Computer Engineering Commons^™

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 …

A Uav Target Tracking And Control Algorithm Based On Siamrpn, Songming Jiao, Hui Ding, Yufei Zhong, Xin Yao, Jiahao Jiahao Zheng

Journal of System Simulation

Aiming at the requirement of autonomously tracking land moving targets of rotary-wing UAVs, an autonomous and stable UAV tracking and control system that can adapt to the common interference environments such as scale changes, occlusions, and attitude changes is constructed.The system extracts the imaging position of the target in airborne camera through the twin network based on deep learning, and obtains the relative pose of the target. The image processing algorithm is designed to process the icons in the tracking frame, and the yaw angle of UAV relative to the tracking target is obtained, Kalman filter is introduced to …

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 …

Distributed Power Emergency Rescue Perception And Cooperative Information Interaction Technology, Xiaojun Xie, Hanchen Lu, Ruoxin Shi

Journal of System Simulation

Abstract: An emergency rescue technology for modern vehicle was proposed based on the implementation process of positioning, communication and task. The key subsystems of information processing and multi-link message in the rescue system were developed. The cooperative interaction method and technical scheme of emergency command system were based on multi-link communication. To improve the communication effectiveness between the emergency command center and emergency rescue vehicles under harsh conditions, the problems of short message communication and vehicle data transmission were solved by establishing a framework for directing side and the vehicle side. Design and implementation of the system through the field …

Application Of Multiple-Stepwise And Kalman Filtering In Haze Forecast, Yunhao Xian, Hengde Zhang, Yonghua Xie, Le Yang

Journal of System Simulation

Abstract: Considering the importance of objective haze forecast and the low accuracy rate of haze forecast, a new haze objective forecast correction method based on the multiple stepwise regression algorithms and the Kalman filtering algorithm is proposed. The multiple stepwise regression method is used to control the physical factor of the dependent variable, and the visibility forecast equation is established. The Kalman filtering method is adopted to correct the regression coefficient in multivariate stepwise regression algorithm according to the actual data, and the haze objective forecast correction model is established. The experiments are carried out in Beijing, Guangzhou, Nanjing and …

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 …

Mobile Robot Localization Based On Kalman Filter, Omar Q. Mohsin

Dissertations and Theses

Robot localization is one of the most important subjects in the Robotics science. It is an interesting and complicated topic. There are many algorithms to solve the problem of localization. Each localization system has its own set of features, and based on them, a solution will be chosen. In my thesis, I want to present a solution to find the best estimate for a robot position in certain space for which a map is available. The thesis started with an elementary introduction to the probability and the Gaussian theories. Simple and advanced practical examples are presented to illustrate each concept …

Video Stabilization Using Sift Features, Fuzzy Clustering, And Kalman Filtering, Kevin Veon

Electronic Theses and Dissertations

Video stabilization removes unwanted motion from video sequences, often caused by vibrations or other instabilities. This improves video viewability and can aid in detection and tracking in computer vision algorithms. We have developed a digital video stabilization process using scale-invariant feature transform (SIFT) features for tracking motion between frames. These features provide information about location and orientation in each frame. The orientation information is generally not available with other features, so we employ this knowledge directly in motion estimation. We use a fuzzy clustering scheme to separate the SIFT features representing camera motion from those representing the motion of moving …

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

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. …

Time Series Analysis Of Ozone Data, Delparde Raleigh Guthrey

Theses Digitization Project

No abstract provided.

The Design Of A Processing Element For The Systolic Array Implementation Of A Kalman Filter, John P. Condorodis

Retrospective Theses and Dissertations

The Kalman filter is an important component of optimal estimation theory. It has applications in a wide range of high performance control systems including navigational, fire control, and targeting systems. The Kalman filter, however, has not been utilized to its full potential due to the limitations of its inherent computational intensiveness which requires "off-line" processing or allows only low bandwidth real-time applications.

The recent advances in VLSI circuit technology have created the opportunity to design algorithms and data structures for direct implementation in integrated circuits. A systolic architecture is a concept which allows the construction of massively parallel systems in …