Nawrat / Jedrasiak / Jedrasiak Innovative Simulation Systems

1. Auflage 2015
ISBN: 978-3-319-21118-3
Verlag: Springer Nature Switzerland
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, Band 33, 444 Seiten

Reihe: Studies in Systems, Decision and Control

This monograph provides comprehensive guidelines on the current and future trends of innovative simulation systems. In particular, their important components, such as augmented reality and unmanned vehicles are presented. The book consists of three parts. Each part presents good practices, new methods, concepts of systems and new algorithms. Presented challenges and solutions are the results of research and conducted by the contributing authors.The book describes and evaluates the current state of knowledge in the field of innovative simulation systems. Throughout the chapters there are presented current issues and concepts of systems, technology, equipment, tools, research challenges and current, past and future applications of simulation systems. The book is addressed to a wide audience: academic staff, representatives of research institutions, employees of companies and government agencies as well as students and graduates of technical universities in the country and abroad. The book can be a valuable source of information for constructors and developers of innovative simulation systems and their components. Scientists and researchers involved in mechanics, control algorithms, image processing, computer vision or data fusion can find many valuable suggestions and solutions.

Autoren/Hrsg.

Nawrat, Aleksander

Jedrasiak, Karol

Inhaltsverzeichnis

1;Preface;7
2;Acknowledgment;9
3;Contents;10
4;Part I Vision-Based Information for InnovativeSimulation Systems;13
5;1 Minimizing the Image Resolution in Order to Increase the Computing Speed Without Losing the Separation of the Recognised Patterns;15
5.1;Abstract;15
5.2;1 Introduction;16
5.3;2 Formulating the Problem of the Resolution Change for Grey Scale Images;16
5.4;3 Examining the Influence of the Image Resolution on the Moment Invariants Values for Grey Scale Images;20
5.5;4 Example;25
5.6;5 Conclusions;28
5.7;References;29
6;2 The Method of Guaranteeing the Separation Between the Recognised Object and Background;31
6.1;Abstract;31
6.2;1 Introduction;32
6.3;2 Formulating the Problem of Distinguishing an Object and Background;32
6.4;3 Invariant Functions Used for a Description of an Object and Background Features;35
6.5;4 The Method of Creating Features Vector Which Guarantees the Separation of an Object and Background;36
6.6;5 Examples;37
6.7;6 Conclusions;41
6.8;References;42
7;3 The Method of Developing the Invariant Functions Vector for Objects Recognition from a Given Objects Set;44
7.1;Abstract;44
7.2;1 Introduction;44
7.3;2 Formulating the Problem of the Recognition for Grey Scale Images;45
7.4;3 Creating Model Vectors of the Features and Assessing the Distance Between a Current Vector and Model Vector of the Features;50
7.5;4 Examples;54
7.6;5 Conclusions;56
7.7;References;56
8;4 Adjusting the Thresholds to the Recognised Pattern in Order to Improve the Separation Between the Recognised Patterns;58
8.1;Abstract;58
8.2;1 Introduction;59
8.3;2 Formulating the Problem of Thresholding for Grey Scale Images;60
8.4;3 Examining the Influence of the Thresholding Method on the Usefulness of the Moment Invariants for Pattern Recognition;61
8.5;4 Example;63
8.6;5 Conclusions;75
8.7;References;76
9;5 The Concept of an Active Thermal Camouflage for Friend-Foe Identification System;78
9.1;Abstract;78
9.2;1 Introduction;78
9.3;2 Existing Solutions;79
9.4;3 System Architecture;81
9.5;4 Experimental Verification of Concept of Friend or Foe Recognition System;82
9.6;5 Tests;84
9.7;6 Conclusions;85
9.8;References;86
10;6 Augmented Reality in UAVs Applications;88
10.1;Abstract;88
10.2;1 Introduction;88
10.3;2 Literature Review;89
10.4;3 Perspective Controls Implementation;90
10.5;4 Project Results;93
10.6;5 Conclusions;95
10.7;Acknowledgment;95
10.8;References;96
11;7 Real Time Dense Motion Estimation Using FPGA Based Omnidirectional Video Acquisition Device;98
11.1;Abstract;98
11.2;1 Introduction;98
11.3;2 Field Programmable Gate Array (FPGA);100
11.4;3 Dense Optical Flow;102
11.4.1;3.1 Selection of Hardware Implemented Methods;103
11.4.2;3.2 Lucas-Kanade Method;104
11.5;4 Implementation;107
11.5.1;4.1 Computer Program---Method Comparison;107
11.5.2;4.2 Configuration of FPGA;107
11.6;5 Test Results---Predefined Sequences;108
11.6.1;5.1 Test Sequences;108
11.6.2;5.2 Error Measurement;109
11.6.3;5.3 Test Results;110
11.6.4;5.4 Summary;110
11.7;6 Test Results---Generated Video Stream;112
11.8;7 Test Results---Real-Time Dense Motion Estimation in Video Stream Captured by a Camera;114
11.9;8 Summary;116
11.10;References;117
12;8 GPU-Based Parameters Estimation for Anisotropic Diffusion;120
12.1;Abstract;120
12.2;1 Introduction;120
12.3;2 Algorithm;121
12.4;3 Implementation;122
12.5;4 Tests;122
12.6;5 Summary;126
12.7;Acknowledgment;127
12.8;References;127
13;9 An Evaluation of SETh---The Method for Long-Term Feature Tracking;129
13.1;Abstract;129
13.2;1 Introduction;129
13.3;2 Literature Review;130
13.4;3 SETh;131
13.5;4 Tests;137
13.6;5 Conclusions;195
13.7;Acknowledgments;195
13.8;References;196
14;10 The System for Augmented Reality Motion Measurements Visualization;199
14.1;Abstract;199
14.2;1 Introduction;199
14.3;2 Review of Medical Solutions;200
14.4;3 Proposed Solution;201
14.5;4 User Interface;206
14.6;5 Summary;208
14.7;References;209
15;11 Real-Time Multiple Laser Points Tracking;211
15.1;Abstract;211
15.2;1 Introduction;211
15.3;2 Laser Tracking;212
15.4;3 Test-Based Parameters Selection;214
15.5;4 Empirical Results;219
15.6;Acknowledgement;222
15.7;References;222
16;Part II Design, Construction and Analysisfor Purpose of Innovative Systems;224
17;12 Numerical and Experimental Analysis of a Truck Frame;226
17.1;Abstract;226
17.2;1 Introduction;226
17.3;2 Characteristics of the Frame;227
17.4;3 Definition of Loads;231
17.5;4 Analysis of Results;232
17.6;5 Modification Suggestions;233
17.7;6 Experimental Tests;234
17.8;7 Conclusions;239
17.9;References;239
18;13 Designing and Implementing Elements of a Vehicle Model in the VBS2 Virtual Simulation Environment;241
18.1;Abstract;241
18.2;1 Introduction;241
18.3;2 Creating the Basic Shape of the Vehicle;242
18.4;3 Creating Active Selections;252
18.5;4 Creating Technical Layers;253
18.5.1;4.1 Layer 5.000;254
18.5.2;4.2 Shadow Volume Layer;255
18.5.3;4.3 Geometry Layer;255
18.5.4;4.4 View---Cargo Layer;255
18.5.5;4.5 Fire Geometry Layer;256
18.5.6;4.6 Land Contact Layer;256
18.5.7;4.7 Hit-Points Layer;258
18.5.8;4.8 Memory Layer;258
18.6;5 References to the Crew and Landing Sites;260
18.7;6 Animations;261
18.8;7 Config.cpp File;263
18.9;8 Conclusion;264
18.10;References;265
19;14 Semi-active Suspension System for 2S1 Tracked Platform in Drive Comfort Improvement Application;266
19.1;Abstract;266
19.2;1 Introduction;266
19.3;2 Passive and Semi-active Suspension in the Tracked Vehicle Model;268
19.3.1;2.1 Passive Suspension Models---Basic Model;268
19.3.2;2.2 Passive Suspension Models---Modified Model;270
19.3.3;2.3 Sky-Hook Strategy Adopted to the Tracked Vehicle Suspension;272
19.3.4;2.4 Semi-active Suspension Models;273
19.3.5;2.5 ADAMS-Matlab Co-simulation Conditions;275
19.4;3 Simulation in the Yuma Proving Ground Conditions;275
19.5;4 Simulation Results Analysis;276
19.5.1;4.1 Time Domain Analysis---Modified Model;276
19.5.2;4.2 Time Domain Analysis---Basic Model;278
19.5.3;4.3 Frequency Domain Analysis---Modified Model;279
19.5.4;4.4 Frequency Domain Analysis---Basic Model;280
19.6;5 Conclusions;281
19.7;References;282
20;15 Experimental Mobile Robot---Hardware;283
20.1;Abstract;283
20.2;1 Introduction;283
20.3;2 Electronics;284
20.3.1;2.1 MCU;285
20.3.2;2.2 Sufficiently Large Random Access Memory;285
20.3.3;2.3 PWM;286
20.3.4;2.4 Communication Channels;286
20.3.5;2.5 ADC Channel;287
20.3.5.1;2.5.1 Schematic;287
20.3.5.2;2.5.2 External Oscillator;287
20.3.6;2.6 Wireless Communication;288
20.3.7;2.7 Motor Driver;289
20.3.7.1;2.7.1 Encoders;291
20.3.8;2.8 Power Supply;291
20.3.9;2.9 RS232 and USB Communication;292
20.4;3 Conclusions;293
20.5;References;294
21;16 Conception of a Diagnostic System for Evaluating a Technique Correctness and Effectiveness of Running;296
21.1;Abstract;296
21.2;1 Introduction;296
21.3;2 Correct Running Form;297
21.4;3 System Conception;298
21.4.1;3.1 Stationary Part;300
21.4.1.1;3.1.1 Vision System;300
21.4.1.2;3.1.2 Inertial System;301
21.4.2;3.2 Mobile Part;303
21.5;4 Conclusion;303
21.6;References;304
22;Part III Design and Evaluation of ControlAlgorithms;305
23;17 Experimental Mobile Robot---Software;307
23.1;Abstract;307
23.2;1 Introduction;307
23.3;2 Software;308
23.3.1;2.1 MCU Tasks;308
23.3.2;2.2 Design Overview;309
23.3.3;2.3 Scheduler;310
23.3.3.1;2.3.1 The Solution;311
23.3.3.2;2.3.2 Implementation;313
23.3.4;2.4 Device Drivers;313
23.3.5;2.5 Command Processor;314
23.3.6;2.6 Controllers;315
23.4;3 Developer Console;316
23.5;4 Conclusions;319
23.6;References;319
24;18 Application of Genetic Algorithms for Identification of Simulated Systems;321
24.1;Abstract;321
24.2;1 Introduction;321
24.3;2 Genetic Algorithms for Identification;322
24.4;3 Two-Step Genetic Algorithm;323
24.4.1;3.1 The Population;324
24.4.2;3.2 System Model for Fitness Calculations;327
24.4.3;3.3 Introducing Genetic Operators;329
24.4.4;3.4 Initial Population for S2;334
24.5;4 Verification Method of TSGA Verification by Simulation;336
24.6;5 Conclusion;337
24.7;References;337
25;19 Quadrotor Dynamics and Control for Precise Handling;339
25.1;Abstract;339
25.2;1 Introduction;339
25.3;2 Quadrotor Simulation Model;341
25.4;3 Quadrotor Flight Control System;347
25.5;4 Conclusions;354
25.6;Acknowledgment;354
25.7;References;354
26;20 The Application of the Modified BLT Method for the Synthesis of UAV's Control System;356
26.1;Abstract;356
26.2;1 Introduction;356
26.3;2 The Linear Multivariable Model for the UAV;357
26.4;3 An Example of the Control System Operation;360
26.5;4 Conclusions;363
26.6;References;363
27;21 The Modified BLT Method for Multivariable Control Systems;366
27.1;Abstract;366
27.2;1 Introduction;366
27.3;2 The Description and Proposed Modification of the BLT Method;367
27.3.1;2.1 The Algorithm of the Multivariable Controller Synthesis with the Use of the BLT Method;368
27.3.2;2.2 The Proposed Modification of the BLT Method;369
27.4;3 The Example of the Control System Synthesis;369
27.5;4 Conclusions;373
27.6;References;374
28;22 Analysis of Human Arm Nonlinear and Linear Mathematical Models;375
28.1;Abstract;375
28.2;1 Introduction;375
28.3;2 The Synthesis of a Mathematical Model of the Human Arm;376
28.3.1;2.1 Kinematics;376
28.3.2;2.2 Dynamics;379
28.3.3;2.3 Nonlinear Model of Arm;381
28.3.4;2.4 Linear Model of the Arm;382
28.4;3 1link-1DoF Arm Model;384
28.4.1;3.1 Kinematics;384
28.4.2;3.2 Dynamics;386
28.4.3;3.3 Nonlinear Model of Arm;386
28.4.4;3.4 Linear Model of Arm;387
28.5;4 1link-2DoF Arm Model;387
28.5.1;4.1 Kinematics;387
28.5.2;4.2 Dynamics;389
28.5.3;4.3 Nonlinear Model of Arm;390
28.5.4;4.4 Linear Model of Arm;390
28.6;5 Results of the Simulation;391
28.7;References;399
29;23 Naive Kalman Filtering for 3D Object Orientation;400
29.1;Abstract;400
29.2;1 Introduction;400
29.3;2 Reference System;401
29.4;3 Naive Kalman Filtering;402
29.5;4 Exemplary Experiments;406
29.6;5 Conclusion and Future Work;410
29.7;Acknowledgements;410
29.8;References;410
30;24 Non-GPS Navigation System for Criminalistic Investigation on Mobile Robot;412
30.1;Abstract;412
30.2;1 Introduction;412
30.3;2 Visual Odometry;413
30.3.1;2.1 Related Work;414
30.3.2;2.2 Algorithm Outline;415
30.3.3;2.3 Pose Graph;416
30.4;3 Experimental Evaluation;417
30.4.1;3.1 KITTI Benchmark;417
30.4.2;3.2 WUT Indoor Test;419
30.5;4 Conclusions and Future Work;421
30.6;References;421
31;25 Path Planning Algorithms for Autonomous Mobile Platform;423
31.1;Abstract;423
31.2;1 Introduction;423
31.3;2 Algorithms;424
31.3.1;2.1 GPS-Based;425
31.3.2;2.2 Encoder-Based;425
31.3.3;2.3 Combination of GPS and Odometry;428
31.3.4;2.4 Magnetic Azimuth;430
31.3.5;2.5 Waypoint Finding Method;433
31.4;3 Tests;433
31.4.1;3.1 Test no. 1---The Far Point;433
31.4.1.1;3.1.1 GPS-Based;434
31.4.1.2;3.1.2 Encoder-Based;435
31.4.1.3;3.1.3 Combined;435
31.4.2;3.2 Test no. 2---The Circuit Test;437
31.4.2.1;3.2.1 GPS-Based;437
31.4.2.2;3.2.2 Encoder-Based;437
31.4.2.3;3.2.3 Combined;438
31.4.3;3.3 Test no. 3---The Slalom Test;439
31.4.3.1;3.3.1 GPS-Based;439
31.4.3.2;3.3.2 Encoder-Based;440
31.4.3.3;3.3.3 Combined;440
31.4.4;3.4 Comparison of the Results;441
31.5;4 Conclusions;442
31.6;References;443