4,311 research outputs found

    Development Of Tilt And Vibration Measurement And Detection System Using MEMS Accelerometer As A Sensor [TK7875. K45 2008 f rb].

    Get PDF
    Dalam projek ini, sistem pengukuran dan pengesan isyarat sudut miring dan isyarat getaran menggunakan meter pecutan MEMS yang mempunyai dua paksi deria X dan Y dibina dengan jayanya. In this project, a measurement and detection system to detect tilt angle signal and vibration signal using MEMS accelerometer which has two sensed axes X and Y was successfully developed

    Fiber optic sensors for industry and military applications

    Get PDF
    Fiber optic sensors (FOSs) have been widely used for measuring various physical and chemical measurands owing to their unique advantages over traditional sensors such as small size, high resolution, distributed sensing capabilities, and immunity to electromagnetic interference. This dissertation focuses on the development of robust FOSs with ultrahigh sensitivity and their applications in industry and military areas. Firstly, novel fiber-optic extrinsic Fabry-Perot interferometer (EFPI) inclinometers for one- and two-dimensional tilt measurements with 20 nrad resolution were demonstrated. Compared to in-line fiber optic inclinometers, an extrinsic sensing motif was used in our prototype inclinometer. The variations in tilt angle of the inclinometer was converted into the cavity length changes of the EFPI which can be accurately measured with high resolution. The developed fiber optic inclinometers showed high resolution and great temperature stability in both experiments and practical applications. Secondly, a smart helmet was developed with a single embedded fiber Bragg grating (FBG) sensor for real-time sensing of blunt-force impact events to helmets. The combination of the transient impact data from FBG and the analyses using machine-learning model provides accurate predictions of the magnitudes, the directions and the types of the impact events. The use of the developed smart helmet system can serve as an early-stage intervention strategy for mitigating and managing traumatic brain injuries within the Golden Hour --Abstract, page iv

    Statistical modeling of radiometric error propagation in support of hyperspectral imaging inversion and optimized ground sensor network design

    Get PDF
    A method is presented that attempts to isolate the relative magnitudes of various error sources present in common algorithms for inverting the effects of atmospheric scattering and absorption on solar irradiance and determine in what ways, if any, operational ground truth measurement systems can be employed to reduce the overall error in retrieved reflectance factor. Error modeling and propagation methodology is developed for each link in the imaging chain, and representative values are determined for the purpose of exercising the model and observing the system behavior in response to a wide variety of inputs. Three distinct approaches to modelbased atmospheric inversion are compared in a common reflectance error space, where each contributor to the overall error in retrieved reflectance is examined in relation to the others. The modeling framework also allows for performance predictions resulting from the incorporation of operational ground truth measurements. Regimes were identified in which uncertainty in water vapor and aerosols were each found to dominate error contributions to final retrieved reflectance. Cloud cover was also shown to be a significant contributor, while state-of-the-industry hyperspectral sensors were confirmed to not be error drivers. Accordingly, instruments for measuring water vapor, aerosols, and downwelled sky radiance were identified as key to improving reflectance retrieval beyond current performance by current inversion algorithms

    As-Built 3D Heritage City Modelling to Support Numerical Structural Analysis: Application to the Assessment of an Archaeological Remain

    Get PDF
    Terrestrial laser scanning is a widely used technology to digitise archaeological, architectural and cultural heritage. This allows for modelling the assets’ real condition in comparison with traditional data acquisition methods. This paper, based on the case study of the basilica in the Baelo Claudia archaeological ensemble (Tarifa, Spain), justifies the need of accurate heritage modelling against excessively simplified approaches in order to support structural safety analysis. To do this, after validating the 3Dmeshing process frompoint cloud data, the semi-automatic digital reconstitution of the basilica columns is performed. Next, a geometric analysis is conducted to calculate the structural alterations of the columns. In order to determine the structural performance, focusing both on the accuracy and suitability of the geometric models, static and modal analyses are carried out by means of the finite element method (FEM) on three different models for the most unfavourable column in terms of structural damage: (1) as-built (2) simplified and (3) ideal model without deformations. Finally, the outcomes show that the as-built modelling enhances the conservation status analysis of the 3D heritage city (in terms of realistic compliance factor values), although further automation still needs to be implemented in the modelling process

    An Evaluation of multispectral earth-observing multi-aperture telescope designs for target detection and characterization

    Get PDF
    Earth-observing satellites have fundamental size and weight design limits since they must be launched into space. These limits serve to constrain the spatial resolutions that such imaging systems can achieve with traditional telescope design strategies. Segmented and sparse-aperture imaging system designs may offer solutions to this problem. Segmented and sparse-aperture designs can be viewed as competing technologies; both approaches offer solutions for achieving finer resolution imaging from space. Segmented-aperture systems offer greater fill factor, and therefore greater signal-to-noise ratio (SNR), for a given encircled diameter than their sparse aperture counterparts, though their larger segments often suffer from greater optical aberration than those of smaller, sparse designs. Regardless, the use of any multi-aperture imaging system comes at a price; their increased effective aperture size and improvement in spatial resolution are offset by a reduction in image quality due to signal loss (less photon-collecting area) and aberrations introduced by misalignments between individual sub-apertures as compared with monolithic collectors. Introducing multispectral considerations to a multi-aperture imaging system further starves the system of photons and reduces SNR in each spectral band. This work explores multispectral design considerations inherent in 9-element tri-arm sparse aperture, hexagonal-element segmented aperture, and monolithic aperture imaging systems. The primary thrust of this work is to develop an objective target detection-based metric that can be used to compare the achieved image utility of these competing multi-aperture telescope designs over a designated design parameter trade space. Characterizing complex multi-aperture system designs in this way may lead to improved assessment of programmatic risk and reward in the development of higher-resolution imaging capabilities. This method assumes that the stringent requirements for limiting the wavefront error (WFE) associated with multi-aperture imaging systems when producing imagery for visual assessment, can be relaxed when employing target detection-based metrics for evaluating system utility. Simple target detection algorithms were used to determine Receiver Operating Characteristic (ROC) curves for the various simulated multi-aperture system designs that could be used in an objective assessment of each system\u27s ability to support target detection activities. Also, a set of regressed equations was developed that allow one to predict multi-aperture system target detection performance within the bounds of the designated trade space. Suitable metrics for comparing the shapes of two individual ROC curves, such as the total area under the curve (AUC) and the sample Pearson correlation coefficient, were found to be useful tools in validating the predicted results of the trade space regression models. And lastly, some simple rules of thumb relating to multi-aperture system design were identified from the inspection of various points of equivalency between competing system designs, as determined from the comparison metrics employed. The goal of this work, the development of a process for simulating multi-aperture imaging systems and comparing them in terms of target detection tasks, was successfully accomplished. The process presented here could be tailored to the needs of any specific multi-aperture development effort and used as a tool for system design engineers

    A Contribution to the Design of Highly Redundant Compliant Aerial Manipulation Systems

    Get PDF
    Es ist vorhersehbar, dass die Luftmanipulatoren in den nächsten Jahrzehnten für viele Aufgaben eingesetzt werden, die entweder zu gefährlich oder zu teuer sind, um sie mit herkömmlichen Methoden zu bewältigen. In dieser Arbeit wird eine neuartige Lösung für die Gesamtsteuerung von hochredundanten Luftmanipulationssystemen vorgestellt. Die Ergebnisse werden auf eine Referenzkonfiguration angewendet, die als universelle Plattform für die Durchführung verschiedener Luftmanipulationsaufgaben etabliert wird. Diese Plattform besteht aus einer omnidirektionalen Drohne und einem seriellen Manipulator. Um den modularen Regelungsentwurf zu gewährleisten, werden zwei rechnerisch effiziente Algorithmen untersucht, um den virtuellen Eingang den Aktuatorbefehlen zuzuordnen. Durch die Integration eines auf einem künstlichen neuronalen Netz basierenden Diagnosemoduls und der rekonfigurierbaren Steuerungszuordnung in den Regelkreis, wird die Fehlertoleranz für die Drohne erzielt. Außerdem wird die Motorsättigung durch Rekonfiguration der Geschwindigkeits- und Beschleunigungsprofile behandelt. Für die Beobachtung der externen Kräfte und Drehmomente werden zwei Filter vorgestellt. Dies ist notwendig, um ein nachgiebiges Verhalten des Endeffektors durch die achsenselektive Impedanzregelung zu erreichen. Unter Ausnutzung der Redundanz des vorgestellten Luftmanipulators wird ein Regler entworfen, der nicht nur die Referenz der Endeffektor-Bewegung verfolgt, sondern auch priorisierte sekundäre Aufgaben ausführt. Die Wirksamkeit der vorgestellten Lösungen wird durch umfangreiche Tests überprüft, und das vorgestellte Steuerungssystem wird als sehr vielseitig und effektiv bewertet.:1 Introduction 2 Fundamentals 3 System Design and Modeling 4 Reconfigurable Control Allocation 5 Fault Diagnostics For Free Flight 6 Force and Torque Observer 7 Trajectory Generation 8 Hybrid Task Priority Control 9 System Integration and Performance Evaluation 10 ConclusionIn the following decades, aerial manipulators are expected to be deployed in scenarios that are either too dangerous for human beings or too expensive to be accomplished by traditional methods. This thesis presents a novel solution for the overall control of highly redundant aerial manipulation systems. The results are applied to a reference configuration established as a universal platform for performing various aerial manipulation tasks. The platform consists of an omnidirectional multirotor UAV and a serial manipulator. To ensure modular control design, two computationally efficient algorithms are studied to allocate the virtual input to actuator commands. Fault tolerance of the aerial vehicle is achieved by integrating a diagnostic module based on an artificial neural network and the reconfigurable control allocation into the control loop. Besides, the risk of input saturation of individual rotors is minimized by predicting and reconfiguring the speed and acceleration responses. Two filter-based observers are presented to provide the knowledge of external forces and torques, which is necessary to achieve compliant behavior of the end-effector through an axis-selective impedance control in the outer loop. Exploiting the redundancy of the proposed aerial manipulator, the author has designed a control law to achieve the desired end-effector motion and execute secondary tasks in order of priority. The effectiveness of the proposed designs is verified with extensive tests generated by following Monte Carlo method, and the presented control scheme is proved to be versatile and effective.:1 Introduction 2 Fundamentals 3 System Design and Modeling 4 Reconfigurable Control Allocation 5 Fault Diagnostics For Free Flight 6 Force and Torque Observer 7 Trajectory Generation 8 Hybrid Task Priority Control 9 System Integration and Performance Evaluation 10 Conclusio

    Detecting head movement using gyroscope data collected via in-ear wearables

    Get PDF
    Abstract. Head movement is considered as an effective, natural, and simple method to determine the pointing towards an object. Head movement detection technology has significant potentiality in diverse field of applications and studies in this field verify such claim. The application includes fields like users interaction with computers, controlling many devices externally, power wheelchair operation, detecting drivers’ drowsiness while they drive, video surveillance system, and many more. Due to the diversity in application, the method of detecting head movement is also wide-ranging. A number of approaches such as acoustic-based, video-based, computer-vision based, inertial sensor data based head movement detection methods have been introduced by researchers over the years. In order to generate inertial sensor data, various types of wearables are available for example wrist band, smart watch, head-mounted device, and so on. For this thesis, eSense — a representative earable device — that has built-in inertial sensor to generate gyroscope data is employed. This eSense device is a True Wireless Stereo (TWS) earbud. It is augmented with some key equipment such as a 6-axis inertial motion unit, a microphone, and dual mode Bluetooth (Bluetooth Classic and Bluetooth Low Energy). Features are extracted from gyroscope data collected via eSense device. Subsequently, four machine learning models — Random Forest (RF), Support Vector Machine (SVM), Naïve Bayes, and Perceptron — are applied aiming to detect head movement. The performance of these models is evaluated by four different evaluation metrics such as Accuracy, Precision, Recall, and F1 score. Result shows that machine learning models that have been applied in this thesis are able to detect head movement. Comparing the performance of all these machine learning models, Random Forest performs better than others, it is able to detect head movement with approximately 77% accuracy. The accuracy rate of other three models such as Support Vector Machine, Naïve Bayes, and Perceptron is close to each other, where these models detect head movement with about 42%, 40%, and 39% accuracy, respectively. Besides, the result of other evaluation metrics like Precision, Recall, and F1 score verifies that using these machine learning models, different head direction such as left, right, or straight can be detected
    corecore