Measurement of the stereoscopic rangefinder beam angular velocity using the digital image processing method

Size: px
Start display at page:

Download "Measurement of the stereoscopic rangefinder beam angular velocity using the digital image processing method"

Transcription

1 Measurement of the stereosopi rangefinder beam angular veloity using the digital image proessing method ROMAN VÍTEK Department of weapons and ammunition University of defense Kouniova 65, 62 Brno CZECH REPUBLIC Abstrat: - This paper deals with the measurement of the mehanial onstrution kinematial harateristis using the digital image proessing method. This method has been utilized to determine the angular veloity and the angular position of the stereosopi rangefinder beam during its operation. Key-Words: - vibration, measurement, digital, image, proessing, ross-orrelation Introdution In last years a projet aimed on the researh of the passive traking systems has been solved at the University of Defense in Brno, Czeh Republi []. This projet is foused on the researh and development in the area of the weapons and fire ontrol systems design (e.g. [2], [3], [4] and [5]). During the solution of this projet the funtional model of the passive optoeletroni rangefinder has been developed, whih has been using for determining the position of the target and for traking of this target as well. The design of the rangefinder mentioned above is obvious from Fig Fig. Optoeletroni rangefinder Two digital ameras and 2 are plaed on the beam 3 of the rangefinder. The beam is onneted by means of the rotational part 4 to the head of the tripod 6. The spatial position of this beam is established by means of two synhronous brushless servomotors. One servomotor 5 is used for rotating the beam around the horizontal axis (so alled elevation motion); the other servomotor (plaed inside of the tripod head 6) is used for rotating the beam around the vertial axis (so alled the traversal motion) The whole rangefinder struture is mounted on the stationary tripod 7. The position of the target with respet to the rangefinder is determined from the pair of images, aquired synhronously from the digital ameras, using the methods of the digital stereophotogrammetry [6], [7]. The traking of the target is ahieved by setting the appropriate angular veloity to the servomotors so as the angular motion of the rangefinder was in aord with the angular motion of the target with respet to the rangefinder position, whereas the angular veloity of the servomotors was determined from ontrol deviation α in both vertial and horizontal diretion. For the ontrol deviation in the horizontal diretion the following formula is valid (lens distortion is not onsidered) xi x α x = artan, () x where α x is the horizontal ontrol deviation, x i is the horizontal image oordinate of the target, x is the horizontal oordinate of the prinipal point and x is the prinipal distane of the amera in the horizontal diretion. For vertial ontrol deviation α y the relation is analogial. To ontrol the angular veloity of the both servomotors the proportional-integral (PI) ontroller is used in the basi form [8] t () () () ωd t = Kα t + α t dt τ, (2) where ω d (t) is desired angular veloity of the beam in the partiular diretion, α(t) is the ontrol deviation determined from the image information, K is the proportional onstant of the ontroller and τ is the time onstant of the integral part of the ontroller. ISSN: ISBN:

2 2 Problem Formulation The onstants K and τ of the PI ontroller were determined using the software simulation of the ontroller for extreme values of the probable target veloity and the target distane to ahieve the time optimal traking of the seleted target. Furthermore, the traked target has to be kept in the field of view of the used amera, whereas this field of view an be further redued to derease the amount of omputational operations needed for target position determination, therefore to minimize the time onsumption and maximize the measurement rate respetively. The example of the simulation result for the target moving with veloity 2 m.s - (72 km.h - ) at distane 2 m is shown in Fig. 2. α [rad] Fig. 2 Control deviation ourse Unfortunately, after applying the determined values of the K and τ into the funtional model of the rangefinder it has been fond out that the target ran out from the seleted area of interest, therefore the traking algorithm rashed immediately after marking the target. From visual inspetion the reason seems to be the higher real angular veloity of the rangefinder beam than it was set to servomotor aording to the estimated ontrol deviation. Further effort was aimed on finding the soures of this disrepany. 3 Problem Solution Preliminary analysis of the target image oordinates reord showed that despite of the set angular veloity the real angular veloity ould be signifiantly higher than the desired one and it hanges periodially in addition. The following soures of this periodial motion were assumed: vibrations of the rangefinder beam as of the elasti body, vibrations of the rangefinder beam as of the solid body elastially mounted to the servo (output shaft of the transmission), elastially mounted rangefinder as the solid body on the basis (tripod) and inorretly ontrolled servo. To onfirm the atual reason of the parasiti motion the series of the angular motion measurements was prepared. 3. The angular veloity of the rangefinder beam measurement analysis onsidering the usage of image information The angular displaement and angular veloity of the rangefinder beam was determined by means of two methods: a) evaluating the signal from the servomotor s resolver and b) omputing the rotational motion from the image aquired from digital amera, mounted on the appropriate plae on the rangefinder onstrution. Ad a) The servomotor is equipped with so alled resolver, whih is the rotary eletrial transformer used for measuring degrees of rotation. The instantaneous position of the servomotor shaft an be read throughout the ontroller bus as the integer number, whereas this number represents the number of inrements with respet to the set absolute zero. The angular displaement of the rangefinder beam α an be omputed using the formula 2iπ α =, (3) nr where i is the number of inrements read from the resolver, n is the number if inrements for one turn of the servomotor shaft, r is the ratio number of the gear plaed between the servomotor and the beam and π is the irular onstant. The resolver is relatively sensitive and preise sensor of angular displaement. For n = 2 6 and r = 35 the minimum theoretially distinguishable value of the beam angular displaement is approximately.7 μrad. On the other hand, the resolver signal is affeted by motion of the rangefinder struture in the feedbak and it annot be used for estimating the angular motion of the struture espeially in the ase of the elasti beam vibrations. Therefore, the resolver signal was used only as the supplemental information and the atual angular motion of the rangefinder struture was determined by the optial method presented hereafter. Ad b) If the digital amera is plaed on the moving struture, the relative motion of the amera with respet ISSN: ISBN:

3 to the observed objet takes effet in the hange of the image oordinates of the objet. In ase of the general spatial motion the reonstrution of the struture motion is relatively ompliated proess, whih usually requires the usage of greater number of the ameras. Also the alibration of this measurement is quite ompliated with emphasis on the preise determination their relative position. If the struture motion is simple (e.g. rotation around one axis only), the situation signifiantly simplifies and we an reonstrut the struture motion using only one amera, plaed on the appropriate plae. Hereafter we will suppose only rotating motion of the rangefinder around the vertial axis. The amera is mounted on the rangefinder so that the olumns of the amera detetor are parallel to the rotation axis. If the rotation axis goes through the projetion entre of the amera, the angle of the beam rotation α an be determined using the formula ( pi+ pi) α = artan 2, (4) + pi+ pi where is the prinipal distane of the amera, p i is the horizontal image oordinate of the observed objet in the beginning of the rotation and p i+ is the horizontal image oordinate of the observed objet in the end of the rotation. If the projetion entre of the amera lies off the rotation axis, the angle of the beam rotation α an be determined solving the formula in its impliit form pi+ ( ( Xi b) sinα + ( Zi a) osα + a) = (5) = X b osα + Z a sin α + b, (( i ) ( i ) ) where b is the distane between the projetion entre and the rotation axis in diretion parallel to the detetor plane, a is the distane between the projetion entre and the rotation axis in diretion perpendiular to the detetor plane, X i is the observed objet oordinate in the diretion parallel to the detetor plane in the beginning of the motion and Z i is the observed objet oordinate in the diretion perpendiular to the detetor plane in the beginning of the motion. The other variables are idential with formula (4). Comparing the formula (5) to formula (4) it is obvious that the value α depends not only on the position of the projetion entre with respet to the rotation axis, but also on the position of the observed objet with respet to the amera. Therefore, even if we know the oordinates of the projetion entre a and b (for example from the design doumentation) and if we use the relation between X i and Z i aording to the formula pi Xi = Zi, (6) we still have only one onditional equation (5) for two unknown variables α and Z i. It means that at least on more onditional equation has to be obtained, e.g. using some supplemental measurement. Substituting (6) into (5) we get the modified form of onditional equation pi pi+ Zi b sin ( Zi a) os a α + α + = (7) pi = Zi b osα + ( Zi a) sin α + b, and if we extrat the Z i at the both sides of this equation, we get the final formula pi b a a pi+ sinα + osα + Zi Zi Z = i (8) pi b a b = osα + sin α +. Zi Zi Z i It an be learly seen that for Z i >> a and Z i >> b it is valid a b and, (9) Zi Zi therefore the formula (8) an be written in form pi pi+ sinα + osα = () pi = osα + sin α, whih leads diretly to the formula (4). In the other words, if the observed referene objet is plaed far enough omparing to the design dimensions of the amera with respet to the rotation axis, the angle of struture rotation α an be omputed diretly by means of the formula (4) using the evaluated image oordinates of the observed objet from one amera, whih signifiantly simplifies the measurement. The simulation of the measurement has been made, when for the known rangefinder design dimensions and given range of the referene objet oordinates the image oordinates of the referene objet were omputed as the funtion of the angle α. Then the angle α was inversely omputed from these image oordinates using the both formulas (4) and (5). The differene of these omputations is shown in Fig. 3 as the Z i oordinate dependene. From this diagram it an be seen that if the objet distane is longer than 5 m, the relative error in angle α evaluation is lower than.%. If we know the ourse of the angle α with respet to time as the vetor of disrete values α with respet to the vetor of disrete values t, the angular veloity an be omputed as the numerial derivation of the vetor α with respet to time. Beause the angular displaement of the rangefinder beam between two onseutive frames is important, the simplest method of numerial ISSN: ISBN:

4 α/α [-] Z [m] Fig. 3 Relative error in angle α evaluation derivation was used to ompute the angular veloity ω in form α αi =, for i=.. n 2, () t i+ ω i ti+ i where α i and α i+ are the elements of the vetor α, t i is the element of the vetor t and n is the size of these vetors. 3.2 The angular veloity of the rangefinder beam measurement implementation To verify the hypotheses mentioned in the beginning of the Chapter 3 of this artile the following measurements has been arranged. A) Hypothesis: The rangefinder beam vibrates as the elasti body. Two ameras are mounted at the ends of the rangefinder beam. If the beam behaves as the elasti body (the motion in basi natural shape of vibration is supposed mainly), the reord of the angle α from the first amera will show the phase shift with respet to the reord of the other amera. Otherwise, the beam an be onsidered solid. B) Hypothesis: The rangefinder beam vibrates as the solid body elastially mounted at the output shaft of the transmission. One amera is mounted on the end of the beam; the other is mounted on the output shat of the transmission. Again, if the reord of the angle α is phase-shifted with respet to the reord of the angle α from the other amera, the onnetion between the output shaft of the servo is elasti. Otherwise, the onnetion is solid and the struture behaves as the solid body. C) Hypothesis: Elastially mounted rangefinder as the solid body on the basis (tripod). One amera is mounted on the end of the beam; the other is mounted on the head of the tripod. Theoretially, the head of the tripod should stay still during the rotation motion of the rangefinder. If the head of the tripod moves synhronously with the rangefinder, the reason of the parasite vibrations ould be the elastiity of the tripod. D) Hypothesis: Inorretly ontrolled servomotor. The rangefinder beam is dismounted from the output shaft of the transmission, so as it annot retroatively effet the servo behavior by its inertia. Camera is mounted on the output shaft of the transmission. If the servo response, measured by means of the amera, is phase or amplitude shifted with respet to the desired value of the angular veloity, the servomotor is ontrolled inorretly. Otherwise, the servo motor is ontrolled orretly, or the non-linear response of the servo is aused only by inertia of the rangefinder beam. The series of measurements has been made for onfigurations mentioned above, whereas for eah onfiguration the desired angular veloity of the beam has been set to values -.5 rad.s -, -. rad.s -, -.5 rad.s - and -. rad.s -, whih represents the range of the angular veloities used for traking of the ground targets. As the example, in the following pitures the results of the evaluated angular veloity of the rangefinder beam analysis for desired angular veloity ω =. rad.s - are shown for variant when the amera is mounted at one end of the beam and the amera is mounted at the other end of beam (variant A). ω [rad.s - ] x Fig. 4 Angular veloity of amera - A In Fig. 5 the angular veloity of the beam evaluated using the image information from amera is shown. ISSN: ISBN:

5 ω [rad.s - ] 5 x between the beam and the output shaft of the transmission behaves as absolutely stiff in the operational range of the traking veloities. The reord of the angular veloity ω of the amera mounted at the end of the beam and the angular veloity ω of the amera mounted at the tripod head is shown in Fig. 7 and Fig x Fig. 5 Angular veloity of amera - A ω [rad.s - ] -5 - The similarity of these ourses was ompared using the normalized ross-orrelation method aording to the formula [9] R ωω ( Tj) = n 2 i= ( ) ( ( ti) ) ( Tj ti) ω ω ω + ω ( ) n n 2 ( ( ti) ) ( Tj ti) ω ω ω + ω i= i= (2) where ω and ω are mean values of the vetors ω and ω respetively. For omparison only the motion parts of the reords were extrated. The result of the rossorrelation is shown in Fig ω [rad.s - ] x Fig. 7 Angular veloity of amera - C R ω ω [-] Fig. 8 Angular veloity of amera - C Fig. 6 Cross-orrelation of ω and ω - A In an be seen from Fig. 6 that the ross-orrelation response displays almost perfet math in both amplitude and phase part of the ω and ω reords. It means that the rangefinder beam behaves as the solid body and the parasiti vibrations, displayed in the Fig. 4 and Fig. 5, are aused by elastiity of another part of the rangefinder design. The B) measurement onfiguration was analyzed with the same results, i.e. the onnetion Also in this ase only the motion part of these reords was used for analysis. Already from these time reords it is obvious that the tripod, whih should be absolutely stiff theoretially, shows the vibrations of relatively signifiant level. The orrelation response for the measurement onfiguration C) is displayed in Fig. 9. It an be seen from this diagram that even if the maximum of the orrelation response is in the zero point, the linear dependeny between ω and ω is weaker than in ase of the variants A) and B). ISSN: ISBN:

6 R ω ω [-] presented in this artile. This method an be used for the fast evaluation of the angular displaement and veloities of the ivil and mehanial strutures, where the diretion of the motion vetor an be estimated in advane and when the added amera mass does not effet the dynami harateristis of the struture signifiantly Fig. 9 Cross-orrelation of ω and ω - C 3.3 The angular veloity of the rangefinder beam measurement evaluation Taking into aount the results of the measurements mentioned above the following partial onlusions an be made. Variant A) Beause the reords of the rangefinder beam angular veloities at the ends of the beam do not show the differene in the both amplitude and phase part, it an be said that the beam behaves as the solid body in the range of the operating traking veloities. Variant B) Beause the reords of the angular veloities at the end of the beam and at the output shaft of the transmission do not show the signifiant differene in the both amplitude and phase part, it an be said that the onnetion of the rangefinder beam to the output shaft of the transmission an be onsidered solid in the range of the operating traking veloities. Variant C) Beause the reord of the angular veloity of the tripod head is not zero, it is obvious that the tripod is not stiff enough. Furthermore, the reord of the angular veloity at the end of the rangefinder beam shows signifiantly higher amplitude swing than the reord of the angular veloity at the head of the tripod and these reords show the phase shift in the transition part. Therefore, it an be said that the low stiffness of the tripod an be onsidered as the main reason of the parasiti vibrations of the rangefinder beam. In addition, the amplitude and phase shift between the motion of the beam and tripod head an mean that another flexible onnetion exists between the output shaft of the transmission and the tripod head (it ould be likely the baklash of the transmission). 4 Conlusion The simple method of the vibration harateristis measurement using the digitized image information is Referenes: [] Institutional researh plan MOFVT42 - Researh into passive opti-eletroni systems of automati target traking for fire-ontrol systems. The Researh and Development Innovation Information System of the Czeh Republi. MOFVT42 [2] Jedlika L., Beer S., Videnka M.: Modelling of pressure gradient in the spae behind the projetile. In Proeedings Of The 7th Wseas International Conferene On System Siene And Simulation In Engineering (ICOSSSE '8). WSEAS Press, 28. p. -4. ISBN: [3] Balla J., Popelinsky L., Krist Z.: Drive of Weapon with Together Bound Barrels and Breehes. In Proeedings Of The 5th Wseas International Conferene On Applied And Theoretial Mehanis (MECHANICS '9). WSEAS Presss, 29. p ISBN: [4] Vitek R.: Influene of the small arm barrel bore length on the angle of jump dispersion. In Proeedings Of The 7th Wseas International Conferene On System Siene And Simulation In Engineering (ICOSSSE '8). WSEAS Press, 28. p ISBN: [5] Mako M., Balaz T.: The design of the operator measuring in fire ontrol system. In Mathematial Methods And Computational Tehniques In Researh And Eduation. WSEAS Press, 27. p ISBN: [6] Kraus K.: Photogrammetry, Volume, Fundamentals and Standard Proesses, Fourth Edition, Dümmler, 2, s. 397, ISBN: [7] Vitek, R. The mathematial model of spatial objet position determination using the image information. [Researh report of the projet 42]. University of Defense in Brno, 25. p. 32. [8] Balate, J.: Automati ontrol. Prague: BEN, 24. p ISBN: [9] Orfanidis, S.J.: Optimum Signal Proessing. An Introdution. 2nd Edition, Prentie-Hall, Englewood Cliffs, NJ, 996. p. 59. ISBN: ISSN: ISBN:

Smooth Trajectory Planning Along Bezier Curve for Mobile Robots with Velocity Constraints

Smooth Trajectory Planning Along Bezier Curve for Mobile Robots with Velocity Constraints Smooth Trajetory Planning Along Bezier Curve for Mobile Robots with Veloity Constraints Gil Jin Yang and Byoung Wook Choi Department of Eletrial and Information Engineering Seoul National University of

More information

Detection and Recognition of Non-Occluded Objects using Signature Map

Detection and Recognition of Non-Occluded Objects using Signature Map 6th WSEAS International Conferene on CIRCUITS, SYSTEMS, ELECTRONICS,CONTROL & SIGNAL PROCESSING, Cairo, Egypt, De 9-31, 007 65 Detetion and Reognition of Non-Oluded Objets using Signature Map Sangbum Park,

More information

Learning Convention Propagation in BeerAdvocate Reviews from a etwork Perspective. Abstract

Learning Convention Propagation in BeerAdvocate Reviews from a etwork Perspective. Abstract CS 9 Projet Final Report: Learning Convention Propagation in BeerAdvoate Reviews from a etwork Perspetive Abstrat We look at the way onventions propagate between reviews on the BeerAdvoate dataset, and

More information

Trajectory Tracking Control for A Wheeled Mobile Robot Using Fuzzy Logic Controller

Trajectory Tracking Control for A Wheeled Mobile Robot Using Fuzzy Logic Controller Trajetory Traking Control for A Wheeled Mobile Robot Using Fuzzy Logi Controller K N FARESS 1 M T EL HAGRY 1 A A EL KOSY 2 1 Eletronis researh institute, Cairo, Egypt 2 Faulty of Engineering, Cairo University,

More information

Introduction to Seismology Spring 2008

Introduction to Seismology Spring 2008 MIT OpenCourseWare http://ow.mit.edu 1.510 Introdution to Seismology Spring 008 For information about iting these materials or our Terms of Use, visit: http://ow.mit.edu/terms. 1.510 Leture Notes 3.3.007

More information

A radiometric analysis of projected sinusoidal illumination for opaque surfaces

A radiometric analysis of projected sinusoidal illumination for opaque surfaces University of Virginia tehnial report CS-21-7 aompanying A Coaxial Optial Sanner for Synhronous Aquisition of 3D Geometry and Surfae Refletane A radiometri analysis of projeted sinusoidal illumination

More information

Comparative Analysis of two Types of Leg-observation-based Visual Servoing Approaches for the Control of a Five-bar Mechanism

Comparative Analysis of two Types of Leg-observation-based Visual Servoing Approaches for the Control of a Five-bar Mechanism Proeedings of Australasian Conferene on Robotis and Automation, 2-4 De 2014, The University of Melbourne, Melbourne, Australia Comparative Analysis of two Types of Leg-observation-based Visual Servoing

More information

A Novel Validity Index for Determination of the Optimal Number of Clusters

A Novel Validity Index for Determination of the Optimal Number of Clusters IEICE TRANS. INF. & SYST., VOL.E84 D, NO.2 FEBRUARY 2001 281 LETTER A Novel Validity Index for Determination of the Optimal Number of Clusters Do-Jong KIM, Yong-Woon PARK, and Dong-Jo PARK, Nonmembers

More information

NONLINEAR BACK PROJECTION FOR TOMOGRAPHIC IMAGE RECONSTRUCTION. Ken Sauer and Charles A. Bouman

NONLINEAR BACK PROJECTION FOR TOMOGRAPHIC IMAGE RECONSTRUCTION. Ken Sauer and Charles A. Bouman NONLINEAR BACK PROJECTION FOR TOMOGRAPHIC IMAGE RECONSTRUCTION Ken Sauer and Charles A. Bouman Department of Eletrial Engineering, University of Notre Dame Notre Dame, IN 46556, (219) 631-6999 Shool of

More information

A {k, n}-secret Sharing Scheme for Color Images

A {k, n}-secret Sharing Scheme for Color Images A {k, n}-seret Sharing Sheme for Color Images Rastislav Luka, Konstantinos N. Plataniotis, and Anastasios N. Venetsanopoulos The Edward S. Rogers Sr. Dept. of Eletrial and Computer Engineering, University

More information

ASSESSMENT OF TWO CHEAP CLOSE-RANGE FEATURE EXTRACTION SYSTEMS

ASSESSMENT OF TWO CHEAP CLOSE-RANGE FEATURE EXTRACTION SYSTEMS ASSESSMENT OF TWO CHEAP CLOSE-RANGE FEATURE EXTRACTION SYSTEMS Ahmed Elaksher a, Mohammed Elghazali b, Ashraf Sayed b, and Yasser Elmanadilli b a Shool of Civil Engineering, Purdue University, West Lafayette,

More information

Video Data and Sonar Data: Real World Data Fusion Example

Video Data and Sonar Data: Real World Data Fusion Example 14th International Conferene on Information Fusion Chiago, Illinois, USA, July 5-8, 2011 Video Data and Sonar Data: Real World Data Fusion Example David W. Krout Applied Physis Lab dkrout@apl.washington.edu

More information

Torpedo Trajectory Visual Simulation Based on Nonlinear Backstepping Control

Torpedo Trajectory Visual Simulation Based on Nonlinear Backstepping Control orpedo rajetory Visual Simulation Based on Nonlinear Bakstepping Control Peng Hai-jun 1, Li Hui-zhou Chen Ye 1, 1. Depart. of Weaponry Eng, Naval Univ. of Engineering, Wuhan 400, China. Depart. of Aeronautial

More information

Dr.Hazeem Al-Khafaji Dept. of Computer Science, Thi-Qar University, College of Science, Iraq

Dr.Hazeem Al-Khafaji Dept. of Computer Science, Thi-Qar University, College of Science, Iraq Volume 4 Issue 6 June 014 ISSN: 77 18X International Journal of Advaned Researh in Computer Siene and Software Engineering Researh Paper Available online at: www.ijarsse.om Medial Image Compression using

More information

Particle Swarm Optimization for the Design of High Diffraction Efficient Holographic Grating

Particle Swarm Optimization for the Design of High Diffraction Efficient Holographic Grating Original Artile Partile Swarm Optimization for the Design of High Diffration Effiient Holographi Grating A.K. Tripathy 1, S.K. Das, M. Sundaray 3 and S.K. Tripathy* 4 1, Department of Computer Siene, Berhampur

More information

Supplementary Material: Geometric Calibration of Micro-Lens-Based Light-Field Cameras using Line Features

Supplementary Material: Geometric Calibration of Micro-Lens-Based Light-Field Cameras using Line Features Supplementary Material: Geometri Calibration of Miro-Lens-Based Light-Field Cameras using Line Features Yunsu Bok, Hae-Gon Jeon and In So Kweon KAIST, Korea As the supplementary material, we provide detailed

More information

Finding the Equation of a Straight Line

Finding the Equation of a Straight Line Finding the Equation of a Straight Line You should have, before now, ome aross the equation of a straight line, perhaps at shool. Engineers use this equation to help determine how one quantity is related

More information

The Implementation of RRTs for a Remote-Controlled Mobile Robot

The Implementation of RRTs for a Remote-Controlled Mobile Robot ICCAS5 June -5, KINEX, Gyeonggi-Do, Korea he Implementation of RRs for a Remote-Controlled Mobile Robot Chi-Won Roh*, Woo-Sub Lee **, Sung-Chul Kang *** and Kwang-Won Lee **** * Intelligent Robotis Researh

More information

Analysis and verification of multi-rotors attitude control algorithms in. Pixhawk. Fangzhen Lin 1, a

Analysis and verification of multi-rotors attitude control algorithms in. Pixhawk. Fangzhen Lin 1, a 6th International Conferene on Advaned Design and Manufaturing Engineering (ICADME 2016) Analysis and verifiation of multi-rotors attitude ontrol algorithms in Pixhawk Fangzhen Lin 1, a 1 Beihang University,

More information

Chemical, Biological and Radiological Hazard Assessment: A New Model of a Plume in a Complex Urban Environment

Chemical, Biological and Radiological Hazard Assessment: A New Model of a Plume in a Complex Urban Environment hemial, Biologial and Radiologial Haard Assessment: A New Model of a Plume in a omplex Urban Environment Skvortsov, A.T., P.D. Dawson, M.D. Roberts and R.M. Gailis HPP Division, Defene Siene and Tehnology

More information

Cluster-Based Cumulative Ensembles

Cluster-Based Cumulative Ensembles Cluster-Based Cumulative Ensembles Hanan G. Ayad and Mohamed S. Kamel Pattern Analysis and Mahine Intelligene Lab, Eletrial and Computer Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1,

More information

Flow Demands Oriented Node Placement in Multi-Hop Wireless Networks

Flow Demands Oriented Node Placement in Multi-Hop Wireless Networks Flow Demands Oriented Node Plaement in Multi-Hop Wireless Networks Zimu Yuan Institute of Computing Tehnology, CAS, China {zimu.yuan}@gmail.om arxiv:153.8396v1 [s.ni] 29 Mar 215 Abstrat In multi-hop wireless

More information

Stable Road Lane Model Based on Clothoids

Stable Road Lane Model Based on Clothoids Stable Road Lane Model Based on Clothoids C Gakstatter*, S Thomas**, Dr P Heinemann*, Prof Gudrun Klinker*** *Audi Eletronis Venture GmbH, **Leibniz Universität Hannover, ***Tehnishe Universität Münhen

More information

On - Line Path Delay Fault Testing of Omega MINs M. Bellos 1, E. Kalligeros 1, D. Nikolos 1,2 & H. T. Vergos 1,2

On - Line Path Delay Fault Testing of Omega MINs M. Bellos 1, E. Kalligeros 1, D. Nikolos 1,2 & H. T. Vergos 1,2 On - Line Path Delay Fault Testing of Omega MINs M. Bellos, E. Kalligeros, D. Nikolos,2 & H. T. Vergos,2 Dept. of Computer Engineering and Informatis 2 Computer Tehnology Institute University of Patras,

More information

Gray Codes for Reflectable Languages

Gray Codes for Reflectable Languages Gray Codes for Refletable Languages Yue Li Joe Sawada Marh 8, 2008 Abstrat We lassify a type of language alled a refletable language. We then develop a generi algorithm that an be used to list all strings

More information

Face and Facial Feature Tracking for Natural Human-Computer Interface

Face and Facial Feature Tracking for Natural Human-Computer Interface Fae and Faial Feature Traking for Natural Human-Computer Interfae Vladimir Vezhnevets Graphis & Media Laboratory, Dept. of Applied Mathematis and Computer Siene of Mosow State University Mosow, Russia

More information

Graph-Based vs Depth-Based Data Representation for Multiview Images

Graph-Based vs Depth-Based Data Representation for Multiview Images Graph-Based vs Depth-Based Data Representation for Multiview Images Thomas Maugey, Antonio Ortega, Pasal Frossard Signal Proessing Laboratory (LTS), Eole Polytehnique Fédérale de Lausanne (EPFL) Email:

More information

BioTechnology. An Indian Journal FULL PAPER. Trade Science Inc. Improvement of low illumination image enhancement algorithm based on physical mode

BioTechnology. An Indian Journal FULL PAPER. Trade Science Inc. Improvement of low illumination image enhancement algorithm based on physical mode [Type text] [Type text] [Type text] ISSN : 0974-7435 Volume 10 Issue 22 BioTehnology 2014 An Indian Journal FULL PAPER BTAIJ, 10(22), 2014 [13995-14001] Improvement of low illumination image enhanement

More information

RANGE DOPPLER ALGORITHM FOR BISTATIC SAR PROCESSING BASED ON THE IMPROVED LOFFELD S BISTATIC FORMULA

RANGE DOPPLER ALGORITHM FOR BISTATIC SAR PROCESSING BASED ON THE IMPROVED LOFFELD S BISTATIC FORMULA Progress In Eletromagnetis Researh Letters, Vol. 27, 161 169, 2011 RANGE DOPPLER ALGORITHM FOR ISTATIC SAR PROCESSING ASED ON THE IMPROVED LOFFELD S ISTATIC FORMULA X. Wang 1, * and D. Y. Zhu 2 1 Nanjing

More information

the data. Structured Principal Component Analysis (SPCA)

the data. Structured Principal Component Analysis (SPCA) Strutured Prinipal Component Analysis Kristin M. Branson and Sameer Agarwal Department of Computer Siene and Engineering University of California, San Diego La Jolla, CA 9193-114 Abstrat Many tasks involving

More information

Plot-to-track correlation in A-SMGCS using the target images from a Surface Movement Radar

Plot-to-track correlation in A-SMGCS using the target images from a Surface Movement Radar Plot-to-trak orrelation in A-SMGCS using the target images from a Surfae Movement Radar G. Golino Radar & ehnology Division AMS, Italy ggolino@amsjv.it Abstrat he main topi of this paper is the formulation

More information

FOREGROUND OBJECT EXTRACTION USING FUZZY C MEANS WITH BIT-PLANE SLICING AND OPTICAL FLOW

FOREGROUND OBJECT EXTRACTION USING FUZZY C MEANS WITH BIT-PLANE SLICING AND OPTICAL FLOW FOREGROUND OBJECT EXTRACTION USING FUZZY C EANS WITH BIT-PLANE SLICING AND OPTICAL FLOW SIVAGAI., REVATHI.T, JEGANATHAN.L 3 APSG, SCSE, VIT University, Chennai, India JRF, DST, Dehi, India. 3 Professor,

More information

Time delay estimation of reverberant meeting speech: on the use of multichannel linear prediction

Time delay estimation of reverberant meeting speech: on the use of multichannel linear prediction University of Wollongong Researh Online Faulty of Informatis - apers (Arhive) Faulty of Engineering and Information Sienes 7 Time delay estimation of reverberant meeting speeh: on the use of multihannel

More information

The Alpha Torque and Quantum Physics

The Alpha Torque and Quantum Physics The Alpha Torque and Quantum Physis Zhiliang Cao, Henry Cao williamao15000@yahoo.om, henry.gu.ao@gmail.om July 18, 010 Abstrat In the enter of the unierse, there isn t a super massie blak hole or any speifi

More information

Detection of RF interference to GPS using day-to-day C/No differences

Detection of RF interference to GPS using day-to-day C/No differences 1 International Symposium on GPS/GSS Otober 6-8, 1. Detetion of RF interferene to GPS using day-to-day /o differenes Ryan J. R. Thompson 1#, Jinghui Wu #, Asghar Tabatabaei Balaei 3^, and Andrew G. Dempster

More information

KERNEL SPARSE REPRESENTATION WITH LOCAL PATTERNS FOR FACE RECOGNITION

KERNEL SPARSE REPRESENTATION WITH LOCAL PATTERNS FOR FACE RECOGNITION KERNEL SPARSE REPRESENTATION WITH LOCAL PATTERNS FOR FACE RECOGNITION Cuiui Kang 1, Shengai Liao, Shiming Xiang 1, Chunhong Pan 1 1 National Laboratory of Pattern Reognition, Institute of Automation, Chinese

More information

MATH STUDENT BOOK. 12th Grade Unit 6

MATH STUDENT BOOK. 12th Grade Unit 6 MATH STUDENT BOOK 12th Grade Unit 6 Unit 6 TRIGONOMETRIC APPLICATIONS MATH 1206 TRIGONOMETRIC APPLICATIONS INTRODUCTION 3 1. TRIGONOMETRY OF OBLIQUE TRIANGLES 5 LAW OF SINES 5 AMBIGUITY AND AREA OF A TRIANGLE

More information

MPhys Final Year Project Dissertation by Andrew Jackson

MPhys Final Year Project Dissertation by Andrew Jackson Development of software for the omputation of the properties of eletrostati eletro-optial devies via both the diret ray traing and paraxial approximation tehniques. MPhys Final Year Projet Dissertation

More information

Chromaticity-matched Superimposition of Foreground Objects in Different Environments

Chromaticity-matched Superimposition of Foreground Objects in Different Environments FCV216, the 22nd Korea-Japan Joint Workshop on Frontiers of Computer Vision Chromatiity-mathed Superimposition of Foreground Objets in Different Environments Yohei Ogura Graduate Shool of Siene and Tehnology

More information

Numerical simulation of hemolysis: a comparison of Lagrangian and Eulerian modelling

Numerical simulation of hemolysis: a comparison of Lagrangian and Eulerian modelling Modelling in Mediine and Biology VI 361 Numerial simulation of hemolysis: a omparison of Lagrangian and Eulerian modelling S. Pirker 1, H. Shima 2 & M. Stoiber 2 1 Johannes Kepler University, 4040 Linz,

More information

Gradient based progressive probabilistic Hough transform

Gradient based progressive probabilistic Hough transform Gradient based progressive probabilisti Hough transform C.Galambos, J.Kittler and J.Matas Abstrat: The authors look at the benefits of exploiting gradient information to enhane the progressive probabilisti

More information

Multiple-Criteria Decision Analysis: A Novel Rank Aggregation Method

Multiple-Criteria Decision Analysis: A Novel Rank Aggregation Method 3537 Multiple-Criteria Deision Analysis: A Novel Rank Aggregation Method Derya Yiltas-Kaplan Department of Computer Engineering, Istanbul University, 34320, Avilar, Istanbul, Turkey Email: dyiltas@ istanbul.edu.tr

More information

And, the (low-pass) Butterworth filter of order m is given in the frequency domain by

And, the (low-pass) Butterworth filter of order m is given in the frequency domain by Problem Set no.3.a) The ideal low-pass filter is given in the frequeny domain by B ideal ( f ), f f; =, f > f. () And, the (low-pass) Butterworth filter of order m is given in the frequeny domain by B

More information

An Automatic Laser Scanning System for Accurate 3D Reconstruction of Indoor Scenes

An Automatic Laser Scanning System for Accurate 3D Reconstruction of Indoor Scenes An Automati Laser Sanning System for Aurate 3D Reonstrution of Indoor Senes Danrong Li, Honglong Zhang, and Zhan Song Shenzhen Institutes of Advaned Tehnology Chinese Aademy of Sienes Shenzhen, Guangdong

More information

with respect to the normal in each medium, respectively. The question is: How are θ

with respect to the normal in each medium, respectively. The question is: How are θ Prof. Raghuveer Parthasarathy University of Oregon Physis 35 Winter 8 3 R EFRACTION When light travels from one medium to another, it may hange diretion. This phenomenon familiar whenever we see the bent

More information

BENDING STIFFNESS AND DYNAMIC CHARACTERISTICS OF A ROTOR WITH SPLINE JOINTS

BENDING STIFFNESS AND DYNAMIC CHARACTERISTICS OF A ROTOR WITH SPLINE JOINTS Proeedings of ASME 0 International Mehanial Engineering Congress & Exposition IMECE0 November 5-, 0, San Diego, CA IMECE0-6657 BENDING STIFFNESS AND DYNAMIC CHARACTERISTICS OF A ROTOR WITH SPLINE JOINTS

More information

Special Relativistic (Flight-)Simulator

Special Relativistic (Flight-)Simulator Speial Relativisti (Flight-)Simulator Anton Tsoulos and Wolfgang Knopki Abstrat With speial relativisti visualisation it is possible to experiene and simulate relativisti effets whih our when traveling

More information

Humanoid Walking Control using the Capture Point

Humanoid Walking Control using the Capture Point Humanoid Walking Control using the Capture Point Christian Ott and Johannes Englsberger Institute of Robotis and Mehatronis German Aerospae Center (DLR e.v.) hristian.ott@dlr.de Joint torque sensing &

More information

timestamp, if silhouette(x, y) 0 0 if silhouette(x, y) = 0, mhi(x, y) = and mhi(x, y) < timestamp - duration mhi(x, y), else

timestamp, if silhouette(x, y) 0 0 if silhouette(x, y) = 0, mhi(x, y) = and mhi(x, y) < timestamp - duration mhi(x, y), else 3rd International Conferene on Multimedia Tehnolog(ICMT 013) An Effiient Moving Target Traking Strateg Based on OpenCV and CAMShift Theor Dongu Li 1 Abstrat Image movement involved bakground movement and

More information

特集 Road Border Recognition Using FIR Images and LIDAR Signal Processing

特集 Road Border Recognition Using FIR Images and LIDAR Signal Processing デンソーテクニカルレビュー Vol. 15 2010 特集 Road Border Reognition Using FIR Images and LIDAR Signal Proessing 高木聖和 バーゼル ファルディ Kiyokazu TAKAGI Basel Fardi ヘンドリック ヴァイゲル Hendrik Weigel ゲルド ヴァニーリック Gerd Wanielik This paper

More information

Calculation of typical running time of a branch-and-bound algorithm for the vertex-cover problem

Calculation of typical running time of a branch-and-bound algorithm for the vertex-cover problem Calulation of typial running time of a branh-and-bound algorithm for the vertex-over problem Joni Pajarinen, Joni.Pajarinen@iki.fi Otober 21, 2007 1 Introdution The vertex-over problem is one of a olletion

More information

Volume 3, Issue 9, September 2013 International Journal of Advanced Research in Computer Science and Software Engineering

Volume 3, Issue 9, September 2013 International Journal of Advanced Research in Computer Science and Software Engineering Volume 3, Issue 9, September 2013 ISSN: 2277 128X International Journal of Advaned Researh in Computer Siene and Software Engineering Researh Paper Available online at: www.ijarsse.om A New-Fangled Algorithm

More information

Simulation of Crystallographic Texture and Anisotropie of Polycrystals during Metal Forming with Respect to Scaling Aspects

Simulation of Crystallographic Texture and Anisotropie of Polycrystals during Metal Forming with Respect to Scaling Aspects Raabe, Roters, Wang Simulation of Crystallographi Texture and Anisotropie of Polyrystals during Metal Forming with Respet to Saling Aspets D. Raabe, F. Roters, Y. Wang Max-Plank-Institut für Eisenforshung,

More information

Vibration of buildings on pile groups due to railway traffic finiteelement boundary-element, approximating and prediction methods

Vibration of buildings on pile groups due to railway traffic finiteelement boundary-element, approximating and prediction methods ie 010 Nottingham University Press Proeedings of the International Conferene on Computing in Civil and Building Engineering W Tizani (Editor) Viration of uildings on pile groups due to railway traffi finiteelement

More information

CUTTING FORCES AND CONSECUTIVE DEFORMATIONS AT MILLING PARTS WITH THIN WALLS

CUTTING FORCES AND CONSECUTIVE DEFORMATIONS AT MILLING PARTS WITH THIN WALLS Proeedings of the International Conferene on Manufaturing Systems ICMaS Vol. 4, 2009, ISSN 1842-3183 University POLITEHNICA of Buharest, Mahine and Manufaturing Systems Department Buharest, Romania CUTTING

More information

Performance Improvement of TCP on Wireless Cellular Networks by Adaptive FEC Combined with Explicit Loss Notification

Performance Improvement of TCP on Wireless Cellular Networks by Adaptive FEC Combined with Explicit Loss Notification erformane Improvement of TC on Wireless Cellular Networks by Adaptive Combined with Expliit Loss tifiation Masahiro Miyoshi, Masashi Sugano, Masayuki Murata Department of Infomatis and Mathematial Siene,

More information

Improved Vehicle Classification in Long Traffic Video by Cooperating Tracker and Classifier Modules

Improved Vehicle Classification in Long Traffic Video by Cooperating Tracker and Classifier Modules Improved Vehile Classifiation in Long Traffi Video by Cooperating Traker and Classifier Modules Brendan Morris and Mohan Trivedi University of California, San Diego San Diego, CA 92093 {b1morris, trivedi}@usd.edu

More information

Dynamic System Identification and Validation of a Quadrotor UAV

Dynamic System Identification and Validation of a Quadrotor UAV Dynami System Identifiation and Validation of a Quadrotor UAV Min Goo Yoo PG Student, Department of Aerospae Engineering, Sejong University, Seoul, Republi of Korea E-mail: mingooyoo@gmailom Sung Kyung

More information

End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs

End-effector pose estimation of the Monash Epicyclic-Parallel Manipulator through the visual observation of its legs End-effetor pose estimation of the Monash Epiyli-Parallel Manipulator through the visual observation of its legs Alessia Vignolo,Sébastien Briot, Philippe Martinet,, Chao Chen 3 Abstrat Past researh works

More information

3D Model Based Pose Estimation For Omnidirectional Stereovision

3D Model Based Pose Estimation For Omnidirectional Stereovision 3D Model Based Pose Estimation For Omnidiretional Stereovision Guillaume Caron, Eri Marhand and El Mustapha Mouaddib Abstrat Robot vision has a lot to win as well with wide field of view indued by atadioptri

More information

Extracting Partition Statistics from Semistructured Data

Extracting Partition Statistics from Semistructured Data Extrating Partition Statistis from Semistrutured Data John N. Wilson Rihard Gourlay Robert Japp Mathias Neumüller Department of Computer and Information Sienes University of Strathlyde, Glasgow, UK {jnw,rsg,rpj,mathias}@is.strath.a.uk

More information

FUZZY WATERSHED FOR IMAGE SEGMENTATION

FUZZY WATERSHED FOR IMAGE SEGMENTATION FUZZY WATERSHED FOR IMAGE SEGMENTATION Ramón Moreno, Manuel Graña Computational Intelligene Group, Universidad del País Vaso, Spain http://www.ehu.es/winto; {ramon.moreno,manuel.grana}@ehu.es Abstrat The

More information

1. Introduction. 2. The Probable Stope Algorithm

1. Introduction. 2. The Probable Stope Algorithm 1. Introdution Optimization in underground mine design has reeived less attention than that in open pit mines. This is mostly due to the diversity o underground mining methods and omplexity o underground

More information

A Unified Subdivision Scheme for Polygonal Modeling

A Unified Subdivision Scheme for Polygonal Modeling EUROGRAPHICS 2 / A. Chalmers and T.-M. Rhyne (Guest Editors) Volume 2 (2), Number 3 A Unified Subdivision Sheme for Polygonal Modeling Jérôme Maillot Jos Stam Alias Wavefront Alias Wavefront 2 King St.

More information

Lecture 02 Image Formation

Lecture 02 Image Formation Institute of Informatis Institute of Neuroinformatis Leture 2 Image Formation Davide Saramuzza Outline of this leture Image Formation Other amera parameters Digital amera Perspetive amera model Lens distortion

More information

Abstract. Key Words: Image Filters, Fuzzy Filters, Order Statistics Filters, Rank Ordered Mean Filters, Channel Noise. 1.

Abstract. Key Words: Image Filters, Fuzzy Filters, Order Statistics Filters, Rank Ordered Mean Filters, Channel Noise. 1. Fuzzy Weighted Rank Ordered Mean (FWROM) Filters for Mixed Noise Suppression from Images S. Meher, G. Panda, B. Majhi 3, M.R. Meher 4,,4 Department of Eletronis and I.E., National Institute of Tehnology,

More information

We P9 16 Eigenray Tracing in 3D Heterogeneous Media

We P9 16 Eigenray Tracing in 3D Heterogeneous Media We P9 Eigenray Traing in 3D Heterogeneous Media Z. Koren* (Emerson), I. Ravve (Emerson) Summary Conventional two-point ray traing in a general 3D heterogeneous medium is normally performed by a shooting

More information

COMBINATION OF INTERSECTION- AND SWEPT-BASED METHODS FOR SINGLE-MATERIAL REMAP

COMBINATION OF INTERSECTION- AND SWEPT-BASED METHODS FOR SINGLE-MATERIAL REMAP Combination of intersetion- and swept-based methods for single-material remap 11th World Congress on Computational Mehanis WCCM XI) 5th European Conferene on Computational Mehanis ECCM V) 6th European

More information

Performance of Histogram-Based Skin Colour Segmentation for Arms Detection in Human Motion Analysis Application

Performance of Histogram-Based Skin Colour Segmentation for Arms Detection in Human Motion Analysis Application World Aademy of Siene, Engineering and Tehnology 8 009 Performane of Histogram-Based Skin Colour Segmentation for Arms Detetion in Human Motion Analysis Appliation Rosalyn R. Porle, Ali Chekima, Farrah

More information

A Novel Bit Level Time Series Representation with Implication of Similarity Search and Clustering

A Novel Bit Level Time Series Representation with Implication of Similarity Search and Clustering A Novel Bit Level Time Series Representation with Impliation of Similarity Searh and lustering hotirat Ratanamahatana, Eamonn Keogh, Anthony J. Bagnall 2, and Stefano Lonardi Dept. of omputer Siene & Engineering,

More information

Colouring contact graphs of squares and rectilinear polygons de Berg, M.T.; Markovic, A.; Woeginger, G.

Colouring contact graphs of squares and rectilinear polygons de Berg, M.T.; Markovic, A.; Woeginger, G. Colouring ontat graphs of squares and retilinear polygons de Berg, M.T.; Markovi, A.; Woeginger, G. Published in: nd European Workshop on Computational Geometry (EuroCG 06), 0 Marh - April, Lugano, Switzerland

More information

The Minimum Redundancy Maximum Relevance Approach to Building Sparse Support Vector Machines

The Minimum Redundancy Maximum Relevance Approach to Building Sparse Support Vector Machines The Minimum Redundany Maximum Relevane Approah to Building Sparse Support Vetor Mahines Xiaoxing Yang, Ke Tang, and Xin Yao, Nature Inspired Computation and Appliations Laboratory (NICAL), Shool of Computer

More information

What are Cycle-Stealing Systems Good For? A Detailed Performance Model Case Study

What are Cycle-Stealing Systems Good For? A Detailed Performance Model Case Study What are Cyle-Stealing Systems Good For? A Detailed Performane Model Case Study Wayne Kelly and Jiro Sumitomo Queensland University of Tehnology, Australia {w.kelly, j.sumitomo}@qut.edu.au Abstrat The

More information

Optimization of Two-Stage Cylindrical Gear Reducer with Adaptive Boundary Constraints

Optimization of Two-Stage Cylindrical Gear Reducer with Adaptive Boundary Constraints 5 JOURNAL OF SOFTWARE VOL. 8 NO. 8 AUGUST Optimization of Two-Stage Cylindrial Gear Reduer with Adaptive Boundary Constraints Xueyi Li College of Mehanial and Eletroni Engineering Shandong University of

More information

Self-Location of a Mobile Robot with uncertainty by cooperation of an heading sensor and a CCD TV camera

Self-Location of a Mobile Robot with uncertainty by cooperation of an heading sensor and a CCD TV camera Self-oation of a Mobile Robot ith unertainty by ooperation of an heading sensor and a CCD TV amera E. Stella, G. Ciirelli, A. Distante Istituto Elaborazione Segnali ed Immagini - C.N.R. Via Amendola, 66/5-706

More information

Transition Detection Using Hilbert Transform and Texture Features

Transition Detection Using Hilbert Transform and Texture Features Amerian Journal of Signal Proessing 1, (): 35-4 DOI: 1.593/.asp.1.6 Transition Detetion Using Hilbert Transform and Texture Features G. G. Lashmi Priya *, S. Domni Department of Computer Appliations, National

More information

An Alternative Approach to the Fuzzifier in Fuzzy Clustering to Obtain Better Clustering Results

An Alternative Approach to the Fuzzifier in Fuzzy Clustering to Obtain Better Clustering Results An Alternative Approah to the Fuzziier in Fuzzy Clustering to Obtain Better Clustering Results Frank Klawonn Department o Computer Siene University o Applied Sienes BS/WF Salzdahlumer Str. 46/48 D-38302

More information

Defect Detection and Classification in Ceramic Plates Using Machine Vision and Naïve Bayes Classifier for Computer Aided Manufacturing

Defect Detection and Classification in Ceramic Plates Using Machine Vision and Naïve Bayes Classifier for Computer Aided Manufacturing Defet Detetion and Classifiation in Cerami Plates Using Mahine Vision and Naïve Bayes Classifier for Computer Aided Manufaturing 1 Harpreet Singh, 2 Kulwinderpal Singh, 1 Researh Student, 2 Assistant Professor,

More information

Cluster Centric Fuzzy Modeling

Cluster Centric Fuzzy Modeling 10.1109/TFUZZ.014.300134, IEEE Transations on Fuzzy Systems TFS-013-0379.R1 1 Cluster Centri Fuzzy Modeling Witold Pedryz, Fellow, IEEE, and Hesam Izakian, Student Member, IEEE Abstrat In this study, we

More information

A MULTI-SCALE CURVE MATCHING TECHNIQUE FOR THE ASSESSMENT OF ROAD ALIGNMENTS USING GPS/INS DATA

A MULTI-SCALE CURVE MATCHING TECHNIQUE FOR THE ASSESSMENT OF ROAD ALIGNMENTS USING GPS/INS DATA 6th International Symposium on Mobile Mapping Tehnology, Presidente Prudente, São Paulo, Brazil, July 1-4, 009 A MULTI-SCALE CURVE MATCHING TECHNIQUE FOR THE ASSESSMENT OF ROAD ALIGNMENTS USING GPS/INS

More information

Preliminary investigation of multi-wavelet denoising in partial discharge detection

Preliminary investigation of multi-wavelet denoising in partial discharge detection Preliminary investigation of multi-wavelet denoising in partial disharge detetion QIAN YONG Department of Eletrial Engineering Shanghai Jiaotong University 8#, Donghuan Road, Minhang distrit, Shanghai

More information

Multi-hop Fast Conflict Resolution Algorithm for Ad Hoc Networks

Multi-hop Fast Conflict Resolution Algorithm for Ad Hoc Networks Multi-hop Fast Conflit Resolution Algorithm for Ad Ho Networks Shengwei Wang 1, Jun Liu 2,*, Wei Cai 2, Minghao Yin 2, Lingyun Zhou 2, and Hui Hao 3 1 Power Emergeny Center, Sihuan Eletri Power Corporation,

More information

Detecting Moving Targets in Clutter in Airborne SAR via Keystoning and Multiple Phase Center Interferometry

Detecting Moving Targets in Clutter in Airborne SAR via Keystoning and Multiple Phase Center Interferometry Deteting Moving Targets in Clutter in Airborne SAR via Keystoning and Multiple Phase Center Interferometry D. M. Zasada, P. K. Sanyal The MITRE Corp., 6 Eletroni Parkway, Rome, NY 134 (dmzasada, psanyal)@mitre.org

More information

Projections. Let us start with projections in 2D, because there are easier to visualize.

Projections. Let us start with projections in 2D, because there are easier to visualize. Projetions Let us start ith projetions in D, beause there are easier to visualie. Projetion parallel to the -ais: Ever point in the -plane ith oordinates (, ) ill be transformed into the point ith oordinates

More information

Pipelined Multipliers for Reconfigurable Hardware

Pipelined Multipliers for Reconfigurable Hardware Pipelined Multipliers for Reonfigurable Hardware Mithell J. Myjak and José G. Delgado-Frias Shool of Eletrial Engineering and Computer Siene, Washington State University Pullman, WA 99164-2752 USA {mmyjak,

More information

High Speed Area Efficient VLSI Architecture for DCT using Proposed CORDIC Algorithm

High Speed Area Efficient VLSI Architecture for DCT using Proposed CORDIC Algorithm International Journal of Innovative Researh in Siene, Engineering and Tehnology Website: www.ijirset.om High Speed Area Effiient VLSI Arhiteture for DCT using Proposed CORDIC Algorithm Deepnarayan Sinha

More information

HEXA: Compact Data Structures for Faster Packet Processing

HEXA: Compact Data Structures for Faster Packet Processing Washington University in St. Louis Washington University Open Sholarship All Computer Siene and Engineering Researh Computer Siene and Engineering Report Number: 27-26 27 HEXA: Compat Data Strutures for

More information

Simultaneous image orientation in GRASS

Simultaneous image orientation in GRASS Simultaneous image orientation in GRASS Alessandro BERGAMINI, Alfonso VITTI, Paolo ATELLI Dipartimento di Ingegneria Civile e Ambientale, Università degli Studi di Trento, via Mesiano 77, 38 Trento, tel.

More information

3-D IMAGE MODELS AND COMPRESSION - SYNTHETIC HYBRID OR NATURAL FIT?

3-D IMAGE MODELS AND COMPRESSION - SYNTHETIC HYBRID OR NATURAL FIT? 3-D IMAGE MODELS AND COMPRESSION - SYNTHETIC HYBRID OR NATURAL FIT? Bernd Girod, Peter Eisert, Marus Magnor, Ekehard Steinbah, Thomas Wiegand Te {girod eommuniations Laboratory, University of Erlangen-Nuremberg

More information

Sequential Incremental-Value Auctions

Sequential Incremental-Value Auctions Sequential Inremental-Value Autions Xiaoming Zheng and Sven Koenig Department of Computer Siene University of Southern California Los Angeles, CA 90089-0781 {xiaominz,skoenig}@us.edu Abstrat We study the

More information

OFF-LINE ROBOT VISION SYSTEM PROGRAMMING USING A COMPUTER AIDED DESIGN SYSTEM S. SRIDARAN. Thesis submitted to the Faculty of the

OFF-LINE ROBOT VISION SYSTEM PROGRAMMING USING A COMPUTER AIDED DESIGN SYSTEM S. SRIDARAN. Thesis submitted to the Faculty of the OFF-LINE ROBOT VISION SYSTEM PROGRAMMING USING A COMPUTER AIDED DESIGN SYSTEM by S. SRIDARAN Thesis submitted to the Faulty of the Virginia Polytehni Institute and State University in partial fulfillment

More information

Design of tree-type support structure of free-form shell generated using fractal geometry

Design of tree-type support structure of free-form shell generated using fractal geometry 6 30 September, 06, Too, Japan K. Kawaguhi, M. Ohsai, T. Taeuhi (eds.) Design of tree-tpe support struture of free-form shell generated using fratal geometr Jinglan CUI*, Guanghun ZHOU a, Maoto OHSAKI

More information

Accommodations of QoS DiffServ Over IP and MPLS Networks

Accommodations of QoS DiffServ Over IP and MPLS Networks Aommodations of QoS DiffServ Over IP and MPLS Networks Abdullah AlWehaibi, Anjali Agarwal, Mihael Kadoh and Ahmed ElHakeem Department of Eletrial and Computer Department de Genie Eletrique Engineering

More information

An Event Display for ATLAS H8 Pixel Test Beam Data

An Event Display for ATLAS H8 Pixel Test Beam Data An Event Display for ATLAS H8 Pixel Test Beam Data George Gollin Centre de Physique des Partiules de Marseille and University of Illinois April 17, 1999 g-gollin@uiu.edu An event display program is now

More information

Accurate Image Based Relighting through Optimization

Accurate Image Based Relighting through Optimization Thirteenth Eurographis Workshop on Rendering (2002) P. Debeve and S. Gibson (Editors) Aurate Image Based Relighting through Optimization Pieter Peers Philip Dutré Department of Computer Siene, K.U.Leuven,

More information

We don t need no generation - a practical approach to sliding window RLNC

We don t need no generation - a practical approach to sliding window RLNC We don t need no generation - a pratial approah to sliding window RLNC Simon Wunderlih, Frank Gabriel, Sreekrishna Pandi, Frank H.P. Fitzek Deutshe Telekom Chair of Communiation Networks, TU Dresden, Dresden,

More information

Algorithms, Mechanisms and Procedures for the Computer-aided Project Generation System

Algorithms, Mechanisms and Procedures for the Computer-aided Project Generation System Algorithms, Mehanisms and Proedures for the Computer-aided Projet Generation System Anton O. Butko 1*, Aleksandr P. Briukhovetskii 2, Dmitry E. Grigoriev 2# and Konstantin S. Kalashnikov 3 1 Department

More information

Exploring the Commonality in Feature Modeling Notations

Exploring the Commonality in Feature Modeling Notations Exploring the Commonality in Feature Modeling Notations Miloslav ŠÍPKA Slovak University of Tehnology Faulty of Informatis and Information Tehnologies Ilkovičova 3, 842 16 Bratislava, Slovakia miloslav.sipka@gmail.om

More information

Automated System for the Study of Environmental Loads Applied to Production Risers Dustin M. Brandt 1, Celso K. Morooka 2, Ivan R.

Automated System for the Study of Environmental Loads Applied to Production Risers Dustin M. Brandt 1, Celso K. Morooka 2, Ivan R. EngOpt 2008 - International Conferene on Engineering Optimization Rio de Janeiro, Brazil, 01-05 June 2008. Automated System for the Study of Environmental Loads Applied to Prodution Risers Dustin M. Brandt

More information

Fast Rigid Motion Segmentation via Incrementally-Complex Local Models

Fast Rigid Motion Segmentation via Incrementally-Complex Local Models Fast Rigid Motion Segmentation via Inrementally-Complex Loal Models Fernando Flores-Mangas Allan D. Jepson Department of Computer Siene, University of Toronto {mangas,jepson}@s.toronto.edu Abstrat The

More information