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Collaborative obstacle avoidance method of surface and aerial drones based on acoustic information and optical image

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Transactions of the Korean Institute of Electrical Engineers 2015年第7期64卷 1081-1087页

作者： Man, Dong-Woo Ki, Hyeon-Seung Kim, Hyun-Sik Dept. of Robot System Engineering Tongmyong University Korea Republic of Dept. of Mechanical System Engineering Tongmyong University Korea Republic of

Recently, the researches of aerial drones are actively executed in various areas, the researches of surface drones and underwater drones are also executed in marine areas. In case of surface drones, they essentially utilize acoustic information by the sonar and consequently have the local information in the obstacle avoidance as the sonar has the limitations due to the beam width and detection range. In order to overcome this, more global method that utilizes optical images by the camera is required. Related to this, the aerial drone with the camera is desirable as the obstacle detection of the surface drone with the camera is impossible in case of the existence of clutters. However, the dynamic-floating aerial drone is not desirable for the long-term operation as its power consumption is high. To solve this problem, a collaborative obstacle avoidance method based on the acoustic information by the sonar of the surface drone and the optical image by the camera of the static-floating aerial drone is proposed. To verify the performance of the proposed method, the collaborative obstacle avoidances of a MSD(Micro Surface Drone) with an OAS(Obstacle Avoidance Sonar) and a BMAD(Balloon-based Micro Aerial Drone) with a camera are executed. The test results show the possibility of real applications and the need for additional studies. Copyright © The Korean Institute of Electrical Engineers.

关键词： Drones

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Fast decoupled state estimation based on current equations

Fast decoupled state estimation based on current equations

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IEEE Innovative smart Grid Technologies - Asia, ISGT ASIA 2015

作者： Noopura, S.P. Kumar, R. James Ranjith Jain, Amit Jayan, M.V. Smart Power and Energy System Power Systems Division Central Power Research Institute India Dept. of Electrical and Electronics Engg Government Engineering College Thrissur India

ISBN: (纸本)9781509012381

A fast decoupled state estimator (FDSE) based on current equations for the Energy Management system has been presented in this paper. The state estimator algorithm has been developed considering nodal power injections and line power flows as the primary available measurements. This technique avoids gain matrix inversion at each step as the gain matrix developed in this technique remains constant throughout the computation process. The estimation of real and imaginary parts of voltage can be handled separately when the decoupling technique is used which further reduces the resource requirements for this method. The technique presented in this paper has been tested on standard IEEE 14-bus and 118-bus systems and its results are compared with the power equations based FDSE. Results indicate that the current equations based FDSE converges faster than the power equations based FDSE. © 2015 IEEE.

关键词： State estimation

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Study of generalized resource allocation scheme for multichannel slotted ALOHA systems

Study of generalized resource allocation scheme for multicha...

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IEEE International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC)

作者： Yu-Yi Chu Ruki Harwahyu Ray-Guang Cheng Chia-Hung Wei Dept. of Electronic and Computer Engineering National Taiwan University of Science and Technology Taipei Taiwan Smart Network System Institute Institute for Information Industry

The performance of contention-based access mechanism mainly depends on the resource allocation. This paper presents a generalized resource allocation scheme to support access prioritization in a multichannel slotted ALOHA system. The proposed scheme has great usability as it can be implemented in any similar mechanism such as OFDMA, which is used in LTE and beyond. We simulate its access-success probability and access delay in a one-shot random access attempt. The result demonstrates that the scheme can be used to represent any resource allocation schemes, such as dedicated, shared, partially-shared, as well as arbitrary resource allocation.

关键词： Resource management Delays Base stations Land mobile radio Mobile computing

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Fast decoupled state estimation based on current equations

Fast decoupled state estimation based on current equations

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IEEE Innovative smart Grid Technologies - Asia (ISGT Asia)

作者： S. P. Noopura R. James Ranjith Kumar Amit Jain M. V. Jayan Smart Power & Energy System Central Power Research Institute India Dept. of Electrical & Electronics Engg Government Engineering College Thrissur India

ISBN: (纸本)9781509012398

关键词： Current equations model Least squares methods Power systems State estimation

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Author Correction: The FLUXNET2015 dataset and the ONEFlux processing pipeline for eddy covariance data

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Scientific data 2021年第1期8卷 72页

作者： Gilberto Pastorello Carlo Trotta Eleonora Canfora Housen Chu Danielle Christianson You-Wei Cheah Cristina Poindexter Jiquan Chen Abdelrahman Elbashandy Marty Humphrey Peter Isaac Diego Polidori Markus Reichstein Alessio Ribeca Catharine van Ingen Nicolas Vuichard Leiming Zhang Brian Amiro Christof Ammann M Altaf Arain Jonas Ardö Timothy Arkebauer Stefan K Arndt Nicola Arriga Marc Aubinet Mika Aurela Dennis Baldocchi Alan Barr Eric Beamesderfer Luca Belelli Marchesini Onil Bergeron Jason Beringer Christian Bernhofer Daniel Berveiller Dave Billesbach Thomas Andrew Black Peter D Blanken Gil Bohrer Julia Boike Paul V Bolstad Damien Bonal Jean-Marc Bonnefond David R Bowling Rosvel Bracho Jason Brodeur Christian Brümmer Nina Buchmann Benoit Burban Sean P Burns Pauline Buysse Peter Cale Mauro Cavagna Pierre Cellier Shiping Chen Isaac Chini Torben R Christensen James Cleverly Alessio Collalti Claudia Consalvo Bruce D Cook David Cook Carole Coursolle Edoardo Cremonese Peter S Curtis Ettore D'Andrea Humberto da Rocha Xiaoqin Dai Kenneth J Davis Bruno De Cinti Agnes de Grandcourt Anne De Ligne Raimundo C De Oliveira Nicolas Delpierre Ankur R Desai Carlos Marcelo Di Bella Paul di Tommasi Han Dolman Francisco Domingo Gang Dong Sabina Dore Pierpaolo Duce Eric Dufrêne Allison Dunn Jiří Dušek Derek Eamus Uwe Eichelmann Hatim Abdalla M ElKhidir Werner Eugster Cacilia M Ewenz Brent Ewers Daniela Famulari Silvano Fares Iris Feigenwinter Andrew Feitz Rasmus Fensholt Gianluca Filippa Marc Fischer John Frank Marta Galvagno Mana Gharun Damiano Gianelle Bert Gielen Beniamino Gioli Anatoly Gitelson Ignacio Goded Mathias Goeckede Allen H Goldstein Christopher M Gough Michael L Goulden Alexander Graf Anne Griebel Carsten Gruening Thomas Grünwald Albin Hammerle Shijie Han Xingguo Han Birger Ulf Hansen Chad Hanson Juha Hatakka Yongtao He Markus Hehn Bernard Heinesch Nina Hinko-Najera Lukas Hörtnagl Lindsay Hutley Andreas Ibrom Hiroki Ikawa Marcin Jackowicz-Korczynski Dalibor Janouš Wilma Jans Rachhpal Jassal Shicheng Jiang Tomomichi Kato Myr Computational Research Division Lawrence Berkeley National Laboratory Berkeley CA 94720 USA. gzpastorello@lbl.gov. DIBAF University of Tuscia Viterbo 01100 Italy. Euro-Mediterranean Centre on Climate Change Foundation (CMCC) Lecce 73100 Italy. Climate & Ecosystem Sciences Division Lawrence Berkeley National Laboratory Berkeley CA 94720 USA. Computational Research Division Lawrence Berkeley National Laboratory Berkeley CA 94720 USA. Department of Civil Engineering California State University Sacramento CA 95819 USA. Department of Geography Environment and Spatial Sciences Michigan State University East Lansing MI 48823 USA. Department of Computer Science University of Virginia Charlottesville VA 22904 USA. TERN Ecosystem Processes Menzies Creek VIC3159 Australia. Max Planck Institute for Biogeochemistry Jena 07701 Germany. Laboratoire des Sciences du Climat et de l'Environnement (LSCE) CEA CNRS UVSQ UPSACLAY Gif sur Yvette 91190 France. Key Laboratory of Ecosystem Network Observation and Modeling Institute of Geographic Sciences and Natural Resources Research Chinese Academy of Sciences Beijing 100101 China. Department of Soil Science University of Manitoba Winnipeg MB R3T2N2 Canada. Department of Agroecology and Environment Agroscope Research Institute Zürich 8046 Switzerland. School of Geography and Earth Sciences McMaster University L8S4K1 Hamilton ON Canada. Department of Physical Geography and Ecosystem Science Lund University Lund 22362 Sweden. Department of Agronomy and Horticulture University of Nebraska-Lincoln Lincoln NE 68583 USA. School of Ecosystem and Forest Sciences The University of Melbourne Richmond VIC3121 Australia. Department of Biology Research Group PLECO University of Antwerp Antwerp 2610 Belgium. Joint Research Centre European Commission Ispra 21027 Italy. TERRA Teaching and Research Center University of Liege Gembloux B-5030 Belgium. Finnish Meteorological Institute Helsinki 00560 Finland. ES

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Intelligent blowing controller for autonomous underwater flight vehicle

Intelligent blowing controller for autonomous underwater fli...

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1st International Conference on robot Intelligence Technology and Applications, RiTA 2012

作者： Kim, Hyun-Sik Dept. of Robot System Engineering Tongmyong University 428 Sinseon-ro Nam-gu Busan 608-711 Korea Republic of

ISBN: (纸本)9783642373732

In case of flooding, the underwater flight vehicle (UFV) usually executes the emergency blowing by blowing ballast tanks off using high pressure air (HPA) while it also uses control planes and a propulsion unit to reduce the overshoot dept. caused by a flooding and blowing sequence. However, the conventional whole HPA blow-off method lets the body on the surface after blowing despite a slight flooding. This results in the unnecessary mission failure or body exposure. Therefore, it is necessary to keep the body at the near surface by the blowing control while reducing the overshoot dept.. To solve this problem, an intelligent blowing controller (IBC) using expert knowledge and the fuzzy basis function expansion (FBFE) is proposed here. To verify the performance of the proposed controller, the blowing control of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the UFV blowing control system online. © 2013 Springer-Verlag.

关键词： Controllers

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What we learned from the Great East Japan Earthquake: Utilizing management issues from evacuation centers of sendai city for improving disaster management plan

What we learned from the Great East Japan Earthquake: Utiliz...

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2013 IEEE Region 10 Humanitarian Technology Conference, R10-HTC 2013

作者： Kitagawa, Hiroki Maruyama, Yukinobu Takeshima, Masahiro Akahori, Masahiro Watanabe, Kaoru Nagayama, Tsuyoshi Information Design Dept. Hitachi Ltd. Design Division Tokyo Japan User Experience Research Dept. Hitachi Ltd. Design Division Tokyo Japan Reconstruction Project Office Hitachi Ltd. Business and Engineering Solutions Division Tokyo Japan Smart Business Dept. Hitachi Ltd. Smart Information System Division Tokyo Japan

ISBN: (纸本)9781467359634

Two years ago, Hitachi had agreed to cooperate with Sendai City for dealing the issues in the evacuation centers. As facing numerous issues after the Great East Japan Earthquake (GEJE), Sendai City had immediately focused on the evacuation centers which provide safety and security to the citizens. Using a unique investigation method, the Experience-Oriented Approach, we conducted and analyzed the research in the evacuation centers and the interviews and workshops with the local governmental officials and the community directors. While the research was in progress, we realized that it was essential to reorganize the management plan, to identify the features of the evacuees by urban and suburban, and to examine the assistances that were provided to the evacuees in different time period at the evacuation centers. After evaluating all the research results, we have submitted a proposal to Sendai City. Based on all the acquired knowledge, we are continuing to develop the effective solution that will support for improving disaster management plan. © 2013 IEEE.

关键词： Disasters

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What we learned from the Great East Japan Earthquake: Utilizing management issues from evacuation centers of sendai city for improving disaster management plan

What we learned from the Great East Japan Earthquake: Utiliz...

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IEEE Region 10 Humanitarian Technology Conference (R10-HTC)

作者： Hiroki Kitagawa Yukinobu Maruyama Masahiro Takeshima Masahiro Akahori Kaoru Watanabe Tsuyoshi Nagayama Information Design dept. Hitachi Ltd. Design Division Tokyo Japan User Experience Research dept. Hitachi Ltd. Design Division Tokyo Japan Reconstruction Project Office Hitachi Ltd. Business and Engineering Solutions Division Tokyo Japan Smart Business dept. Hitachi Ltd. Smart Information System Division Tokyo Japan

关键词： Government Cities and towns Disaster management Communities Interviews Power supplies Electricity

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Energy Disaggregation via Clustered Regression Models: A Case Study in the Convenience Store

Energy Disaggregation via Clustered Regression Models: A Cas...

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International Conference on Technologies and Applications of Artificial Intelligence (TAAI)

作者： Hsiao-Hui Chen Ping-Feng Wang Ching-Tien Sung Yi-Ren Yeh Yuh-Jye Lee Dept. of Computer Science & Info. Engineering National Taiwan University of Science and Technology Taipei Taiwan Smart Network System Institute Institute for Information Industry Taipei Taiwan Department of Applied Mathematics Chinese Culture University Taipei Taiwan

Global warming and the depletion of natural resources are two of the most difficult problems we have ever faced. To address this problem, people have begun paying more attention to carbon emission reduction and energy saving. For the residential electricity use, many studies have demonstrated that feedbacks, such as energy consumption of each appliance in the home, can help consumers reduce electricity consumption usage. In this article, we propose a novel framework for the disaggregation of energy consumption, which is looking forward to reaching reducing the number of smart meters installed and providing usage statistics as a feedback for consumers to decrease their energy cost. In our proposed framework, we have a chief meter which measures total energy consumption, and install smart meters at few key appliances. Based the energy consumption from these meters, we proposed a clustered regression models for energy disaggregation. More specifically, we first cluster appliances by the correlation between the using behavior of appliances, and select one of them as the key appliance in each cluster. By using the appliance with installed meter, we apply regression model to estimate the energy consumption for other appliances within each cluster. Our experimental results confirmed our proposed framework can achieve high accuracy for energy disaggregation while reducing the number of smart meters.

关键词： Home appliances Energy consumption Electricity Hidden Markov models Correlation Standards Sensors

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Preamble reconstruction method for impulsive interference avoidance in MIMO-OFDM receivers

Preamble reconstruction method for impulsive interference av...

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2012 Cross Strait Quad-Regional Radio Science and Wireless Technology Conference, CSQRWC 2012

作者： He, Tsung-Yeh Lin, You-Hsien Tsai, Tsung-Yu Hsu, Terng-Yin Institute of Computer Science and Engineering National Chiao Tung University Hsinchu City Taiwan Smart and Network System Institute Institute for Information Industry Taipei Taiwan Dept. of Graduate Institute of Communication Engineering National Taiwan University Taipei City Taiwan

ISBN: (纸本)9781467318679

For wireless packet transmissions, preambles are essential to make packet synchronization function. Impulsive interference not only distorts datum, but also degrades link reliability. To deal with such distortions, a peak-to-average ratio (PAPR) detection is adopted to search impulsive positions and the convolution with the estimated time-domain response is used to recovery the distorted preambles. Simulations of a 2x2 MIMO-OFDM system with RF impairments in frequency-selective fading indicate that the SNR loss is about 2.5 dB sim;4.6 dB to ensure synchronization working at a signal-to-impulse ratio (SIR) of -10 dB. © 2012 IEEE.

关键词： Frequency selective fading

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