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Articles 1 - 5 of 5
Full-Text Articles in Computer Engineering
Framework For Implementing Advanced Radar Plotting Aid Capability For Small Maritime Vessels, Jason Stark Harris
Framework For Implementing Advanced Radar Plotting Aid Capability For Small Maritime Vessels, Jason Stark Harris
Electrical & Computer Engineering Theses & Dissertations
Every year in the United States many people are killed or injured when maritime vessels collide with other vessels or fixed objects. According to the United States Coast Guard, the top contributing factors to these collisions are operator inattention, operator inexperience and an improper lookout. Larger commercial vessels are required to have RADAR systems which support Automatic RADAR Plotting Aid (ARPA) which can automatically detect collisions and alert an operator to change course. These systems can be very expensive which put them out of reach of the average recreational boater. It is however possible to implement a low cost ARPA …
Constrained Discrete-Time Optimal Control Of Uncertain Systems With Adaptivelyapunov Redesign, Oğuz Han Altintaş, Ali̇ Emre Turgut
Constrained Discrete-Time Optimal Control Of Uncertain Systems With Adaptivelyapunov Redesign, Oğuz Han Altintaş, Ali̇ Emre Turgut
Turkish Journal of Electrical Engineering and Computer Sciences
In this paper, the conventional estimation-based receding horizon control paradigm is enhanced by using functional approximation, the adaptive modifications on state estimation and convex projection notion from optimization theory. The mathematical formalism of parameter adaptation and uncertainty estimation procedure are based on the redesign of optimal state estimation in discrete-time. By using Lyapunov stability theory, it is shown that the online approximation of uncertainties acting on both physical system and state estimator can be obtained. Moreover, the convergence criteria for online parameter adaptation with fully matched and partially matched cases are presented and shown. In addition, it is shown that …
A Framework For Tumor Localization In Robot-Assisted Minimally Invasive Surgery, Nikita Chopra
A Framework For Tumor Localization In Robot-Assisted Minimally Invasive Surgery, Nikita Chopra
Electronic Thesis and Dissertation Repository
Manual palpation of tissue is frequently used in open surgery, e.g., for localization of tumors and buried vessels and for tissue characterization. The overall objective of this work is to explore how tissue palpation can be performed in Robot-Assisted Minimally Invasive Surgery (RAMIS) using laparoscopic instruments conventionally used in RAMIS. This thesis presents a framework where a surgical tool is moved teleoperatively in a manner analogous to the repetitive pressing motion of a finger during manual palpation. We interpret the changes in parameters due to this motion such as the applied force and the resulting indentation depth to accurately determine …
Distributed Object Tracking Using A Cluster-Based Kalman Filter In Wireless Camera Networks, Henry Medeiros, Johnny Park, Avinash Kak
Distributed Object Tracking Using A Cluster-Based Kalman Filter In Wireless Camera Networks, Henry Medeiros, Johnny Park, Avinash Kak
Electrical and Computer Engineering Faculty Research and Publications
Local data aggregation is an effective means to save sensor node energy and prolong the lifespan of wireless sensor networks. However, when a sensor network is used to track moving objects, the task of local data aggregation in the network presents a new set of challenges, such as the necessity to estimate, usually in real time, the constantly changing state of the target based on information acquired by the nodes at different time instants. To address these issues, we propose a distributed object tracking system which employs a cluster-based Kalman filter in a network of wireless cameras. When a target …
H-Infinity Estimation For Fuzzy Membership Function Optimization, Daniel J. Simon
H-Infinity Estimation For Fuzzy Membership Function Optimization, Daniel J. Simon
Electrical and Computer Engineering Faculty Publications
Given a fuzzy logic system, how can we determine the membership functions that will result in the best performance? If we constrain the membership functions to a specific shape (e.g., triangles or trapezoids) then each membership function can be parameterized by a few variables and the membership optimization problem can be reduced to a parameter optimization problem. The parameter optimization problem can then be formulated as a nonlinear filtering problem. In this paper we solve the nonlinear filtering problem using H∞ state estimation theory. However, the membership functions that result from this approach are not (in general) sum normal. …