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Development of Low Cost Autonomous Underwater Vehicle Platform 低成本自主水下航行器平台的研制
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-01-01 DOI: 10.21307/ijssis-2021-005
O. Hassanein, G. Sreenatha, S. Aboobacker, Shaaban Ali
Abstract This paper presents the development of a low-cost autonomous underwater vehicle (AUV). For research, industrial and military underwater applications, AUVs are generally used, which modeling, system identification and control of these vehicles pose serious challenges due to the vehicles’ complex, inherently nonlinear, and time-varying dynamics. Here, the AUV is considered to have 6-DOF for the development of the electrical, electronics, power distribution, sensors, and actuators. A low-cost IMU is used along with other reasonably low-cost detectors, such as a magnetometer and a water pressure sensor for depth evaluation. This study addresses the configuration and selection of the onboard instruments required to collect data using a processing unit (PC104) based on-board data logger to record complete manoeuvring data obtained from various sensors and process it based on the experiment. Real-time validations using Hardware-in-Loop (HIL) simulations are carried out. HIL simulations help to simulate the behavior of the developed model for surge, pitch and yaw movement, and also it makes clear that the used identification methods are feasible for real time control. Real time experiments are carried out with the developed 6-DOF instrumented AUV platform in various conditions and environments to validate its dynamics identification with adaptive controller and the results are presented for surge, the control of pitch, and yaw. The results revealed that the adaptive controller can effectively control the developed AUV and show its robust properties in the real world.
摘要本文介绍了一种低成本自主水下航行器(AUV)的研制。在研究、工业和军事水下应用中,通常使用auv,由于其复杂的、固有的非线性和时变动力学特性,对其建模、系统识别和控制提出了严峻的挑战。在这里,AUV被认为具有6自由度,用于电气,电子,配电,传感器和执行器的开发。低成本的IMU与其他合理低成本的探测器一起使用,例如用于深度评估的磁力计和水压传感器。本研究解决了使用基于机载数据记录器的处理单元(PC104)收集数据所需的机载仪器的配置和选择,以记录从各种传感器获得的完整操纵数据并根据实验进行处理。利用硬件在环(HIL)仿真进行了实时验证。HIL仿真有助于模拟所开发模型对浪涌、俯仰和偏航运动的行为,并表明所采用的识别方法对实时控制是可行的。利用所研制的六自由度仪器水下航行器平台,在各种条件和环境下进行了实时实验,验证了自适应控制器对水下航行器的动态辨识,并给出了浪涌、俯仰和偏航的控制结果。结果表明,所设计的自适应控制器能够有效地控制所研制的水下机器人,并在实际应用中显示出良好的鲁棒性。
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引用次数: 3
Device-to-device and mobile user communication with queuing in NOMA-based network 基于NOMA的网络中排队的设备对设备和移动用户通信
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-01-01 DOI: 10.21307/IJSSIS-2021-006
V. Balyan, Dhiraj Gupta
Abstract In this paper, device-to-device (D2D) pairs use the uplink resource of a mobile user. The transmission is done using a non-orthogonal multiple access (NOMA) technology. The D2D pairs are placed in a queue with maximum threshold time. The channel is allocated to D2D pairs using the TDMA scheme with the first in first out (FIFO) principle. Considering the slots of time division multiple access (TDMA) and channel state, the channel is shared by one D2D pair with the mobile user. The signal to interference (SIC) is employed for D2D pair or mobile user based on NOMA. A hybrid of TDMA and NOMA is used in which time and bit allocation are judiciously adopted. The results are simulated for four different scenarios of power and rate requirements with reduced latency and interference.
摘要在本文中,设备对设备(D2D)使用移动用户的上行链路资源。该传输是使用非正交多址(NOMA)技术来完成的。D2D对被放置在具有最大阈值时间的队列中。使用具有先进先出(FIFO)原理的TDMA方案将信道分配给D2D对。考虑到时分多址(TDMA)的时隙和信道状态,信道由一对D2D与移动用户共享。信号干扰(SIC)用于基于NOMA的D2D对或移动用户。使用TDMA和NOMA的混合,其中明智地采用时间和比特分配。在降低延迟和干扰的情况下,模拟了功率和速率要求的四种不同场景的结果。
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引用次数: 1
An overview of technologies and devices against COVID-19 pandemic diffusion: virus detection and monitoring solutions 针对COVID-19大流行扩散的技术和设备概述:病毒检测和监测解决方案
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-01-01 DOI: 10.21307/IJSSIS-2021-003
R. Fazio, A. Sponziello, D. Cafagna, R. Velázquez, Paolo Visconti
Abstract The year 2020 will remain in the history for the diffusion of the COVID-19 virus, originating a pandemic on a world scale with over a million deaths. From the onset of the pandemic, the scientific community has made numerous efforts to design systems to detect the infected subjects in ever-faster times, allowing both to intervene on them, to avoid dangerous complications, and to contain the pandemic spreading. In this paper, we present an overview of different innovative technologies and devices fielded against the SARS-CoV-2 virus. The various technologies applicable to the rapid and reliable detection of the COVID-19 virus have been explored. Specifically, several magnetic, electrochemical, and plasmonic biosensors have been proposed in the scientific literature, as an alternative to nucleic acid-based real-time reverse transcription Polymerase Chain Reaction (PCR) (RT-qPCR) assays, overcoming the limitations featuring this typology of tests (the need for expensive instruments and reagents, as well as of specialized staff, and their reliability). Furthermore, we investigated the IoT solutions and devices, reported on the market and in the scientific literature, to contain the pandemic spreading, by avoiding the contagion, acquiring the parameters of suspected users, and monitoring them during the quarantine period.
2020年将继续成为COVID-19病毒扩散的历史,引发了一场全球范围的大流行,造成100多万人死亡。自大流行开始以来,科学界已经做出了许多努力,设计系统,以便在更快的时间内发现受感染的受试者,从而能够对他们进行干预,避免危险的并发症,并遏制大流行的传播。在本文中,我们概述了针对SARS-CoV-2病毒的不同创新技术和设备。探索了适用于快速、可靠检测新冠病毒的各种技术。具体来说,科学文献中已经提出了几种磁性、电化学和等离子体生物传感器,作为基于核酸的实时逆转录聚合酶链反应(RT-qPCR)测定的替代方法,克服了这种类型的检测的局限性(需要昂贵的仪器和试剂,以及专业人员,以及它们的可靠性)。此外,我们调查了市场和科学文献中报道的物联网解决方案和设备,通过避免传染,获取可疑用户的参数,并在隔离期间对其进行监测,以遏制大流行的传播。
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引用次数: 5
A review on high dynamic range (HDR) image quality assessment 高动态范围(HDR)图像质量评价综述
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-01-01 DOI: 10.21307/ijssis-2021-010
I. Gunawan, Ocarina Cloramidina, Salmaa Badriatu Syafa’ah, Rizcy Hafivah Febriani, G. P. Kuntarto, B. I. Santoso
Abstract This paper presents a literature review on the method of measuring high dynamic range (HDR) image quality. HDR technology can help maximize user satisfaction level when using HDR images-based visual services. The advance of HDR technology indirectly presents a more difficult challenge to the image quality assessment method due to the high sensitivity of the human visual system (HVS) to various kinds of distortions that may arise in HDR images. This is related to the process of HDR image generation, which in general can be classified into two broad categories: the formation using the multiple exposure fusion (MEF) method and the inverse tone mapping operator (ITMO) method. In this paper, we will outline how HDR image quality measurement method works and describe some examples of these measurement methods which are related to the way the HDR images are fabricated. From these methods, it can be seen that most of them are still focused on full-reference and no-reference quality models. We argue that there is still room for the development of reduced-reference HDR image quality assessment.
摘要本文对高动态范围(HDR)图像质量的测量方法进行了文献综述。当使用基于HDR图像的视觉服务时,HDR技术可以帮助最大限度地提高用户满意度。由于人类视觉系统(HVS)对HDR图像中可能出现的各种失真的高灵敏度,HDR技术的进步间接地对图像质量评估方法提出了更困难的挑战。这与HDR图像生成过程有关,HDR图像通常可分为两大类:使用多重曝光融合(MEF)方法和逆色调映射算子(ITMO)方法形成。在本文中,我们将概述HDR图像质量测量方法的工作原理,并描述这些测量方法的一些例子,这些方法与HDR图像的制作方式有关。从这些方法中可以看出,大多数方法仍然侧重于完全参考和无参考质量模型。我们认为,减少参考HDR图像质量评估仍有发展空间。
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引用次数: 2
Improving sand flow rate measurement using the wavelet transform and ultrasonic sensors 改进了用小波变换和超声波传感器测量砂流的方法
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-01-01 DOI: 10.21307/IJSSIS-2021-001
H. Seraj, B. Evans, M. Sarmadivaleh
Abstract Accurate sand flow rate measurement is needed to minimize the side effects of sand production in gas fields. There are concerns about the accuracy of sand flow measurement using the sand measuring devices available on the market. In this paper, ultrasonic sensors and discrete wavelet transform signal analysis method is used to measure the sand flow rate. It is found that the strength of the discrete wavelet coefficients in the frequency range of 15–62 kHz has a linear relationship with sand flow rate. This finding provides a new methodology to accurately measure sand flow rate. The proposed method does not need fluid velocity as a prerequisite for sand rate measurement, so it greatly simplifies the system design when flow meters are not used for fluid velocity measurement. Also, this method has a much simpler calibration procedure compared to that of the sand detectors commonly used in the industry.
为了最大限度地减少油气田出砂的副作用,需要精确的出砂流量测量。市场上可用的测砂装置对砂流量测量的准确性存在担忧。本文采用超声波传感器和离散小波变换信号分析方法对砂流进行测量。研究发现,15 ~ 62 kHz频率范围内的离散小波系数强度与砂流速率呈线性关系。这一发现为精确测量出砂流量提供了一种新的方法。该方法不需要以流速作为测量出砂率的前提条件,在不使用流量计进行流速测量的情况下,大大简化了系统设计。此外,与行业中常用的砂探测器相比,该方法的校准程序要简单得多。
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引用次数: 0
Expansion of detectable area by floating electrodes in capacitive three-dimensional proximity sensor 电容式三维接近传感器中浮动电极可探测区域的扩展
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-01-01 DOI: 10.21307/ijssis-2021-018
M. Deguchi
Abstract In the capacitive proximity sensing method, arranging multiple sensing electrodes makes it possible to obtain the three-dimensional position of a nearby object. The author has developed a capacitive proximity sensing method using LC resonance in three reactance elements. In this method, the detectable area can be greatly extended by the floating electrodes, which are capacitively connected to the sensing electrode. By connecting multiple floating electrodes in series, the detectable range can be extended up to the length of the array of floating electrodes. When these electrodes are arranged on a frame, the region surrounded by the frame becomes the detectable area. By applying this frame on any surface, it is possible to make the surface within the opening of the frame a non-contact operating panel, which can be applied as a gesture input device.
在电容式接近传感方法中,通过布置多个传感电极,可以获得附近物体的三维位置。作者提出了一种利用LC谐振在三个电抗元件中进行电容式接近传感的方法。在该方法中,通过与传感电极电容连接的浮动电极可以大大扩展可检测区域。通过串联多个浮动电极,可将检测范围扩展到浮动电极阵列的长度。当这些电极排列在框架上时,被框架包围的区域成为可检测区域。通过将该框架应用于任何表面,可以使框架开口内的表面成为非接触式操作面板,可作为手势输入设备应用。
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引用次数: 0
Performance evaluation of brain tumor detection using watershed Segmentation and thresholding 基于分水岭分割和阈值的脑肿瘤检测性能评价
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-01-01 DOI: 10.21307/ijssis-2021-020
Shruti Mishra, Noyonika Roy, Meghana B Bapat, Abhishek Gudipalli
Abstract Brain tumors and cancers are life-threatening diseases to human beings and have been on the rise. If undetected, they are deadly. With the advent of advanced medical technology, it has become imperative to accurately spot and identify these tumors at the earliest. The manuscript aims at providing an accurate method to detect and segment brain tumors from MRI scans. This is achieved by implementing watershed segmentation and threshold algorithm paired with pre and post image processing techniques. Apart from detecting the tumor region, the proposed process also enhances image quality by noise removal techniques and image quality improvement. These results give promising values when verified using several evaluation parameters such as Structural Similarity Index Measure (SSIM), Feature Similarity Index Measure (FSIM) and Peak Signal-to-Noise Ratio (PSNR) and stand out among the other similar pre-existing algorithms that they are compared with in a comparative analysis.
摘要脑肿瘤和癌症是威胁人类生命的疾病,并且呈上升趋势。如果未被发现,它们是致命的。随着先进医疗技术的出现,尽早准确地发现和识别这些肿瘤已成为当务之急。这份手稿旨在提供一种准确的方法,从MRI扫描中检测和分割脑肿瘤。这是通过将分水岭分割和阈值算法与图像前后处理技术相结合来实现的。除了检测肿瘤区域,所提出的过程还通过噪声去除技术和图像质量改进来提高图像质量。当使用诸如结构相似性指数度量(SSIM)、特征相似性指数测量(FSIM)和峰值信噪比(PSNR)之类的几个评估参数进行验证时,这些结果给出了有希望的值,并且在比较分析中与它们进行比较的其他类似的预先存在的算法中脱颖而出。
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引用次数: 0
Using explainable deep learning in da Vinci Xi robot for tumor detection 可解释深度学习在达芬奇Xi机器人肿瘤检测中的应用
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2021-01-01 DOI: 10.21307/ijssis-2021-017
Rohan Ibn Azad, S. Mukhopadhyay, M. Asadnia
Abstract Deep learning has proved successful in computer-aided detection in interpreting ultrasound images, COVID infections, identifying tumors from computed tomography (CT) scans for humans and animals. This paper proposes applications of deep learning in detecting cancerous cells inside patients via laparoscopic camera on da Vinci Xi surgical robots. The paper presents method for detecting tumor via object detection and classification/localizing using GRAD-CAM. Localization means heat map is drawn on the image highlighting the classified class. Analyzing images collected from publicly available partial robotic nephrectomy videos, for object detection, the final mAP was 0.974 and for classification the accuracy was 0.84.
深度学习在计算机辅助检测中被证明是成功的,包括解释超声图像、COVID感染、从人类和动物的计算机断层扫描(CT)中识别肿瘤。本文提出了一种利用GRAD-CAM进行目标检测和分类/定位的肿瘤检测方法。定位是指在图像上绘制热图,突出显示分类类。分析从公开可用的部分机器人肾切除术视频中收集的图像,对于物体检测,最终mAP为0.974,对于分类准确率为0.84。
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引用次数: 0
Forest fire detection using wireless sensor networks 利用无线传感器网络进行森林火灾探测
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2020-01-01 DOI: 10.21307/ijssis-2020-006
Premsai Dasari, Gundam Krishna Jayanth Reddy, Abhishek Gudipalli
Abstract A forest has different types of vegetation like herbs, trees, shrubs and different species of animals. In one way or other, these renewable resources are very essential to mankind. Forest fires are the most common hazards in forests which lead to serious destruction of forest wealth, bio-diversity and natural habitat. Early detection and preventive measures are necessary to protect forests from fires. In order to achieve early detection, there are two most used traditional methods of human surveillance. One is directly through human observation and the other is through distant video surveillance. Doing the observation through distant mode, one can achieve surveillance through automation approach of detection. Automated fire alert detection system proposed in this paper comprises of two sensors, namely smoke and fire. These sensors detect change in a measurable physical quantity and help in the early detection of a forest fire. A key feature of this fire detection system is to alert the user remotely by using a GSM module, whenever a fire is detected.
森林有不同类型的植被,如草本植物、乔木、灌木和不同种类的动物。不管怎样,这些可再生资源对人类是非常重要的。森林火灾是森林中最常见的危害,它严重破坏了森林财富、生物多样性和自然栖息地。早期发现和预防措施对于保护森林免受火灾是必要的。为了实现早期发现,有两种最常用的传统人员监测方法。一种是直接通过人工观察,另一种是通过远程视频监控。通过远距离观察的方式,可以通过自动化检测的方式实现监视。本文提出的火灾自动报警探测系统由烟雾和火灾两个传感器组成。这些传感器可以探测到可测量物理量的变化,有助于及早发现森林火灾。该火灾探测系统的一个主要特点是,每当探测到火灾时,通过GSM模块远程提醒用户。
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引用次数: 19
MDRP: An Energy-Efficient Multi-Disjoint Routing protocol in WSNs for Smart Grids 基于MDRP的智能电网无线传感器网络节能多不连接路由协议
IF 1.2 Q4 ENGINEERING, ELECTRICAL & ELECTRONIC Pub Date : 2020-01-01 DOI: 10.21307/ijssis-2020-016
K. Deepa, Zaheeruddin, Shruti Vashist
Abstract Rapid increase in sensor electronics has expanded the call for sensor networks in IoT-based devices. Smart grid is a part of IoT framework, which can be used to screen and manage traffic congestion, electricity influxes, extreme weather, and so on. This is done through a network of transmission lines, smart sensors, and smart meters. It is required to distribute and accumulate information remotely on timely basis from different stages of the grid. The periodic data from the smart meters are transferred to MDMS through WSN’s. In WSN’s, depletion of energy due to unequal load on the sensors is a serious issue, which is to be addressed as it affects the operations of the entire network. To assist these traffic requirements and to boost the network lifetime, asynchronous work sleep cycle approach can be used to create node connections. In this article, an energy-efficient adaptive fuzzy-based multi-disjoint routing protocol in WSN’s for smart grids abbreviated as (MDRP) is proposed, where the next hop node is decided through fuzzy logic. Once the subsequent node is decided, a spanning tree is constructed with the sink node as its root, which calculates the optimal path cost, to transmit the collected data. Furthermore, the simulation results show that the proposed MDRP performs better in terms of network lifetime, packet delivery ratio, total energy consumption, etc.
摘要传感器电子产品的快速增长扩大了对物联网设备中传感器网络的需求。智能电网是物联网框架的一部分,可用于筛查和管理交通拥堵、电力流入、极端天气等。这是通过输电线路、智能传感器和智能电表网络实现的。要求从电网的不同阶段及时远程分发和积累信息。智能电表的周期性数据通过WSN传输到MDMS。在无线传感器网络中,由于传感器负载不均衡而导致的能量消耗是一个严重的问题,因为它会影响整个网络的运行,因此需要加以解决。为了满足这些流量需求并延长网络寿命,可以使用异步工作睡眠周期方法来创建节点连接。本文提出了一种用于智能电网的WSN中的节能自适应模糊多不相交路由协议,简称为(MDRP),其中下一跳节点是通过模糊逻辑确定的。一旦确定了后续节点,就以汇聚节点为根构建生成树,计算最佳路径成本,以传输收集的数据。此外,仿真结果表明,所提出的MDRP在网络寿命、数据包传输率、总能耗等方面表现更好。
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引用次数: 1
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International Journal on Smart Sensing and Intelligent Systems
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