Paper: Real Time Monocular Visual Odometry Using Optical Flow: Study On Navigation Of Quadrotors Uav

Real time monocular visual odometry using Optical Flow: Study on navigation of quadrotors UAV

http://ieeexplore.ieee.org/document/8011864/

Abstract:
Navigation is an important thing in so many intelligent systems. Nowadays, without any hesitation Global Positioning System (GPS) is the most common method for navigation. Nevertheless, in certain environments, GPS will become inaccurate due to the multi-path problem. In this paper, we propose a dead-reckoning system for quadrotor using feature-based monocular visual odometry to overcome that problem. The visual odometry design will be implemented into the fix bottom camera which is the monocular camera in quadrotor. The algorithm is validated by performing several tests. The results of the tests verify that the visual odometry algorithm can determine the position and orientation with good accuracy.

• Published in: Science and Technology - Computer (ICST), 2017 3rd International Conference on
• Date of Conference: 11-12 July 2017
• Date Added to IEEE Xplore: 17 August 2017
• INSPEC Accession Number: 17103105
• DOI: 10.1109/ICSTC.2017.8011864
• Publisher: IEEE

Keywords:
IEEE Keywords:
Cameras, Visualization, Mathematical model, Satellite navigation systems, Unmanned aerial vehicles, Intelligent systems, Three-dimensional displays.
INSPEC: Controlled Indexing
autonomous aerial vehicles, cameras, helicopters, image sequences, path planning, robot vision.
INSPEC: Non-Controlled Indexing
realtime monocular visual odometry, optical flow, quadrotors UAV navigation, Global Positioning System, GPS, dead-reckoning system, fix bottom camera, monocular camera.
Author Keywords:
navigation, intelligent system, monocular visual odometry, optical flow.
Conference call IEEE.
Sumber http://lang8088.blogspot.com

Paper: Robustness Of Pd Control For Transporting Quadrotor With Payload Uncertainties

Robustness of PD control for transporting quadrotor with payload uncertainties

http://ieeexplore.ieee.org/document/8011844/

Abstract:
Considering its agility and capability to vertical take-off and landing, quadrotor is beneficial for transporting missions. In this paper we present a model of a transporting quadrotor with payload uncertainties, as well as its corresponding proportional-derivative (PD) control on Special Orthogonal-3. Practically, it is a challenging duduk perkara to compensate the inertia perturbation due to the uncertainties of the payload that is transported. It is where our proposed control law comes to urge. Finally, numerical simulation and results are presented to verify the effectiveness of our proposed control law.

• Published in: Science and Technology - Computer (ICST), 2017 3rd International Conference on
• Date of Conference: 11-12 July 2017
• Date Added to IEEE Xplore: 17 August 2017
• INSPEC Accession Number: 17103099
• DOI: 10.1109/ICSTC.2017.8011844
• Publisher: IEEE

Keywords:
IEEE Keywords:
Mathematical model, Payloads, PD control, Symmetric matrices, Uncertainty, Rotors, Numerical simulation.
INSPEC: Controlled Indexing
autonomous aerial vehicles, helicopters, PD control, robust control.
INSPEC: Non-Controlled Indexing
PD control, proportional-derivative control, quadrotor, payload uncertainties, mission transportation, special orthogonal-3, control law, inertia perturbation.
Author Keywords:
transporting quadrotor, mathematical model, PD control, SO(3) group.
Conference call IEEE.
Sumber http://lang8088.blogspot.com

Paper: Design Of Fractional-Order Proportional-Integral-Derivative Controller: Hardware Realization

Design of fractional-order proportional-integral-derivative controller: Hardware realization

https://ieeexplore.ieee.org/document/8350813/

The aim of this paper is to present the implementation of Fractional-Order Proportional-Integral-Derivative (FOPID) to control the step response of the first-order circuit. With FOPID control, we obtain a satisfying result. The FOPID controller outperforms the classical integer PID, wherein both of them are optimized with the Nelder-Mead method. The FOPID controller succeeds to regulate the output of the system to our desired set point with better settling time and rise time than the classical one. In addition, hardware realization is presented with Arduino Uno.

Published in: 2018 International Conference on Information and Communications Technology (ICOIACT)

Date of Conference: 6-7 March 2018

Date Added to IEEE Xplore: 30 April 2018

ISBN Information:

Electronic ISBN: 978-1-5386-0954-5

USB ISBN: 978-1-5386-0953-8

Print on Demand(PoD) ISBN: 978-1-5386-0955-2

INSPEC Accession Number: 17735726

DOI: 10.1109/ICOIACT.2018.8350813

Publisher: IEEE

Conference Location: Yogyakarta, Indonesia

Keywords:
IEEE Keywords:
Hardware, Information and communication technology, Resistors, Capacitors, Transfer functions, Wiring.
INSPEC: Controlled Indexing
control system synthesis, microcontrollers, optimisation, step response, three-term control.
INSPEC: Non-Controlled Indexing
hardware realization, first-order circuit, FOPID control, FOPID controller, fractional-order proportional-integral-derivative controller, Nelder-Mead method, Arduino Uno.
Author Keywords:
fractional-order calculus, fractional-order PID, Nelder-Mead method optimization, first-order RC circuit.
Conference call IEEE.
Sumber http://lang8088.blogspot.com

Paper: A Remedy Design Of Pi Controller For Liquid Level Control

A remedy design of PI controller for liquid level control

https://ieeexplore.ieee.org/document/8350821/

In the industrial, the level of liquid control in the tank is important. Level control in the tank can be done by manipulating the liquid flow rate, in order to obtain the appropriate level of the liquid set point. For that required selection of control mode and tuning method accordingly. Despite its popularity, PI (Proportional-Integral) control tuned with Ziegler-Nichols method, suffers from weird oscillation. In this paper, a remedy for PI controller is proposed with and the St. Clair method. As results, based on the level control of manipulated value (MV), the output animo is obtained with 0% oscillation change, the rise time is 1.71 seconds, and the settling time is 4.9 seconds. It shows a level control system with PI control and St. Clair is able to make the system stable against MV.

Published in: 2018 International Conference on Information and Communications Technology (ICOIACT)

Date of Conference: 6-7 March 2018

Date Added to IEEE Xplore: 30 April 2018

ISBN Information:

Electronic ISBN: 978-1-5386-0954-5

USB ISBN: 978-1-5386-0953-8

Print on Demand(PoD) ISBN: 978-1-5386-0955-2

INSPEC Accession Number: 17735722

DOI: 10.1109/ICOIACT.2018.8350821

Publisher: IEEE

Conference Location: Yogyakarta, Indonesia

Keywords:
IEEE Keywords:
Transmitters, Level control, Mathematical model, Valves, Process control, Liquids.
INSPEC: Controlled Indexing
control system synthesis, industrial control, level control, PI control, tanks (containers).
INSPEC: Non-Controlled Indexing
tuning method, PI control, Ziegler-Nichols method, PI controller, level control system, remedy design, liquid level control, liquid control, liquid flow rate, liquid set point, time 4.9 s, time 1.71 s.
Author Keywords:
Level control, St. Clair, PI Controller, Manipulated Value (MV).
Conference call IEEE.
Sumber http://lang8088.blogspot.com

Paper: Robust Proportional-Derivative Control On So(3) For Transporting Quadrotor With Load Uncertainties

Robust Proportional-Derivative Control on SO(3) for Transporting Quadrotor with Load Uncertainties

• https://www.researchgate.net/publication/325627367_Robust_proportional-derivative_control_on_SO3_for_transporting_quadrotor_with_load_uncertainties
• http://www.iaeng.org/IJCS/issues_v45/issue_2/IJCS_45_2_06.pdf

IAENG International Journal of Computer Science

• Contents: Volume 45 Issue 2 (Online version available: 28 May 2018)
• ISSN: 1819-9224 (online version); 1819-656X (print version)
• Subject Category: Computer science
• Published by: International Association of Engineers

In this paper, a model of a transporting quadrotor with proportional-derivative (PD) control on Special Orthogonal-3 is presented. Quadrotor is a unique rotary wing UAV (Unmanned Aerial Vehicle) with special features such as VTOL (Vertical Take-Offand Landing) and hovering at desired altitude. Those features, make it beneficial for many applications such as military purposes, aerial photography, and transporting missions. Unfortunately, due its underactuated nature, while flying it can not be stabilized just from its mechanical structure. Even further, for transporting missions, it is a challenging dilema to compensate the inertia perturbation due to the uncertainties of the payload and also input saturation. That is the reason why such an electrical control algorithm needs to be introduced here. Numerical simulation and results are presented to verify the effectiveness of the proposed PD control algorithm.
Call conference proceeding IEEE:

• Conference Proceeding: Machine Learning Algorithms for Classifying Abscessed and Impacted Tooth: Comparison Study.
• Conference Proceeding: Optimal Fractional-Order PID for DC Motor: Comparison Study.
• Conference Proceeding: Design of fractional-order proportional-integral-derivative controller: Hardware realization.
• Conference Proceeding: A remedy design of PI controller for liquid level control.
• Conference Proceeding: Robustness of PD control for transporting quadrotor with payload uncertainties.
• Conference Proceeding: Real time monocular visual odometry using Optical Flow: Study on navigation of quadrotors UAV.

Sumber http://lang8088.blogspot.com

Paper: Optimal Fractional-Order Pid For Dc Motor: Comparison Study

This paper presents a comparative study of optimization methods for fractional-order Proportional-Integral-Derivative (FOPID) controller. Those methods are Nelder-Mead, Particle Swarm Optimization (PSO), and genetic algorithm. The FOPID controller needs to regulate the step response of the DC motor at the desired state. Numerical simulation and analysis are presented to verify the best method. The PSO gives the best result in term of settling time, robustness, and less overshoot.

https://ieeexplore.ieee.org/document/8528704

• Published in: 2018 4th International Conference on Science and Technology (ICST)
• Date of Conference: 7-8 Aug. 2018
• Date Added to IEEE Xplore: 12 November 2018
• DOI: 10.1109/ICSTC.2018.8528704
• Publisher: IEEE
• Conference Location: Yogyakarta, Indonesia, Indonesia
• Electronic ISBN: 978-1-5386-5813-0
• USB ISBN: 978-1-5386-5812-3
• Print on Demand(PoD) ISBN: 978-1-5386-5814-7

Keywords:
IEEE Keywords:
DC motors, Genetic algorithms, Optimization, Transfer functions, Mathematical model, Graphical user interfaces.
INSPEC: Controlled Indexing
control system synthesis, DC motors, genetic algorithms, machine control, optimal control, particle swarm optimisation, step response, three-term control.
INSPEC: Non-Controlled Indexing
optimal fractional-order PID, DC motor, optimization methods, PSO, genetic algorithm, FOPID controller, fractional-order proportional-integral-derivative controller, Nelder-Mead algorithm, particle swarm optimization.
Author Keywords:
fractional-order calculus, fractional-order PID, Nelder-Mead, Particle Swarm Optimization, Genetic Algorithm, DC motor.
Conference call IEEE.
Sumber http://lang8088.blogspot.com

Paper: Machine Learning Algorithms For Classifying Abscessed And Impacted Tooth: Comparison Study

This paper presents a comparative study of machine learning algorithms for classifying normal, abscessed, and impacted tooth based on periapical radiograph images. Those methods are Logistic Regression (LR), Linear Discriminant Analysis (LDA), K-Nearest Neighbors (KNN), Random Forest (RF), Gaussian Naive Bayes (NB), and Support Vector Machine (SVM). Haralick texture, Hu’s moment invariants, and color histogram are utilized to obtain the feature vector of those images. The accuracy can be calculated with 10-fold cross-validation. We also verify the accuracy of the machine learning algorithms under the various number of pelatihan images. We take 30, 45, and 60 images from three classes. Regardless the number of pelatihan images, RF keeps outperforming the others in the term of accuracy.

https://ieeexplore.ieee.org/document/8534887

• Published in: 2018 2nd International Conference on Biomedical Engineering (IBIOMED)
• Date of Conference: 24-26 July 2018
• Date Added to IEEE Xplore: 15 November 2018
• ISBN Information:
• Electronic ISBN: 978-1-5386-4736-3
• Print on Demand(PoD) ISBN: 978-1-5386-4737-0
• DOI: 10.1109/IBIOMED.2018.8534887
• Publisher: IEEE
• Conference Location: Bali, Indonesia, Indonesia

Keywords:
IEEE Keywords:
Teeth, Dentistry, Machine learning algorithms, Radio frequency, Support vector machines, Image color analysis, Forestry.
Author Keywords:
Periapical Radiograph, Logistic Regression, Linear Discriminant Analysis, K-Nearest Neighbors, Random Forest, Gaussian Naive Bayes, Support Vector Machine.
Conference call IEEE.
Sumber http://lang8088.blogspot.com