In order to measure the effectiveness of safety protection systems there are several design parameters. Diagnostic coverage factor is one of the most important parameter which influences all architectures. In this sho...
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In the work the issues of stable technological modes of operation of main devices of producing polysterol - reactors have been researched as well as modes of stable operation of a chemical reactor have been presented,...
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This paper presents a performance analysis of omnidirectional vision based Simultaneous Localization and Mapping (SLAM). In omnidirectional vision based SLAM;robots perform vision based SLAM using only monocular omnid...
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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 (W...
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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.
The method of optimum control of the complex multivariate objects, based on the account of situations during the moment of acceptance of operating decisions is offered. The method allows to reduce the initial problem ...
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This paper presents a novel approach of using unmanned aerial vehicles (UA Vs) to establish a communication infrastructure in case of disasters. Due to the collapse of buildings, power systems, and antennas, the colla...
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This paper presents a novel approach of using unmanned aerial vehicles (UA Vs) to establish a communication infrastructure in case of disasters. Due to the collapse of buildings, power systems, and antennas, the collapse of communication infrastructure is the usual effect of disasters. In this study, we propose an emergency communications system established by unmanned aerial vehicles (UA Vs). The system is a post-disaster solution; hence, it can be used anywhere required. In this study, first we briefly explain the details of the system in three aspects: end-to-end communication, localization and navigation, and coordination Then, we evaluate the efficiency of the localization and navigation subsystem. Our simulation studies with Air Robot quadrotor helicopters in Unified System for Automation and Robot Simulation (USARSim) simulation environment show that UAV-aided communications system can be used in case of disasters to establish an emergency communications infrastructure in terms of localization and navigation.
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 ...
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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.
Wireless networked mobile robots pursuing a common objective are envisioned to be an efficient solution for many military, industrial, commercial, and environmental applications. This paper presents the design conside...
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Wireless networked mobile robots pursuing a common objective are envisioned to be an efficient solution for many military, industrial, commercial, and environmental applications. This paper presents the design considerations of an autonomous intruder detection system based on wireless networked robots. Specifically, three critical aspects of these systems, such as coordination and task allocation, communication, and map-based intruder detection, have been investigated and a multi-sensor fusion mechanism has been presented. Performance results show that the fusion of redundant information from different sensors can increase the accuracy of a system and reduce overall uncertainty in intruder detection applications.
Data mining has become an important and active area of research because of theoretical challenges and practical applications associated with the problem of discovering interesting and previously unknown knowledge from...
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Data mining has become an important and active area of research because of theoretical challenges and practical applications associated with the problem of discovering interesting and previously unknown knowledge from very large real world database. These databases contain potential gold mine of valuable information, but it is beyond human ability to analyze massive amount of data and elicit meaningful patterns by using conventional techniques. In this study, DNA sequence was analyzed to locate promoter which is a regulatory region of DNA located upstream of a gene, providing a control point for regulated gene transcription. In this study, some supervised learning algorithms such as artificial neural network (ANN), RULES-3 and newly developed keREM rule induction algorithm were used to analyse to DNA sequence. In the experiments different option of keREM, RULES-3 and ANN were used, and according to the empirical comparisons, the algorithms appeared to be comparable to well-known algorithms in terms of the accuracy of the extracted rule in classifying unseen data.
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 att...
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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.
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