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Full-Text Articles in Computer Engineering
Electronic Image Stabilization For Mobile Robotic Vision Systems, Michael John Smith
Electronic Image Stabilization For Mobile Robotic Vision Systems, Michael John Smith
Theses and Dissertations
When a camera is affixed on a dynamic mobile robot, image stabilization is the first step towards more complex analysis on the video feed. This thesis presents a novel electronic image stabilization (EIS) algorithm for small inexpensive highly dynamic mobile robotic platforms with onboard camera systems. The algorithm combines optical flow motion parameter estimation with angular rate data provided by a strapdown inertial measurement unit (IMU). A discrete Kalman filter in feedforward configuration is used for optimal fusion of the two data sources. Performance evaluations are conducted by a simulated video truth model (capturing the effects of image translation, rotation, …
Using A Multiobjective Approach To Balance Mission And Network Goals Within A Delay Tolerant Network Topology, Anthony L. Larweck
Using A Multiobjective Approach To Balance Mission And Network Goals Within A Delay Tolerant Network Topology, Anthony L. Larweck
Theses and Dissertations
This thesis investigates how to incorporate aspects of an Air Tasking Order (ATO), a Communications Tasking Order (CTO), and a Network Tasking Order (NTO) within a cognitive network framework. This was done in an effort to aid the commander and or network operator by providing automation for battlespace management to improve response time and potential inconsistent problem resolution. In particular, autonomous weapon systems such as unmanned aerial vehicles (UAVs) were the focus of this research This work implemented a simple cognitive process by incorporating aspects of behavior based robotic control principles to solve the multi-objective optimization problem of balancing both …
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Theses and Dissertations
Robots of varying autonomy have been used to take the place of humans in dangerous tasks. While robots are considered more expendable than human beings, they are complex to develop and expensive to replace if lost. Recent technological advances produce small, inexpensive hardware platforms that are powerful enough to match robots from just a few years ago. There are many types of autonomous control architecture that can be used to control these hardware platforms. One in particular, the Unified Behavior Framework, is a flexible, responsive control architecture that is designed to simplify the control system’s design process through behavior module …
Image Processing For Multiple-Target Tracking On A Graphics Processing Unit, Michael A. Tanner
Image Processing For Multiple-Target Tracking On A Graphics Processing Unit, Michael A. Tanner
Theses and Dissertations
Multiple-target tracking (MTT) systems have been implemented on many different platforms, however these solutions are often expensive and have long development times. Such MTT implementations require custom hardware, yet offer very little flexibility with ever changing data sets and target tracking requirements. This research explores how to supplement and enhance MTT performance with an existing graphics processing unit (GPU) on a general computing platform. Typical computers are already equipped with powerful GPUs to support various games and multimedia applications. However, such GPUs are not currently being used in desktop MTT applications. This research explores if and how a GPU can …
The Evaluation Of Rekeying Protocols Within The Hubenko Architecture As Applied To Wireless Sensor Networks, Cory J. Antosh
The Evaluation Of Rekeying Protocols Within The Hubenko Architecture As Applied To Wireless Sensor Networks, Cory J. Antosh
Theses and Dissertations
This thesis investigates the impact of using three different rekeying protocols–pair-wise, hierarchical, and Secure Lock within a wireless sensor network (WSN) under the Hubenko architecture. Using a Matlab computer simulation, the impact of the three rekeying protocols on the number of bits transmitted across the network and the amount of battery power consumed in WSN nodes during rekey operations is investigated. Baseline pair-wise rekeying performance can be improved by using either Secure Lock or hierarchical rekeying. The best choice depends on the size of the WSN and the size of the key used. Hierarchical rekeying is the best choice for …
Adaptive Control Of Woofer-Tweeter Adaptive Optics, Jimmie J. Perez
Adaptive Control Of Woofer-Tweeter Adaptive Optics, Jimmie J. Perez
Theses and Dissertations
Adaptive optics applies advanced sensing and control to improve the ability of optical systems to collect images through a turbulent atmosphere. The results of this research effort demonstrate that the combination of two recent approaches improves the performance of adaptive optics in directed energy and laser communication scenarios. The first approach is adaptive control, which offers improved performance over fixed-gain controllers in the presence of rapidly changing turbulence. The second approach incorporated into the study is a dual-mirror system. The two mirrors are a high-bandwidth, low-actuator-stroke (tweeter) mirror and a low-bandwidth, large actuator-stroke (woofer) mirror. The woofer-tweeter combination allows for …