Pub Date : 2015-12-01DOI: 10.1109/ISMA.2015.7373497
S. Onofre, Pedro A. C. Sousa, J. Pimentão
The miniaturization and cost reduction of sensors is encouraging its wide spreading and application in diverse usage areas. The use of multiple types of sensors can improve the current surveillance systems, by reducing false positives, extending the type of detected events and increasing system's redundancy. Also, geo-location is becoming more precise and available at lower costs, thus enabling its use in the surveillance of large areas where events can be geo-referenced and allowing the dynamic event handling based in its location. This paper describes a new surveillance system's architecture based in multi-sensor georeferenced events and in dynamic events handling. This system can contribute to an efficient response to events based on the location of events and security agents as well as reduce system fails with multiple sensors use.
{"title":"Multi-sensor geo-referenced surveillance system","authors":"S. Onofre, Pedro A. C. Sousa, J. Pimentão","doi":"10.1109/ISMA.2015.7373497","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373497","url":null,"abstract":"The miniaturization and cost reduction of sensors is encouraging its wide spreading and application in diverse usage areas. The use of multiple types of sensors can improve the current surveillance systems, by reducing false positives, extending the type of detected events and increasing system's redundancy. Also, geo-location is becoming more precise and available at lower costs, thus enabling its use in the surveillance of large areas where events can be geo-referenced and allowing the dynamic event handling based in its location. This paper describes a new surveillance system's architecture based in multi-sensor georeferenced events and in dynamic events handling. This system can contribute to an efficient response to events based on the location of events and security agents as well as reduce system fails with multiple sensors use.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126813176","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373484
Khaled S. Hatamleh, Qais Khasawneh, L. Sawaqed, M. M. Hassan, Sarah Yafawi, M. Al-Shabi
Conventional shooting practice systems are expensive, life threatening, and lack proper statistical evaluation of trainee's performance. This paper presents the implementation and testing of a proposed evolutionary laser shooting practice system for early shooting practice stages. Presented system consists of a real gun replica equipped with lasers rather than live ammunition, a simple CCD camera, a shooting target, and a Compact Vision System (CVS) running National Instruments LabVIEW software. In order to detect con-centric rings of the shooting target an image processing algorithm is developed and employed by the CVS. In addition, the developed algorithm distinguishes locations of trainee's laser shots relative to the center point of the shooting target. For each training session, the system delivers a detailed overall performance report including scores of shooter accuracy and precision. The system was tested at a 100 m long shooting range under different camera-to-target angles and various lighting conditions. Results proved robust performance with accurate and detailed shooting reports under all tested conditions. Presented system overcomes conventional shooting practice systems in terms of cost, safety, evaluation accuracy and portability.
{"title":"Evolutionary low-cost visual shooting practice system","authors":"Khaled S. Hatamleh, Qais Khasawneh, L. Sawaqed, M. M. Hassan, Sarah Yafawi, M. Al-Shabi","doi":"10.1109/ISMA.2015.7373484","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373484","url":null,"abstract":"Conventional shooting practice systems are expensive, life threatening, and lack proper statistical evaluation of trainee's performance. This paper presents the implementation and testing of a proposed evolutionary laser shooting practice system for early shooting practice stages. Presented system consists of a real gun replica equipped with lasers rather than live ammunition, a simple CCD camera, a shooting target, and a Compact Vision System (CVS) running National Instruments LabVIEW software. In order to detect con-centric rings of the shooting target an image processing algorithm is developed and employed by the CVS. In addition, the developed algorithm distinguishes locations of trainee's laser shots relative to the center point of the shooting target. For each training session, the system delivers a detailed overall performance report including scores of shooter accuracy and precision. The system was tested at a 100 m long shooting range under different camera-to-target angles and various lighting conditions. Results proved robust performance with accurate and detailed shooting reports under all tested conditions. Presented system overcomes conventional shooting practice systems in terms of cost, safety, evaluation accuracy and portability.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125727906","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373472
R. Amro, Ibtihal Al-Hroub, Hajar Abu Rmeileh, Ghadeer Al-Swaity
Our paper represents the design and implementation of full automated, PLC controlled small-scaled olive-press for household and agricultural research utilization. A prototype of the machine was realized in a frame of graduation project of students of Mechatronics engineering at Palestine Polytechnic University in Hebron. The paper includes a description of the control concept, the mechanical design and the application fields of such a press.
{"title":"PLC controlled, small-scaled olive press for household and agricultural research utilization","authors":"R. Amro, Ibtihal Al-Hroub, Hajar Abu Rmeileh, Ghadeer Al-Swaity","doi":"10.1109/ISMA.2015.7373472","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373472","url":null,"abstract":"Our paper represents the design and implementation of full automated, PLC controlled small-scaled olive-press for household and agricultural research utilization. A prototype of the machine was realized in a frame of graduation project of students of Mechatronics engineering at Palestine Polytechnic University in Hebron. The paper includes a description of the control concept, the mechanical design and the application fields of such a press.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114515665","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373467
Labib Sadek Terrissa, Soheyb Ayad
For many years, robots appear in most fields (industrial, medical, education and military). Recently, the success in computer technology has advanced the the knowledge in creating intelligent robots. The cloud computing has potential to provide significant benefits to robots and automation systems. It enables a remotely processing with an unlimited access to dynamic global datasets and huge amount of computing and networking resources. In this paper, we will propose a new cloud robotics architecture where robots can be provided as a service easily, efficiently and cheaply. we will define a new kind of layer which is the Virtual robot Layer compared with classical cloud computing architecture. This layer consists of two entities : the Robot Management System and the Virtual Robot System.
{"title":"Towards a new cloud robotics approach","authors":"Labib Sadek Terrissa, Soheyb Ayad","doi":"10.1109/ISMA.2015.7373467","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373467","url":null,"abstract":"For many years, robots appear in most fields (industrial, medical, education and military). Recently, the success in computer technology has advanced the the knowledge in creating intelligent robots. The cloud computing has potential to provide significant benefits to robots and automation systems. It enables a remotely processing with an unlimited access to dynamic global datasets and huge amount of computing and networking resources. In this paper, we will propose a new cloud robotics architecture where robots can be provided as a service easily, efficiently and cheaply. we will define a new kind of layer which is the Virtual robot Layer compared with classical cloud computing architecture. This layer consists of two entities : the Robot Management System and the Virtual Robot System.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130854679","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373487
M. Al-Khaldi, M. Bakri-Kassem, N. Qaddoumi
An efficient method for energy harvesting through MEMS based devices, driven by ambient vibrations is presented. This particular method relies on the utilization of time varying magnetic fields to induce electromotive forces which in turn drive current through coils fabricated on a substrate. This allows for the conversion of energy contained within naturally occurring vibrations to usable forms of electrical energy. The process primarily hinges on fundamental principals in electromagnetic theory related to induction. Here we propose a miniaturized MEMS energy harvester comprising of coils on a substrate measuring mere mm in dimension, two permanent magnets and a shuttle that is connected to flexible beams. The relationship between number of coil turns on the substrate, induced voltage and vibrational motion were studied and a proposed model was devised.
{"title":"MEMS energy harvesting device driven by ambient vibrations","authors":"M. Al-Khaldi, M. Bakri-Kassem, N. Qaddoumi","doi":"10.1109/ISMA.2015.7373487","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373487","url":null,"abstract":"An efficient method for energy harvesting through MEMS based devices, driven by ambient vibrations is presented. This particular method relies on the utilization of time varying magnetic fields to induce electromotive forces which in turn drive current through coils fabricated on a substrate. This allows for the conversion of energy contained within naturally occurring vibrations to usable forms of electrical energy. The process primarily hinges on fundamental principals in electromagnetic theory related to induction. Here we propose a miniaturized MEMS energy harvester comprising of coils on a substrate measuring mere mm in dimension, two permanent magnets and a shuttle that is connected to flexible beams. The relationship between number of coil turns on the substrate, induced voltage and vibrational motion were studied and a proposed model was devised.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127887714","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373482
L. Sawaqed, M. AlShabi, Samer Alshaer, Iyad Salameh
Classification problems of machine learning use supervised learning under specific targets to classify new observations. This work presents a new clustering and classification approach that combines an evolutionary algorithm with the K-means algorithm. In order to assess the performance of the proposed approach, the authors conducted a simulation study using a well-known benchmark problem called “two half-moon rings classification”. The selected problem introduces further complexity and higher classification challenge when a new observation is located in region of intersection of the two half-moons. The Cartesian coordinates of several points are used as a data set for two half-moon rings. The set is injected with complex overlap situations to constitute data points that belong to more than one class (ring) at a time. The modified set is investigated using the proposed clustering and classification approach. The proposed algorithm obtains the optimal cluster centers using genetic algorithm. Furthermore, it adopts whitening method to overcome the effect of overlapped points on clustering accuracy. Obtained classification results showed enhancement over those produced by the conventional K-means clustering algorithm. The results are consistent under different ring dimensions, and several overlap situations.
{"title":"An improved K-means clustering algorithm for two half-moon classification","authors":"L. Sawaqed, M. AlShabi, Samer Alshaer, Iyad Salameh","doi":"10.1109/ISMA.2015.7373482","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373482","url":null,"abstract":"Classification problems of machine learning use supervised learning under specific targets to classify new observations. This work presents a new clustering and classification approach that combines an evolutionary algorithm with the K-means algorithm. In order to assess the performance of the proposed approach, the authors conducted a simulation study using a well-known benchmark problem called “two half-moon rings classification”. The selected problem introduces further complexity and higher classification challenge when a new observation is located in region of intersection of the two half-moons. The Cartesian coordinates of several points are used as a data set for two half-moon rings. The set is injected with complex overlap situations to constitute data points that belong to more than one class (ring) at a time. The modified set is investigated using the proposed clustering and classification approach. The proposed algorithm obtains the optimal cluster centers using genetic algorithm. Furthermore, it adopts whitening method to overcome the effect of overlapped points on clustering accuracy. Obtained classification results showed enhancement over those produced by the conventional K-means clustering algorithm. The results are consistent under different ring dimensions, and several overlap situations.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123339385","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373474
Ahmed Mashood, Marwah Mohammed, Maha Abdulwahab, Shaima Abdulwahab, H. Noura
This paper presents a novel approach to autonomously navigate multiple Unmanned Aerial Vehicles (UAVs) of type Parrot AR Drone 2.0 inside a closed environment. The UAVs will be assigned to follow a set of way points. A multi-UAV control algorithm will be developed using MATLAB/ Simulink to materialize the concept of centralized formation flight. The experiment data will be analyzed further to develop and implement Multi-UAV cooperative control methodology.
提出了一种在封闭环境中实现多架Parrot AR Drone 2.0型无人机自主导航的新方法。无人机将被分配跟随一组航路点。利用MATLAB/ Simulink开发多无人机控制算法，实现集中编队飞行的概念。实验数据将进一步分析，以发展和实施多无人机协同控制方法。
{"title":"A hardware setup for formation flight of UAVs using motion tracking system","authors":"Ahmed Mashood, Marwah Mohammed, Maha Abdulwahab, Shaima Abdulwahab, H. Noura","doi":"10.1109/ISMA.2015.7373474","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373474","url":null,"abstract":"This paper presents a novel approach to autonomously navigate multiple Unmanned Aerial Vehicles (UAVs) of type Parrot AR Drone 2.0 inside a closed environment. The UAVs will be assigned to follow a set of way points. A multi-UAV control algorithm will be developed using MATLAB/ Simulink to materialize the concept of centralized formation flight. The experiment data will be analyzed further to develop and implement Multi-UAV cooperative control methodology.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114366233","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373462
S. Jatsun, S. Savin, A. Yatsun, R. Turlapov
In this paper, an exoskeleton performing a sit-to-stand motion is studied. A new approach to control system design for this mechanism is proposed. Proposed control system uses information about currents in the motor's armature cores to assess how much the system is loaded and change its behavior accordingly. It also uses ZMP (zero moment point) principle for assessing system's balance. In the paper, some results of the numerical simulation are presented. On a few examples it was shown how changing duration of sit-to-stand motion influences dynamical behavior of the mechanical system.
{"title":"Adaptive control system for exoskeleton performing sit-to-stand motion","authors":"S. Jatsun, S. Savin, A. Yatsun, R. Turlapov","doi":"10.1109/ISMA.2015.7373462","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373462","url":null,"abstract":"In this paper, an exoskeleton performing a sit-to-stand motion is studied. A new approach to control system design for this mechanism is proposed. Proposed control system uses information about currents in the motor's armature cores to assess how much the system is loaded and change its behavior accordingly. It also uses ZMP (zero moment point) principle for assessing system's balance. In the paper, some results of the numerical simulation are presented. On a few examples it was shown how changing duration of sit-to-stand motion influences dynamical behavior of the mechanical system.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"104 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132760325","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373463
Bilel Najlawi, M. Nejlaoui, Z. Affi, L. Romdhane
This work deals with the multi-objective design optimization of a needle-bar-and-thread-take-up-lever (NBTTL) mechanism used in sewing machines. Two criteria are considered simultaneously, i.e., vibration (evaluated through the needle jerk) and the quality of the stitch formation given by the coupler tracking error. Indeed, the needle jerk and the coupler tracking error are minimized in order to reduce the sewing machine vibration and ensure a proper stitch formation. For this purpose, the multi-objective imperialistic competitive algorithm (MOICA) is used to find the optimal link lengths of the NBTTL mechanism. The obtained results show that the optimized mechanism has 73% less needle Jerk than the one for the Juki 8700, while keeping a low coupler tracking error (less than 7%).
{"title":"Optimal design of the needle bar and thread take up lever mechanism using a multi-objective imperialist competitive algorithm","authors":"Bilel Najlawi, M. Nejlaoui, Z. Affi, L. Romdhane","doi":"10.1109/ISMA.2015.7373463","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373463","url":null,"abstract":"This work deals with the multi-objective design optimization of a needle-bar-and-thread-take-up-lever (NBTTL) mechanism used in sewing machines. Two criteria are considered simultaneously, i.e., vibration (evaluated through the needle jerk) and the quality of the stitch formation given by the coupler tracking error. Indeed, the needle jerk and the coupler tracking error are minimized in order to reduce the sewing machine vibration and ensure a proper stitch formation. For this purpose, the multi-objective imperialistic competitive algorithm (MOICA) is used to find the optimal link lengths of the NBTTL mechanism. The obtained results show that the optimized mechanism has 73% less needle Jerk than the one for the Juki 8700, while keeping a low coupler tracking error (less than 7%).","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126070806","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 : 2015-12-01DOI: 10.1109/ISMA.2015.7373490
Ahmad Alshoubaki, M. Aljarrah, M. Alsharman
In its effort to develop unmanned autonomous systems research capabilities, the college of engineering is adding a rotary wing UAV to its research activities. This paper demonstrates the use of Maxi Joker 3 commercial-off-the-shelf (COTS) electric RC helicopter as a platform and implementing it with COTS autopilot system to serve as a benchmark for future AUS rotary wing in-house autopilot development. Many problems and issues were experienced during the flights, such us mechanical vibrations, acoustic noise, and autopilot failure during the flight and consequently crashing the platform. All of those problems were solved inside the lab on a test stand which was designed to fly and test the helicopter avoiding crashing and without a skilled pilot sometimes.
{"title":"Mazari VTOL platform using cots autopilot","authors":"Ahmad Alshoubaki, M. Aljarrah, M. Alsharman","doi":"10.1109/ISMA.2015.7373490","DOIUrl":"https://doi.org/10.1109/ISMA.2015.7373490","url":null,"abstract":"In its effort to develop unmanned autonomous systems research capabilities, the college of engineering is adding a rotary wing UAV to its research activities. This paper demonstrates the use of Maxi Joker 3 commercial-off-the-shelf (COTS) electric RC helicopter as a platform and implementing it with COTS autopilot system to serve as a benchmark for future AUS rotary wing in-house autopilot development. Many problems and issues were experienced during the flights, such us mechanical vibrations, acoustic noise, and autopilot failure during the flight and consequently crashing the platform. All of those problems were solved inside the lab on a test stand which was designed to fly and test the helicopter avoiding crashing and without a skilled pilot sometimes.","PeriodicalId":222454,"journal":{"name":"2015 10th International Symposium on Mechatronics and its Applications (ISMA)","volume":"53 80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126405052","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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