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Framework for Ship Trajectory Forecasting Based on Linear Stationary Models Using Automatic Identification System

Procedia computer Science 2023年 218卷 1463-1474页

作者： Smita Srivastava Lovneet Kumar R. Jeyanthi K. Deepa Vinay Aggrawal Department of Computer Science and Engineering Centre for Artificial Intelligence and Robotics Defense Research and Development Organization Bangalore Karnataka Department of Electronics and Communication Engineering Department of Electrical and Electronics Engineering Amrita School of Engineering Bengaluru Amrita Vishwa Vidyapeetham India

Maritime surveillance is of utmost priority for a nation's security, and hence it's economy. For maritime awareness, coastal surveillance, and maritime activities in the Region of Interest (ROI) should be monitored. One of the ways to keep this in check is to restrain unwanted infiltration. Monitoring unwanted infiltration is feasible through vessel trajectory forecasting and anomaly detection in real time. Most solutions for trajectory predictions are available but require a huge amount of historical data, and high-power computing resources. Here, the requirement is developing a decision support framework consisting of both lite weight approaches for short-term predictions and deep learning-based techniques for long-term forecasting. This paper aims to find the suitability of Linear Stationary Models (LSM) like the Auto-Regressive Integrated Moving Average Model (ARIMA) for predicting and forecasting the Vessel Trajectory as means of lite weight short-term predictions. For this purpose, the Automatic Identification System (AIS) dataset of the U.S. West Coast is used. The significant effort was for data pre-processing to create a robust dataset for model training. An appropriate model after the model-selection process is used for trajectory forecasting. The model's accuracy is validated using Root Mean Square Error (RMSE) performance indices for residual and forecast errors. A window generator model is integrated with the best-fitted ARIMA model for recursive real-time predictions, with varied sizes and visualization. The proposed time-series model provided a very high accuracy as the RMSE value for prediction and 48 hours forecast are 0.023 and 0.017, respectively.

关键词： Maritime Surveillance Trajectory Forecast Time Series Analysis Auto-Regressive Integrated Moving Average Model Automatic Identification System Window Generator

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A rotational and translational image stabilization system for remotely operated robots

A rotational and translational image stabilization system fo...

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2007 IEEE International Workshop on Imaging Systems and Techniques, IST'07

作者： Amanatiadis, A. Andreadis, I. Gasteratos, A. Kyriakoulis, N. Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace 12 Vas. Sofias Str. GR-67100 Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace GR-67100 Xanthi Greece

ISBN: (纸本)1424409659

Remotely operated robots equipped with on board cameras, apart from providing video input to operators, perform optical measurements to assist their navigation as well. Such image processing algorithms require image sequences, free of high frequency unwanted movements, in order to generate their optimal results. Image stabilization is the process which removes the undesirable position fluctuations of a video sequence improving, therefore, its visual quality. In this paper, we introduce the implementation of an image stabilization system that utilizes input from an on board camera and a gyrosensor. The frame sequence is processed by an optic flow algorithm and the inertial data is processed by a discrete Kalman filter. The compensation is performed using two servo motors for the pan and tilt movements and frame shifting for the vertical and horizontal movements, Experimental results of the robot head, have shown fine stabilized image sequences and a system capable of processing 320 × 240 Pixel image sequences at approximately 10 frames/ sec, with a maximum acceleration of 4 deg/sec2. © 2007 IEEE.

关键词： Image analysis

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A log-polar interpolation applied to image scaling

A log-polar interpolation applied to image scaling

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2007 IEEE International Workshop on Imaging Systems and Techniques, IST'07

作者： Amanatiadis, A. Andreadis, I. Gasteratos, A. Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace 12 Vas. Sofias Str. GR-67100 Xanthi Greece Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace GR-67100 Xanthi Greece

ISBN: (纸本)1424409659

This paper proposes a bio-inspired interpolation algorithm suitable for image scaling. A log-polar neighbor model is adopted, utilizing the feature of applying larger weights to pixels at the center of the interpolation region and logarithmically decreasing weights to pixels away from the center, The interpolation is performed in the Cartesian plane without requiring the full transformation of the image to the log-polar plane, Experiments show that in both visual comparisons and quantitative analysis, the results extracted by the proposed log-polar neighbor model are better than those extracted from pixel repetition, bilinear and bicubic interpolation, ©2007 IEEE.

关键词： Image analysis

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Detection of Gender and Age Category from Speech

Detection of Gender and Age Category from Speech

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2023 World Symposium on Digital Intelligence for Systems and Machines, DISA 2023

作者： Haluška, Renát Popovič, Michal Pleva, Matus Frohman, Matthew Department of Electronics and Multimedia Communications Faculty of Electrical Engineering and Informatics Technical University Kosice Kosice Slovakia Perception and Robotics Group Department of computer science University of Maryland College ParkMD United States

ISBN: (纸本)9798350343533

The main goal of this paper was to find out how the gender and age group acoustical models behave on audio data that is in no way related to the data corpora used to train and evaluate the models. These models could be used for early predator detection in minors’ audio chats. The datasets used for training were mainly composed of English speakers. One part was made up of speakers whose native language is English and the rest use English as a secondary language. © 2023 IEEE.

关键词： electronics industry

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Adaptive and repetitive controller for robotic manipulators with slowly updating scheme using B-spline shape function

Adaptive and repetitive controller for robotic manipulators ...

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2011 IEEE International Conference on robotics and Biomimetics, ROBIO 2011

作者： Rakprayoon, Pannatee Sanposh, Peerayot Chayopitak, Nattapon Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Pathumthani 12120 Thailand

ISBN: (纸本)9781457721373

This paper studies the real-time adaptive and repetitive control problem using the Desired Compensation Learning Law (DCLL) that has the advantage of robustness under the presence of unknown parameters with low memory requirement. The control structure of DCLL consists of a feedforward compensator that is designed by a linear combination of shape functions that is adaptable to parameter variations;hence the selection of appropriate shape functions plays an important role in the adaptive ability and accuracy of DCLL. In this study, the B-spline shape function is proposed to be used under the slowly updating scheme and the obtained results show that the robustness and accuracy of the tracking can be greatly improved even under payload variation and torque limits. © 2011 IEEE.

关键词： Interpolation

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An investigation of recommended lower leg exercises for induced calf muscle activity

An investigation of recommended lower leg exercises for indu...

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4th IASTED International Conference on Biomedical engineering

作者： O'Donovan, Karol J. Bajd, Tadej Grace, Pierce A. O'Keeffe, Derek T. Lyons, Gerard M. Biomedical Electronics Laboratory Department of Electronic and Computer Engineering University of Limerick Limerick Ireland Laboratory of Robotics and Biomedical Engineering Faculty of Electrical Engineering University of Ljubljana Ljubljana Slovenia Vascular Imaging Laboratory Department of Vascular Surgery Mid-Western Regional Hospital Limerick Ireland

ISBN: (纸本)0889865787

Active voluntary contraction of the calf muscle is an essential factor in the circulatory system. Failure to exercise the calf muscles for prolonged periods may result in limited or poor blood circulation in the lower leg and increase the risk of deep vein thrombosis (DVT). An association between long distance travel and increased risk of DVT has been established. Most airlines recommend a number of lower leg exercises as a DVT preventative measure. Not all lower leg exercises induce calf muscle pump activity and therefore may not be beneficial in the prevention of DVT. A study was devised to investigate the exercises recommended to passengers for DVT prevention on long distance flights to determine a potential benefit to the health and safety of the passenger. The technique used for the evaluation of recommended airline exercises for optimal calf muscle pump activity is described.

关键词： Biomedical engineering

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Computationally effective stereovision SLAM

Computationally effective stereovision SLAM

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IEEE International Conference on Imaging Systems and Techniques

作者： Nalpantidis, Lazaros Sirakoulis, Georgios Ch. Carbone, Andrea Gasteratos, Antonios Laboratory of Robotics and Automation Department of Production and Management Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Laboratory of Electronics Department of Electrical and Computer Engineering Democritus University of Thrace University Campus Kimmeria GR-67100 Xanthi Greece Autoagent Laboratory for Cognitive Robotics Department of Computer and Systems Science University of Rome La Sapienza Via Ariosto 25 00185 Rome Italy

ISBN: (纸本)9781424464944

In this paper a visual Simultaneous Localization and Mapping (SLAM) algorithm suitable for indoor area measurement applications is proposed. The algorithm is focused on computational effectiveness. The only sensor used is a stereo camera placed onboard a moving robot. The algorithm processes the acquired images calculating the depth of the scenery, detecting occupied areas and progressively building a map of the environment. The stereo vision-based SLAM algorithm embodies a custom-tailored stereo correspondence algorithm, the robust scale and rotation invariant feature detection and matching Speeded Up Robust Features (SURF) method, a computationally effective v-disparity image calculation scheme, a novel map-merging module, as well as a sophisticated Cellular Automata (CA)-based enhancement stage. The proposed algorithm is suitable for autonomously mapping and measuring indoor areas using robots. The algorithm is presented and experimental results for self-captured image sets are provided and analyzed. © 2010 IEEE.

关键词： Stereo vision

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Re-scheduling of AGVs Steady State Flow

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IFAC-PapersOnLine 2017年第1期50卷 3493-3498页

作者： Bocewicz G. Banaszak Z. Nielsen I. Muszyński W. Department of Electronics and Computer Science Koszalin University of Technology Sniadeckich 2 Koszalin 75-453 Poland Department of Mechanical and Manufacturing Engineering Aalborg University Aalborg East Denmark Department of Cybernetics and Robotics Wrocław University of Technology Poland

The paper's objective concerns assessing a mesh-like supply network of periodically acting local transportation modes from the perspective of possible re-scheduling the multimodal flows of jobs assigned to certain technological routes passing through common shared workstations. The considered reference model of a Material Transportation Network (MTN), where several heterogeneous means of material handling, e.g. AGVs, hoists, lifts, etc., interact with each other via common shared workstations, enables the formulation of scheduling and re-scheduling tasks in the context of a Periodic Vehicle Routing Problem. The main problem is in essence to identify conditions guaranteeing transient period free re-scheduling of cyclic steady state flows of multimodal processes and local transportation processes supporting their execution. Such sufficient conditions allows one to replace the exhaustive search for the admissible flows control by design of regular structure material handling system, i.e. to solve the considered class of re-scheduling problems online. The proposed methodology behind re-scheduling cyclic steady state production flows executed in regular-structure MTNs is clarified through multiple illustrative examples. © 2017

关键词： cyclic scheduling declarative modelling fleet of AGVs multimodal process Periodic Vehicle Routing Problem re-scheduling

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Affecting the accuracy of an active vision head 2nd

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2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Gasteratos, Antonios Sandini, Giulio Laboratory of Electronics Section of Electronics and Information Systems Technology Department of Electrical and Computer Engineering Democritus University of Thrace XanthiGR-671 00 Greece Laboratory for Integrated Advanced Robotics Department of Communication Computer and System Sciences University of Genoa Viale Causa 13 GenoaI-16145 Italy

ISBN: (纸本)3540434720

In any measuring system the categorization of the error generation factors leads to simplification of complex error problems and to higher suppression of the error. In this paper we categorize, quantify and analyze the errors that affect a binocular active vision head. Simulations have been made and experimental results on a high resolution pan-tilt-vergence mechanism are also proposed. As a conclusion it can be said that the system performs optimal when it is initialized so that the two cameras are perfectly aligned and perpendicular to the baseline. Small variations in the vergence angle or small horizontal deviations of the principal point alters the measurement dramatically. On the other hand, variations in pan and tilt and vertical deviations of the principal point, affect the measurement insignificantly. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Errors

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Silicone Based Capacitive E-Skin Sensor for Soft Surgical Robots 21st

Silicone Based Capacitive E-Skin Sensor for Soft Surgical Ro...

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21th Annual Conference on Towards Autonomous robotics, TAROS 20120

作者： Dawood, Abu Bakar Godaba, Hareesh Althoefer, Kaspar Centre for Advanced Robotics @ Queen Mary School of Engineering and Materials Science Queen Mary University of London LondonE1 4NS United Kingdom Centre for Advanced Robotics @ Queen Mary School of Electronics Engineering and Computer Science Queen Mary University of London LondonE1 4NS United Kingdom

ISBN: (纸本)9783030634858

In this extended abstract, we present a soft stretchable multi-modal capacitive skin sensor that can be used for exteroception and proprioception in soft surgical manipulators. A soft skin prototype was made using Ecoflex, embedding three conductive carbon grease terminal layers. This soft skin is capable of measuring stretch and touch simultaneously. The soft skin measures uniaxial stretches from 1 to 1.2475 within an error range of 2.6% and can also quantify as well as localize local indentation. An algorithm is developed that decouples local change, i.e., due to indentation, from global strain, due to stretch. An experimental study was conducted;results are presented. © 2020, Springer Nature Switzerland AG.

关键词： Silicones

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