This paper presents a visual feedback control of a small UAV using image-based visual servoing with stereo vision. In order to control the orientation and the position of flying robot with respect to an object or targ...
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ISBN:
(纸本)9781424446889
This paper presents a visual feedback control of a small UAV using image-based visual servoing with stereo vision. In order to control the orientation and the position of flying robot with respect to an object or target well defined, we propose to use a navigation system based on binocular vision system combined with inertial sensors. This combination of sensors, allows us to get a complete characterization of the state of aerial vehicle. It means, using the stereo vision system we are able to estimate the UAV 3D position, while from the inertial sensors we can obtain the orientation of rotorcraft. Real time experiences are developed to validate the performance of navigation system proposed.
In recent years, the number of motor vehicles in various countries has increased dramatically, as has the traffic signal system. Remote signal lamp system monitoring is the mainstream monitoring method at present, but...
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ISBN:
(纸本)9781728116976
In recent years, the number of motor vehicles in various countries has increased dramatically, as has the traffic signal system. Remote signal lamp system monitoring is the mainstream monitoring method at present, but remote control also has some disadvantages, so it is very important to study a signal lamp control terminal based on the scene. This paper studies the implementation and design of the real-time traffic signal handheld control terminal based on STM32. In the hardware part, the handheld control terminal core uses STM32F103RCT6. The main control board is integrated with a 2.8-inch TFT touch screen to facilitate the user to input control commands and display the response data of the controller. The control command is sent to the traffic signal controller in real time through the Si4463 radio frequency module. In the software part, the man-machine interface and wireless communication code of the control terminal are designed. When the sending button is pressed, the radio frequency module will be called and the control command will be sent to the controller according to the communication protocol of the controller. Meanwhile, the radio frequency module will wait for the response of the receiving controller. After receiving the response, the data will be displayed on the touch screen for the user to read. The debugging results show that the control terminal is cost-effective, practical and can be used in various weather conditions and environments.
To improve the performance of LTE in the framework of LTE-Advanced, different areas such as multiple MIMO, OFDMA, small cells and carrier aggregation have been considered. In small cells, femtocells emerged as a key r...
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ISBN:
(纸本)9781509045594
To improve the performance of LTE in the framework of LTE-Advanced, different areas such as multiple MIMO, OFDMA, small cells and carrier aggregation have been considered. In small cells, femtocells emerged as a key radio access technique for increasing the coverage and capacity of mobile cellular networks in LTE-Advanced. They are low-power cellular base stations and offer the most cost effective way of overcoming bandwidth restrictions and coverage issues. When use with a CAC scheme, more calls can be admitted into the macrocell/femtocell area and extended coverage can be achieved. In this work, a channel borrowing CAC scheme in two-tier LTE/LTE-Advanced networks has been proposed. The advantage of this scheme is presented by the simulation output with the proposed scheme performing better than the conventional scheme in terms of call blocking probability and resource utilization while a negligible drop in performance is noticed in terms of the call dropping probability.
This article gives a review of modern networking technologies and standards used in the development of distributed control systems. Study of related scientific and professional literature has been performed, and basin...
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This article gives a review of modern networking technologies and standards used in the development of distributed control systems. Study of related scientific and professional literature has been performed, and basing on it a multi-level model of digital network structure in the field of small-scale autonomous combined power systems has been proposed. Necessity of integration of autonomous powering into SmartHouse systems and related distributed computing and networking issues are reflected as well. As there is a wide variety of industrial networking standards used, this review covers and groups more frequently used protocols and stacks from the view of OSI (Open Systems Interconnection) reference model and layers of industrial automation. The aim of this article is to give a reference-point in the development of distributed control systems in the field of small-scale autonomous power supply and integration of them in SmartHouse systems.
One of the most important fields of affective computing is related to the hard problem of emotion recognition. At present, there are several approaches to the problem of automatic emotion recognition based on differen...
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ISBN:
(纸本)9781424433292
One of the most important fields of affective computing is related to the hard problem of emotion recognition. At present, there are several approaches to the problem of automatic emotion recognition based on different methods, like Bayesian classifiers, Support Vector Machines, Linear Discriminant Analysis, Neural Networks or k-Nearest Neighbors, which classify emotions using several features obtained from facial expressions, body gestures, speech or different physiological signals. In this paper, we propose a Semantic Classifier as a new, simple and efficient approach to the problem of automatic emotion recognition. The implementation of the Semantic Classifier is based on the basic, natural principles used to decrease the complexity of problems found in n-dimensional spaces: discretization, structure identification and semantic optimization. The proposed classifier exhibits some self-organizing features and supports learning by repetition, generalization and specialization. It will be used to implement a distributed and robust system for emotion recognition.
The proceedings contains 3 papers. Topics discussed include regulating traffic on heterogeneous communication networks, irrigation networks and complexity and uncertainty control in manufacturing schedule and supply c...
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ISBN:
(纸本)078037777X
The proceedings contains 3 papers. Topics discussed include regulating traffic on heterogeneous communication networks, irrigation networks and complexity and uncertainty control in manufacturing schedule and supply chain coordination.
LED-based optical communication is emerging as a low-cost, high-data-rate alternative to the traditional acoustics mode of underwater communication. However, it is challenging to establish and maintain Line-Of-Sight (...
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ISBN:
(纸本)9781538630815
LED-based optical communication is emerging as a low-cost, high-data-rate alternative to the traditional acoustics mode of underwater communication. However, it is challenging to establish and maintain Line-Of-Sight (LOS) between the receiver and the transmitter, especially when such systems are used by mobile robots. Hence, there is a need for an active alignment system that enables the receiver to constantly align itself towards the direction of the transmitting device. In this paper, we propose and implement an active alignment control system capable of tracking a transmitting source moving in the three-dimensional (3D) space. An extended Kalman filter is used to estimate the components of the angle between the receiver orientation and the receiver-transmitter line. Using the estimate, a proportional-integral (PI) controller is implemented to adjust the receiver orientation. The algorithm uses one measurement of the light intensity from a single photo-diode, where successive measurements are obtained via a circular scanning technique. The amplitude of the scanning is adapted to the alignment performance, to achieve a sound trade-off between estimation accuracy, signal strength, and energy consumption. Simulation and experimental results are presented to illustrate the effectiveness of the proposed approach.
There is increasing interest in shared control for assistive robotics with adaptable levels of supervised autonomy. In this work, we present a user-adaptive multi-layer shared control scheme for control of assistive d...
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ISBN:
(纸本)9798350323658
There is increasing interest in shared control for assistive robotics with adaptable levels of supervised autonomy. In this work, we present a user-adaptive multi-layer shared control scheme for control of assistive devices. The system leverages the advantages of brain-inspired hyperdimensional computing (HDC) for classification & recall of reactive robotic behavior including high performance, computational efficiency and intelligent sensor fusion, to execute actuation based on the user's goal while alleviating the burden of fine control. Using a multi-modal dataset of activities of daily living, we first recognize the user's most recent behaviors, then predict the user's next action based on their habitual action sequences, and finally, determine actuation through HDC recall-based shared control which intelligently deliberates between the predicted action and sensor feedback-based autonomy. In this work, we independently implement each layer to achieve >92% accuracy and then integrate the layers and discuss the combined performance and methods to reduce accumulated error.
This research work analyzes the design of an automated distribution system in intelligent circulating power supply management. According to the high reliability and power supply requirements in the demonstration area,...
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Wireless technologies offer many advantages in communication between Internet of Things (IoT) devices, yet, it lacks in performance especially indoors where walls, metal, and other objects deteriorate their performanc...
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ISBN:
(纸本)9781665401272
Wireless technologies offer many advantages in communication between Internet of Things (IoT) devices, yet, it lacks in performance especially indoors where walls, metal, and other objects deteriorate their performance. LoRa is a new technology that may offer better indoor performance. In this article, we present and analyze LoRa's parameters, and aim to optimize them for use in a reinforced concrete building. Our experimental results show that increasing the spreading factor (SF) and coding rate (CR) increase the packet transmission duration, which has a detrimental effect on the packet reception ratio. Moreover, our main contribution is that we propose an optimized configuration that results in a higher packet reception ratio in an indoor environment.
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