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2012 5th International Conference on New Technologies, Mobility and Security, NTMS 2012

作者： Tuna, Gurkan Gulez, Kayhan Dept. of Computer Programming Trakya University Edirne Turkey Dept. of Control and Automation Engineering Yildiz Technical University Istanbul Turkey

ISBN: (纸本)9781467302296

This paper presents design considerations of indoor and outdoor navigation techniques proposed for unmanned vehicles (UV). In this paper, we mainly investigate the use and the advantages of wireless sensor networks (WSNs) for indoor navigation, and Global Positioning System (GPS) for outdoor navigation. The system primarily uses laser range finder (LRF) measurements for indoor navigation, and is based on Extended Kalman Filter (EKF). For outdoor navigation the system uses Inertial Navigation System (INS) measurements. At periodical intervals the system integrates the measurements of an absolute sensor to improve estimations. The absolute sensor is a WSN interface for indoor navigation, and a GPS receiver for outdoor navigation. Simulation studies were conducted using Unified System for Automation and Robot Simulation (USARSim) and Player/Stage. The results of USARSim based simulations prove the advantages of integrating GPS measurements. Player/Stage based simulations show the advantages of integrating Received Signal Strength Indicator (RSSI) measurements obtained from WSN interfaces. In addition to the simulation studies, field tests with a custom-built Corobot autonomous robot platform will be realized to prove the effectiveness of the methods. © 2012 IEEE.

关键词： Wireless sensor networks

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Model-Based Dynamic Optimization with OpenModelica and CasADi

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IFAC Proceedings Volumes 2013年第21期46卷 446-451页

作者： Alachew Shitahun Vitalij Ruge Mahder Gebremedhin Bernhard Bachmann Lars Eriksson Joel Andersson Moritz Diehl Peter Fritzson PELAB-Programming Environment Lab Dept. Computer Science Linköping University SE-581 83 Linköping Sweden Dept. Mathematics and Engineering University of Applied Sciences D-33609 Bielefeld Germany Vehicular Systems Dept. Electrical Engineering Linköping University SE-581 83 Linköping Sweden Dept. of Electrical Engineering and Optimization in Engineering Center (OPTEC) K.U. Leuven Belgium

This paper demonstrates model-based dynamic optimization through the coupling of two open source tools: OpenModelica, which is a Modelica-based modeling and simulation platform, and CasADi, a framework for numerical optimization. The coupling uses a standardized XML format for exchange of differential-algebraic equations (DAE) models. OpenModelica supports export of models written in Modelica and the optimization language extension using this XML format, while CasADi supports import of models represented in this format. This allows users to define optimal control problems (OCP) using Modelica and optimization language specification, and solve the underlying model formulation using a range of optimization methods, including direct collocation and direct multiple shooting. The proposed solution has been tested on several industrially relevant optimal control problems, including a diesel-electric power train.

关键词： Modelica OpenModelica model-based optimization dynamic optimization CasADi

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Mobile robot aided self-deploying wireless sensor networks for radiation leak detection

Mobile robot aided self-deploying wireless sensor networks f...

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2012 5th International Conference on New Technologies, Mobility and Security, NTMS 2012

作者： Tuna, Gurkan Gulez, Kayhan Mumcu, T. Veli Gungor, V. Cagri Dept. of Computer Programming Trakya University Edirne Turkey Dept. of Control and Automation Eng. Yildiz Technical University Istanbul Turkey Dept. of Computer Engineering Bahcesehir University Istanbul Turkey

ISBN: (纸本)9781467302296

This paper presents a mobile robot aided self deploying wireless sensor network aiming to detect radiation leaks and to measure radiation levels, and explains design considerations to prolong network life. Special attention is given to the factors which are important for the specific requirements of radiation leak detection. Wireless sensor networks (WSNs) provide numerous benefits to applications with low duty cycle, such as environmental monitoring, event detection, etc. However, the realization of these potential benefits directly depends on energy efficient and reliable communication and coordination capabilities of the deployed system. In this study, challenges of WSNs, deployment strategies using mobile robots, and energy harvesting techniques to maximize lifetime of WSNs are discussed. Also, a comparison of two different exploration strategies is shown with the results of our own application developed in C#. Main contributions of this study are discussions on mobile robot aided WSN deployment strategies and energy harvesting techniques to maximize WSN lifetime. © 2012 IEEE.

关键词： Wireless sensor networks

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An edge-region cooperative multi-agent approach for buildings extraction

An edge-region cooperative multi-agent approach for building...

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2012 2nd International Conference on Digital Information and Communication Technology and it's Applications, DICTAP 2012

作者： Sellaouti, Aymen Sghaier, Moslem Ouled Hamouda, Atef Laboratory of Computing in Programming Algorithmic and Heuristic Faculty of Sciences of Tunis Campus Universities Tunisia Tunisia Image Sciences Computer Sciences and Remote Sensing Laboratory University of Strasbourg France

ISBN: (纸本)9781467307338

This paper presents a new approach for automatic building detection in very high resolution satellite images. The proposed method is a cooperative multi-agent approach between both an edge and region approach. In the pretreatment step, a supervisor agent finds a building's corner using Harris detector. Starting from these points, a cooperation process is used to extract buildings. Experiments are done on images of Strasbourg city taken by Quickbird. © 2012 IEEE.

关键词： Buildings

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L(0,1)-Labelling of Cactus Graphs

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Communications and Network 2012年第1期4卷 18-29页

作者： Nasreen Khan Madhumangal Pal Anita Pal Department of Applied Mathematics with Oceanology and Computer Programming Vidyasagar University Midnapore India.Department of Applied Mathematics with Oceanology and Computer Programming Vidyasagar University Midnapore India.Department of Mathematics National Institute of Technology Durgapur Durgapur India.

An L(0,1)-labelling of a graph G is an assignment of nonnegative integers to the vertices of G such that the difference between the labels assigned to any two adjacent vertices is at least zero and the difference between the labels assigned to any two vertices which are at distance two is at least one. The span of an L(0,1)-labelling is the maximum label number assigned to any vertex of G. The L(0,1)-labelling number of a graph G, denoted by λ_0.1(G) is the least integer k such that G has an L(0,1)-labelling of span k. This labelling has an application to a computer code assignment problem. The task is to assign integer control codes to a network of computer stations with distance restrictions. A cactus graph is a connected graph in which every block is either an edge or a cycle. In this paper, we label the vertices of a cactus graph by L(0,1)-labelling and have shown that, △-1≤λ_0.1(G)≤△ for a cactus graph, where △ is the degree of the graph G.

关键词： Graph Labelling Code Assignment L(0 1)-Labelling Cactus Graph

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FPGA-based wireless sensor network for safety-related cognitive systems

FPGA-based wireless sensor network for safety-related cognit...

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International Symposium on Telecommunications (BIHTEL)

作者： Ali Hayek Yusuf Suna Michael Schreiber Josef Börcsök Chair for Computer Architecture and System Programming University of Kassel Kassel Germany

Wireless sensor networks for monitoring and steering industrial systems have emerged as an important new application area for wireless embedded technology in safety-related systems. Therefore several hardware platforms can be targeted. Due to their flexibility and reconfigurability along with high performance and power efficiency, modern Field Programmable Gate Arrays (FPGAs) are an excellent platform to realize such intelligent sensor networks. On one hand, FPGAs can integrate embedded processors and on-chip memory into a single die and can be easily configured to interface with a wide variety of popular communications protocols like SPI, UART and I2C, which are used for sensor communication. On the other hand, the reconfigurability of FPGAs supports the design of self-organizing computing systems, which are increasingly used in sensor applications. In this paper an FPGA-based wireless smart sensor network that integrates acceleration sensors for increasing safety aspects in cognitive systems used for industrial communication is presented.

关键词： Field programmable gate arrays Wireless LAN Robot sensing systems Acceleration Graphical user interfaces Software Hardware

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FPGA-based wireless sensor network platform for safety systems

FPGA-based wireless sensor network platform for safety syste...

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International Conference on Telecommunications (ICT)

作者： Ali Hayek Bashier Machmur Yusuf Suna Josef Börcsök Computer Architecture and System Programming University of Kassel Kassel Germany

Sensor communication applications not only require high performance processing but also flexible and reliable computing. Today, standard microprocessor systems are still application oriented and aren't suitable by implication for reliability-related and safety-related applications. In order to achieve a certain safety integrity level (SIL), several measures, methodologies and especially additional components should be considered, which leads to more and more complex systems. For this reason, new application devices should be targeted. In this context, reconfigurable devices such as SRAM-based Field Programmable Gates Arrays (FPGAs) provide a suitable solution due to their flexibility, and the necessary computing performance at affordable design cost and time. In fact, SRAM-Based FPGAs are nowadays frequently used in embedded communication systems due to their design flexibility and reconfigurability. This paper presents a prototyping platform for an FPGA-based safety-related communication system for a wireless sensor network. As a case study an acceleration sensor application is introduced.

关键词： Field programmable gate arrays Hardware Safety computer architecture Acceleration Monitoring Software

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New concept to develop a safety sensor network for continuous noninvasive blood pressure monitoring

New concept to develop a safety sensor network for continuou...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Huiyun Sheng Michael Schwarz Josef Börcsök Department of Computer architecture and System programming University of Kassel Kassel Germany

ISBN: (纸本)9781467347358

This paper proposes a continuous, non-invasive blood pressure monitoring system concept, which uses a safety microprocessor to connect sensors for building a body sensor network. The changes in Pulse Transit Time (PTT) can be detected with the sensor network. The microprocessor gathers the PTT and other vital signs of the patient to derive changes in blood pressure. Through the new Bluetooth protocol for safety systems, the current blood pressure value can be sent to a variety of terminals present in the wireless network, such as mobile phone, PC and medical monitoring systems. The 1oo2 architecture of the used microprocessor can provide high safety to a rating of safety integrity level 3 (SIL3), thus the whole network can meet the safety required in medical care systems.

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SRAM-based FPGA design techniques for safety related systems conforming to IEC 61508 a survey and analysis

SRAM-based FPGA design techniques for safety related systems...

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International Conference on Advances in Computational Tools for Engineering Applications, ACTEA

作者： Ali Hayek Josef Börcsök Chair of Computer Architecture and System Programming University of Kassel Kassel Germany

With the announcement and development of safety standards such as IEC 61508 and DO-254 standards a basis for the implementation of qualitative and quantitative analyzes in the areas of reliability and safety for electronic safety-related systems was laid. Especially with the publication of the second edition of the standard IEC 61508 standard and the introduction of new aspects such as on-chip redundancy and the use of integrated systems in such systems is becoming increasingly attractive. SRAM-based FPGAs are considered as the mainstream FPGA technology and represent an excellent platform for the development of system-on-chips due to their complexity and programming flexibility. In this paper, the implementation of FPGA-based safety-related systems according to the standard IEC 61508 is targeted. First, the advantages and challenges of FPGAs for the use in such systems are presented. Afterwards, measures and methodologies are discussed, which are required for the implementation of such systems. Finally suitable FPGA implementation of these measures is presented.

关键词： Field programmable gate arrays Safety IEC standards Hardware Software Systematics

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Evaluations of different Simultaneous Localization and Mapping (SLAM) algorithms

Evaluations of different Simultaneous Localization and Mappi...

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38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tuna, Gurkan Gulez, Kayhan Cagri Gungor, V. Veli Mumcu, T. Trakya University Department of Computer Programming Edirne Turkey Yildiz Technical University Electrical-Electronics Faculty Control and Automation Eng. Dept. Istanbul Turkey Bahcesehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey

ISBN: (纸本)9781467324212

Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features. © 2012 IEEE.

关键词： Extended Kalman filters

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