flow concentration profile. Most of the applications as mentioned are discussed in this paper. In the final parts of this paper, independent component analysis (ICA) is suggested to measure the turbidity of liquid with the air-bubble flow in a vertical pipe column.

Index terms

  • optical tomography
  • process tomography
  • flow imaging
  • concentration profiles
  • turbidity
  • attenuation coefficient
  • independent component analysis
access type Otwarty dostęp

Lightweight Trusted ID-Based Signcryption Scheme for Wireless Sensor Networks

Data publikacji: 01 Dec 2012
Zakres stron: 799 - 810

Abstrakt

Abstract

Wireless sensor networks (WSN) are usually deployed in hostile environments, which having a wide variety of malicious attacks. As various applications of WSN have been proposed, security has become one of the big research challenges dan is receiving increasing attention. In order to insure the security of communication in wireless sensor networks, we proposed a new ID-based signcryption scheme using bilinear pairing. Under the computational Diffie-Hellman assumption, the security of the scheme is proved under the Random Oracle Model. This scheme can be used by the sensor nodes that with low power, less storage space and low computation ability. It is concluded that the proposed lightweight scheme satisfies the security requirements of WSN.

Index terms

  • WSN
  • ID-based signcryption
  • provably secure
  • bilinear pairing
access type Otwarty dostęp

Analysis of Land use Change Characteristics Based on Remote Sensing and Gis in the Jiuxiang River Watershed

Data publikacji: 01 Dec 2012
Zakres stron: 811 - 823

Abstrakt

Abstract

Based on remote sensing and GIS technology, the remote sensing images from 2003 to 2009 were used to the basic data sources, to analyze the characteristics of land-use change in Jiuxiang River watershed. Results showed that watershed land use structure were changed greatly from 2003 to 2009; the proportion of arable land decreased from 34.86% to 19.52%, whereas other types of land use increased. The area of construction land increased most rapidly, from 17.80% to 25.80%.Spatial differentiations of land use changes were very obvious in Jiuxiang River watershed. The arable land was mainly converted to forestland and grassland in upstream region, and was mainly converted to construction land and forestland in midstream region. However, in downstream region, this type of land use was mainly converted to construction land. High farmland conversion rate in current period was contributed to rapid urbanization in Jiuxiang River watershed. Therefore, some measures must be initiated to achieve land resources sustainable use.

Index terms

  • Land use characteristic
  • Jiuxiang River watershed
  • remote sensing
  • Geographic Information System (GIS)
access type Otwarty dostęp

A Smart Current and Voltage Acquisition System with High Accuracy for Ev Applications

Data publikacji: 01 Dec 2012
Zakres stron: 824 - 842

Abstrakt

Abstract

Energy management is one of the most important tasks of the electric vehicles (EV) and is totally different with the management in the traditional internal combustion vehicles (ICV). To implement a pleasing management, the system should know the working current and terminal voltage of the traction battery systems very accurately. This paper presents a design of a smart current and voltage acquisition system with high accuracy for EV applications. The detailed structure and components, the simulation and error analysis of the system are introduced. And to enhance the accuracy, a smart error correction is designed as well. Several tests are applied to evaluate the proposed system, and testing results indicate a good performance of the system, the maximum current error is less than 0.05A and the maximum voltage error is less than 0.02V.

Index terms

  • Electric vehicles
  • current and voltage acquisition
  • simulation and analysis
  • error correction
access type Otwarty dostęp

A Model for Fuzzy Data Correalation of AIS and Radar

Data publikacji: 01 Dec 2012
Zakres stron: 843 - 858

Abstrakt

Abstract

With the development of Automatic Identification System (AIS), more and more vessels are equipped with AIS device, which is a new tool for vessel monitoring and marine safety. In this paper, we compared the function of AIS and radar, the traditional tool for Vessel Traffic Service (VTS). And then we discussed the necessity of data fusion of the same target from the two sensors of AIS and radar. According to the characteristic and the difference of tracking performance of AIS and radar we proposed a fuzzy correlation method for target tracking and data fusion. The experiment shows that the proposed method is correct and efficient and it can improve the performance and the stability of VTS.

Index terms

  • Data fusion
  • fuzzy correlation
  • target tracking
  • Automatic Identification System (AIS)
  • radar
access type Otwarty dostęp

Study on the Congestion Controller for Timedelay Networked Control Systems with External Disturbances

Data publikacji: 01 Dec 2012
Zakres stron: 859 - 878

Abstrakt

Abstract

A successive approximation approach (SAA) is developed to obtain a new congestion controller for the singularly perturbed time-delay networked control systems affected by external disturbances. Based on the slow-fast decomposition theory of singular perturbations, the system is first decomposed into a fast non-delay subsystem and a slow time-delay subsystem with disturbances. Then, the perturbation approach is proposed to solve the slow-time scale time-delay optimal control problem, and the feedforward compensation technique is used to reject the external disturbances. We obtain the conditions of existence and uniqueness of the feedforward and feedback composite control (FFCC) law. The FFCC law consists of linear analytic functions and a time-delay compensation term which is a series sum of adjoint vectors. The linear analytic functions can be found by solving a Riccati matrix equation and a Sylvester equation respectively. The compensation term can be approximately obtained by an iterative formula of adjoint vector equations. A reduced-order disturbance observer is constructed to make the FFCC law physically realizable. Numerical examples are presented to illustrate the effectiveness and robustness of the proposed design approach.

Index terms

  • Successive approximation approach
  • congestion controller
  • networked control systems
  • two- point boundary value problems
  • time-delay
access type Otwarty dostęp

An Enhanced Dynamic Token Protocol for Underwater Acoustic Sensor Networks

Data publikacji: 01 Dec 2012
Zakres stron: 879 - 895

Abstrakt

Abstract

The properties of underwater acoustic channel are quite different from those of terrestrial wireless sensor networks. There are many challenges to design an efficient media access control (MAC) protocol for underwater acoustic sensor networks (UWASNs). In order to overcome the long propagation delay and low available bandwidth of UWASNs, an enhanced dynamic token protocol (EDTP), is proposed in the paper. It uses token passing queue (TPQ) and TPQ backup method to transfer the token packets dynamically and efficiently, leading to improving the channel efficiency of the networks. Simulation results show that compared with the existing protocols, the proposed protocol can achieve a high throughput, a low packet drop ratio, and a low transmission delay.

Index terms

  • Underwater acoustic sensor networks (UWASNs)
  • enhanced dynamic token protocol (EDTP)
  • token passing queue (TPQ)
access type Otwarty dostęp

Home Real-Time Remote Monitoring System Based on Embedded Linux

Data publikacji: 01 Dec 2012
Zakres stron: 896 - 910

Abstrakt

Abstract

Remote video monitoring is an important way of residential security. Due to some deficiencies of traditional home monitoring system such as high cost, large power consumption and difficult maintenance, this paper designs an economical and practical home real-time remote monitoring system. This system includes hardware design and software design. The hardware analyzes and compares the processor of different architectures to configure the model of microprocessors and the composition of peripheral circuits, and then identifies the S3C2440 chip as the system’s main controller. For the software part, this paper first studies the construction of embedded Linux system containing bootstrapper, kernel compile, files preparation system and transplantation; then it focuses on a detailed analysis of video capture module under Linux to present the main process of video capture under Linux when the USB camera is selected and design the video capture program based on the Video4Linux2 Linux programming interface; finally, it designs the B/S architecture-based video sending program for the video output module and achieves the real-time browse on a PC through a browser, thereby realizing the remote monitoring for residence. This system relies on the mature embedded technology and achieves the embedded Linux-based real-time remote monitoring system on the Mini2440 development board in accordance with the above design. Compared with the traditional monitoring system, this design has a lower cost and higher cost performance, so it is more practical for the home security.

Index terms

  • Family security facilities
  • remote monitoring
  • embedded Linux
  • ARM
  • video capture
access type Otwarty dostęp

Neural Network Based Multisensor Fusion in a Novel Permanent Magnet Multi-DOF Actuator Orientation Detection System

Data publikacji: 01 Dec 2012
Zakres stron: 911 - 927

Abstrakt

Abstract

The methods of multi-DOF actuator orientation detection based on machine vision and magnetic field sensor and neural network based multisensor fusion are presented in this paper. Special grid pattern is printed on the surface of rotor according to the pseudo-random encoder for the camera capturing the image of the rotor. The magnetic field sensors are adopted and properly placed circling the shaft of rotor for detection the orientation information. By analyzing the image of the rotor, the coordinates of characteristic points in the coordinate system fixed on the rotor are derived. Combined with the magnetic sensor scheme to reduce the measurement error and enhance the fault tolerant ability, a multisensor data fusion scheme using BP neural network is developed and validated by experiment. The results show that multisensor data fusion based on NN is superior to single measurement method with more accuracy and high reliability, which is more effective and practical for applications.

Index terms

  • Permanent magnet
  • multi-DOF
  • orientation detection
  • machine vision
  • magnetic sensor
access type Otwarty dostęp

Ballast Flying Mechanism and Sensitivity Factors Analysis

Data publikacji: 01 Dec 2012
Zakres stron: 928 - 939

Abstrakt

Abstract

Ballast flying problems obsess the ballasted high speed railway, its microscopic mechanics is less of discovered. In the paper, the railway ballast particle force equilibrium is analyzed through basic mechanics and mathematic formula, and a model is set up to discover the factors and influence. The microscopic ballast flying model is used for ballast bed geometry and ballast shape optimization, and guide the ballast flying countering methods. Results show that ballast flying particle is correlated with ballast shape and mass, especially the ballast shape mass ratio corresponds to operation speed. Ballast interlock ability governs the ballast flying possibility and severity. Ballast flying possibility increases with ballast bed acceleration. The paper focus on ballast particle force equilibration, shape and mass, under the condition of vibration and wind effects, the ballast flying mechanism is analyzed and discussed with related counteracting methods presented.

Index terms

  • Ballast flying
  • high speed railway
  • sensitivity factors analysis
access type Otwarty dostęp

Particle Filter on Nonlinear Vibration Signal of Bridge Stayed Cable

Data publikacji: 01 Dec 2012
Zakres stron: 940 - 956

Abstrakt

Abstract

For the nonlinear vibration signal of stayed cables, a new particle filter algorithm is used in this paper. Firstly, nonlinear dynamic model of the stayed-cable and beam coupling system is dispersed in temporal dimension by using the finite difference method. So the discrete nonlinear vibration equation of any cable element is gotten. And secondly, a state equation ofparticle filter is fitted by least square algorithm from the discrete nonlinear vibration equation. So the particle filter algorithm can use the accurate state equations. Finally, the particle filter algorithm is used to filter the vibration signal of bridge stayed cable. The vibration signal is de-noised. And from the particle filter, the vibration signal can be tracked and be predicted for a short time accurately. The simulation experiments and the actual experiments on the bridge stayed cable are all indicating that the particle filter algorithm in this paper has good performance and works stably.

Index terms

  • Nonlinear vibration of stayed cables
  • finite difference method
  • particle filter
  • noise removal
  • signal tracking
access type Otwarty dostęp

On-Board Lane Detection System for Intelligent Vehicle Based on Monocular Vision

Data publikacji: 01 Dec 2012
Zakres stron: 957 - 972

Abstrakt

Abstract

The objective of this research is to develop a monocular vision system that can locate the positions of the road lane in real time. First, Canny approach is used to obtain edge map from the road image acquired from monocular camera mount on vehicle; Second, a matching process is conducted to normalize the candidates of road line; Third, a searching method is used for reinforce potential road lines while degraded those impossible ones; Forth, a linking condition is used to further enhance the confidence of the potential lane lines, and a K-means cluster algorithm is employed to localize the lane lines; Finally, a on board system is designed for experiment. The proposed system is shown to work well under various conditions on the roadway. Besides, the computation cost is inexpensive and the system’s response is almost real time.

Index terms

  • Intelligent transportation system
  • machine vision
  • intelligent vehicle
  • traffic safety
  • driver assistant system
access type Otwarty dostęp

Driving Resistance Factor Calculating Method for Parallel-Serial HEV

Data publikacji: 01 Dec 2012
Zakres stron: 973 - 986

Abstrakt

Abstract

HEV’s energy control strategy cannot be regulated perfectly according to the variable working condition, because the driving resistance is difficult to measure and calculate during the driving process. By taking parallel-serial HEV which power coupling mechanism is planet-gear as research object, analyzed planet-gear power coupling mechanism’s dynamics characteristic and efficiency characteristic, put forward driving resistance factor’s concept and measure-calculating methods. The factor can be used to evaluate HEV’s driving resistance under different load and road gradient condition. The experiment results show that the maximum relative error of driving resistance factor’s average value between theory calculating and experiment testing is 6.36%, which is found in the large driving resistance working condition that the vehicle load is 305 kg, the road gradient is 5.2495°.

Index terms

  • Hybrid electric vehicle
  • planet gear
  • driving resistance factor
  • calculating method
access type Otwarty dostęp

Industrial Robot Calibration Using a Virtual Linear Constraint

Data publikacji: 01 Dec 2012
Zakres stron: 987 - 1001

Abstrakt

Abstract

This paper proposes a systematic method to identify the joint zero offset of industrial robot. Small offset always exist in robot joint, which affect the precision in kinematic equations leading to calculate wrong joint angle values. To solve these problems, the proposed method employs a portable dual Position Sensitive Detector (PSD) device and a focusable laser point (FLP). The portable dual PSD device comprises two fixed PSDs tilted in an angle to reflect the laser line from one PSD to another. The FLP, attached to the robot end-effector, aims at both centers of the two PSDs at the same time, effectively creating a virtual linear constraint for the robot end-effector. As a result, small variations in position and orientation of the end-effector are magnified on the laser spot’s location at the PSD’s surface. Hence, the resolution of measuring the position and orientation of the end-effector is improved due to the high precision feedback of the PSD, increasing the accuracy of joint angle measurements that are required to calibrate the robot. From the easily measured joint angle readings, and an identification model, the joint zero offset of industrial robot is calibrated. The effectiveness and accuracy of the method are verified using both simulations and real experiments on an IRB120 robot.

Index terms

  • Industrial robot
  • robot calibration
  • zero offset
  • portable dual PSD device
  • laser point
access type Otwarty dostęp

Decentralized PI-D Controller Applied to an Aerothermic Process

Data publikacji: 01 Dec 2012
Zakres stron: 1003 - 1018

Abstrakt

Abstract

The aerothermic process is a pilot scale heating and ventilation system. It is equipped with a heater grid and a centrifugal blower, fully connected through the Humusoft MF624 data acquisition system for real time control. The interaction between its main variables is considered as challenging for mono-variable controllers. An abrupt change in the ventilator speed might cause an undesirable disturbance in the air temperature representing a factor that must be managed to conserve energy. To annul the effect of this interaction, this paper presents an experimental comparison between three forms of the PID controller: the conventional PID controller, the PI-D controller and its decentralized version. A multi-variable continuous state space model is obtained from on-line experimental data. The outcome of the experimental results is that the main control objectives, such as set-point tracking and interactions rejection, are well achieved for the temperature and the air flow simultaneously.

Index terms

  • Decentralized PI-D Controller
  • PI controller
  • Derivative kick
  • Aerothermic Process
  • TITO control systems
  • static decoupler
access type Otwarty dostęp

Development of an Adjustable Gripper for Robotic Picking and Placing Operation

Data publikacji: 01 Dec 2012
Zakres stron: 1019 - 1043

Abstrakt

Abstract

Adjustable gripper for robotic system that is capable in identifying shape and size of an object is needed in many applications especially for picking and placing operation. This is due to some of the grippers’ design are limited only to one specific shape or size that make picking and placing operation difficult. To hold different size or shape, the user needs to replace gripper which are more time consuming and more expensive. To address this problem, an adjustable gripper for robotic system has been proposed for picking and placing operation. The main objective is to design a robust gripper that can perform easier and faster picking and placing operation for multiple shapes and sizes objects. This adjustable gripper for robotic system can to improve the picking and placing operation in manufacturing field in producing more outputs without the needs to.

Index terms

  • Adjustable gripper
  • picking operation
  • placing operation
  • robotic system
access type Otwarty dostęp

Robot-Assisted Therapy: Design, Control and Optimization

Data publikacji: 01 Dec 2012
Zakres stron: 1044 - 1062

Abstrakt

Abstract

To improve the human arm function of disable patients after stroke, we propose in this paper a new design of a robot-assisted therapy. The robotic device must be attached to a human arm and mimics the motion of the shoulder, elbow and wrist joints. The functional training of the stroked upper limb is covered in motion and force via a safe compliant motion. The controller parameters are optimized by the therapist based on the human morphology parameters via an intelligent Control Interface where a Therapist-Patient Interface including the training mode configuration and the displaying the training data must motivate the patients during the assessment treatment progress.

Index terms

  • Robot-assisted therapy
  • Impedance control
  • Safe control
  • Nonlinear optimization
  • Human Machine Interface
access type Otwarty dostęp

Distributed Trust Inference Model Based on Probability and Balance Theory for Peer-To-Peer systems

Data publikacji: 01 Dec 2012
Zakres stron: 1063 - 1080

Abstrakt

Abstract

Researchers have done much around how to measure trust degrees or levels by local and global style in a given distributed network. However, how to infer trust degree for a strange node efficiently in a large-scale distributed environment was little done. This paper focuses on this problem, and proposes a novel trust model based on balance theory and probability theory. We firstly design a simple direct trust model for evidence computing, then construct trust relations network and trust inference network based on direct trust network. In order to discover trusted evidence chains during complex relations, we design two inference rules and propose mathematics models to infer indirect trust value based on Markov chain theory. Simulations proved the rightness and effectiveness in intensive trust relations environment and intensive distrust environment.

Index terms

  • trust model
  • trust inference
  • peer-to-peer security
  • distributed system
  • trusted evidence chain
  • trust probability
  • peer-to-peer network
access type Otwarty dostęp

Probabilistic Joint State Estimation of Robot and Non-static Objects for Mobile Manipulation

Data publikacji: 01 Dec 2012
Zakres stron: 1081 - 1096

Abstrakt

Abstract

In this paper, a unified and probabilistic method is proposed for simultaneously localization of a mobile service robot and states estimation of surrounding objects and co-existing people. This method allows intelligent robots to navigate reliably in dynamic environments and provide home-care services based on joint localization results. The algorithm makes use of probabilistic model to represent non-static people and objects states. Moreover, Rao-Blackwellized particle filters (RBPFs) are utilized for efficient joint estimation and laser sensing based smooth observation model is also introduced. The resulting algorithm works in real-time and estimates the position of people and state of doors with sufficient precision. Our approach has been tested in typical indoor environment with people, doors and other non-static objects. Experimental results demonstrate the favorable performance of the position estimation accuracy as well as the capability to deal with the uncertainty of mobile sensing.

Index terms

  • Intelligent robot
  • localization
  • mobile manipulation
  • laser sensing
  • particle filters

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