Pub Date : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719999
R. A. Fayadh, F. Malek, H. Fadhil, N. Saudin
The UWB is 7.5 GHz (from 3.1 GHz to 10.6 GHz) was defined by Federal Communications Commission (FCC) for high data rate wireless communication systems. This band needs special and active antenna for transmission and reception of wideband signals. So that, the design of UWB antenna plays very important role in indoor and outdoor wireless systems. Because of more challenges toward the wireless communication, i.e., inter-symbol interference, multi-access interference, and narrow band system interference, the UWB antenna should have the capability of operation during these challenges. The notched microstrip patch antenna was designed using CST microwave studio with limited dimensions and the results are accepted for the UWB that was allocated by FCC. The proposed antenna was fabricated on printed circuit board (PCB) with same dimensions and analysis. Taconic TLY-5 substrate material was used in this small size antenna to give low cost and lighter than those made of FR4 substrate material. The measured results are nearly identical with those of simulation for return loss (S11) and voltage standing wave ratio (VSWR). The simulated radiation patterns are nearly omni-directional radiations over the UWB bandwidth.
{"title":"Design of ultra wideband rectangular microstrip notched patch antenna","authors":"R. A. Fayadh, F. Malek, H. Fadhil, N. Saudin","doi":"10.1109/ICCSCE.2013.6719999","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719999","url":null,"abstract":"The UWB is 7.5 GHz (from 3.1 GHz to 10.6 GHz) was defined by Federal Communications Commission (FCC) for high data rate wireless communication systems. This band needs special and active antenna for transmission and reception of wideband signals. So that, the design of UWB antenna plays very important role in indoor and outdoor wireless systems. Because of more challenges toward the wireless communication, i.e., inter-symbol interference, multi-access interference, and narrow band system interference, the UWB antenna should have the capability of operation during these challenges. The notched microstrip patch antenna was designed using CST microwave studio with limited dimensions and the results are accepted for the UWB that was allocated by FCC. The proposed antenna was fabricated on printed circuit board (PCB) with same dimensions and analysis. Taconic TLY-5 substrate material was used in this small size antenna to give low cost and lighter than those made of FR4 substrate material. The measured results are nearly identical with those of simulation for return loss (S11) and voltage standing wave ratio (VSWR). The simulated radiation patterns are nearly omni-directional radiations over the UWB bandwidth.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114331959","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719984
Emre Dincel, U. Yildirim, M. T. Söylemez
Systems with inverse response are difficult to be identified because of the existence of at least one zero at the right half s-plane. However, it is important to obtain the transfer function as accurately as possible for such systems to be able to provide the desired performance using a controller. If the system has dead-time, the design problem becomes more complicated. This paper presents a new modeling method for under-damped second order systems with an inverse response to overcome the difficulties both in the analysis and design. Besides, a PID controller design in discrete-time domain is also introduced to provide a good performance in the closed-loop. The performance of the proposed modeling and control technique is demonstrated on an example using simulations.
{"title":"Modeling and control of under-damped second order systems with dead-time and inverse response","authors":"Emre Dincel, U. Yildirim, M. T. Söylemez","doi":"10.1109/ICCSCE.2013.6719984","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719984","url":null,"abstract":"Systems with inverse response are difficult to be identified because of the existence of at least one zero at the right half s-plane. However, it is important to obtain the transfer function as accurately as possible for such systems to be able to provide the desired performance using a controller. If the system has dead-time, the design problem becomes more complicated. This paper presents a new modeling method for under-damped second order systems with an inverse response to overcome the difficulties both in the analysis and design. Besides, a PID controller design in discrete-time domain is also introduced to provide a good performance in the closed-loop. The performance of the proposed modeling and control technique is demonstrated on an example using simulations.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123528590","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719959
A. Abdulrazzaq, N. Rashid, Ayad Hussain Abdulkader Alezzi
The advancement of computer hardware has opened up new challenges to algorithms experts. One of the challenges is designing new algorithm that exploit the parallel nature of the new architecture of current computer hardware. In this study, we redesign the hybrid exact string matching algorithm named AKRAM on parallel platform with the goal of speeding up the algorithm. The parallel of this algorithm showed optimal results, in parallel time, speed up, efficiency and percentage of performance gain when compared to the sequential version. The result demonstrated that the performance of both parallelized and sequential of AKRAM algorithm was influenced by type of data. The DNA sequence showed the highest performance than other data types after parallelization.
{"title":"Parallel processing of hybrid exact string matching algorithm","authors":"A. Abdulrazzaq, N. Rashid, Ayad Hussain Abdulkader Alezzi","doi":"10.1109/ICCSCE.2013.6719959","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719959","url":null,"abstract":"The advancement of computer hardware has opened up new challenges to algorithms experts. One of the challenges is designing new algorithm that exploit the parallel nature of the new architecture of current computer hardware. In this study, we redesign the hybrid exact string matching algorithm named AKRAM on parallel platform with the goal of speeding up the algorithm. The parallel of this algorithm showed optimal results, in parallel time, speed up, efficiency and percentage of performance gain when compared to the sequential version. The result demonstrated that the performance of both parallelized and sequential of AKRAM algorithm was influenced by type of data. The DNA sequence showed the highest performance than other data types after parallelization.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127500390","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719928
Ying-Jen Chen, Motoyasu Tanaka, Kazuo Tanaka, Hua O. Wang
This paper proposes two stability criteria for polynomial fuzzy systems by applying minimum-type and maximum-type piecewise polynomial Lyapunov functions (PPLFs) respectively. Piecewise Lyapunov functions and polynomial Lyapunov functions (PLFs) have been utilized to the stability analysis for fuzzy-model-based (FMB) control systems to obtain relaxed results in literature. However, the minimum-type and maximum-type PPLFs have not been employed to analyze the stability of FMB control systems. Therefore, this paper applies the minimum-type and maximum-type PPLFs to the stability analysis of polynomial FMB control systems. Two relaxed stability criteria represented in terms of bilinear sum-of-squares (SOS) conditions are proposed. The proposed stability criteria are represented in terms of bilinear SOS conditions that cannot be directly solved by the mathematical tools of solving SOS optimization problem (e.g. SOSTOOLS and SOSOPT). Therefore, the path-following method that has been shown to be effective for the nonconvex bilinear matrix inequality problem is employed for solving the bilinear SOS problem of the proposed stability criteria. A numerical example is provided to demonstrate the relaxation of the proposed stability criteria.
{"title":"Piecewise polynomial lyapunov functions based stability analysis for polynomial fuzzy systems","authors":"Ying-Jen Chen, Motoyasu Tanaka, Kazuo Tanaka, Hua O. Wang","doi":"10.1109/ICCSCE.2013.6719928","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719928","url":null,"abstract":"This paper proposes two stability criteria for polynomial fuzzy systems by applying minimum-type and maximum-type piecewise polynomial Lyapunov functions (PPLFs) respectively. Piecewise Lyapunov functions and polynomial Lyapunov functions (PLFs) have been utilized to the stability analysis for fuzzy-model-based (FMB) control systems to obtain relaxed results in literature. However, the minimum-type and maximum-type PPLFs have not been employed to analyze the stability of FMB control systems. Therefore, this paper applies the minimum-type and maximum-type PPLFs to the stability analysis of polynomial FMB control systems. Two relaxed stability criteria represented in terms of bilinear sum-of-squares (SOS) conditions are proposed. The proposed stability criteria are represented in terms of bilinear SOS conditions that cannot be directly solved by the mathematical tools of solving SOS optimization problem (e.g. SOSTOOLS and SOSOPT). Therefore, the path-following method that has been shown to be effective for the nonconvex bilinear matrix inequality problem is employed for solving the bilinear SOS problem of the proposed stability criteria. A numerical example is provided to demonstrate the relaxation of the proposed stability criteria.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115418622","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6720014
Leow Ching Leong, K. S. Gan, Tse Guan Tan, C. K. On, R. Alfred, P. Anthony
In this paper, we describe the results of implementing Genetic Programming (GP) using two different Artificial Neural Networks (ANN) topologies in a customized Tower Defense (TD) games. The ANNs used are (1) Feed-forward Neural Network (FFNN) and (2) Elman-Recurrent Neural Network (ERNN). TD game is one of the strategy game genres. Players are required to build towers in order to prevent the creeps from reaching their bases. Lives will be deducted if any creeps manage to reach the base. In this research, a map will be designed. The AI method used will self-synthesize and analyze the level of difficulty of the designed map. The GP acts as a tuner of the weights in ANNs. The ANNs will act as players to block the creeps from reaching the base. The map will then be evaluated by the ANNs in the testing phase. Our findings showed that GP works well with ERNN compared to GP with FFNN.
{"title":"Self-synthesized controllers for tower defense game using genetic programming","authors":"Leow Ching Leong, K. S. Gan, Tse Guan Tan, C. K. On, R. Alfred, P. Anthony","doi":"10.1109/ICCSCE.2013.6720014","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6720014","url":null,"abstract":"In this paper, we describe the results of implementing Genetic Programming (GP) using two different Artificial Neural Networks (ANN) topologies in a customized Tower Defense (TD) games. The ANNs used are (1) Feed-forward Neural Network (FFNN) and (2) Elman-Recurrent Neural Network (ERNN). TD game is one of the strategy game genres. Players are required to build towers in order to prevent the creeps from reaching their bases. Lives will be deducted if any creeps manage to reach the base. In this research, a map will be designed. The AI method used will self-synthesize and analyze the level of difficulty of the designed map. The GP acts as a tuner of the weights in ANNs. The ANNs will act as players to block the creeps from reaching the base. The map will then be evaluated by the ANNs in the testing phase. Our findings showed that GP works well with ERNN compared to GP with FFNN.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115053391","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719967
M. N. Mansor, Mohd Nazri Rejab
This paper discussed the crucial demand regarding the scheme to translate the silence voice from the newborn. The infant can't afford to express their feeling of pain by voice. Hence, we proudly present an infant pain recognition system to overcome this matter. We employed the Single Scale Retinex (SSR) to remove the illumination level. Secondly, Gray-Level Co-occurrence Matrix (GLCM) was adopted as the feature extraction. We determine the condition of the infants (pain/no pain) with Hybrid Genetic Algorithm Neural Network (GANN) and Linear Discriminant Analysis (LDA). Several examples were conducted to evaluate the performance of the proposed method under different illumination levels.
{"title":"Infant pain recognition system with GLCM features and GANN under unstructed lighting condition","authors":"M. N. Mansor, Mohd Nazri Rejab","doi":"10.1109/ICCSCE.2013.6719967","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719967","url":null,"abstract":"This paper discussed the crucial demand regarding the scheme to translate the silence voice from the newborn. The infant can't afford to express their feeling of pain by voice. Hence, we proudly present an infant pain recognition system to overcome this matter. We employed the Single Scale Retinex (SSR) to remove the illumination level. Secondly, Gray-Level Co-occurrence Matrix (GLCM) was adopted as the feature extraction. We determine the condition of the infants (pain/no pain) with Hybrid Genetic Algorithm Neural Network (GANN) and Linear Discriminant Analysis (LDA). Several examples were conducted to evaluate the performance of the proposed method under different illumination levels.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115079836","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6720028
Rofilde Hasudungan, R. A. Bakar
Determination of distribution center location is one of importance issue in supply chain management since this problem affect to production cost and product flow. Nerveless, to choose appropriate the distribution center is not easy task, need to consider the best layout where we have to choose the appropriate number of distribution center and its position among all candidates, this make the determination distribution more complicated cause involving combination configuration. In this study, we proposed DNA computing to solve this problem since the advantages this technique is fall into huge massive parallelism.
{"title":"DNA computing for solving distribution center location problem","authors":"Rofilde Hasudungan, R. A. Bakar","doi":"10.1109/ICCSCE.2013.6720028","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6720028","url":null,"abstract":"Determination of distribution center location is one of importance issue in supply chain management since this problem affect to production cost and product flow. Nerveless, to choose appropriate the distribution center is not easy task, need to consider the best layout where we have to choose the appropriate number of distribution center and its position among all candidates, this make the determination distribution more complicated cause involving combination configuration. In this study, we proposed DNA computing to solve this problem since the advantages this technique is fall into huge massive parallelism.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129853344","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719975
Rana Fayyaz Ahmad, A. Malik, N. Kamel, F. Reza
Epilepsy is the brain disorder disease having more than 50 million people worldwide. The treatment for epilepsy is medication and surgery. Some patients are not cured with medicine and surgery. One third of the patients still remain with uncontrolled epilepsy. They need constant monitoring for epileptic seizures. Better treatment can be provided by the doctors or precautionary measures can be taken by the patients themselves if any abnormal brain activity or seizure is predicted before its occurrence. The pre-ictal period has some information about the occurrence of epileptic seizure in EEG signals. The brain behaves normal in inter-ictal and postictal periods. For epilepsy, long duration EEG recording are required from days to week. This keeps the patients to stay in the hospital for many days. Our proposed methodology is to predict the epileptic seizure and monitor the brain abnormality in real time. Still there is no epileptic seizure prediction algorithm using EEG available for clinical applications. Our aim is to study and develop a good epileptic seizure prediction algorithm/method with high value of sensitivity and specificity using scalp EEG i-e noninvasive approach. Also a comprehensive survey is done to find the limitations and research issues related to this. The proposed pattern recognition approach has great potential to be used in real time monitoring for epileptic patients and it can be helpful in improving the quality of life of the patients.
{"title":"A proposed frame work for real time epileptic seizure prediction using scalp EEG","authors":"Rana Fayyaz Ahmad, A. Malik, N. Kamel, F. Reza","doi":"10.1109/ICCSCE.2013.6719975","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719975","url":null,"abstract":"Epilepsy is the brain disorder disease having more than 50 million people worldwide. The treatment for epilepsy is medication and surgery. Some patients are not cured with medicine and surgery. One third of the patients still remain with uncontrolled epilepsy. They need constant monitoring for epileptic seizures. Better treatment can be provided by the doctors or precautionary measures can be taken by the patients themselves if any abnormal brain activity or seizure is predicted before its occurrence. The pre-ictal period has some information about the occurrence of epileptic seizure in EEG signals. The brain behaves normal in inter-ictal and postictal periods. For epilepsy, long duration EEG recording are required from days to week. This keeps the patients to stay in the hospital for many days. Our proposed methodology is to predict the epileptic seizure and monitor the brain abnormality in real time. Still there is no epileptic seizure prediction algorithm using EEG available for clinical applications. Our aim is to study and develop a good epileptic seizure prediction algorithm/method with high value of sensitivity and specificity using scalp EEG i-e noninvasive approach. Also a comprehensive survey is done to find the limitations and research issues related to this. The proposed pattern recognition approach has great potential to be used in real time monitoring for epileptic patients and it can be helpful in improving the quality of life of the patients.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"35 6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130765709","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719958
A. Hani, T. Soomro, I. Faye
Diabetic Retinopathy (DR) is vision loss impairment due to complication arising from diabetic condition affecting the retina. It is known that the foveal avascular zone (FAZ) enlarges with progression of DR due to the loss of capillaries in perifoveal capillary network. However, normal retinal fundus images suffer from low and varied contrast problems. A non-invasive digital image enhancement technique called RETICA has been developed that overcomes the problem of varied and low contrast in fundus images. RETICA first normalises the varied contrast using a Retinex-based method that separates the illumination from the reflectance part of the image followed by ICA that forms the original retinal pigment makeup namely the macular, haemoglobin and melanin retinal pigment. The technique has been applied on our FINDeRS dataset contained 175 fundus images and another 35 fundus image pairs obtained from an earlier study containing colour fundus images and their corresponding fluorescein fundus angiogram (FFA) images. For the 35 image pairs, RETICA achieved an average contrast improvement factor (CIF) of up to 5.46 compared to the invasive FFA at 5.12. For the FINDeRS images, RETICA achieved an average CIF of 5.63 with denoising. The RETICA image enhancement technique potentially reduces the need for the invasive fluorescein angiogram in DR assessment.
{"title":"Non-invasive contrast enhancement for retinal fundus imaging","authors":"A. Hani, T. Soomro, I. Faye","doi":"10.1109/ICCSCE.2013.6719958","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719958","url":null,"abstract":"Diabetic Retinopathy (DR) is vision loss impairment due to complication arising from diabetic condition affecting the retina. It is known that the foveal avascular zone (FAZ) enlarges with progression of DR due to the loss of capillaries in perifoveal capillary network. However, normal retinal fundus images suffer from low and varied contrast problems. A non-invasive digital image enhancement technique called RETICA has been developed that overcomes the problem of varied and low contrast in fundus images. RETICA first normalises the varied contrast using a Retinex-based method that separates the illumination from the reflectance part of the image followed by ICA that forms the original retinal pigment makeup namely the macular, haemoglobin and melanin retinal pigment. The technique has been applied on our FINDeRS dataset contained 175 fundus images and another 35 fundus image pairs obtained from an earlier study containing colour fundus images and their corresponding fluorescein fundus angiogram (FFA) images. For the 35 image pairs, RETICA achieved an average contrast improvement factor (CIF) of up to 5.46 compared to the invasive FFA at 5.12. For the FINDeRS images, RETICA achieved an average CIF of 5.63 with denoising. The RETICA image enhancement technique potentially reduces the need for the invasive fluorescein angiogram in DR assessment.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125943097","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 : 2013-11-01DOI: 10.1109/ICCSCE.2013.6719939
Saeed Mohammadloo, M. Arbabmir, H. G. Asl
In this paper we present a new landmark initialization technique for Bearing-Only Simultaneous Localization and Mapping (SLAM) algorithm. The initialization scheme is a type of the delayed constrained initialization method and is different from previous approaches. In our work, it is shown that the angle between sequential observations measured by a bearing-only sensor such as pan-tilt camera and the distance between the vehicle and landmark plays an important role in landmark localization accuracy. Considering this fact, a proper constrained function that utilizes the rotation angle of the camera is applied between multiple landmark location estimates and the best estimate is selected. The simulation results show that the proposed technique is capable to pick out the best initial estimate for landmark location and improves the accuracy of state estimates in Bearing-Only SLAM.
在本文中，我们提出了一种新的地标初始化技术，用于仅轴承同步定位和绘图（SLAM）算法。该初始化方案是延迟约束初始化方法的一种，与以往的方法不同。我们的研究表明，由方位传感器（如云台相机）测得的连续观测值与车辆和地标之间的距离之间的角度对地标定位精度起着重要作用。考虑到这一事实，在多个地标位置估计值之间应用了一个利用摄像头旋转角度的适当约束函数，并选出了最佳估计值。仿真结果表明，所提出的技术能够选出地标定位的最佳初始估计值，并提高了仅有轴承的 SLAM 中状态估计的准确性。
{"title":"New constrained initialization for bearing-only SLAM","authors":"Saeed Mohammadloo, M. Arbabmir, H. G. Asl","doi":"10.1109/ICCSCE.2013.6719939","DOIUrl":"https://doi.org/10.1109/ICCSCE.2013.6719939","url":null,"abstract":"In this paper we present a new landmark initialization technique for Bearing-Only Simultaneous Localization and Mapping (SLAM) algorithm. The initialization scheme is a type of the delayed constrained initialization method and is different from previous approaches. In our work, it is shown that the angle between sequential observations measured by a bearing-only sensor such as pan-tilt camera and the distance between the vehicle and landmark plays an important role in landmark localization accuracy. Considering this fact, a proper constrained function that utilizes the rotation angle of the camera is applied between multiple landmark location estimates and the best estimate is selected. The simulation results show that the proposed technique is capable to pick out the best initial estimate for landmark location and improves the accuracy of state estimates in Bearing-Only SLAM.","PeriodicalId":319285,"journal":{"name":"2013 IEEE International Conference on Control System, Computing and Engineering","volume":"163 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125974268","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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