Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473678
H. Elshatarat, Mohammed J. Baniyounis, R. Biesenbach
Modern industrial automation has become nowadays inextricably linked with the mechatronic system of the industrial robot. These robots are programmed using a cumbersome well-chosen program commands prescribed in a complicated programming language. This paper describes the implementation of a Robot Offline Programming Toolbox (RoBO-2L) functions and communication tools. This toolbox is interfaced, and tested for the motion control of KUKA KR6-R900-SIXX as a Master project in Hochschule Bochum, Germany. This KUKA manipulator has a new controller version that uses KUKA. RobotSensorInterface package to connect the KUKA controller with a remote PC via UDP/IP Ethernet connection. This toolbox includes many functions for initialization, networking, forward kinematics, inverse kinematics and homogeneous transformation. SysML is used for the design and implementation of the MATLAB Toolbox which eases the effort of the programming and integration of the interdisciplinary functions and methods.
{"title":"Design and implementation of a RoBO-2L MATLAB toolbox for a motion control of a robotic manipulator","authors":"H. Elshatarat, Mohammed J. Baniyounis, R. Biesenbach","doi":"10.1109/SSD.2016.7473678","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473678","url":null,"abstract":"Modern industrial automation has become nowadays inextricably linked with the mechatronic system of the industrial robot. These robots are programmed using a cumbersome well-chosen program commands prescribed in a complicated programming language. This paper describes the implementation of a Robot Offline Programming Toolbox (RoBO-2L) functions and communication tools. This toolbox is interfaced, and tested for the motion control of KUKA KR6-R900-SIXX as a Master project in Hochschule Bochum, Germany. This KUKA manipulator has a new controller version that uses KUKA. RobotSensorInterface package to connect the KUKA controller with a remote PC via UDP/IP Ethernet connection. This toolbox includes many functions for initialization, networking, forward kinematics, inverse kinematics and homogeneous transformation. SysML is used for the design and implementation of the MATLAB Toolbox which eases the effort of the programming and integration of the interdisciplinary functions and methods.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125171370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473775
N. Smaoui, A. Hlima
Breast cancer is now one of the main causes of death among women throughout the world. The diagnosis and separation of cancerous tumors in mammographic images require precise, experience and time, and he always posed himself as a great challenge for radiologists and physicians. Despite the immense danger that this disease presents, its curability is relatively high if it is treated early; that's why it is necessary to develop a computer-assisted diagnostic system (CAD) to facilitate the early detection of this cancer. In this paper, we have implemented such a system. The developed method proceeds in three steps: pretreatment mammograms to remove the breast area, segmentation based on morphological operators to detect breast masses. Finally, the segmentation of the breast contour based on the method of Marching Square was adopted. Our approach has been tested on the basis of pictures"MIAS" showing its efficiency. In addition, a graphical interface was performed to facilitate the task for radiologists.
{"title":"Designing a new approach for the segmentation of the cancerous breast mass","authors":"N. Smaoui, A. Hlima","doi":"10.1109/SSD.2016.7473775","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473775","url":null,"abstract":"Breast cancer is now one of the main causes of death among women throughout the world. The diagnosis and separation of cancerous tumors in mammographic images require precise, experience and time, and he always posed himself as a great challenge for radiologists and physicians. Despite the immense danger that this disease presents, its curability is relatively high if it is treated early; that's why it is necessary to develop a computer-assisted diagnostic system (CAD) to facilitate the early detection of this cancer. In this paper, we have implemented such a system. The developed method proceeds in three steps: pretreatment mammograms to remove the breast area, segmentation based on morphological operators to detect breast masses. Finally, the segmentation of the breast contour based on the method of Marching Square was adopted. Our approach has been tested on the basis of pictures\"MIAS\" showing its efficiency. In addition, a graphical interface was performed to facilitate the task for radiologists.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130516700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473763
Nesrine Mekki, F. Derbel, L. Krichen, Florian Strakosch
This paper presents an upcoming method searching for an optimal placement of phasor measurement units (PMUs) for power system state estimation. The proposed technique is based on phasor technology that allows to estimate the current status of the electrical network in a reliable and accurate way. In fact, looking for full system observability must take into account the lack of availability of appropriate data in all network nodes as well as the intervention of all renewable energy (RE) sources. Other investigations of FACTS systems are extended to enhance smart grid performances and its stability. Experimentally, the application of efficient placement strategies will help to allocate PMUs critically in a 5-bus test system.
{"title":"PMU deployment for state estimation in smart grids","authors":"Nesrine Mekki, F. Derbel, L. Krichen, Florian Strakosch","doi":"10.1109/SSD.2016.7473763","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473763","url":null,"abstract":"This paper presents an upcoming method searching for an optimal placement of phasor measurement units (PMUs) for power system state estimation. The proposed technique is based on phasor technology that allows to estimate the current status of the electrical network in a reliable and accurate way. In fact, looking for full system observability must take into account the lack of availability of appropriate data in all network nodes as well as the intervention of all renewable energy (RE) sources. Other investigations of FACTS systems are extended to enhance smart grid performances and its stability. Experimentally, the application of efficient placement strategies will help to allocate PMUs critically in a 5-bus test system.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"107 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124786188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473722
F. B. Salem, N. Derbel
This work is developed within the objective to discard load disturbances effects on the induction machine drives under DTC-SVM control. The paper is devoted to the presentation of a comparison study between two DTC-SVM strategies applied to the speed control of an induction motor: (i) a DTC-SVM control using PI controllers and (ii) a DTC-SVM control using sliding mode controllers without and with gain load estimator. Firstly, mathematical fundamentals of both strategies are briefly formulated. Then, and considering a linear torque case, an adaptive load torque estimator is inserted in the speed loop in order to overcome the problem of load disturbance effects. Finally, simulation results dealing with steady-state as well as dynamic behaviors of the induction motor under both DTC-SVM strategies are presented and compared. Simulation results clearly show that SM DTC-SVM strategy with load estimator offers the best performances and the load disturbances effects can be completely discarded.
{"title":"Investigation of SM DTC-SVM performances of IM control considering load disturbances effects","authors":"F. B. Salem, N. Derbel","doi":"10.1109/SSD.2016.7473722","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473722","url":null,"abstract":"This work is developed within the objective to discard load disturbances effects on the induction machine drives under DTC-SVM control. The paper is devoted to the presentation of a comparison study between two DTC-SVM strategies applied to the speed control of an induction motor: (i) a DTC-SVM control using PI controllers and (ii) a DTC-SVM control using sliding mode controllers without and with gain load estimator. Firstly, mathematical fundamentals of both strategies are briefly formulated. Then, and considering a linear torque case, an adaptive load torque estimator is inserted in the speed loop in order to overcome the problem of load disturbance effects. Finally, simulation results dealing with steady-state as well as dynamic behaviors of the induction motor under both DTC-SVM strategies are presented and compared. Simulation results clearly show that SM DTC-SVM strategy with load estimator offers the best performances and the load disturbances effects can be completely discarded.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114510046","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473657
M. Aldhaifallah, K. Nisar
In this paper we develop a new algorithm to identify Auto-Regressive Exogenous (ARX) input Hammerstein Models based on Twin Support Vector Machine Regression (TSVR). The model is determined by minimizing two ε-insensitive loss functions. One of them determines the ε1-insensitive down bound regressor while the other determines the ε1-insensitive up bound regressor. The algorithm is compared to Support Vector Machine (SVM) and Least Square Support Vector Machine (LSSVM) based algorithms using simulation.
{"title":"Identification of ARX Hammerstein Models based on Twin Support Vector Machine Regression","authors":"M. Aldhaifallah, K. Nisar","doi":"10.1109/SSD.2016.7473657","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473657","url":null,"abstract":"In this paper we develop a new algorithm to identify Auto-Regressive Exogenous (ARX) input Hammerstein Models based on Twin Support Vector Machine Regression (TSVR). The model is determined by minimizing two ε-insensitive loss functions. One of them determines the ε1-insensitive down bound regressor while the other determines the ε1-insensitive up bound regressor. The algorithm is compared to Support Vector Machine (SVM) and Least Square Support Vector Machine (LSSVM) based algorithms using simulation.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114245561","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473750
Hilal Abbood Al-Libawy, Ali Al-Ataby, W. Al-Nuaimy, M. Al-Taee
Fatigue assessment and quantification are essential requirements to reduce the risks that occur as a consequence of a fatigued operator. The new wearable device technology offers an accurate measuring ability to one or more of fatigue-related biological data, which helps in quantifying fatigue levels in real-life environments. This paper presents a new heart rate variability (HRV) based operator-fatigue analysis and classification method using low-cost wearable devices. HRV that is considered a robust fatigue metric is measured by several wearable devices including a chest-strap heart monitor and a wrist watch that measures heart rate, skin temperature and skin conductivity. The data collected from real subjects are used to create a training dataset for fatigue analysis and classification. Two supervised machine-learning algorithms based on multi-layer neural network and support vector machine are developed and implemented to identify the alertness/fatigue states of the operator. Performance of the developed classifiers demonstrated high alertness/fatigue prediction accuracy. Such findings proved that the proposed analysis and classification method is valid and practically applicable.
{"title":"HRV-based operator fatigue analysis and classification using wearable sensors","authors":"Hilal Abbood Al-Libawy, Ali Al-Ataby, W. Al-Nuaimy, M. Al-Taee","doi":"10.1109/SSD.2016.7473750","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473750","url":null,"abstract":"Fatigue assessment and quantification are essential requirements to reduce the risks that occur as a consequence of a fatigued operator. The new wearable device technology offers an accurate measuring ability to one or more of fatigue-related biological data, which helps in quantifying fatigue levels in real-life environments. This paper presents a new heart rate variability (HRV) based operator-fatigue analysis and classification method using low-cost wearable devices. HRV that is considered a robust fatigue metric is measured by several wearable devices including a chest-strap heart monitor and a wrist watch that measures heart rate, skin temperature and skin conductivity. The data collected from real subjects are used to create a training dataset for fatigue analysis and classification. Two supervised machine-learning algorithms based on multi-layer neural network and support vector machine are developed and implemented to identify the alertness/fatigue states of the operator. Performance of the developed classifiers demonstrated high alertness/fatigue prediction accuracy. Such findings proved that the proposed analysis and classification method is valid and practically applicable.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121326785","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473698
Maik Wolf, J. Hofbauer, Mathias Rudolph
Currently in the Leipziger Verkehrsbetriebe (LVB) a tram bearing is replaced only if elaborate inspection finds it faulty. The tram thereby is out of service for several days. To reduce maintenance costs this paper gives a review about investigations how to estimate the wear via wireless and self-sufficient sensors. Moreover, information about the requirements of such sensors are given.
{"title":"Diagnostics using self-sufficient wireless sensor network for a condition-based maintenance strategy strategy for tram bearing diagnostics","authors":"Maik Wolf, J. Hofbauer, Mathias Rudolph","doi":"10.1109/SSD.2016.7473698","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473698","url":null,"abstract":"Currently in the Leipziger Verkehrsbetriebe (LVB) a tram bearing is replaced only if elaborate inspection finds it faulty. The tram thereby is out of service for several days. To reduce maintenance costs this paper gives a review about investigations how to estimate the wear via wireless and self-sufficient sensors. Moreover, information about the requirements of such sensors are given.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126654677","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473707
Hanen Ben Ayed, M. Masmoudi
This article presents a new design of the visual prosthesis based on the optical stimulation. The aim of this work is to seek an architecture of image acquisition, by using a simple treatment and without recourse to extensive treatment of a processor, and to provide an outlook on the image quality acquired by the patient. To do so, we have proposed two architectures of image processing, which have tested with different images. Simulation results demonstrate that the patient can recognize objects and the projection of targets, read letters (scale 20/200 and 20/100) and identify faces and scenes.
{"title":"Development of an image-processing architecture of a new visual prosthesis","authors":"Hanen Ben Ayed, M. Masmoudi","doi":"10.1109/SSD.2016.7473707","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473707","url":null,"abstract":"This article presents a new design of the visual prosthesis based on the optical stimulation. The aim of this work is to seek an architecture of image acquisition, by using a simple treatment and without recourse to extensive treatment of a processor, and to provide an outlook on the image quality acquired by the patient. To do so, we have proposed two architectures of image processing, which have tested with different images. Simulation results demonstrate that the patient can recognize objects and the projection of targets, read letters (scale 20/200 and 20/100) and identify faces and scenes.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122461335","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473709
Takwa Chihaoui, Hejer Jlassi, R. Kachouri, K. Hamrouni, M. Akil
Today, Human recognition, especially based on retina, has been an important and attractive topic of scientific research. Most efforts in Biometrics tend to develop more efficient systems which compromise speed and robustness of authentication. In fact, retinal images often suffer from imperfections such as background intensity variation, affine transformations (translation, rotation, scale changes, etc.) variations from pattern to other. These defects can seriously affect features extraction in terms of quality and execution time. In this context, in order to overcome these defects, we propose in this paper a novel retinal verification system based on the Speeded Up Robust Features (SURF) extraction. This feature extraction method is so fast and invariant to the affine transformations such as rotation, scale changes and translation. We employ the Optical Disc interest Ring (ODR) method as a preprocessing step in order to further speed up the system and improve the performance. A subset of the VARIA database is used to evaluate the proposed SURF based system. It compromises a high quality with 100% of verification accuracy rate and a time processing very lower than existing verification systems.
{"title":"Personal verification system based on retina and SURF descriptors","authors":"Takwa Chihaoui, Hejer Jlassi, R. Kachouri, K. Hamrouni, M. Akil","doi":"10.1109/SSD.2016.7473709","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473709","url":null,"abstract":"Today, Human recognition, especially based on retina, has been an important and attractive topic of scientific research. Most efforts in Biometrics tend to develop more efficient systems which compromise speed and robustness of authentication. In fact, retinal images often suffer from imperfections such as background intensity variation, affine transformations (translation, rotation, scale changes, etc.) variations from pattern to other. These defects can seriously affect features extraction in terms of quality and execution time. In this context, in order to overcome these defects, we propose in this paper a novel retinal verification system based on the Speeded Up Robust Features (SURF) extraction. This feature extraction method is so fast and invariant to the affine transformations such as rotation, scale changes and translation. We employ the Optical Disc interest Ring (ODR) method as a preprocessing step in order to further speed up the system and improve the performance. A subset of the VARIA database is used to evaluate the proposed SURF based system. It compromises a high quality with 100% of verification accuracy rate and a time processing very lower than existing verification systems.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"798 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123005815","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-03-21DOI: 10.1109/SSD.2016.7473669
Karsten Donat, O. Kanoun
Starting from static reference values an accurate torque measuring is achieved by hysteresis correction with splines. To generate a constant torque hysteresis brakes are used. By doing this the real device under test can be simulated in the second step of refeeding to national standards.
{"title":"Torque calibration with hysteresis brakes","authors":"Karsten Donat, O. Kanoun","doi":"10.1109/SSD.2016.7473669","DOIUrl":"https://doi.org/10.1109/SSD.2016.7473669","url":null,"abstract":"Starting from static reference values an accurate torque measuring is achieved by hysteresis correction with splines. To generate a constant torque hysteresis brakes are used. By doing this the real device under test can be simulated in the second step of refeeding to national standards.","PeriodicalId":149580,"journal":{"name":"2016 13th International Multi-Conference on Systems, Signals & Devices (SSD)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114161644","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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