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2018 International Symposium ELMAR最新文献

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Design of NMPC-Based Framework for Mobile Robot Motion in Unstructured Environments 基于nmpc的非结构化环境下移动机器人运动框架设计
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/ELMAR.2018.8534610
Anel Kasić, J. Velagić, Adnan Osmanovic
{"title":"Design of NMPC-Based Framework for Mobile Robot Motion in Unstructured Environments","authors":"Anel Kasić, J. Velagić, Adnan Osmanovic","doi":"10.23919/ELMAR.2018.8534610","DOIUrl":"https://doi.org/10.23919/ELMAR.2018.8534610","url":null,"abstract":"The paper treats a design of the mobile robot motion framework based on Nonlinear Model Predictive Control (NMPC). This approach relies on laser range-finder measurements and safety regions described around the detected obstacles. The controller optimization involves both actuator and environment constraints excluding safety regions. The safe motion of the mobile robot using the proposed framework is provided in unknown static and dynamic environments. Stability issue of the used closed-loop motion control system is guaranteed employing direct Lyapunov method. The simulation setup was conducted using a 2D simulator (Stage) in the Robot Operating System (ROS) environment. The obtained results through different scenarios demonstrates that proposed NMPC-based framework approach ensures smooth trajectories from start to the goal point.","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116237257","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}
引用次数: 2
ANFIS Based Expert Systems Prototype Development for Estimation of Urban Mobility 基于ANFIS的城市交通估计专家系统原型开发
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/ELMAR.2018.8534602
K. Vidović, S. Mandzuka, D. Brcic
{"title":"ANFIS Based Expert Systems Prototype Development for Estimation of Urban Mobility","authors":"K. Vidović, S. Mandzuka, D. Brcic","doi":"10.23919/ELMAR.2018.8534602","DOIUrl":"https://doi.org/10.23919/ELMAR.2018.8534602","url":null,"abstract":"For the purpose of estimating urban mobility, an approach that uses urban mobility indicators calculated from the data subsystem from the Charging Data Records database in the public mobile telecommunications network was chosen. Calculated indicators are unified in the urban mobility index as a unique indicator of urban mobility in urban agglomeration. The urban mobility index is calculated using an expert system based on fuzzy logic, that is, the adaptive neuro-fuzzy inference system method (ANFIS). It functions on the principle of applying conclusion methods which characterize neural networks with the goal of determining parameters of an indirect conclusion system (Fuzzy Inference System - FIS). The prototype of the system was developed by using the appropriate application environment, where the proposed methodology was implemented.","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128569543","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}
引用次数: 1
The Estimation of the Transmitter's Coordinates and its Uncertainty 发射机坐标的估计及其不确定度
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/ELMAR.2018.8534659
J. Marek, J. Pidanic, Karel Juryca
{"title":"The Estimation of the Transmitter's Coordinates and its Uncertainty","authors":"J. Marek, J. Pidanic, Karel Juryca","doi":"10.23919/ELMAR.2018.8534659","DOIUrl":"https://doi.org/10.23919/ELMAR.2018.8534659","url":null,"abstract":"The aim of different method in radar technique is to determine an estimate of the unknown position of transmitter. Various statistical methods were proposed in the past (time difference of arrival - TDOA, Angle Of Arrival - AOA). These methods not always attain acceptable solutions. All these methods are iterative, and the convergence properties are dependent on configuration o f transmitters a nd o n position of receiver. With the development of estimation method, it has been necessary to explore an accuracy of estimates of receiver coordinates in different geometric schemes of transmitters. Appropriate choice of transmitter configuration c an a lleviate uncertainty of estimated position of receiver. Despite its importance, however, there has been until now no algorithm working with (although small) uncertainty of transmitter's coordinates. In this article we introduce a two stage regression model for better description of studied problem. Using simulated and real data, covariance matrices of estimates and their confidence domains are compared. Numerical studies try to highlight responsibility of uncertainty of transmitter coordinates and of time measurement errors.","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"150 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134483288","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}
引用次数: 0
Image Feature Matching and Object Detection Using Brute-Force Matchers 使用蛮力匹配器的图像特征匹配和目标检测
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/ELMAR.2018.8534641
Amila Jakubović, J. Velagić
{"title":"Image Feature Matching and Object Detection Using Brute-Force Matchers","authors":"Amila Jakubović, J. Velagić","doi":"10.23919/ELMAR.2018.8534641","DOIUrl":"https://doi.org/10.23919/ELMAR.2018.8534641","url":null,"abstract":"The paper considers a problem of feature matching and object detection in two images using brute-force matchers. The proposed framework exploited several concurrent algorithms for feature detection and descriptor extraction, such as ORB (Oriented FAST and Rotated BRIEF), BRISK (Binary Robust Invariant Scalable Keypoints), SIFT (Scale Invariant Feature Transform) and SURF (Speeded-Up Robust Features). The feature matching is accomplished by the Brute-Force approach combined with the k-Nearest Neighbors algorithm. The obtained matches are utilized by the robust RANSAC (Random Sample Consensus) method for estimating the transformation between two consecutive images. Therefore, the RANSAC method is employed to improve the outliers removal. The proposed algorithm is designed and implemented using OpenCV library. Its effectiveness and quality are verified through analyses of its execution speed and accuracy of the feature matching.","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"62 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133959956","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}
引用次数: 50
Copyright 版权
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/elmar.2018.8534672
{"title":"Copyright","authors":"","doi":"10.23919/elmar.2018.8534672","DOIUrl":"https://doi.org/10.23919/elmar.2018.8534672","url":null,"abstract":"","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130059217","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}
引用次数: 0
Impact of Geomagnetic Storm on GPS Positioning Performance 地磁风暴对GPS定位性能的影响
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/ELMAR.2018.8534673
N. Sikirica, Darko Špoljar, Bola Lawon, B. Rabiu
{"title":"Impact of Geomagnetic Storm on GPS Positioning Performance","authors":"N. Sikirica, Darko Špoljar, Bola Lawon, B. Rabiu","doi":"10.23919/ELMAR.2018.8534673","DOIUrl":"https://doi.org/10.23919/ELMAR.2018.8534673","url":null,"abstract":"Modern society and economy rely upon satellite navigation systems and their robust and resilient Positioning., Navigation and Timing (PNT) services. Intelligent Transport Systems (ITS) and autonomous vehicles (AV) increasingly utilize satellite navigation of their applications and services. Thus, studies of potential vulnerabilities add to the knowledge base and enable risk containment. Here we present results of the study of GPS positioning performance during developing geomagnetic storm, with the aim to assess the importance of GPS ionospheric correction during a strong space weather event for ITS. We identified potential risk in sole utilization of uncorrected and inappropriately corrected GPS pseudoranges, and discussed risk containment approaches for GPS-based ITS applications.","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124673575","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}
引用次数: 0
An Equivalent Circuit for Flying-Adder Frequency Synthesizer and Its VHDL Implementation 飞加法器频率合成器等效电路及其VHDL实现
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/ELMAR.2018.8534646
S. Ranga, B. Kirei, M. Topa
{"title":"An Equivalent Circuit for Flying-Adder Frequency Synthesizer and Its VHDL Implementation","authors":"S. Ranga, B. Kirei, M. Topa","doi":"10.23919/ELMAR.2018.8534646","DOIUrl":"https://doi.org/10.23919/ELMAR.2018.8534646","url":null,"abstract":"In this paper, an equivalent circuit for the flying adder synthesizer is proposed. The resulting circuit resembles a configurable length ring oscillator (the number of cells in the ring topology is configurable). Both circuits are described in VHDL and simulated in ModelSim. The simulation results prove the equivalence between them. Moreover, the analytically predicted oscillation frequencies fit with the ones measured in simulations carried out in ModelSim.","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126701450","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}
引用次数: 1
Perspectives of Geometry Based Deterministic Reference Channel Models for 5G Applications 5G应用中基于几何的确定性参考信道模型的前景
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/ELMAR.2018.8534621
A. Mucalo, R. Zentner, Nikola Mataga
{"title":"Perspectives of Geometry Based Deterministic Reference Channel Models for 5G Applications","authors":"A. Mucalo, R. Zentner, Nikola Mataga","doi":"10.23919/ELMAR.2018.8534621","DOIUrl":"https://doi.org/10.23919/ELMAR.2018.8534621","url":null,"abstract":"Geometry based reference channel models (GBRCM) have been one of key topics of radio channel modelling for years. Their development and applications have been bringing the academy, industry and standardization bodies together in several large projects, such are 3GPP, WINNER, METIS, etc. With 5G as an ongoing process, it is important to continue and adapt GBRCM research to new arriving technologies and applications. This paper discusses perspectives of geometry based deterministic reference channel models (GBDRCM), a subset of GBRCM, for 5G reference channel models, focusing on some key concepts of 5G: massive MIMO, Internet of Things and resources. The main hypothesis lies on the concept of deterministic reference channel models as an alternative for the commonly accepted stochastically based geometry based RCMs. The proposed solution is based on the concept of ray entity delivered from ray tracing simulations.","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"16 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116204731","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}
引用次数: 1
Estimation of Snow Parameters with GPS and Galileo 利用GPS和Galileo估计积雪参数
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/ELMAR.2018.8534690
M. Lamm, F. Koch, F. Appel, P. Henkel
{"title":"Estimation of Snow Parameters with GPS and Galileo","authors":"M. Lamm, F. Koch, F. Appel, P. Henkel","doi":"10.23919/ELMAR.2018.8534690","DOIUrl":"https://doi.org/10.23919/ELMAR.2018.8534690","url":null,"abstract":"The Snow Water Equivalent (SWE) is a key parameter for hydrological applications. In this paper, we describe a novel snow monitoring station that determines SWE solely from differential carrier phase measurements of both GPS and Galileo satellites. The SWE estimates are compared with several traditional sensors to demonstrate the achievable performance. The measurement results also show that just 4 Galileo satellites reduce the combined fixing time of RTK positioning by up to 3 minutes.","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122855094","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}
引用次数: 3
Digitalization of Education as a New Destination of E-Learning 教育数字化:网络学习的新归宿
2018 International Symposium ELMAR Pub Date : 2018-09-01 DOI: 10.23919/ELMAR.2018.8534662
I. Makarova, K. Shubenkova, A. Bagateeva, A. Pashkevich
{"title":"Digitalization of Education as a New Destination of E-Learning","authors":"I. Makarova, K. Shubenkova, A. Bagateeva, A. Pashkevich","doi":"10.23919/ELMAR.2018.8534662","DOIUrl":"https://doi.org/10.23919/ELMAR.2018.8534662","url":null,"abstract":"Due to the result of the accelerating digitalization of modern society, the demand for creative and skilled professionals is increasing, and in place of the “traditional” electronic approach comes a new philosophy of education - Smart Education. The article discusses the requirements for the education system in the transition to the concept of “Industry 4.0”, and explains the examples of interaction of PC “KAMAZ” in the training of engineers.","PeriodicalId":175742,"journal":{"name":"2018 International Symposium ELMAR","volume":"141 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132252931","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}
引用次数: 11
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