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Automatic Lighting System Using Multiple Robotic Lamps

IEEE-ASME TRANSACTIONS ON MECHATRONICS 2014年第3期19卷 963-974页

作者： Yoon, Dae-Keun Seo, Jong-Tae Jung, Eui-Jung Yi, Byung-Ju Hanyang Univ Dept Elect Syst Engn Ansan 426791 South Korea

An automatic lighting system using 3-DOF robotic lamps and a laser scanner is proposed in this paper. The 3-DOF robotic lamp, which is designed with a spherical parallel mechanism with a unique forward kinematic solution, has a tilting motion to track a person and zoom-in and zoom-out motions to control the light intensity. In order to minimize the dynamic load, three actuators are installed at the base frame, and a counterbalancing design is considered. The positions of people are detected by a laser scanner, and the Kalman filter and a data association algorithm are applied in order to track the positions of people accurately. Therefore, multiple robotic lamps can track and illuminate each person continuously. We demonstrate experimentally that three robotic lamps mounted on the ceiling illuminate three people independently and control the intensity of the light according to the distance between a person and the robotic lamp.

关键词： Mechanism design robotic lamp spherical parallel mechanism tracking algorithm

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Measured Antenna Pointing Errors for Frequency Coordination of SATCOM on-the-Move Terminals 33

Measured Antenna Pointing Errors for Frequency Coordination ...

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33rd Annual IEEE Military Communications Conference on Affordable Mission Success - Meeting the Challenge (MILCOM)

作者： Ogermann, Dirk Schwarz, Robert T. Knopp, Andreas Alazab, Mostafa Siegert, Gregor Felber, Wolfgang Munich Univ Bundeswehr Inst Informat Proc D-85579 Neubiberg Germany DIRACON Innovat Consultants GmbH D-07318 Saalfeld Germany Fraunhofer Inst Integrated Circuits IIS D-91058 Erlangen Germany

ISBN: (纸本)9781479967704

We analyze the pointing accuracy of two different antenna types of Satellite Communications (SATCOM)-on-the-Move (SOTM) terminals. We measured the antenna de-pointing in azimuth and elevation in a laboratory environment with the SOTM terminal mounted on a motion emulator fed with the terrain profile of the famous Churchville test track of the Aberdeen Proving Ground. Based on the measurements, we model the motion induced antenna de-pointing statistically by a stable distribution with parameters according to a Levy distribution. The parameters are dependent on the antenna type and tracking algorithm. Moreover, for both terminals we determine the effective isotropic radiated power (EIRP) density projected on the geostationary arc in dependence on the antenna de-pointing. We compare these off-axis EIRP densities with coordinated limits of the International Telecommunications Union (ITU) and determine the probability of exceeding the off-axis EIRP density limit. Large de-pointing values occur only for small fractions of time but force the SOTM terminal operator to significantly reduce the EIRP to stick to the ITU limits. As an alternative we propose a change of the frequency coordination process, suggesting a probability based approach that allows ITU mask violations for a predefined percentage of time in favor of an efficient usage of the available terminal EIRP.

关键词： antenna radiation patterns error analysis satellite antennas statistical distributions Aberdeen proving ground Churchville test track ITU coordinated limit ITU mask violation Levy distribution SATCOM on-the-move terminal SOTM terminal effective isotropic radiated power frequency coordination process geostationary arc international telecommunications union measured antenna pointing error motion emulator motion induced antenna depointing off-axis EIRP density probability pointing accuracy satellite communication terrain profile tracking algorithm Antenna measurements Azimuth Probability distribution Satellite antennas Satellites Vehicles

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Optimized Super-Resolution Ranging over ToA Measurements

Optimized Super-Resolution Ranging over ToA Measurements

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IEEE Wireless Communications and Networking Conference (WCNC)

作者： Oshiga, Omotayo Severi, Stefano Abreu, Giuseppe Jacobs Univ Bremen Campus Ring 1 D-28759 Bremen Germany

ISBN: (纸本)9781479930838

We propose a new accurate ranging algorithm for Time of arrival (ToA)-based wireless network localization. Although many works have been done in the current literature to optimize localization and tracking algorithms, the mitigation of ranging errors is still a very challenging problem. To this end, we combine and optimize two well-known super-resolution algorithms such as Music and Root-Music, commonly used in the estimation of the direction of arrival of incoming signal sources of a linear antenna array, with the powerful mathematical notion of a Golomb Ruler. The results are proved to be tremendously efficient and to almost reach the fundamental localization limits depicted by the Cramer-Rao lower bound (CRLB).

关键词： direction-of-arrival estimation linear antenna arrays radio networks signal sources time-of-arrival estimation CRLB Cramε?r-Rao lower bound Golomb Ruler ToA measurement direction of arrival estimation linear antenna array localization algorithm ranging error mitigation superresolution ranging algorithm time of arrival-based wireless network localization tracking algorithm Arrays Covariance matrices Distance measurement Multiple signal classification Signal resolution Vectors Wireless networks

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Study on Weld Seam tracking System based on Laser Vision Sensing

Study on Weld Seam Tracking System based on Laser Vision Sen...

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3rd International Conference on Advances in Materials Manufacturing (ICAMMP 2012)

作者： Cao, Mingqiang Yan, Zhihong Song, Yonglun Chen, Zhixiang Beijing Univ Technol Chaoyang Dist Coll Mech Engn & Appl Elect Technol Beijing 100124 Peoples R China

ISBN: (纸本)9783037856482

Seam tracking is a basic condition to ensure a fine welding shape. In order to meet this requirement, the researchers have put forward a variety of sensors and some of them have been applied to practice successfully, such as contact sensor, arc sensor and vision sensor. Laser vision sensor has been proven to be one of the most successfully technology for its many advantages. In this paper, based on laser visual sensing technology, a seam tracking system is established with an embedded microcontroller LPC1768. With this system, a real-time tracking algorithm is proposed and the seam tracing process is realized under a smaller error. Finally, the tracking errors resources and their influence have been simulated and analyzed.

关键词： Vision Sensing Seam tracking Controller tracking algorithm

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Anti-jamming performance study of adaptive antenna

Anti-jamming performance study of adaptive antenna

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2nd International Conference on Measurement, Instrumentation and Automation (ICMIA 2013)

作者： Fei, Cao Fan, Wu Jing, Li Xian Res Inst High Tech Xian 710025 Shannxi Peoples R China

ISBN: (纸本)9783037857502

This paper analyzes the radar anti-jamming adaptive antenna beamforming algorithm, orthogonal subspace projection algorithm used in radar anti-jamming eigenvectors in the process can not be completely orthogonal subspace decomposition, constraints annihilatorspace decomposition algorithm to ensure orthogonal subspace eigenvectors. Finally, the simulation proved: subspace tracking algorithm has stronger anti-interference performance relative to the traditional adaptive algorithm.

关键词： radar anti-jamming subspace orthogonal projection algorithm tracking algorithm

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Target tracking in Sensor Networks Using Energy Efficient Prediction Based Clustering algorithm

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Procedia Engineering 2012年 38卷 2070-2076页

作者： V. Pravina Dayan K.N. Vijeyakumar Department of Electronics and Communication Engineering Anna University of Technology Academic Campus Jothipuram Coimbatore-641047.INDIA

In sensor network applications, energy is considered to be the most critical constraint. Our aim is to reduce the energy consumption as well as gain efficient accuracy by integrating the concept of tracking algorithm with heuristic approach. An energy efficient prediction-based clustering algorithm is being proposed here, based on the fact that the movements of the tracked objects are sometimes predictable. The proposed algorithm helps us to reduce the transmission distance between transmitter and receiver nodes and decreases the number of transmitted packets. Only the special nodes are being activated and rest of the nodes goes to sleep mode for energy saving. The proposed method has better performance than other prediction based methods in energy efficiency when simulated

关键词： tracking algorithm Sensor network Prediction-Based Clustering algorithm Energy efficiency

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Asynchronous Event-Based Visual Shape tracking for Stable Haptic Feedback in Microrobotics

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IEEE TRANSACTIONS ON ROBOTICS 2012年第5期28卷 1081-1089页

作者： Ni, Zhenjiang Bolopion, Aude Agnus, Joel Benosman, Ryad Regnier, Stephane Univ Paris 06 Inst Syst Intelligents & Robot F-75005 Paris France FEMTO ST Inst F-25000 Besancon France Univ Paris 06 Neuromorph Vis & Nat Computat Grp Vis Inst F-75005 Paris France

Micromanipulation systems have recently been receiving increased attention. Teleoperated or automated micromanipulation is a challenging task due to the need for high-frequency position or force feedback to guarantee stability. In addition, the integration of sensors within micromanipulation platforms is complex. Vision is a commonly used solution for sensing;unfortunately, the update rate of the frame-based acquisition process of current available cameras cannot ensure-at reasonable costs-stable automated or teleoperated control at the microscale level, where low inertia produces highly unreachable dynamic phenomena. This paper presents a novel vision-based microrobotic system combining both an asynchronous address event representation silicon retina and a conventional frame-based camera. Unlike frame-based cameras, recent artificial retinas transmit their outputs as a continuous stream of asynchronous temporal events in a manner similar to the output cells of a biological retina, enabling high update rates. This paper introduces an event-based iterative closest point algorithm to track a microgripper's position at a frequency of 4 kHz. The temporal precision of the asynchronous silicon retina is used to provide a haptic feedback to assist users during manipulation tasks, whereas the frame-based camera is used to retrieve the position of the object that must be manipulated. This paper presents the results of an experiment on teleoperating a sphere of diameter around 50 mu m using a piezoelectric gripper in a pick-and-place task.

关键词： Dynamic vision sensor haptic feedback micromanipulation microrobotics tracking algorithm

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tracking algorithms for the active target MAYA

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NUCLEAR INSTRUMENTS & METHODS IN PHYSICS RESEARCH SECTION A-ACCELERATORS SPECTROMETERS DETECTORS AND ASSOCIATED EQUIPMENT 2011年第1期638卷 134-142页

作者： Roger, T. Caamano, M. Demonchy, C. E. Mittig, W. Savajols, H. Tanihata, I. Katholieke Univ Leuven Inst Kern Stralingsfys B-3001 Louvain Belgium GANIL F-14076 Caen 05 France Univ Santiago de Compostela E-15786 Santiago Spain Univ Bordeaux 1 CNRS IN2P3 CENBG F-33175 Gradignan France MSU NSCL E Lansing MI 48824 USA Osaka Univ RCNP Osaka 5670047 Japan

The MAYA detector is a Time-Charge Projection Chamber based on the concept of active target. These type of devices use a part of the detection system, the filling gas in this case, in the role of the reaction target. The MAYA detector performs three-dimensional tracking, in order to determine physical observables of the reactions occurring inside the detector. The reconstruction algorithms of the tracking use the information from a two-dimensional projection on the segmented cathode, and, in general, they need to be adapted for the different experimental settings of the detector. This work presents some of the most relevant solutions developed for the MAYA detector. (C) 2011 Elsevier B.V. All rights reserved.

关键词： Active target Gaseous detector Trajectory reconstruction tracking algorithm Simulation

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High Dynamics and Precision Optical Measurement Using a Position Sensitive Detector (PSD) in Reflection-Mode: Application to 2D Object tracking over a Smart Surface

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SENSORS 2012年第12期12卷 16771-16784页

作者： Ivan, Ioan Alexandru Ardeleanu, Mihaita Nicolae Laurent, Guillaume J. Univ Valahia Targoviste FIE & FIMMR B Dul Unirii 18-20 Targoviste 130082 Romania FEMTO ST Inst UMR CNRS 6174 UFC ENSMMUTBMDpt AS2M F-25000 Besancon France

When related to a single and good contrast object or a laser spot, position sensing, or sensitive, detectors (PSDs) have a series of advantages over the classical camera sensors, including a good positioning accuracy for a fast response time and very simple signal conditioning circuits. To test the performance of this kind of sensor for microrobotics, we have made a comparative analysis between a precise but slow video camera and a custom-made fast PSD system applied to the tracking of a diffuse-reflectivity object transported by a pneumatic microconveyor called Smart-Surface. Until now, the fast system dynamics prevented the full control of the smart surface by visual servoing, unless using a very expensive high frame rate camera. We have built and tested a custom and low cost PSD-based embedded circuit, optically connected with a camera to a single objective by means of a beam splitter. A stroboscopic light source enhanced the resolution. The obtained results showed a good linearity and a fast (over 500 frames per second) response time which will enable future closed-loop control by using PSD.

关键词： microrobotics optics optomechatronics sensing PSD position sensitive detector smart-surface tracking algorithm

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A comparison of two identification and tracking methods for polar lows

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TELLUS SERIES A-DYNAMIC METEOROLOGY AND OCEANOGRAPHY 2012年第1期64卷 1-11页

作者： Xia, Lan Zahn, Matthias Hodges, Kevin I. Feser, Frauke Von Storch, Hans Helmholtz Zentrum Geesthacht Inst Coastal Res D-21502 Geesthacht Germany Univ Reading NERC Ctr Earth Observat NCEO Reading Berks England

In this study, we compare two different cyclone-tracking algorithms to detect North Atlantic polar lows, which are very intense mesoscale cyclones. Both approaches include spatial filtering, detection, tracking and constraints specific to polar lows. The first method uses digital bandpass-filtered mean sea level pressure (MSLP) fieldsin the spatial range of 200-600 km and is especially designed for polar lows. The second method also uses a bandpass filter but is based on the discrete cosine transforms (DCT) and can be applied to MSLP and vorticity fields. The latter was originally designed for cyclones in general and has been adapted to polar lows for this study. Both algorithms are applied to the same regional climate model output fields from October 1993 to September 1995 produced from dynamical downscaling of the NCEP/NCAR reanalysis data. Comparisons between these two methods show that different filters lead to different numbers and locations of tracks. The DCT is more precise in scale separation than the digital filter and the results of this study suggest that it is more suited for the bandpass filtering of MSLP fields. The detection and tracking parts also influence the numbers of tracks although less critically. After a selection process that applies criteria to identify tracks of potential polar lows, differences between both methods are still visible though the major systems are identified in both.

关键词： cyclone tracking algorithm polar lows spatial filter North Atlantic

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